diff --git a/Core/Inc/stm32g4xx_it.h b/Core/Inc/stm32g4xx_it.h
index 5bc1478..703a416 100644
--- a/Core/Inc/stm32g4xx_it.h
+++ b/Core/Inc/stm32g4xx_it.h
@@ -59,8 +59,6 @@ void DMA1_Channel1_IRQHandler(void);
 void DMA1_Channel2_IRQHandler(void);
 void DMA1_Channel3_IRQHandler(void);
 void DMA1_Channel4_IRQHandler(void);
-void TIM2_IRQHandler(void);
-void TIM3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/Core/Src/i2c.c b/Core/Src/i2c.c
index aa647ff..413d069 100644
--- a/Core/Src/i2c.c
+++ b/Core/Src/i2c.c
@@ -39,7 +39,7 @@ void MX_I2C1_Init(void)
 
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x10802D9B;
+  hi2c1.Init.Timing = 0x00802172;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -65,6 +65,10 @@ void MX_I2C1_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Fast mode Plus enable
+  */
+  __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C1);
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */
@@ -82,7 +86,7 @@ void MX_I2C2_Init(void)
 
   /* USER CODE END I2C2_Init 1 */
   hi2c2.Instance = I2C2;
-  hi2c2.Init.Timing = 0x30A0A7FB;
+  hi2c2.Init.Timing = 0x00802172;
   hi2c2.Init.OwnAddress1 = 0;
   hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -108,6 +112,10 @@ void MX_I2C2_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Fast mode Plus enable
+  */
+  __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C2);
   /* USER CODE BEGIN I2C2_Init 2 */
 
   /* USER CODE END I2C2_Init 2 */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index ffa1c1e..55b9cbf 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -53,7 +53,7 @@
 /* USER CODE BEGIN PTD */
 
 // 根据不同电机参数设置
-int PP = 1; // pole_pairs极对数 磁极数/2
+int PP = 7; // pole_pairs极对数 磁极数/2
 int DIR = 1; // 无刷电机纠偏旋转方向
 
 extern float raw_angle; // 获取AS5600原始角度值。
@@ -71,6 +71,9 @@ float dc_a = 0, dc_b = 0, dc_c = 0; // SPWM占
 float Sensor_Angle = 0; // 解算出来的无刷电机运行状态下的实际角度。
 float Sensor_Speed = 0; // 解算出来的无刷电机实际速度。
 
+float ABZ_Sensor_Speed = 0; // 解算出来的无刷电机实际速度。
+float ABZ_Sensor_Angle = 0;
+
 uint32_t adc1_Ia = 0, adc1_Ib = 0, adc1_Ic = 0; // 电机1相电流采样电阻采集到的实际电流。
 uint32_t adc2_Ia = 0, adc2_Ib = 0, adc2_Ic = 0; // 电机2相电流采样电阻采集到的实际电流。
 uint32_t adc3_VBUS = 0;
@@ -177,18 +180,21 @@ int main(void)
   /* USER CODE BEGIN 2 */
 
   // 配置 NVIC 中断优先级和使能
-  HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(TIM3_IRQn);
-  HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(TIM2_IRQn);
+//  HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
+//  HAL_NVIC_EnableIRQ(TIM3_IRQn);
+//  HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
+//  HAL_NVIC_EnableIRQ(TIM2_IRQn);
 
   // 初始化电机M1 ADC1滤波器
   ADC_Filter_Init(&adc1_filter_Ia);
   ADC_Filter_Init(&adc1_filter_Ib);
   ADC_Filter_Init(&adc1_filter_Ic);
 
-  FOC_Init(voltage_power_supply); // 设置电源电压。
-  FOC_AS5600_Init(PP, DIR);       // 极对数，正补偿方向。
+  FOC_Init(voltage_power_supply); // 设置电源电压，PID初始化。
+
+ //FOC_AS5600_Init(PP, DIR);       // 极对数，正补偿方向。
+ FOC_ABZ_Init(PP, DIR);  
+ 
   TIM2_M1_ABZ();                  // TIM2 ABZ编码器接口初始化并启动。
   TIM3_M2_ABZ();                  // TIM3 ABZ编码器接口初始化并启动。
 
@@ -217,20 +223,23 @@ int main(void)
     // HAL_UART_Transmit(&huart1, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY);//串口1发送测试
     // HAL_Delay(1000); // 1 second delay
     
-    volatile  int speed=1;
-    if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK)
-    {
-       //Set_Angle(10);    // 位置闭环。
-       Set_Speed(speed);// 速度闭环。
-    }
-    
+//    volatile  int speed=1;
+//    if (AS5600_ReadRawAngle(&hi2c1, &raw_angle) == HAL_OK)
+//    {
+//       Set_Angle(5);    // 位置闭环。
+//       //Set_Speed(speed);// 速度闭环。
+//    }
+      
+     // ABZ_Set_Angle(5); 
+       ABZ_Set_Speed(100);// 速度闭环。
+
     // openloop debug
     // Current_Speed(2.0f, 0.1f);
     // Open_Loop_Control(0.2f, -0.1f); // 开环控制顺时针，设置电压和速度。
     // Open_Loop_Control(1.0f, -0.01f); // 开环控制逆时针，设置电压和速度。
 
     // ABZ编码器debug
-    UpdateEncoderCnt();
+    // UpdateEncoderCnt();
     // Count_M1_ABZ();
     // Count_M2_ABZ();//开发板只预留了M2 的ABZ编码器接口。
 
diff --git a/Core/Src/stm32g4xx_it.c b/Core/Src/stm32g4xx_it.c
index 9d79a2d..037fe2b 100644
--- a/Core/Src/stm32g4xx_it.c
+++ b/Core/Src/stm32g4xx_it.c
@@ -59,8 +59,6 @@ extern DMA_HandleTypeDef hdma_adc1;
 extern DMA_HandleTypeDef hdma_adc2;
 extern DMA_HandleTypeDef hdma_adc3;
 extern DMA_HandleTypeDef hdma_usart1_tx;
-extern TIM_HandleTypeDef htim2;
-extern TIM_HandleTypeDef htim3;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -259,34 +257,6 @@ void DMA1_Channel4_IRQHandler(void)
   /* USER CODE END DMA1_Channel4_IRQn 1 */
 }
 
-/**
-  * @brief This function handles TIM2 global interrupt.
-  */
-void TIM2_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM2_IRQn 0 */
-
-  /* USER CODE END TIM2_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim2);
-  /* USER CODE BEGIN TIM2_IRQn 1 */
-
-  /* USER CODE END TIM2_IRQn 1 */
-}
-
-/**
-  * @brief This function handles TIM3 global interrupt.
-  */
-void TIM3_IRQHandler(void)
-{
-  /* USER CODE BEGIN TIM3_IRQn 0 */
-
-  /* USER CODE END TIM3_IRQn 0 */
-  HAL_TIM_IRQHandler(&htim3);
-  /* USER CODE BEGIN TIM3_IRQn 1 */
-
-  /* USER CODE END TIM3_IRQn 1 */
-}
-
 /**
   * @brief This function handles EXTI line[15:10] interrupts.
   */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index c429c7e..8adbc58 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -139,7 +139,7 @@ void MX_TIM2_Init(void)
   htim2.Instance = TIM2;
   htim2.Init.Prescaler = 0;
   htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim2.Init.Period = 4096;
+  htim2.Init.Period = 4095;
   htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
@@ -194,7 +194,7 @@ void MX_TIM3_Init(void)
   htim3.Instance = TIM3;
   htim3.Init.Prescaler = 0;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 4096;
+  htim3.Init.Period = 4095;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
@@ -387,9 +387,6 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-    /* TIM2 interrupt Init */
-    HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspInit 1 */
 
   /* USER CODE END TIM2_MspInit 1 */
@@ -432,9 +429,6 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
     GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
     HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
 
-    /* TIM3 interrupt Init */
-    HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(TIM3_IRQn);
   /* USER CODE BEGIN TIM3_MspInit 1 */
 
   /* USER CODE END TIM3_MspInit 1 */
@@ -562,8 +556,6 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
 
     HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_3);
 
-    /* TIM2 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM2_IRQn);
   /* USER CODE BEGIN TIM2_MspDeInit 1 */
 
   /* USER CODE END TIM2_MspDeInit 1 */
@@ -588,8 +580,6 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
 
     HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2);
 
-    /* TIM3 interrupt Deinit */
-    HAL_NVIC_DisableIRQ(TIM3_IRQn);
   /* USER CODE BEGIN TIM3_MspDeInit 1 */
 
   /* USER CODE END TIM3_MspDeInit 1 */
diff --git a/FOC_Related/ABZ/ABZ.c b/FOC_Related/ABZ/ABZ.c
index d491a41..40bab09 100644
--- a/FOC_Related/ABZ/ABZ.c
+++ b/FOC_Related/ABZ/ABZ.c
@@ -2,6 +2,12 @@
 #include "ABZ.h"
 #include "foc.h"
 #include "math.h"
+#include "LowPass_Filter.h"
+
+#define RAD_TO_DEG (57.2957795131f) // 寮у害杞搴﹀父閲�
+#define FULL_ROTATION_RAD (6.28318530718f) // 2蟺
+
+extern int DIR; // 鏃犲埛鐢垫満绾犲亸鏃嬭浆鏂瑰悜
 
 //姝ら┍鍔ㄦ寜鐓S5600椹卞姩涓殑鍑芥暟缂栧啓
 
@@ -25,10 +31,6 @@ volatile float ABZ_angle = 0.0f;
 
 //姝ゅ閫傜敤鐨勫畾鏃跺櫒鏃堕棿鎴宠绠楅�熷害
 float ABZ_full_rotations; // 褰撳墠鏃嬭浆鍦堟暟
-float ABZ_raw_angle = 0;  // 瑙掑害寮у害浼犲弬鍊�
-
-unsigned long ABZ_angle_prev_ts;     // 涓婃鐨勮繍琛屾椂闂�
-unsigned long ABZ_vel_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂�
 
 unsigned long ABZ_angle_prev_ts;     // 涓婃鐨勮繍琛屾椂闂�
 unsigned long ABZ_vel_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂�
@@ -36,8 +38,8 @@ unsigned long ABZ_vel_angle_prev_ts; // 涓婃鐨勮繍琛屾椂闂�
 float ABZ_angle_prev_Velocity;     // 涓婃瑙掑害(鐢ㄤ簬閫熷害鐜�)
 float ABZ_vel_angle_prev_Velocity; // 涓婃瑙掑害(鐢ㄤ簬閫熷害鐜�)
 
-int32_t ABZ_encoder_count = 0;      // 璇诲彇褰撳墠缂栫爜鍣ㄨ鏁板��
-int32_t ABZ_prev_encoder_count = 0; // 璇诲彇涓婃缂栫爜鍣ㄨ鏁板��
+float ABZ_encoder_count = 0;      // 璇诲彇褰撳墠缂栫爜鍣ㄨ鏁板��
+float ABZ_prev_encoder_count = 0; // 璇诲彇涓婃缂栫爜鍣ㄨ鏁板��
 
 
 void TIM2_M1_ABZ(void)
@@ -154,58 +156,80 @@ void Count_M2_ABZ(void)
 ///////////////////////////////////////////////////////////////////////////////
 
 // 鎶婂師濮嬪�艰В绠楁垚缂栫爜鍣�360掳鍊�
-float ABZ_GetAngle360(void)
-{
-    ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3);
-    ABZ_raw_angle = ABZ_encoder_count;
-    return ABZ_raw_angle * 0.08789f; // 灏嗗師濮嬪�艰浆鎹负0-360掳鐨勮搴�,4096*0.08789鈮�360掳
-}
+//float ABZ_GetAngle360(void)
+//{
+//    ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3);
+//    float ABZ_raw_angle = ABZ_encoder_count;
+//    return ABZ_raw_angle * 0.08789f; // 灏嗗師濮嬪�艰浆鎹负0-360掳鐨勮搴�,4096*0.08789鈮�360掳
+//}
 
+    float debug_ABZ_encoder_count;//debug 鍙傛暟
 // 璇诲彇纾佺紪鐮佸櫒褰掍竴鍖栧姬搴﹀��:(0-6.28)
 float ABZ_GetAngle2PI(void)
 {
+    //璇诲彇鑴夊啿鏁�
     ABZ_encoder_count = __HAL_TIM_GET_COUNTER(&htim3);
-    ABZ_raw_angle = ABZ_encoder_count;
-    return ABZ_raw_angle * 0.08789f / 57.32484f; // 灏嗗師濮嬪�艰浆鎹负0-2蟺鐨勫姬搴�
+    //debug 鍙傛暟
+     debug_ABZ_encoder_count = ABZ_encoder_count * 0.08789f / 57.32484f;
+
+    return ABZ_encoder_count * 0.08789f / 57.32484f; // 灏嗗師濮嬪�艰浆鎹负0-2蟺鐨勫姬搴�
 }
 
+
+ float ABZ_val; //Debug锛氬綋鍓嶈搴�
+float ABZ_current_angle;//褰撳墠瑙掑害鍙樺寲鍊�
+float ABZ_full_rotations_Debug;//绱鏃嬭浆瑙掑害
+
 // 纾佺紪鐮佸櫒寮у害鍒惰搴︾疮璁¤绠�:(0-鈭�)
 float ABZ_GetAngle(void)
 {
-    float val = ABZ_GetAngle2PI();                // 鑾峰彇褰撳墠寮у害
-    float d_angle = val - ABZ_prev_encoder_count; // 璁＄畻瑙掑害鍙樺寲
+     ABZ_val = ABZ_GetAngle2PI();                // 鑾峰彇褰撳墠寮у害
+     ABZ_current_angle = ABZ_val - ABZ_prev_encoder_count; // 璁＄畻瑙掑害鍙樺寲
 
     // 璁＄畻鏃嬭浆鐨勫湀鏁�
     // 閫氳繃鍒ゆ柇瑙掑害鍙樺寲鏄惁澶т簬80%鐨勪竴鍦�(0.8f*6.28318530718f)鏉ュ垽鏂槸鍚﹀彂鐢熶簡婧㈠嚭
     // 濡傛灉鍙戠敓浜嗘孩鍑�,鍒欏皢full_rotations澧炲姞1(濡傛灉d_angle灏忎簬0)鎴栧噺灏�1(濡傛灉d_angle澶т簬0)
-    if (fabs(d_angle) > (0.8f * 6.28318530718f))
-        ABZ_full_rotations += (d_angle > 0) ? -1 : 1; // 鏍规嵁瑙掑害鍙樺寲鏂瑰悜璋冩暣鏃嬭浆鍦堟暟
+    if (fabs(ABZ_current_angle) > (0.8f * 6.28318530718f))
+        ABZ_full_rotations += (ABZ_current_angle > 0) ? -1 : 1; // 鏍规嵁瑙掑害鍙樺寲鏂瑰悜璋冩暣鏃嬭浆鍦堟暟
 
-    ABZ_prev_encoder_count = val;                                               // 鏇存柊涓婃瑙掑害
+    ABZ_prev_encoder_count = ABZ_val;                                               // 鏇存柊涓婃瑙掑害
+    ABZ_full_rotations_Debug=ABZ_full_rotations * 6.28318530718f + ABZ_prev_encoder_count;
     return (float)ABZ_full_rotations * 6.28318530718f + ABZ_prev_encoder_count; // 杩斿洖绱瑙掑害
 }
 
+
+ float ABZ_Ts, ABZvel = 0.0f; // Ts涓洪噰鏍锋椂闂达紝vel涓洪�熷害
+
 // 纾佺紪鐮佸櫒閫熷害璁＄畻:(0-鈭�)
 float ABZ_GetVelocity(void)
 {
-    float Ts, vel = 0.0f; // Ts涓洪噰鏍锋椂闂达紝vel涓洪�熷害
+    //float Ts, vel = 0.0f; // Ts涓洪噰鏍锋椂闂达紝vel涓洪�熷害
 
     // 璁＄畻閲囨牱鏃堕棿
     ABZ_angle_prev_ts = SysTick->VAL; // 鑾峰彇褰撳墠鏃堕棿鎴�
 
     if (ABZ_angle_prev_ts < ABZ_vel_angle_prev_ts)
-        Ts = (float)(ABZ_vel_angle_prev_ts - ABZ_angle_prev_ts); // 璁＄畻鏃堕棿宸�
+        ABZ_Ts = (float)(ABZ_vel_angle_prev_ts - ABZ_angle_prev_ts); // 璁＄畻鏃堕棿宸�
     else
-        Ts = (float)(0xFFFFFF - ABZ_angle_prev_ts + ABZ_vel_angle_prev_ts); // 澶勭悊鏃堕棿鎴虫孩鍑烘儏鍐�
+        ABZ_Ts = (float)(0xFFFFFF - ABZ_angle_prev_ts + ABZ_vel_angle_prev_ts); // 澶勭悊鏃堕棿鎴虫孩鍑烘儏鍐�
 
     // 蹇�熶慨澶嶅井灏忔孩鍑�
-    if (Ts == 0 || Ts > 0.5f)
-        Ts = 1e-3f; // 闃叉閲囨牱鏃堕棿涓�0鎴栬繃澶�
+    if (ABZ_Ts == 0 || ABZ_Ts > 0.5f)
+        ABZ_Ts = 1e-3f; // 闃叉閲囨牱鏃堕棿涓�0鎴栬繃澶�
 
     ABZ_angle_prev_Velocity = ABZ_GetAngle();                           // 鑾峰彇褰撳墠瑙掑害
-    vel = (ABZ_angle_prev_Velocity - ABZ_vel_angle_prev_Velocity) / Ts; // 璁＄畻閫熷害
+    ABZvel = (ABZ_angle_prev_Velocity - ABZ_vel_angle_prev_Velocity) / ABZ_Ts; // 璁＄畻閫熷害
     ABZ_vel_angle_prev_Velocity = ABZ_angle_prev_Velocity;              // 鏇存柊涓婃瑙掑害
     ABZ_vel_angle_prev_ts = ABZ_angle_prev_ts;                          // 鏇存柊涓婃鏃堕棿鎴�
 
-    return vel; // 杩斿洖閫熷害
+    return ABZvel; // 杩斿洖閫熷害
+}
+
+float ABZ_vel_M0_flit;
+// 纾佺紪鐮佸櫒閫熷害浣庨�氭护娉㈣绠�:(0-鈭�)
+float ABZ_Get_Speed(void)
+{
+    float vel_M0_ori = ABZ_GetVelocity(); // 閫熷害鍘熷鏁版嵁閲囬泦
+     ABZ_vel_M0_flit = LowPass_Filter(DIR * vel_M0_ori); // 鍘熷鏁版嵁浣庨�氭护娉�
+    return ABZ_vel_M0_flit; // 杩斿洖婊ゆ尝鍚庣殑閫熷害
 }
diff --git a/FOC_Related/ABZ/ABZ.h b/FOC_Related/ABZ/ABZ.h
index 7f71dfa..cbf0bbb 100644
--- a/FOC_Related/ABZ/ABZ.h
+++ b/FOC_Related/ABZ/ABZ.h
@@ -21,12 +21,13 @@ void Count_M1_ABZ(void);
 void TIM3_M2_ABZ(void);
 void Count_M2_ABZ(void);
 
-int16_t ModifyIncCnt(int16_t delta);
-int UpdateEncoderCnt(void);
+//int16_t ModifyIncCnt(int16_t delta);
+//int UpdateEncoderCnt(void);
 
 float ABZ_GetAngle360(void);
 float ABZ_GetAngle2PI(void);
 float ABZ_GetAngle(void);
 float ABZ_GetVelocity(void);
+float ABZ_Get_Speed(void);
 
 #endif
diff --git a/FOC_Related/AS5600/AS5600.c b/FOC_Related/AS5600/AS5600.c
index 9f6b8ae..eae7e1d 100644
--- a/FOC_Related/AS5600/AS5600.c
+++ b/FOC_Related/AS5600/AS5600.c
@@ -53,23 +53,29 @@ HAL_StatusTypeDef AS5600_ReadAngle(I2C_HandleTypeDef *hi2c1, float *angle)
     return HAL_OK; // 返回成功状态
 }
 
+
 // 把原始值解算成编码器360°值
 float AS5600_GetAngle360(void)
 {
     return raw_angle * 0.08789f; // 将原始值转换为0-360°的角度
 }
 
+float Debug_raw_angle;
 // 读取磁编码器归一化弧度值:(0-6.28)
 float AS5600_GetAngle2PI(void)
 {
+    Debug_raw_angle = raw_angle * 0.08789f / 57.32484f;
+    
     return raw_angle * 0.08789f / 57.32484f; // 将原始值转换为0-2π的弧度
 }
 
+float val,d_angle;
+
 // 磁编码器弧度制角度累计计算:(0-∞)
 float AS5600_GetAngle(void)
 {
-    float val = AS5600_GetAngle2PI(); // 获取当前角度
-    float d_angle = val - angle_prev; // 计算角度变化
+     val = AS5600_GetAngle2PI(); // 获取当前角度
+     d_angle = val - angle_prev; // 计算角度变化
 
     // 计算旋转的圈数
     // 通过判断角度变化是否大于80%的一圈(0.8f*6.28318530718f)来判断是否发生了溢出
@@ -81,10 +87,11 @@ float AS5600_GetAngle(void)
     return (float)full_rotations * 6.28318530718f + angle_prev; // 返回累计角度
 }
 
+ float Ts, vel = 0.0f; // Ts为采样时间，vel为速度
 // 磁编码器速度计算:(0-∞)
 float AS5600_GetVelocity(void)
 {
-    float Ts, vel = 0.0f; // Ts为采样时间，vel为速度
+    //float Ts, vel = 0.0f; // Ts为采样时间，vel为速度
 
     // 计算采样时间
     angle_prev_ts = SysTick->VAL; // 获取当前时间戳
@@ -106,10 +113,11 @@ float AS5600_GetVelocity(void)
     return vel; // 返回速度
 }
 
+float vel_M0_flit;
 // 磁编码器速度低通滤波计算:(0-∞)
 float AS5600_Get_Speed(void)
 {
     float vel_M0_ori = AS5600_GetVelocity(); // 速度原始数据采集
-    float vel_M0_flit = LowPass_Filter(DIR * vel_M0_ori); // 原始数据低通滤波
+     vel_M0_flit = LowPass_Filter(DIR * vel_M0_ori); // 原始数据低通滤波
     return vel_M0_flit; // 返回滤波后的速度
 }
diff --git a/FOC_Related/CONTROL/control.c b/FOC_Related/CONTROL/control.c
index a563015..2e29713 100644
--- a/FOC_Related/CONTROL/control.c
+++ b/FOC_Related/CONTROL/control.c
@@ -98,11 +98,13 @@ void Moment_limiting(void)
         Angle_Out = 6; // 角度环力矩输出限幅
     if (Angle_Out < -6)
         Angle_Out = -6;
+    
     if (Speed_Out > 6)
         Speed_Out = 6; // 速度环力矩输出限幅
     if (Speed_Out < -6)
         Speed_Out = -6;
     if (Current_Out > 6)
+        
         Current_Out = 6; // 电流环力矩输出限幅
     if (Current_Out < -6)
         Current_Out = -6;
diff --git a/FOC_Related/FOC/FOC.c b/FOC_Related/FOC/FOC.c
index d3e3a31..bf3e011 100644
--- a/FOC_Related/FOC/FOC.c
+++ b/FOC_Related/FOC/FOC.c
@@ -11,6 +11,7 @@
 #include "stdio.h"
 #include "adc.h"
 #include "LowPass_Filter.h"
+#include "ABZ.h"
 
 extern int PP;
 extern int DIR;
@@ -23,6 +24,11 @@ extern float Ua, Ub, Uc;
 extern float dc_a, dc_b, dc_c;
 extern float Sensor_Angle;
 extern float Sensor_Speed;
+
+extern float ABZ_Sensor_Speed;
+
+extern float ABZ_Sensor_Angle;
+
 extern uint32_t adc1_Ia, adc1_Ib, adc1_Ic;
 extern uint32_t adc2_Ia, adc2_Ib, adc2_Ic;
 extern float current1_A;
@@ -72,6 +78,11 @@ float _electricalAngle()
 {
     return _normalizeAngle((float)(DIR * PP) * AS5600_GetAngle2PI() - zero_electric_angle);
 }
+//////debug ABZ Encoder//////
+float ABZ_electricalAngle()
+{
+    return _normalizeAngle((float)(DIR * PP) * ABZ_GetAngle2PI() - zero_electric_angle);
+}
 
 /*******************************************
 角度归一化处理:
@@ -133,10 +144,9 @@ FOC
 *******************************************/
 void FOC_Init(float power_supply)
 {
-    voltage_power_supply = power_supply; // 电源电压
+    voltage_power_supply = power_supply; // 电源电压传参。
     // 此处增加自定义硬件初始化。
-    // NVIC_Config();中断优先级分配
-    PID_init(); // 初始化pid变量
+    PID_init(); // pid初始化。
     
 }
 
@@ -157,10 +167,41 @@ void FOC_AS5600_Init(int _PP, int _DIR)
     zero_electric_angle = _electricalAngle(); // 设置零点角度。
     Sensor_Speed = AS5600_Get_Speed();        // 速度初始值计算。
 }
+/////ABZ Encoder debug/////
+void FOC_ABZ_Init(int _PP, int _DIR)
+{
+    // 值传递。
+    PP = _PP;
+    DIR = _DIR;
+    
+    setTorque(2, _2PI);
+    HAL_Delay(3000);
+   
+    setTorque(0, _2PI);
+
+    zero_electric_angle = ABZ_electricalAngle(); // 设置零点角度。
+    ABZ_Sensor_Speed = ABZ_Get_Speed();        // 速度初始值计算。
+}
 
 /***********************************************
 电机角度控制:(rad)
 ***********************************************/
+// ABZ编码器
+void ABZ_Set_Angle(float Angle)
+{
+    // ABZ编码器角度读取。
+    ABZ_Sensor_Angle = ABZ_GetAngle();
+    // 角度控制。
+    Angle_Out = Angle_Control((Angle - DIR *  ABZ_Sensor_Angle) * 180.0f / PI);
+    // 控制力矩限幅。
+    Moment_limiting();
+    // 设置力矩。
+    setTorque(Angle_Out, ABZ_electricalAngle());
+
+    // 角度串口打印输出调试
+    // printf("%.2f,%.2f\n",Sensor_Angle,Angle_target);
+}
+// AS5600编码器
 void Set_Angle(float Angle)
 {
     // AS5600角度读取。
@@ -179,6 +220,22 @@ void Set_Angle(float Angle)
 /***********************************************
 电机速度控制:(rad/s)
 ***********************************************/
+// ABZ编码器
+ void ABZ_Set_Speed(float Speed)
+ {
+     // 读取ABZ编码器解算后的数据。
+     ABZ_Sensor_Speed = ABZ_Get_Speed();
+     // 速度PID控制
+     Speed_Out = Speed_Control(Speed - ABZ_Sensor_Speed);
+     // 控制力矩限幅
+     Moment_limiting();
+     // 驱动器力矩控制
+     setTorque(Speed_Out, ABZ_electricalAngle());
+    
+     // 速度串口打印输出调试
+     // printf("%.2f,%.2f\n",Sensor_Speed,Speed_target);
+ }
+// AS5600编码器
 void Set_Speed(float Speed)
 {
     // AS5600读取解算后的数据。
@@ -194,6 +251,8 @@ void Set_Speed(float Speed)
     // printf("%.2f,%.2f\n",Sensor_Speed,Speed_target);
 }
 
+
+
 /***********************************************
 电机开环旋转:
 ***********************************************/
diff --git a/FOC_Related/FOC/FOC.h b/FOC_Related/FOC/FOC.h
index 597ee5f..5c1746c 100644
--- a/FOC_Related/FOC/FOC.h
+++ b/FOC_Related/FOC/FOC.h
@@ -24,4 +24,8 @@ void Feedback_Current(void);
 
 void Send_ADC1_Values(UART_HandleTypeDef *huart);
 
+void ABZ_Set_Angle(float Angle);
+void ABZ_Set_Speed(float Speed);
+float ABZ_electricalAngle(void);
+void FOC_ABZ_Init(int _PP, int _DIR);
 #endif
diff --git a/FOC_Related/PID/pid.c b/FOC_Related/PID/pid.c
index 5182d9a..97966cd 100644
--- a/FOC_Related/PID/pid.c
+++ b/FOC_Related/PID/pid.c
@@ -22,35 +22,46 @@ PID
 void PID_init() // 初始化pid变量
 {
     // 位置环pid
-    pid_angle.Set = 0.0f;       // 设置目标值初始化为0
-    pid_angle.Actual = 0.0f;    // 实际值初始化为0
-    pid_angle.err = 0.0f;       // 当前误差初始化为0
-    pid_angle.err_last = 0.0f;  // 上次误差初始化为0
-    pid_angle.voltage = 0.0f;   // 输出电压初始化为0
-    pid_angle.integral = 0.0f;  // 积分项初始化为0
-    pid_angle.Kp = 0.01f;      // 位置环比例系数初始化为0.043
-    pid_angle.Ki = 0.0005f;     // 位置环积分系数初始化为0.0005
-    pid_angle.Kd = 0.25f;       // 位置环微分系数初始化为0.22
-
-    // 速度环pid
-    pid_speed.Set = 0.0f;       // 设置目标值初始化为0
-    pid_speed.Actual = 0.0f;    // 实际值初始化为0
-    pid_speed.err = 0.0f;       // 当前误差初始化为0
-    pid_speed.err_last = 0.0f;  // 上次误差初始化为0
-    pid_speed.voltage = 0.0f;   // 输出电压初始化为0
-    pid_speed.integral = 0.0f;  // 积分项初始化为0
-    pid_speed.Kp = 0.002f;       // 速度环比例系数初始化为0.11
-    pid_speed.Ki = 0.0005f;      // 速度环积分系数初始化为0.005
-    pid_speed.Kd = 0.00001f;     // 速度环微分系数初始化为0.0008
+    pid_angle.Set = 0.0f;      // 设置目标值初始化为0
+    pid_angle.Actual = 0.0f;   // 实际值初始化为0
+    pid_angle.err = 0.0f;      // 当前误差初始化为0
+    pid_angle.err_last = 0.0f; // 上次误差初始化为0
+    pid_angle.voltage = 0.0f;  // 输出电压初始化为0
+    pid_angle.integral = 0.0f; // 积分项初始化为0
+    pid_angle.Kp = 0.05f;      // 位置环比例系数初始化为0.043
+    pid_angle.Ki = 0.0005f;    // 位置环积分系数初始化为0.0005
+    pid_angle.Kd = 0.25f;      // 位置环微分系数初始化为0.22
+//    
+//    // 速度环pid，AS5600编码器
+//    pid_speed.Set = 0.0f;      // 设置目标值初始化为0
+//    pid_speed.Actual = 0.0f;   // 实际值初始化为0
+//    pid_speed.err = 0.0f;      // 当前误差初始化为0
+//    pid_speed.err_last = 0.0f; // 上次误差初始化为0
+//    pid_speed.voltage = 0.0f;  // 输出电压初始化为0
+//    pid_speed.integral = 0.0f; // 积分项初始化为0
+//    pid_speed.Kp = 0.0001f;     // 速度环比例系数初始化为0.11
+//    pid_speed.Ki = 0.0005f;    // 速度环积分系数初始化为0.005
+//    pid_speed.Kd = 0.00001f;   // 速度环微分系数初始化为0.0008
+//    
+        // 速度环pid，ABZ编码器
+    pid_speed.Set = 0.0f;      // 设置目标值初始化为0
+    pid_speed.Actual = 0.0f;   // 实际值初始化为0
+    pid_speed.err = 0.0f;      // 当前误差初始化为0
+    pid_speed.err_last = 0.0f; // 上次误差初始化为0
+    pid_speed.voltage = 0.0f;  // 输出电压初始化为0
+    pid_speed.integral = 0.0f; // 积分项初始化为0
+    pid_speed.Kp = 0.002f;     // 速度环比例系数初始化为0.11
+    pid_speed.Ki = 0.0005f;    // 速度环积分系数初始化为0.005
+    pid_speed.Kd = 0.00001f;   // 速度环微分系数初始化为0.0008
 
     // 电流环pid
-    pid_current.Set = 0.0f;     // 设置目标值初始化为0
-    pid_current.Actual = 0.0f;  // 实际值初始化为0
-    pid_current.err = 0.0f;     // 当前误差初始化为0
-    pid_current.err_last = 0.0f;// 上次误差初始化为0
-    pid_current.voltage = 0.0f; // 输出电压初始化为0
-    pid_current.integral = 0.0f;// 积分项初始化为0
+    pid_current.Set = 0.0f;      // 设置目标值初始化为0
+    pid_current.Actual = 0.0f;   // 实际值初始化为0
+    pid_current.err = 0.0f;      // 当前误差初始化为0
+    pid_current.err_last = 0.0f; // 上次误差初始化为0
+    pid_current.voltage = 0.0f;  // 输出电压初始化为0
+    pid_current.integral = 0.0f; // 积分项初始化为0
     pid_current.Kp = 0.045f;     // 电流环比例系数初始化为0.03
-    pid_current.Ki = 0.005f;    // 电流环积分系数初始化为0.001
-    pid_current.Kd = 0.000f;   // 电流环微分系数初始化为0.0008
+    pid_current.Ki = 0.005f;     // 电流环积分系数初始化为0.001
+    pid_current.Kd = 0.000f;     // 电流环微分系数初始化为0.0008
 }
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj b/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj
index fa62c1c..4d312e4 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <cprj schemaVersion="2.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="CPRJ.xsd">
-  <created timestamp="2024-07-26T14:50:24" tool="csolution 2.4.0"/>
+  <created timestamp="2024-07-27T22:33:31" tool="csolution 2.4.0"/>
 
   <info isLayer="false">
     <description>Automatically generated project</description>
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic b/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic
index f5c9f3b..3ff353c 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic
@@ -20,12 +20,12 @@
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>725 160</TableColWidths>
+      <TableColWidths>725 136</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>885</TableColWidths>
+      <TableColWidths>885 132 132 100</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>60</Len>
-        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
+        <Len>1989</Len>
+        <Data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ata>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -526,7 +526,7 @@
         <IsActivated>0</IsActivated>
         <MRUWidth>32767</MRUWidth>
         <PinState>0</PinState>
-        <RecentFrameAlignment>4096</RecentFrameAlignment>
+        <RecentFrameAlignment>32768</RecentFrameAlignment>
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
@@ -1150,7 +1150,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000F6000000B0020000</Data>
+          <Data>0300000066000000F600000088020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1166,7 +1166,7 @@
         <IsActivated>0</IsActivated>
         <MRUWidth>32767</MRUWidth>
         <PinState>0</PinState>
-        <RecentFrameAlignment>4096</RecentFrameAlignment>
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@@ -3598,4 +3598,157 @@
     </ViewEx>
   </WinLayoutEx>
 
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+    <Orientation>1</Orientation>
+    <ActiveMDIGroup>0</ActiveMDIGroup>
+    <MDIGroup>
+      <Size>100</Size>
+      <ActiveTab>10</ActiveTab>
+      <Doc>
+        <Name>..\FOC_Related\ABZ\ABZ.c</Name>
+        <ColumnNumber>17</ColumnNumber>
+        <TopLine>171</TopLine>
+        <CurrentLine>223</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
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+        <Name>..\FOC_Related\AS5600\AS5600.c</Name>
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+        <Name>..\FOC_Related\FOC\FOC.h</Name>
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 </ProjectGui>
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx b/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx
index 23c83d2..585010e 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink.uvoptx
@@ -153,92 +153,52 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>encoder_count,0x0A</ItemText>
+          <ItemText>Debug_raw_angle,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>pid_speed</ItemText>
+          <ItemText>val</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>Set_Speed</ItemText>
+          <ItemText>d_angle</ItemText>
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         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>speed,0x0A</ItemText>
+          <ItemText>Ts,0x0A</ItemText>
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         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ABZ_pulse_count,0x0A</ItemText>
+          <ItemText>vel</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ABZ_prev_pulse_count,0x0A</ItemText>
+          <ItemText>angle_prev_ts,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ABZ_speed</ItemText>
+          <ItemText>vel_angle_prev_ts,0x0A</ItemText>
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         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ABZ_angle</ItemText>
+          <ItemText>vel_M0_flit</ItemText>
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         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>preCnt</ItemText>
+          <ItemText>ABZ_vel_M0_flit</ItemText>
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         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cnt</ItemText>
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-          <ItemText>Sensor_Angle</ItemText>
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-          <count>14</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>vel</ItemText>
-        </Ww>
-        <Ww>
-          <count>15</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>Sensor_Speed</ItemText>
-        </Ww>
-        <Ww>
-          <count>16</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>encoder_count,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>17</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>ABZ_pulse_count,0x0A</ItemText>
+          <ItemText>vel_M0_flit</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.axf b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.axf
index 3924397..391278c 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.axf and b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.axf differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.build_log.htm b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.build_log.htm
index 478df31..aa3edca 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.build_log.htm
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.build_log.htm
@@ -8,7 +8,7 @@ Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
 License Information: xxx xxx
 xxx
 User-based license: Keil MDK Community (non-commercial free of charge)
-Valid until: Jun 1 2033. Cached until: Aug 1 2024
+Valid until: Jun 1 2033. Cached until: Aug 2 2024
  
 Tool Versions:
 Toolchain:       Keil MDK Community (non-commercial free of charge  Version: 5.37.0.0
@@ -25,55 +25,14 @@ Dialog DLL:      TCM.DLL V1.56.1.0
  
 <h2>Project:</h2>
 C:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\STM32G474RETx_Demo_Blink.uvprojx
-Project File Date:  07/26/2024
+Project File Date:  07/27/2024
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.18', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin'
-Rebuild target 'STM32G474RETx_Demo_Blink'
-compiling LowPass_Filter.c...
-compiling control.c...
+Build target 'STM32G474RETx_Demo_Blink'
 compiling pid.c...
-compiling HALL.c...
-assembling startup_stm32g474xx.s...
-compiling FOC.c...
-compiling main.c...
-compiling gpio.c...
-compiling adc.c...
-compiling AS5600.c...
-compiling ABZ.c...
-compiling dma.c...
-compiling fdcan.c...
-compiling usart.c...
-compiling i2c.c...
-compiling tim.c...
-compiling stm32g4xx_ll_adc.c...
-compiling stm32g4xx_it.c...
-compiling stm32g4xx_hal_msp.c...
-compiling stm32g4xx_hal.c...
-compiling stm32g4xx_hal_adc_ex.c...
-compiling stm32g4xx_hal_rcc.c...
-compiling stm32g4xx_hal_adc.c...
-compiling stm32g4xx_hal_rcc_ex.c...
-compiling stm32g4xx_hal_flash_ramfunc.c...
-compiling stm32g4xx_hal_flash_ex.c...
-compiling stm32g4xx_hal_exti.c...
-compiling stm32g4xx_hal_flash.c...
-compiling stm32g4xx_hal_gpio.c...
-compiling stm32g4xx_hal_dma.c...
-compiling stm32g4xx_hal_dma_ex.c...
-compiling stm32g4xx_hal_pwr.c...
-compiling stm32g4xx_hal_cortex.c...
-compiling stm32g4xx_hal_pwr_ex.c...
-compiling stm32g4xx_hal_i2c_ex.c...
-compiling system_stm32g4xx.c...
-compiling stm32g4xx_hal_uart_ex.c...
-compiling stm32g4xx_hal_fdcan.c...
-compiling stm32g4xx_hal_tim_ex.c...
-compiling stm32g4xx_hal_uart.c...
-compiling stm32g4xx_hal_i2c.c...
-compiling stm32g4xx_hal_tim.c...
 linking...
-Program Size: Code=28208 RO-data=880 RW-data=32 ZI-data=3224  
+Program Size: Code=25952 RO-data=880 RW-data=32 ZI-data=3192  
 FromELF: creating hex file...
 "STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf" - 0 Error(s), 0 Warning(s).
 
@@ -99,7 +58,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:04
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex
index b8e7e0e..88f5a4a 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex
@@ -1,19 +1,19 @@
 :020000040800F2
-:10000000B80C0020ED010008355300083544000805
-:10001000A5520008F5090008E15F00080000000093
-:10002000000000000000000000000000B9530008BC
-:10003000290A000800000000B55300080555000813
+:10000000980C0020ED010008894C0008BD40000854
+:10001000F94B0008C10A0008A557000800000000BD
+:100020000000000000000000000000000D4D00086E
+:10003000F50A000800000000094D0008914D000875
 :10004000070200080702000807020008070200086C
 :10005000070200080702000807020008070200085C
-:10006000070200080702000807020008F909000853
-:10007000050A0008110A00081D0A00080702000806
+:10006000070200080702000807020008C50A000886
+:10007000D10A0008DD0A0008E90A000807020008A2
 :10008000070200080702000807020008070200082C
 :10009000070200080702000807020008070200081C
 :1000A000070200080702000807020008070200080C
-:1000B0001D55000845550008070200080702000802
+:1000B00007020008070200080702000807020008FC
 :1000C00007020008070200080702000807020008EC
 :1000D00007020008070200080702000807020008DC
-:1000E0002D0A00080702000807020008070200089E
+:1000E000F90A0008070200080702000807020008D2
 :1000F00007020008070200080702000807020008BC
 :1001000007020008070200080702000807020008AB
 :10011000070200080702000807020008070200089B
@@ -29,9 +29,9 @@
 :1001B00007020008070200080702000807020008FB
 :1001C00007020008070200080702000807020008EB
 :1001D0000702000807020008DFF80CD000F01AFB45
-:1001E0000048004735600008B80C002006488047EA
+:1001E00000480047A9570008980C0020064880479F
 :1001F00006480047FEE7FEE7FEE7FEE7FEE7FEE70C
-:10020000FEE7FEE7FEE7FEE709550008D901000812
+:10020000FEE7FEE7FEE7FEE7954D0008D90100088E
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 :10022000814640241BE0284641464746224600F0CE
 :10023000F8F953465A46C01A914110D31146184650
@@ -130,7 +130,7 @@
 :1008000013460296FFF775FF03B0BDE8F08F204650
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+:10083000B0680008D06800080EB5C10F80EAE0700B
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 :100850000B46FFF74EFF03B000BD0EB540F233412B
 :1008600002910021CDE900110A460B46FFF741FF36
@@ -138,1686 +138,1545 @@
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 :00000001FF
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm
index 2799f7f..ba20ab0 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm
@@ -3,11 +3,11 @@
 <title>Static Call Graph - [STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6180002: Last Updated: Fri Jul 26 14:29:51 2024
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6180002: Last Updated: Sat Jul 27 22:32:42 2024
 <BR><P>
 <H3>Maximum Stack Usage =        432 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
-main &rArr; FOC_AS5600_Init &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
+main &rArr; FOC_ABZ_Init &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 <P>
 <H3>
 Mutually Recursive functions
@@ -113,8 +113,8 @@ Function Pointers
  <LI><a href="#[5a]">TIM20_CC_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  <LI><a href="#[59]">TIM20_TRG_COM_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  <LI><a href="#[58]">TIM20_UP_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
- <LI><a href="#[26]">TIM2_IRQHandler</a> from stm32g4xx_it.o(.text.TIM2_IRQHandler) referenced from startup_stm32g474xx.o(RESET)
- <LI><a href="#[27]">TIM3_IRQHandler</a> from stm32g4xx_it.o(.text.TIM3_IRQHandler) referenced from startup_stm32g474xx.o(RESET)
+ <LI><a href="#[26]">TIM2_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
+ <LI><a href="#[27]">TIM3_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  <LI><a href="#[28]">TIM4_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  <LI><a href="#[3c]">TIM5_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
  <LI><a href="#[40]">TIM6_DAC_IRQHandler</a> from startup_stm32g474xx.o(.text) referenced from startup_stm32g474xx.o(RESET)
@@ -144,7 +144,7 @@ Global Symbols
 <P><STRONG><a name="[71]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(.text)
 </UL>
-<P><STRONG><a name="[108]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
+<P><STRONG><a name="[f3]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
 
 <P><STRONG><a name="[72]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
 <BR><BR>[Calls]<UL><LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
@@ -154,15 +154,15 @@ Global Symbols
 <BR><BR>[Called By]<UL><LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>
 
-<P><STRONG><a name="[109]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
+<P><STRONG><a name="[f4]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
 
-<P><STRONG><a name="[10a]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
+<P><STRONG><a name="[f5]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
 
-<P><STRONG><a name="[10b]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
+<P><STRONG><a name="[f6]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
 
-<P><STRONG><a name="[10c]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))
+<P><STRONG><a name="[f7]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))
 
-<P><STRONG><a name="[10d]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
+<P><STRONG><a name="[f8]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
 
 <P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32g474xx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
@@ -399,6 +399,12 @@ Global Symbols
 <P><STRONG><a name="[58]"></a>TIM20_UP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32g474xx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
+<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32g474xx.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
+</UL>
+<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32g474xx.o(.text))
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
+</UL>
 <P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32g474xx.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
@@ -459,7 +465,7 @@ Global Symbols
 <BR>[Calls]<UL><LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
 <LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
 </UL>
-<BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<BR>[Called By]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
 </UL>
 
 <P><STRONG><a name="[78]"></a>__aeabi_memset</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
@@ -467,24 +473,24 @@ Global Symbols
 <LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
 </UL>
 
-<P><STRONG><a name="[10e]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<P><STRONG><a name="[f9]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
 
-<P><STRONG><a name="[10f]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<P><STRONG><a name="[fa]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
 
 <P><STRONG><a name="[77]"></a>__aeabi_memclr</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
 <BR><BR>[Calls]<UL><LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
 </UL>
 
-<P><STRONG><a name="[99]"></a>__aeabi_memclr4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
-<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
-<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
-<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<P><STRONG><a name="[9a]"></a>__aeabi_memclr4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[110]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
+<P><STRONG><a name="[fb]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
 
 <P><STRONG><a name="[79]"></a>_memset$wrapper</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)
 <BR><BR>[Calls]<UL><LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
@@ -499,12 +505,12 @@ Global Symbols
 <LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
 </UL>
 <BR>[Called By]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
-<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
-<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[100]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_infnan
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_infnan
 <LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
+<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
 </UL>
 
 <P><STRONG><a name="[7e]"></a>__aeabi_dsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text))
@@ -512,10 +518,10 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>
-<BR>[Called By]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<BR>[Called By]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
 </UL>
 
 <P><STRONG><a name="[7f]"></a>__aeabi_drsub</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text))
@@ -523,10 +529,10 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>
-<BR>[Called By]<UL><LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
+<BR>[Called By]<UL><LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
 </UL>
 
 <P><STRONG><a name="[80]"></a>__aeabi_dmul</STRONG> (Thumb, 228 bytes, Stack size 48 bytes, dmul.o(.text))
@@ -534,12 +540,12 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
-<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[107]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_underflow
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<BR>[Called By]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_underflow
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
 </UL>
 
 <P><STRONG><a name="[81]"></a>__aeabi_ddiv</STRONG> (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text))
@@ -547,14 +553,13 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_round
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
+<BR>[Called By]<UL><LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
 </UL>
 
-<P><STRONG><a name="[93]"></a>__aeabi_f2d</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
-<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_normalizeAngle
+<P><STRONG><a name="[8f]"></a>__aeabi_f2d</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
 </UL>
 
 <P><STRONG><a name="[82]"></a>__aeabi_d2f</STRONG> (Thumb, 56 bytes, Stack size 8 bytes, d2f.o(.text))
@@ -562,10 +567,9 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_float_round
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
-<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_normalizeAngle
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
 </UL>
 
 <P><STRONG><a name="[76]"></a>__aeabi_llsl</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text))
@@ -574,7 +578,7 @@ Global Symbols
 <LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
 </UL>
 
-<P><STRONG><a name="[111]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)
+<P><STRONG><a name="[fc]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)
 
 <P><STRONG><a name="[75]"></a>__aeabi_llsr</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
 <BR><BR>[Called By]<UL><LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
@@ -582,21 +586,21 @@ Global Symbols
 <LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
 </UL>
 
-<P><STRONG><a name="[112]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)
+<P><STRONG><a name="[fd]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)
 
 <P><STRONG><a name="[7b]"></a>__aeabi_lasr</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text))
 <BR><BR>[Called By]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>
 
-<P><STRONG><a name="[113]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
+<P><STRONG><a name="[fe]"></a>_ll_sshift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)
 
-<P><STRONG><a name="[114]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)
+<P><STRONG><a name="[ff]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)
 
 <P><STRONG><a name="[83]"></a>_float_round</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text))
 <BR><BR>[Called By]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2f
 </UL>
 
-<P><STRONG><a name="[115]"></a>_float_epilogue</STRONG> (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text), UNUSED)
+<P><STRONG><a name="[100]"></a>_float_epilogue</STRONG> (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text), UNUSED)
 
 <P><STRONG><a name="[7d]"></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
@@ -625,7 +629,7 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
+<BR>[Called By]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
 </UL>
 
 <P><STRONG><a name="[73]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
@@ -634,14 +638,14 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
 </UL>
 
-<P><STRONG><a name="[116]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
+<P><STRONG><a name="[101]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
 
 <P><STRONG><a name="[86]"></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="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
 </UL>
 
 <P><STRONG><a name="[87]"></a>__aeabi_ui2d</STRONG> (Thumb, 26 bytes, Stack size 16 bytes, dfltui.o(.text))
@@ -649,7 +653,7 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_double_epilogue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
 </UL>
 
 <P><STRONG><a name="[88]"></a>__aeabi_d2iz</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, dfixi.o(.text))
@@ -657,34 +661,43 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
 </UL>
-<BR>[Called By]<UL><LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
 </UL>
 
-<P><STRONG><a name="[fb]"></a>ADC_Filter_Init</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, lowpass_filter.o(.text.ADC_Filter_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[8e]"></a>ABZ_GetAngle2PI</STRONG> (Thumb, 60 bytes, Stack size 0 bytes, abz.o(.text.ABZ_GetAngle2PI))
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
 </UL>
 
-<P><STRONG><a name="[92]"></a>AS5600_GetAngle2PI</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, as5600.o(.text.AS5600_GetAngle2PI))
-<BR><BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
+<P><STRONG><a name="[89]"></a>ABZ_Get_Speed</STRONG> (Thumb, 248 bytes, Stack size 8 bytes, abz.o(.text.ABZ_Get_Speed))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = ABZ_Get_Speed
+</UL>
+<BR>[Calls]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPass_Filter
+</UL>
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
 </UL>
 
-<P><STRONG><a name="[89]"></a>AS5600_Get_Speed</STRONG> (Thumb, 196 bytes, Stack size 0 bytes, as5600.o(.text.AS5600_Get_Speed))
-<BR><BR>[Calls]<UL><LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPass_Filter
+<P><STRONG><a name="[8b]"></a>ABZ_Set_Speed</STRONG> (Thumb, 196 bytes, Stack size 24 bytes, foc.o(.text.ABZ_Set_Speed))
+<BR><BR>[Stack]<UL><LI>Max Depth = 344<LI>Call Chain = ABZ_Set_Speed &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
-</UL>
-
-<P><STRONG><a name="[8b]"></a>AS5600_ReadRawAngle</STRONG> (Thumb, 64 bytes, Stack size 32 bytes, as5600.o(.text.AS5600_ReadRawAngle))
-<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = AS5600_ReadRawAngle &rArr; HAL_I2C_Mem_Read &rArr; I2C_WaitOnFlagUntilTimeout &rArr; I2C_IsErrorOccurred
-</UL>
-<BR>[Calls]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Mem_Read
+<BR>[Calls]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Get_Speed
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_GetAngle2PI
+<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2f
+<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
+<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Moment_limiting
+<LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Speed_Control
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
+<P><STRONG><a name="[e6]"></a>ADC_Filter_Init</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, lowpass_filter.o(.text.ADC_Filter_Init))
+<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
 <P><STRONG><a name="[4]"></a>BusFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.BusFault_Handler))
 <BR><BR>[Calls]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
 </UL>
@@ -695,28 +708,28 @@ Global Symbols
 <P><STRONG><a name="[15]"></a>DMA1_Channel1_IRQHandler</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.DMA1_Channel1_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = DMA1_Channel1_IRQHandler &rArr; HAL_DMA_IRQHandler
 </UL>
-<BR>[Calls]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
 <P><STRONG><a name="[16]"></a>DMA1_Channel2_IRQHandler</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.DMA1_Channel2_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = DMA1_Channel2_IRQHandler &rArr; HAL_DMA_IRQHandler
 </UL>
-<BR>[Calls]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
 <P><STRONG><a name="[17]"></a>DMA1_Channel3_IRQHandler</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.DMA1_Channel3_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = DMA1_Channel3_IRQHandler &rArr; HAL_DMA_IRQHandler
 </UL>
-<BR>[Calls]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
 <P><STRONG><a name="[18]"></a>DMA1_Channel4_IRQHandler</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = DMA1_Channel4_IRQHandler &rArr; HAL_DMA_IRQHandler
 </UL>
-<BR>[Calls]<UL><LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
+<BR>[Calls]<UL><LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
@@ -724,89 +737,89 @@ Global Symbols
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
 <P><STRONG><a name="[32]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.EXTI15_10_IRQHandler))
-<BR><BR>[Calls]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_EXTI_IRQHandler
+<BR><BR>[Calls]<UL><LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_EXTI_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
-<P><STRONG><a name="[9b]"></a>Error_Handler</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, main.o(.text.Error_Handler))
-<BR><BR>[Called By]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
-<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
-<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
-<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
-<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
-<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN2_Init
-<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
-<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN1_Init
-<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
-<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
-<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
-<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
-<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
-<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
+<P><STRONG><a name="[9c]"></a>Error_Handler</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, main.o(.text.Error_Handler))
+<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN2_Init
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN1_Init
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
+<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
 </UL>
 
-<P><STRONG><a name="[8f]"></a>FOC_AS5600_Init</STRONG> (Thumb, 192 bytes, Stack size 32 bytes, foc.o(.text.FOC_AS5600_Init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 352<LI>Call Chain = FOC_AS5600_Init &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
+<P><STRONG><a name="[94]"></a>FOC_ABZ_Init</STRONG> (Thumb, 192 bytes, Stack size 32 bytes, foc.o(.text.FOC_ABZ_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 352<LI>Call Chain = FOC_ABZ_Init &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
-<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<BR>[Calls]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Get_Speed
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_GetAngle2PI
 <LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2f
-<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
-<LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_Get_Speed
-<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_GetAngle2PI
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
+<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[95]"></a>FOC_Init</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, foc.o(.text.FOC_Init))
-<BR><BR>[Calls]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_init
+<P><STRONG><a name="[96]"></a>FOC_Init</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, foc.o(.text.FOC_Init))
+<BR><BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_init
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[cf]"></a>HAL_ADCEx_MultiModeConfigChannel</STRONG> (Thumb, 308 bytes, Stack size 24 bytes, stm32g4xx_hal_adc_ex.o(.text.HAL_ADCEx_MultiModeConfigChannel))
+<P><STRONG><a name="[be]"></a>HAL_ADCEx_MultiModeConfigChannel</STRONG> (Thumb, 308 bytes, Stack size 24 bytes, stm32g4xx_hal_adc_ex.o(.text.HAL_ADCEx_MultiModeConfigChannel))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_ADCEx_MultiModeConfigChannel
 </UL>
-<BR>[Called By]<UL><LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
+<BR>[Called By]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
 </UL>
 
-<P><STRONG><a name="[d0]"></a>HAL_ADC_ConfigChannel</STRONG> (Thumb, 1000 bytes, Stack size 24 bytes, stm32g4xx_hal_adc.o(.text.HAL_ADC_ConfigChannel))
+<P><STRONG><a name="[bf]"></a>HAL_ADC_ConfigChannel</STRONG> (Thumb, 1000 bytes, Stack size 24 bytes, stm32g4xx_hal_adc.o(.text.HAL_ADC_ConfigChannel))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_ADC_ConfigChannel
 </UL>
-<BR>[Called By]<UL><LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
-<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
+<BR>[Called By]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
 </UL>
 
-<P><STRONG><a name="[97]"></a>HAL_ADC_Init</STRONG> (Thumb, 636 bytes, Stack size 24 bytes, stm32g4xx_hal_adc.o(.text.HAL_ADC_Init))
+<P><STRONG><a name="[98]"></a>HAL_ADC_Init</STRONG> (Thumb, 636 bytes, Stack size 24 bytes, stm32g4xx_hal_adc.o(.text.HAL_ADC_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 204<LI>Call Chain = HAL_ADC_Init &rArr; HAL_ADC_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
+<BR>[Calls]<UL><LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
 </UL>
-<BR>[Called By]<UL><LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
-<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
+<BR>[Called By]<UL><LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
 </UL>
 
-<P><STRONG><a name="[98]"></a>HAL_ADC_MspInit</STRONG> (Thumb, 596 bytes, Stack size 128 bytes, adc.o(.text.HAL_ADC_MspInit))
+<P><STRONG><a name="[99]"></a>HAL_ADC_MspInit</STRONG> (Thumb, 596 bytes, Stack size 128 bytes, adc.o(.text.HAL_ADC_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 180<LI>Call Chain = HAL_ADC_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
-<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
-<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
-<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
+<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
+<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
+<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
-<BR>[Called By]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
+<BR>[Called By]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
 </UL>
 
-<P><STRONG><a name="[8d]"></a>HAL_DMA_IRQHandler</STRONG> (Thumb, 170 bytes, Stack size 16 bytes, stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))
+<P><STRONG><a name="[92]"></a>HAL_DMA_IRQHandler</STRONG> (Thumb, 170 bytes, Stack size 16 bytes, stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_DMA_IRQHandler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[18]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA1_Channel4_IRQHandler
@@ -815,466 +828,373 @@ Global Symbols
 <LI><a href="#[15]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA1_Channel1_IRQHandler
 </UL>
 
-<P><STRONG><a name="[9d]"></a>HAL_DMA_Init</STRONG> (Thumb, 298 bytes, Stack size 32 bytes, stm32g4xx_hal_dma.o(.text.HAL_DMA_Init))
+<P><STRONG><a name="[9e]"></a>HAL_DMA_Init</STRONG> (Thumb, 298 bytes, Stack size 32 bytes, stm32g4xx_hal_dma.o(.text.HAL_DMA_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = HAL_DMA_Init
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
+<BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
 </UL>
 
-<P><STRONG><a name="[91]"></a>HAL_Delay</STRONG> (Thumb, 40 bytes, Stack size 16 bytes, stm32g4xx_hal.o(.text.HAL_Delay))
+<P><STRONG><a name="[95]"></a>HAL_Delay</STRONG> (Thumb, 40 bytes, Stack size 16 bytes, stm32g4xx_hal.o(.text.HAL_Delay))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_Delay
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
+<BR>[Called By]<UL><LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
 </UL>
 
-<P><STRONG><a name="[9f]"></a>HAL_FDCAN_Init</STRONG> (Thumb, 596 bytes, Stack size 16 bytes, stm32g4xx_hal_fdcan.o(.text.HAL_FDCAN_Init))
+<P><STRONG><a name="[a0]"></a>HAL_FDCAN_Init</STRONG> (Thumb, 596 bytes, Stack size 16 bytes, stm32g4xx_hal_fdcan.o(.text.HAL_FDCAN_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 188<LI>Call Chain = HAL_FDCAN_Init &rArr; HAL_FDCAN_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
+<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
 </UL>
-<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN2_Init
-<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN1_Init
+<BR>[Called By]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN2_Init
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN1_Init
 </UL>
 
-<P><STRONG><a name="[a0]"></a>HAL_FDCAN_MspInit</STRONG> (Thumb, 276 bytes, Stack size 120 bytes, fdcan.o(.text.HAL_FDCAN_MspInit))
+<P><STRONG><a name="[a1]"></a>HAL_FDCAN_MspInit</STRONG> (Thumb, 276 bytes, Stack size 120 bytes, fdcan.o(.text.HAL_FDCAN_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 172<LI>Call Chain = HAL_FDCAN_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
-<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
-<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
+<BR>[Calls]<UL><LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
+<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
-<BR>[Called By]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
+<BR>[Called By]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
 </UL>
 
-<P><STRONG><a name="[a1]"></a>HAL_GPIO_EXTI_Callback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_Callback))
-<BR><BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_EXTI_IRQHandler
+<P><STRONG><a name="[a2]"></a>HAL_GPIO_EXTI_Callback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_Callback))
+<BR><BR>[Called By]<UL><LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_EXTI_IRQHandler
 </UL>
 
-<P><STRONG><a name="[8e]"></a>HAL_GPIO_EXTI_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler))
-<BR><BR>[Calls]<UL><LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_EXTI_Callback
+<P><STRONG><a name="[93]"></a>HAL_GPIO_EXTI_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler))
+<BR><BR>[Calls]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_EXTI_Callback
 </UL>
 <BR>[Called By]<UL><LI><a href="#[32]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EXTI15_10_IRQHandler
 </UL>
 
-<P><STRONG><a name="[9c]"></a>HAL_GPIO_Init</STRONG> (Thumb, 474 bytes, Stack size 52 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init))
+<P><STRONG><a name="[9d]"></a>HAL_GPIO_Init</STRONG> (Thumb, 474 bytes, Stack size 52 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = HAL_GPIO_Init
 </UL>
-<BR>[Called By]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_MspInit
-<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
-<LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
-<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
-<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
-<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
+<BR>[Called By]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_MspInit
+<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
+<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
 </UL>
 
-<P><STRONG><a name="[d7]"></a>HAL_GPIO_WritePin</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin))
-<BR><BR>[Called By]<UL><LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
+<P><STRONG><a name="[c7]"></a>HAL_GPIO_WritePin</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin))
+<BR><BR>[Called By]<UL><LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
 <LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[9e]"></a>HAL_GetTick</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_hal.o(.text.HAL_GetTick))
-<BR><BR>[Called By]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
-<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
-<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
-<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
-<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
-<LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Mem_Read
-<LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
-<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_CheckIdleState
-<LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnSTOPFlagUntilTimeout
-<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnFlagUntilTimeout
-<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnTXISFlagUntilTimeout
-<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_IsErrorOccurred
+<P><STRONG><a name="[9f]"></a>HAL_GetTick</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_hal.o(.text.HAL_GetTick))
+<BR><BR>[Called By]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
+<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
+<LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
+<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
+<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
+<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_CheckIdleState
 </UL>
 
-<P><STRONG><a name="[d9]"></a>HAL_I2CEx_ConfigAnalogFilter</STRONG> (Thumb, 74 bytes, Stack size 0 bytes, stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigAnalogFilter))
-<BR><BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
-<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
+<P><STRONG><a name="[c9]"></a>HAL_I2CEx_ConfigAnalogFilter</STRONG> (Thumb, 74 bytes, Stack size 0 bytes, stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigAnalogFilter))
+<BR><BR>[Called By]<UL><LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
 </UL>
 
-<P><STRONG><a name="[da]"></a>HAL_I2CEx_ConfigDigitalFilter</STRONG> (Thumb, 72 bytes, Stack size 0 bytes, stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigDigitalFilter))
-<BR><BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
-<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
+<P><STRONG><a name="[ca]"></a>HAL_I2CEx_ConfigDigitalFilter</STRONG> (Thumb, 72 bytes, Stack size 0 bytes, stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigDigitalFilter))
+<BR><BR>[Called By]<UL><LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
 </UL>
 
-<P><STRONG><a name="[a2]"></a>HAL_I2C_Init</STRONG> (Thumb, 174 bytes, Stack size 8 bytes, stm32g4xx_hal_i2c.o(.text.HAL_I2C_Init))
+<P><STRONG><a name="[a3]"></a>HAL_I2C_Init</STRONG> (Thumb, 174 bytes, Stack size 8 bytes, stm32g4xx_hal_i2c.o(.text.HAL_I2C_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 180<LI>Call Chain = HAL_I2C_Init &rArr; HAL_I2C_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
+<BR>[Calls]<UL><LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
 </UL>
-<BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
-<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
+<BR>[Called By]<UL><LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
 </UL>
 
-<P><STRONG><a name="[8c]"></a>HAL_I2C_Mem_Read</STRONG> (Thumb, 568 bytes, Stack size 40 bytes, stm32g4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read))
-<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = HAL_I2C_Mem_Read &rArr; I2C_WaitOnFlagUntilTimeout &rArr; I2C_IsErrorOccurred
-</UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnSTOPFlagUntilTimeout
-<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnFlagUntilTimeout
-<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnTXISFlagUntilTimeout
-<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_IsErrorOccurred
-</UL>
-<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_ReadRawAngle
-</UL>
-
-<P><STRONG><a name="[a3]"></a>HAL_I2C_MspInit</STRONG> (Thumb, 248 bytes, Stack size 120 bytes, i2c.o(.text.HAL_I2C_MspInit))
+<P><STRONG><a name="[a4]"></a>HAL_I2C_MspInit</STRONG> (Thumb, 248 bytes, Stack size 120 bytes, i2c.o(.text.HAL_I2C_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 172<LI>Call Chain = HAL_I2C_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
-<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
-<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
+<BR>[Calls]<UL><LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
+<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
-<BR>[Called By]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Init
+<BR>[Called By]<UL><LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Init
 </UL>
 
-<P><STRONG><a name="[ef]"></a>HAL_IncTick</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32g4xx_hal.o(.text.HAL_IncTick))
+<P><STRONG><a name="[dc]"></a>HAL_IncTick</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, stm32g4xx_hal.o(.text.HAL_IncTick))
 <BR><BR>[Called By]<UL><LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
 </UL>
 
-<P><STRONG><a name="[a8]"></a>HAL_Init</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, stm32g4xx_hal.o(.text.HAL_Init))
+<P><STRONG><a name="[a5]"></a>HAL_Init</STRONG> (Thumb, 30 bytes, Stack size 8 bytes, stm32g4xx_hal.o(.text.HAL_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = HAL_Init &rArr; HAL_InitTick &rArr; HAL_NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
-<LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriorityGrouping
-<LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_MspInit
+<BR>[Calls]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
+<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriorityGrouping
+<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_MspInit
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[aa]"></a>HAL_InitTick</STRONG> (Thumb, 76 bytes, Stack size 16 bytes, stm32g4xx_hal.o(.text.HAL_InitTick))
+<P><STRONG><a name="[a7]"></a>HAL_InitTick</STRONG> (Thumb, 76 bytes, Stack size 16 bytes, stm32g4xx_hal.o(.text.HAL_InitTick))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_InitTick &rArr; HAL_NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SYSTICK_Config
-<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
+<BR>[Calls]<UL><LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SYSTICK_Config
+<LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
 </UL>
-<BR>[Called By]<UL><LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
-<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
-<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
+<BR>[Called By]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
+<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
+<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
 </UL>
 
-<P><STRONG><a name="[ab]"></a>HAL_MspInit</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, stm32g4xx_hal_msp.o(.text.HAL_MspInit))
+<P><STRONG><a name="[a8]"></a>HAL_MspInit</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, stm32g4xx_hal_msp.o(.text.HAL_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_MspInit
 </UL>
-<BR>[Calls]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_PWREx_DisableUCPDDeadBattery
+<BR>[Calls]<UL><LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_PWREx_DisableUCPDDeadBattery
 </UL>
-<BR>[Called By]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
+<BR>[Called By]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
 </UL>
 
-<P><STRONG><a name="[b8]"></a>HAL_NVIC_EnableIRQ</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ))
-<BR><BR>[Called By]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_MspInit
-<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
-<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
-<LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[c3]"></a>HAL_NVIC_EnableIRQ</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ))
+<BR><BR>[Called By]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
 </UL>
 
-<P><STRONG><a name="[ad]"></a>HAL_NVIC_SetPriority</STRONG> (Thumb, 86 bytes, Stack size 8 bytes, stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))
+<P><STRONG><a name="[aa]"></a>HAL_NVIC_SetPriority</STRONG> (Thumb, 86 bytes, Stack size 8 bytes, stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_NVIC_SetPriority
 </UL>
-<BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
-<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_MspInit
-<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
-<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
-<LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Called By]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
+<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
 </UL>
 
-<P><STRONG><a name="[a9]"></a>HAL_NVIC_SetPriorityGrouping</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping))
-<BR><BR>[Called By]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
+<P><STRONG><a name="[a6]"></a>HAL_NVIC_SetPriorityGrouping</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping))
+<BR><BR>[Called By]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
 </UL>
 
-<P><STRONG><a name="[fa]"></a>HAL_PWREx_ControlVoltageScaling</STRONG> (Thumb, 294 bytes, Stack size 0 bytes, stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling))
+<P><STRONG><a name="[e5]"></a>HAL_PWREx_ControlVoltageScaling</STRONG> (Thumb, 294 bytes, Stack size 0 bytes, stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling))
 <BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[ae]"></a>HAL_PWREx_DisableUCPDDeadBattery</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery))
-<BR><BR>[Called By]<UL><LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_MspInit
+<P><STRONG><a name="[ab]"></a>HAL_PWREx_DisableUCPDDeadBattery</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery))
+<BR><BR>[Called By]<UL><LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_MspInit
 </UL>
 
-<P><STRONG><a name="[9a]"></a>HAL_RCCEx_PeriphCLKConfig</STRONG> (Thumb, 726 bytes, Stack size 32 bytes, stm32g4xx_hal_rcc_ex.o(.text.HAL_RCCEx_PeriphCLKConfig))
+<P><STRONG><a name="[9b]"></a>HAL_RCCEx_PeriphCLKConfig</STRONG> (Thumb, 726 bytes, Stack size 32 bytes, stm32g4xx_hal_rcc_ex.o(.text.HAL_RCCEx_PeriphCLKConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = HAL_RCCEx_PeriphCLKConfig
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
-<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
-<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
+<BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MspInit
+<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_MspInit
+<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_MspInit
 </UL>
 
-<P><STRONG><a name="[af]"></a>HAL_RCC_ClockConfig</STRONG> (Thumb, 788 bytes, Stack size 32 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))
+<P><STRONG><a name="[ac]"></a>HAL_RCC_ClockConfig</STRONG> (Thumb, 788 bytes, Stack size 32 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = HAL_RCC_ClockConfig &rArr; HAL_InitTick &rArr; HAL_NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
-<LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<BR>[Calls]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
+<LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[f5]"></a>HAL_RCC_GetPCLK1Freq</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq))
-<BR><BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<P><STRONG><a name="[e2]"></a>HAL_RCC_GetPCLK1Freq</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq))
+<BR><BR>[Called By]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
 </UL>
 
-<P><STRONG><a name="[f7]"></a>HAL_RCC_GetPCLK2Freq</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq))
-<BR><BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<P><STRONG><a name="[e4]"></a>HAL_RCC_GetPCLK2Freq</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq))
+<BR><BR>[Called By]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
 </UL>
 
-<P><STRONG><a name="[f6]"></a>HAL_RCC_GetSysClockFreq</STRONG> (Thumb, 122 bytes, Stack size 0 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))
-<BR><BR>[Called By]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<P><STRONG><a name="[e3]"></a>HAL_RCC_GetSysClockFreq</STRONG> (Thumb, 122 bytes, Stack size 0 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))
+<BR><BR>[Called By]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
 </UL>
 
-<P><STRONG><a name="[b0]"></a>HAL_RCC_OscConfig</STRONG> (Thumb, 1194 bytes, Stack size 32 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))
+<P><STRONG><a name="[ad]"></a>HAL_RCC_OscConfig</STRONG> (Thumb, 1194 bytes, Stack size 32 bytes, stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = HAL_RCC_OscConfig &rArr; HAL_InitTick &rArr; HAL_NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
-<LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<BR>[Calls]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
+<LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[ac]"></a>HAL_SYSTICK_Config</STRONG> (Thumb, 44 bytes, Stack size 0 bytes, stm32g4xx_hal_cortex.o(.text.HAL_SYSTICK_Config))
-<BR><BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
+<P><STRONG><a name="[a9]"></a>HAL_SYSTICK_Config</STRONG> (Thumb, 44 bytes, Stack size 0 bytes, stm32g4xx_hal_cortex.o(.text.HAL_SYSTICK_Config))
+<BR><BR>[Called By]<UL><LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
 </UL>
 
-<P><STRONG><a name="[bf]"></a>HAL_TIMEx_Break2Callback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_Break2Callback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[be]"></a>HAL_TIMEx_BreakCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[c1]"></a>HAL_TIMEx_CommutCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[e4]"></a>HAL_TIMEx_ConfigBreakDeadTime</STRONG> (Thumb, 212 bytes, Stack size 16 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime))
+<P><STRONG><a name="[d4]"></a>HAL_TIMEx_ConfigBreakDeadTime</STRONG> (Thumb, 212 bytes, Stack size 16 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIMEx_ConfigBreakDeadTime
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[b1]"></a>HAL_TIMEx_ConfigEncoderIndex</STRONG> (Thumb, 78 bytes, Stack size 16 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigEncoderIndex))
+<P><STRONG><a name="[ae]"></a>HAL_TIMEx_ConfigEncoderIndex</STRONG> (Thumb, 78 bytes, Stack size 16 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigEncoderIndex))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIMEx_ConfigEncoderIndex
 </UL>
-<BR>[Calls]<UL><LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ETR_SetConfig
+<BR>[Calls]<UL><LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_ETR_SetConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
-<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
+<BR>[Called By]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
 </UL>
 
-<P><STRONG><a name="[c3]"></a>HAL_TIMEx_DirectionChangeCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_DirectionChangeCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
+<P><STRONG><a name="[df]"></a>HAL_TIMEx_EnableEncoderIndex</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex))
+<BR><BR>[Called By]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_M2_ABZ
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_M1_ABZ
 </UL>
 
-<P><STRONG><a name="[f2]"></a>HAL_TIMEx_EnableEncoderIndex</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex))
-<BR><BR>[Called By]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UpdateEncoderCnt
-<LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_M2_ABZ
-<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_M1_ABZ
-</UL>
-
-<P><STRONG><a name="[c2]"></a>HAL_TIMEx_EncoderIndexCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EncoderIndexCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[c4]"></a>HAL_TIMEx_IndexErrorCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_IndexErrorCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[e2]"></a>HAL_TIMEx_MasterConfigSynchronization</STRONG> (Thumb, 222 bytes, Stack size 16 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))
+<P><STRONG><a name="[d2]"></a>HAL_TIMEx_MasterConfigSynchronization</STRONG> (Thumb, 222 bytes, Stack size 16 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIMEx_MasterConfigSynchronization
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
-<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
-<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[e6]"></a>HAL_TIMEx_PWMN_Start</STRONG> (Thumb, 274 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_PWMN_Start))
-<BR><BR>[Called By]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<P><STRONG><a name="[d6]"></a>HAL_TIMEx_PWMN_Start</STRONG> (Thumb, 274 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_PWMN_Start))
+<BR><BR>[Called By]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[c5]"></a>HAL_TIMEx_TransitionErrorCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_TransitionErrorCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[b3]"></a>HAL_TIM_Base_Init</STRONG> (Thumb, 98 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_Base_Init))
+<P><STRONG><a name="[b0]"></a>HAL_TIM_Base_Init</STRONG> (Thumb, 98 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_Base_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_Base_Init &rArr; HAL_TIM_Base_MspInit
 </UL>
-<BR>[Calls]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_MspInit
-<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
+<BR>[Calls]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_MspInit
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[b4]"></a>HAL_TIM_Base_MspInit</STRONG> (Thumb, 90 bytes, Stack size 8 bytes, tim.o(.text.HAL_TIM_Base_MspInit))
+<P><STRONG><a name="[b1]"></a>HAL_TIM_Base_MspInit</STRONG> (Thumb, 90 bytes, Stack size 8 bytes, tim.o(.text.HAL_TIM_Base_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_Base_MspInit
 </UL>
-<BR>[Called By]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
+<BR>[Called By]<UL><LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
 </UL>
 
-<P><STRONG><a name="[e1]"></a>HAL_TIM_ConfigClockSource</STRONG> (Thumb, 544 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource))
+<P><STRONG><a name="[d1]"></a>HAL_TIM_ConfigClockSource</STRONG> (Thumb, 544 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_ConfigClockSource
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[b6]"></a>HAL_TIM_Encoder_Init</STRONG> (Thumb, 182 bytes, Stack size 32 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Init))
+<P><STRONG><a name="[b3]"></a>HAL_TIM_Encoder_Init</STRONG> (Thumb, 182 bytes, Stack size 32 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 132<LI>Call Chain = HAL_TIM_Encoder_Init &rArr; HAL_TIM_Encoder_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_MspInit
-<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
+<BR>[Calls]<UL><LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_MspInit
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
-<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
+<BR>[Called By]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
 </UL>
 
-<P><STRONG><a name="[b7]"></a>HAL_TIM_Encoder_MspInit</STRONG> (Thumb, 362 bytes, Stack size 48 bytes, tim.o(.text.HAL_TIM_Encoder_MspInit))
+<P><STRONG><a name="[b4]"></a>HAL_TIM_Encoder_MspInit</STRONG> (Thumb, 344 bytes, Stack size 48 bytes, tim.o(.text.HAL_TIM_Encoder_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 100<LI>Call Chain = HAL_TIM_Encoder_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
-<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
-<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
+<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
 </UL>
-<BR>[Called By]<UL><LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
+<BR>[Called By]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
 </UL>
 
-<P><STRONG><a name="[f1]"></a>HAL_TIM_Encoder_Start</STRONG> (Thumb, 188 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start))
+<P><STRONG><a name="[de]"></a>HAL_TIM_Encoder_Start</STRONG> (Thumb, 188 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_Encoder_Start
 </UL>
-<BR>[Called By]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UpdateEncoderCnt
-<LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_M2_ABZ
-<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_M1_ABZ
+<BR>[Called By]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_M2_ABZ
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_M1_ABZ
 </UL>
 
-<P><STRONG><a name="[ba]"></a>HAL_TIM_IC_CaptureCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[b9]"></a>HAL_TIM_IRQHandler</STRONG> (Thumb, 460 bytes, Stack size 24 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_IRQHandler))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_TIM_IRQHandler
-</UL>
-<BR>[Calls]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_TransitionErrorCallback
-<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_IndexErrorCallback
-<LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_DirectionChangeCallback
-<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_EncoderIndexCallback
-<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_CommutCallback
-<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_TriggerCallback
-<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_Break2Callback
-<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_BreakCallback
-<LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_OC_DelayElapsedCallback
-<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IC_CaptureCallback
-<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_PulseFinishedCallback
-<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PeriodElapsedCallback
-</UL>
-<BR>[Called By]<UL><LI><a href="#[27]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_IRQHandler
-<LI><a href="#[26]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_IRQHandler
-</UL>
-
-<P><STRONG><a name="[c6]"></a>HAL_TIM_MspPostInit</STRONG> (Thumb, 224 bytes, Stack size 48 bytes, tim.o(.text.HAL_TIM_MspPostInit))
+<P><STRONG><a name="[b5]"></a>HAL_TIM_MspPostInit</STRONG> (Thumb, 224 bytes, Stack size 48 bytes, tim.o(.text.HAL_TIM_MspPostInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 100<LI>Call Chain = HAL_TIM_MspPostInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[bb]"></a>HAL_TIM_OC_DelayElapsedCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[e3]"></a>HAL_TIM_PWM_ConfigChannel</STRONG> (Thumb, 1024 bytes, Stack size 24 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))
+<P><STRONG><a name="[d3]"></a>HAL_TIM_PWM_ConfigChannel</STRONG> (Thumb, 1024 bytes, Stack size 24 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_TIM_PWM_ConfigChannel
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[c7]"></a>HAL_TIM_PWM_Init</STRONG> (Thumb, 98 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))
+<P><STRONG><a name="[b6]"></a>HAL_TIM_PWM_Init</STRONG> (Thumb, 98 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_PWM_Init &rArr; TIM_Base_SetConfig
 </UL>
-<BR>[Calls]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
-<LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
+<BR>[Calls]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
+<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<BR>[Called By]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[c8]"></a>HAL_TIM_PWM_MspInit</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit))
-<BR><BR>[Called By]<UL><LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
+<P><STRONG><a name="[b7]"></a>HAL_TIM_PWM_MspInit</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit))
+<BR><BR>[Called By]<UL><LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
 </UL>
 
-<P><STRONG><a name="[bc]"></a>HAL_TIM_PWM_PulseFinishedCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
+<P><STRONG><a name="[d5]"></a>HAL_TIM_PWM_Start</STRONG> (Thumb, 414 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Start))
+<BR><BR>[Called By]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
 </UL>
 
-<P><STRONG><a name="[e5]"></a>HAL_TIM_PWM_Start</STRONG> (Thumb, 414 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Start))
-<BR><BR>[Called By]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<P><STRONG><a name="[cf]"></a>HAL_UARTEx_DisableFifoMode</STRONG> (Thumb, 54 bytes, Stack size 0 bytes, stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_DisableFifoMode))
+<BR><BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
 </UL>
 
-<P><STRONG><a name="[bd]"></a>HAL_TIM_PeriodElapsedCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[c0]"></a>HAL_TIM_TriggerCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback))
-<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-
-<P><STRONG><a name="[df]"></a>HAL_UARTEx_DisableFifoMode</STRONG> (Thumb, 54 bytes, Stack size 0 bytes, stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_DisableFifoMode))
-<BR><BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
-<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
-</UL>
-
-<P><STRONG><a name="[de]"></a>HAL_UARTEx_SetRxFifoThreshold</STRONG> (Thumb, 140 bytes, Stack size 16 bytes, stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetRxFifoThreshold))
+<P><STRONG><a name="[ce]"></a>HAL_UARTEx_SetRxFifoThreshold</STRONG> (Thumb, 140 bytes, Stack size 16 bytes, stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetRxFifoThreshold))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_UARTEx_SetRxFifoThreshold
 </UL>
-<BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
-<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
+<BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
 </UL>
 
-<P><STRONG><a name="[dd]"></a>HAL_UARTEx_SetTxFifoThreshold</STRONG> (Thumb, 140 bytes, Stack size 16 bytes, stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetTxFifoThreshold))
+<P><STRONG><a name="[cd]"></a>HAL_UARTEx_SetTxFifoThreshold</STRONG> (Thumb, 140 bytes, Stack size 16 bytes, stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetTxFifoThreshold))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_UARTEx_SetTxFifoThreshold
 </UL>
-<BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
-<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
+<BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
 </UL>
 
-<P><STRONG><a name="[c9]"></a>HAL_UART_Init</STRONG> (Thumb, 100 bytes, Stack size 8 bytes, stm32g4xx_hal_uart.o(.text.HAL_UART_Init))
+<P><STRONG><a name="[b8]"></a>HAL_UART_Init</STRONG> (Thumb, 100 bytes, Stack size 8 bytes, stm32g4xx_hal_uart.o(.text.HAL_UART_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 188<LI>Call Chain = HAL_UART_Init &rArr; HAL_UART_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
-<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_CheckIdleState
-<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
-<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_AdvFeatureConfig
+<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
+<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_CheckIdleState
+<LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
+<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_AdvFeatureConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
-<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
+<BR>[Called By]<UL><LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
 </UL>
 
-<P><STRONG><a name="[ca]"></a>HAL_UART_MspInit</STRONG> (Thumb, 418 bytes, Stack size 128 bytes, usart.o(.text.HAL_UART_MspInit))
+<P><STRONG><a name="[b9]"></a>HAL_UART_MspInit</STRONG> (Thumb, 418 bytes, Stack size 128 bytes, usart.o(.text.HAL_UART_MspInit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 180<LI>Call Chain = HAL_UART_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
-<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
-<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
-<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
+<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
+<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCCEx_PeriphCLKConfig
+<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
-<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
 </UL>
 
 <P><STRONG><a name="[2]"></a>HardFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.HardFault_Handler))
@@ -1285,189 +1205,189 @@ Global Symbols
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
 <P><STRONG><a name="[8a]"></a>LowPass_Filter</STRONG> (Thumb, 48 bytes, Stack size 0 bytes, lowpass_filter.o(.text.LowPass_Filter))
-<BR><BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_Get_Speed
+<BR><BR>[Called By]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Get_Speed
 </UL>
 
-<P><STRONG><a name="[ce]"></a>MX_ADC1_Init</STRONG> (Thumb, 246 bytes, Stack size 56 bytes, adc.o(.text.MX_ADC1_Init))
+<P><STRONG><a name="[bd]"></a>MX_ADC1_Init</STRONG> (Thumb, 246 bytes, Stack size 56 bytes, adc.o(.text.MX_ADC1_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 260<LI>Call Chain = MX_ADC1_Init &rArr; HAL_ADC_Init &rArr; HAL_ADC_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_ConfigChannel
-<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADCEx_MultiModeConfigChannel
-<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_ConfigChannel
+<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADCEx_MultiModeConfigChannel
+<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d1]"></a>MX_ADC2_Init</STRONG> (Thumb, 214 bytes, Stack size 48 bytes, adc.o(.text.MX_ADC2_Init))
+<P><STRONG><a name="[c0]"></a>MX_ADC2_Init</STRONG> (Thumb, 214 bytes, Stack size 48 bytes, adc.o(.text.MX_ADC2_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 252<LI>Call Chain = MX_ADC2_Init &rArr; HAL_ADC_Init &rArr; HAL_ADC_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_ConfigChannel
-<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_ConfigChannel
+<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d2]"></a>MX_ADC3_Init</STRONG> (Thumb, 176 bytes, Stack size 56 bytes, adc.o(.text.MX_ADC3_Init))
+<P><STRONG><a name="[c1]"></a>MX_ADC3_Init</STRONG> (Thumb, 176 bytes, Stack size 56 bytes, adc.o(.text.MX_ADC3_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 260<LI>Call Chain = MX_ADC3_Init &rArr; HAL_ADC_Init &rArr; HAL_ADC_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_ConfigChannel
-<LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADCEx_MultiModeConfigChannel
-<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_ConfigChannel
+<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADCEx_MultiModeConfigChannel
+<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_ADC_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d3]"></a>MX_DMA_Init</STRONG> (Thumb, 118 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init))
+<P><STRONG><a name="[c2]"></a>MX_DMA_Init</STRONG> (Thumb, 118 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = MX_DMA_Init &rArr; HAL_NVIC_SetPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
-<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
+<BR>[Calls]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
+<LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d4]"></a>MX_FDCAN1_Init</STRONG> (Thumb, 80 bytes, Stack size 8 bytes, fdcan.o(.text.MX_FDCAN1_Init))
+<P><STRONG><a name="[c4]"></a>MX_FDCAN1_Init</STRONG> (Thumb, 80 bytes, Stack size 8 bytes, fdcan.o(.text.MX_FDCAN1_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 196<LI>Call Chain = MX_FDCAN1_Init &rArr; HAL_FDCAN_Init &rArr; HAL_FDCAN_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d5]"></a>MX_FDCAN2_Init</STRONG> (Thumb, 80 bytes, Stack size 8 bytes, fdcan.o(.text.MX_FDCAN2_Init))
+<P><STRONG><a name="[c5]"></a>MX_FDCAN2_Init</STRONG> (Thumb, 80 bytes, Stack size 8 bytes, fdcan.o(.text.MX_FDCAN2_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 196<LI>Call Chain = MX_FDCAN2_Init &rArr; HAL_FDCAN_Init &rArr; HAL_FDCAN_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_FDCAN_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d6]"></a>MX_GPIO_Init</STRONG> (Thumb, 234 bytes, Stack size 48 bytes, gpio.o(.text.MX_GPIO_Init))
+<P><STRONG><a name="[c6]"></a>MX_GPIO_Init</STRONG> (Thumb, 234 bytes, Stack size 48 bytes, gpio.o(.text.MX_GPIO_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 100<LI>Call Chain = MX_GPIO_Init &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
-<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
-<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
-<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
+<BR>[Calls]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
+<LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
+<LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
+<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[d8]"></a>MX_I2C1_Init</STRONG> (Thumb, 108 bytes, Stack size 8 bytes, i2c.o(.text.MX_I2C1_Init))
+<P><STRONG><a name="[c8]"></a>MX_I2C1_Init</STRONG> (Thumb, 118 bytes, Stack size 8 bytes, i2c.o(.text.MX_I2C1_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 188<LI>Call Chain = MX_I2C1_Init &rArr; HAL_I2C_Init &rArr; HAL_I2C_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigDigitalFilter
-<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigAnalogFilter
-<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigDigitalFilter
+<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigAnalogFilter
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[db]"></a>MX_I2C2_Init</STRONG> (Thumb, 108 bytes, Stack size 8 bytes, i2c.o(.text.MX_I2C2_Init))
+<P><STRONG><a name="[cb]"></a>MX_I2C2_Init</STRONG> (Thumb, 118 bytes, Stack size 8 bytes, i2c.o(.text.MX_I2C2_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 188<LI>Call Chain = MX_I2C2_Init &rArr; HAL_I2C_Init &rArr; HAL_I2C_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigDigitalFilter
-<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigAnalogFilter
-<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigDigitalFilter
+<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2CEx_ConfigAnalogFilter
+<LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[dc]"></a>MX_LPUART1_UART_Init</STRONG> (Thumb, 132 bytes, Stack size 8 bytes, usart.o(.text.MX_LPUART1_UART_Init))
+<P><STRONG><a name="[cc]"></a>MX_LPUART1_UART_Init</STRONG> (Thumb, 132 bytes, Stack size 8 bytes, usart.o(.text.MX_LPUART1_UART_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 196<LI>Call Chain = MX_LPUART1_UART_Init &rArr; HAL_UART_Init &rArr; HAL_UART_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_DisableFifoMode
-<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetRxFifoThreshold
-<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetTxFifoThreshold
-<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_DisableFifoMode
+<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetRxFifoThreshold
+<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetTxFifoThreshold
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[e0]"></a>MX_TIM1_Init</STRONG> (Thumb, 382 bytes, Stack size 120 bytes, tim.o(.text.MX_TIM1_Init))
+<P><STRONG><a name="[d0]"></a>MX_TIM1_Init</STRONG> (Thumb, 382 bytes, Stack size 120 bytes, tim.o(.text.MX_TIM1_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 220<LI>Call Chain = MX_TIM1_Init &rArr; HAL_TIM_MspPostInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
-<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_PWMN_Start
-<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Start
-<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigBreakDeadTime
-<LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
-<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
-<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
-<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_ConfigClockSource
-<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
-<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
+<BR>[Calls]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
+<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_PWMN_Start
+<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Start
+<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigBreakDeadTime
+<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
+<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
+<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_ConfigClockSource
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[e7]"></a>MX_TIM2_Init</STRONG> (Thumb, 156 bytes, Stack size 80 bytes, tim.o(.text.MX_TIM2_Init))
+<P><STRONG><a name="[d7]"></a>MX_TIM2_Init</STRONG> (Thumb, 156 bytes, Stack size 80 bytes, tim.o(.text.MX_TIM2_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 212<LI>Call Chain = MX_TIM2_Init &rArr; HAL_TIM_Encoder_Init &rArr; HAL_TIM_Encoder_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigEncoderIndex
-<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
-<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigEncoderIndex
+<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
+<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[e8]"></a>MX_TIM3_Init</STRONG> (Thumb, 160 bytes, Stack size 80 bytes, tim.o(.text.MX_TIM3_Init))
+<P><STRONG><a name="[d8]"></a>MX_TIM3_Init</STRONG> (Thumb, 160 bytes, Stack size 80 bytes, tim.o(.text.MX_TIM3_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 212<LI>Call Chain = MX_TIM3_Init &rArr; HAL_TIM_Encoder_Init &rArr; HAL_TIM_Encoder_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigEncoderIndex
-<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
-<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigEncoderIndex
+<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
+<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[e9]"></a>MX_TIM8_Init</STRONG> (Thumb, 330 bytes, Stack size 120 bytes, tim.o(.text.MX_TIM8_Init))
+<P><STRONG><a name="[d9]"></a>MX_TIM8_Init</STRONG> (Thumb, 330 bytes, Stack size 120 bytes, tim.o(.text.MX_TIM8_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 220<LI>Call Chain = MX_TIM8_Init &rArr; HAL_TIM_MspPostInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
-<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigBreakDeadTime
-<LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
-<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
-<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
-<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_ConfigClockSource
-<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
-<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
+<BR>[Calls]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
+<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigBreakDeadTime
+<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
+<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_MasterConfigSynchronization
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
+<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_ConfigClockSource
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[ea]"></a>MX_USART1_UART_Init</STRONG> (Thumb, 130 bytes, Stack size 8 bytes, usart.o(.text.MX_USART1_UART_Init))
+<P><STRONG><a name="[da]"></a>MX_USART1_UART_Init</STRONG> (Thumb, 130 bytes, Stack size 8 bytes, usart.o(.text.MX_USART1_UART_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 196<LI>Call Chain = MX_USART1_UART_Init &rArr; HAL_UART_Init &rArr; HAL_UART_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_DisableFifoMode
-<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetRxFifoThreshold
-<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetTxFifoThreshold
-<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_DisableFifoMode
+<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetRxFifoThreshold
+<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetTxFifoThreshold
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[eb]"></a>MX_USART3_UART_Init</STRONG> (Thumb, 130 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init))
+<P><STRONG><a name="[db]"></a>MX_USART3_UART_Init</STRONG> (Thumb, 130 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init))
 <BR><BR>[Stack]<UL><LI>Max Depth = 196<LI>Call Chain = MX_USART3_UART_Init &rArr; HAL_UART_Init &rArr; HAL_UART_MspInit &rArr; HAL_GPIO_Init
 </UL>
-<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_DisableFifoMode
-<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetRxFifoThreshold
-<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetTxFifoThreshold
-<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
-<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
+<BR>[Calls]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_DisableFifoMode
+<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetRxFifoThreshold
+<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_SetTxFifoThreshold
+<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
@@ -1479,8 +1399,8 @@ Global Symbols
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
-<P><STRONG><a name="[ee]"></a>Moment_limiting</STRONG> (Thumb, 140 bytes, Stack size 0 bytes, control.o(.text.Moment_limiting))
-<BR><BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
+<P><STRONG><a name="[8d]"></a>Moment_limiting</STRONG> (Thumb, 140 bytes, Stack size 0 bytes, control.o(.text.Moment_limiting))
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
 </UL>
 
 <P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.NMI_Handler))
@@ -1490,8 +1410,8 @@ Global Symbols
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
-<P><STRONG><a name="[96]"></a>PID_init</STRONG> (Thumb, 122 bytes, Stack size 0 bytes, pid.o(.text.PID_init))
-<BR><BR>[Called By]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_Init
+<P><STRONG><a name="[97]"></a>PID_init</STRONG> (Thumb, 122 bytes, Stack size 0 bytes, pid.o(.text.PID_init))
+<BR><BR>[Called By]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_Init
 </UL>
 
 <P><STRONG><a name="[8]"></a>PendSV_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.PendSV_Handler))
@@ -1500,119 +1420,80 @@ Global Symbols
 <P><STRONG><a name="[6]"></a>SVC_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.SVC_Handler))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
-<P><STRONG><a name="[ec]"></a>Set_Speed</STRONG> (Thumb, 196 bytes, Stack size 24 bytes, foc.o(.text.Set_Speed))
-<BR><BR>[Stack]<UL><LI>Max Depth = 344<LI>Call Chain = Set_Speed &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
-</UL>
-<BR>[Calls]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2f
-<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
-<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Moment_limiting
-<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Speed_Control
-<LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_Get_Speed
-<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_GetAngle2PI
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
-</UL>
-<BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[ed]"></a>Speed_Control</STRONG> (Thumb, 128 bytes, Stack size 0 bytes, control.o(.text.Speed_Control))
-<BR><BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
+<P><STRONG><a name="[8c]"></a>Speed_Control</STRONG> (Thumb, 128 bytes, Stack size 0 bytes, control.o(.text.Speed_Control))
+<BR><BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
 </UL>
 
 <P><STRONG><a name="[9]"></a>SysTick_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.SysTick_Handler))
-<BR><BR>[Calls]<UL><LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_IncTick
+<BR><BR>[Calls]<UL><LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_IncTick
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
 <P><STRONG><a name="[70]"></a>SystemInit</STRONG> (Thumb, 18 bytes, Stack size 0 bytes, system_stm32g4xx.o(.text.SystemInit))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(.text)
 </UL>
-<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.TIM2_IRQHandler))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = TIM2_IRQHandler &rArr; HAL_TIM_IRQHandler
-</UL>
-<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
-</UL>
-<P><STRONG><a name="[f0]"></a>TIM2_M1_ABZ</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, abz.o(.text.TIM2_M1_ABZ))
+<P><STRONG><a name="[dd]"></a>TIM2_M1_ABZ</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, abz.o(.text.TIM2_M1_ABZ))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = TIM2_M1_ABZ &rArr; HAL_TIM_Encoder_Start
 </UL>
-<BR>[Calls]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_EnableEncoderIndex
-<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Start
+<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_EnableEncoderIndex
+<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Start
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.TIM3_IRQHandler))
-<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = TIM3_IRQHandler &rArr; HAL_TIM_IRQHandler
-</UL>
-<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
-</UL>
-<P><STRONG><a name="[f3]"></a>TIM3_M2_ABZ</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, abz.o(.text.TIM3_M2_ABZ))
+<P><STRONG><a name="[e0]"></a>TIM3_M2_ABZ</STRONG> (Thumb, 28 bytes, Stack size 8 bytes, abz.o(.text.TIM3_M2_ABZ))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = TIM3_M2_ABZ &rArr; HAL_TIM_Encoder_Start
 </UL>
-<BR>[Calls]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_EnableEncoderIndex
-<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Start
+<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_EnableEncoderIndex
+<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Start
 </UL>
 <BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[b5]"></a>TIM_Base_SetConfig</STRONG> (Thumb, 332 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.TIM_Base_SetConfig))
+<P><STRONG><a name="[b2]"></a>TIM_Base_SetConfig</STRONG> (Thumb, 332 bytes, Stack size 8 bytes, stm32g4xx_hal_tim.o(.text.TIM_Base_SetConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM_Base_SetConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
-<LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
-<LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
+<BR>[Called By]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Init
+<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
+<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
 </UL>
 
-<P><STRONG><a name="[b2]"></a>TIM_ETR_SetConfig</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.TIM_ETR_SetConfig))
-<BR><BR>[Called By]<UL><LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigEncoderIndex
+<P><STRONG><a name="[af]"></a>TIM_ETR_SetConfig</STRONG> (Thumb, 22 bytes, Stack size 0 bytes, stm32g4xx_hal_tim.o(.text.TIM_ETR_SetConfig))
+<BR><BR>[Called By]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_ConfigEncoderIndex
 </UL>
 
-<P><STRONG><a name="[cb]"></a>UART_AdvFeatureConfig</STRONG> (Thumb, 232 bytes, Stack size 8 bytes, stm32g4xx_hal_uart.o(.text.UART_AdvFeatureConfig))
+<P><STRONG><a name="[ba]"></a>UART_AdvFeatureConfig</STRONG> (Thumb, 232 bytes, Stack size 8 bytes, stm32g4xx_hal_uart.o(.text.UART_AdvFeatureConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = UART_AdvFeatureConfig
 </UL>
-<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
 </UL>
 
-<P><STRONG><a name="[cd]"></a>UART_CheckIdleState</STRONG> (Thumb, 366 bytes, Stack size 24 bytes, stm32g4xx_hal_uart.o(.text.UART_CheckIdleState))
+<P><STRONG><a name="[bc]"></a>UART_CheckIdleState</STRONG> (Thumb, 366 bytes, Stack size 24 bytes, stm32g4xx_hal_uart.o(.text.UART_CheckIdleState))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = UART_CheckIdleState &rArr; UART_WaitOnFlagUntilTimeout
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
+<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_WaitOnFlagUntilTimeout
 </UL>
-<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
 </UL>
 
-<P><STRONG><a name="[cc]"></a>UART_SetConfig</STRONG> (Thumb, 688 bytes, Stack size 16 bytes, stm32g4xx_hal_uart.o(.text.UART_SetConfig))
+<P><STRONG><a name="[bb]"></a>UART_SetConfig</STRONG> (Thumb, 688 bytes, Stack size 16 bytes, stm32g4xx_hal_uart.o(.text.UART_SetConfig))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = UART_SetConfig &rArr; __aeabi_uldivmod
 </UL>
-<BR>[Calls]<UL><LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK2Freq
-<LI><a href="#[f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK1Freq
-<LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
+<BR>[Calls]<UL><LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK2Freq
+<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK1Freq
+<LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
 <LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
 </UL>
-<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
 </UL>
 
-<P><STRONG><a name="[f4]"></a>UART_WaitOnFlagUntilTimeout</STRONG> (Thumb, 840 bytes, Stack size 24 bytes, stm32g4xx_hal_uart.o(.text.UART_WaitOnFlagUntilTimeout))
+<P><STRONG><a name="[e1]"></a>UART_WaitOnFlagUntilTimeout</STRONG> (Thumb, 840 bytes, Stack size 24 bytes, stm32g4xx_hal_uart.o(.text.UART_WaitOnFlagUntilTimeout))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = UART_WaitOnFlagUntilTimeout
 </UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
+<BR>[Calls]<UL><LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
 </UL>
-<BR>[Called By]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_CheckIdleState
-</UL>
-
-<P><STRONG><a name="[f8]"></a>UpdateEncoderCnt</STRONG> (Thumb, 176 bytes, Stack size 16 bytes, abz.o(.text.UpdateEncoderCnt))
-<BR><BR>[Stack]<UL><LI>Max Depth = 160<LI>Call Chain = UpdateEncoderCnt &rArr; _normalizeAngle &rArr; __hardfp_fmod &rArr; _drem &rArr; _double_epilogue &rArr; _double_round
-</UL>
-<BR>[Calls]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_EnableEncoderIndex
-<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Encoder_Start
-<LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_normalizeAngle
-</UL>
-<BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Called By]<UL><LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_CheckIdleState
 </UL>
 
 <P><STRONG><a name="[5]"></a>UsageFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32g4xx_it.o(.text.UsageFault_Handler))
@@ -1622,255 +1503,202 @@ Global Symbols
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32g474xx.o(RESET)
 </UL>
-<P><STRONG><a name="[f9]"></a>_normalizeAngle</STRONG> (Thumb, 76 bytes, Stack size 8 bytes, foc.o(.text._normalizeAngle))
-<BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = _normalizeAngle &rArr; __hardfp_fmod &rArr; _drem &rArr; _double_epilogue &rArr; _double_round
+<P><STRONG><a name="[6f]"></a>main</STRONG> (Thumb, 296 bytes, Stack size 80 bytes, main.o(.text.main))
+<BR><BR>[Stack]<UL><LI>Max Depth = 432<LI>Call Chain = main &rArr; FOC_ABZ_Init &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2f
-<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
-</UL>
-<BR>[Called By]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UpdateEncoderCnt
-</UL>
-
-<P><STRONG><a name="[6f]"></a>main</STRONG> (Thumb, 360 bytes, Stack size 80 bytes, main.o(.text.main))
-<BR><BR>[Stack]<UL><LI>Max Depth = 432<LI>Call Chain = main &rArr; FOC_AS5600_Init &rArr; setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
-</UL>
-<BR>[Calls]<UL><LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
-<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
-<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
-<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
-<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
-<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN2_Init
-<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
-<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN1_Init
-<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
-<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
-<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
-<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
-<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
-<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
-<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
-<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
-<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
-<LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
-<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
-<LI><a href="#[fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_PWREx_ControlVoltageScaling
-<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
-<LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UpdateEncoderCnt
-<LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_M2_ABZ
-<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_M1_ABZ
-<LI><a href="#[fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC_Filter_Init
-<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
-<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_Init
-<LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;AS5600_ReadRawAngle
+<BR>[Calls]<UL><LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
+<LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM3_Init
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM2_Init
+<LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN2_Init
+<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC3_Init
+<LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FDCAN1_Init
+<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
+<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C2_Init
+<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_I2C1_Init
+<LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC2_Init
+<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_ADC1_Init
+<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM8_Init
+<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM1_Init
+<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART1_UART_Init
+<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_LPUART1_UART_Init
+<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
+<LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
+<LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
+<LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
+<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_PWREx_ControlVoltageScaling
+<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
+<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM3_M2_ABZ
+<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM2_M1_ABZ
+<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC_Filter_Init
+<LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
+<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_Init
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
 </UL>
-<P><STRONG><a name="[90]"></a>setTorque</STRONG> (Thumb, 812 bytes, Stack size 80 bytes, foc.o(.text.setTorque))
+<P><STRONG><a name="[91]"></a>setTorque</STRONG> (Thumb, 812 bytes, Stack size 80 bytes, foc.o(.text.setTorque))
 <BR><BR>[Stack]<UL><LI>Max Depth = 320<LI>Call Chain = setTorque &rArr; __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 <LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
 <LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
 <LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2f
-<LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
-<LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
+<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
 </UL>
 
-<P><STRONG><a name="[106]"></a>__ARM_fpclassify</STRONG> (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify))
+<P><STRONG><a name="[f1]"></a>__ARM_fpclassify</STRONG> (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = __ARM_fpclassify
 </UL>
-<BR>[Called By]<UL><LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<BR>[Called By]<UL><LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
 </UL>
 
-<P><STRONG><a name="[fd]"></a>__hardfp_cos</STRONG> (Thumb, 180 bytes, Stack size 32 bytes, cos.o(i.__hardfp_cos))
+<P><STRONG><a name="[e8]"></a>__hardfp_cos</STRONG> (Thumb, 180 bytes, Stack size 32 bytes, cos.o(i.__hardfp_cos))
 <BR><BR>[Stack]<UL><LI>Max Depth = 240<LI>Call Chain = __hardfp_cos &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
-<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
-<LI><a href="#[100]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_infnan
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<BR>[Calls]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
+<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
+<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_infnan
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
 </UL>
-<BR>[Called By]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<BR>[Called By]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
 </UL>
 
-<P><STRONG><a name="[94]"></a>__hardfp_fmod</STRONG> (Thumb, 254 bytes, Stack size 48 bytes, fmod.o(i.__hardfp_fmod))
+<P><STRONG><a name="[90]"></a>__hardfp_fmod</STRONG> (Thumb, 254 bytes, Stack size 48 bytes, fmod.o(i.__hardfp_fmod))
 <BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = __hardfp_fmod &rArr; _drem &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
-<LI><a href="#[ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
+<BR>[Calls]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
 <LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_drem
 <LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
 </UL>
-<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Set_Speed
-<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_AS5600_Init
-<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
-<LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_normalizeAngle
+<BR>[Called By]<UL><LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ABZ_Set_Speed
+<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;FOC_ABZ_Init
+<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
 </UL>
 
-<P><STRONG><a name="[fc]"></a>__hardfp_sin</STRONG> (Thumb, 180 bytes, Stack size 32 bytes, sin.o(i.__hardfp_sin))
+<P><STRONG><a name="[e7]"></a>__hardfp_sin</STRONG> (Thumb, 180 bytes, Stack size 32 bytes, sin.o(i.__hardfp_sin))
 <BR><BR>[Stack]<UL><LI>Max Depth = 240<LI>Call Chain = __hardfp_sin &rArr; __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
-<BR>[Calls]<UL><LI><a href="#[fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
-<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
-<LI><a href="#[ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
-<LI><a href="#[100]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_infnan
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<BR>[Calls]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
+<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_invalid
+<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_infnan
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
 </UL>
-<BR>[Called By]<UL><LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
+<BR>[Called By]<UL><LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;setTorque
 </UL>
 
-<P><STRONG><a name="[101]"></a>__ieee754_rem_pio2</STRONG> (Thumb, 938 bytes, Stack size 120 bytes, rred.o(i.__ieee754_rem_pio2))
+<P><STRONG><a name="[ec]"></a>__ieee754_rem_pio2</STRONG> (Thumb, 938 bytes, Stack size 120 bytes, rred.o(i.__ieee754_rem_pio2))
 <BR><BR>[Stack]<UL><LI>Max Depth = 208<LI>Call Chain = __ieee754_rem_pio2 &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 <LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
 <LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
-<LI><a href="#[104]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;fabs
+<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;fabs
 <LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ui2d
 <LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_i2d
 <LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
 <LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
 </UL>
-<BR>[Called By]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
 
-<P><STRONG><a name="[103]"></a>__kernel_cos</STRONG> (Thumb, 322 bytes, Stack size 64 bytes, cos_i.o(i.__kernel_cos))
+<P><STRONG><a name="[ee]"></a>__kernel_cos</STRONG> (Thumb, 322 bytes, Stack size 64 bytes, cos_i.o(i.__kernel_cos))
 <BR><BR>[Stack]<UL><LI>Max Depth = 176<LI>Call Chain = __kernel_cos &rArr; __kernel_poly &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
 <LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
-<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
 <LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_d2iz
 <LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
+<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
 </UL>
-<BR>[Called By]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
 
-<P><STRONG><a name="[105]"></a>__kernel_poly</STRONG> (Thumb, 248 bytes, Stack size 24 bytes, poly.o(i.__kernel_poly))
+<P><STRONG><a name="[f0]"></a>__kernel_poly</STRONG> (Thumb, 248 bytes, Stack size 24 bytes, poly.o(i.__kernel_poly))
 <BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = __kernel_poly &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 <LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
 </UL>
-<BR>[Called By]<UL><LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
-<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
+<BR>[Called By]<UL><LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_cos
 </UL>
 
-<P><STRONG><a name="[102]"></a>__kernel_sin</STRONG> (Thumb, 280 bytes, Stack size 72 bytes, sin_i.o(i.__kernel_sin))
+<P><STRONG><a name="[ed]"></a>__kernel_sin</STRONG> (Thumb, 280 bytes, Stack size 72 bytes, sin_i.o(i.__kernel_sin))
 <BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = __kernel_sin &rArr; __kernel_poly &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 <LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dsub
 <LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
-<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
-<LI><a href="#[106]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_fpclassify
-<LI><a href="#[107]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_underflow
+<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_fpclassify
+<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_dbl_underflow
 <LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_drsub
+<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_poly
 </UL>
-<BR>[Called By]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
 
-<P><STRONG><a name="[100]"></a>__mathlib_dbl_infnan</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan))
+<P><STRONG><a name="[eb]"></a>__mathlib_dbl_infnan</STRONG> (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = __mathlib_dbl_infnan &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dadd
 </UL>
-<BR>[Called By]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
 
-<P><STRONG><a name="[ff]"></a>__mathlib_dbl_invalid</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_invalid))
+<P><STRONG><a name="[ea]"></a>__mathlib_dbl_invalid</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_invalid))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = __mathlib_dbl_invalid &rArr; __aeabi_ddiv &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_ddiv
 </UL>
-<BR>[Called By]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
 
-<P><STRONG><a name="[107]"></a>__mathlib_dbl_underflow</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow))
+<P><STRONG><a name="[f2]"></a>__mathlib_dbl_underflow</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = __mathlib_dbl_underflow &rArr; __aeabi_dmul &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_dmul
 </UL>
-<BR>[Called By]<UL><LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
+<BR>[Called By]<UL><LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__kernel_sin
 </UL>
 
-<P><STRONG><a name="[117]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
+<P><STRONG><a name="[102]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
 
-<P><STRONG><a name="[118]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
+<P><STRONG><a name="[103]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
 
-<P><STRONG><a name="[119]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
+<P><STRONG><a name="[104]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
 
-<P><STRONG><a name="[fe]"></a>__set_errno</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))
-<BR><BR>[Called By]<UL><LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
-<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
-<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
+<P><STRONG><a name="[e9]"></a>__set_errno</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))
+<BR><BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sin
+<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_fmod
+<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_cos
 </UL>
 
-<P><STRONG><a name="[104]"></a>fabs</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, fabs.o(i.fabs))
+<P><STRONG><a name="[ef]"></a>fabs</STRONG> (Thumb, 24 bytes, Stack size 8 bytes, fabs.o(i.fabs))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = fabs
 </UL>
-<BR>[Called By]<UL><LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
+<BR>[Called By]<UL><LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
 </UL>
 <P>
 <H3>
 Local Symbols
-</H3>
-<P><STRONG><a name="[a6]"></a>I2C_IsErrorOccurred</STRONG> (Thumb, 348 bytes, Stack size 16 bytes, stm32g4xx_hal_i2c.o(.text.I2C_IsErrorOccurred))
-<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = I2C_IsErrorOccurred
-</UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-</UL>
-<BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Mem_Read
-<LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnSTOPFlagUntilTimeout
-<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnFlagUntilTimeout
-<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnTXISFlagUntilTimeout
-</UL>
-
-<P><STRONG><a name="[a4]"></a>I2C_WaitOnTXISFlagUntilTimeout</STRONG> (Thumb, 148 bytes, Stack size 16 bytes, stm32g4xx_hal_i2c.o(.text.I2C_WaitOnTXISFlagUntilTimeout))
-<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = I2C_WaitOnTXISFlagUntilTimeout &rArr; I2C_IsErrorOccurred
-</UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_IsErrorOccurred
-</UL>
-<BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Mem_Read
-</UL>
-
-<P><STRONG><a name="[a5]"></a>I2C_WaitOnFlagUntilTimeout</STRONG> (Thumb, 224 bytes, Stack size 24 bytes, stm32g4xx_hal_i2c.o(.text.I2C_WaitOnFlagUntilTimeout))
-<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = I2C_WaitOnFlagUntilTimeout &rArr; I2C_IsErrorOccurred
-</UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_IsErrorOccurred
-</UL>
-<BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Mem_Read
-</UL>
-
-<P><STRONG><a name="[a7]"></a>I2C_WaitOnSTOPFlagUntilTimeout</STRONG> (Thumb, 124 bytes, Stack size 16 bytes, stm32g4xx_hal_i2c.o(.text.I2C_WaitOnSTOPFlagUntilTimeout))
-<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = I2C_WaitOnSTOPFlagUntilTimeout &rArr; I2C_IsErrorOccurred
-</UL>
-<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_IsErrorOccurred
-</UL>
-<BR>[Called By]<UL><LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_Mem_Read
-</UL>
-<P>
+</H3><P>
 <H3>
 Undefined Global Symbols
 </H3><HR></body></html>
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.map b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.map
index a8db7ad..3a26568 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.map
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.map
@@ -19,8 +19,6 @@ Section Cross References
     startup_stm32g474xx.o(RESET) refers to stm32g4xx_it.o(.text.DMA1_Channel2_IRQHandler) for DMA1_Channel2_IRQHandler
     startup_stm32g474xx.o(RESET) refers to stm32g4xx_it.o(.text.DMA1_Channel3_IRQHandler) for DMA1_Channel3_IRQHandler
     startup_stm32g474xx.o(RESET) refers to stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler) for DMA1_Channel4_IRQHandler
-    startup_stm32g474xx.o(RESET) refers to stm32g4xx_it.o(.text.TIM2_IRQHandler) for TIM2_IRQHandler
-    startup_stm32g474xx.o(RESET) refers to stm32g4xx_it.o(.text.TIM3_IRQHandler) for TIM3_IRQHandler
     startup_stm32g474xx.o(RESET) refers to stm32g4xx_it.o(.text.EXTI15_10_IRQHandler) for EXTI15_10_IRQHandler
     startup_stm32g474xx.o(.text) refers to system_stm32g4xx.o(.text.SystemInit) for SystemInit
     startup_stm32g474xx.o(.text) refers to entry.o(.ARM.Collect$$$$00000000) for __main
@@ -60,6 +58,13 @@ Section Cross References
     foc.o(.text._normalizeAngle) refers to fmod.o(i.__hardfp_fmod) for __hardfp_fmod
     foc.o(.text._normalizeAngle) refers to d2f.o(.text) for __aeabi_d2f
     foc.o(.ARM.exidx.text._normalizeAngle) refers to foc.o(.text._normalizeAngle) for [Anonymous Symbol]
+    foc.o(.text.ABZ_electricalAngle) refers to main.o(.data..L_MergedGlobals) for DIR
+    foc.o(.text.ABZ_electricalAngle) refers to abz.o(.text.ABZ_GetAngle2PI) for ABZ_GetAngle2PI
+    foc.o(.text.ABZ_electricalAngle) refers to main.o(.bss.zero_electric_angle) for zero_electric_angle
+    foc.o(.text.ABZ_electricalAngle) refers to f2d.o(.text) for __aeabi_f2d
+    foc.o(.text.ABZ_electricalAngle) refers to fmod.o(i.__hardfp_fmod) for __hardfp_fmod
+    foc.o(.text.ABZ_electricalAngle) refers to d2f.o(.text) for __aeabi_d2f
+    foc.o(.ARM.exidx.text.ABZ_electricalAngle) refers to foc.o(.text.ABZ_electricalAngle) for [Anonymous Symbol]
     foc.o(.text.setPWM) refers to main.o(.data.voltage_limit) for voltage_limit
     foc.o(.text.setPWM) refers to main.o(.data..L_MergedGlobals) for voltage_power_supply
     foc.o(.text.setPWM) refers to main.o(.bss.dc_a) for dc_a
@@ -100,6 +105,30 @@ Section Cross References
     foc.o(.text.FOC_AS5600_Init) refers to as5600.o(.text.AS5600_Get_Speed) for AS5600_Get_Speed
     foc.o(.text.FOC_AS5600_Init) refers to main.o(.bss.Sensor_Speed) for Sensor_Speed
     foc.o(.ARM.exidx.text.FOC_AS5600_Init) refers to foc.o(.text.FOC_AS5600_Init) for [Anonymous Symbol]
+    foc.o(.text.FOC_ABZ_Init) refers to main.o(.data..L_MergedGlobals) for PP
+    foc.o(.text.FOC_ABZ_Init) refers to foc.o(.text.setTorque) for setTorque
+    foc.o(.text.FOC_ABZ_Init) refers to stm32g4xx_hal.o(.text.HAL_Delay) for HAL_Delay
+    foc.o(.text.FOC_ABZ_Init) refers to abz.o(.text.ABZ_GetAngle2PI) for ABZ_GetAngle2PI
+    foc.o(.text.FOC_ABZ_Init) refers to main.o(.bss.zero_electric_angle) for zero_electric_angle
+    foc.o(.text.FOC_ABZ_Init) refers to f2d.o(.text) for __aeabi_f2d
+    foc.o(.text.FOC_ABZ_Init) refers to fmod.o(i.__hardfp_fmod) for __hardfp_fmod
+    foc.o(.text.FOC_ABZ_Init) refers to d2f.o(.text) for __aeabi_d2f
+    foc.o(.text.FOC_ABZ_Init) refers to abz.o(.text.ABZ_Get_Speed) for ABZ_Get_Speed
+    foc.o(.text.FOC_ABZ_Init) refers to main.o(.bss.ABZ_Sensor_Speed) for ABZ_Sensor_Speed
+    foc.o(.ARM.exidx.text.FOC_ABZ_Init) refers to foc.o(.text.FOC_ABZ_Init) for [Anonymous Symbol]
+    foc.o(.text.ABZ_Set_Angle) refers to abz.o(.text.ABZ_GetAngle) for ABZ_GetAngle
+    foc.o(.text.ABZ_Set_Angle) refers to main.o(.data..L_MergedGlobals) for DIR
+    foc.o(.text.ABZ_Set_Angle) refers to main.o(.bss.ABZ_Sensor_Angle) for ABZ_Sensor_Angle
+    foc.o(.text.ABZ_Set_Angle) refers to control.o(.text.Angle_Control) for Angle_Control
+    foc.o(.text.ABZ_Set_Angle) refers to control.o(.bss..L_MergedGlobals) for Angle_Out
+    foc.o(.text.ABZ_Set_Angle) refers to control.o(.text.Moment_limiting) for Moment_limiting
+    foc.o(.text.ABZ_Set_Angle) refers to abz.o(.text.ABZ_GetAngle2PI) for ABZ_GetAngle2PI
+    foc.o(.text.ABZ_Set_Angle) refers to main.o(.bss.zero_electric_angle) for zero_electric_angle
+    foc.o(.text.ABZ_Set_Angle) refers to f2d.o(.text) for __aeabi_f2d
+    foc.o(.text.ABZ_Set_Angle) refers to fmod.o(i.__hardfp_fmod) for __hardfp_fmod
+    foc.o(.text.ABZ_Set_Angle) refers to d2f.o(.text) for __aeabi_d2f
+    foc.o(.text.ABZ_Set_Angle) refers to foc.o(.text.setTorque) for setTorque
+    foc.o(.ARM.exidx.text.ABZ_Set_Angle) refers to foc.o(.text.ABZ_Set_Angle) for [Anonymous Symbol]
     foc.o(.text.Set_Angle) refers to as5600.o(.text.AS5600_GetAngle) for AS5600_GetAngle
     foc.o(.text.Set_Angle) refers to main.o(.data..L_MergedGlobals) for DIR
     foc.o(.text.Set_Angle) refers to main.o(.bss.Sensor_Angle) for Sensor_Angle
@@ -113,6 +142,19 @@ Section Cross References
     foc.o(.text.Set_Angle) refers to d2f.o(.text) for __aeabi_d2f
     foc.o(.text.Set_Angle) refers to foc.o(.text.setTorque) for setTorque
     foc.o(.ARM.exidx.text.Set_Angle) refers to foc.o(.text.Set_Angle) for [Anonymous Symbol]
+    foc.o(.text.ABZ_Set_Speed) refers to abz.o(.text.ABZ_Get_Speed) for ABZ_Get_Speed
+    foc.o(.text.ABZ_Set_Speed) refers to main.o(.bss.ABZ_Sensor_Speed) for ABZ_Sensor_Speed
+    foc.o(.text.ABZ_Set_Speed) refers to control.o(.text.Speed_Control) for Speed_Control
+    foc.o(.text.ABZ_Set_Speed) refers to control.o(.bss..L_MergedGlobals) for Speed_Out
+    foc.o(.text.ABZ_Set_Speed) refers to control.o(.text.Moment_limiting) for Moment_limiting
+    foc.o(.text.ABZ_Set_Speed) refers to main.o(.data..L_MergedGlobals) for DIR
+    foc.o(.text.ABZ_Set_Speed) refers to abz.o(.text.ABZ_GetAngle2PI) for ABZ_GetAngle2PI
+    foc.o(.text.ABZ_Set_Speed) refers to main.o(.bss.zero_electric_angle) for zero_electric_angle
+    foc.o(.text.ABZ_Set_Speed) refers to f2d.o(.text) for __aeabi_f2d
+    foc.o(.text.ABZ_Set_Speed) refers to fmod.o(i.__hardfp_fmod) for __hardfp_fmod
+    foc.o(.text.ABZ_Set_Speed) refers to d2f.o(.text) for __aeabi_d2f
+    foc.o(.text.ABZ_Set_Speed) refers to foc.o(.text.setTorque) for setTorque
+    foc.o(.ARM.exidx.text.ABZ_Set_Speed) refers to foc.o(.text.ABZ_Set_Speed) for [Anonymous Symbol]
     foc.o(.text.Set_Speed) refers to as5600.o(.text.AS5600_Get_Speed) for AS5600_Get_Speed
     foc.o(.text.Set_Speed) refers to main.o(.bss.Sensor_Speed) for Sensor_Speed
     foc.o(.text.Set_Speed) refers to control.o(.text.Speed_Control) for Speed_Control
@@ -274,25 +316,20 @@ Section Cross References
     abz.o(.ARM.exidx.text.Count_M1_ABZ) refers to abz.o(.text.Count_M1_ABZ) for [Anonymous Symbol]
     abz.o(.text.Count_M2_ABZ) refers to tim.o(.bss.htim3) for htim3
     abz.o(.ARM.exidx.text.Count_M2_ABZ) refers to abz.o(.text.Count_M2_ABZ) for [Anonymous Symbol]
-    abz.o(.text.UpdateEncoderCnt) refers to tim.o(.bss.htim3) for htim3
-    abz.o(.text.UpdateEncoderCnt) refers to stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start) for HAL_TIM_Encoder_Start
-    abz.o(.text.UpdateEncoderCnt) refers to stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex) for HAL_TIMEx_EnableEncoderIndex
-    abz.o(.text.UpdateEncoderCnt) refers to abz.o(.bss..L_MergedGlobals) for .L_MergedGlobals
-    abz.o(.text.UpdateEncoderCnt) refers to foc.o(.text._normalizeAngle) for _normalizeAngle
-    abz.o(.ARM.exidx.text.UpdateEncoderCnt) refers to abz.o(.text.UpdateEncoderCnt) for [Anonymous Symbol]
-    abz.o(.ARM.exidx.text.ModifyIncCnt) refers to abz.o(.text.ModifyIncCnt) for [Anonymous Symbol]
-    abz.o(.text.ABZ_GetAngle360) refers to tim.o(.bss.htim3) for htim3
-    abz.o(.text.ABZ_GetAngle360) refers to abz.o(.bss..L_MergedGlobals) for .L_MergedGlobals
-    abz.o(.ARM.exidx.text.ABZ_GetAngle360) refers to abz.o(.text.ABZ_GetAngle360) for [Anonymous Symbol]
     abz.o(.text.ABZ_GetAngle2PI) refers to tim.o(.bss.htim3) for htim3
     abz.o(.text.ABZ_GetAngle2PI) refers to abz.o(.bss..L_MergedGlobals) for .L_MergedGlobals
     abz.o(.ARM.exidx.text.ABZ_GetAngle2PI) refers to abz.o(.text.ABZ_GetAngle2PI) for [Anonymous Symbol]
     abz.o(.text.ABZ_GetAngle) refers to tim.o(.bss.htim3) for htim3
     abz.o(.text.ABZ_GetAngle) refers to abz.o(.bss..L_MergedGlobals) for .L_MergedGlobals
     abz.o(.ARM.exidx.text.ABZ_GetAngle) refers to abz.o(.text.ABZ_GetAngle) for [Anonymous Symbol]
-    abz.o(.text.ABZ_GetVelocity) refers to tim.o(.bss.htim3) for htim3
     abz.o(.text.ABZ_GetVelocity) refers to abz.o(.bss..L_MergedGlobals) for .L_MergedGlobals
+    abz.o(.text.ABZ_GetVelocity) refers to tim.o(.bss.htim3) for htim3
     abz.o(.ARM.exidx.text.ABZ_GetVelocity) refers to abz.o(.text.ABZ_GetVelocity) for [Anonymous Symbol]
+    abz.o(.text.ABZ_Get_Speed) refers to abz.o(.bss..L_MergedGlobals) for .L_MergedGlobals
+    abz.o(.text.ABZ_Get_Speed) refers to tim.o(.bss.htim3) for htim3
+    abz.o(.text.ABZ_Get_Speed) refers to main.o(.data..L_MergedGlobals) for DIR
+    abz.o(.text.ABZ_Get_Speed) refers to lowpass_filter.o(.text.LowPass_Filter) for LowPass_Filter
+    abz.o(.ARM.exidx.text.ABZ_Get_Speed) refers to abz.o(.text.ABZ_Get_Speed) for [Anonymous Symbol]
     main.o(.text.main) refers to stm32g4xx_hal.o(.text.HAL_Init) for HAL_Init
     main.o(.text.main) refers to stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling) for HAL_PWREx_ControlVoltageScaling
     main.o(.text.main) refers to stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) for HAL_RCC_OscConfig
@@ -313,23 +350,17 @@ Section Cross References
     main.o(.text.main) refers to fdcan.o(.text.MX_FDCAN2_Init) for MX_FDCAN2_Init
     main.o(.text.main) refers to tim.o(.text.MX_TIM2_Init) for MX_TIM2_Init
     main.o(.text.main) refers to tim.o(.text.MX_TIM3_Init) for MX_TIM3_Init
-    main.o(.text.main) refers to stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) for HAL_NVIC_SetPriority
-    main.o(.text.main) refers to stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) for HAL_NVIC_EnableIRQ
     main.o(.text.main) refers to lowpass_filter.o(.bss.adc1_filter_Ia) for adc1_filter_Ia
     main.o(.text.main) refers to lowpass_filter.o(.text.ADC_Filter_Init) for ADC_Filter_Init
     main.o(.text.main) refers to lowpass_filter.o(.bss.adc1_filter_Ib) for adc1_filter_Ib
     main.o(.text.main) refers to lowpass_filter.o(.bss.adc1_filter_Ic) for adc1_filter_Ic
     main.o(.text.main) refers to main.o(.data..L_MergedGlobals) for .L_MergedGlobals
     main.o(.text.main) refers to foc.o(.text.FOC_Init) for FOC_Init
-    main.o(.text.main) refers to foc.o(.text.FOC_AS5600_Init) for FOC_AS5600_Init
+    main.o(.text.main) refers to foc.o(.text.FOC_ABZ_Init) for FOC_ABZ_Init
     main.o(.text.main) refers to abz.o(.text.TIM2_M1_ABZ) for TIM2_M1_ABZ
     main.o(.text.main) refers to abz.o(.text.TIM3_M2_ABZ) for TIM3_M2_ABZ
     main.o(.text.main) refers to stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) for HAL_GPIO_WritePin
-    main.o(.text.main) refers to i2c.o(.bss.hi2c1) for hi2c1
-    main.o(.text.main) refers to as5600.o(.bss..L_MergedGlobals) for raw_angle
-    main.o(.text.main) refers to abz.o(.text.UpdateEncoderCnt) for UpdateEncoderCnt
-    main.o(.text.main) refers to as5600.o(.text.AS5600_ReadRawAngle) for AS5600_ReadRawAngle
-    main.o(.text.main) refers to foc.o(.text.Set_Speed) for Set_Speed
+    main.o(.text.main) refers to foc.o(.text.ABZ_Set_Speed) for ABZ_Set_Speed
     main.o(.ARM.exidx.text.main) refers to main.o(.text.main) for [Anonymous Symbol]
     main.o(.text.SystemClock_Config) refers to stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling) for HAL_PWREx_ControlVoltageScaling
     main.o(.text.SystemClock_Config) refers to stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) for HAL_RCC_OscConfig
@@ -503,12 +534,9 @@ Section Cross References
     tim.o(.ARM.exidx.text.MX_TIM8_Init) refers to tim.o(.text.MX_TIM8_Init) for [Anonymous Symbol]
     tim.o(.ARM.exidx.text.HAL_TIM_Base_MspInit) refers to tim.o(.text.HAL_TIM_Base_MspInit) for [Anonymous Symbol]
     tim.o(.text.HAL_TIM_Encoder_MspInit) refers to stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init) for HAL_GPIO_Init
-    tim.o(.text.HAL_TIM_Encoder_MspInit) refers to stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) for HAL_NVIC_SetPriority
-    tim.o(.text.HAL_TIM_Encoder_MspInit) refers to stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) for HAL_NVIC_EnableIRQ
     tim.o(.ARM.exidx.text.HAL_TIM_Encoder_MspInit) refers to tim.o(.text.HAL_TIM_Encoder_MspInit) for [Anonymous Symbol]
     tim.o(.ARM.exidx.text.HAL_TIM_Base_MspDeInit) refers to tim.o(.text.HAL_TIM_Base_MspDeInit) for [Anonymous Symbol]
     tim.o(.text.HAL_TIM_Encoder_MspDeInit) refers to stm32g4xx_hal_gpio.o(.text.HAL_GPIO_DeInit) for HAL_GPIO_DeInit
-    tim.o(.text.HAL_TIM_Encoder_MspDeInit) refers to stm32g4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) for HAL_NVIC_DisableIRQ
     tim.o(.ARM.exidx.text.HAL_TIM_Encoder_MspDeInit) refers to tim.o(.text.HAL_TIM_Encoder_MspDeInit) for [Anonymous Symbol]
     stm32g4xx_it.o(.ARM.exidx.text.NMI_Handler) refers to stm32g4xx_it.o(.text.NMI_Handler) for [Anonymous Symbol]
     stm32g4xx_it.o(.ARM.exidx.text.HardFault_Handler) refers to stm32g4xx_it.o(.text.HardFault_Handler) for [Anonymous Symbol]
@@ -532,12 +560,6 @@ Section Cross References
     stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler) refers to usart.o(.bss.hdma_usart1_tx) for hdma_usart1_tx
     stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler) refers to stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) for HAL_DMA_IRQHandler
     stm32g4xx_it.o(.ARM.exidx.text.DMA1_Channel4_IRQHandler) refers to stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler) for [Anonymous Symbol]
-    stm32g4xx_it.o(.text.TIM2_IRQHandler) refers to tim.o(.bss.htim2) for htim2
-    stm32g4xx_it.o(.text.TIM2_IRQHandler) refers to stm32g4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) for HAL_TIM_IRQHandler
-    stm32g4xx_it.o(.ARM.exidx.text.TIM2_IRQHandler) refers to stm32g4xx_it.o(.text.TIM2_IRQHandler) for [Anonymous Symbol]
-    stm32g4xx_it.o(.text.TIM3_IRQHandler) refers to tim.o(.bss.htim3) for htim3
-    stm32g4xx_it.o(.text.TIM3_IRQHandler) refers to stm32g4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) for HAL_TIM_IRQHandler
-    stm32g4xx_it.o(.ARM.exidx.text.TIM3_IRQHandler) refers to stm32g4xx_it.o(.text.TIM3_IRQHandler) for [Anonymous Symbol]
     stm32g4xx_it.o(.text.EXTI15_10_IRQHandler) refers to stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) for HAL_GPIO_EXTI_IRQHandler
     stm32g4xx_it.o(.ARM.exidx.text.EXTI15_10_IRQHandler) refers to stm32g4xx_it.o(.text.EXTI15_10_IRQHandler) for [Anonymous Symbol]
     stm32g4xx_hal_msp.o(.text.HAL_MspInit) refers to stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery) for HAL_PWREx_DisableUCPDDeadBattery
@@ -2176,19 +2198,23 @@ Removing Unused input sections from the image.
 
     Removing startup_stm32g474xx.o(HEAP), (512 bytes).
     Removing as5600.o(.text), (0 bytes).
+    Removing as5600.o(.text.AS5600_ReadRawAngle), (64 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_ReadRawAngle), (8 bytes).
     Removing as5600.o(.text.AS5600_ReadAngle), (64 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_ReadAngle), (8 bytes).
     Removing as5600.o(.text.AS5600_GetAngle360), (28 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_GetAngle360), (8 bytes).
+    Removing as5600.o(.text.AS5600_GetAngle2PI), (44 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_GetAngle2PI), (8 bytes).
-    Removing as5600.o(.text.AS5600_GetAngle), (132 bytes).
+    Removing as5600.o(.text.AS5600_GetAngle), (144 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_GetAngle), (8 bytes).
-    Removing as5600.o(.text.AS5600_GetVelocity), (172 bytes).
+    Removing as5600.o(.text.AS5600_GetVelocity), (196 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_GetVelocity), (8 bytes).
+    Removing as5600.o(.text.AS5600_Get_Speed), (228 bytes).
     Removing as5600.o(.ARM.exidx.text.AS5600_Get_Speed), (8 bytes).
     Removing as5600.o(.bss.vel_angle_prev), (4 bytes).
     Removing as5600.o(.bss.angle), (4 bytes).
+    Removing as5600.o(.bss..L_MergedGlobals), (52 bytes).
     Removing control.o(.text), (0 bytes).
     Removing control.o(.text.Angle_Control), (128 bytes).
     Removing control.o(.ARM.exidx.text.Angle_Control), (8 bytes).
@@ -2201,14 +2227,23 @@ Removing Unused input sections from the image.
     Removing foc.o(.ARM.exidx.text.Systick_CountMode), (8 bytes).
     Removing foc.o(.text._electricalAngle), (132 bytes).
     Removing foc.o(.ARM.exidx.text._electricalAngle), (8 bytes).
+    Removing foc.o(.text._normalizeAngle), (76 bytes).
     Removing foc.o(.ARM.exidx.text._normalizeAngle), (8 bytes).
+    Removing foc.o(.text.ABZ_electricalAngle), (132 bytes).
+    Removing foc.o(.ARM.exidx.text.ABZ_electricalAngle), (8 bytes).
     Removing foc.o(.text.setPWM), (376 bytes).
     Removing foc.o(.ARM.exidx.text.setPWM), (8 bytes).
     Removing foc.o(.ARM.exidx.text.setTorque), (8 bytes).
     Removing foc.o(.ARM.exidx.text.FOC_Init), (8 bytes).
+    Removing foc.o(.text.FOC_AS5600_Init), (192 bytes).
     Removing foc.o(.ARM.exidx.text.FOC_AS5600_Init), (8 bytes).
+    Removing foc.o(.ARM.exidx.text.FOC_ABZ_Init), (8 bytes).
+    Removing foc.o(.text.ABZ_Set_Angle), (236 bytes).
+    Removing foc.o(.ARM.exidx.text.ABZ_Set_Angle), (8 bytes).
     Removing foc.o(.text.Set_Angle), (236 bytes).
     Removing foc.o(.ARM.exidx.text.Set_Angle), (8 bytes).
+    Removing foc.o(.ARM.exidx.text.ABZ_Set_Speed), (8 bytes).
+    Removing foc.o(.text.Set_Speed), (196 bytes).
     Removing foc.o(.ARM.exidx.text.Set_Speed), (8 bytes).
     Removing foc.o(.text.Open_Loop_Control), (432 bytes).
     Removing foc.o(.ARM.exidx.text.Open_Loop_Control), (8 bytes).
@@ -2239,27 +2274,26 @@ Removing Unused input sections from the image.
     Removing abz.o(.ARM.exidx.text.Count_M1_ABZ), (8 bytes).
     Removing abz.o(.text.Count_M2_ABZ), (20 bytes).
     Removing abz.o(.ARM.exidx.text.Count_M2_ABZ), (8 bytes).
-    Removing abz.o(.ARM.exidx.text.UpdateEncoderCnt), (8 bytes).
-    Removing abz.o(.text.ModifyIncCnt), (26 bytes).
-    Removing abz.o(.ARM.exidx.text.ModifyIncCnt), (8 bytes).
-    Removing abz.o(.text.ABZ_GetAngle360), (44 bytes).
-    Removing abz.o(.ARM.exidx.text.ABZ_GetAngle360), (8 bytes).
-    Removing abz.o(.text.ABZ_GetAngle2PI), (56 bytes).
     Removing abz.o(.ARM.exidx.text.ABZ_GetAngle2PI), (8 bytes).
-    Removing abz.o(.text.ABZ_GetAngle), (160 bytes).
+    Removing abz.o(.text.ABZ_GetAngle), (164 bytes).
     Removing abz.o(.ARM.exidx.text.ABZ_GetAngle), (8 bytes).
-    Removing abz.o(.text.ABZ_GetVelocity), (200 bytes).
+    Removing abz.o(.text.ABZ_GetVelocity), (220 bytes).
     Removing abz.o(.ARM.exidx.text.ABZ_GetVelocity), (8 bytes).
+    Removing abz.o(.ARM.exidx.text.ABZ_Get_Speed), (8 bytes).
+    Removing abz.o(.bss.realCnt), (4 bytes).
     Removing abz.o(.bss.ABZ_pulse_count), (4 bytes).
     Removing abz.o(.bss.ABZ_prev_pulse_count), (4 bytes).
     Removing abz.o(.bss.ABZ_speed), (4 bytes).
     Removing abz.o(.bss.ABZ_angle), (4 bytes).
+    Removing abz.o(.bss.encoderDef), (24 bytes).
     Removing main.o(.text), (0 bytes).
     Removing main.o(.ARM.exidx.text.main), (8 bytes).
     Removing main.o(.text.SystemClock_Config), (116 bytes).
     Removing main.o(.ARM.exidx.text.SystemClock_Config), (8 bytes).
     Removing main.o(.ARM.exidx.text.Error_Handler), (8 bytes).
     Removing main.o(.bss.Sensor_Angle), (4 bytes).
+    Removing main.o(.bss.Sensor_Speed), (4 bytes).
+    Removing main.o(.bss.ABZ_Sensor_Angle), (4 bytes).
     Removing main.o(.bss.adc1_Ia), (4 bytes).
     Removing main.o(.bss.adc1_Ib), (4 bytes).
     Removing main.o(.bss.adc1_Ic), (4 bytes).
@@ -2334,7 +2368,7 @@ Removing Unused input sections from the image.
     Removing tim.o(.ARM.exidx.text.HAL_TIM_Encoder_MspInit), (8 bytes).
     Removing tim.o(.text.HAL_TIM_Base_MspDeInit), (56 bytes).
     Removing tim.o(.ARM.exidx.text.HAL_TIM_Base_MspDeInit), (8 bytes).
-    Removing tim.o(.text.HAL_TIM_Encoder_MspDeInit), (142 bytes).
+    Removing tim.o(.text.HAL_TIM_Encoder_MspDeInit), (128 bytes).
     Removing tim.o(.ARM.exidx.text.HAL_TIM_Encoder_MspDeInit), (8 bytes).
     Removing stm32g4xx_it.o(.text), (0 bytes).
     Removing stm32g4xx_it.o(.ARM.exidx.text.NMI_Handler), (8 bytes).
@@ -2350,8 +2384,6 @@ Removing Unused input sections from the image.
     Removing stm32g4xx_it.o(.ARM.exidx.text.DMA1_Channel2_IRQHandler), (8 bytes).
     Removing stm32g4xx_it.o(.ARM.exidx.text.DMA1_Channel3_IRQHandler), (8 bytes).
     Removing stm32g4xx_it.o(.ARM.exidx.text.DMA1_Channel4_IRQHandler), (8 bytes).
-    Removing stm32g4xx_it.o(.ARM.exidx.text.TIM2_IRQHandler), (8 bytes).
-    Removing stm32g4xx_it.o(.ARM.exidx.text.TIM3_IRQHandler), (8 bytes).
     Removing stm32g4xx_it.o(.ARM.exidx.text.EXTI15_10_IRQHandler), (8 bytes).
     Removing stm32g4xx_hal_msp.o(.text), (0 bytes).
     Removing stm32g4xx_hal_msp.o(.ARM.exidx.text.HAL_MspInit), (8 bytes).
@@ -2995,8 +3027,11 @@ Removing Unused input sections from the image.
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.HAL_I2C_MspDeInit), (8 bytes).
     Removing stm32g4xx_hal_i2c.o(.text.HAL_I2C_Master_Transmit), (446 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.HAL_I2C_Master_Transmit), (8 bytes).
+    Removing stm32g4xx_hal_i2c.o(.text.I2C_WaitOnFlagUntilTimeout), (224 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_WaitOnFlagUntilTimeout), (8 bytes).
+    Removing stm32g4xx_hal_i2c.o(.text.I2C_WaitOnTXISFlagUntilTimeout), (148 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_WaitOnTXISFlagUntilTimeout), (8 bytes).
+    Removing stm32g4xx_hal_i2c.o(.text.I2C_WaitOnSTOPFlagUntilTimeout), (124 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_WaitOnSTOPFlagUntilTimeout), (8 bytes).
     Removing stm32g4xx_hal_i2c.o(.text.HAL_I2C_Master_Receive), (422 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.HAL_I2C_Master_Receive), (8 bytes).
@@ -3042,6 +3077,7 @@ Removing Unused input sections from the image.
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_DMASlaveReceiveCplt), (8 bytes).
     Removing stm32g4xx_hal_i2c.o(.text.HAL_I2C_Mem_Write), (572 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.HAL_I2C_Mem_Write), (8 bytes).
+    Removing stm32g4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read), (568 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.HAL_I2C_Mem_Read), (8 bytes).
     Removing stm32g4xx_hal_i2c.o(.text.HAL_I2C_Mem_Write_IT), (194 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.HAL_I2C_Mem_Write_IT), (8 bytes).
@@ -3125,6 +3161,7 @@ Removing Unused input sections from the image.
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_ITSlaveSeqCplt), (8 bytes).
     Removing stm32g4xx_hal_i2c.o(.text.I2C_ITAddrCplt), (162 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_ITAddrCplt), (8 bytes).
+    Removing stm32g4xx_hal_i2c.o(.text.I2C_IsErrorOccurred), (348 bytes).
     Removing stm32g4xx_hal_i2c.o(.ARM.exidx.text.I2C_IsErrorOccurred), (8 bytes).
     Removing stm32g4xx_hal_i2c_ex.o(.text), (0 bytes).
     Removing stm32g4xx_hal_i2c_ex.o(.ARM.exidx.text.HAL_I2CEx_ConfigAnalogFilter), (8 bytes).
@@ -3425,11 +3462,17 @@ Removing Unused input sections from the image.
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_Encoder_Start_DMA), (8 bytes).
     Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Stop_DMA), (232 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_Encoder_Stop_DMA), (8 bytes).
+    Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_IRQHandler), (460 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_IRQHandler), (8 bytes).
+    Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback), (2 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_IC_CaptureCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback), (2 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_OC_DelayElapsedCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback), (2 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_PWM_PulseFinishedCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback), (2 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_PeriodElapsedCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback), (2 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_TriggerCallback), (8 bytes).
     Removing stm32g4xx_hal_tim.o(.text.HAL_TIM_OC_ConfigChannel), (876 bytes).
     Removing stm32g4xx_hal_tim.o(.ARM.exidx.text.HAL_TIM_OC_ConfigChannel), (8 bytes).
@@ -3615,14 +3658,21 @@ Removing Unused input sections from the image.
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_EnableEncoderFirstIndex), (8 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_DisableEncoderFirstIndex), (14 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_DisableEncoderFirstIndex), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_CommutCallback), (8 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutHalfCpltCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_CommutHalfCpltCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_BreakCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_Break2Callback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_Break2Callback), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EncoderIndexCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_EncoderIndexCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_DirectionChangeCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_DirectionChangeCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_IndexErrorCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_IndexErrorCallback), (8 bytes).
+    Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_TransitionErrorCallback), (2 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_TransitionErrorCallback), (8 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_HallSensor_GetState), (6 bytes).
     Removing stm32g4xx_hal_tim_ex.o(.ARM.exidx.text.HAL_TIMEx_HallSensor_GetState), (8 bytes).
@@ -3637,7 +3687,7 @@ Removing Unused input sections from the image.
     Removing dfixul.o(.text), (48 bytes).
     Removing cdrcmple.o(.text), (48 bytes).
 
-1462 unused section(s) (total 94478 bytes) removed from the image.
+1490 unused section(s) (total 97550 bytes) removed from the image.
 
 ==============================================================================
 
@@ -3786,187 +3836,158 @@ Image Symbol Table
     .text                                    0x08000838   Section        0  dflti.o(.text)
     .text                                    0x0800085a   Section        0  dfltui.o(.text)
     .text                                    0x08000874   Section        0  dfixi.o(.text)
-    [Anonymous Symbol]                       0x080008b4   Section        0  lowpass_filter.o(.text.ADC_Filter_Init)
-    [Anonymous Symbol]                       0x080008c8   Section        0  as5600.o(.text.AS5600_GetAngle2PI)
-    [Anonymous Symbol]                       0x080008f0   Section        0  as5600.o(.text.AS5600_Get_Speed)
-    [Anonymous Symbol]                       0x080009b4   Section        0  as5600.o(.text.AS5600_ReadRawAngle)
-    [Anonymous Symbol]                       0x080009f4   Section        0  stm32g4xx_it.o(.text.BusFault_Handler)
-    [Anonymous Symbol]                       0x080009f8   Section        0  stm32g4xx_it.o(.text.DMA1_Channel1_IRQHandler)
-    [Anonymous Symbol]                       0x08000a04   Section        0  stm32g4xx_it.o(.text.DMA1_Channel2_IRQHandler)
-    [Anonymous Symbol]                       0x08000a10   Section        0  stm32g4xx_it.o(.text.DMA1_Channel3_IRQHandler)
-    [Anonymous Symbol]                       0x08000a1c   Section        0  stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler)
-    [Anonymous Symbol]                       0x08000a28   Section        0  stm32g4xx_it.o(.text.DebugMon_Handler)
-    [Anonymous Symbol]                       0x08000a2c   Section        0  stm32g4xx_it.o(.text.EXTI15_10_IRQHandler)
-    [Anonymous Symbol]                       0x08000a34   Section        0  main.o(.text.Error_Handler)
-    [Anonymous Symbol]                       0x08000a40   Section        0  foc.o(.text.FOC_AS5600_Init)
-    [Anonymous Symbol]                       0x08000b00   Section        0  foc.o(.text.FOC_Init)
-    [Anonymous Symbol]                       0x08000b10   Section        0  stm32g4xx_hal_adc_ex.o(.text.HAL_ADCEx_MultiModeConfigChannel)
-    [Anonymous Symbol]                       0x08000c44   Section        0  stm32g4xx_hal_adc.o(.text.HAL_ADC_ConfigChannel)
-    [Anonymous Symbol]                       0x0800102c   Section        0  stm32g4xx_hal_adc.o(.text.HAL_ADC_Init)
-    [Anonymous Symbol]                       0x080012a8   Section        0  adc.o(.text.HAL_ADC_MspInit)
-    [Anonymous Symbol]                       0x080014fc   Section        0  stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
-    [Anonymous Symbol]                       0x080015a8   Section        0  stm32g4xx_hal_dma.o(.text.HAL_DMA_Init)
-    [Anonymous Symbol]                       0x080016d4   Section        0  stm32g4xx_hal.o(.text.HAL_Delay)
-    [Anonymous Symbol]                       0x080016fc   Section        0  stm32g4xx_hal_fdcan.o(.text.HAL_FDCAN_Init)
-    [Anonymous Symbol]                       0x08001950   Section        0  fdcan.o(.text.HAL_FDCAN_MspInit)
-    [Anonymous Symbol]                       0x08001a64   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_Callback)
-    [Anonymous Symbol]                       0x08001a68   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
-    [Anonymous Symbol]                       0x08001a80   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init)
-    [Anonymous Symbol]                       0x08001c5c   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
-    [Anonymous Symbol]                       0x08001c68   Section        0  stm32g4xx_hal.o(.text.HAL_GetTick)
-    [Anonymous Symbol]                       0x08001c74   Section        0  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigAnalogFilter)
-    [Anonymous Symbol]                       0x08001cc0   Section        0  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigDigitalFilter)
-    [Anonymous Symbol]                       0x08001d08   Section        0  stm32g4xx_hal_i2c.o(.text.HAL_I2C_Init)
-    [Anonymous Symbol]                       0x08001db8   Section        0  stm32g4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read)
-    [Anonymous Symbol]                       0x08001ff0   Section        0  i2c.o(.text.HAL_I2C_MspInit)
-    [Anonymous Symbol]                       0x080020e8   Section        0  stm32g4xx_hal.o(.text.HAL_IncTick)
-    [Anonymous Symbol]                       0x08002104   Section        0  stm32g4xx_hal.o(.text.HAL_Init)
-    [Anonymous Symbol]                       0x08002124   Section        0  stm32g4xx_hal.o(.text.HAL_InitTick)
-    [Anonymous Symbol]                       0x08002170   Section        0  stm32g4xx_hal_msp.o(.text.HAL_MspInit)
-    [Anonymous Symbol]                       0x080021a4   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
-    [Anonymous Symbol]                       0x080021c4   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
-    [Anonymous Symbol]                       0x0800221c   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
-    [Anonymous Symbol]                       0x0800223c   Section        0  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling)
-    [Anonymous Symbol]                       0x08002364   Section        0  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery)
-    [Anonymous Symbol]                       0x08002378   Section        0  stm32g4xx_hal_rcc_ex.o(.text.HAL_RCCEx_PeriphCLKConfig)
-    [Anonymous Symbol]                       0x08002650   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
-    [Anonymous Symbol]                       0x08002964   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
-    [Anonymous Symbol]                       0x08002990   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
-    [Anonymous Symbol]                       0x080029bc   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
-    [Anonymous Symbol]                       0x08002a38   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
-    [Anonymous Symbol]                       0x08002ee4   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
-    [Anonymous Symbol]                       0x08002f10   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_Break2Callback)
-    [Anonymous Symbol]                       0x08002f14   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
-    [Anonymous Symbol]                       0x08002f18   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
-    [Anonymous Symbol]                       0x08002f1c   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime)
-    [Anonymous Symbol]                       0x08002ff0   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigEncoderIndex)
-    [Anonymous Symbol]                       0x08003040   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_DirectionChangeCallback)
-    [Anonymous Symbol]                       0x08003044   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex)
-    [Anonymous Symbol]                       0x08003054   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EncoderIndexCallback)
-    [Anonymous Symbol]                       0x08003058   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_IndexErrorCallback)
-    [Anonymous Symbol]                       0x0800305c   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
-    [Anonymous Symbol]                       0x0800313c   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_PWMN_Start)
-    [Anonymous Symbol]                       0x08003250   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_TransitionErrorCallback)
-    [Anonymous Symbol]                       0x08003254   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
-    [Anonymous Symbol]                       0x080032b8   Section        0  tim.o(.text.HAL_TIM_Base_MspInit)
-    [Anonymous Symbol]                       0x08003314   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)
-    [Anonymous Symbol]                       0x08003534   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Init)
-    [Anonymous Symbol]                       0x080035ec   Section        0  tim.o(.text.HAL_TIM_Encoder_MspInit)
-    [Anonymous Symbol]                       0x08003758   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start)
-    [Anonymous Symbol]                       0x08003814   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
-    [Anonymous Symbol]                       0x08003818   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
-    [Anonymous Symbol]                       0x080039e4   Section        0  tim.o(.text.HAL_TIM_MspPostInit)
-    [Anonymous Symbol]                       0x08003ac4   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
-    [Anonymous Symbol]                       0x08003ac8   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
-    [Anonymous Symbol]                       0x08003ec8   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
-    [Anonymous Symbol]                       0x08003f2c   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
-    [Anonymous Symbol]                       0x08003f30   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
-    [Anonymous Symbol]                       0x08003f34   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
-    [Anonymous Symbol]                       0x080040d4   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
-    [Anonymous Symbol]                       0x080040d8   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
-    [Anonymous Symbol]                       0x080040dc   Section        0  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_DisableFifoMode)
-    [Anonymous Symbol]                       0x08004114   Section        0  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetRxFifoThreshold)
-    [Anonymous Symbol]                       0x080041a0   Section        0  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetTxFifoThreshold)
-    [Anonymous Symbol]                       0x0800422c   Section        0  stm32g4xx_hal_uart.o(.text.HAL_UART_Init)
-    [Anonymous Symbol]                       0x08004290   Section        0  usart.o(.text.HAL_UART_MspInit)
-    [Anonymous Symbol]                       0x08004434   Section        0  stm32g4xx_it.o(.text.HardFault_Handler)
-    I2C_IsErrorOccurred                      0x08004439   Thumb Code   348  stm32g4xx_hal_i2c.o(.text.I2C_IsErrorOccurred)
-    [Anonymous Symbol]                       0x08004438   Section        0  stm32g4xx_hal_i2c.o(.text.I2C_IsErrorOccurred)
-    I2C_WaitOnFlagUntilTimeout               0x08004595   Thumb Code   224  stm32g4xx_hal_i2c.o(.text.I2C_WaitOnFlagUntilTimeout)
-    [Anonymous Symbol]                       0x08004594   Section        0  stm32g4xx_hal_i2c.o(.text.I2C_WaitOnFlagUntilTimeout)
-    I2C_WaitOnSTOPFlagUntilTimeout           0x08004675   Thumb Code   124  stm32g4xx_hal_i2c.o(.text.I2C_WaitOnSTOPFlagUntilTimeout)
-    [Anonymous Symbol]                       0x08004674   Section        0  stm32g4xx_hal_i2c.o(.text.I2C_WaitOnSTOPFlagUntilTimeout)
-    I2C_WaitOnTXISFlagUntilTimeout           0x080046f1   Thumb Code   148  stm32g4xx_hal_i2c.o(.text.I2C_WaitOnTXISFlagUntilTimeout)
-    [Anonymous Symbol]                       0x080046f0   Section        0  stm32g4xx_hal_i2c.o(.text.I2C_WaitOnTXISFlagUntilTimeout)
-    [Anonymous Symbol]                       0x08004784   Section        0  lowpass_filter.o(.text.LowPass_Filter)
-    [Anonymous Symbol]                       0x080047b4   Section        0  adc.o(.text.MX_ADC1_Init)
-    [Anonymous Symbol]                       0x080048ac   Section        0  adc.o(.text.MX_ADC2_Init)
-    [Anonymous Symbol]                       0x08004984   Section        0  adc.o(.text.MX_ADC3_Init)
-    [Anonymous Symbol]                       0x08004a34   Section        0  dma.o(.text.MX_DMA_Init)
-    [Anonymous Symbol]                       0x08004aac   Section        0  fdcan.o(.text.MX_FDCAN1_Init)
-    [Anonymous Symbol]                       0x08004afc   Section        0  fdcan.o(.text.MX_FDCAN2_Init)
-    [Anonymous Symbol]                       0x08004b4c   Section        0  gpio.o(.text.MX_GPIO_Init)
-    [Anonymous Symbol]                       0x08004c38   Section        0  i2c.o(.text.MX_I2C1_Init)
-    [Anonymous Symbol]                       0x08004ca4   Section        0  i2c.o(.text.MX_I2C2_Init)
-    [Anonymous Symbol]                       0x08004d10   Section        0  usart.o(.text.MX_LPUART1_UART_Init)
-    [Anonymous Symbol]                       0x08004d94   Section        0  tim.o(.text.MX_TIM1_Init)
-    [Anonymous Symbol]                       0x08004f14   Section        0  tim.o(.text.MX_TIM2_Init)
-    [Anonymous Symbol]                       0x08004fb0   Section        0  tim.o(.text.MX_TIM3_Init)
-    [Anonymous Symbol]                       0x08005050   Section        0  tim.o(.text.MX_TIM8_Init)
-    [Anonymous Symbol]                       0x0800519c   Section        0  usart.o(.text.MX_USART1_UART_Init)
-    [Anonymous Symbol]                       0x08005220   Section        0  usart.o(.text.MX_USART3_UART_Init)
-    [Anonymous Symbol]                       0x080052a4   Section        0  stm32g4xx_it.o(.text.MemManage_Handler)
-    [Anonymous Symbol]                       0x080052a8   Section        0  control.o(.text.Moment_limiting)
-    [Anonymous Symbol]                       0x08005334   Section        0  stm32g4xx_it.o(.text.NMI_Handler)
-    [Anonymous Symbol]                       0x08005338   Section        0  pid.o(.text.PID_init)
-    [Anonymous Symbol]                       0x080053b4   Section        0  stm32g4xx_it.o(.text.PendSV_Handler)
-    [Anonymous Symbol]                       0x080053b8   Section        0  stm32g4xx_it.o(.text.SVC_Handler)
-    [Anonymous Symbol]                       0x080053c0   Section        0  foc.o(.text.Set_Speed)
-    [Anonymous Symbol]                       0x08005484   Section        0  control.o(.text.Speed_Control)
-    [Anonymous Symbol]                       0x08005504   Section        0  stm32g4xx_it.o(.text.SysTick_Handler)
-    [Anonymous Symbol]                       0x08005508   Section        0  system_stm32g4xx.o(.text.SystemInit)
-    [Anonymous Symbol]                       0x0800551c   Section        0  stm32g4xx_it.o(.text.TIM2_IRQHandler)
-    [Anonymous Symbol]                       0x08005528   Section        0  abz.o(.text.TIM2_M1_ABZ)
-    [Anonymous Symbol]                       0x08005544   Section        0  stm32g4xx_it.o(.text.TIM3_IRQHandler)
-    [Anonymous Symbol]                       0x08005550   Section        0  abz.o(.text.TIM3_M2_ABZ)
-    [Anonymous Symbol]                       0x0800556c   Section        0  stm32g4xx_hal_tim.o(.text.TIM_Base_SetConfig)
-    [Anonymous Symbol]                       0x080056b8   Section        0  stm32g4xx_hal_tim.o(.text.TIM_ETR_SetConfig)
-    [Anonymous Symbol]                       0x080056d0   Section        0  stm32g4xx_hal_uart.o(.text.UART_AdvFeatureConfig)
-    [Anonymous Symbol]                       0x080057b8   Section        0  stm32g4xx_hal_uart.o(.text.UART_CheckIdleState)
-    [Anonymous Symbol]                       0x08005928   Section        0  stm32g4xx_hal_uart.o(.text.UART_SetConfig)
-    [Anonymous Symbol]                       0x08005be8   Section        0  stm32g4xx_hal_uart.o(.text.UART_WaitOnFlagUntilTimeout)
-    [Anonymous Symbol]                       0x08005f30   Section        0  abz.o(.text.UpdateEncoderCnt)
-    [Anonymous Symbol]                       0x08005fe0   Section        0  stm32g4xx_it.o(.text.UsageFault_Handler)
-    [Anonymous Symbol]                       0x08005fe8   Section        0  foc.o(.text._normalizeAngle)
-    [Anonymous Symbol]                       0x08006034   Section        0  main.o(.text.main)
-    [Anonymous Symbol]                       0x080061a0   Section        0  foc.o(.text.setTorque)
-    i.__ARM_fpclassify                       0x080064cc   Section        0  fpclassify.o(i.__ARM_fpclassify)
-    i.__hardfp_cos                           0x08006500   Section        0  cos.o(i.__hardfp_cos)
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-    i.__hardfp_sin                           0x080066d0   Section        0  sin.o(i.__hardfp_sin)
-    i.__ieee754_rem_pio2                     0x08006798   Section        0  rred.o(i.__ieee754_rem_pio2)
-    i.__kernel_cos                           0x08006bd0   Section        0  cos_i.o(i.__kernel_cos)
-    i.__kernel_poly                          0x08006d40   Section        0  poly.o(i.__kernel_poly)
-    i.__kernel_sin                           0x08006e38   Section        0  sin_i.o(i.__kernel_sin)
-    i.__mathlib_dbl_infnan                   0x08006f68   Section        0  dunder.o(i.__mathlib_dbl_infnan)
-    i.__mathlib_dbl_invalid                  0x08006f80   Section        0  dunder.o(i.__mathlib_dbl_invalid)
-    i.__mathlib_dbl_underflow                0x08006fa0   Section        0  dunder.o(i.__mathlib_dbl_underflow)
-    i.__scatterload_copy                     0x08006fc0   Section       14  handlers.o(i.__scatterload_copy)
-    i.__scatterload_null                     0x08006fce   Section        2  handlers.o(i.__scatterload_null)
-    i.__scatterload_zeroinit                 0x08006fd0   Section       14  handlers.o(i.__scatterload_zeroinit)
-    i.__set_errno                            0x08006fe0   Section        0  errno.o(i.__set_errno)
-    i.fabs                                   0x08006fec   Section        0  fabs.o(i.fabs)
-    C                                        0x08007008   Data          48  cos_i.o(.constdata)
-    .constdata                               0x08007008   Section       48  cos_i.o(.constdata)
-    pio2s                                    0x08007038   Data          48  rred.o(.constdata)
-    .constdata                               0x08007038   Section      204  rred.o(.constdata)
-    twooverpi                                0x08007068   Data         156  rred.o(.constdata)
-    S                                        0x08007108   Data          40  sin_i.o(.constdata)
-    .constdata                               0x08007108   Section       40  sin_i.o(.constdata)
-    .Lswitch.table.UART_SetConfig.5          0x08007160   Data          16  stm32g4xx_hal_uart.o(.rodata.cst16)
-    UARTEx_SetNbDataToProcess.numerator      0x08007170   Data           8  stm32g4xx_hal_uart_ex.o(.rodata.cst8)
-    [Anonymous Symbol]                       0x08007170   Section        0  stm32g4xx_hal_uart_ex.o(.rodata.cst8)
-    UARTEx_SetNbDataToProcess.denominator    0x08007178   Data           8  stm32g4xx_hal_uart_ex.o(.rodata.cst8)
+    [Anonymous Symbol]                       0x080008b4   Section        0  abz.o(.text.ABZ_GetAngle2PI)
+    [Anonymous Symbol]                       0x080008f0   Section        0  abz.o(.text.ABZ_Get_Speed)
+    [Anonymous Symbol]                       0x080009e8   Section        0  foc.o(.text.ABZ_Set_Speed)
+    [Anonymous Symbol]                       0x08000aac   Section        0  lowpass_filter.o(.text.ADC_Filter_Init)
+    [Anonymous Symbol]                       0x08000ac0   Section        0  stm32g4xx_it.o(.text.BusFault_Handler)
+    [Anonymous Symbol]                       0x08000ac4   Section        0  stm32g4xx_it.o(.text.DMA1_Channel1_IRQHandler)
+    [Anonymous Symbol]                       0x08000ad0   Section        0  stm32g4xx_it.o(.text.DMA1_Channel2_IRQHandler)
+    [Anonymous Symbol]                       0x08000adc   Section        0  stm32g4xx_it.o(.text.DMA1_Channel3_IRQHandler)
+    [Anonymous Symbol]                       0x08000ae8   Section        0  stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler)
+    [Anonymous Symbol]                       0x08000af4   Section        0  stm32g4xx_it.o(.text.DebugMon_Handler)
+    [Anonymous Symbol]                       0x08000af8   Section        0  stm32g4xx_it.o(.text.EXTI15_10_IRQHandler)
+    [Anonymous Symbol]                       0x08000b00   Section        0  main.o(.text.Error_Handler)
+    [Anonymous Symbol]                       0x08000b10   Section        0  foc.o(.text.FOC_ABZ_Init)
+    [Anonymous Symbol]                       0x08000bd0   Section        0  foc.o(.text.FOC_Init)
+    [Anonymous Symbol]                       0x08000be0   Section        0  stm32g4xx_hal_adc_ex.o(.text.HAL_ADCEx_MultiModeConfigChannel)
+    [Anonymous Symbol]                       0x08000d14   Section        0  stm32g4xx_hal_adc.o(.text.HAL_ADC_ConfigChannel)
+    [Anonymous Symbol]                       0x080010fc   Section        0  stm32g4xx_hal_adc.o(.text.HAL_ADC_Init)
+    [Anonymous Symbol]                       0x08001378   Section        0  adc.o(.text.HAL_ADC_MspInit)
+    [Anonymous Symbol]                       0x080015cc   Section        0  stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+    [Anonymous Symbol]                       0x08001678   Section        0  stm32g4xx_hal_dma.o(.text.HAL_DMA_Init)
+    [Anonymous Symbol]                       0x080017a4   Section        0  stm32g4xx_hal.o(.text.HAL_Delay)
+    [Anonymous Symbol]                       0x080017cc   Section        0  stm32g4xx_hal_fdcan.o(.text.HAL_FDCAN_Init)
+    [Anonymous Symbol]                       0x08001a20   Section        0  fdcan.o(.text.HAL_FDCAN_MspInit)
+    [Anonymous Symbol]                       0x08001b34   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_Callback)
+    [Anonymous Symbol]                       0x08001b38   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
+    [Anonymous Symbol]                       0x08001b50   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+    [Anonymous Symbol]                       0x08001d2c   Section        0  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
+    [Anonymous Symbol]                       0x08001d38   Section        0  stm32g4xx_hal.o(.text.HAL_GetTick)
+    [Anonymous Symbol]                       0x08001d44   Section        0  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigAnalogFilter)
+    [Anonymous Symbol]                       0x08001d90   Section        0  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigDigitalFilter)
+    [Anonymous Symbol]                       0x08001dd8   Section        0  stm32g4xx_hal_i2c.o(.text.HAL_I2C_Init)
+    [Anonymous Symbol]                       0x08001e88   Section        0  i2c.o(.text.HAL_I2C_MspInit)
+    [Anonymous Symbol]                       0x08001f80   Section        0  stm32g4xx_hal.o(.text.HAL_IncTick)
+    [Anonymous Symbol]                       0x08001f9c   Section        0  stm32g4xx_hal.o(.text.HAL_Init)
+    [Anonymous Symbol]                       0x08001fbc   Section        0  stm32g4xx_hal.o(.text.HAL_InitTick)
+    [Anonymous Symbol]                       0x08002008   Section        0  stm32g4xx_hal_msp.o(.text.HAL_MspInit)
+    [Anonymous Symbol]                       0x0800203c   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+    [Anonymous Symbol]                       0x0800205c   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+    [Anonymous Symbol]                       0x080020b4   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+    [Anonymous Symbol]                       0x080020d4   Section        0  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling)
+    [Anonymous Symbol]                       0x080021fc   Section        0  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery)
+    [Anonymous Symbol]                       0x08002210   Section        0  stm32g4xx_hal_rcc_ex.o(.text.HAL_RCCEx_PeriphCLKConfig)
+    [Anonymous Symbol]                       0x080024e8   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+    [Anonymous Symbol]                       0x080027fc   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+    [Anonymous Symbol]                       0x08002828   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+    [Anonymous Symbol]                       0x08002854   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+    [Anonymous Symbol]                       0x080028d0   Section        0  stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+    [Anonymous Symbol]                       0x08002d7c   Section        0  stm32g4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+    [Anonymous Symbol]                       0x08002da8   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime)
+    [Anonymous Symbol]                       0x08002e7c   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigEncoderIndex)
+    [Anonymous Symbol]                       0x08002ecc   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex)
+    [Anonymous Symbol]                       0x08002edc   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
+    [Anonymous Symbol]                       0x08002fbc   Section        0  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_PWMN_Start)
+    [Anonymous Symbol]                       0x080030d0   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
+    [Anonymous Symbol]                       0x08003134   Section        0  tim.o(.text.HAL_TIM_Base_MspInit)
+    [Anonymous Symbol]                       0x08003190   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)
+    [Anonymous Symbol]                       0x080033b0   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Init)
+    [Anonymous Symbol]                       0x08003468   Section        0  tim.o(.text.HAL_TIM_Encoder_MspInit)
+    [Anonymous Symbol]                       0x080035c0   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start)
+    [Anonymous Symbol]                       0x0800367c   Section        0  tim.o(.text.HAL_TIM_MspPostInit)
+    [Anonymous Symbol]                       0x0800375c   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
+    [Anonymous Symbol]                       0x08003b5c   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
+    [Anonymous Symbol]                       0x08003bc0   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
+    [Anonymous Symbol]                       0x08003bc4   Section        0  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
+    [Anonymous Symbol]                       0x08003d64   Section        0  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_DisableFifoMode)
+    [Anonymous Symbol]                       0x08003d9c   Section        0  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetRxFifoThreshold)
+    [Anonymous Symbol]                       0x08003e28   Section        0  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetTxFifoThreshold)
+    [Anonymous Symbol]                       0x08003eb4   Section        0  stm32g4xx_hal_uart.o(.text.HAL_UART_Init)
+    [Anonymous Symbol]                       0x08003f18   Section        0  usart.o(.text.HAL_UART_MspInit)
+    [Anonymous Symbol]                       0x080040bc   Section        0  stm32g4xx_it.o(.text.HardFault_Handler)
+    [Anonymous Symbol]                       0x080040c0   Section        0  lowpass_filter.o(.text.LowPass_Filter)
+    [Anonymous Symbol]                       0x080040f0   Section        0  adc.o(.text.MX_ADC1_Init)
+    [Anonymous Symbol]                       0x080041e8   Section        0  adc.o(.text.MX_ADC2_Init)
+    [Anonymous Symbol]                       0x080042c0   Section        0  adc.o(.text.MX_ADC3_Init)
+    [Anonymous Symbol]                       0x08004370   Section        0  dma.o(.text.MX_DMA_Init)
+    [Anonymous Symbol]                       0x080043e8   Section        0  fdcan.o(.text.MX_FDCAN1_Init)
+    [Anonymous Symbol]                       0x08004438   Section        0  fdcan.o(.text.MX_FDCAN2_Init)
+    [Anonymous Symbol]                       0x08004488   Section        0  gpio.o(.text.MX_GPIO_Init)
+    [Anonymous Symbol]                       0x08004574   Section        0  i2c.o(.text.MX_I2C1_Init)
+    [Anonymous Symbol]                       0x080045ec   Section        0  i2c.o(.text.MX_I2C2_Init)
+    [Anonymous Symbol]                       0x08004664   Section        0  usart.o(.text.MX_LPUART1_UART_Init)
+    [Anonymous Symbol]                       0x080046e8   Section        0  tim.o(.text.MX_TIM1_Init)
+    [Anonymous Symbol]                       0x08004868   Section        0  tim.o(.text.MX_TIM2_Init)
+    [Anonymous Symbol]                       0x08004904   Section        0  tim.o(.text.MX_TIM3_Init)
+    [Anonymous Symbol]                       0x080049a4   Section        0  tim.o(.text.MX_TIM8_Init)
+    [Anonymous Symbol]                       0x08004af0   Section        0  usart.o(.text.MX_USART1_UART_Init)
+    [Anonymous Symbol]                       0x08004b74   Section        0  usart.o(.text.MX_USART3_UART_Init)
+    [Anonymous Symbol]                       0x08004bf8   Section        0  stm32g4xx_it.o(.text.MemManage_Handler)
+    [Anonymous Symbol]                       0x08004bfc   Section        0  control.o(.text.Moment_limiting)
+    [Anonymous Symbol]                       0x08004c88   Section        0  stm32g4xx_it.o(.text.NMI_Handler)
+    [Anonymous Symbol]                       0x08004c8c   Section        0  pid.o(.text.PID_init)
+    [Anonymous Symbol]                       0x08004d08   Section        0  stm32g4xx_it.o(.text.PendSV_Handler)
+    [Anonymous Symbol]                       0x08004d0c   Section        0  stm32g4xx_it.o(.text.SVC_Handler)
+    [Anonymous Symbol]                       0x08004d10   Section        0  control.o(.text.Speed_Control)
+    [Anonymous Symbol]                       0x08004d90   Section        0  stm32g4xx_it.o(.text.SysTick_Handler)
+    [Anonymous Symbol]                       0x08004d94   Section        0  system_stm32g4xx.o(.text.SystemInit)
+    [Anonymous Symbol]                       0x08004da8   Section        0  abz.o(.text.TIM2_M1_ABZ)
+    [Anonymous Symbol]                       0x08004dc4   Section        0  abz.o(.text.TIM3_M2_ABZ)
+    [Anonymous Symbol]                       0x08004de0   Section        0  stm32g4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+    [Anonymous Symbol]                       0x08004f2c   Section        0  stm32g4xx_hal_tim.o(.text.TIM_ETR_SetConfig)
+    [Anonymous Symbol]                       0x08004f44   Section        0  stm32g4xx_hal_uart.o(.text.UART_AdvFeatureConfig)
+    [Anonymous Symbol]                       0x0800502c   Section        0  stm32g4xx_hal_uart.o(.text.UART_CheckIdleState)
+    [Anonymous Symbol]                       0x0800519c   Section        0  stm32g4xx_hal_uart.o(.text.UART_SetConfig)
+    [Anonymous Symbol]                       0x0800545c   Section        0  stm32g4xx_hal_uart.o(.text.UART_WaitOnFlagUntilTimeout)
+    [Anonymous Symbol]                       0x080057a4   Section        0  stm32g4xx_it.o(.text.UsageFault_Handler)
+    [Anonymous Symbol]                       0x080057a8   Section        0  main.o(.text.main)
+    [Anonymous Symbol]                       0x080058d0   Section        0  foc.o(.text.setTorque)
+    i.__ARM_fpclassify                       0x08005bfc   Section        0  fpclassify.o(i.__ARM_fpclassify)
+    i.__hardfp_cos                           0x08005c30   Section        0  cos.o(i.__hardfp_cos)
+    i.__hardfp_fmod                          0x08005cf8   Section        0  fmod.o(i.__hardfp_fmod)
+    i.__hardfp_sin                           0x08005e00   Section        0  sin.o(i.__hardfp_sin)
+    i.__ieee754_rem_pio2                     0x08005ec8   Section        0  rred.o(i.__ieee754_rem_pio2)
+    i.__kernel_cos                           0x08006300   Section        0  cos_i.o(i.__kernel_cos)
+    i.__kernel_poly                          0x08006470   Section        0  poly.o(i.__kernel_poly)
+    i.__kernel_sin                           0x08006568   Section        0  sin_i.o(i.__kernel_sin)
+    i.__mathlib_dbl_infnan                   0x08006698   Section        0  dunder.o(i.__mathlib_dbl_infnan)
+    i.__mathlib_dbl_invalid                  0x080066b0   Section        0  dunder.o(i.__mathlib_dbl_invalid)
+    i.__mathlib_dbl_underflow                0x080066d0   Section        0  dunder.o(i.__mathlib_dbl_underflow)
+    i.__scatterload_copy                     0x080066f0   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x080066fe   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x08006700   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i.__set_errno                            0x08006710   Section        0  errno.o(i.__set_errno)
+    i.fabs                                   0x0800671c   Section        0  fabs.o(i.fabs)
+    C                                        0x08006738   Data          48  cos_i.o(.constdata)
+    .constdata                               0x08006738   Section       48  cos_i.o(.constdata)
+    pio2s                                    0x08006768   Data          48  rred.o(.constdata)
+    .constdata                               0x08006768   Section      204  rred.o(.constdata)
+    twooverpi                                0x08006798   Data         156  rred.o(.constdata)
+    S                                        0x08006838   Data          40  sin_i.o(.constdata)
+    .constdata                               0x08006838   Section       40  sin_i.o(.constdata)
+    .Lswitch.table.UART_SetConfig.5          0x08006890   Data          16  stm32g4xx_hal_uart.o(.rodata.cst16)
+    UARTEx_SetNbDataToProcess.numerator      0x080068a0   Data           8  stm32g4xx_hal_uart_ex.o(.rodata.cst8)
+    [Anonymous Symbol]                       0x080068a0   Section        0  stm32g4xx_hal_uart_ex.o(.rodata.cst8)
+    UARTEx_SetNbDataToProcess.denominator    0x080068a8   Data           8  stm32g4xx_hal_uart_ex.o(.rodata.cst8)
     _errno                                   0x20000000   Data           4  errno.o(.data)
     .data                                    0x20000000   Section        4  errno.o(.data)
     .L_MergedGlobals                         0x20000004   Data          12  main.o(.data..L_MergedGlobals)
     [Anonymous Symbol]                       0x20000004   Section        0  main.o(.data..L_MergedGlobals)
     .L_MergedGlobals                         0x20000010   Data           8  stm32g4xx_hal.o(.data..L_MergedGlobals)
     [Anonymous Symbol]                       0x20000010   Section        0  stm32g4xx_hal.o(.data..L_MergedGlobals)
-    .L_MergedGlobals                         0x20000020   Data          28  as5600.o(.bss..L_MergedGlobals)
-    [Anonymous Symbol]                       0x20000020   Section        0  as5600.o(.bss..L_MergedGlobals)
-    .L_MergedGlobals                         0x2000003c   Data          12  control.o(.bss..L_MergedGlobals)
-    [Anonymous Symbol]                       0x2000003c   Section        0  control.o(.bss..L_MergedGlobals)
-    .L_MergedGlobals                         0x20000048   Data         108  pid.o(.bss..L_MergedGlobals)
-    [Anonymous Symbol]                       0x20000048   Section        0  pid.o(.bss..L_MergedGlobals)
-    .L_MergedGlobals                         0x200000b4   Data          56  abz.o(.bss..L_MergedGlobals)
-    [Anonymous Symbol]                       0x200000b4   Section        0  abz.o(.bss..L_MergedGlobals)
-    .L_MergedGlobals                         0x200000ec   Data          32  adc.o(.bss..L_MergedGlobals)
-    [Anonymous Symbol]                       0x200000ec   Section        0  adc.o(.bss..L_MergedGlobals)
-    HAL_RCC_ADC12_CLK_ENABLED                0x200000f0   Data           4  adc.o(.bss..L_MergedGlobals)
-    HAL_RCC_FDCAN_CLK_ENABLED                0x2000010c   Data           4  fdcan.o(.bss.HAL_RCC_FDCAN_CLK_ENABLED)
-    [Anonymous Symbol]                       0x2000010c   Section        0  fdcan.o(.bss.HAL_RCC_FDCAN_CLK_ENABLED)
-    STACK                                    0x200008b8   Section     1024  startup_stm32g474xx.o(STACK)
+    .L_MergedGlobals                         0x20000020   Data          12  control.o(.bss..L_MergedGlobals)
+    [Anonymous Symbol]                       0x20000020   Section        0  control.o(.bss..L_MergedGlobals)
+    .L_MergedGlobals                         0x2000002c   Data         108  pid.o(.bss..L_MergedGlobals)
+    [Anonymous Symbol]                       0x2000002c   Section        0  pid.o(.bss..L_MergedGlobals)
+    .L_MergedGlobals                         0x20000098   Data          56  abz.o(.bss..L_MergedGlobals)
+    [Anonymous Symbol]                       0x20000098   Section        0  abz.o(.bss..L_MergedGlobals)
+    .L_MergedGlobals                         0x200000d0   Data          32  adc.o(.bss..L_MergedGlobals)
+    [Anonymous Symbol]                       0x200000d0   Section        0  adc.o(.bss..L_MergedGlobals)
+    HAL_RCC_ADC12_CLK_ENABLED                0x200000d4   Data           4  adc.o(.bss..L_MergedGlobals)
+    HAL_RCC_FDCAN_CLK_ENABLED                0x200000f4   Data           4  fdcan.o(.bss.HAL_RCC_FDCAN_CLK_ENABLED)
+    [Anonymous Symbol]                       0x200000f4   Section        0  fdcan.o(.bss.HAL_RCC_FDCAN_CLK_ENABLED)
+    STACK                                    0x20000898   Section     1024  startup_stm32g474xx.o(STACK)
 
     Global Symbols
 
@@ -4108,6 +4129,8 @@ Image Symbol Table
     TIM20_CC_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
     TIM20_TRG_COM_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
     TIM20_UP_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
+    TIM2_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
+    TIM3_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
     TIM4_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
     TIM5_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
     TIM6_DAC_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32g474xx.o(.text)
@@ -4158,153 +4181,134 @@ Image Symbol Table
     __aeabi_i2d                              0x08000839   Thumb Code    34  dflti.o(.text)
     __aeabi_ui2d                             0x0800085b   Thumb Code    26  dfltui.o(.text)
     __aeabi_d2iz                             0x08000875   Thumb Code    62  dfixi.o(.text)
-    ADC_Filter_Init                          0x080008b5   Thumb Code    18  lowpass_filter.o(.text.ADC_Filter_Init)
-    AS5600_GetAngle2PI                       0x080008c9   Thumb Code    40  as5600.o(.text.AS5600_GetAngle2PI)
-    AS5600_Get_Speed                         0x080008f1   Thumb Code   196  as5600.o(.text.AS5600_Get_Speed)
-    AS5600_ReadRawAngle                      0x080009b5   Thumb Code    64  as5600.o(.text.AS5600_ReadRawAngle)
-    BusFault_Handler                         0x080009f5   Thumb Code     2  stm32g4xx_it.o(.text.BusFault_Handler)
-    DMA1_Channel1_IRQHandler                 0x080009f9   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel1_IRQHandler)
-    DMA1_Channel2_IRQHandler                 0x08000a05   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel2_IRQHandler)
-    DMA1_Channel3_IRQHandler                 0x08000a11   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel3_IRQHandler)
-    DMA1_Channel4_IRQHandler                 0x08000a1d   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler)
-    DebugMon_Handler                         0x08000a29   Thumb Code     2  stm32g4xx_it.o(.text.DebugMon_Handler)
-    EXTI15_10_IRQHandler                     0x08000a2d   Thumb Code     8  stm32g4xx_it.o(.text.EXTI15_10_IRQHandler)
-    Error_Handler                            0x08000a35   Thumb Code    10  main.o(.text.Error_Handler)
-    FOC_AS5600_Init                          0x08000a41   Thumb Code   192  foc.o(.text.FOC_AS5600_Init)
-    FOC_Init                                 0x08000b01   Thumb Code    16  foc.o(.text.FOC_Init)
-    HAL_ADCEx_MultiModeConfigChannel         0x08000b11   Thumb Code   308  stm32g4xx_hal_adc_ex.o(.text.HAL_ADCEx_MultiModeConfigChannel)
-    HAL_ADC_ConfigChannel                    0x08000c45   Thumb Code  1000  stm32g4xx_hal_adc.o(.text.HAL_ADC_ConfigChannel)
-    HAL_ADC_Init                             0x0800102d   Thumb Code   636  stm32g4xx_hal_adc.o(.text.HAL_ADC_Init)
-    HAL_ADC_MspInit                          0x080012a9   Thumb Code   596  adc.o(.text.HAL_ADC_MspInit)
-    HAL_DMA_IRQHandler                       0x080014fd   Thumb Code   170  stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
-    HAL_DMA_Init                             0x080015a9   Thumb Code   298  stm32g4xx_hal_dma.o(.text.HAL_DMA_Init)
-    HAL_Delay                                0x080016d5   Thumb Code    40  stm32g4xx_hal.o(.text.HAL_Delay)
-    HAL_FDCAN_Init                           0x080016fd   Thumb Code   596  stm32g4xx_hal_fdcan.o(.text.HAL_FDCAN_Init)
-    HAL_FDCAN_MspInit                        0x08001951   Thumb Code   276  fdcan.o(.text.HAL_FDCAN_MspInit)
-    HAL_GPIO_EXTI_Callback                   0x08001a65   Thumb Code     2  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_Callback)
-    HAL_GPIO_EXTI_IRQHandler                 0x08001a69   Thumb Code    22  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
-    HAL_GPIO_Init                            0x08001a81   Thumb Code   474  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init)
-    HAL_GPIO_WritePin                        0x08001c5d   Thumb Code    12  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
-    HAL_GetTick                              0x08001c69   Thumb Code    12  stm32g4xx_hal.o(.text.HAL_GetTick)
-    HAL_I2CEx_ConfigAnalogFilter             0x08001c75   Thumb Code    74  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigAnalogFilter)
-    HAL_I2CEx_ConfigDigitalFilter            0x08001cc1   Thumb Code    72  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigDigitalFilter)
-    HAL_I2C_Init                             0x08001d09   Thumb Code   174  stm32g4xx_hal_i2c.o(.text.HAL_I2C_Init)
-    HAL_I2C_Mem_Read                         0x08001db9   Thumb Code   568  stm32g4xx_hal_i2c.o(.text.HAL_I2C_Mem_Read)
-    HAL_I2C_MspInit                          0x08001ff1   Thumb Code   248  i2c.o(.text.HAL_I2C_MspInit)
-    HAL_IncTick                              0x080020e9   Thumb Code    26  stm32g4xx_hal.o(.text.HAL_IncTick)
-    HAL_Init                                 0x08002105   Thumb Code    30  stm32g4xx_hal.o(.text.HAL_Init)
-    HAL_InitTick                             0x08002125   Thumb Code    76  stm32g4xx_hal.o(.text.HAL_InitTick)
-    HAL_MspInit                              0x08002171   Thumb Code    52  stm32g4xx_hal_msp.o(.text.HAL_MspInit)
-    HAL_NVIC_EnableIRQ                       0x080021a5   Thumb Code    32  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
-    HAL_NVIC_SetPriority                     0x080021c5   Thumb Code    86  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
-    HAL_NVIC_SetPriorityGrouping             0x0800221d   Thumb Code    32  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
-    HAL_PWREx_ControlVoltageScaling          0x0800223d   Thumb Code   294  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling)
-    HAL_PWREx_DisableUCPDDeadBattery         0x08002365   Thumb Code    18  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery)
-    HAL_RCCEx_PeriphCLKConfig                0x08002379   Thumb Code   726  stm32g4xx_hal_rcc_ex.o(.text.HAL_RCCEx_PeriphCLKConfig)
-    HAL_RCC_ClockConfig                      0x08002651   Thumb Code   788  stm32g4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
-    HAL_RCC_GetPCLK1Freq                     0x08002965   Thumb Code    42  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
-    HAL_RCC_GetPCLK2Freq                     0x08002991   Thumb Code    42  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
-    HAL_RCC_GetSysClockFreq                  0x080029bd   Thumb Code   122  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
-    HAL_RCC_OscConfig                        0x08002a39   Thumb Code  1194  stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
-    HAL_SYSTICK_Config                       0x08002ee5   Thumb Code    44  stm32g4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
-    HAL_TIMEx_Break2Callback                 0x08002f11   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_Break2Callback)
-    HAL_TIMEx_BreakCallback                  0x08002f15   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
-    HAL_TIMEx_CommutCallback                 0x08002f19   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
-    HAL_TIMEx_ConfigBreakDeadTime            0x08002f1d   Thumb Code   212  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime)
-    HAL_TIMEx_ConfigEncoderIndex             0x08002ff1   Thumb Code    78  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigEncoderIndex)
-    HAL_TIMEx_DirectionChangeCallback        0x08003041   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_DirectionChangeCallback)
-    HAL_TIMEx_EnableEncoderIndex             0x08003045   Thumb Code    14  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex)
-    HAL_TIMEx_EncoderIndexCallback           0x08003055   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EncoderIndexCallback)
-    HAL_TIMEx_IndexErrorCallback             0x08003059   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_IndexErrorCallback)
-    HAL_TIMEx_MasterConfigSynchronization    0x0800305d   Thumb Code   222  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
-    HAL_TIMEx_PWMN_Start                     0x0800313d   Thumb Code   274  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_PWMN_Start)
-    HAL_TIMEx_TransitionErrorCallback        0x08003251   Thumb Code     2  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_TransitionErrorCallback)
-    HAL_TIM_Base_Init                        0x08003255   Thumb Code    98  stm32g4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
-    HAL_TIM_Base_MspInit                     0x080032b9   Thumb Code    90  tim.o(.text.HAL_TIM_Base_MspInit)
-    HAL_TIM_ConfigClockSource                0x08003315   Thumb Code   544  stm32g4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)
-    HAL_TIM_Encoder_Init                     0x08003535   Thumb Code   182  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Init)
-    HAL_TIM_Encoder_MspInit                  0x080035ed   Thumb Code   362  tim.o(.text.HAL_TIM_Encoder_MspInit)
-    HAL_TIM_Encoder_Start                    0x08003759   Thumb Code   188  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start)
-    HAL_TIM_IC_CaptureCallback               0x08003815   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
-    HAL_TIM_IRQHandler                       0x08003819   Thumb Code   460  stm32g4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
-    HAL_TIM_MspPostInit                      0x080039e5   Thumb Code   224  tim.o(.text.HAL_TIM_MspPostInit)
-    HAL_TIM_OC_DelayElapsedCallback          0x08003ac5   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
-    HAL_TIM_PWM_ConfigChannel                0x08003ac9   Thumb Code  1024  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
-    HAL_TIM_PWM_Init                         0x08003ec9   Thumb Code    98  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
-    HAL_TIM_PWM_MspInit                      0x08003f2d   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
-    HAL_TIM_PWM_PulseFinishedCallback        0x08003f31   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
-    HAL_TIM_PWM_Start                        0x08003f35   Thumb Code   414  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
-    HAL_TIM_PeriodElapsedCallback            0x080040d5   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
-    HAL_TIM_TriggerCallback                  0x080040d9   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
-    HAL_UARTEx_DisableFifoMode               0x080040dd   Thumb Code    54  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_DisableFifoMode)
-    HAL_UARTEx_SetRxFifoThreshold            0x08004115   Thumb Code   140  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetRxFifoThreshold)
-    HAL_UARTEx_SetTxFifoThreshold            0x080041a1   Thumb Code   140  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetTxFifoThreshold)
-    HAL_UART_Init                            0x0800422d   Thumb Code   100  stm32g4xx_hal_uart.o(.text.HAL_UART_Init)
-    HAL_UART_MspInit                         0x08004291   Thumb Code   418  usart.o(.text.HAL_UART_MspInit)
-    HardFault_Handler                        0x08004435   Thumb Code     2  stm32g4xx_it.o(.text.HardFault_Handler)
-    LowPass_Filter                           0x08004785   Thumb Code    48  lowpass_filter.o(.text.LowPass_Filter)
-    MX_ADC1_Init                             0x080047b5   Thumb Code   246  adc.o(.text.MX_ADC1_Init)
-    MX_ADC2_Init                             0x080048ad   Thumb Code   214  adc.o(.text.MX_ADC2_Init)
-    MX_ADC3_Init                             0x08004985   Thumb Code   176  adc.o(.text.MX_ADC3_Init)
-    MX_DMA_Init                              0x08004a35   Thumb Code   118  dma.o(.text.MX_DMA_Init)
-    MX_FDCAN1_Init                           0x08004aad   Thumb Code    80  fdcan.o(.text.MX_FDCAN1_Init)
-    MX_FDCAN2_Init                           0x08004afd   Thumb Code    80  fdcan.o(.text.MX_FDCAN2_Init)
-    MX_GPIO_Init                             0x08004b4d   Thumb Code   234  gpio.o(.text.MX_GPIO_Init)
-    MX_I2C1_Init                             0x08004c39   Thumb Code   108  i2c.o(.text.MX_I2C1_Init)
-    MX_I2C2_Init                             0x08004ca5   Thumb Code   108  i2c.o(.text.MX_I2C2_Init)
-    MX_LPUART1_UART_Init                     0x08004d11   Thumb Code   132  usart.o(.text.MX_LPUART1_UART_Init)
-    MX_TIM1_Init                             0x08004d95   Thumb Code   382  tim.o(.text.MX_TIM1_Init)
-    MX_TIM2_Init                             0x08004f15   Thumb Code   156  tim.o(.text.MX_TIM2_Init)
-    MX_TIM3_Init                             0x08004fb1   Thumb Code   160  tim.o(.text.MX_TIM3_Init)
-    MX_TIM8_Init                             0x08005051   Thumb Code   330  tim.o(.text.MX_TIM8_Init)
-    MX_USART1_UART_Init                      0x0800519d   Thumb Code   130  usart.o(.text.MX_USART1_UART_Init)
-    MX_USART3_UART_Init                      0x08005221   Thumb Code   130  usart.o(.text.MX_USART3_UART_Init)
-    MemManage_Handler                        0x080052a5   Thumb Code     2  stm32g4xx_it.o(.text.MemManage_Handler)
-    Moment_limiting                          0x080052a9   Thumb Code   140  control.o(.text.Moment_limiting)
-    NMI_Handler                              0x08005335   Thumb Code     2  stm32g4xx_it.o(.text.NMI_Handler)
-    PID_init                                 0x08005339   Thumb Code   122  pid.o(.text.PID_init)
-    PendSV_Handler                           0x080053b5   Thumb Code     2  stm32g4xx_it.o(.text.PendSV_Handler)
-    SVC_Handler                              0x080053b9   Thumb Code     2  stm32g4xx_it.o(.text.SVC_Handler)
-    Set_Speed                                0x080053c1   Thumb Code   196  foc.o(.text.Set_Speed)
-    Speed_Control                            0x08005485   Thumb Code   128  control.o(.text.Speed_Control)
-    SysTick_Handler                          0x08005505   Thumb Code     4  stm32g4xx_it.o(.text.SysTick_Handler)
-    SystemInit                               0x08005509   Thumb Code    18  system_stm32g4xx.o(.text.SystemInit)
-    TIM2_IRQHandler                          0x0800551d   Thumb Code    12  stm32g4xx_it.o(.text.TIM2_IRQHandler)
-    TIM2_M1_ABZ                              0x08005529   Thumb Code    28  abz.o(.text.TIM2_M1_ABZ)
-    TIM3_IRQHandler                          0x08005545   Thumb Code    12  stm32g4xx_it.o(.text.TIM3_IRQHandler)
-    TIM3_M2_ABZ                              0x08005551   Thumb Code    28  abz.o(.text.TIM3_M2_ABZ)
-    TIM_Base_SetConfig                       0x0800556d   Thumb Code   332  stm32g4xx_hal_tim.o(.text.TIM_Base_SetConfig)
-    TIM_ETR_SetConfig                        0x080056b9   Thumb Code    22  stm32g4xx_hal_tim.o(.text.TIM_ETR_SetConfig)
-    UART_AdvFeatureConfig                    0x080056d1   Thumb Code   232  stm32g4xx_hal_uart.o(.text.UART_AdvFeatureConfig)
-    UART_CheckIdleState                      0x080057b9   Thumb Code   366  stm32g4xx_hal_uart.o(.text.UART_CheckIdleState)
-    UART_SetConfig                           0x08005929   Thumb Code   688  stm32g4xx_hal_uart.o(.text.UART_SetConfig)
-    UART_WaitOnFlagUntilTimeout              0x08005be9   Thumb Code   840  stm32g4xx_hal_uart.o(.text.UART_WaitOnFlagUntilTimeout)
-    UpdateEncoderCnt                         0x08005f31   Thumb Code   176  abz.o(.text.UpdateEncoderCnt)
-    UsageFault_Handler                       0x08005fe1   Thumb Code     2  stm32g4xx_it.o(.text.UsageFault_Handler)
-    _normalizeAngle                          0x08005fe9   Thumb Code    76  foc.o(.text._normalizeAngle)
-    main                                     0x08006035   Thumb Code   360  main.o(.text.main)
-    setTorque                                0x080061a1   Thumb Code   812  foc.o(.text.setTorque)
-    __ARM_fpclassify                         0x080064cd   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
-    __hardfp_cos                             0x08006501   Thumb Code   180  cos.o(i.__hardfp_cos)
-    __hardfp_fmod                            0x080065c9   Thumb Code   254  fmod.o(i.__hardfp_fmod)
-    __hardfp_sin                             0x080066d1   Thumb Code   180  sin.o(i.__hardfp_sin)
-    __ieee754_rem_pio2                       0x08006799   Thumb Code   938  rred.o(i.__ieee754_rem_pio2)
-    __kernel_cos                             0x08006bd1   Thumb Code   322  cos_i.o(i.__kernel_cos)
-    __kernel_poly                            0x08006d41   Thumb Code   248  poly.o(i.__kernel_poly)
-    __kernel_sin                             0x08006e39   Thumb Code   280  sin_i.o(i.__kernel_sin)
-    __mathlib_dbl_infnan                     0x08006f69   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
-    __mathlib_dbl_invalid                    0x08006f81   Thumb Code    24  dunder.o(i.__mathlib_dbl_invalid)
-    __mathlib_dbl_underflow                  0x08006fa1   Thumb Code    24  dunder.o(i.__mathlib_dbl_underflow)
-    __scatterload_copy                       0x08006fc1   Thumb Code    14  handlers.o(i.__scatterload_copy)
-    __scatterload_null                       0x08006fcf   Thumb Code     2  handlers.o(i.__scatterload_null)
-    __scatterload_zeroinit                   0x08006fd1   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
-    __set_errno                              0x08006fe1   Thumb Code     6  errno.o(i.__set_errno)
-    fabs                                     0x08006fed   Thumb Code    24  fabs.o(i.fabs)
-    AHBPrescTable                            0x08007130   Data          16  system_stm32g4xx.o(.rodata.AHBPrescTable)
-    APBPrescTable                            0x08007140   Data           8  system_stm32g4xx.o(.rodata.APBPrescTable)
-    UARTPrescTable                           0x08007148   Data          24  stm32g4xx_hal_uart.o(.rodata.UARTPrescTable)
-    Region$$Table$$Base                      0x08007180   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x080071a0   Number         0  anon$$obj.o(Region$$Table)
+    ABZ_GetAngle2PI                          0x080008b5   Thumb Code    60  abz.o(.text.ABZ_GetAngle2PI)
+    ABZ_Get_Speed                            0x080008f1   Thumb Code   248  abz.o(.text.ABZ_Get_Speed)
+    ABZ_Set_Speed                            0x080009e9   Thumb Code   196  foc.o(.text.ABZ_Set_Speed)
+    ADC_Filter_Init                          0x08000aad   Thumb Code    18  lowpass_filter.o(.text.ADC_Filter_Init)
+    BusFault_Handler                         0x08000ac1   Thumb Code     2  stm32g4xx_it.o(.text.BusFault_Handler)
+    DMA1_Channel1_IRQHandler                 0x08000ac5   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel1_IRQHandler)
+    DMA1_Channel2_IRQHandler                 0x08000ad1   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel2_IRQHandler)
+    DMA1_Channel3_IRQHandler                 0x08000add   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel3_IRQHandler)
+    DMA1_Channel4_IRQHandler                 0x08000ae9   Thumb Code    12  stm32g4xx_it.o(.text.DMA1_Channel4_IRQHandler)
+    DebugMon_Handler                         0x08000af5   Thumb Code     2  stm32g4xx_it.o(.text.DebugMon_Handler)
+    EXTI15_10_IRQHandler                     0x08000af9   Thumb Code     8  stm32g4xx_it.o(.text.EXTI15_10_IRQHandler)
+    Error_Handler                            0x08000b01   Thumb Code    10  main.o(.text.Error_Handler)
+    FOC_ABZ_Init                             0x08000b11   Thumb Code   192  foc.o(.text.FOC_ABZ_Init)
+    FOC_Init                                 0x08000bd1   Thumb Code    16  foc.o(.text.FOC_Init)
+    HAL_ADCEx_MultiModeConfigChannel         0x08000be1   Thumb Code   308  stm32g4xx_hal_adc_ex.o(.text.HAL_ADCEx_MultiModeConfigChannel)
+    HAL_ADC_ConfigChannel                    0x08000d15   Thumb Code  1000  stm32g4xx_hal_adc.o(.text.HAL_ADC_ConfigChannel)
+    HAL_ADC_Init                             0x080010fd   Thumb Code   636  stm32g4xx_hal_adc.o(.text.HAL_ADC_Init)
+    HAL_ADC_MspInit                          0x08001379   Thumb Code   596  adc.o(.text.HAL_ADC_MspInit)
+    HAL_DMA_IRQHandler                       0x080015cd   Thumb Code   170  stm32g4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+    HAL_DMA_Init                             0x08001679   Thumb Code   298  stm32g4xx_hal_dma.o(.text.HAL_DMA_Init)
+    HAL_Delay                                0x080017a5   Thumb Code    40  stm32g4xx_hal.o(.text.HAL_Delay)
+    HAL_FDCAN_Init                           0x080017cd   Thumb Code   596  stm32g4xx_hal_fdcan.o(.text.HAL_FDCAN_Init)
+    HAL_FDCAN_MspInit                        0x08001a21   Thumb Code   276  fdcan.o(.text.HAL_FDCAN_MspInit)
+    HAL_GPIO_EXTI_Callback                   0x08001b35   Thumb Code     2  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_Callback)
+    HAL_GPIO_EXTI_IRQHandler                 0x08001b39   Thumb Code    22  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
+    HAL_GPIO_Init                            0x08001b51   Thumb Code   474  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+    HAL_GPIO_WritePin                        0x08001d2d   Thumb Code    12  stm32g4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
+    HAL_GetTick                              0x08001d39   Thumb Code    12  stm32g4xx_hal.o(.text.HAL_GetTick)
+    HAL_I2CEx_ConfigAnalogFilter             0x08001d45   Thumb Code    74  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigAnalogFilter)
+    HAL_I2CEx_ConfigDigitalFilter            0x08001d91   Thumb Code    72  stm32g4xx_hal_i2c_ex.o(.text.HAL_I2CEx_ConfigDigitalFilter)
+    HAL_I2C_Init                             0x08001dd9   Thumb Code   174  stm32g4xx_hal_i2c.o(.text.HAL_I2C_Init)
+    HAL_I2C_MspInit                          0x08001e89   Thumb Code   248  i2c.o(.text.HAL_I2C_MspInit)
+    HAL_IncTick                              0x08001f81   Thumb Code    26  stm32g4xx_hal.o(.text.HAL_IncTick)
+    HAL_Init                                 0x08001f9d   Thumb Code    30  stm32g4xx_hal.o(.text.HAL_Init)
+    HAL_InitTick                             0x08001fbd   Thumb Code    76  stm32g4xx_hal.o(.text.HAL_InitTick)
+    HAL_MspInit                              0x08002009   Thumb Code    52  stm32g4xx_hal_msp.o(.text.HAL_MspInit)
+    HAL_NVIC_EnableIRQ                       0x0800203d   Thumb Code    32  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+    HAL_NVIC_SetPriority                     0x0800205d   Thumb Code    86  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+    HAL_NVIC_SetPriorityGrouping             0x080020b5   Thumb Code    32  stm32g4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+    HAL_PWREx_ControlVoltageScaling          0x080020d5   Thumb Code   294  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_ControlVoltageScaling)
+    HAL_PWREx_DisableUCPDDeadBattery         0x080021fd   Thumb Code    18  stm32g4xx_hal_pwr_ex.o(.text.HAL_PWREx_DisableUCPDDeadBattery)
+    HAL_RCCEx_PeriphCLKConfig                0x08002211   Thumb Code   726  stm32g4xx_hal_rcc_ex.o(.text.HAL_RCCEx_PeriphCLKConfig)
+    HAL_RCC_ClockConfig                      0x080024e9   Thumb Code   788  stm32g4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+    HAL_RCC_GetPCLK1Freq                     0x080027fd   Thumb Code    42  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+    HAL_RCC_GetPCLK2Freq                     0x08002829   Thumb Code    42  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+    HAL_RCC_GetSysClockFreq                  0x08002855   Thumb Code   122  stm32g4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+    HAL_RCC_OscConfig                        0x080028d1   Thumb Code  1194  stm32g4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+    HAL_SYSTICK_Config                       0x08002d7d   Thumb Code    44  stm32g4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+    HAL_TIMEx_ConfigBreakDeadTime            0x08002da9   Thumb Code   212  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime)
+    HAL_TIMEx_ConfigEncoderIndex             0x08002e7d   Thumb Code    78  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigEncoderIndex)
+    HAL_TIMEx_EnableEncoderIndex             0x08002ecd   Thumb Code    14  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_EnableEncoderIndex)
+    HAL_TIMEx_MasterConfigSynchronization    0x08002edd   Thumb Code   222  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
+    HAL_TIMEx_PWMN_Start                     0x08002fbd   Thumb Code   274  stm32g4xx_hal_tim_ex.o(.text.HAL_TIMEx_PWMN_Start)
+    HAL_TIM_Base_Init                        0x080030d1   Thumb Code    98  stm32g4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
+    HAL_TIM_Base_MspInit                     0x08003135   Thumb Code    90  tim.o(.text.HAL_TIM_Base_MspInit)
+    HAL_TIM_ConfigClockSource                0x08003191   Thumb Code   544  stm32g4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)
+    HAL_TIM_Encoder_Init                     0x080033b1   Thumb Code   182  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Init)
+    HAL_TIM_Encoder_MspInit                  0x08003469   Thumb Code   344  tim.o(.text.HAL_TIM_Encoder_MspInit)
+    HAL_TIM_Encoder_Start                    0x080035c1   Thumb Code   188  stm32g4xx_hal_tim.o(.text.HAL_TIM_Encoder_Start)
+    HAL_TIM_MspPostInit                      0x0800367d   Thumb Code   224  tim.o(.text.HAL_TIM_MspPostInit)
+    HAL_TIM_PWM_ConfigChannel                0x0800375d   Thumb Code  1024  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
+    HAL_TIM_PWM_Init                         0x08003b5d   Thumb Code    98  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
+    HAL_TIM_PWM_MspInit                      0x08003bc1   Thumb Code     2  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
+    HAL_TIM_PWM_Start                        0x08003bc5   Thumb Code   414  stm32g4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
+    HAL_UARTEx_DisableFifoMode               0x08003d65   Thumb Code    54  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_DisableFifoMode)
+    HAL_UARTEx_SetRxFifoThreshold            0x08003d9d   Thumb Code   140  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetRxFifoThreshold)
+    HAL_UARTEx_SetTxFifoThreshold            0x08003e29   Thumb Code   140  stm32g4xx_hal_uart_ex.o(.text.HAL_UARTEx_SetTxFifoThreshold)
+    HAL_UART_Init                            0x08003eb5   Thumb Code   100  stm32g4xx_hal_uart.o(.text.HAL_UART_Init)
+    HAL_UART_MspInit                         0x08003f19   Thumb Code   418  usart.o(.text.HAL_UART_MspInit)
+    HardFault_Handler                        0x080040bd   Thumb Code     2  stm32g4xx_it.o(.text.HardFault_Handler)
+    LowPass_Filter                           0x080040c1   Thumb Code    48  lowpass_filter.o(.text.LowPass_Filter)
+    MX_ADC1_Init                             0x080040f1   Thumb Code   246  adc.o(.text.MX_ADC1_Init)
+    MX_ADC2_Init                             0x080041e9   Thumb Code   214  adc.o(.text.MX_ADC2_Init)
+    MX_ADC3_Init                             0x080042c1   Thumb Code   176  adc.o(.text.MX_ADC3_Init)
+    MX_DMA_Init                              0x08004371   Thumb Code   118  dma.o(.text.MX_DMA_Init)
+    MX_FDCAN1_Init                           0x080043e9   Thumb Code    80  fdcan.o(.text.MX_FDCAN1_Init)
+    MX_FDCAN2_Init                           0x08004439   Thumb Code    80  fdcan.o(.text.MX_FDCAN2_Init)
+    MX_GPIO_Init                             0x08004489   Thumb Code   234  gpio.o(.text.MX_GPIO_Init)
+    MX_I2C1_Init                             0x08004575   Thumb Code   118  i2c.o(.text.MX_I2C1_Init)
+    MX_I2C2_Init                             0x080045ed   Thumb Code   118  i2c.o(.text.MX_I2C2_Init)
+    MX_LPUART1_UART_Init                     0x08004665   Thumb Code   132  usart.o(.text.MX_LPUART1_UART_Init)
+    MX_TIM1_Init                             0x080046e9   Thumb Code   382  tim.o(.text.MX_TIM1_Init)
+    MX_TIM2_Init                             0x08004869   Thumb Code   156  tim.o(.text.MX_TIM2_Init)
+    MX_TIM3_Init                             0x08004905   Thumb Code   160  tim.o(.text.MX_TIM3_Init)
+    MX_TIM8_Init                             0x080049a5   Thumb Code   330  tim.o(.text.MX_TIM8_Init)
+    MX_USART1_UART_Init                      0x08004af1   Thumb Code   130  usart.o(.text.MX_USART1_UART_Init)
+    MX_USART3_UART_Init                      0x08004b75   Thumb Code   130  usart.o(.text.MX_USART3_UART_Init)
+    MemManage_Handler                        0x08004bf9   Thumb Code     2  stm32g4xx_it.o(.text.MemManage_Handler)
+    Moment_limiting                          0x08004bfd   Thumb Code   140  control.o(.text.Moment_limiting)
+    NMI_Handler                              0x08004c89   Thumb Code     2  stm32g4xx_it.o(.text.NMI_Handler)
+    PID_init                                 0x08004c8d   Thumb Code   122  pid.o(.text.PID_init)
+    PendSV_Handler                           0x08004d09   Thumb Code     2  stm32g4xx_it.o(.text.PendSV_Handler)
+    SVC_Handler                              0x08004d0d   Thumb Code     2  stm32g4xx_it.o(.text.SVC_Handler)
+    Speed_Control                            0x08004d11   Thumb Code   128  control.o(.text.Speed_Control)
+    SysTick_Handler                          0x08004d91   Thumb Code     4  stm32g4xx_it.o(.text.SysTick_Handler)
+    SystemInit                               0x08004d95   Thumb Code    18  system_stm32g4xx.o(.text.SystemInit)
+    TIM2_M1_ABZ                              0x08004da9   Thumb Code    28  abz.o(.text.TIM2_M1_ABZ)
+    TIM3_M2_ABZ                              0x08004dc5   Thumb Code    28  abz.o(.text.TIM3_M2_ABZ)
+    TIM_Base_SetConfig                       0x08004de1   Thumb Code   332  stm32g4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+    TIM_ETR_SetConfig                        0x08004f2d   Thumb Code    22  stm32g4xx_hal_tim.o(.text.TIM_ETR_SetConfig)
+    UART_AdvFeatureConfig                    0x08004f45   Thumb Code   232  stm32g4xx_hal_uart.o(.text.UART_AdvFeatureConfig)
+    UART_CheckIdleState                      0x0800502d   Thumb Code   366  stm32g4xx_hal_uart.o(.text.UART_CheckIdleState)
+    UART_SetConfig                           0x0800519d   Thumb Code   688  stm32g4xx_hal_uart.o(.text.UART_SetConfig)
+    UART_WaitOnFlagUntilTimeout              0x0800545d   Thumb Code   840  stm32g4xx_hal_uart.o(.text.UART_WaitOnFlagUntilTimeout)
+    UsageFault_Handler                       0x080057a5   Thumb Code     2  stm32g4xx_it.o(.text.UsageFault_Handler)
+    main                                     0x080057a9   Thumb Code   296  main.o(.text.main)
+    setTorque                                0x080058d1   Thumb Code   812  foc.o(.text.setTorque)
+    __ARM_fpclassify                         0x08005bfd   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
+    __hardfp_cos                             0x08005c31   Thumb Code   180  cos.o(i.__hardfp_cos)
+    __hardfp_fmod                            0x08005cf9   Thumb Code   254  fmod.o(i.__hardfp_fmod)
+    __hardfp_sin                             0x08005e01   Thumb Code   180  sin.o(i.__hardfp_sin)
+    __ieee754_rem_pio2                       0x08005ec9   Thumb Code   938  rred.o(i.__ieee754_rem_pio2)
+    __kernel_cos                             0x08006301   Thumb Code   322  cos_i.o(i.__kernel_cos)
+    __kernel_poly                            0x08006471   Thumb Code   248  poly.o(i.__kernel_poly)
+    __kernel_sin                             0x08006569   Thumb Code   280  sin_i.o(i.__kernel_sin)
+    __mathlib_dbl_infnan                     0x08006699   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_invalid                    0x080066b1   Thumb Code    24  dunder.o(i.__mathlib_dbl_invalid)
+    __mathlib_dbl_underflow                  0x080066d1   Thumb Code    24  dunder.o(i.__mathlib_dbl_underflow)
+    __scatterload_copy                       0x080066f1   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x080066ff   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x08006701   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    __set_errno                              0x08006711   Thumb Code     6  errno.o(i.__set_errno)
+    fabs                                     0x0800671d   Thumb Code    24  fabs.o(i.fabs)
+    AHBPrescTable                            0x08006860   Data          16  system_stm32g4xx.o(.rodata.AHBPrescTable)
+    APBPrescTable                            0x08006870   Data           8  system_stm32g4xx.o(.rodata.APBPrescTable)
+    UARTPrescTable                           0x08006878   Data          24  stm32g4xx_hal_uart.o(.rodata.UARTPrescTable)
+    Region$$Table$$Base                      0x080068b0   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x080068d0   Number         0  anon$$obj.o(Region$$Table)
     PP                                       0x20000004   Data           4  main.o(.data..L_MergedGlobals)
     DIR                                      0x20000008   Data           4  main.o(.data..L_MergedGlobals)
     voltage_power_supply                     0x2000000c   Data           4  main.o(.data..L_MergedGlobals)
@@ -4312,65 +4316,63 @@ Image Symbol Table
     uwTickFreq                               0x20000014   Data           4  stm32g4xx_hal.o(.data..L_MergedGlobals)
     SystemCoreClock                          0x20000018   Data           4  system_stm32g4xx.o(.data.SystemCoreClock)
     voltage_limit                            0x2000001c   Data           4  main.o(.data.voltage_limit)
-    raw_angle                                0x20000020   Data           4  as5600.o(.bss..L_MergedGlobals)
-    angle_prev                               0x20000024   Data           4  as5600.o(.bss..L_MergedGlobals)
-    full_rotations                           0x20000028   Data           4  as5600.o(.bss..L_MergedGlobals)
-    angle_prev_ts                            0x2000002c   Data           4  as5600.o(.bss..L_MergedGlobals)
-    vel_angle_prev_ts                        0x20000030   Data           4  as5600.o(.bss..L_MergedGlobals)
-    angle_prev_Velocity                      0x20000034   Data           4  as5600.o(.bss..L_MergedGlobals)
-    vel_angle_prev_Velocity                  0x20000038   Data           4  as5600.o(.bss..L_MergedGlobals)
-    Angle_Out                                0x2000003c   Data           4  control.o(.bss..L_MergedGlobals)
-    Speed_Out                                0x20000040   Data           4  control.o(.bss..L_MergedGlobals)
-    Current_Out                              0x20000044   Data           4  control.o(.bss..L_MergedGlobals)
-    pid_angle                                0x20000048   Data          36  pid.o(.bss..L_MergedGlobals)
-    pid_speed                                0x2000006c   Data          36  pid.o(.bss..L_MergedGlobals)
-    pid_current                              0x20000090   Data          36  pid.o(.bss..L_MergedGlobals)
-    realCnt                                  0x200000b4   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_encoder_count                        0x200000b8   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_prev_encoder_count                   0x200000bc   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_full_rotations                       0x200000c0   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_angle_prev_ts                        0x200000c4   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_vel_angle_prev_ts                    0x200000c8   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_angle_prev_Velocity                  0x200000cc   Data           4  abz.o(.bss..L_MergedGlobals)
-    ABZ_vel_angle_prev_Velocity              0x200000d0   Data           4  abz.o(.bss..L_MergedGlobals)
-    encoderDef                               0x200000d4   Data          24  abz.o(.bss..L_MergedGlobals)
-    adc3_value                               0x200000ec   Data           4  adc.o(.bss..L_MergedGlobals)
-    adc1_value                               0x200000f4   Data          12  adc.o(.bss..L_MergedGlobals)
-    adc2_value                               0x20000100   Data          12  adc.o(.bss..L_MergedGlobals)
-    Sensor_Speed                             0x20000110   Data           4  main.o(.bss.Sensor_Speed)
-    Ua                                       0x20000114   Data           4  main.o(.bss.Ua)
-    Ualpha                                   0x20000118   Data           4  main.o(.bss.Ualpha)
-    Ub                                       0x2000011c   Data           4  main.o(.bss.Ub)
-    Ubeta                                    0x20000120   Data           4  main.o(.bss.Ubeta)
-    Uc                                       0x20000124   Data           4  main.o(.bss.Uc)
-    adc1_filter_Ia                           0x20000128   Data          28  lowpass_filter.o(.bss.adc1_filter_Ia)
-    adc1_filter_Ib                           0x20000144   Data          28  lowpass_filter.o(.bss.adc1_filter_Ib)
-    adc1_filter_Ic                           0x20000160   Data          28  lowpass_filter.o(.bss.adc1_filter_Ic)
-    dc_a                                     0x2000017c   Data           4  main.o(.bss.dc_a)
-    dc_b                                     0x20000180   Data           4  main.o(.bss.dc_b)
-    dc_c                                     0x20000184   Data           4  main.o(.bss.dc_c)
-    hadc1                                    0x20000188   Data         108  adc.o(.bss.hadc1)
-    hadc2                                    0x200001f4   Data         108  adc.o(.bss.hadc2)
-    hadc3                                    0x20000260   Data         108  adc.o(.bss.hadc3)
-    hdma_adc1                                0x200002cc   Data          96  adc.o(.bss.hdma_adc1)
-    hdma_adc2                                0x2000032c   Data          96  adc.o(.bss.hdma_adc2)
-    hdma_adc3                                0x2000038c   Data          96  adc.o(.bss.hdma_adc3)
-    hdma_usart1_tx                           0x200003ec   Data          96  usart.o(.bss.hdma_usart1_tx)
-    hfdcan1                                  0x2000044c   Data         100  fdcan.o(.bss.hfdcan1)
-    hfdcan2                                  0x200004b0   Data         100  fdcan.o(.bss.hfdcan2)
-    hi2c1                                    0x20000514   Data          84  i2c.o(.bss.hi2c1)
-    hi2c2                                    0x20000568   Data          84  i2c.o(.bss.hi2c2)
-    hlpuart1                                 0x200005bc   Data         148  usart.o(.bss.hlpuart1)
-    htim1                                    0x20000650   Data          76  tim.o(.bss.htim1)
-    htim2                                    0x2000069c   Data          76  tim.o(.bss.htim2)
-    htim3                                    0x200006e8   Data          76  tim.o(.bss.htim3)
-    htim8                                    0x20000734   Data          76  tim.o(.bss.htim8)
-    huart1                                   0x20000780   Data         148  usart.o(.bss.huart1)
-    huart3                                   0x20000814   Data         148  usart.o(.bss.huart3)
-    uwTick                                   0x200008a8   Data           4  stm32g4xx_hal.o(.bss.uwTick)
-    y_prev                                   0x200008ac   Data           4  lowpass_filter.o(.bss.y_prev)
-    zero_electric_angle                      0x200008b0   Data           4  main.o(.bss.zero_electric_angle)
-    __initial_sp                             0x20000cb8   Data           0  startup_stm32g474xx.o(STACK)
+    Angle_Out                                0x20000020   Data           4  control.o(.bss..L_MergedGlobals)
+    Speed_Out                                0x20000024   Data           4  control.o(.bss..L_MergedGlobals)
+    Current_Out                              0x20000028   Data           4  control.o(.bss..L_MergedGlobals)
+    pid_angle                                0x2000002c   Data          36  pid.o(.bss..L_MergedGlobals)
+    pid_speed                                0x20000050   Data          36  pid.o(.bss..L_MergedGlobals)
+    pid_current                              0x20000074   Data          36  pid.o(.bss..L_MergedGlobals)
+    ABZ_encoder_count                        0x20000098   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_prev_encoder_count                   0x2000009c   Data           4  abz.o(.bss..L_MergedGlobals)
+    debug_ABZ_encoder_count                  0x200000a0   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_val                                  0x200000a4   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_current_angle                        0x200000a8   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_full_rotations                       0x200000ac   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_full_rotations_Debug                 0x200000b0   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZvel                                   0x200000b4   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_angle_prev_ts                        0x200000b8   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_vel_angle_prev_ts                    0x200000bc   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_Ts                                   0x200000c0   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_angle_prev_Velocity                  0x200000c4   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_vel_angle_prev_Velocity              0x200000c8   Data           4  abz.o(.bss..L_MergedGlobals)
+    ABZ_vel_M0_flit                          0x200000cc   Data           4  abz.o(.bss..L_MergedGlobals)
+    adc3_value                               0x200000d0   Data           4  adc.o(.bss..L_MergedGlobals)
+    adc1_value                               0x200000d8   Data          12  adc.o(.bss..L_MergedGlobals)
+    adc2_value                               0x200000e4   Data          12  adc.o(.bss..L_MergedGlobals)
+    ABZ_Sensor_Speed                         0x200000f0   Data           4  main.o(.bss.ABZ_Sensor_Speed)
+    Ua                                       0x200000f8   Data           4  main.o(.bss.Ua)
+    Ualpha                                   0x200000fc   Data           4  main.o(.bss.Ualpha)
+    Ub                                       0x20000100   Data           4  main.o(.bss.Ub)
+    Ubeta                                    0x20000104   Data           4  main.o(.bss.Ubeta)
+    Uc                                       0x20000108   Data           4  main.o(.bss.Uc)
+    adc1_filter_Ia                           0x2000010c   Data          28  lowpass_filter.o(.bss.adc1_filter_Ia)
+    adc1_filter_Ib                           0x20000128   Data          28  lowpass_filter.o(.bss.adc1_filter_Ib)
+    adc1_filter_Ic                           0x20000144   Data          28  lowpass_filter.o(.bss.adc1_filter_Ic)
+    dc_a                                     0x20000160   Data           4  main.o(.bss.dc_a)
+    dc_b                                     0x20000164   Data           4  main.o(.bss.dc_b)
+    dc_c                                     0x20000168   Data           4  main.o(.bss.dc_c)
+    hadc1                                    0x2000016c   Data         108  adc.o(.bss.hadc1)
+    hadc2                                    0x200001d8   Data         108  adc.o(.bss.hadc2)
+    hadc3                                    0x20000244   Data         108  adc.o(.bss.hadc3)
+    hdma_adc1                                0x200002b0   Data          96  adc.o(.bss.hdma_adc1)
+    hdma_adc2                                0x20000310   Data          96  adc.o(.bss.hdma_adc2)
+    hdma_adc3                                0x20000370   Data          96  adc.o(.bss.hdma_adc3)
+    hdma_usart1_tx                           0x200003d0   Data          96  usart.o(.bss.hdma_usart1_tx)
+    hfdcan1                                  0x20000430   Data         100  fdcan.o(.bss.hfdcan1)
+    hfdcan2                                  0x20000494   Data         100  fdcan.o(.bss.hfdcan2)
+    hi2c1                                    0x200004f8   Data          84  i2c.o(.bss.hi2c1)
+    hi2c2                                    0x2000054c   Data          84  i2c.o(.bss.hi2c2)
+    hlpuart1                                 0x200005a0   Data         148  usart.o(.bss.hlpuart1)
+    htim1                                    0x20000634   Data          76  tim.o(.bss.htim1)
+    htim2                                    0x20000680   Data          76  tim.o(.bss.htim2)
+    htim3                                    0x200006cc   Data          76  tim.o(.bss.htim3)
+    htim8                                    0x20000718   Data          76  tim.o(.bss.htim8)
+    huart1                                   0x20000764   Data         148  usart.o(.bss.huart1)
+    huart3                                   0x200007f8   Data         148  usart.o(.bss.huart3)
+    uwTick                                   0x2000088c   Data           4  stm32g4xx_hal.o(.bss.uwTick)
+    y_prev                                   0x20000890   Data           4  lowpass_filter.o(.bss.y_prev)
+    zero_electric_angle                      0x20000894   Data           4  main.o(.bss.zero_electric_angle)
+    __initial_sp                             0x20000c98   Data           0  startup_stm32g474xx.o(STACK)
 
 
 
@@ -4380,320 +4382,283 @@ Memory Map of the image
 
   Image Entry point : 0x080001d9
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000071c0, Max: 0x00080000, ABSOLUTE)
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000068f0, Max: 0x00080000, ABSOLUTE)
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000071a0, Max: 0x00080000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000068d0, Max: 0x00080000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
     0x08000000   0x08000000   0x000001d8   Data   RO            3    RESET               startup_stm32g474xx.o
-    0x080001d8   0x080001d8   0x00000000   Code   RO         1929  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
-    0x080001d8   0x080001d8   0x00000004   Code   RO         2232    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
-    0x080001dc   0x080001dc   0x00000004   Code   RO         2235    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
-    0x080001e0   0x080001e0   0x00000000   Code   RO         2237    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
-    0x080001e0   0x080001e0   0x00000000   Code   RO         2239    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
-    0x080001e0   0x080001e0   0x00000008   Code   RO         2240    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
-    0x080001e8   0x080001e8   0x00000000   Code   RO         2242    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
-    0x080001e8   0x080001e8   0x00000000   Code   RO         2244    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
-    0x080001e8   0x080001e8   0x00000004   Code   RO         2233    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
+    0x080001d8   0x080001d8   0x00000000   Code   RO         1933  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
+    0x080001d8   0x080001d8   0x00000004   Code   RO         2236    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
+    0x080001dc   0x080001dc   0x00000004   Code   RO         2239    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
+    0x080001e0   0x080001e0   0x00000000   Code   RO         2241    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
+    0x080001e0   0x080001e0   0x00000000   Code   RO         2243    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
+    0x080001e0   0x080001e0   0x00000008   Code   RO         2244    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
+    0x080001e8   0x080001e8   0x00000000   Code   RO         2246    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
+    0x080001e8   0x080001e8   0x00000000   Code   RO         2248    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
+    0x080001e8   0x080001e8   0x00000004   Code   RO         2237    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
     0x080001ec   0x080001ec   0x00000024   Code   RO            4    .text               startup_stm32g474xx.o
-    0x08000210   0x08000210   0x00000062   Code   RO         1932    .text               mc_w.l(uldiv.o)
-    0x08000272   0x08000272   0x00000024   Code   RO         1934    .text               mc_w.l(memseta.o)
-    0x08000296   0x08000296   0x0000014e   Code   RO         2197    .text               mf_w.l(dadd.o)
-    0x080003e4   0x080003e4   0x000000e4   Code   RO         2199    .text               mf_w.l(dmul.o)
-    0x080004c8   0x080004c8   0x000000de   Code   RO         2201    .text               mf_w.l(ddiv.o)
-    0x080005a6   0x080005a6   0x00000026   Code   RO         2203    .text               mf_w.l(f2d.o)
-    0x080005cc   0x080005cc   0x00000038   Code   RO         2205    .text               mf_w.l(d2f.o)
-    0x08000604   0x08000604   0x0000001e   Code   RO         2262    .text               mc_w.l(llshl.o)
-    0x08000622   0x08000622   0x00000020   Code   RO         2264    .text               mc_w.l(llushr.o)
-    0x08000642   0x08000642   0x00000024   Code   RO         2266    .text               mc_w.l(llsshr.o)
-    0x08000666   0x08000666   0x00000000   Code   RO         2275    .text               mc_w.l(iusefp.o)
-    0x08000666   0x08000666   0x0000006e   Code   RO         2276    .text               mf_w.l(fepilogue.o)
-    0x080006d4   0x080006d4   0x000000ba   Code   RO         2278    .text               mf_w.l(depilogue.o)
-    0x0800078e   0x0800078e   0x00000086   Code   RO         2282    .text               mf_w.l(drem.o)
-    0x08000814   0x08000814   0x00000024   Code   RO         2298    .text               mc_w.l(init.o)
-    0x08000838   0x08000838   0x00000022   Code   RO         2302    .text               mf_w.l(dflti.o)
-    0x0800085a   0x0800085a   0x0000001a   Code   RO         2304    .text               mf_w.l(dfltui.o)
-    0x08000874   0x08000874   0x0000003e   Code   RO         2306    .text               mf_w.l(dfixi.o)
+    0x08000210   0x08000210   0x00000062   Code   RO         1936    .text               mc_w.l(uldiv.o)
+    0x08000272   0x08000272   0x00000024   Code   RO         1938    .text               mc_w.l(memseta.o)
+    0x08000296   0x08000296   0x0000014e   Code   RO         2201    .text               mf_w.l(dadd.o)
+    0x080003e4   0x080003e4   0x000000e4   Code   RO         2203    .text               mf_w.l(dmul.o)
+    0x080004c8   0x080004c8   0x000000de   Code   RO         2205    .text               mf_w.l(ddiv.o)
+    0x080005a6   0x080005a6   0x00000026   Code   RO         2207    .text               mf_w.l(f2d.o)
+    0x080005cc   0x080005cc   0x00000038   Code   RO         2209    .text               mf_w.l(d2f.o)
+    0x08000604   0x08000604   0x0000001e   Code   RO         2266    .text               mc_w.l(llshl.o)
+    0x08000622   0x08000622   0x00000020   Code   RO         2268    .text               mc_w.l(llushr.o)
+    0x08000642   0x08000642   0x00000024   Code   RO         2270    .text               mc_w.l(llsshr.o)
+    0x08000666   0x08000666   0x00000000   Code   RO         2279    .text               mc_w.l(iusefp.o)
+    0x08000666   0x08000666   0x0000006e   Code   RO         2280    .text               mf_w.l(fepilogue.o)
+    0x080006d4   0x080006d4   0x000000ba   Code   RO         2282    .text               mf_w.l(depilogue.o)
+    0x0800078e   0x0800078e   0x00000086   Code   RO         2286    .text               mf_w.l(drem.o)
+    0x08000814   0x08000814   0x00000024   Code   RO         2302    .text               mc_w.l(init.o)
+    0x08000838   0x08000838   0x00000022   Code   RO         2306    .text               mf_w.l(dflti.o)
+    0x0800085a   0x0800085a   0x0000001a   Code   RO         2308    .text               mf_w.l(dfltui.o)
+    0x08000874   0x08000874   0x0000003e   Code   RO         2310    .text               mf_w.l(dfixi.o)
     0x080008b2   0x080008b2   0x00000002   PAD
-    0x080008b4   0x080008b4   0x00000012   Code   RO           95    .text.ADC_Filter_Init  lowpass_filter.o
-    0x080008c6   0x080008c6   0x00000002   PAD
-    0x080008c8   0x080008c8   0x00000028   Code   RO           17    .text.AS5600_GetAngle2PI  as5600.o
-    0x080008f0   0x080008f0   0x000000c4   Code   RO           23    .text.AS5600_Get_Speed  as5600.o
-    0x080009b4   0x080009b4   0x00000040   Code   RO           11    .text.AS5600_ReadRawAngle  as5600.o
-    0x080009f4   0x080009f4   0x00000002   Code   RO          352    .text.BusFault_Handler  stm32g4xx_it.o
-    0x080009f6   0x080009f6   0x00000002   PAD
-    0x080009f8   0x080009f8   0x0000000c   Code   RO          364    .text.DMA1_Channel1_IRQHandler  stm32g4xx_it.o
-    0x08000a04   0x08000a04   0x0000000c   Code   RO          366    .text.DMA1_Channel2_IRQHandler  stm32g4xx_it.o
-    0x08000a10   0x08000a10   0x0000000c   Code   RO          368    .text.DMA1_Channel3_IRQHandler  stm32g4xx_it.o
-    0x08000a1c   0x08000a1c   0x0000000c   Code   RO          370    .text.DMA1_Channel4_IRQHandler  stm32g4xx_it.o
-    0x08000a28   0x08000a28   0x00000002   Code   RO          358    .text.DebugMon_Handler  stm32g4xx_it.o
-    0x08000a2a   0x08000a2a   0x00000002   PAD
-    0x08000a2c   0x08000a2c   0x00000008   Code   RO          376    .text.EXTI15_10_IRQHandler  stm32g4xx_it.o
-    0x08000a34   0x08000a34   0x0000000a   Code   RO          158    .text.Error_Handler  main.o
-    0x08000a3e   0x08000a3e   0x00000002   PAD
-    0x08000a40   0x08000a40   0x000000c0   Code   RO           65    .text.FOC_AS5600_Init  foc.o
-    0x08000b00   0x08000b00   0x00000010   Code   RO           63    .text.FOC_Init      foc.o
-    0x08000b10   0x08000b10   0x00000134   Code   RO          505    .text.HAL_ADCEx_MultiModeConfigChannel  stm32g4xx_hal_adc_ex.o
-    0x08000c44   0x08000c44   0x000003e8   Code   RO          445    .text.HAL_ADC_ConfigChannel  stm32g4xx_hal_adc.o
-    0x0800102c   0x0800102c   0x0000027c   Code   RO          393    .text.HAL_ADC_Init  stm32g4xx_hal_adc.o
-    0x080012a8   0x080012a8   0x00000254   Code   RO          221    .text.HAL_ADC_MspInit  adc.o
-    0x080014fc   0x080014fc   0x000000aa   Code   RO          831    .text.HAL_DMA_IRQHandler  stm32g4xx_hal_dma.o
-    0x080015a6   0x080015a6   0x00000002   PAD
-    0x080015a8   0x080015a8   0x0000012a   Code   RO          817    .text.HAL_DMA_Init  stm32g4xx_hal_dma.o
-    0x080016d2   0x080016d2   0x00000002   PAD
-    0x080016d4   0x080016d4   0x00000028   Code   RO          544    .text.HAL_Delay     stm32g4xx_hal.o
-    0x080016fc   0x080016fc   0x00000254   Code   RO         1035    .text.HAL_FDCAN_Init  stm32g4xx_hal_fdcan.o
-    0x08001950   0x08001950   0x00000114   Code   RO          261    .text.HAL_FDCAN_MspInit  fdcan.o
-    0x08001a64   0x08001a64   0x00000002   Code   RO          781    .text.HAL_GPIO_EXTI_Callback  stm32g4xx_hal_gpio.o
-    0x08001a66   0x08001a66   0x00000002   PAD
-    0x08001a68   0x08001a68   0x00000016   Code   RO          779    .text.HAL_GPIO_EXTI_IRQHandler  stm32g4xx_hal_gpio.o
-    0x08001a7e   0x08001a7e   0x00000002   PAD
-    0x08001a80   0x08001a80   0x000001da   Code   RO          767    .text.HAL_GPIO_Init  stm32g4xx_hal_gpio.o
-    0x08001c5a   0x08001c5a   0x00000002   PAD
-    0x08001c5c   0x08001c5c   0x0000000c   Code   RO          773    .text.HAL_GPIO_WritePin  stm32g4xx_hal_gpio.o
-    0x08001c68   0x08001c68   0x0000000c   Code   RO          536    .text.HAL_GetTick   stm32g4xx_hal.o
-    0x08001c74   0x08001c74   0x0000004a   Code   RO         1318    .text.HAL_I2CEx_ConfigAnalogFilter  stm32g4xx_hal_i2c_ex.o
-    0x08001cbe   0x08001cbe   0x00000002   PAD
-    0x08001cc0   0x08001cc0   0x00000048   Code   RO         1320    .text.HAL_I2CEx_ConfigDigitalFilter  stm32g4xx_hal_i2c_ex.o
-    0x08001d08   0x08001d08   0x000000ae   Code   RO         1164    .text.HAL_I2C_Init  stm32g4xx_hal_i2c.o
-    0x08001db6   0x08001db6   0x00000002   PAD
-    0x08001db8   0x08001db8   0x00000238   Code   RO         1224    .text.HAL_I2C_Mem_Read  stm32g4xx_hal_i2c.o
-    0x08001ff0   0x08001ff0   0x000000f8   Code   RO          280    .text.HAL_I2C_MspInit  i2c.o
-    0x080020e8   0x080020e8   0x0000001a   Code   RO          534    .text.HAL_IncTick   stm32g4xx_hal.o
-    0x08002102   0x08002102   0x00000002   PAD
-    0x08002104   0x08002104   0x0000001e   Code   RO          524    .text.HAL_Init      stm32g4xx_hal.o
-    0x08002122   0x08002122   0x00000002   PAD
-    0x08002124   0x08002124   0x0000004c   Code   RO          526    .text.HAL_InitTick  stm32g4xx_hal.o
-    0x08002170   0x08002170   0x00000034   Code   RO          385    .text.HAL_MspInit   stm32g4xx_hal_msp.o
-    0x080021a4   0x080021a4   0x00000020   Code   RO          993    .text.HAL_NVIC_EnableIRQ  stm32g4xx_hal_cortex.o
-    0x080021c4   0x080021c4   0x00000056   Code   RO          991    .text.HAL_NVIC_SetPriority  stm32g4xx_hal_cortex.o
-    0x0800221a   0x0800221a   0x00000002   PAD
-    0x0800221c   0x0800221c   0x00000020   Code   RO          989    .text.HAL_NVIC_SetPriorityGrouping  stm32g4xx_hal_cortex.o
-    0x0800223c   0x0800223c   0x00000126   Code   RO          909    .text.HAL_PWREx_ControlVoltageScaling  stm32g4xx_hal_pwr_ex.o
-    0x08002362   0x08002362   0x00000002   PAD
-    0x08002364   0x08002364   0x00000012   Code   RO          979    .text.HAL_PWREx_DisableUCPDDeadBattery  stm32g4xx_hal_pwr_ex.o
-    0x08002376   0x08002376   0x00000002   PAD
-    0x08002378   0x08002378   0x000002d6   Code   RO          648    .text.HAL_RCCEx_PeriphCLKConfig  stm32g4xx_hal_rcc_ex.o
-    0x0800264e   0x0800264e   0x00000002   PAD
-    0x08002650   0x08002650   0x00000314   Code   RO          614    .text.HAL_RCC_ClockConfig  stm32g4xx_hal_rcc.o
-    0x08002964   0x08002964   0x0000002a   Code   RO          622    .text.HAL_RCC_GetPCLK1Freq  stm32g4xx_hal_rcc.o
-    0x0800298e   0x0800298e   0x00000002   PAD
-    0x08002990   0x08002990   0x0000002a   Code   RO          624    .text.HAL_RCC_GetPCLK2Freq  stm32g4xx_hal_rcc.o
-    0x080029ba   0x080029ba   0x00000002   PAD
-    0x080029bc   0x080029bc   0x0000007a   Code   RO          616    .text.HAL_RCC_GetSysClockFreq  stm32g4xx_hal_rcc.o
-    0x08002a36   0x08002a36   0x00000002   PAD
-    0x08002a38   0x08002a38   0x000004aa   Code   RO          612    .text.HAL_RCC_OscConfig  stm32g4xx_hal_rcc.o
-    0x08002ee2   0x08002ee2   0x00000002   PAD
-    0x08002ee4   0x08002ee4   0x0000002c   Code   RO         1001    .text.HAL_SYSTICK_Config  stm32g4xx_hal_cortex.o
-    0x08002f10   0x08002f10   0x00000002   Code   RO         1874    .text.HAL_TIMEx_Break2Callback  stm32g4xx_hal_tim_ex.o
-    0x08002f12   0x08002f12   0x00000002   PAD
-    0x08002f14   0x08002f14   0x00000002   Code   RO         1872    .text.HAL_TIMEx_BreakCallback  stm32g4xx_hal_tim_ex.o
-    0x08002f16   0x08002f16   0x00000002   PAD
-    0x08002f18   0x08002f18   0x00000002   Code   RO         1868    .text.HAL_TIMEx_CommutCallback  stm32g4xx_hal_tim_ex.o
-    0x08002f1a   0x08002f1a   0x00000002   PAD
-    0x08002f1c   0x08002f1c   0x000000d4   Code   RO         1820    .text.HAL_TIMEx_ConfigBreakDeadTime  stm32g4xx_hal_tim_ex.o
-    0x08002ff0   0x08002ff0   0x0000004e   Code   RO         1858    .text.HAL_TIMEx_ConfigEncoderIndex  stm32g4xx_hal_tim_ex.o
-    0x0800303e   0x0800303e   0x00000002   PAD
-    0x08003040   0x08003040   0x00000002   Code   RO         1878    .text.HAL_TIMEx_DirectionChangeCallback  stm32g4xx_hal_tim_ex.o
-    0x08003042   0x08003042   0x00000002   PAD
-    0x08003044   0x08003044   0x0000000e   Code   RO         1860    .text.HAL_TIMEx_EnableEncoderIndex  stm32g4xx_hal_tim_ex.o
-    0x08003052   0x08003052   0x00000002   PAD
-    0x08003054   0x08003054   0x00000002   Code   RO         1876    .text.HAL_TIMEx_EncoderIndexCallback  stm32g4xx_hal_tim_ex.o
-    0x08003056   0x08003056   0x00000002   PAD
-    0x08003058   0x08003058   0x00000002   Code   RO         1880    .text.HAL_TIMEx_IndexErrorCallback  stm32g4xx_hal_tim_ex.o
-    0x0800305a   0x0800305a   0x00000002   PAD
-    0x0800305c   0x0800305c   0x000000de   Code   RO         1818    .text.HAL_TIMEx_MasterConfigSynchronization  stm32g4xx_hal_tim_ex.o
-    0x0800313a   0x0800313a   0x00000002   PAD
-    0x0800313c   0x0800313c   0x00000112   Code   RO         1788    .text.HAL_TIMEx_PWMN_Start  stm32g4xx_hal_tim_ex.o
-    0x0800324e   0x0800324e   0x00000002   PAD
-    0x08003250   0x08003250   0x00000002   Code   RO         1882    .text.HAL_TIMEx_TransitionErrorCallback  stm32g4xx_hal_tim_ex.o
-    0x08003252   0x08003252   0x00000002   PAD
-    0x08003254   0x08003254   0x00000062   Code   RO         1523    .text.HAL_TIM_Base_Init  stm32g4xx_hal_tim.o
-    0x080032b6   0x080032b6   0x00000002   PAD
-    0x080032b8   0x080032b8   0x0000005a   Code   RO          326    .text.HAL_TIM_Base_MspInit  tim.o
-    0x08003312   0x08003312   0x00000002   PAD
-    0x08003314   0x08003314   0x00000220   Code   RO         1703    .text.HAL_TIM_ConfigClockSource  stm32g4xx_hal_tim.o
-    0x08003534   0x08003534   0x000000b6   Code   RO         1637    .text.HAL_TIM_Encoder_Init  stm32g4xx_hal_tim.o
-    0x080035ea   0x080035ea   0x00000002   PAD
-    0x080035ec   0x080035ec   0x0000016a   Code   RO          328    .text.HAL_TIM_Encoder_MspInit  tim.o
-    0x08003756   0x08003756   0x00000002   PAD
-    0x08003758   0x08003758   0x000000bc   Code   RO         1645    .text.HAL_TIM_Encoder_Start  stm32g4xx_hal_tim.o
-    0x08003814   0x08003814   0x00000002   Code   RO         1659    .text.HAL_TIM_IC_CaptureCallback  stm32g4xx_hal_tim.o
-    0x08003816   0x08003816   0x00000002   PAD
-    0x08003818   0x08003818   0x000001cc   Code   RO         1657    .text.HAL_TIM_IRQHandler  stm32g4xx_hal_tim.o
-    0x080039e4   0x080039e4   0x000000e0   Code   RO          318    .text.HAL_TIM_MspPostInit  tim.o
-    0x08003ac4   0x08003ac4   0x00000002   Code   RO         1661    .text.HAL_TIM_OC_DelayElapsedCallback  stm32g4xx_hal_tim.o
-    0x08003ac6   0x08003ac6   0x00000002   PAD
-    0x08003ac8   0x08003ac8   0x00000400   Code   RO         1677    .text.HAL_TIM_PWM_ConfigChannel  stm32g4xx_hal_tim.o
-    0x08003ec8   0x08003ec8   0x00000062   Code   RO         1577    .text.HAL_TIM_PWM_Init  stm32g4xx_hal_tim.o
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-    0x08003f2e   0x08003f2e   0x00000002   PAD
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-    0x08003f32   0x08003f32   0x00000002   PAD
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-    0x08004ca4   0x08004ca4   0x0000006c   Code   RO          278    .text.MX_I2C2_Init  i2c.o
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-    0x08004f14   0x08004f14   0x0000009c   Code   RO          320    .text.MX_TIM2_Init  tim.o
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+    0x08000ac2   0x08000ac2   0x00000002   PAD
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+    0x08001d8e   0x08001d8e   0x00000002   PAD
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+    0x08003bc2   0x08003bc2   0x00000002   PAD
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+    0x08003d62   0x08003d62   0x00000002   PAD
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+    0x08004f42   0x08004f42   0x00000002   PAD
+    0x08004f44   0x08004f44   0x000000e8   Code   RO         1346    .text.UART_AdvFeatureConfig  stm32g4xx_hal_uart.o
+    0x0800502c   0x0800502c   0x0000016e   Code   RO         1350    .text.UART_CheckIdleState  stm32g4xx_hal_uart.o
     0x0800519a   0x0800519a   0x00000002   PAD
-    0x0800519c   0x0800519c   0x00000082   Code   RO          296    .text.MX_USART1_UART_Init  usart.o
-    0x0800521e   0x0800521e   0x00000002   PAD
-    0x08005220   0x08005220   0x00000082   Code   RO          298    .text.MX_USART3_UART_Init  usart.o
-    0x080052a2   0x080052a2   0x00000002   PAD
-    0x080052a4   0x080052a4   0x00000002   Code   RO          350    .text.MemManage_Handler  stm32g4xx_it.o
-    0x080052a6   0x080052a6   0x00000002   PAD
-    0x080052a8   0x080052a8   0x0000008c   Code   RO           42    .text.Moment_limiting  control.o
-    0x08005334   0x08005334   0x00000002   Code   RO          346    .text.NMI_Handler   stm32g4xx_it.o
-    0x08005336   0x08005336   0x00000002   PAD
-    0x08005338   0x08005338   0x0000007a   Code   RO          111    .text.PID_init      pid.o
-    0x080053b2   0x080053b2   0x00000002   PAD
-    0x080053b4   0x080053b4   0x00000002   Code   RO          360    .text.PendSV_Handler  stm32g4xx_it.o
-    0x080053b6   0x080053b6   0x00000002   PAD
-    0x080053b8   0x080053b8   0x00000002   Code   RO          356    .text.SVC_Handler   stm32g4xx_it.o
-    0x080053ba   0x080053ba   0x00000006   PAD
-    0x080053c0   0x080053c0   0x000000c4   Code   RO           69    .text.Set_Speed     foc.o
-    0x08005484   0x08005484   0x00000080   Code   RO           38    .text.Speed_Control  control.o
-    0x08005504   0x08005504   0x00000004   Code   RO          362    .text.SysTick_Handler  stm32g4xx_it.o
-    0x08005508   0x08005508   0x00000012   Code   RO         1897    .text.SystemInit    system_stm32g4xx.o
-    0x0800551a   0x0800551a   0x00000002   PAD
-    0x0800551c   0x0800551c   0x0000000c   Code   RO          372    .text.TIM2_IRQHandler  stm32g4xx_it.o
-    0x08005528   0x08005528   0x0000001c   Code   RO          121    .text.TIM2_M1_ABZ   abz.o
-    0x08005544   0x08005544   0x0000000c   Code   RO          374    .text.TIM3_IRQHandler  stm32g4xx_it.o
-    0x08005550   0x08005550   0x0000001c   Code   RO          123    .text.TIM3_M2_ABZ   abz.o
-    0x0800556c   0x0800556c   0x0000014c   Code   RO         1527    .text.TIM_Base_SetConfig  stm32g4xx_hal_tim.o
-    0x080056b8   0x080056b8   0x00000016   Code   RO         1701    .text.TIM_ETR_SetConfig  stm32g4xx_hal_tim.o
-    0x080056ce   0x080056ce   0x00000002   PAD
-    0x080056d0   0x080056d0   0x000000e8   Code   RO         1342    .text.UART_AdvFeatureConfig  stm32g4xx_hal_uart.o
-    0x080057b8   0x080057b8   0x0000016e   Code   RO         1346    .text.UART_CheckIdleState  stm32g4xx_hal_uart.o
-    0x08005926   0x08005926   0x00000002   PAD
-    0x08005928   0x08005928   0x000002c0   Code   RO         1344    .text.UART_SetConfig  stm32g4xx_hal_uart.o
-    0x08005be8   0x08005be8   0x00000348   Code   RO         1360    .text.UART_WaitOnFlagUntilTimeout  stm32g4xx_hal_uart.o
-    0x08005f30   0x08005f30   0x000000b0   Code   RO          129    .text.UpdateEncoderCnt  abz.o
-    0x08005fe0   0x08005fe0   0x00000002   Code   RO          354    .text.UsageFault_Handler  stm32g4xx_it.o
-    0x08005fe2   0x08005fe2   0x00000006   PAD
-    0x08005fe8   0x08005fe8   0x0000004c   Code   RO           57    .text._normalizeAngle  foc.o
-    0x08006034   0x08006034   0x00000168   Code   RO          154    .text.main          main.o
-    0x0800619c   0x0800619c   0x00000004   PAD
-    0x080061a0   0x080061a0   0x0000032c   Code   RO           61    .text.setTorque     foc.o
-    0x080064cc   0x080064cc   0x00000030   Code   RO         2294    i.__ARM_fpclassify  m_wm.l(fpclassify.o)
-    0x080064fc   0x080064fc   0x00000004   PAD
-    0x08006500   0x08006500   0x000000c8   Code   RO         1911    i.__hardfp_cos      m_wm.l(cos.o)
-    0x080065c8   0x080065c8   0x00000104   Code   RO         1917    i.__hardfp_fmod     m_wm.l(fmod.o)
-    0x080066cc   0x080066cc   0x00000004   PAD
-    0x080066d0   0x080066d0   0x000000c8   Code   RO         1923    i.__hardfp_sin      m_wm.l(sin.o)
-    0x08006798   0x08006798   0x00000438   Code   RO         2224    i.__ieee754_rem_pio2  m_wm.l(rred.o)
-    0x08006bd0   0x08006bd0   0x00000170   Code   RO         2207    i.__kernel_cos      m_wm.l(cos_i.o)
-    0x08006d40   0x08006d40   0x000000f8   Code   RO         2296    i.__kernel_poly     m_wm.l(poly.o)
-    0x08006e38   0x08006e38   0x00000130   Code   RO         2229    i.__kernel_sin      m_wm.l(sin_i.o)
-    0x08006f68   0x08006f68   0x00000014   Code   RO         2211    i.__mathlib_dbl_infnan  m_wm.l(dunder.o)
-    0x08006f7c   0x08006f7c   0x00000004   PAD
-    0x08006f80   0x08006f80   0x00000020   Code   RO         2213    i.__mathlib_dbl_invalid  m_wm.l(dunder.o)
-    0x08006fa0   0x08006fa0   0x00000020   Code   RO         2216    i.__mathlib_dbl_underflow  m_wm.l(dunder.o)
-    0x08006fc0   0x08006fc0   0x0000000e   Code   RO         2310    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x08006fce   0x08006fce   0x00000002   Code   RO         2311    i.__scatterload_null  mc_w.l(handlers.o)
-    0x08006fd0   0x08006fd0   0x0000000e   Code   RO         2312    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x08006fde   0x08006fde   0x00000002   PAD
-    0x08006fe0   0x08006fe0   0x0000000c   Code   RO         2270    i.__set_errno       mc_w.l(errno.o)
-    0x08006fec   0x08006fec   0x00000018   Code   RO         2290    i.fabs              m_wm.l(fabs.o)
-    0x08007004   0x08007004   0x00000004   PAD
-    0x08007008   0x08007008   0x00000030   Data   RO         2208    .constdata          m_wm.l(cos_i.o)
-    0x08007038   0x08007038   0x000000cc   Data   RO         2226    .constdata          m_wm.l(rred.o)
-    0x08007104   0x08007104   0x00000004   PAD
-    0x08007108   0x08007108   0x00000028   Data   RO         2230    .constdata          m_wm.l(sin_i.o)
-    0x08007130   0x08007130   0x00000010   Data   RO         1902    .rodata.AHBPrescTable  system_stm32g4xx.o
-    0x08007140   0x08007140   0x00000008   Data   RO         1903    .rodata.APBPrescTable  system_stm32g4xx.o
-    0x08007148   0x08007148   0x00000018   Data   RO         1472    .rodata.UARTPrescTable  stm32g4xx_hal_uart.o
-    0x08007160   0x08007160   0x00000010   Data   RO         1473    .rodata.cst16       stm32g4xx_hal_uart.o
-    0x08007170   0x08007170   0x00000010   Data   RO         1514    .rodata.cst8        stm32g4xx_hal_uart_ex.o
-    0x08007180   0x08007180   0x00000020   Data   RO         2309    Region$$Table       anon$$obj.o
+    0x0800519c   0x0800519c   0x000002c0   Code   RO         1348    .text.UART_SetConfig  stm32g4xx_hal_uart.o
+    0x0800545c   0x0800545c   0x00000348   Code   RO         1364    .text.UART_WaitOnFlagUntilTimeout  stm32g4xx_hal_uart.o
+    0x080057a4   0x080057a4   0x00000002   Code   RO          362    .text.UsageFault_Handler  stm32g4xx_it.o
+    0x080057a6   0x080057a6   0x00000002   PAD
+    0x080057a8   0x080057a8   0x00000128   Code   RO          160    .text.main          main.o
+    0x080058d0   0x080058d0   0x0000032c   Code   RO           63    .text.setTorque     foc.o
+    0x08005bfc   0x08005bfc   0x00000030   Code   RO         2298    i.__ARM_fpclassify  m_wm.l(fpclassify.o)
+    0x08005c2c   0x08005c2c   0x00000004   PAD
+    0x08005c30   0x08005c30   0x000000c8   Code   RO         1915    i.__hardfp_cos      m_wm.l(cos.o)
+    0x08005cf8   0x08005cf8   0x00000104   Code   RO         1921    i.__hardfp_fmod     m_wm.l(fmod.o)
+    0x08005dfc   0x08005dfc   0x00000004   PAD
+    0x08005e00   0x08005e00   0x000000c8   Code   RO         1927    i.__hardfp_sin      m_wm.l(sin.o)
+    0x08005ec8   0x08005ec8   0x00000438   Code   RO         2228    i.__ieee754_rem_pio2  m_wm.l(rred.o)
+    0x08006300   0x08006300   0x00000170   Code   RO         2211    i.__kernel_cos      m_wm.l(cos_i.o)
+    0x08006470   0x08006470   0x000000f8   Code   RO         2300    i.__kernel_poly     m_wm.l(poly.o)
+    0x08006568   0x08006568   0x00000130   Code   RO         2233    i.__kernel_sin      m_wm.l(sin_i.o)
+    0x08006698   0x08006698   0x00000014   Code   RO         2215    i.__mathlib_dbl_infnan  m_wm.l(dunder.o)
+    0x080066ac   0x080066ac   0x00000004   PAD
+    0x080066b0   0x080066b0   0x00000020   Code   RO         2217    i.__mathlib_dbl_invalid  m_wm.l(dunder.o)
+    0x080066d0   0x080066d0   0x00000020   Code   RO         2220    i.__mathlib_dbl_underflow  m_wm.l(dunder.o)
+    0x080066f0   0x080066f0   0x0000000e   Code   RO         2314    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x080066fe   0x080066fe   0x00000002   Code   RO         2315    i.__scatterload_null  mc_w.l(handlers.o)
+    0x08006700   0x08006700   0x0000000e   Code   RO         2316    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x0800670e   0x0800670e   0x00000002   PAD
+    0x08006710   0x08006710   0x0000000c   Code   RO         2274    i.__set_errno       mc_w.l(errno.o)
+    0x0800671c   0x0800671c   0x00000018   Code   RO         2294    i.fabs              m_wm.l(fabs.o)
+    0x08006734   0x08006734   0x00000004   PAD
+    0x08006738   0x08006738   0x00000030   Data   RO         2212    .constdata          m_wm.l(cos_i.o)
+    0x08006768   0x08006768   0x000000cc   Data   RO         2230    .constdata          m_wm.l(rred.o)
+    0x08006834   0x08006834   0x00000004   PAD
+    0x08006838   0x08006838   0x00000028   Data   RO         2234    .constdata          m_wm.l(sin_i.o)
+    0x08006860   0x08006860   0x00000010   Data   RO         1906    .rodata.AHBPrescTable  system_stm32g4xx.o
+    0x08006870   0x08006870   0x00000008   Data   RO         1907    .rodata.APBPrescTable  system_stm32g4xx.o
+    0x08006878   0x08006878   0x00000018   Data   RO         1476    .rodata.UARTPrescTable  stm32g4xx_hal_uart.o
+    0x08006890   0x08006890   0x00000010   Data   RO         1477    .rodata.cst16       stm32g4xx_hal_uart.o
+    0x080068a0   0x080068a0   0x00000010   Data   RO         1518    .rodata.cst8        stm32g4xx_hal_uart_ex.o
+    0x080068b0   0x080068b0   0x00000020   Data   RO         2313    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080071a0, Size: 0x00000cb8, Max: 0x00020000, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080068d0, Size: 0x00000c98, Max: 0x00020000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x080071a0   0x00000004   Data   RW         2271    .data               mc_w.l(errno.o)
-    0x20000004   0x080071a4   0x0000000c   Data   RW          198    .data..L_MergedGlobals  main.o
-    0x20000010   0x080071b0   0x00000008   Data   RW          601    .data..L_MergedGlobals  stm32g4xx_hal.o
-    0x20000018   0x080071b8   0x00000004   Data   RW         1901    .data.SystemCoreClock  system_stm32g4xx.o
-    0x2000001c   0x080071bc   0x00000004   Data   RW          160    .data.voltage_limit  main.o
-    0x20000020        -       0x0000001c   Zero   RW           27    .bss..L_MergedGlobals  as5600.o
-    0x2000003c        -       0x0000000c   Zero   RW           44    .bss..L_MergedGlobals  control.o
-    0x20000048        -       0x0000006c   Zero   RW          113    .bss..L_MergedGlobals  pid.o
-    0x200000b4        -       0x00000038   Zero   RW          145    .bss..L_MergedGlobals  abz.o
-    0x200000ec        -       0x00000020   Zero   RW          239    .bss..L_MergedGlobals  adc.o
-    0x2000010c        -       0x00000004   Zero   RW          267    .bss.HAL_RCC_FDCAN_CLK_ENABLED  fdcan.o
-    0x20000110        -       0x00000004   Zero   RW          170    .bss.Sensor_Speed   main.o
-    0x20000114        -       0x00000004   Zero   RW          163    .bss.Ua             main.o
-    0x20000118        -       0x00000004   Zero   RW          196    .bss.Ualpha         main.o
-    0x2000011c        -       0x00000004   Zero   RW          164    .bss.Ub             main.o
-    0x20000120        -       0x00000004   Zero   RW          162    .bss.Ubeta          main.o
-    0x20000124        -       0x00000004   Zero   RW          165    .bss.Uc             main.o
-    0x20000128        -       0x0000001c   Zero   RW          100    .bss.adc1_filter_Ia  lowpass_filter.o
-    0x20000144        -       0x0000001c   Zero   RW          101    .bss.adc1_filter_Ib  lowpass_filter.o
-    0x20000160        -       0x0000001c   Zero   RW          102    .bss.adc1_filter_Ic  lowpass_filter.o
-    0x2000017c        -       0x00000004   Zero   RW          166    .bss.dc_a           main.o
-    0x20000180        -       0x00000004   Zero   RW          167    .bss.dc_b           main.o
-    0x20000184        -       0x00000004   Zero   RW          168    .bss.dc_c           main.o
-    0x20000188        -       0x0000006c   Zero   RW          233    .bss.hadc1          adc.o
-    0x200001f4        -       0x0000006c   Zero   RW          234    .bss.hadc2          adc.o
-    0x20000260        -       0x0000006c   Zero   RW          235    .bss.hadc3          adc.o
-    0x200002cc        -       0x00000060   Zero   RW          236    .bss.hdma_adc1      adc.o
-    0x2000032c        -       0x00000060   Zero   RW          237    .bss.hdma_adc2      adc.o
-    0x2000038c        -       0x00000060   Zero   RW          238    .bss.hdma_adc3      adc.o
-    0x200003ec        -       0x00000060   Zero   RW          307    .bss.hdma_usart1_tx  usart.o
-    0x2000044c        -       0x00000064   Zero   RW          265    .bss.hfdcan1        fdcan.o
-    0x200004b0        -       0x00000064   Zero   RW          266    .bss.hfdcan2        fdcan.o
-    0x20000514        -       0x00000054   Zero   RW          284    .bss.hi2c1          i2c.o
-    0x20000568        -       0x00000054   Zero   RW          285    .bss.hi2c2          i2c.o
-    0x200005bc        -       0x00000094   Zero   RW          304    .bss.hlpuart1       usart.o
-    0x20000650        -       0x0000004c   Zero   RW          334    .bss.htim1          tim.o
-    0x2000069c        -       0x0000004c   Zero   RW          335    .bss.htim2          tim.o
-    0x200006e8        -       0x0000004c   Zero   RW          336    .bss.htim3          tim.o
-    0x20000734        -       0x0000004c   Zero   RW          337    .bss.htim8          tim.o
-    0x20000780        -       0x00000094   Zero   RW          305    .bss.huart1         usart.o
-    0x20000814        -       0x00000094   Zero   RW          306    .bss.huart3         usart.o
-    0x200008a8        -       0x00000004   Zero   RW          600    .bss.uwTick         stm32g4xx_hal.o
-    0x200008ac        -       0x00000004   Zero   RW           99    .bss.y_prev         lowpass_filter.o
-    0x200008b0        -       0x00000004   Zero   RW          161    .bss.zero_electric_angle  main.o
-    0x200008b4   0x080071c0   0x00000004   PAD
-    0x200008b8        -       0x00000400   Zero   RW            1    STACK               startup_stm32g474xx.o
+    0x20000000   0x080068d0   0x00000004   Data   RW         2275    .data               mc_w.l(errno.o)
+    0x20000004   0x080068d4   0x0000000c   Data   RW          206    .data..L_MergedGlobals  main.o
+    0x20000010   0x080068e0   0x00000008   Data   RW          605    .data..L_MergedGlobals  stm32g4xx_hal.o
+    0x20000018   0x080068e8   0x00000004   Data   RW         1905    .data.SystemCoreClock  system_stm32g4xx.o
+    0x2000001c   0x080068ec   0x00000004   Data   RW          166    .data.voltage_limit  main.o
+    0x20000020        -       0x0000000c   Zero   RW           44    .bss..L_MergedGlobals  control.o
+    0x2000002c        -       0x0000006c   Zero   RW          121    .bss..L_MergedGlobals  pid.o
+    0x20000098        -       0x00000038   Zero   RW          151    .bss..L_MergedGlobals  abz.o
+    0x200000d0        -       0x00000020   Zero   RW          247    .bss..L_MergedGlobals  adc.o
+    0x200000f0        -       0x00000004   Zero   RW          177    .bss.ABZ_Sensor_Speed  main.o
+    0x200000f4        -       0x00000004   Zero   RW          275    .bss.HAL_RCC_FDCAN_CLK_ENABLED  fdcan.o
+    0x200000f8        -       0x00000004   Zero   RW          169    .bss.Ua             main.o
+    0x200000fc        -       0x00000004   Zero   RW          204    .bss.Ualpha         main.o
+    0x20000100        -       0x00000004   Zero   RW          170    .bss.Ub             main.o
+    0x20000104        -       0x00000004   Zero   RW          168    .bss.Ubeta          main.o
+    0x20000108        -       0x00000004   Zero   RW          171    .bss.Uc             main.o
+    0x2000010c        -       0x0000001c   Zero   RW          108    .bss.adc1_filter_Ia  lowpass_filter.o
+    0x20000128        -       0x0000001c   Zero   RW          109    .bss.adc1_filter_Ib  lowpass_filter.o
+    0x20000144        -       0x0000001c   Zero   RW          110    .bss.adc1_filter_Ic  lowpass_filter.o
+    0x20000160        -       0x00000004   Zero   RW          172    .bss.dc_a           main.o
+    0x20000164        -       0x00000004   Zero   RW          173    .bss.dc_b           main.o
+    0x20000168        -       0x00000004   Zero   RW          174    .bss.dc_c           main.o
+    0x2000016c        -       0x0000006c   Zero   RW          241    .bss.hadc1          adc.o
+    0x200001d8        -       0x0000006c   Zero   RW          242    .bss.hadc2          adc.o
+    0x20000244        -       0x0000006c   Zero   RW          243    .bss.hadc3          adc.o
+    0x200002b0        -       0x00000060   Zero   RW          244    .bss.hdma_adc1      adc.o
+    0x20000310        -       0x00000060   Zero   RW          245    .bss.hdma_adc2      adc.o
+    0x20000370        -       0x00000060   Zero   RW          246    .bss.hdma_adc3      adc.o
+    0x200003d0        -       0x00000060   Zero   RW          315    .bss.hdma_usart1_tx  usart.o
+    0x20000430        -       0x00000064   Zero   RW          273    .bss.hfdcan1        fdcan.o
+    0x20000494        -       0x00000064   Zero   RW          274    .bss.hfdcan2        fdcan.o
+    0x200004f8        -       0x00000054   Zero   RW          292    .bss.hi2c1          i2c.o
+    0x2000054c        -       0x00000054   Zero   RW          293    .bss.hi2c2          i2c.o
+    0x200005a0        -       0x00000094   Zero   RW          312    .bss.hlpuart1       usart.o
+    0x20000634        -       0x0000004c   Zero   RW          342    .bss.htim1          tim.o
+    0x20000680        -       0x0000004c   Zero   RW          343    .bss.htim2          tim.o
+    0x200006cc        -       0x0000004c   Zero   RW          344    .bss.htim3          tim.o
+    0x20000718        -       0x0000004c   Zero   RW          345    .bss.htim8          tim.o
+    0x20000764        -       0x00000094   Zero   RW          313    .bss.huart1         usart.o
+    0x200007f8        -       0x00000094   Zero   RW          314    .bss.huart3         usart.o
+    0x2000088c        -       0x00000004   Zero   RW          604    .bss.uwTick         stm32g4xx_hal.o
+    0x20000890        -       0x00000004   Zero   RW          107    .bss.y_prev         lowpass_filter.o
+    0x20000894        -       0x00000004   Zero   RW          167    .bss.zero_electric_angle  main.o
+    0x20000898        -       0x00000400   Zero   RW            1    STACK               startup_stm32g474xx.o
 
 
 ==============================================================================
@@ -4703,18 +4668,17 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
-       232          8          0          0         56       7375   abz.o
+       364         28          0          0         56       7142   abz.o
       1232          0          0          0        644       9315   adc.o
-       300         28          0          0         28       6787   as5600.o
        268          8          0          0         12       1372   control.o
        118          0          0          0          0       4118   dma.o
        436          0          0          0        204       6138   fdcan.o
-      1292         84          0          0          0      13436   foc.o
+      1216         72          0          0          0      14943   foc.o
        234          0          0          0          0       4745   gpio.o
-       464          0          0          0        168       6977   i2c.o
+       484          0          0          0        168       7122   i2c.o
         66          8          0          0         88       1562   lowpass_filter.o
-       370          0          0         16         40       6537   main.o
-       122          0          0          0        108        776   pid.o
+       306          4          0         16         40       3645   main.o
+       122          0          0          0        108        778   pid.o
         36          8        472          0       1024        844   startup_stm32g474xx.o
        184          0          0          8          4       9540   stm32g4xx_hal.o
       1636          0          0          0          0      28766   stm32g4xx_hal_adc.o
@@ -4723,25 +4687,25 @@ Image component sizes
        468          0          0          0          0       9376   stm32g4xx_hal_dma.o
        596          0          0          0          0      23375   stm32g4xx_hal_fdcan.o
        510          0          0          0          0       5451   stm32g4xx_hal_gpio.o
-      1586          0          0          0          0      56965   stm32g4xx_hal_i2c.o
+       174          0          0          0          0      56965   stm32g4xx_hal_i2c.o
        146          0          0          0          0       6550   stm32g4xx_hal_i2c_ex.o
         52          0          0          0          0       1748   stm32g4xx_hal_msp.o
        312          0          0          0          0       9530   stm32g4xx_hal_pwr_ex.o
       2188          0          0          0          0       9970   stm32g4xx_hal_rcc.o
        726          0          0          0          0      11165   stm32g4xx_hal_rcc_ex.o
-      3374         22          0          0          0      61195   stm32g4xx_hal_tim.o
-       814          0          0          0          0      30343   stm32g4xx_hal_tim_ex.o
+      2904         22          0          0          0      61195   stm32g4xx_hal_tim.o
+       800          0          0          0          0      30343   stm32g4xx_hal_tim_ex.o
       2242         48         40          0          0      41910   stm32g4xx_hal_uart.o
        334          0         16          0          0      11397   stm32g4xx_hal_uart_ex.o
-       100          0          0          0          0       5819   stm32g4xx_it.o
+        76          0          0          0          0       3717   stm32g4xx_it.o
         18          0         24          4          0       2777   system_stm32g4xx.o
-      1704          0          0          0        304      12353   tim.o
+      1686          0          0          0        304       9990   tim.o
        810          0          0          0        540       7696   usart.o
 
     ----------------------------------------------------------------------
-     23612        214        584         28       3224     449574   Object Totals
+     21356        198        584         28       3192     436851   Object Totals
          0          0         32          0          0          0   (incl. Generated)
-       140          0          0          0          4          0   (incl. Padding)
+       110          0          0          0          0          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
@@ -4808,15 +4772,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     28208        514        880         32       3224     450810   Grand Totals
-     28208        514        880         32       3224     450810   ELF Image Totals
-     28208        514        880         32          0          0   ROM Totals
+     25952        498        880         32       3192     438107   Grand Totals
+     25952        498        880         32       3192     438107   ELF Image Totals
+     25952        498        880         32          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                29088 (  28.41kB)
-    Total RW  Size (RW Data + ZI Data)              3256 (   3.18kB)
-    Total ROM Size (Code + RO Data + RW Data)      29120 (  28.44kB)
+    Total RO  Size (Code + RO Data)                26832 (  26.20kB)
+    Total RW  Size (RW Data + ZI Data)              3224 (   3.15kB)
+    Total ROM Size (Code + RO Data + RW Data)      26864 (  26.23kB)
 
 ==============================================================================
 
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink_STM32G474RETx_Demo_Blink.dep b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink_STM32G474RETx_Demo_Blink.dep
index ebd4003..2846a87 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink_STM32G474RETx_Demo_Blink.dep
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink_STM32G474RETx_Demo_Blink.dep
@@ -1,7 +1,7 @@
 Dependencies for Project 'STM32G474RETx_Demo_Blink', Target 'STM32G474RETx_Demo_Blink': (DO NOT MODIFY !)
 CompilerVersion: 6180000::V6.18::ARMCLANG
-F (startup_stm32g474xx.s)(0x66A301E1)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

-gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1"

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-Wa,armasm,--pd,"__UVISION_VERSION SETA 537" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32G474xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o stm32g474retx_demo_blink/startup_stm32g474xx.o)
-F (..\FOC_Related\AS5600\AS5600.c)(0x66A34196)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/as5600.o -MD)
+F (startup_stm32g474xx.s)(0x66A4B461)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c

-gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1"

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-Wa,armasm,--pd,"__UVISION_VERSION SETA 537" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32G474xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o stm32g474retx_demo_blink/startup_stm32g474xx.o)
+F (..\FOC_Related\AS5600\AS5600.c)(0x66A4F37C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/as5600.o -MD)
 I (..\FOC_Related\AS5600\AS5600.h)(0x668AAA87)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32G4xx_hal.h)(0x66690E8C)
 I (..\Core\Inc\stm32g4xx_hal_conf.h)(0x66814B76)
@@ -46,13 +46,13 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x625333C6)
 I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
 I (..\Core\Inc\main.h)(0x66978768)
-I (..\FOC_Related\FOC\foc.h)(0x668E9D12)
+I (..\FOC_Related\FOC\foc.h)(0x66A4584D)
 I (..\Core\Inc\usart.h)(0x667E4DDA)
-F (..\FOC_Related\CONTROL\control.c)(0x668E17FE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/control.o -MD)
+F (..\FOC_Related\CONTROL\control.c)(0x66A4B738)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/control.o -MD)
 I (..\FOC_Related\CONTROL\control.h)(0x668CB771)
 I (../FOC_Related/PID/pid.h)(0x6689F130)
-F (..\FOC_Related\FOC\FOC.c)(0x66A268B7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/foc.o -MD)
-I (..\FOC_Related\FOC\FOC.h)(0x668E9D12)
+F (..\FOC_Related\FOC\FOC.c)(0x66A4FE3C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/foc.o -MD)
+I (..\FOC_Related\FOC\FOC.h)(0x66A4584D)
 I (..\Core\Inc\usart.h)(0x667E4DDA)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
@@ -103,6 +103,7 @@ I (..\Core\Inc\tim.h)(0x668F4350)
 I (..\FOC_Related\PID\pid.h)(0x6689F130)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x625333C6)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x625333C6)
+I (..\FOC_Related\ABZ\ABZ.h)(0x66A3A434)
 F (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.c)(0x66907CD6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/lowpass_filter.o -MD)
 I (..\FOC_Related\LOWPASS_FILTER\LOWPASS_FILTER.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
@@ -146,10 +147,10 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_tim_ex.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
-F (..\FOC_Related\PID\pid.c)(0x66A26092)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/pid.o -MD)
+F (..\FOC_Related\PID\pid.c)(0x66A50509)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/pid.o -MD)
 I (..\FOC_Related\PID\pid.h)(0x6689F130)
 F (..\FOC_Related\HALL\HALL.c)(0x668F847B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/hall.o -MD)
-F (..\FOC_Related\ABZ\ABZ.c)(0x66A34251)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/abz.o -MD)
+F (..\FOC_Related\ABZ\ABZ.c)(0x66A4F185)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/abz.o -MD)
 I (..\Core\Inc\tim.h)(0x668F4350)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
@@ -193,11 +194,11 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
 I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
-I (..\FOC_Related\ABZ\ABZ.h)(0x66A3095D)
-I (..\FOC_Related\FOC\foc.h)(0x668E9D12)
+I (..\FOC_Related\ABZ\ABZ.h)(0x66A3A434)
+I (..\FOC_Related\FOC\foc.h)(0x66A4584D)
 I (..\Core\Inc\usart.h)(0x667E4DDA)
 I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x625333C6)
-F (../Core/Src/main.c)(0x66A3091D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/main.o -MD)
+F (../Core/Src/main.c)(0x66A5049D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/main.o -MD)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
 I (..\Core\Inc\stm32g4xx_hal_conf.h)(0x66814B76)
@@ -246,11 +247,11 @@ I (..\Core\Inc\i2c.h)(0x667E4DDA)
 I (..\Core\Inc\usart.h)(0x667E4DDA)
 I (..\Core\Inc\tim.h)(0x668F4350)
 I (..\Core\Inc\gpio.h)(0x667B9978)
-I (..\FOC_Related\FOC\foc.h)(0x668E9D12)
+I (..\FOC_Related\FOC\foc.h)(0x66A4584D)
 I (..\FOC_Related\AS5600\as5600.h)(0x668AAA87)
 I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x625333C6)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x625333C6)
-I (..\FOC_Related\ABZ\ABZ.h)(0x66A3095D)
+I (..\FOC_Related\ABZ\ABZ.h)(0x66A3A434)
 F (../Core/Src/gpio.c)(0x668F434C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/gpio.o -MD)
 I (..\Core\Inc\gpio.h)(0x667B9978)
 I (..\Core\Inc\main.h)(0x66978768)
@@ -426,7 +427,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
 I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
-F (../Core/Src/i2c.c)(0x66914BC4)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/i2c.o -MD)
+F (../Core/Src/i2c.c)(0x66A4B45F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/i2c.o -MD)
 I (..\Core\Inc\i2c.h)(0x667E4DDA)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
@@ -514,7 +515,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
 I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
-F (../Core/Src/tim.c)(0x66A301DF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/tim.o -MD)
+F (../Core/Src/tim.c)(0x66A44B5C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/tim.o -MD)
 I (..\Core\Inc\tim.h)(0x668F4350)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
@@ -558,7 +559,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
 I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
-F (../Core/Src/stm32g4xx_it.c)(0x66A301E0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/stm32g4xx_it.o -MD)
+F (../Core/Src/stm32g4xx_it.c)(0x66A3A55B)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/stm32g4xx_it.o -MD)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
 I (..\Core\Inc\stm32g4xx_hal_conf.h)(0x66814B76)
@@ -601,7 +602,7 @@ I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart.h)(0x66690E8D)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal_uart_ex.h)(0x66690E8D)
 I (..\FOC_Related\LOWPASS_FILTER\LowPass_Filter.h)(0x668FEFAB)
 I (..\Core\Inc\adc.h)(0x668E9191)
-I (..\Core\Inc\stm32g4xx_it.h)(0x66A301E0)
+I (..\Core\Inc\stm32g4xx_it.h)(0x66A3A55B)
 F (../Core/Src/stm32g4xx_hal_msp.c)(0x667B9978)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-D__MICROLIB -gdwarf-4 -O3 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc -I ../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32G4xx/Include -I ../Drivers/CMSIS/Include -I ../FOC_Related/CONTROL -I ../FOC_Related/AS5600 -I ../FOC_Related/FOC -I ../FOC_Related/LOWPASS_FILTER -I ../FOC_Related/PID -I ../FOC_Related/ABZ -I ../FOC_Related/HALL

-I./RTE/_STM32G474RETx_Demo_Blink

-ID:/Software/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-ID:/Software/Arm/Packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include

-D__UVISION_VERSION="537" -D_RTE_ -DSTM32G474xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32G474xx

-o stm32g474retx_demo_blink/stm32g4xx_hal_msp.o -MD)
 I (..\Core\Inc\main.h)(0x66978768)
 I (..\Drivers\STM32G4xx_HAL_Driver\Inc\stm32g4xx_hal.h)(0x66690E8C)
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/abz.o b/MDK-ARM/STM32G474RETx_Demo_Blink/abz.o
index 2e117de..428c425 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/abz.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/abz.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/as5600.o b/MDK-ARM/STM32G474RETx_Demo_Blink/as5600.o
index 4cb7101..fcd3c4d 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/as5600.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/as5600.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/control.o b/MDK-ARM/STM32G474RETx_Demo_Blink/control.o
index 2d2ae16..8317056 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/control.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/control.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/foc.d b/MDK-ARM/STM32G474RETx_Demo_Blink/foc.d
index f0a3a96..887d2f0 100644
--- a/MDK-ARM/STM32G474RETx_Demo_Blink/foc.d
+++ b/MDK-ARM/STM32G474RETx_Demo_Blink/foc.d
@@ -44,4 +44,5 @@ stm32g474retx_demo_blink/foc.o: ..\FOC_Related\FOC\FOC.c \
   ..\FOC_Related\AS5600\as5600.h ..\FOC_Related\CONTROL\control.h \
   ..\Core\Inc\tim.h ..\FOC_Related\PID\pid.h \
   D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\string.h \
-  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdio.h
+  D:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdio.h \
+  ..\FOC_Related\ABZ\ABZ.h
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/foc.o b/MDK-ARM/STM32G474RETx_Demo_Blink/foc.o
index 6fa9f43..4887178 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/foc.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/foc.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/i2c.o b/MDK-ARM/STM32G474RETx_Demo_Blink/i2c.o
index f139969..dc18992 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/i2c.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/i2c.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/main.o b/MDK-ARM/STM32G474RETx_Demo_Blink/main.o
index 3c37870..15c1409 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/main.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/main.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/pid.o b/MDK-ARM/STM32G474RETx_Demo_Blink/pid.o
index 9c2e557..8c2a597 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/pid.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/pid.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/stm32g4xx_it.o b/MDK-ARM/STM32G474RETx_Demo_Blink/stm32g4xx_it.o
index be61a7a..9643cc2 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/stm32g4xx_it.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/stm32g4xx_it.o differ
diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/tim.o b/MDK-ARM/STM32G474RETx_Demo_Blink/tim.o
index bb12371..ca27a81 100644
Binary files a/MDK-ARM/STM32G474RETx_Demo_Blink/tim.o and b/MDK-ARM/STM32G474RETx_Demo_Blink/tim.o differ
diff --git a/MDK-ARM/tmp/.ninja_log b/MDK-ARM/tmp/.ninja_log
new file mode 100644
index 0000000..2e70ab5
--- /dev/null
+++ b/MDK-ARM/tmp/.ninja_log
@@ -0,0 +1,13 @@
+# ninja log v6
+3	149	7437717732688044	STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-mkdir	659dcb057e6677a5
+3	149	7437717732688044	C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-mkdir	659dcb057e6677a5
+149	311	7437717734298039	STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-download	5894830ab43e9bb8
+149	311	7437717734298039	C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-download	5894830ab43e9bb8
+312	458	7437717735778046	STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-update	a5715626eeb43326
+312	458	7437717735778046	C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-update	a5715626eeb43326
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+600	6411	7437717795314478	STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure	cdc06ecaf99d34d8
+600	6411	7437717795314478	C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure	cdc06ecaf99d34d8
+6411	6568	7437717795354480	STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-database	5b5a00d9ecf56563
+6411	6568	7437717795354480	C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-database	5b5a00d9ecf56563
diff --git a/MDK-ARM/tmp/1/.ninja_log b/MDK-ARM/tmp/1/.ninja_log
new file mode 100644
index 0000000..6e9ab26
--- /dev/null
+++ b/MDK-ARM/tmp/1/.ninja_log
@@ -0,0 +1,3 @@
+# ninja log v6
+4	78	7437717796104484	CMakeFiles/database	e7952e0db4a47d17
+4	78	7437717796104484	C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1/CMakeFiles/database	e7952e0db4a47d17
diff --git a/MDK-ARM/tmp/1/CMakeCache.txt b/MDK-ARM/tmp/1/CMakeCache.txt
new file mode 100644
index 0000000..521799f
--- /dev/null
+++ b/MDK-ARM/tmp/1/CMakeCache.txt
@@ -0,0 +1,340 @@
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+//Flags used by the linker during the creation of modules during
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+//Flags used by the linker during the creation of modules during
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+//Path to a program.
+CMAKE_NM:FILEPATH=CMAKE_NM-NOTFOUND
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+//Path to a program.
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+//Path to a program.
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+
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+
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+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
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+CMAKE_STATIC_LINKER_FLAGS:STRING=
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+//Flags used by the linker during the creation of static libraries
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+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=CMAKE_STRIP-NOTFOUND
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+//Path to a program.
+CMAKE_TAPI:FILEPATH=CMAKE_TAPI-NOTFOUND
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
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+CMSIS_COMPILER_ROOT:UNINITIALIZED=D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/tools.open.cmsis.pack.cmsis.toolbox/2.5.0/etc
+
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+
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+
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+# define COMPILER_ID "Fujitsu"
+# if defined(__FCC_version__)
+#   define COMPILER_VERSION __FCC_version__
+# elif defined(__FCC_major__)
+#   define COMPILER_VERSION_MAJOR DEC(__FCC_major__)
+#   define COMPILER_VERSION_MINOR DEC(__FCC_minor__)
+#   define COMPILER_VERSION_PATCH DEC(__FCC_patchlevel__)
+# endif
+# if defined(__fcc_version)
+#   define COMPILER_VERSION_INTERNAL DEC(__fcc_version)
+# elif defined(__FCC_VERSION)
+#   define COMPILER_VERSION_INTERNAL DEC(__FCC_VERSION)
+# endif
+
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TASKING__)
+# define COMPILER_ID "Tasking"
+  # define COMPILER_VERSION_MAJOR DEC(__VERSION__/1000)
+  # define COMPILER_VERSION_MINOR DEC(__VERSION__ % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__VERSION__)
+
+#elif defined(__ORANGEC__)
+# define COMPILER_ID "OrangeC"
+# define COMPILER_VERSION_MAJOR DEC(__ORANGEC_MAJOR__)
+# define COMPILER_VERSION_MINOR DEC(__ORANGEC_MINOR__)
+# define COMPILER_VERSION_PATCH DEC(__ORANGEC_PATCHLEVEL__)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION/100   % 100)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__LCC__) && (defined(__GNUC__) || defined(__GNUG__) || defined(__MCST__))
+# define COMPILER_ID "LCC"
+# define COMPILER_VERSION_MAJOR DEC(__LCC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__LCC__ % 100)
+# if defined(__LCC_MINOR__)
+#  define COMPILER_VERSION_PATCH DEC(__LCC_MINOR__)
+# endif
+# if defined(__GNUC__) && defined(__GNUC_MINOR__)
+#  define SIMULATE_ID "GNU"
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+#  if defined(__GNUC_PATCHLEVEL__)
+#   define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+#  endif
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(_ADI_COMPILER)
+# define COMPILER_ID "ADSP"
+#if defined(__VERSIONNUM__)
+  /* __VERSIONNUM__ = 0xVVRRPPTT */
+#  define COMPILER_VERSION_MAJOR DEC(__VERSIONNUM__ >> 24 & 0xFF)
+#  define COMPILER_VERSION_MINOR DEC(__VERSIONNUM__ >> 16 & 0xFF)
+#  define COMPILER_VERSION_PATCH DEC(__VERSIONNUM__ >> 8 & 0xFF)
+#  define COMPILER_VERSION_TWEAK DEC(__VERSIONNUM__ & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__) || defined(__ICCSTM8__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__MSYS__)
+# define PLATFORM_ID "MSYS"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# elif defined(__VXWORKS__)
+#  define PLATFORM_ID "VxWorks"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+# elif defined(_ADI_COMPILER)
+#  define PLATFORM_ID "ADSP"
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_ARM64EC)
+#  define ARCHITECTURE_ID "ARM64EC"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__ICCSTM8__)
+#  define ARCHITECTURE_ID "STM8"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__TI_COMPILER_VERSION__)
+# if defined(__TI_ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__MSP430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__TMS320C28XX__)
+#  define ARCHITECTURE_ID "TMS320C28x"
+
+# elif defined(__TMS320C6X__) || defined(_TMS320C6X)
+#  define ARCHITECTURE_ID "TMS320C6x"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+# elif defined(__ADSPSHARC__)
+#  define ARCHITECTURE_ID "SHARC"
+
+# elif defined(__ADSPBLACKFIN__)
+#  define ARCHITECTURE_ID "Blackfin"
+
+#elif defined(__TASKING__)
+
+# if defined(__CTC__) || defined(__CPTC__)
+#  define ARCHITECTURE_ID "TriCore"
+
+# elif defined(__CMCS__)
+#  define ARCHITECTURE_ID "MCS"
+
+# elif defined(__CARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__CARC__)
+#  define ARCHITECTURE_ID "ARC"
+
+# elif defined(__C51__)
+#  define ARCHITECTURE_ID "8051"
+
+# elif defined(__CPCP__)
+#  define ARCHITECTURE_ID "PCP"
+
+# else
+#  define ARCHITECTURE_ID ""
+# endif
+
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number. */
+#ifdef COMPILER_VERSION
+char const* info_version = "INFO" ":" "compiler_version[" COMPILER_VERSION "]";
+
+/* Construct a string literal encoding the version number components. */
+#elif defined(COMPILER_VERSION_MAJOR)
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#elif defined(COMPILER_VERSION_INTERNAL_STR)
+char const* info_version_internal = "INFO" ":" "compiler_version_internal[" COMPILER_VERSION_INTERNAL_STR "]";
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+#if !defined(__STDC__) && !defined(__clang__)
+# if defined(_MSC_VER) || defined(__ibmxl__) || defined(__IBMC__)
+#  define C_VERSION "90"
+# else
+#  define C_VERSION
+# endif
+#elif __STDC_VERSION__ > 201710L
+# define C_VERSION "23"
+#elif __STDC_VERSION__ >= 201710L
+# define C_VERSION "17"
+#elif __STDC_VERSION__ >= 201000L
+# define C_VERSION "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_VERSION "99"
+#else
+# define C_VERSION "90"
+#endif
+const char* info_language_standard_default =
+  "INFO" ":" "standard_default[" C_VERSION "]";
+
+const char* info_language_extensions_default = "INFO" ":" "extensions_default["
+#if (defined(__clang__) || defined(__GNUC__) || defined(__xlC__) ||           \
+     defined(__TI_COMPILER_VERSION__)) &&                                     \
+  !defined(__STRICT_ANSI__)
+  "ON"
+#else
+  "OFF"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXT_COMPUTE_LINUX_TARGET)
+  require += info_cray[argc];
+#endif
+  require += info_language_standard_default[argc];
+  require += info_language_extensions_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/MDK-ARM/tmp/1/CMakeFiles/3.28.4/CompilerIdC/CMakeCCompilerId.o b/MDK-ARM/tmp/1/CMakeFiles/3.28.4/CompilerIdC/CMakeCCompilerId.o
new file mode 100644
index 0000000..fe05921
Binary files /dev/null and b/MDK-ARM/tmp/1/CMakeFiles/3.28.4/CompilerIdC/CMakeCCompilerId.o differ
diff --git a/MDK-ARM/tmp/1/CMakeFiles/CMakeConfigureLog.yaml b/MDK-ARM/tmp/1/CMakeFiles/CMakeConfigureLog.yaml
new file mode 100644
index 0000000..0212ccf
--- /dev/null
+++ b/MDK-ARM/tmp/1/CMakeFiles/CMakeConfigureLog.yaml
@@ -0,0 +1,177 @@
+
+---
+events:
+  -
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+      - "CMakeLists.txt:19 (project)"
+    message: |
+      The target system is: Generic -  - 
+      The host system is: Windows - 10.0.19045 - AMD64
+  -
+    kind: "message-v1"
+    backtrace:
+      - "D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.28.4/share/cmake-3.28/Modules/CMakeDetermineCompilerId.cmake:1168 (message)"
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+      - "CMakeLists.txt:19 (project)"
+    message: |
+      Checking whether the ASM compiler is GNU using "--version" did not match "(GNU assembler)|(GCC)|(Free Software Foundation)":
+      Product: Keil MDK Community (non-commercial free of charge)
+      Component: Arm Compiler for Embedded 6.22
+      Tool: armclang [5ee92100]
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+      Target: unspecified-arm-none-unspecified
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+      - "CMakeLists.txt:19 (project)"
+    message: |
+      Checking whether the ASM compiler is AppleClang using "--version" did not match "(Apple (clang|LLVM) version)":
+      Product: Keil MDK Community (non-commercial free of charge)
+      Component: Arm Compiler for Embedded 6.22
+      Tool: armclang [5ee92100]
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+    kind: "message-v1"
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+      - "CMakeLists.txt:19 (project)"
+    message: |
+      Checking whether the ASM compiler is Clang using "--version" did not match "(clang version)":
+      Product: Keil MDK Community (non-commercial free of charge)
+      Component: Arm Compiler for Embedded 6.22
+      Tool: armclang [5ee92100]
+      
+      Target: unspecified-arm-none-unspecified
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+      - "CMakeLists.txt:19 (project)"
+    message: |
+      Checking whether the ASM compiler is ARMClang using "--version" matched "armclang":
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+      Component: Arm Compiler for Embedded 6.22
+      Tool: armclang [5ee92100]
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+      Target: unspecified-arm-none-unspecified
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+      - "CMakeLists.txt:19 (project)"
+    message: |
+      Compiling the C compiler identification source file "CMakeCCompilerId.c" succeeded.
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index 0000000..a36c60d
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+
+# This file contains all the rules used to get the outputs files
+# built from the input files.
+# It is included in the main 'build.ninja'.
+
+# =============================================================================
+# Project: STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink
+# Configurations: 
+# =============================================================================
+# =============================================================================
+
+#############################################
+# Rule for linking C executable.
+
+rule C_EXECUTABLE_LINKER__STM32G474RETx_Demo_Blink.2bSTM32G474RETxDemoBlink_
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+  description = Linking C executable $TARGET_FILE
+  rspfile = $RSP_FILE
+  rspfile_content = $in $LINK_PATH $LINK_LIBRARIES
+  restat = $RESTAT
+
+
+#############################################
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+  description = Building ASM object $out
+
+
+#############################################
+# Rule for compiling C files.
+
+rule C_COMPILER__Group_Application_User_Core_unscanned_
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+  description = Building C object $out
+
+
+#############################################
+# Rule for compiling C files.
+
+rule C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_
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+  OBJECT_DIR = CMakeFiles\Group_Application_User_Core.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Application_User_Core.dir\
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+build CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/tim.o: C_COMPILER__Group_Application_User_Core_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/tim.c || cmake_object_order_depends_target_Group_Application_User_Core
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src\tim.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Application_User_Core.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Application_User_Core.dir\
+  TARGET_PDB = ""
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+build CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/stm32g4xx_it.o: C_COMPILER__Group_Application_User_Core_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/stm32g4xx_it.c || cmake_object_order_depends_target_Group_Application_User_Core
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src\stm32g4xx_it.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Application_User_Core.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Application_User_Core.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/stm32g4xx_hal_msp.o: C_COMPILER__Group_Application_User_Core_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/stm32g4xx_hal_msp.c || cmake_object_order_depends_target_Group_Application_User_Core
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src\stm32g4xx_hal_msp.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Application_User_Core.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Application_User_Core.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Application_User_Core.dir\
+  TARGET_PDB = ""
+
+
+
+#############################################
+# Object library Group_Application_User_Core
+
+build Group_Application_User_Core: phony CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/AS5600/AS5600.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/CONTROL/control.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/FOC/FOC.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/LOWPASS_FILTER/LowPass_Filter.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/PID/pid.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/HALL/HALL.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/FOC_Related/ABZ/ABZ.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/main.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/gpio.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/adc.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/dma.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/fdcan.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/i2c.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/usart.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/tim.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/stm32g4xx_it.o CMakeFiles/Group_Application_User_Core.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/stm32g4xx_hal_msp.o
+
+# =============================================================================
+# Object build statements for OBJECT_LIBRARY target Group_Drivers_STM32G4xx_HAL_Driver
+
+
+#############################################
+# Order-only phony target for Group_Drivers_STM32G4xx_HAL_Driver
+
+build cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver: phony || CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_adc.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_adc_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_ll_adc.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_ll_adc.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_ll_adc.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_rcc_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_flash_ramfunc.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_gpio.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_exti.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_dma_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
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+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
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+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_pwr_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
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+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_cortex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_fdcan.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_i2c_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_uart.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_uart.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_uart_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_uart_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_uart_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+build CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.o: C_COMPILER__Group_Drivers_STM32G4xx_HAL_Driver_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c || cmake_object_order_depends_target_Group_Drivers_STM32G4xx_HAL_Driver
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src\stm32g4xx_hal_tim_ex.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Drivers\STM32G4xx_HAL_Driver\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_STM32G4xx_HAL_Driver.dir\
+  TARGET_PDB = ""
+
+
+
+#############################################
+# Object library Group_Drivers_STM32G4xx_HAL_Driver
+
+build Group_Drivers_STM32G4xx_HAL_Driver: phony CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_adc_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_ll_adc.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_uart.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_uart_ex.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.o CMakeFiles/Group_Drivers_STM32G4xx_HAL_Driver.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.o
+
+# =============================================================================
+# Object build statements for OBJECT_LIBRARY target Group_Drivers_CMSIS
+
+
+#############################################
+# Order-only phony target for Group_Drivers_CMSIS
+
+build cmake_object_order_depends_target_Group_Drivers_CMSIS: phony || CMakeFiles/Group_Drivers_CMSIS.dir
+
+build CMakeFiles/Group_Drivers_CMSIS.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/system_stm32g4xx.o: C_COMPILER__Group_Drivers_CMSIS_unscanned_ C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/system_stm32g4xx.c || cmake_object_order_depends_target_Group_Drivers_CMSIS
+  DEFINES = -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB
+  DEP_FILE = CMakeFiles\Group_Drivers_CMSIS.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src\system_stm32g4xx.o.d
+  FLAGS = --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1
+  INCLUDES = -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include
+  OBJECT_DIR = CMakeFiles\Group_Drivers_CMSIS.dir
+  OBJECT_FILE_DIR = CMakeFiles\Group_Drivers_CMSIS.dir\C_\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\Core\Src
+  TARGET_COMPILE_PDB = CMakeFiles\Group_Drivers_CMSIS.dir\
+  TARGET_PDB = ""
+
+
+
+#############################################
+# Object library Group_Drivers_CMSIS
+
+build Group_Drivers_CMSIS: phony CMakeFiles/Group_Drivers_CMSIS.dir/C_/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/Core/Src/system_stm32g4xx.o
+
+
+#############################################
+# Utility command for edit_cache
+
+build CMakeFiles/edit_cache.util: CUSTOM_COMMAND
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D C:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\1 && D:\Software\Cadence\SPB_Data\.vcpkg\artifacts\2139c4c6\tools.kitware.cmake\3.28.4\bin\cmake-gui.exe -SC:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -BC:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\1"
+  DESC = Running CMake cache editor...
+  pool = console
+  restat = 1
+
+build edit_cache: phony CMakeFiles/edit_cache.util
+
+
+#############################################
+# Utility command for rebuild_cache
+
+build CMakeFiles/rebuild_cache.util: CUSTOM_COMMAND
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D C:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\1 && D:\Software\Cadence\SPB_Data\.vcpkg\artifacts\2139c4c6\tools.kitware.cmake\3.28.4\bin\cmake.exe --regenerate-during-build -SC:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -BC:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\1"
+  DESC = Running CMake to regenerate build system...
+  pool = console
+  restat = 1
+
+build rebuild_cache: phony CMakeFiles/rebuild_cache.util
+
+
+#############################################
+# Custom command for CMakeFiles\database
+
+build CMakeFiles/database | ${cmake_ninja_workdir}CMakeFiles/database: CUSTOM_COMMAND
+  COMMAND = C:\Windows\system32\cmd.exe /C "cd /D C:\Users\Michael_Chemic\Desktop\STM32G4-DRV8301-FOC\MDK-ARM\tmp\1 && D:\Software\Cadence\SPB_Data\.vcpkg\artifacts\2139c4c6\tools.kitware.cmake\3.28.4\bin\cmake.exe -E copy_if_different C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1/compile_commands.json C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/out/STM32G474RETx_Demo_Blink/STM32G474RETxDemoBlink"
+
+# =============================================================================
+# Target aliases.
+
+build STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink: phony C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/out/STM32G474RETx_Demo_Blink/STM32G474RETxDemoBlink/STM32G474RETx_Demo_Blink.axf
+
+build STM32G474RETx_Demo_Blink.axf: phony C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/out/STM32G474RETx_Demo_Blink/STM32G474RETxDemoBlink/STM32G474RETx_Demo_Blink.axf
+
+# =============================================================================
+# Folder targets.
+
+# =============================================================================
+
+#############################################
+# Folder: C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1
+
+build all: phony C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/out/STM32G474RETx_Demo_Blink/STM32G474RETxDemoBlink/STM32G474RETx_Demo_Blink.axf Group_Application_MDK-ARM Group_Application_User_Core Group_Drivers_STM32G4xx_HAL_Driver Group_Drivers_CMSIS
+
+# =============================================================================
+# Built-in targets
+
+
+#############################################
+# Re-run CMake if any of its inputs changed.
+
+build build.ninja: RERUN_CMAKE | C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/CMakeLists.txt C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/components.cmake C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/groups.cmake C$:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/toolchain.cmake CMakeCache.txt CMakeFiles/3.28.4/CMakeASMCompiler.cmake CMakeFiles/3.28.4/CMakeCCompiler.cmake CMakeFiles/3.28.4/CMakeSystem.cmake D$:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.28.4/share/cmake-3.28/Modules/CMakeASMCompiler.cmake.in D$:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/tools.kitware.cmake/3.28.4/share/cmake-3.28/Modules/CMakeASMInformation.cmake 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+  pool = console
+
+
+#############################################
+# A missing CMake input file is not an error.
+
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+
+
+#############################################
+# Clean all the built files.
+
+build clean: CLEAN
+
+
+#############################################
+# Print all primary targets available.
+
+build help: HELP
+
+
+#############################################
+# Make the all target the default.
+
+default all
diff --git a/MDK-ARM/tmp/1/cmake_install.cmake b/MDK-ARM/tmp/1/cmake_install.cmake
new file mode 100644
index 0000000..f0f965e
--- /dev/null
+++ b/MDK-ARM/tmp/1/cmake_install.cmake
@@ -0,0 +1,49 @@
+# Install script for directory: C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "C:/Program Files (x86)/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "TRUE")
+endif()
+
+# Set default install directory permissions.
+if(NOT DEFINED CMAKE_OBJDUMP)
+  set(CMAKE_OBJDUMP "CMAKE_OBJDUMP-NOTFOUND")
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")
diff --git a/MDK-ARM/tmp/1/compile_commands.json b/MDK-ARM/tmp/1/compile_commands.json
new file mode 100644
index 0000000..b98a350
--- /dev/null
+++ b/MDK-ARM/tmp/1/compile_commands.json
@@ -0,0 +1,254 @@
+[
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -g -O1 -Wa,armasm,--pd,\"STM32G474xx SETA 1\" -Wa,armasm,--pd,\"_RTE_ SETA 1\"  -masm=auto -c -o CMakeFiles\\Group_Application_MDK-ARM.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\MDK-ARM\\startup_stm32g474xx.o C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\MDK-ARM\\startup_stm32g474xx.s",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\MDK-ARM\\startup_stm32g474xx.s",
+  "output": "CMakeFiles\\Group_Application_MDK-ARM.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\MDK-ARM\\startup_stm32g474xx.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\AS5600\\AS5600.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\AS5600\\AS5600.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\AS5600\\AS5600.c",
+  "output": "CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\AS5600\\AS5600.o"
+},
+{
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+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\CONTROL\\control.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\CONTROL\\control.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\CONTROL\\control.c",
+  "output": "CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\CONTROL\\control.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\FOC\\FOC.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\FOC\\FOC.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\FOC\\FOC.c",
+  "output": "CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\FOC\\FOC.o"
+},
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+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\LOWPASS_FILTER\\LowPass_Filter.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\LOWPASS_FILTER\\LowPass_Filter.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\LOWPASS_FILTER\\LowPass_Filter.c",
+  "output": "CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\LOWPASS_FILTER\\LowPass_Filter.o"
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+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Application_User_Core.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\PID\\pid.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\FOC_Related\\PID\\pid.c",
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+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_adc.c",
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_adc_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_adc_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_adc_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_adc_ex.o"
+},
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_ll_adc.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_ll_adc.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_ll_adc.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_ll_adc.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_rcc_ex.o"
+},
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+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash.c",
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ex.o"
+},
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ramfunc.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ramfunc.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ramfunc.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_flash_ramfunc.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_gpio.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_gpio.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_gpio.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_gpio.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_exti.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_exti.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_exti.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_exti.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma.o"
+},
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+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_dma_ex.o"
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr.o"
+},
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_pwr_ex.o"
+},
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_cortex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_cortex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_cortex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_cortex.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_fdcan.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_fdcan.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_fdcan.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_fdcan.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_i2c.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_i2c.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_i2c.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_i2c.o"
+},
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+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_i2c_ex.c",
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+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_uart_ex.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim_ex.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim_ex.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim_ex.c",
+  "output": "CMakeFiles\\Group_Drivers_STM32G4xx_HAL_Driver.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Drivers\\STM32G4xx_HAL_Driver\\Src\\stm32g4xx_hal_tim_ex.o"
+},
+{
+  "directory": "C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1",
+  "command": "d:\\Software\\Cadence\\SPB_Data\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.22.0\\bin\\\\armclang.exe --target=arm-arm-none-eabi -DSTM32G474xx -DUSE_HAL_DRIVER -D_RTE_ -D__MICROLIB -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Core/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/STM32G4xx_HAL_Driver/Inc/Legacy -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Device/ST/STM32G4xx/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../Drivers/CMSIS/Include -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/CONTROL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/AS5600 -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/FOC -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/LOWPASS_FILTER -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/PID -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/ABZ -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/../FOC_Related/HALL -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/RTE/_STM32G474RETxDemoBlink -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include -IC:/Users/Michael_Chemic/AppData/Local/arm/packs/Keil/STM32G4xx_DFP/1.6.0/Drivers/CMSIS/Device/ST/STM32G4xx/Include -isystem D:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/include --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -mcpu=Cortex-M4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard --target=arm-arm-none-eabi -c -mlittle-endian -std=c99 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -g -O1 -o CMakeFiles\\Group_Drivers_CMSIS.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Core\\Src\\system_stm32g4xx.o -c C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Core\\Src\\system_stm32g4xx.c",
+  "file": "C:\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Core\\Src\\system_stm32g4xx.c",
+  "output": "CMakeFiles\\Group_Drivers_CMSIS.dir\\C_\\Users\\Michael_Chemic\\Desktop\\STM32G4-DRV8301-FOC\\Core\\Src\\system_stm32g4xx.o"
+}
+]
\ No newline at end of file
diff --git a/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure b/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure
new file mode 100644
index 0000000..e69de29
diff --git a/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure-err.log b/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure-err.log
new file mode 100644
index 0000000..e69de29
diff --git a/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure-out.log b/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure-out.log
new file mode 100644
index 0000000..c5fc518
--- /dev/null
+++ b/MDK-ARM/tmp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink/src/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-stamp/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink-configure-out.log
@@ -0,0 +1,11 @@
+-- The ASM compiler identification is ARMClang
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+-- The C compiler identification is ARMClang 6.22.0
+-- Detecting C compiler ABI info
+-- Detecting C compiler ABI info - done
+-- Check for working C compiler: d:/Software/Cadence/SPB_Data/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.22.0/bin//armclang.exe - skipped
+-- Detecting C compile features
+-- Detecting C compile features - done
+-- Configuring done (5.5s)
+-- Generating done (0.1s)
+-- Build files have been written to: C:/Users/Michael_Chemic/Desktop/STM32G4-DRV8301-FOC/MDK-ARM/tmp/1
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index 0000000..e69de29
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new file mode 100644
index 0000000..e69de29
diff --git a/MDK-ARM/tmp/STM32G474RETx_Demo_Blink/STM32G474RETxDemoBlink/.ninja_deps b/MDK-ARM/tmp/STM32G474RETx_Demo_Blink/STM32G474RETxDemoBlink/.ninja_deps
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index 89455e9..8c39944 100644
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diff --git a/STM32G474RETx_Demo_Blink.ioc b/STM32G474RETx_Demo_Blink.ioc
index 9a1385f..6f54819 100644
--- a/STM32G474RETx_Demo_Blink.ioc
+++ b/STM32G474RETx_Demo_Blink.ioc
@@ -132,11 +132,12 @@ FDCAN2.CalculateTimeQuantumNominal=94.11764705882354
 FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
-I2C1.I2C_Speed_Mode=I2C_Fast
+I2C1.I2C_Speed_Mode=I2C_Fast_Plus
 I2C1.IPParameters=Timing,I2C_Speed_Mode
-I2C1.Timing=0x10802D9B
-I2C2.IPParameters=Timing
-I2C2.Timing=0x30A0A7FB
+I2C1.Timing=0x00802172
+I2C2.I2C_Speed_Mode=I2C_Fast_Plus
+I2C2.IPParameters=Timing,I2C_Speed_Mode
+I2C2.Timing=0x00802172
 KeepUserPlacement=false
 Mcu.CPN=STM32G474RET6
 Mcu.Family=STM32G4
@@ -236,8 +237,6 @@ NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
-NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0.Locked=true
 PA0.Mode=IN1-Single-Ended
@@ -511,10 +510,10 @@ TIM1.PulseNoDither_3=500
 TIM1.RepetitionCounter=0
 TIM2.EncoderMode=TIM_ENCODERMODE_TI12
 TIM2.IPParameters=EncoderMode,PeriodNoDither
-TIM2.PeriodNoDither=4096
+TIM2.PeriodNoDither=4095
 TIM3.EncoderMode=TIM_ENCODERMODE_TI12
 TIM3.IPParameters=EncoderMode,PeriodNoDither
-TIM3.PeriodNoDither=4096
+TIM3.PeriodNoDither=4095
 TIM8.Channel-PWM\ Generation1\ CH1\ CH1N=TIM_CHANNEL_1
 TIM8.Channel-PWM\ Generation2\ CH2\ CH2N=TIM_CHANNEL_2
 TIM8.Channel-PWM\ Generation3\ CH3\ CH3N=TIM_CHANNEL_3