diff --git a/driver/Driver_ADC.c b/driver/Driver_ADC.c
index c1c0829..a014f15 100644
--- a/driver/Driver_ADC.c
+++ b/driver/Driver_ADC.c
@@ -47,17 +47,20 @@ void driver_adc_1_init (char Prio, void (*IT_function)(void))
 	ADC1_2_fx = IT_function;
 }
 
+/* Fonction de lancement*/
 void driver_adc_1_launch_read (void)
 {
 	//Lancement de la conversion
 	ADC1->CR2 |= ADC_CR2_SWSTART;
 }
 
+/*Lecture de la converstion*/
 uint16_t driver_adc_1_read (void)
 {
 	//Retour de la conversion
 	return ADC1->DR &~ ((0x0F) << 12);
 }
+
 void ADC1_2_IRQHandler(void)
 {
 	//On abaisse le flag pour la prochaine lecture
diff --git a/driver/Driver_ADC.h b/driver/Driver_ADC.h
index f1b80d0..c258b23 100644
--- a/driver/Driver_ADC.h
+++ b/driver/Driver_ADC.h
@@ -2,8 +2,33 @@
 #define DRIVER_ADC_H
 #include "stm32f10x.h"
 
+/**
+*************************************************************************************************
+* @brief Activation et configuration de l'ADC1.
+* @param -> char Prio: défini la priorité de l'interruption pour le flag EOC
+				 -> void (*IT_function)(void) : pointeur de fonction qui sera appelé dans l'interruption
+* @Note -> Fonction à lancer systématiquement avant d’aller plus en détail
+*************************************************************************************************
+*/
 void driver_adc_1_init (char Prio, void (*IT_function)(void));
+
+/**
+*************************************************************************************************
+* @brief Fonction pour lancer la convertion
+* @param -> none
+* @Note -> 
+*************************************************************************************************
+*/
 void driver_adc_1_launch_read (void);
+
+/**
+*************************************************************************************************
+* @brief Fonction pour lire la valeur convertie
+* @param -> none
+* @return -> retour de la valeur convertie
+* @Note -> 
+*************************************************************************************************
+*/
 uint16_t driver_adc_1_read (void);
 
 #endif
diff --git a/driver/Driver_GPIO.c b/driver/Driver_GPIO.c
index 7017943..1e5c681 100644
--- a/driver/Driver_GPIO.c
+++ b/driver/Driver_GPIO.c
@@ -1,6 +1,7 @@
 #include "Driver_GPIO.h"
 #include "stm32f10x.h"
 #include "stdio.h"
+
 /* GPIO init function */
 void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr )
 {
@@ -45,21 +46,25 @@ void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr )
 		GPIOStructPtr->GPIO->ODR |= 0x1<<(GPIOStructPtr->GPIO_Pin);
 	}
 }
+
 /* Read of the state of the GPIO */
 int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin )
 {
 	return ((GPIO->IDR & (0x1<<GPIO_Pin))>>GPIO_Pin);
 }
+
 /* Set the state of the GPIO */
 void MyGPIO_Set (GPIO_TypeDef * GPIO , char GPIO_Pin)
 {
 	GPIO->ODR |= 0x1<<GPIO_Pin;
 }
+
 /* Reset the state of the GPIO */
 void MyGPIO_Reset (GPIO_TypeDef * GPIO , char GPIO_Pin)
 {
 	GPIO->ODR &= ~(0x1<<GPIO_Pin);
 }
+
 /* Toogle the state of the GPIO */
 void MyGPIO_Toggle ( GPIO_TypeDef * GPIO , char GPIO_Pin )
 {
diff --git a/driver/Driver_GPIO.h b/driver/Driver_GPIO.h
index c434f16..d8c70f3 100644
--- a/driver/Driver_GPIO.h
+++ b/driver/Driver_GPIO.h
@@ -17,9 +17,48 @@ typedef struct
 #define AltOut_Ppull 0xA
 #define AltOut_OD 0xE
 
-void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr ) ;
-int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ; // renvoie 0 ou autre chose different de 0
-void MyGPIO_Set ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
-void MyGPIO_Reset ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
+/**
+*************************************************************************************************
+* @brief Fonction d'initialisation pour les GPIO
+* @param -> Paramètre sous forme d’une structure (son adresse) qui défini le pin, le port et la conf du GPIO
+* @Note -> 
+*************************************************************************************************
+*/
+void MyGPIO_Init ( MyGPIO_Struct_TypeDef * GPIOStructPtr );
+
+/**
+*************************************************************************************************
+* @brief Fonction pour lire l'état de la GPIO
+* @param : Paramètre sous forme d’une structure (son adresse) qui défini le pin et le port
+* @return : Renvoie 0 ou autre chose différent de 0
+*************************************************************************************************
+*/
+int MyGPIO_Read ( GPIO_TypeDef * GPIO , char GPIO_Pin );
+
+/**
+*************************************************************************************************
+* @brief Fonction pour set le pin voulu
+* @param -> Paramètre sous forme d’une structure (son adresse) qui défini le pin et le port
+* @Note -> 
+*************************************************************************************************
+*/
+void MyGPIO_Set ( GPIO_TypeDef * GPIO , char GPIO_Pin );
+
+/**
+*************************************************************************************************
+* @brief Fonction pour reset le pin voulu
+* @param -> Paramètre sous forme d’une structure (son adresse) qui défini le pin et le port
+* @Note -> 
+*************************************************************************************************
+*/
+void MyGPIO_Reset ( GPIO_TypeDef * GPIO , char GPIO_Pin );
+
+/**
+*************************************************************************************************
+* @brief Fonction pour toogle le pin voulu
+* @param -> Paramètre sous forme d’une structure (son adresse) qui défini le pin et le port
+* @Note -> 
+*************************************************************************************************
+*/
 void MyGPIO_Toggle ( GPIO_TypeDef * GPIO , char GPIO_Pin ) ;
 #endif
diff --git a/driver/Driver_IMU.c b/driver/Driver_IMU.c
new file mode 100644
index 0000000..a08a75d
--- /dev/null
+++ b/driver/Driver_IMU.c
@@ -0,0 +1,63 @@
+#include "MySpi.h"
+
+const char POWER_CTL = 0x2D;	//Power Control Register
+const char BW_RATE = 0x2C; 
+const char DATA_FORMAT = 0x31;
+
+/*fonction écriture registre IMU*/
+void driver_IMU_write_register(char registerAddress, char value)
+{
+	// On s'assure que le Chip Select est bien au niveau bas
+	MySPI_Clear_NSS();
+  // Envoi de l'adresse du registre par SPI
+  MySPI_Send(registerAddress);
+	// Envoi de la valeur désirée du registre par SPI
+  MySPI_Send(value);
+	// On active le chip select
+	MySPI_Set_NSS();
+}
+
+/* Fonction d'initialisation*/
+void driver_IMU_init(void)
+{
+	/* FSCK = 281kHz, Repos SCK = '1', Front actif = up
+					 Gestion /CS logicielle à part, configure les 4 IO
+					 - SCK, MOSI : Out Alt push pull
+					 - MISO : floating input
+					 - /NSS (/CS) : Out push pull */
+	MySPI_Init(SPI1);
+	//Paramètrage du registre POWER_CTL
+	driver_IMU_write_register(POWER_CTL, 0x08);
+	//Paramètrage du registe BW_RATE
+	driver_IMU_write_register(BW_RATE, 0x0A);
+	//Paramètrage du registre DATA_FORMAT
+	driver_IMU_write_register(BW_RATE, 0x08); //Full resolution, et alignement à droite
+	
+}
+
+/* Fonction de lecture des données*/
+/*
+@param *values : Les valeurs x, y, z sont chacune stockée sur 2 octets dans le tableau values
+	x = values[1]<<8 & value[0];
+	y = values[3]<<8 & value[2];
+	z = values[5]<<8 & value[4];
+@param numBytes : Le nombre de registre à lire à partir de registerAddress
+@param registerAddress : Adresse du premier registre à lire*/
+void driver_IMU_read(char registerAddress, int numBytes, unsigned char * values)
+{
+	int i;
+	// Pour effectuer une lecture des registre, on doit mettre les bits R/W et MB à 1
+	char trame = registerAddress | 0x80;
+	trame = trame | 0x40;
+	// On active le chip select (niveau bas)
+	MySPI_Clear_NSS();
+	// Envoie de la config
+	MySPI_Send(trame);
+	// On effectue la lecture
+	for(i=0; i<numBytes; i++)
+	{
+		values[i] = MySPI_Read();
+	}
+	// On met le Chip Select au niveau haut
+	MySPI_Set_NSS();
+}
diff --git a/driver/Driver_IMU.h b/driver/Driver_IMU.h
new file mode 100644
index 0000000..97d5e66
--- /dev/null
+++ b/driver/Driver_IMU.h
@@ -0,0 +1,26 @@
+#ifndef IMU_H_
+#define IMU_H_
+
+#include "stm32f10x.h"
+
+/**
+*************************************************************************************************
+* @brief Fonction d'initialisation de l'IMU
+* @param -> none
+* @Note -> Fonction a appelé avant l'utilisation du périphérique
+*************************************************************************************************
+*/
+void driver_IMU_init(void);
+
+/**
+*************************************************************************************************
+* @brief Fonction de lecture des données de l'IMU
+* @param -> char registerAddress : adresse du registre
+* 			 -> int numBytes : nombre de bytes à recevoir
+*				 -> unsigned char * values : tableau où les valeurs seront stockés
+* @Note -> 
+*************************************************************************************************
+*/
+void driver_IMU_read(char registerAddress, int numBytes, unsigned char * values);
+
+#endif
diff --git a/driver/Driver_SPI.c b/driver/Driver_SPI.c
new file mode 100644
index 0000000..0898ce9
--- /dev/null
+++ b/driver/Driver_SPI.c
@@ -0,0 +1,44 @@
+#include "stm32f10x.h"
+#include "stdio.h"
+#include "Driver_SPI.h"
+
+void driver_spi_1_init(char Prio, void (*IT_function)(void))
+{
+	/*Activation de la clock*/
+	RCC->APB2ENR = RCC_APB2ENR_SPI1EN;
+	/*Select the freq*/
+	SPI1->CR1 |= SPI_CR1_BR_1; //5Mhz max -> fPCLK = 36Mhz -> 010: fPCLK/8
+	/*Select Master mode*/
+	SPI1->CR1 |= SPI_CR1_MSTR;
+	/*Software slave management*/
+	SPI1->CR1 |= SPI_CR1_SSM;
+	/*Clock Phase Selection*/
+	SPI1->CR1 |= SPI_CR1_CPHA;
+	/*Clock Polarity Selection*/
+	SPI1->CR1 |= SPI_CR1_CPOL;
+	/*Mode 16bits - 16-bit data frame format*/
+	//SPI1->CR1 |= SPI_CR1_DFF;
+	/*Activation de l'interruption*/
+	SPI1->CR2 |= SPI_CR2_RXNEIE;
+	NVIC_EnableIRQ(SPI_IRQn);
+	NVIC_SetPriority(ADC1_2_IRQn, Prio);
+	/*Vider le buffer d'emission/réception 0xFFFF*/
+	SPI1->DR = SPI_DR_DR;
+	/*Enable SPI*/
+	SPI1->CR1 |= SPI_CR1_SPE;
+}
+
+void driver_spi_1_write(uint16_t data_write)
+{
+	SPI1->DR = data_write;
+	/*Active la sélection du SLAVE*/
+	SPI1->CR1 |= SPI_CR1_SSI;
+}
+
+uint16_t driver_spi_1_read()
+{
+ //Abaissage automatique du flag RxNE
+	return SPI1->DR;
+}
+
+
diff --git a/driver/Driver_SPI.h b/driver/Driver_SPI.h
new file mode 100644
index 0000000..e57d4f4
--- /dev/null
+++ b/driver/Driver_SPI.h
@@ -0,0 +1,5 @@
+#ifndef DRIVER_SPI_H
+#define DRIVER_SPI_H
+#include "stm32f10x.h"
+
+#endif
diff --git a/driver/Driver_Timer.c b/driver/Driver_Timer.c
index b75e1b2..3269183 100644
--- a/driver/Driver_Timer.c
+++ b/driver/Driver_Timer.c
@@ -1,6 +1,7 @@
 #include "Driver_Timer.h"
 #include "stm32f10x.h"
 #include "stdio.h"
+
 /* Timer init function */
 void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer)
 {
@@ -26,7 +27,7 @@ void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer)
   	Timer->Timer->ARR = Timer->ARR;
 }
 
-
+/* Start function */
 void MyTimer_Start(MyTimer_Struct_TypeDef * Timer)
 {
 	Timer->Timer->CR1 |= TIM_CR1_CEN;
@@ -48,23 +49,23 @@ void MyTimer_ConfigurePWM(MyTimer_Struct_TypeDef *Timer, uint8_t channel, uint16
   // Configurer le Channel
   if (channel == 1) {
 	Timer->Timer->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
-	Timer->Timer->CCMR1 |= TIM_CCMR1_OC1PE; // activer la précharge du registre de comparaison
+	Timer->Timer->CCMR1 |= TIM_CCMR1_OC1PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC1E;
 	Timer->Timer->CCR1 = CCR_Value;
   } else if (channel == 2) {
 	Timer->Timer->CCMR1 = TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1;
-	Timer->Timer->CCMR1 |= TIM_CCMR1_OC2PE; // activer la précharge du registre de comparaison
+	Timer->Timer->CCMR1 |= TIM_CCMR1_OC2PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC2E;
 	Timer->Timer->CCR2 = CCR_Value;
   } else if (channel == 3) {
 	Timer->Timer->CCMR2 = TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1;
-	Timer->Timer->CCMR2 |= TIM_CCMR2_OC3PE; // activer la précharge du registre de comparaison
+	Timer->Timer->CCMR2 |= TIM_CCMR2_OC3PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC3E;
 	Timer->Timer->CCER &= ~TIM_CCER_CC3P;
 	Timer->Timer->CCR3 = CCR_Value;	
   } else if (channel == 4) {
 	Timer->Timer->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
-	Timer->Timer->CCMR2 |= TIM_CCMR2_OC4PE; // activer la précharge du registre de comparaison
+	Timer->Timer->CCMR2 |= TIM_CCMR2_OC4PE; // activer la précharge du registre de comparaison
 	Timer->Timer->CCER |= TIM_CCER_CC4E;
 	Timer->Timer->CCR4 = CCR_Value;
   }
@@ -78,11 +79,11 @@ void Bug (void)
 {
 	while(1);
 }
-
 void (*TIM2_fx) (void) = &Bug;
 void (*TIM3_fx) (void) = &Bug;
 void (*TIM4_fx) (void) = &Bug;
 
+/* Interrupt function */
 void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void))
 {
 	Timer->DIER |= TIM_DIER_UIE;
diff --git a/driver/Driver_Timer.h b/driver/Driver_Timer.h
index 95e4ccd..2aab44d 100644
--- a/driver/Driver_Timer.h
+++ b/driver/Driver_Timer.h
@@ -12,37 +12,46 @@ typedef struct
 
 /**
 *************************************************************************************************
-* @brief
-* @param -> Param�tre sous forme d�une structure (son adresse) contenant les informations de base
-* @Note -> Fonction � lancer syst�matiquement avant d�aller plus en d�tail dans les conf plus fines (PWM, codeur inc...)
-*************************************************************************************************
+* @brief Initialisation du timer
+* @param -> Paramètre sous forme d’une structure (son adresse) contenant les informations du timer
+* @Note -> Fonction à lancer systématiquement avant d’aller plus en détail dans les conf plus fines (PWM, codeur inc...)*************************************************************************************************
 */
 void MyTimer_Base_Init(MyTimer_Struct_TypeDef * Timer);
 
-/*#define MyTimer_Base_Start(Timer) ...
-#define MyTimer_Base_Stop(Timer) ... 
+/**
+*************************************************************************************************
+* @brief Fonction pour lancer le timer voulu
+* @param -> Paramètre sous forme d’une structure (son adresse) qui défini le numéro du timer
+* @Note -> 
+*************************************************************************************************
 */
-
-void MyTimer_Start(MyTimer_Struct_TypeDef * Timer) ;
-void MyTimer_Stop(MyTimer_Struct_TypeDef * Timer) ;
-
+void MyTimer_Start(TIM_TypeDef * Timer) ;
 
+/**
+*************************************************************************************************
+* @brief Fonction pour arrêter le timer voulu
+* @param -> Paramètre sous forme d’une structure (son adresse) qui défini le numéro du timer
+* @Note 
+*************************************************************************************************
+*/
+void MyTimer_Stop(TIM_TypeDef * Timer) ;
 /**
 **************************************************************************************************
-* @brief
-* @param : -TIM_TypeDef * Timer : Timer concerne
-- char Prio: de 0 a 15
-* @Note : La fonction MyTimer_Base_Init doit avoir ete lancee au prealable
+* @brief Active une interruption utilisant un timer
+* @param : -TIM_TypeDef * Timer : Timer concerné
+* 				- char Prio: de 0 a 15
+* @Note : La fonction MyTimer_Base_Init doit avoir été lancée au prealable
 **************************************************************************************************
 */
 void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void));
 
 /**
-* @brief
-* @param 
-* @Note Active le channel sp�cifi� sur Timer le timer sp�cifi�
-* la gestion de la configuration I/O n�est pas faite dans cette fonction
-* ni le r�glage de la p�riode de la PWM (ARR, PSC)
+*************************************************************************************************
+* @brief Fonction pour le timer du PWM
+* @param : -TIM_TypeDef * Timer : Timer concerné
+* 				- char Channel : channel du PWM concerné
+* ni le réglage de la période de la PWM (ARR, PSC)
+*************************************************************************************************
 */
 void MyTimer_PWM(TIM_TypeDef * Timer, char Channel);
 
diff --git a/driver/Lib_Com_Periph_2022.lib b/driver/Lib_Com_Periph_2022.lib
new file mode 100644
index 0000000..ce805ab
Binary files /dev/null and b/driver/Lib_Com_Periph_2022.lib differ
diff --git a/driver/MyI2C.h b/driver/MyI2C.h
new file mode 100644
index 0000000..289c9ed
--- /dev/null
+++ b/driver/MyI2C.h
@@ -0,0 +1,229 @@
+#ifndef _I2C_
+#define _I2C_
+
+#include "stm32f10x.h"
+
+/*************************************************************************************
+=====================    By Periph team 	INSA GEI	2022	 ===========================
+*************************************************************************************/
+
+/*
+*************************************************************************************
+=====================     I2C les IO STM32F103      =================================
+*************************************************************************************
+
+Les IO sont pris en charge par la lib, pas besoin de faire les configurations Alt OD.
+
+**I2C1**
+SCL PB6
+SDA PB7
+
+**I2C2**
+SCL PB10
+SDA PB11
+
+
+*************************************************************************************
+==================== Fondamentaux I2C      ==========================================
+*************************************************************************************
+- Bus synchrone Low speed (<100kHz) ou high speed (=400kHz), Ici Low speed 100kHz.
+- Transfert octet par octet, poids fort en premier, avec aquittement pour chaque octet
+- Deux lignes SDA et SCL (horloge) en open drain, repos '1'
+- bit "normal" = SDA stable lors du pulse SCL (ie durant l'état haut de SCL, SDA est stable)
+- bit Start/Stop/Restart = SDA non stable lorsque SCL vaut '1' (violation règle précédente)
+			* Start : front descendant de SDA lorsque SCL vaut '1'
+			* Stop  : front montant de SDA lorsque SCL = '1'
+			* Restart = Start en cours de trame (typiquement pour changer Write/read).
+- uC en Mode Master uniquement (c'est notre choix) : c'est le uC qui est maître de l'horloge SCL.
+- Le Slave a une @ 7 bits. On ajoute un bit LSB qui est /WR (donc 0 pour écriture, 1 pour lecture)
+- Une adresse s'écrit donc |a6 a5 a4 a3 a2 a1 a0 /WR| ce qui donne 8 bits. Elle indique une future
+lecture ou écriture. 
+On parle d'@ 7 bits en regroupant |a6 a5 a4 a3 a2 a1 a0|
+On parle d'@ 8 bits en regroupant |a6 a5 a4 a3 a2 a1 a0 /WR| (donc une @ écriture, une @ lecture)
+NB : préférer le concept @7bits...c'est plus clair.
+
+- On peut lire ou écrire une ou plusieurs données à la suite. C'est lors de l'envoie de l'adresse Slave
+par le Master que le sens à venir pour les datas est indiqué.
+- En écriture, 
+			* les Ack sont faits par le slave après chaque octet envoyé par le master (Ack = mise à 0 le bit 9).
+- En lecture, 
+			* dès que le l@ slave est transmise (/RW = 1), et le Ack réalisé, le slave positionne le bit 7 
+			du prochain octet à lire sur SDA par anticipation ,			
+			* le master enchaîne ses pulses (9), lors du pulse 9 (le dernier) c'est le master qui acquite.
+			* Après chaque acquitement, le Slave amorce le prochain octet en positionnant son bit 7 sur SDA 
+			* Après le dernier octet, le Master génère un stop.
+					* Pour pouvoir générer le stop, le Master doit piloter SDA, or ce n'est pas possible puisque
+					le Slave positionne le futur bit 7 ... Pour régler ce problème :
+					lors du dernier transfert, le Master N'acquitte PAS (NACK). Ainsi le Slave ne
+					propose plus le bit 7 du prochain octet sur SDA et libère SDA. Le Master peut alors clôturer la 
+					communication avec un Stop.
+
+
+
+
+======= Echange typique avec un Slave  ================================================================
+- Une lecture ou écriture se fait vers un Slave et à partir d'une adresse mémoire donnée (pointeur interne).
+Ce pointeur est automatiquement incrémenté dans le slave lors des accès écriture ou lecture.
+
+- Ecriture de N octets , trame complète (@ = adresse slave, pt = valeur de chargement du pointeur interne)
+|Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
+|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
+|d7|d6|d5|d4|d3|d2|d1|d0|Slave ACK| (data 1)
+.....
+|d7|d6|d5|d4|d3|d2|d1|d0|Salve ACK|Stop Cond| (data N)
+
+- Lecture de N octets à partir d'une adresse de pointeur donnée
+|Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
+|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
+|ReStart Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =1 |Slave ACK|    (NB: restart nécessaire pour changer écriture / lecture)
+|d7|d6|d5|d4|d3|d2|d1|d0|Master ACK| (data 1)
+.....
+|d7|d6|d5|d4|d3|d2|d1|d0|Master ACK| (data N-1)
+|d7|d6|d5|d4|d3|d2|d1|d0|Master NACK|Stop Cond| (data N)
+
+
+
+
+
+*************************************************************************************
+==================== La lib I2C            ==========================================
+*************************************************************************************
+
+3 fonctions essentielles :
+MyI2C_Init
+MyI2C_PutString
+MyI2C_GetString
+
+1 fonction spéciale : MyI2C_Get_Error
+
+Les fonctions Put/Get string fonctionnent sur le principe classique décrit précédemment
+(Slave@, Pter @, Data...).
+La fonction init prend parmi ses paramètres le nom d'une fct callback d'erreur.
+En fait, le driver gère en IT les erreurs possibles I2C. La fonction MyI2C_Get_Error permet de 
+recevoir un code erreur.
+Il est conseillé d'utiliser ce callback. Si on tombe dedans, c'est qu'une erreur s'est produite.
+Si le code erreur est "inconnu", souvent c'est qu'il y  a un soucis à l'adressage slave:
+Vérifier alors la connectique physique SDA/SCL ainsi que l'alimentation du slave ou tout simplement
+l'@ slave !
+
+
+==========================================================================================*/
+
+
+
+
+
+/*========================================================================================= 
+														GESTION ERREURS 
+========================================================================================= */
+typedef enum 
+{
+	OK,
+	BusError, 		// 
+	AckFail,  		// Pas,d'ack
+	TimeOut,			// SCL est resté plus de 25ms à l'état bas
+	UnknownError 	// IT erreur déclenchée mais pas de flag explicite ...
+} MyI2C_Err_Enum;
+
+
+
+
+/**
+  * @brief  Retourne les erreurs I2C
+  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
+  * @retval Type d'erreur rencontrée , voir MyI2C_Err_Enum
+  */
+
+MyI2C_Err_Enum MyI2C_Get_Error(I2C_TypeDef * I2Cx);
+
+
+
+/*========================================================================================= 
+														INITIALISATION I2C
+========================================================================================= */
+
+
+/**
+  * @brief  Initialise l'interface I2C (1 ou 2) 
+  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
+  * @param char IT_Prio_I2CErr 0 à 15 (utilisé en cas d'erreur, IT courte et non bloquante
+	* @param  *ITErr_function : callback à utiliser pour sortir d'un plantage transmission
+  * @retval None 
+  * @Example  MyI2C_Init(I2C1, 2,My_CallbackErr);
+
+	
+
+  */
+void MyI2C_Init(I2C_TypeDef * I2Cx, char IT_Prio_I2CErr, void (*ITErr_function) (void));
+
+
+
+/*========================================================================================= 
+														EMISSION I2C : PutString
+========================================================================================= */
+
+
+// Structure de données pour l'émission ou la réception I2C :
+typedef struct
+{
+	char SlaveAdress7bits;  // l'adresse I2C du slave device
+	char * Ptr_Data;				// l'adresse du début de tableau char à recevoir/émettre (tableau en RAM uC) 
+	char Nb_Data;						// le nbre d'octets à envoyer / recevoir  
+}
+MyI2C_RecSendData_Typedef;
+
+
+
+/**
+	* @brief|Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
+					|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
+					|d7|d6|d5|d4|d3|d2|d1|d0|Slave ACK| (data 1)
+					.....
+					|d7|d6|d5|d4|d3|d2|d1|d0|Salve ACK|Stop Cond| (data N) 
+
+  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
+  * @param  PteurAdress = adresse de démarrage écriture à l'interieur du slave I2C
+  * @param  DataToSend, adresse de la structure qui contient les informations à transmettre 
+             voir définition	MyI2C_RecSendData_Typedef				
+  * @retval None
+	* @Example MyI2C_PutString(I2C1,0xAA, &MyI2C_SendTimeData);
+  *					 Ecrit dans le slave câblé sur I2C1 à partir de l'@ mémoire interne Slave 0xAA
+
+  */
+void MyI2C_PutString(I2C_TypeDef * I2Cx, char PteurAdress, MyI2C_RecSendData_Typedef * DataToSend);
+
+
+
+
+
+
+
+
+
+
+/*========================================================================================= 
+														Réception I2C : GetString 
+========================================================================================= */
+
+/**
+	* @brief  |Start Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =0 |Slave ACK|
+						|pt7|pt6|pt5|pt4|pt3|pt2|pt1|pt0|Slave ACK| 
+						|ReStart Cond   |@6|@5|@4|@3|@2|@1|@0| Wr =1 |Slave ACK|
+						|d7|d6|d5|d4|d3|d2|d1|d0|Master ACK| (data 1)
+						.....
+						|d7|d6|d5|d4|d3|d2|d1|d0|Master NACK|Stop Cond| (data N)
+
+  * @param  I2Cx: where x can be 1 or 2 to select the I2C peripheral.
+  * @param  PteurAdress = adresse de démarrage lecture à l'interieur du slave I2C
+  * @param  DataToSend, adresse de la structure qui contient les informations nécessaires à la
+						réception des données voir définition	MyI2C_RecSendData_Typedef				
+  * @retval None
+	* @Example	MyI2C_GetString(I2C1,0xAA, &MyI2C_RecevievedTimeData);
+							Lit dans le slave câblé sur I2C1 à partir de l'@ mémoire interne Slave 0xAA
+  */
+void	MyI2C_GetString(I2C_TypeDef * I2Cx, char PteurAdress, MyI2C_RecSendData_Typedef * DataToReceive);
+
+
+
+
+#endif
diff --git a/driver/MySPI.h b/driver/MySPI.h
new file mode 100644
index 0000000..b5f9aef
--- /dev/null
+++ b/driver/MySPI.h
@@ -0,0 +1,129 @@
+
+#ifndef INC_MYSPI_H_
+#define INC_MYSPI_H_
+
+#include "stm32f10x.h"
+
+/*************************************************************************************
+=====================    By Periph team 	INSA GEI	2022	 ===========================
+*************************************************************************************/
+
+/*
+*************************************************************************************
+=====================     I2C les IO STM32F103      =================================
+*************************************************************************************
+Les IO sont pris en charge par la lib, pas besoin de faire les configurations
+
+
+Sur la Nucléo , le SPI1 est perturbé par la LED2 (PA5), mais doit pouvoir subir les front SCK qd même (LED clignote vite..)
+le SPI2 n'est pas utilisable car pin non connectées par défaut (sauf à modifier les SB). En fait la Nucléo fait un choix entre SPI1 
+et SPI2 par soudage jumper (SB).
+
+-> Utiliser SPI1 avec la carte Nucléo
+  
+ * 	**IO SPI 1**
+	SPI1_NSS PA4
+	SPI1_SCK PA5
+	SPI1_MISO  PA6  
+	SPI1_MOSI  PA7  
+
+	**IO SPI 2**
+	SPI2_NSS PB12
+	SPI2_SCK PB13
+	SPI2_MISO  PB14  
+	SPI2_MOSI  PB15  
+
+
+
+
+
+*************************************************************************************
+==================== Fondamentaux SPI      ==========================================
+*************************************************************************************
+- Bus Synchrone, 4 fils (même si on peut l'utiliser en 3 fils)
+- Transfert à l'octet
+- Protocole entre un Master (contrôle SCK) et un Slave
+- SCK permet de synchroniser les bits de chaque octet. Il se configure par :
+	* son niveau de repos : ici niveau '1'
+	* le front actif de synchronisation pour chaque bit : ici front montant (front up durant bit stable)
+- /CS ou /NSS active le slave sur l'état bas
+- MOSI : Master Out Slave In (donc data circulant du Master vers le Slave, donc écriture dans le Slave)
+- MISO : Master In Slave Out (donc data circulant du Slave vers le Master, donc lecture du Slave)
+
+Bien que la lib propose une fonction d'écriture et de lecture :
+	* une écriture s'accompagne obligatoirement d'une lecture (bidon)
+	* une lecture s'accompagne obligatoirement d'une écriture (bidon)
+La gestion /CS = /NSS se fait "à la main". On peut alors lire toute une série d'octets
+en laissant /CS à l'état bas pendant toute la durée de circulation des octets.
+
+
+*************************************************************************************
+==================== La lib SPI            ==========================================
+*************************************************************************************
+
+fonctions essentielles :
+
+MySPI_Init 
+MySPI_Send 
+MySPI_Read
+MySPI_Set_NSS
+MySPI_Clear_NSS
+
+
+==========================================================================================*/
+
+
+
+
+/*========================================================================================= 
+														INITIALISATION SPI
+========================================================================================= */
+
+/**
+	* @brief Configure le SPI spécifié : FSCK = 281kHz, Repos SCK = '1', Front actif = up
+					 Gestion /CS logicielle à part, configure les 4 IO
+					 - SCK, MOSI : Out Alt push pull
+					 - MISO : floating input
+					 - /NSS (/CS) : Out push pull
+	* @param SPI_TypeDef * SPI : SPI1 ou SPI2 
+  */
+void MySPI_Init(SPI_TypeDef * SPI);
+
+
+
+/**
+  * @brief Envoie un octet (/CS non géré, à faire logiciellement)
+					 Plus en détail, émission de l'octet souhaité sur MOSI
+					 Lecture en même temps d'un octet poubelle sur MISO (non exploité)
+  * @param : char ByteToSend : l'octet à envoyer
+  */
+void MySPI_Send(char ByteToSend);
+
+
+/**
+  * @brief Reçoit un octet (/CS non géré, à faire logiciellement)
+					 Plus en détail, émission d'un octet bidon sur MOSI (0x00)
+					 pour élaborer les 8 fronts sur SCK et donc piloter le slave en lecture 
+					 qui répond sur MISO
+	* @param : none
+	* @retval : l'octet lu.
+  */
+char MySPI_Read(void);
+
+
+
+/**
+  * @brief Positionne /CS = /NSS à '1'. A utiliser pour borner les octets à transmettre/recevoir
+	* @param : none
+  */
+void MySPI_Set_NSS(void);
+
+
+
+/**
+  * @brief Positionne /CS = /NSS à '0'.  A utiliser pour borner les octets à transmettre/recevoir
+	* @param :none
+  */
+void MySPI_Clear_NSS(void);
+
+#endif 
diff --git a/projet-voilier/Listings/projet-voilier.map b/projet-voilier/Listings/projet-voilier.map
index ebe2563..7788710 100644
--- a/projet-voilier/Listings/projet-voilier.map
+++ b/projet-voilier/Listings/projet-voilier.map
@@ -1,61 +1,55 @@
-Component: Arm Compiler for Embedded 6.19 Tool: armlink [5e73cb00]
+Component: ARM Compiler 5.06 update 7 (build 960) Tool: armlink [4d3601]
 
 ==============================================================================
 
 Section Cross References
 
-    main.o(.text.main) refers to driver_gpio.o(.text.MyGPIO_Init) for MyGPIO_Init
-    main.o(.text.main) refers to driver_gpio.o(.text.MyGPIO_Set) for MyGPIO_Set
-    main.o(.text.main) refers to driver_timer.o(.text.MyTimer_Base_Init) for MyTimer_Base_Init
-    main.o(.text.main) refers to driver_timer.o(.text.MyTimer_ConfigurePWM) for MyTimer_ConfigurePWM
-    main.o(.text.main) refers to driver_timer.o(.text.MyTimer_Start) for MyTimer_Start
-    main.o(.text.main) refers to driver_uart.o(.text.MyUART_Init) for MyUART_Init
-    main.o(.text.main) refers to driver_uart.o(.text.MyUART_SendByte) for MyUART_SendByte
-    main.o(.text.main) refers to driver_uart.o(.text.MyUART_ReceiveByte) for MyUART_ReceiveByte
-    main.o(.ARM.exidx.text.main) refers to main.o(.text.main) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Init) refers to driver_gpio.o(.text.MyGPIO_Init) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Read) refers to driver_gpio.o(.text.MyGPIO_Read) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Set) refers to driver_gpio.o(.text.MyGPIO_Set) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Reset) refers to driver_gpio.o(.text.MyGPIO_Reset) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Toggle) refers to driver_gpio.o(.text.MyGPIO_Toggle) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_Base_Init) refers to driver_timer.o(.text.MyTimer_Base_Init) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_Start) refers to driver_timer.o(.text.MyTimer_Start) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_Stop) refers to driver_timer.o(.text.MyTimer_Stop) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_ConfigurePWM) refers to driver_timer.o(.text.MyTimer_ConfigurePWM) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.Bug) refers to driver_timer.o(.text.Bug) for [Anonymous Symbol]
-    driver_timer.o(.text.MyTimer_ActiveIT) refers to driver_timer.o(.data.TIM2_fx) for TIM2_fx
-    driver_timer.o(.text.MyTimer_ActiveIT) refers to driver_timer.o(.data.TIM4_fx) for TIM4_fx
-    driver_timer.o(.text.MyTimer_ActiveIT) refers to driver_timer.o(.data.TIM3_fx) for TIM3_fx
-    driver_timer.o(.ARM.exidx.text.MyTimer_ActiveIT) refers to driver_timer.o(.text.MyTimer_ActiveIT) for [Anonymous Symbol]
-    driver_timer.o(.text.TIM2_IRQHandler) refers to driver_timer.o(.data.TIM2_fx) for TIM2_fx
-    driver_timer.o(.ARM.exidx.text.TIM2_IRQHandler) refers to driver_timer.o(.text.TIM2_IRQHandler) for [Anonymous Symbol]
-    driver_timer.o(.text.TIM3_IRQHandler) refers to driver_timer.o(.data.TIM3_fx) for TIM3_fx
-    driver_timer.o(.ARM.exidx.text.TIM3_IRQHandler) refers to driver_timer.o(.text.TIM3_IRQHandler) for [Anonymous Symbol]
-    driver_timer.o(.text.TIM4_IRQHandler) refers to driver_timer.o(.data.TIM4_fx) for TIM4_fx
-    driver_timer.o(.ARM.exidx.text.TIM4_IRQHandler) refers to driver_timer.o(.text.TIM4_IRQHandler) for [Anonymous Symbol]
-    driver_timer.o(.data.TIM2_fx) refers to driver_timer.o(.text.Bug) for Bug
-    driver_timer.o(.data.TIM3_fx) refers to driver_timer.o(.text.Bug) for Bug
-    driver_timer.o(.data.TIM4_fx) refers to driver_timer.o(.text.Bug) for Bug
-    driver_uart.o(.ARM.exidx.text.MyUART_Init) refers to driver_uart.o(.text.MyUART_Init) for [Anonymous Symbol]
-    driver_uart.o(.ARM.exidx.text.MyUART_SendByte) refers to driver_uart.o(.text.MyUART_SendByte) for [Anonymous Symbol]
-    driver_uart.o(.ARM.exidx.text.MyUART_ReceiveByte) refers to driver_uart.o(.text.MyUART_ReceiveByte) for [Anonymous Symbol]
+    main.o(i.main) refers to imu.o(i.source_IMU_init) for source_IMU_init
+    main.o(i.main) refers to imu.o(i.source_IMU_read) for source_IMU_read
+    main.o(i.toto) refers to driver_adc.o(i.driver_adc_1_read) for driver_adc_1_read
+    main.o(i.toto) refers to main.o(.data) for val
+    driver_timer.o(i.MyTimer_ActiveIT) refers to driver_timer.o(i.__NVIC_EnableIRQ) for __NVIC_EnableIRQ
+    driver_timer.o(i.MyTimer_ActiveIT) refers to driver_timer.o(i.__NVIC_SetPriority) for __NVIC_SetPriority
+    driver_timer.o(i.MyTimer_ActiveIT) refers to driver_timer.o(.data) for TIM2_fx
+    driver_timer.o(i.TIM2_IRQHandler) refers to driver_timer.o(.data) for TIM2_fx
+    driver_timer.o(i.TIM3_IRQHandler) refers to driver_timer.o(.data) for TIM3_fx
+    driver_timer.o(i.TIM4_IRQHandler) refers to driver_timer.o(.data) for TIM4_fx
+    driver_timer.o(.data) refers to driver_timer.o(i.Bug) for Bug
+    driver_adc.o(i.ADC1_2_IRQHandler) refers to driver_adc.o(.data) for ADC1_2_fx
+    driver_adc.o(i.driver_adc_1_init) refers to driver_adc.o(.data) for ADC1_2_fx
+    driver_adc.o(.data) refers to driver_adc.o(i.erreur) for erreur
+    imu.o(i.source_IMU_init) refers to myspi.o(i.MySPI_Init) for MySPI_Init
+    imu.o(i.source_IMU_init) refers to imu.o(i.source_IMU_write_register) for source_IMU_write_register
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Set_NSS) for MySPI_Set_NSS
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Send) for MySPI_Send
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Read) for MySPI_Read
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Clear_NSS) for MySPI_Clear_NSS
+    imu.o(i.source_IMU_write_register) refers to myspi.o(i.MySPI_Clear_NSS) for MySPI_Clear_NSS
+    imu.o(i.source_IMU_write_register) refers to myspi.o(i.MySPI_Send) for MySPI_Send
+    imu.o(i.source_IMU_write_register) refers to myspi.o(i.MySPI_Set_NSS) for MySPI_Set_NSS
     startup_stm32f10x_md.o(STACK) refers (Special) to heapauxi.o(.text) for __use_two_region_memory
     startup_stm32f10x_md.o(HEAP) refers (Special) to heapauxi.o(.text) for __use_two_region_memory
     startup_stm32f10x_md.o(RESET) refers (Special) to heapauxi.o(.text) for __use_two_region_memory
     startup_stm32f10x_md.o(RESET) refers to startup_stm32f10x_md.o(STACK) for __initial_sp
     startup_stm32f10x_md.o(RESET) refers to startup_stm32f10x_md.o(.text) for Reset_Handler
-    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(.text.TIM2_IRQHandler) for TIM2_IRQHandler
-    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(.text.TIM3_IRQHandler) for TIM3_IRQHandler
-    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(.text.TIM4_IRQHandler) for TIM4_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_adc.o(i.ADC1_2_IRQHandler) for ADC1_2_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(i.TIM2_IRQHandler) for TIM2_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(i.TIM3_IRQHandler) for TIM3_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(i.TIM4_IRQHandler) for TIM4_IRQHandler
     startup_stm32f10x_md.o(.text) refers (Special) to heapauxi.o(.text) for __use_two_region_memory
-    startup_stm32f10x_md.o(.text) refers to system_stm32f10x.o(.text.SystemInit) for SystemInit
+    startup_stm32f10x_md.o(.text) refers to system_stm32f10x.o(i.SystemInit) for SystemInit
     startup_stm32f10x_md.o(.text) refers to __main.o(!!!main) for __main
     startup_stm32f10x_md.o(.text) refers to startup_stm32f10x_md.o(HEAP) for Heap_Mem
     startup_stm32f10x_md.o(.text) refers to startup_stm32f10x_md.o(STACK) for Stack_Mem
-    system_stm32f10x.o(.ARM.exidx.text.SystemInit) refers to system_stm32f10x.o(.text.SystemInit) for [Anonymous Symbol]
-    system_stm32f10x.o(.text.SystemCoreClockUpdate) refers to system_stm32f10x.o(.data.SystemCoreClock) for SystemCoreClock
-    system_stm32f10x.o(.text.SystemCoreClockUpdate) refers to system_stm32f10x.o(.rodata.AHBPrescTable) for AHBPrescTable
-    system_stm32f10x.o(.ARM.exidx.text.SystemCoreClockUpdate) refers to system_stm32f10x.o(.text.SystemCoreClockUpdate) for [Anonymous Symbol]
+    system_stm32f10x.o(i.SetSysClock) refers to system_stm32f10x.o(i.SetSysClockTo72) for SetSysClockTo72
+    system_stm32f10x.o(i.SystemCoreClockUpdate) refers to system_stm32f10x.o(.data) for SystemCoreClock
+    system_stm32f10x.o(i.SystemInit) refers to system_stm32f10x.o(i.SetSysClock) for SetSysClock
+    myspi.o(i.MySPI_Clear_NSS) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Init) refers to myspi.o(i.MySPI_Set_NSS) for MySPI_Set_NSS
+    myspi.o(i.MySPI_Init) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Read) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Send) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Set_NSS) refers to myspi.o(.data) for ActiveSPI
     __main.o(!!!main) refers to __rtentry.o(.ARM.Collect$$rtentry$$00000000) for __rt_entry
     __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for __rt_entry_li
     __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for __rt_entry_main
@@ -66,7 +60,7 @@ Section Cross References
     __rtentry2.o(.ARM.Collect$$rtentry$$00000008) refers to boardinit2.o(.text) for _platform_post_stackheap_init
     __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) refers to libinit.o(.ARM.Collect$$libinit$$00000000) for __rt_lib_init
     __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) refers to boardinit3.o(.text) for _platform_post_lib_init
-    __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to main.o(.text.main) for main
+    __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to main.o(i.main) for main
     __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to exit.o(.text) for exit
     __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000001) for .ARM.Collect$$rtentry$$00000001
     __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000008) for .ARM.Collect$$rtentry$$00000008
@@ -78,28 +72,27 @@ Section Cross References
     sys_stackheap_outer.o(.text) refers to libspace.o(.text) for __user_perproc_libspace
     sys_stackheap_outer.o(.text) refers to startup_stm32f10x_md.o(.text) for __user_initial_stackheap
     exit.o(.text) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for __rt_exit
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000030) for __rt_lib_init_alloca_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002E) for __rt_lib_init_argv_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001D) for __rt_lib_init_atexit_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000023) for __rt_lib_init_clock_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000034) for __rt_lib_init_cpp_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000032) for __rt_lib_init_exceptions_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002E) for __rt_lib_init_alloca_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002C) for __rt_lib_init_argv_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001B) for __rt_lib_init_atexit_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000021) for __rt_lib_init_clock_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000032) for __rt_lib_init_cpp_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000030) for __rt_lib_init_exceptions_1
     libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000002) for __rt_lib_init_fp_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000021) for __rt_lib_init_fp_trap_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000025) for __rt_lib_init_getenv_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000C) for __rt_lib_init_heap_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000013) for __rt_lib_init_lc_collate_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000015) for __rt_lib_init_lc_ctype_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000017) for __rt_lib_init_lc_monetary_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000019) for __rt_lib_init_lc_numeric_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001B) for __rt_lib_init_lc_time_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000006) for __rt_lib_init_preinit_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000010) for __rt_lib_init_rand_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000004) for __rt_lib_init_relocate_pie_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000035) for __rt_lib_init_return
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001F) for __rt_lib_init_signal_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000027) for __rt_lib_init_stdio_1
-    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000E) for __rt_lib_init_user_alloc_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001F) for __rt_lib_init_fp_trap_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000023) for __rt_lib_init_getenv_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000A) for __rt_lib_init_heap_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000011) for __rt_lib_init_lc_collate_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000013) for __rt_lib_init_lc_ctype_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000015) for __rt_lib_init_lc_monetary_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000017) for __rt_lib_init_lc_numeric_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000019) for __rt_lib_init_lc_time_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000004) for __rt_lib_init_preinit_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000E) for __rt_lib_init_rand_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000033) for __rt_lib_init_return
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001D) for __rt_lib_init_signal_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000025) for __rt_lib_init_stdio_1
+    libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000C) for __rt_lib_init_user_alloc_1
     libspace.o(.text) refers to libspace.o(.bss) for __libspace_start
     rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit
     rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls
@@ -108,13 +101,13 @@ Section Cross References
     rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls
     rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1
     rtexit.o(.ARM.exidx) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for .ARM.Collect$$rtexit$$00000000
-    libinit2.o(.ARM.Collect$$libinit$$00000012) refers to libinit2.o(.ARM.Collect$$libinit$$00000011) for .ARM.Collect$$libinit$$00000011
-    libinit2.o(.ARM.Collect$$libinit$$00000014) refers to libinit2.o(.ARM.Collect$$libinit$$00000011) for .ARM.Collect$$libinit$$00000011
-    libinit2.o(.ARM.Collect$$libinit$$00000016) refers to libinit2.o(.ARM.Collect$$libinit$$00000011) for .ARM.Collect$$libinit$$00000011
-    libinit2.o(.ARM.Collect$$libinit$$00000018) refers to libinit2.o(.ARM.Collect$$libinit$$00000011) for .ARM.Collect$$libinit$$00000011
-    libinit2.o(.ARM.Collect$$libinit$$0000001A) refers to libinit2.o(.ARM.Collect$$libinit$$00000011) for .ARM.Collect$$libinit$$00000011
-    libinit2.o(.ARM.Collect$$libinit$$00000028) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer
-    libinit2.o(.ARM.Collect$$libinit$$00000029) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer
+    libinit2.o(.ARM.Collect$$libinit$$00000010) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F
+    libinit2.o(.ARM.Collect$$libinit$$00000012) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F
+    libinit2.o(.ARM.Collect$$libinit$$00000014) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F
+    libinit2.o(.ARM.Collect$$libinit$$00000016) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F
+    libinit2.o(.ARM.Collect$$libinit$$00000018) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F
+    libinit2.o(.ARM.Collect$$libinit$$00000026) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer
+    libinit2.o(.ARM.Collect$$libinit$$00000027) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer
     rtexit2.o(.ARM.Collect$$rtexit$$00000003) refers to libshutdown.o(.ARM.Collect$$libshutdown$$00000000) for __rt_lib_shutdown
     rtexit2.o(.ARM.Collect$$rtexit$$00000004) refers to sys_exit.o(.text) for _sys_exit
     rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000001) for .ARM.Collect$$rtexit$$00000001
@@ -123,22 +116,19 @@ Section Cross References
     argv_veneer.o(.emb_text) refers to no_argv.o(.text) for __ARM_get_argv
     sys_exit.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting
     sys_exit.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function
-    sys_exit_hlt.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting
-    sys_exit_hlt.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function
     _get_argv_nomalloc.o(.text) refers (Special) to hrguard.o(.text) for __heap_region$guard
     _get_argv_nomalloc.o(.text) refers to defsig_rtmem_outer.o(.text) for __rt_SIGRTMEM
     _get_argv_nomalloc.o(.text) refers to sys_command.o(.text) for _sys_command_string
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) for __rt_lib_shutdown_cpp_1
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) for __rt_lib_shutdown_fp_trap_1
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) for __rt_lib_shutdown_heap_1
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) for __rt_lib_shutdown_return
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) for __rt_lib_shutdown_signal_1
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) for __rt_lib_shutdown_stdio_1
-    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) for __rt_lib_shutdown_user_alloc_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) for __rt_lib_shutdown_cpp_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) for __rt_lib_shutdown_fini_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000009) for __rt_lib_shutdown_fp_trap_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000011) for __rt_lib_shutdown_heap_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000012) for __rt_lib_shutdown_return
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) for __rt_lib_shutdown_signal_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000006) for __rt_lib_shutdown_stdio_1
+    libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E) for __rt_lib_shutdown_user_alloc_1
     sys_command.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting
     sys_command.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function
-    sys_command_hlt.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting
-    sys_command_hlt.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function
     defsig_rtmem_outer.o(.text) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner
     defsig_rtmem_outer.o(.text) refers to defsig_exit.o(.text) for __sig_exit
     defsig_rtmem_formal.o(.text) refers to rt_raise.o(.text) for __rt_raise
@@ -150,8 +140,6 @@ Section Cross References
     defsig_general.o(.text) refers to sys_wrch.o(.text) for _ttywrch
     sys_wrch.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting
     sys_wrch.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function
-    sys_wrch_hlt.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting
-    sys_wrch_hlt.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function
     defsig.o(CL$$defsig) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner
     defsig_abrt_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display
     defsig_fpe_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display
@@ -167,42 +155,48 @@ Section Cross References
 
 Removing Unused input sections from the image.
 
-    Removing main.o(.text), (0 bytes).
-    Removing main.o(.ARM.exidx.text.main), (8 bytes).
-    Removing main.o(.ARM.use_no_argv), (4 bytes).
-    Removing driver_gpio.o(.text), (0 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Init), (8 bytes).
-    Removing driver_gpio.o(.text.MyGPIO_Read), (12 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Read), (8 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Set), (8 bytes).
-    Removing driver_gpio.o(.text.MyGPIO_Reset), (16 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Reset), (8 bytes).
-    Removing driver_gpio.o(.text.MyGPIO_Toggle), (14 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Toggle), (8 bytes).
-    Removing driver_timer.o(.text), (0 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_Base_Init), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_Start), (8 bytes).
-    Removing driver_timer.o(.text.MyTimer_Stop), (12 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_Stop), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_ConfigurePWM), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.Bug), (8 bytes).
-    Removing driver_timer.o(.text.MyTimer_ActiveIT), (150 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_ActiveIT), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.TIM2_IRQHandler), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.TIM3_IRQHandler), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.TIM4_IRQHandler), (8 bytes).
-    Removing driver_uart.o(.text), (0 bytes).
-    Removing driver_uart.o(.ARM.exidx.text.MyUART_Init), (8 bytes).
-    Removing driver_uart.o(.ARM.exidx.text.MyUART_SendByte), (8 bytes).
-    Removing driver_uart.o(.ARM.exidx.text.MyUART_ReceiveByte), (8 bytes).
-    Removing system_stm32f10x.o(.text), (0 bytes).
-    Removing system_stm32f10x.o(.ARM.exidx.text.SystemInit), (8 bytes).
-    Removing system_stm32f10x.o(.text.SystemCoreClockUpdate), (110 bytes).
-    Removing system_stm32f10x.o(.ARM.exidx.text.SystemCoreClockUpdate), (8 bytes).
-    Removing system_stm32f10x.o(.data.SystemCoreClock), (4 bytes).
-    Removing system_stm32f10x.o(.rodata.AHBPrescTable), (16 bytes).
+    Removing main.o(.rev16_text), (4 bytes).
+    Removing main.o(.revsh_text), (4 bytes).
+    Removing main.o(.rrx_text), (6 bytes).
+    Removing main.o(i.toto), (16 bytes).
+    Removing main.o(.data), (2 bytes).
+    Removing driver_gpio.o(.rev16_text), (4 bytes).
+    Removing driver_gpio.o(.revsh_text), (4 bytes).
+    Removing driver_gpio.o(.rrx_text), (6 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Init), (264 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Read), (14 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Reset), (12 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Set), (12 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Toggle), (12 bytes).
+    Removing driver_timer.o(.rev16_text), (4 bytes).
+    Removing driver_timer.o(.revsh_text), (4 bytes).
+    Removing driver_timer.o(.rrx_text), (6 bytes).
+    Removing driver_timer.o(i.MyTimer_ActiveIT), (112 bytes).
+    Removing driver_timer.o(i.MyTimer_Base_Init), (116 bytes).
+    Removing driver_timer.o(i.MyTimer_Start), (10 bytes).
+    Removing driver_timer.o(i.MyTimer_Stop), (10 bytes).
+    Removing driver_timer.o(i.__NVIC_EnableIRQ), (34 bytes).
+    Removing driver_timer.o(i.__NVIC_SetPriority), (40 bytes).
+    Removing driver_adc.o(.rev16_text), (4 bytes).
+    Removing driver_adc.o(.revsh_text), (4 bytes).
+    Removing driver_adc.o(.rrx_text), (6 bytes).
+    Removing driver_adc.o(i.driver_adc_1_init), (244 bytes).
+    Removing driver_adc.o(i.driver_adc_1_launch_read), (20 bytes).
+    Removing driver_adc.o(i.driver_adc_1_read), (16 bytes).
+    Removing imu.o(.rev16_text), (4 bytes).
+    Removing imu.o(.revsh_text), (4 bytes).
+    Removing imu.o(.rrx_text), (6 bytes).
+    Removing imu.o(.constdata), (3 bytes).
+    Removing system_stm32f10x.o(.rev16_text), (4 bytes).
+    Removing system_stm32f10x.o(.revsh_text), (4 bytes).
+    Removing system_stm32f10x.o(.rrx_text), (6 bytes).
+    Removing system_stm32f10x.o(i.SystemCoreClockUpdate), (164 bytes).
+    Removing system_stm32f10x.o(.data), (20 bytes).
+    Removing myspi.o(.rev16_text), (4 bytes).
+    Removing myspi.o(.revsh_text), (4 bytes).
+    Removing myspi.o(.rrx_text), (6 bytes).
 
-34 unused section(s) (total 498 bytes) removed from the image.
+40 unused section(s) (total 1219 bytes) removed from the image.
 
 ==============================================================================
 
@@ -216,61 +210,66 @@ Image Symbol Table
     ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit2.o ABSOLUTE
     ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit3.o ABSOLUTE
     ../clib/angel/boardlib.s                 0x00000000   Number         0  boardshut.o ABSOLUTE
-    ../clib/angel/handlers.s                 0x00000000   Number         0  __scatter_copy.o ABSOLUTE
     ../clib/angel/handlers.s                 0x00000000   Number         0  __scatter_zi.o ABSOLUTE
-    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry.o ABSOLUTE
-    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry2.o ABSOLUTE
+    ../clib/angel/handlers.s                 0x00000000   Number         0  __scatter_copy.o ABSOLUTE
     ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry4.o ABSOLUTE
     ../clib/angel/kernel.s                   0x00000000   Number         0  rtexit.o ABSOLUTE
     ../clib/angel/kernel.s                   0x00000000   Number         0  rtexit2.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry2.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry.o ABSOLUTE
     ../clib/angel/rt.s                       0x00000000   Number         0  rt_raise.o ABSOLUTE
     ../clib/angel/scatter.s                  0x00000000   Number         0  __scatter.o ABSOLUTE
     ../clib/angel/startup.s                  0x00000000   Number         0  __main.o ABSOLUTE
-    ../clib/angel/sys.s                      0x00000000   Number         0  sys_stackheap_outer.o ABSOLUTE
-    ../clib/angel/sys.s                      0x00000000   Number         0  libspace.o ABSOLUTE
     ../clib/angel/sys.s                      0x00000000   Number         0  use_no_semi.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  libspace.o ABSOLUTE
     ../clib/angel/sys.s                      0x00000000   Number         0  indicate_semi.o ABSOLUTE
-    ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_exit.o ABSOLUTE
-    ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_exit_hlt.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  sys_stackheap_outer.o ABSOLUTE
     ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_command.o ABSOLUTE
-    ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_command_hlt.o ABSOLUTE
+    ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_exit.o ABSOLUTE
     ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_wrch.o ABSOLUTE
-    ../clib/angel/sysapp.c                   0x00000000   Number         0  sys_wrch_hlt.o ABSOLUTE
     ../clib/armsys.c                         0x00000000   Number         0  argv_veneer.o ABSOLUTE
     ../clib/armsys.c                         0x00000000   Number         0  argv_veneer.o ABSOLUTE
     ../clib/armsys.c                         0x00000000   Number         0  _get_argv_nomalloc.o ABSOLUTE
     ../clib/armsys.c                         0x00000000   Number         0  no_argv.o ABSOLUTE
     ../clib/heapalloc.c                      0x00000000   Number         0  hrguard.o ABSOLUTE
     ../clib/heapaux.c                        0x00000000   Number         0  heapauxi.o ABSOLUTE
+    ../clib/libinit.s                        0x00000000   Number         0  libshutdown2.o ABSOLUTE
     ../clib/libinit.s                        0x00000000   Number         0  libinit.o ABSOLUTE
     ../clib/libinit.s                        0x00000000   Number         0  libinit2.o ABSOLUTE
     ../clib/libinit.s                        0x00000000   Number         0  libshutdown.o ABSOLUTE
-    ../clib/libinit.s                        0x00000000   Number         0  libshutdown2.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_outer.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_formal.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_exit.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  __raise.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_general.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_abrt_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_fpe_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_rtred_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_stak_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_pvfn_inner.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_cppl_inner.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_segv_inner.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_other.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_fpe_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_abrt_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtred_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_general.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  __raise.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_outer.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_formal.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_stak_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_pvfn_inner.o ABSOLUTE
     ../clib/signal.s                         0x00000000   Number         0  defsig.o ABSOLUTE
     ../clib/stdlib.c                         0x00000000   Number         0  exit.o ABSOLUTE
     ../fplib/fpinit.s                        0x00000000   Number         0  fpinit.o ABSOLUTE
-    ../fplib/fpinit_empty.s                  0x00000000   Number         0  fpinit_empty.o ABSOLUTE
-    Driver_GPIO.c                            0x00000000   Number         0  driver_gpio.o ABSOLUTE
-    Driver_Timer.c                           0x00000000   Number         0  driver_timer.o ABSOLUTE
-    Driver_UART.c                            0x00000000   Number         0  driver_uart.o ABSOLUTE
-    RTE/Device/STM32F103RB/startup_stm32f10x_md.s 0x00000000   Number         0  startup_stm32f10x_md.o ABSOLUTE
+    ..\\driver\\Driver_ADC.c                 0x00000000   Number         0  driver_adc.o ABSOLUTE
+    ..\\driver\\Driver_GPIO.c                0x00000000   Number         0  driver_gpio.o ABSOLUTE
+    ..\\driver\\Driver_Timer.c               0x00000000   Number         0  driver_timer.o ABSOLUTE
+    ..\\driver\\IMU.c                        0x00000000   Number         0  imu.o ABSOLUTE
+    ..\driver\Driver_ADC.c                   0x00000000   Number         0  driver_adc.o ABSOLUTE
+    ..\driver\Driver_GPIO.c                  0x00000000   Number         0  driver_gpio.o ABSOLUTE
+    ..\driver\Driver_Timer.c                 0x00000000   Number         0  driver_timer.o ABSOLUTE
+    ..\driver\IMU.c                          0x00000000   Number         0  imu.o ABSOLUTE
+    MyDrivers\MySPI.c                        0x00000000   Number         0  myspi.o ABSOLUTE
+    MyDrivers\\MySPI.c                       0x00000000   Number         0  myspi.o ABSOLUTE
+    RTE\Device\STM32F103RB\startup_stm32f10x_md.s 0x00000000   Number         0  startup_stm32f10x_md.o ABSOLUTE
+    RTE\Device\STM32F103RB\system_stm32f10x.c 0x00000000   Number         0  system_stm32f10x.o ABSOLUTE
+    RTE\\Device\\STM32F103RB\\system_stm32f10x.c 0x00000000   Number         0  system_stm32f10x.o ABSOLUTE
     dc.s                                     0x00000000   Number         0  dc.o ABSOLUTE
-    main.c                                   0x00000000   Number         0  main.o ABSOLUTE
-    system_stm32f10x.c                       0x00000000   Number         0  system_stm32f10x.o ABSOLUTE
+    src\\main.c                              0x00000000   Number         0  main.o ABSOLUTE
+    src\main.c                               0x00000000   Number         0  main.o ABSOLUTE
     RESET                                    0x08000000   Section      236  startup_stm32f10x_md.o(RESET)
     !!!main                                  0x080000ec   Section        8  __main.o(!!!main)
     !!!scatter                               0x080000f4   Section       52  __scatter.o(!!!scatter)
@@ -279,10 +278,10 @@ Image Symbol Table
     .ARM.Collect$$libinit$$00000000          0x08000160   Section        2  libinit.o(.ARM.Collect$$libinit$$00000000)
     .ARM.Collect$$libinit$$00000002          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000002)
     .ARM.Collect$$libinit$$00000004          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000004)
-    .ARM.Collect$$libinit$$00000006          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000006)
+    .ARM.Collect$$libinit$$0000000A          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000000A)
     .ARM.Collect$$libinit$$0000000C          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000000C)
     .ARM.Collect$$libinit$$0000000E          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000000E)
-    .ARM.Collect$$libinit$$00000010          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000010)
+    .ARM.Collect$$libinit$$00000011          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000011)
     .ARM.Collect$$libinit$$00000013          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000013)
     .ARM.Collect$$libinit$$00000015          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000015)
     .ARM.Collect$$libinit$$00000017          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000017)
@@ -293,20 +292,20 @@ Image Symbol Table
     .ARM.Collect$$libinit$$00000021          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000021)
     .ARM.Collect$$libinit$$00000023          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000023)
     .ARM.Collect$$libinit$$00000025          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000025)
-    .ARM.Collect$$libinit$$00000027          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000027)
+    .ARM.Collect$$libinit$$0000002C          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000002C)
     .ARM.Collect$$libinit$$0000002E          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000002E)
     .ARM.Collect$$libinit$$00000030          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000030)
     .ARM.Collect$$libinit$$00000032          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000032)
-    .ARM.Collect$$libinit$$00000034          0x08000162   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000034)
-    .ARM.Collect$$libinit$$00000035          0x08000162   Section        2  libinit2.o(.ARM.Collect$$libinit$$00000035)
+    .ARM.Collect$$libinit$$00000033          0x08000162   Section        2  libinit2.o(.ARM.Collect$$libinit$$00000033)
     .ARM.Collect$$libshutdown$$00000000      0x08000164   Section        2  libshutdown.o(.ARM.Collect$$libshutdown$$00000000)
     .ARM.Collect$$libshutdown$$00000002      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
     .ARM.Collect$$libshutdown$$00000004      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
-    .ARM.Collect$$libshutdown$$00000007      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)
-    .ARM.Collect$$libshutdown$$0000000A      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)
+    .ARM.Collect$$libshutdown$$00000006      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000006)
+    .ARM.Collect$$libshutdown$$00000009      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000009)
     .ARM.Collect$$libshutdown$$0000000C      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
-    .ARM.Collect$$libshutdown$$0000000F      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)
-    .ARM.Collect$$libshutdown$$00000010      0x08000166   Section        2  libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)
+    .ARM.Collect$$libshutdown$$0000000E      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E)
+    .ARM.Collect$$libshutdown$$00000011      0x08000166   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000011)
+    .ARM.Collect$$libshutdown$$00000012      0x08000166   Section        2  libshutdown2.o(.ARM.Collect$$libshutdown$$00000012)
     .ARM.Collect$$rtentry$$00000000          0x08000168   Section        0  __rtentry.o(.ARM.Collect$$rtentry$$00000000)
     .ARM.Collect$$rtentry$$00000002          0x08000168   Section        0  __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
     .ARM.Collect$$rtentry$$00000004          0x08000168   Section        6  __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
@@ -326,37 +325,46 @@ Image Symbol Table
     .text                                    0x08000234   Section        0  sys_exit.o(.text)
     .text                                    0x08000240   Section        2  use_no_semi.o(.text)
     .text                                    0x08000242   Section        0  indicate_semi.o(.text)
-    [Anonymous Symbol]                       0x08000244   Section        0  driver_timer.o(.text.Bug)
-    [Anonymous Symbol]                       0x08000248   Section        0  driver_gpio.o(.text.MyGPIO_Init)
-    [Anonymous Symbol]                       0x080002e4   Section        0  driver_gpio.o(.text.MyGPIO_Set)
-    [Anonymous Symbol]                       0x080002f4   Section        0  driver_timer.o(.text.MyTimer_Base_Init)
-    [Anonymous Symbol]                       0x08000380   Section        0  driver_timer.o(.text.MyTimer_ConfigurePWM)
-    [Anonymous Symbol]                       0x08000428   Section        0  driver_timer.o(.text.MyTimer_Start)
-    [Anonymous Symbol]                       0x08000434   Section        0  driver_uart.o(.text.MyUART_Init)
-    [Anonymous Symbol]                       0x08000470   Section        0  driver_uart.o(.text.MyUART_ReceiveByte)
-    [Anonymous Symbol]                       0x08000488   Section        0  driver_uart.o(.text.MyUART_SendByte)
-    [Anonymous Symbol]                       0x0800049c   Section        0  system_stm32f10x.o(.text.SystemInit)
-    [Anonymous Symbol]                       0x080005ac   Section        0  driver_timer.o(.text.TIM2_IRQHandler)
-    [Anonymous Symbol]                       0x080005c8   Section        0  driver_timer.o(.text.TIM3_IRQHandler)
-    [Anonymous Symbol]                       0x080005e4   Section        0  driver_timer.o(.text.TIM4_IRQHandler)
-    [Anonymous Symbol]                       0x08000600   Section        0  main.o(.text.main)
-    .bss                                     0x20000010   Section       96  libspace.o(.bss)
-    Heap_Mem                                 0x20000070   Data         512  startup_stm32f10x_md.o(HEAP)
-    HEAP                                     0x20000070   Section      512  startup_stm32f10x_md.o(HEAP)
-    Stack_Mem                                0x20000270   Data        1024  startup_stm32f10x_md.o(STACK)
-    STACK                                    0x20000270   Section     1024  startup_stm32f10x_md.o(STACK)
-    __initial_sp                             0x20000670   Data           0  startup_stm32f10x_md.o(STACK)
+    i.ADC1_2_IRQHandler                      0x08000244   Section        0  driver_adc.o(i.ADC1_2_IRQHandler)
+    i.Bug                                    0x08000264   Section        0  driver_timer.o(i.Bug)
+    i.MySPI_Clear_NSS                        0x08000268   Section        0  myspi.o(i.MySPI_Clear_NSS)
+    i.MySPI_Init                             0x08000298   Section        0  myspi.o(i.MySPI_Init)
+    i.MySPI_Read                             0x0800048c   Section        0  myspi.o(i.MySPI_Read)
+    i.MySPI_Send                             0x080004e0   Section        0  myspi.o(i.MySPI_Send)
+    i.MySPI_Set_NSS                          0x08000530   Section        0  myspi.o(i.MySPI_Set_NSS)
+    i.SetSysClock                            0x0800055c   Section        0  system_stm32f10x.o(i.SetSysClock)
+    SetSysClock                              0x0800055d   Thumb Code     8  system_stm32f10x.o(i.SetSysClock)
+    i.SetSysClockTo72                        0x08000564   Section        0  system_stm32f10x.o(i.SetSysClockTo72)
+    SetSysClockTo72                          0x08000565   Thumb Code   214  system_stm32f10x.o(i.SetSysClockTo72)
+    i.SystemInit                             0x08000644   Section        0  system_stm32f10x.o(i.SystemInit)
+    i.TIM2_IRQHandler                        0x080006a4   Section        0  driver_timer.o(i.TIM2_IRQHandler)
+    i.TIM3_IRQHandler                        0x080006c4   Section        0  driver_timer.o(i.TIM3_IRQHandler)
+    i.TIM4_IRQHandler                        0x080006e4   Section        0  driver_timer.o(i.TIM4_IRQHandler)
+    i.erreur                                 0x08000704   Section        0  driver_adc.o(i.erreur)
+    i.main                                   0x08000708   Section        0  main.o(i.main)
+    i.source_IMU_init                        0x08000720   Section        0  imu.o(i.source_IMU_init)
+    i.source_IMU_read                        0x08000748   Section        0  imu.o(i.source_IMU_read)
+    i.source_IMU_write_register              0x08000778   Section        0  imu.o(i.source_IMU_write_register)
+    .data                                    0x20000000   Section       12  driver_timer.o(.data)
+    .data                                    0x2000000c   Section        4  driver_adc.o(.data)
+    .data                                    0x20000010   Section        4  myspi.o(.data)
+    .bss                                     0x20000014   Section       96  libspace.o(.bss)
+    HEAP                                     0x20000078   Section      512  startup_stm32f10x_md.o(HEAP)
+    Heap_Mem                                 0x20000078   Data         512  startup_stm32f10x_md.o(HEAP)
+    STACK                                    0x20000278   Section     1024  startup_stm32f10x_md.o(STACK)
+    Stack_Mem                                0x20000278   Data        1024  startup_stm32f10x_md.o(STACK)
+    __initial_sp                             0x20000678   Data           0  startup_stm32f10x_md.o(STACK)
 
     Global Symbols
 
     Symbol Name                              Value     Ov Type        Size  Object(Section)
 
-    BuildAttributes$$THM_ISAv4$P$D$K$B$S$PE$A:L22UL41UL21$X:L11$S22US41US21$IEEE1$IW$~IW$USESV6$~STKCKD$USESV7$~SHL$OTIME$ROPI$EBA8$UX$STANDARDLIB$REQ8$PRES8$EABIv2 0x00000000   Number         0  anon$$obj.o ABSOLUTE
-    __fp_init_empty                          0x00000000   Number         0  fpinit_empty.o ABSOLUTE
+    BuildAttributes$$THM_ISAv4$P$D$K$B$S$PE$A:L22UL41UL21$X:L11$S22US41US21$IEEE1$IW$USESV6$~STKCKD$USESV7$~SHL$OSPACE$ROPI$EBA8$UX$STANDARDLIB$REQ8$PRES8$EABIv2 0x00000000   Number         0  anon$$obj.o ABSOLUTE
+    __ARM_use_no_argv                        0x00000000   Number         0  main.o ABSOLUTE
     __ARM_exceptions_init                     - Undefined Weak Reference
     __alloca_initialize                       - Undefined Weak Reference
+    __arm_fini_                               - Undefined Weak Reference
     __arm_preinit_                            - Undefined Weak Reference
-    __arm_relocate_pie_                       - Undefined Weak Reference
     __cpp_initialize__aeabi_                  - Undefined Weak Reference
     __cxa_finalize                            - Undefined Weak Reference
     __rt_locale                               - Undefined Weak Reference
@@ -393,36 +401,36 @@ Image Symbol Table
     __scatterload_copy                       0x08000129   Thumb Code    26  __scatter_copy.o(!!handler_copy)
     __scatterload_zeroinit                   0x08000145   Thumb Code    28  __scatter_zi.o(!!handler_zi)
     __rt_lib_init                            0x08000161   Thumb Code     0  libinit.o(.ARM.Collect$$libinit$$00000000)
-    __rt_lib_init_alloca_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000030)
-    __rt_lib_init_argv_1                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000002E)
-    __rt_lib_init_atexit_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000001D)
-    __rt_lib_init_clock_1                    0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000023)
-    __rt_lib_init_cpp_1                      0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000034)
-    __rt_lib_init_exceptions_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000032)
+    __rt_lib_init_alloca_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000002E)
+    __rt_lib_init_argv_1                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000002C)
+    __rt_lib_init_atexit_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000001B)
+    __rt_lib_init_clock_1                    0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000021)
+    __rt_lib_init_cpp_1                      0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000032)
+    __rt_lib_init_exceptions_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000030)
     __rt_lib_init_fp_1                       0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000002)
-    __rt_lib_init_fp_trap_1                  0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000021)
-    __rt_lib_init_getenv_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000025)
-    __rt_lib_init_heap_1                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000000C)
-    __rt_lib_init_lc_collate_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000013)
-    __rt_lib_init_lc_ctype_1                 0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000015)
-    __rt_lib_init_lc_monetary_1              0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000017)
-    __rt_lib_init_lc_numeric_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000019)
-    __rt_lib_init_lc_time_1                  0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000001B)
-    __rt_lib_init_preinit_1                  0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000006)
-    __rt_lib_init_rand_1                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000010)
-    __rt_lib_init_relocate_pie_1             0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000004)
-    __rt_lib_init_return                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000035)
-    __rt_lib_init_signal_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000001F)
-    __rt_lib_init_stdio_1                    0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000027)
-    __rt_lib_init_user_alloc_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000000E)
+    __rt_lib_init_fp_trap_1                  0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000001F)
+    __rt_lib_init_getenv_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000023)
+    __rt_lib_init_heap_1                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000000A)
+    __rt_lib_init_lc_collate_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000011)
+    __rt_lib_init_lc_ctype_1                 0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000013)
+    __rt_lib_init_lc_monetary_1              0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000015)
+    __rt_lib_init_lc_numeric_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000017)
+    __rt_lib_init_lc_time_1                  0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000019)
+    __rt_lib_init_preinit_1                  0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000004)
+    __rt_lib_init_rand_1                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000000E)
+    __rt_lib_init_return                     0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000033)
+    __rt_lib_init_signal_1                   0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000001D)
+    __rt_lib_init_stdio_1                    0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$00000025)
+    __rt_lib_init_user_alloc_1               0x08000163   Thumb Code     0  libinit2.o(.ARM.Collect$$libinit$$0000000C)
     __rt_lib_shutdown                        0x08000165   Thumb Code     0  libshutdown.o(.ARM.Collect$$libshutdown$$00000000)
-    __rt_lib_shutdown_cpp_1                  0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
-    __rt_lib_shutdown_fp_trap_1              0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)
-    __rt_lib_shutdown_heap_1                 0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)
-    __rt_lib_shutdown_return                 0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)
-    __rt_lib_shutdown_signal_1               0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)
-    __rt_lib_shutdown_stdio_1                0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
-    __rt_lib_shutdown_user_alloc_1           0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
+    __rt_lib_shutdown_cpp_1                  0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
+    __rt_lib_shutdown_fini_1                 0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
+    __rt_lib_shutdown_fp_trap_1              0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000009)
+    __rt_lib_shutdown_heap_1                 0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000011)
+    __rt_lib_shutdown_return                 0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000012)
+    __rt_lib_shutdown_signal_1               0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
+    __rt_lib_shutdown_stdio_1                0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000006)
+    __rt_lib_shutdown_user_alloc_1           0x08000167   Thumb Code     0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E)
     __rt_entry                               0x08000169   Thumb Code     0  __rtentry.o(.ARM.Collect$$rtentry$$00000000)
     __rt_entry_presh_1                       0x08000169   Thumb Code     0  __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
     __rt_entry_sh                            0x08000169   Thumb Code     0  __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
@@ -444,7 +452,6 @@ Image Symbol Table
     DebugMon_Handler                         0x0800019d   Thumb Code     2  startup_stm32f10x_md.o(.text)
     PendSV_Handler                           0x0800019f   Thumb Code     2  startup_stm32f10x_md.o(.text)
     SysTick_Handler                          0x080001a1   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    ADC1_2_IRQHandler                        0x080001a3   Thumb Code     0  startup_stm32f10x_md.o(.text)
     CAN1_RX1_IRQHandler                      0x080001a3   Thumb Code     0  startup_stm32f10x_md.o(.text)
     CAN1_SCE_IRQHandler                      0x080001a3   Thumb Code     0  startup_stm32f10x_md.o(.text)
     DMA1_Channel1_IRQHandler                 0x080001a3   Thumb Code     0  startup_stm32f10x_md.o(.text)
@@ -497,27 +504,31 @@ Image Symbol Table
     __I$use$semihosting                      0x08000241   Thumb Code     0  use_no_semi.o(.text)
     __use_no_semihosting_swi                 0x08000241   Thumb Code     2  use_no_semi.o(.text)
     __semihosting_library_function           0x08000243   Thumb Code     0  indicate_semi.o(.text)
-    Bug                                      0x08000245   Thumb Code     2  driver_timer.o(.text.Bug)
-    MyGPIO_Init                              0x08000249   Thumb Code   140  driver_gpio.o(.text.MyGPIO_Init)
-    MyGPIO_Set                               0x080002e5   Thumb Code    14  driver_gpio.o(.text.MyGPIO_Set)
-    MyTimer_Base_Init                        0x080002f5   Thumb Code   140  driver_timer.o(.text.MyTimer_Base_Init)
-    MyTimer_ConfigurePWM                     0x08000381   Thumb Code   168  driver_timer.o(.text.MyTimer_ConfigurePWM)
-    MyTimer_Start                            0x08000429   Thumb Code    12  driver_timer.o(.text.MyTimer_Start)
-    MyUART_Init                              0x08000435   Thumb Code    58  driver_uart.o(.text.MyUART_Init)
-    MyUART_ReceiveByte                       0x08000471   Thumb Code    24  driver_uart.o(.text.MyUART_ReceiveByte)
-    MyUART_SendByte                          0x08000489   Thumb Code    20  driver_uart.o(.text.MyUART_SendByte)
-    SystemInit                               0x0800049d   Thumb Code   272  system_stm32f10x.o(.text.SystemInit)
-    TIM2_IRQHandler                          0x080005ad   Thumb Code    26  driver_timer.o(.text.TIM2_IRQHandler)
-    TIM3_IRQHandler                          0x080005c9   Thumb Code    28  driver_timer.o(.text.TIM3_IRQHandler)
-    TIM4_IRQHandler                          0x080005e5   Thumb Code    28  driver_timer.o(.text.TIM4_IRQHandler)
-    main                                     0x08000601   Thumb Code   168  main.o(.text.main)
-    Region$$Table$$Base                      0x080006a8   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x080006c8   Number         0  anon$$obj.o(Region$$Table)
-    TIM2_fx                                  0x20000000   Data           4  driver_timer.o(.data.TIM2_fx)
-    TIM3_fx                                  0x20000004   Data           4  driver_timer.o(.data.TIM3_fx)
-    TIM4_fx                                  0x20000008   Data           4  driver_timer.o(.data.TIM4_fx)
-    __libspace_start                         0x20000010   Data          96  libspace.o(.bss)
-    __temporary_stack_top$libspace           0x20000070   Data           0  libspace.o(.bss)
+    ADC1_2_IRQHandler                        0x08000245   Thumb Code    22  driver_adc.o(i.ADC1_2_IRQHandler)
+    Bug                                      0x08000265   Thumb Code     4  driver_timer.o(i.Bug)
+    MySPI_Clear_NSS                          0x08000269   Thumb Code    30  myspi.o(i.MySPI_Clear_NSS)
+    MySPI_Init                               0x08000299   Thumb Code   480  myspi.o(i.MySPI_Init)
+    MySPI_Read                               0x0800048d   Thumb Code    70  myspi.o(i.MySPI_Read)
+    MySPI_Send                               0x080004e1   Thumb Code    68  myspi.o(i.MySPI_Send)
+    MySPI_Set_NSS                            0x08000531   Thumb Code    28  myspi.o(i.MySPI_Set_NSS)
+    SystemInit                               0x08000645   Thumb Code    78  system_stm32f10x.o(i.SystemInit)
+    TIM2_IRQHandler                          0x080006a5   Thumb Code    26  driver_timer.o(i.TIM2_IRQHandler)
+    TIM3_IRQHandler                          0x080006c5   Thumb Code    22  driver_timer.o(i.TIM3_IRQHandler)
+    TIM4_IRQHandler                          0x080006e5   Thumb Code    22  driver_timer.o(i.TIM4_IRQHandler)
+    erreur                                   0x08000705   Thumb Code     4  driver_adc.o(i.erreur)
+    main                                     0x08000709   Thumb Code    22  main.o(i.main)
+    source_IMU_init                          0x08000721   Thumb Code    34  imu.o(i.source_IMU_init)
+    source_IMU_read                          0x08000749   Thumb Code    48  imu.o(i.source_IMU_read)
+    source_IMU_write_register                0x08000779   Thumb Code    28  imu.o(i.source_IMU_write_register)
+    Region$$Table$$Base                      0x08000794   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x080007b4   Number         0  anon$$obj.o(Region$$Table)
+    TIM2_fx                                  0x20000000   Data           4  driver_timer.o(.data)
+    TIM3_fx                                  0x20000004   Data           4  driver_timer.o(.data)
+    TIM4_fx                                  0x20000008   Data           4  driver_timer.o(.data)
+    ADC1_2_fx                                0x2000000c   Data           4  driver_adc.o(.data)
+    ActiveSPI                                0x20000010   Data           4  myspi.o(.data)
+    __libspace_start                         0x20000014   Data          96  libspace.o(.bss)
+    __temporary_stack_top$libspace           0x20000074   Data           0  libspace.o(.bss)
 
 
 
@@ -527,108 +538,110 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_1 (Base: 0x08000000, Size: 0x000006d4, Max: 0xffffffff, ABSOLUTE)
+  Load Region LR_1 (Base: 0x08000000, Size: 0x000007c8, Max: 0xffffffff, ABSOLUTE)
 
-    Execution Region ER_RO (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000006c8, Max: 0xffffffff, ABSOLUTE)
+    Execution Region ER_RO (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000007b4, Max: 0xffffffff, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x08000000   0x08000000   0x000000ec   Data   RO           73    RESET               startup_stm32f10x_md.o
-    0x080000ec   0x080000ec   0x00000008   Code   RO           98  * !!!main             c_w.l(__main.o)
-    0x080000f4   0x080000f4   0x00000034   Code   RO          263    !!!scatter          c_w.l(__scatter.o)
-    0x08000128   0x08000128   0x0000001a   Code   RO          265    !!handler_copy      c_w.l(__scatter_copy.o)
+    0x08000000   0x08000000   0x000000ec   Data   RO          310    RESET               startup_stm32f10x_md.o
+    0x080000ec   0x080000ec   0x00000008   Code   RO          382  * !!!main             c_w.l(__main.o)
+    0x080000f4   0x080000f4   0x00000034   Code   RO          541    !!!scatter          c_w.l(__scatter.o)
+    0x08000128   0x08000128   0x0000001a   Code   RO          543    !!handler_copy      c_w.l(__scatter_copy.o)
     0x08000142   0x08000142   0x00000002   PAD
-    0x08000144   0x08000144   0x0000001c   Code   RO          267    !!handler_zi        c_w.l(__scatter_zi.o)
-    0x08000160   0x08000160   0x00000002   Code   RO          125    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          132    .ARM.Collect$$libinit$$00000002  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          134    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          136    .ARM.Collect$$libinit$$00000006  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          139    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          141    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          143    .ARM.Collect$$libinit$$00000010  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          146    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          148    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          150    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          152    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          154    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          156    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          158    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          160    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          162    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          164    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          166    .ARM.Collect$$libinit$$00000027  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          170    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          172    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          174    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000000   Code   RO          176    .ARM.Collect$$libinit$$00000034  c_w.l(libinit2.o)
-    0x08000162   0x08000162   0x00000002   Code   RO          177    .ARM.Collect$$libinit$$00000035  c_w.l(libinit2.o)
-    0x08000164   0x08000164   0x00000002   Code   RO          199    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
-    0x08000166   0x08000166   0x00000000   Code   RO          214    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
-    0x08000166   0x08000166   0x00000000   Code   RO          216    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
-    0x08000166   0x08000166   0x00000000   Code   RO          219    .ARM.Collect$$libshutdown$$00000007  c_w.l(libshutdown2.o)
-    0x08000166   0x08000166   0x00000000   Code   RO          222    .ARM.Collect$$libshutdown$$0000000A  c_w.l(libshutdown2.o)
-    0x08000166   0x08000166   0x00000000   Code   RO          224    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
-    0x08000166   0x08000166   0x00000000   Code   RO          227    .ARM.Collect$$libshutdown$$0000000F  c_w.l(libshutdown2.o)
-    0x08000166   0x08000166   0x00000002   Code   RO          228    .ARM.Collect$$libshutdown$$00000010  c_w.l(libshutdown2.o)
-    0x08000168   0x08000168   0x00000000   Code   RO          100    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
-    0x08000168   0x08000168   0x00000000   Code   RO          102    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
-    0x08000168   0x08000168   0x00000006   Code   RO          114    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
-    0x0800016e   0x0800016e   0x00000000   Code   RO          104    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
-    0x0800016e   0x0800016e   0x00000004   Code   RO          105    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
-    0x08000172   0x08000172   0x00000000   Code   RO          107    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
-    0x08000172   0x08000172   0x00000008   Code   RO          108    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
-    0x0800017a   0x0800017a   0x00000002   Code   RO          129    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
-    0x0800017c   0x0800017c   0x00000000   Code   RO          179    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
-    0x0800017c   0x0800017c   0x00000004   Code   RO          180    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
-    0x08000180   0x08000180   0x00000006   Code   RO          181    .ARM.Collect$$rtexit$$00000004  c_w.l(rtexit2.o)
+    0x08000144   0x08000144   0x0000001c   Code   RO          545    !!handler_zi        c_w.l(__scatter_zi.o)
+    0x08000160   0x08000160   0x00000002   Code   RO          409    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          416    .ARM.Collect$$libinit$$00000002  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          418    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          421    .ARM.Collect$$libinit$$0000000A  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          423    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          425    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          428    .ARM.Collect$$libinit$$00000011  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          430    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          432    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          434    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          436    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          438    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          440    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          442    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          444    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          446    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          448    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          452    .ARM.Collect$$libinit$$0000002C  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          454    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          456    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000000   Code   RO          458    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
+    0x08000162   0x08000162   0x00000002   Code   RO          459    .ARM.Collect$$libinit$$00000033  c_w.l(libinit2.o)
+    0x08000164   0x08000164   0x00000002   Code   RO          479    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          492    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          494    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          496    .ARM.Collect$$libshutdown$$00000006  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          499    .ARM.Collect$$libshutdown$$00000009  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          502    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          504    .ARM.Collect$$libshutdown$$0000000E  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000000   Code   RO          507    .ARM.Collect$$libshutdown$$00000011  c_w.l(libshutdown2.o)
+    0x08000166   0x08000166   0x00000002   Code   RO          508    .ARM.Collect$$libshutdown$$00000012  c_w.l(libshutdown2.o)
+    0x08000168   0x08000168   0x00000000   Code   RO          384    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
+    0x08000168   0x08000168   0x00000000   Code   RO          386    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
+    0x08000168   0x08000168   0x00000006   Code   RO          398    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
+    0x0800016e   0x0800016e   0x00000000   Code   RO          388    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
+    0x0800016e   0x0800016e   0x00000004   Code   RO          389    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
+    0x08000172   0x08000172   0x00000000   Code   RO          391    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
+    0x08000172   0x08000172   0x00000008   Code   RO          392    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
+    0x0800017a   0x0800017a   0x00000002   Code   RO          413    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
+    0x0800017c   0x0800017c   0x00000000   Code   RO          461    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
+    0x0800017c   0x0800017c   0x00000004   Code   RO          462    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
+    0x08000180   0x08000180   0x00000006   Code   RO          463    .ARM.Collect$$rtexit$$00000004  c_w.l(rtexit2.o)
     0x08000186   0x08000186   0x00000002   PAD
-    0x08000188   0x08000188   0x00000040   Code   RO           74  * .text               startup_stm32f10x_md.o
-    0x080001c8   0x080001c8   0x00000006   Code   RO           96    .text               c_w.l(heapauxi.o)
-    0x080001ce   0x080001ce   0x0000004a   Code   RO          116    .text               c_w.l(sys_stackheap_outer.o)
-    0x08000218   0x08000218   0x00000012   Code   RO          118    .text               c_w.l(exit.o)
+    0x08000188   0x08000188   0x00000040   Code   RO          311  * .text               startup_stm32f10x_md.o
+    0x080001c8   0x080001c8   0x00000006   Code   RO          380    .text               c_w.l(heapauxi.o)
+    0x080001ce   0x080001ce   0x0000004a   Code   RO          400    .text               c_w.l(sys_stackheap_outer.o)
+    0x08000218   0x08000218   0x00000012   Code   RO          402    .text               c_w.l(exit.o)
     0x0800022a   0x0800022a   0x00000002   PAD
-    0x0800022c   0x0800022c   0x00000008   Code   RO          126    .text               c_w.l(libspace.o)
-    0x08000234   0x08000234   0x0000000c   Code   RO          189    .text               c_w.l(sys_exit.o)
-    0x08000240   0x08000240   0x00000002   Code   RO          204    .text               c_w.l(use_no_semi.o)
-    0x08000242   0x08000242   0x00000000   Code   RO          206    .text               c_w.l(indicate_semi.o)
+    0x0800022c   0x0800022c   0x00000008   Code   RO          410    .text               c_w.l(libspace.o)
+    0x08000234   0x08000234   0x0000000c   Code   RO          471    .text               c_w.l(sys_exit.o)
+    0x08000240   0x08000240   0x00000002   Code   RO          482    .text               c_w.l(use_no_semi.o)
+    0x08000242   0x08000242   0x00000000   Code   RO          484    .text               c_w.l(indicate_semi.o)
     0x08000242   0x08000242   0x00000002   PAD
-    0x08000244   0x08000244   0x00000002   Code   RO           37    .text.Bug           driver_timer.o
-    0x08000246   0x08000246   0x00000002   PAD
-    0x08000248   0x08000248   0x0000009c   Code   RO           11    .text.MyGPIO_Init   driver_gpio.o
-    0x080002e4   0x080002e4   0x0000000e   Code   RO           15    .text.MyGPIO_Set    driver_gpio.o
-    0x080002f2   0x080002f2   0x00000002   PAD
-    0x080002f4   0x080002f4   0x0000008c   Code   RO           29    .text.MyTimer_Base_Init  driver_timer.o
-    0x08000380   0x08000380   0x000000a8   Code   RO           35    .text.MyTimer_ConfigurePWM  driver_timer.o
-    0x08000428   0x08000428   0x0000000c   Code   RO           31    .text.MyTimer_Start  driver_timer.o
-    0x08000434   0x08000434   0x0000003a   Code   RO           58    .text.MyUART_Init   driver_uart.o
-    0x0800046e   0x0800046e   0x00000002   PAD
-    0x08000470   0x08000470   0x00000018   Code   RO           62    .text.MyUART_ReceiveByte  driver_uart.o
-    0x08000488   0x08000488   0x00000014   Code   RO           60    .text.MyUART_SendByte  driver_uart.o
-    0x0800049c   0x0800049c   0x00000110   Code   RO           81    .text.SystemInit    system_stm32f10x.o
-    0x080005ac   0x080005ac   0x0000001a   Code   RO           41    .text.TIM2_IRQHandler  driver_timer.o
-    0x080005c6   0x080005c6   0x00000002   PAD
-    0x080005c8   0x080005c8   0x0000001c   Code   RO           43    .text.TIM3_IRQHandler  driver_timer.o
-    0x080005e4   0x080005e4   0x0000001c   Code   RO           45    .text.TIM4_IRQHandler  driver_timer.o
-    0x08000600   0x08000600   0x000000a8   Code   RO            2    .text.main          main.o
-    0x080006a8   0x080006a8   0x00000020   Data   RO          262    Region$$Table       anon$$obj.o
+    0x08000244   0x08000244   0x00000020   Code   RO          214    i.ADC1_2_IRQHandler  driver_adc.o
+    0x08000264   0x08000264   0x00000004   Code   RO          131    i.Bug               driver_timer.o
+    0x08000268   0x08000268   0x00000030   Code   RO          364    i.MySPI_Clear_NSS   Lib_Com_Periph_2022.lib(myspi.o)
+    0x08000298   0x08000298   0x000001f4   Code   RO          365    i.MySPI_Init        Lib_Com_Periph_2022.lib(myspi.o)
+    0x0800048c   0x0800048c   0x00000054   Code   RO          366    i.MySPI_Read        Lib_Com_Periph_2022.lib(myspi.o)
+    0x080004e0   0x080004e0   0x00000050   Code   RO          367    i.MySPI_Send        Lib_Com_Periph_2022.lib(myspi.o)
+    0x08000530   0x08000530   0x0000002c   Code   RO          368    i.MySPI_Set_NSS     Lib_Com_Periph_2022.lib(myspi.o)
+    0x0800055c   0x0800055c   0x00000008   Code   RO          318    i.SetSysClock       system_stm32f10x.o
+    0x08000564   0x08000564   0x000000e0   Code   RO          319    i.SetSysClockTo72   system_stm32f10x.o
+    0x08000644   0x08000644   0x00000060   Code   RO          321    i.SystemInit        system_stm32f10x.o
+    0x080006a4   0x080006a4   0x00000020   Code   RO          136    i.TIM2_IRQHandler   driver_timer.o
+    0x080006c4   0x080006c4   0x00000020   Code   RO          137    i.TIM3_IRQHandler   driver_timer.o
+    0x080006e4   0x080006e4   0x00000020   Code   RO          138    i.TIM4_IRQHandler   driver_timer.o
+    0x08000704   0x08000704   0x00000004   Code   RO          218    i.erreur            driver_adc.o
+    0x08000708   0x08000708   0x00000016   Code   RO            4    i.main              main.o
+    0x0800071e   0x0800071e   0x00000002   PAD
+    0x08000720   0x08000720   0x00000028   Code   RO          269    i.source_IMU_init   imu.o
+    0x08000748   0x08000748   0x00000030   Code   RO          270    i.source_IMU_read   imu.o
+    0x08000778   0x08000778   0x0000001c   Code   RO          271    i.source_IMU_write_register  imu.o
+    0x08000794   0x08000794   0x00000020   Data   RO          539    Region$$Table       anon$$obj.o
 
 
-    Execution Region ER_RW (Exec base: 0x20000000, Load base: 0x080006c8, Size: 0x0000000c, Max: 0xffffffff, ABSOLUTE)
+    Execution Region ER_RW (Exec base: 0x20000000, Load base: 0x080007b4, Size: 0x00000014, Max: 0xffffffff, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x080006c8   0x00000004   Data   RW           47    .data.TIM2_fx       driver_timer.o
-    0x20000004   0x080006cc   0x00000004   Data   RW           48    .data.TIM3_fx       driver_timer.o
-    0x20000008   0x080006d0   0x00000004   Data   RW           49    .data.TIM4_fx       driver_timer.o
+    0x20000000   0x080007b4   0x0000000c   Data   RW          141    .data               driver_timer.o
+    0x2000000c   0x080007c0   0x00000004   Data   RW          219    .data               driver_adc.o
+    0x20000010   0x080007c4   0x00000004   Data   RW          369    .data               Lib_Com_Periph_2022.lib(myspi.o)
 
 
-    Execution Region ER_ZI (Exec base: 0x20000010, Load base: 0x080006d4, Size: 0x00000660, Max: 0xffffffff, ABSOLUTE)
+    Execution Region ER_ZI (Exec base: 0x20000014, Load base: 0x080007c8, Size: 0x00000664, Max: 0xffffffff, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000010        -       0x00000060   Zero   RW          127    .bss                c_w.l(libspace.o)
-    0x20000070        -       0x00000200   Zero   RW           72    HEAP                startup_stm32f10x_md.o
-    0x20000270        -       0x00000400   Zero   RW           71    STACK               startup_stm32f10x_md.o
+    0x20000014        -       0x00000060   Zero   RW          411    .bss                c_w.l(libspace.o)
+    0x20000074   0x080007c8   0x00000004   PAD
+    0x20000078        -       0x00000200   Zero   RW          309    HEAP                startup_stm32f10x_md.o
+    0x20000278        -       0x00000400   Zero   RW          308    STACK               startup_stm32f10x_md.o
 
 
 ==============================================================================
@@ -638,22 +651,23 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
-       170         16          0          0          0       2108   driver_gpio.o
-       404          4          0         12          0       6789   driver_timer.o
-       102          0          0          0          0       1970   driver_uart.o
-       168          0          0          0          0       2559   main.o
-        64         26        236          0       1536        864   startup_stm32f10x_md.o
-       272          0          0          0          0       2813   system_stm32f10x.o
+        36         10          0          4          0       1529   driver_adc.o
+       100         26          0         12          0       2554   driver_timer.o
+       116          6          0          0          0       1744   imu.o
+        22          0          0          0          0     207315   main.o
+        64         26        236          0       1536        828   startup_stm32f10x_md.o
+       328         28          0          0          0       2029   system_stm32f10x.o
 
     ----------------------------------------------------------------------
-      1188         46        268         12       1536      17103   Object Totals
+       668         96        268         16       1536     215999   Object Totals
          0          0         32          0          0          0   (incl. Generated)
-         8          0          0          0          0          0   (incl. Padding)
+         2          0          0          0          0          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Member Name
 
+       756         80          0          4          0        348   myspi.o
          8          0          0          0          0         68   __main.o
          0          0          0          0          0          0   __rtentry.o
         12          0          0          0          0          0   __rtentry2.o
@@ -676,17 +690,18 @@ Image component sizes
          2          0          0          0          0         68   use_no_semi.o
 
     ----------------------------------------------------------------------
-       280         16          0          0         96        584   Library Totals
-         8          0          0          0          0          0   (incl. Padding)
+      1036         96          0          4        100        932   Library Totals
+         8          0          0          0          4          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Name
 
+       756         80          0          4          0        348   Lib_Com_Periph_2022.lib
        272         16          0          0         96        584   c_w.l
 
     ----------------------------------------------------------------------
-       280         16          0          0         96        584   Library Totals
+      1036         96          0          4        100        932   Library Totals
 
     ----------------------------------------------------------------------
 
@@ -695,15 +710,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-      1468         62        268         12       1632      17499   Grand Totals
-      1468         62        268         12       1632      17499   ELF Image Totals
-      1468         62        268         12          0          0   ROM Totals
+      1704        192        268         20       1636     216043   Grand Totals
+      1704        192        268         20       1636     216043   ELF Image Totals
+      1704        192        268         20          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                 1736 (   1.70kB)
-    Total RW  Size (RW Data + ZI Data)              1644 (   1.61kB)
-    Total ROM Size (Code + RO Data + RW Data)       1748 (   1.71kB)
+    Total RO  Size (Code + RO Data)                 1972 (   1.93kB)
+    Total RW  Size (RW Data + ZI Data)              1656 (   1.62kB)
+    Total ROM Size (Code + RO Data + RW Data)       1992 (   1.95kB)
 
 ==============================================================================
 
diff --git a/projet-voilier/Listings/projet-voilier_reel.map b/projet-voilier/Listings/projet-voilier_reel.map
index 4118379..28c81e1 100644
--- a/projet-voilier/Listings/projet-voilier_reel.map
+++ b/projet-voilier/Listings/projet-voilier_reel.map
@@ -1,56 +1,52 @@
-Component: Arm Compiler for Embedded 6.19 Tool: armlink [5e73cb00]
+Component: ARM Compiler 5.06 update 7 (build 960) Tool: armlink [4d3601]
 
 ==============================================================================
 
 Section Cross References
 
-    main.o(.text.main) refers to driver_gpio.o(.text.MyGPIO_Init) for MyGPIO_Init
-    main.o(.text.main) refers to driver_gpio.o(.text.MyGPIO_Set) for MyGPIO_Set
-    main.o(.text.main) refers to driver_timer.o(.text.MyTimer_Base_Init) for MyTimer_Base_Init
-    main.o(.text.main) refers to driver_timer.o(.text.MyTimer_ConfigurePWM) for MyTimer_ConfigurePWM
-    main.o(.text.main) refers to driver_timer.o(.text.MyTimer_Start) for MyTimer_Start
-    main.o(.text.main) refers to driver_uart.o(.text.MyUART_Init) for MyUART_Init
-    main.o(.text.main) refers to driver_uart.o(.text.MyUART_SendByte) for MyUART_SendByte
-    main.o(.ARM.exidx.text.main) refers to main.o(.text.main) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Init) refers to driver_gpio.o(.text.MyGPIO_Init) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Read) refers to driver_gpio.o(.text.MyGPIO_Read) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Set) refers to driver_gpio.o(.text.MyGPIO_Set) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Reset) refers to driver_gpio.o(.text.MyGPIO_Reset) for [Anonymous Symbol]
-    driver_gpio.o(.ARM.exidx.text.MyGPIO_Toggle) refers to driver_gpio.o(.text.MyGPIO_Toggle) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_Base_Init) refers to driver_timer.o(.text.MyTimer_Base_Init) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_Start) refers to driver_timer.o(.text.MyTimer_Start) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_Stop) refers to driver_timer.o(.text.MyTimer_Stop) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.MyTimer_ConfigurePWM) refers to driver_timer.o(.text.MyTimer_ConfigurePWM) for [Anonymous Symbol]
-    driver_timer.o(.ARM.exidx.text.Bug) refers to driver_timer.o(.text.Bug) for [Anonymous Symbol]
-    driver_timer.o(.text.MyTimer_ActiveIT) refers to driver_timer.o(.data.TIM2_fx) for TIM2_fx
-    driver_timer.o(.text.MyTimer_ActiveIT) refers to driver_timer.o(.data.TIM4_fx) for TIM4_fx
-    driver_timer.o(.text.MyTimer_ActiveIT) refers to driver_timer.o(.data.TIM3_fx) for TIM3_fx
-    driver_timer.o(.ARM.exidx.text.MyTimer_ActiveIT) refers to driver_timer.o(.text.MyTimer_ActiveIT) for [Anonymous Symbol]
-    driver_timer.o(.text.TIM2_IRQHandler) refers to driver_timer.o(.data.TIM2_fx) for TIM2_fx
-    driver_timer.o(.ARM.exidx.text.TIM2_IRQHandler) refers to driver_timer.o(.text.TIM2_IRQHandler) for [Anonymous Symbol]
-    driver_timer.o(.text.TIM3_IRQHandler) refers to driver_timer.o(.data.TIM3_fx) for TIM3_fx
-    driver_timer.o(.ARM.exidx.text.TIM3_IRQHandler) refers to driver_timer.o(.text.TIM3_IRQHandler) for [Anonymous Symbol]
-    driver_timer.o(.text.TIM4_IRQHandler) refers to driver_timer.o(.data.TIM4_fx) for TIM4_fx
-    driver_timer.o(.ARM.exidx.text.TIM4_IRQHandler) refers to driver_timer.o(.text.TIM4_IRQHandler) for [Anonymous Symbol]
-    driver_timer.o(.data.TIM2_fx) refers to driver_timer.o(.text.Bug) for Bug
-    driver_timer.o(.data.TIM3_fx) refers to driver_timer.o(.text.Bug) for Bug
-    driver_timer.o(.data.TIM4_fx) refers to driver_timer.o(.text.Bug) for Bug
-    driver_uart.o(.ARM.exidx.text.MyUART_Init) refers to driver_uart.o(.text.MyUART_Init) for [Anonymous Symbol]
-    driver_uart.o(.ARM.exidx.text.MyUART_SendByte) refers to driver_uart.o(.text.MyUART_SendByte) for [Anonymous Symbol]
-    driver_uart.o(.ARM.exidx.text.MyUART_ReceiveByte) refers to driver_uart.o(.text.MyUART_ReceiveByte) for [Anonymous Symbol]
+    main.o(i.main) refers to imu.o(i.source_IMU_init) for source_IMU_init
+    main.o(i.main) refers to imu.o(i.source_IMU_read) for source_IMU_read
+    main.o(i.toto) refers to driver_adc.o(i.driver_adc_1_read) for driver_adc_1_read
+    main.o(i.toto) refers to main.o(.data) for val
+    driver_timer.o(i.MyTimer_ActiveIT) refers to driver_timer.o(i.__NVIC_EnableIRQ) for __NVIC_EnableIRQ
+    driver_timer.o(i.MyTimer_ActiveIT) refers to driver_timer.o(i.__NVIC_SetPriority) for __NVIC_SetPriority
+    driver_timer.o(i.MyTimer_ActiveIT) refers to driver_timer.o(.data) for TIM2_fx
+    driver_timer.o(i.TIM2_IRQHandler) refers to driver_timer.o(.data) for TIM2_fx
+    driver_timer.o(i.TIM3_IRQHandler) refers to driver_timer.o(.data) for TIM3_fx
+    driver_timer.o(i.TIM4_IRQHandler) refers to driver_timer.o(.data) for TIM4_fx
+    driver_timer.o(.data) refers to driver_timer.o(i.Bug) for Bug
+    driver_adc.o(i.ADC1_2_IRQHandler) refers to driver_adc.o(.data) for ADC1_2_fx
+    driver_adc.o(i.driver_adc_1_init) refers to driver_adc.o(.data) for ADC1_2_fx
+    driver_adc.o(.data) refers to driver_adc.o(i.erreur) for erreur
+    imu.o(i.source_IMU_init) refers to myspi.o(i.MySPI_Init) for MySPI_Init
+    imu.o(i.source_IMU_init) refers to imu.o(i.source_IMU_write_register) for source_IMU_write_register
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Clear_NSS) for MySPI_Clear_NSS
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Send) for MySPI_Send
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Read) for MySPI_Read
+    imu.o(i.source_IMU_read) refers to myspi.o(i.MySPI_Set_NSS) for MySPI_Set_NSS
+    imu.o(i.source_IMU_write_register) refers to myspi.o(i.MySPI_Clear_NSS) for MySPI_Clear_NSS
+    imu.o(i.source_IMU_write_register) refers to myspi.o(i.MySPI_Send) for MySPI_Send
+    imu.o(i.source_IMU_write_register) refers to myspi.o(i.MySPI_Set_NSS) for MySPI_Set_NSS
     startup_stm32f10x_md.o(RESET) refers to startup_stm32f10x_md.o(STACK) for __initial_sp
     startup_stm32f10x_md.o(RESET) refers to startup_stm32f10x_md.o(.text) for Reset_Handler
-    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(.text.TIM2_IRQHandler) for TIM2_IRQHandler
-    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(.text.TIM3_IRQHandler) for TIM3_IRQHandler
-    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(.text.TIM4_IRQHandler) for TIM4_IRQHandler
-    startup_stm32f10x_md.o(.text) refers to system_stm32f10x.o(.text.SystemInit) for SystemInit
+    startup_stm32f10x_md.o(RESET) refers to driver_adc.o(i.ADC1_2_IRQHandler) for ADC1_2_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(i.TIM2_IRQHandler) for TIM2_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(i.TIM3_IRQHandler) for TIM3_IRQHandler
+    startup_stm32f10x_md.o(RESET) refers to driver_timer.o(i.TIM4_IRQHandler) for TIM4_IRQHandler
+    startup_stm32f10x_md.o(.text) refers to system_stm32f10x.o(i.SystemInit) for SystemInit
     startup_stm32f10x_md.o(.text) refers to entry.o(.ARM.Collect$$$$00000000) for __main
-    system_stm32f10x.o(.ARM.exidx.text.SystemInit) refers to system_stm32f10x.o(.text.SystemInit) for [Anonymous Symbol]
-    system_stm32f10x.o(.text.SystemCoreClockUpdate) refers to system_stm32f10x.o(.data.SystemCoreClock) for SystemCoreClock
-    system_stm32f10x.o(.text.SystemCoreClockUpdate) refers to system_stm32f10x.o(.rodata.AHBPrescTable) for AHBPrescTable
-    system_stm32f10x.o(.ARM.exidx.text.SystemCoreClockUpdate) refers to system_stm32f10x.o(.text.SystemCoreClockUpdate) for [Anonymous Symbol]
-    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry10a.o(.ARM.Collect$$$$0000000D) for __rt_final_cpp
-    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry11a.o(.ARM.Collect$$$$0000000F) for __rt_final_exit
+    system_stm32f10x.o(i.SetSysClock) refers to system_stm32f10x.o(i.SetSysClockTo72) for SetSysClockTo72
+    system_stm32f10x.o(i.SystemCoreClockUpdate) refers to system_stm32f10x.o(.data) for SystemCoreClock
+    system_stm32f10x.o(i.SystemInit) refers to system_stm32f10x.o(i.SetSysClock) for SetSysClock
+    myspi.o(i.MySPI_Clear_NSS) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Init) refers to myspi.o(i.MySPI_Set_NSS) for MySPI_Set_NSS
+    myspi.o(i.MySPI_Init) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Read) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Send) refers to myspi.o(.data) for ActiveSPI
+    myspi.o(i.MySPI_Set_NSS) refers to myspi.o(.data) for ActiveSPI
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry10a.o(.ARM.Collect$$$$0000000F) for __rt_final_cpp
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry11a.o(.ARM.Collect$$$$00000011) for __rt_final_exit
+    entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry12b.o(.ARM.Collect$$$$0000000E) for __rt_lib_shutdown_fini
     entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry7b.o(.ARM.Collect$$$$00000008) for _main_clock
     entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry8b.o(.ARM.Collect$$$$0000000A) for _main_cpp_init
     entry.o(.ARM.Collect$$$$00000000) refers (Special) to entry9a.o(.ARM.Collect$$$$0000000B) for _main_init
@@ -61,8 +57,8 @@ Section Cross References
     entry2.o(__vectab_stack_and_reset_area) refers to startup_stm32f10x_md.o(STACK) for __initial_sp
     entry2.o(__vectab_stack_and_reset_area) refers to entry.o(.ARM.Collect$$$$00000000) for __main
     entry5.o(.ARM.Collect$$$$00000004) refers to init.o(.text) for __scatterload
-    entry9a.o(.ARM.Collect$$$$0000000B) refers to main.o(.text.main) for main
-    entry9b.o(.ARM.Collect$$$$0000000C) refers to main.o(.text.main) for main
+    entry9a.o(.ARM.Collect$$$$0000000B) refers to main.o(i.main) for main
+    entry9b.o(.ARM.Collect$$$$0000000C) refers to main.o(i.main) for main
     init.o(.text) refers to entry5.o(.ARM.Collect$$$$00000004) for __main_after_scatterload
 
 
@@ -70,45 +66,18 @@ Section Cross References
 
 Removing Unused input sections from the image.
 
-<<<<<<< HEAD
-    Removing main.o(.text), (0 bytes).
-    Removing main.o(.ARM.exidx.text.main), (8 bytes).
-    Removing main.o(.ARM.use_no_argv), (4 bytes).
-    Removing driver_gpio.o(.text), (0 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Init), (8 bytes).
-    Removing driver_gpio.o(.text.MyGPIO_Read), (12 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Read), (8 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Set), (8 bytes).
-    Removing driver_gpio.o(.text.MyGPIO_Reset), (16 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Reset), (8 bytes).
-    Removing driver_gpio.o(.text.MyGPIO_Toggle), (14 bytes).
-    Removing driver_gpio.o(.ARM.exidx.text.MyGPIO_Toggle), (8 bytes).
-    Removing driver_timer.o(.text), (0 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_Base_Init), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_Start), (8 bytes).
-    Removing driver_timer.o(.text.MyTimer_Stop), (12 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_Stop), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_ConfigurePWM), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.Bug), (8 bytes).
-    Removing driver_timer.o(.text.MyTimer_ActiveIT), (150 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.MyTimer_ActiveIT), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.TIM2_IRQHandler), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.TIM3_IRQHandler), (8 bytes).
-    Removing driver_timer.o(.ARM.exidx.text.TIM4_IRQHandler), (8 bytes).
-    Removing driver_uart.o(.text), (0 bytes).
-    Removing driver_uart.o(.ARM.exidx.text.MyUART_Init), (8 bytes).
-    Removing driver_uart.o(.ARM.exidx.text.MyUART_SendByte), (8 bytes).
-    Removing driver_uart.o(.text.MyUART_ReceiveByte), (16 bytes).
-    Removing driver_uart.o(.ARM.exidx.text.MyUART_ReceiveByte), (8 bytes).
-=======
     Removing main.o(.rev16_text), (4 bytes).
     Removing main.o(.revsh_text), (4 bytes).
     Removing main.o(.rrx_text), (6 bytes).
+    Removing main.o(i.toto), (16 bytes).
+    Removing main.o(.data), (2 bytes).
     Removing driver_gpio.o(.rev16_text), (4 bytes).
     Removing driver_gpio.o(.revsh_text), (4 bytes).
     Removing driver_gpio.o(.rrx_text), (6 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Init), (264 bytes).
     Removing driver_gpio.o(i.MyGPIO_Read), (14 bytes).
     Removing driver_gpio.o(i.MyGPIO_Reset), (12 bytes).
+    Removing driver_gpio.o(i.MyGPIO_Set), (12 bytes).
     Removing driver_gpio.o(i.MyGPIO_Toggle), (12 bytes).
     Removing driver_timer.o(.rev16_text), (4 bytes).
     Removing driver_timer.o(.revsh_text), (4 bytes).
@@ -122,23 +91,24 @@ Removing Unused input sections from the image.
     Removing driver_adc.o(.rev16_text), (4 bytes).
     Removing driver_adc.o(.revsh_text), (4 bytes).
     Removing driver_adc.o(.rrx_text), (6 bytes).
-    Removing driver_adc.o(i.init_adc1), (132 bytes).
-    Removing driver_adc.o(i.launch_read_adc1), (20 bytes).
-    Removing driver_adc.o(i.read_adc1), (28 bytes).
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+    Removing driver_adc.o(i.driver_adc_1_init), (244 bytes).
+    Removing driver_adc.o(i.driver_adc_1_launch_read), (20 bytes).
+    Removing driver_adc.o(i.driver_adc_1_read), (16 bytes).
+    Removing imu.o(.rev16_text), (4 bytes).
+    Removing imu.o(.revsh_text), (4 bytes).
+    Removing imu.o(.rrx_text), (6 bytes).
+    Removing imu.o(.constdata), (3 bytes).
     Removing startup_stm32f10x_md.o(HEAP), (512 bytes).
-    Removing system_stm32f10x.o(.text), (0 bytes).
-    Removing system_stm32f10x.o(.ARM.exidx.text.SystemInit), (8 bytes).
-    Removing system_stm32f10x.o(.text.SystemCoreClockUpdate), (110 bytes).
-    Removing system_stm32f10x.o(.ARM.exidx.text.SystemCoreClockUpdate), (8 bytes).
-    Removing system_stm32f10x.o(.data.SystemCoreClock), (4 bytes).
-    Removing system_stm32f10x.o(.rodata.AHBPrescTable), (16 bytes).
+    Removing system_stm32f10x.o(.rev16_text), (4 bytes).
+    Removing system_stm32f10x.o(.revsh_text), (4 bytes).
+    Removing system_stm32f10x.o(.rrx_text), (6 bytes).
+    Removing system_stm32f10x.o(i.SystemCoreClockUpdate), (164 bytes).
+    Removing system_stm32f10x.o(.data), (20 bytes).
+    Removing myspi.o(.rev16_text), (4 bytes).
+    Removing myspi.o(.revsh_text), (4 bytes).
+    Removing myspi.o(.rrx_text), (6 bytes).
 
-<<<<<<< HEAD
-36 unused section(s) (total 1026 bytes) removed from the image.
-=======
-30 unused section(s) (total 1306 bytes) removed from the image.
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+41 unused section(s) (total 1731 bytes) removed from the image.
 
 ==============================================================================
 
@@ -148,55 +118,39 @@ Image Symbol Table
 
     Symbol Name                              Value     Ov Type        Size  Object(Section)
 
-<<<<<<< HEAD
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry2.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry5.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8b.o ABSOLUTE
     ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7a.o ABSOLUTE
     ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11b.o ABSOLUTE
-    Driver_GPIO.c                            0x00000000   Number         0  driver_gpio.o ABSOLUTE
-    Driver_Timer.c                           0x00000000   Number         0  driver_timer.o ABSOLUTE
-    Driver_UART.c                            0x00000000   Number         0  driver_uart.o ABSOLUTE
-    RTE/Device/STM32F103RB/startup_stm32f10x_md.s 0x00000000   Number         0  startup_stm32f10x_md.o ABSOLUTE
-=======
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry12a.o ABSOLUTE
     ../clib/microlib/init/entry.s            0x00000000   Number         0  entry12b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry5.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry12a.o ABSOLUTE
     ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry8b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry7b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9b.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry2.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10b.o ABSOLUTE
     ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11a.o ABSOLUTE
-    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry10a.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry9a.o ABSOLUTE
     ../clib/microlib/init/entry.s            0x00000000   Number         0  entry11b.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry5.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry2.o ABSOLUTE
+    ../clib/microlib/init/entry.s            0x00000000   Number         0  entry.o ABSOLUTE
     ..\\driver\\Driver_ADC.c                 0x00000000   Number         0  driver_adc.o ABSOLUTE
     ..\\driver\\Driver_GPIO.c                0x00000000   Number         0  driver_gpio.o ABSOLUTE
     ..\\driver\\Driver_Timer.c               0x00000000   Number         0  driver_timer.o ABSOLUTE
+    ..\\driver\\IMU.c                        0x00000000   Number         0  imu.o ABSOLUTE
     ..\driver\Driver_ADC.c                   0x00000000   Number         0  driver_adc.o ABSOLUTE
     ..\driver\Driver_GPIO.c                  0x00000000   Number         0  driver_gpio.o ABSOLUTE
     ..\driver\Driver_Timer.c                 0x00000000   Number         0  driver_timer.o ABSOLUTE
+    ..\driver\IMU.c                          0x00000000   Number         0  imu.o ABSOLUTE
+    MyDrivers\MySPI.c                        0x00000000   Number         0  myspi.o ABSOLUTE
+    MyDrivers\\MySPI.c                       0x00000000   Number         0  myspi.o ABSOLUTE
     RTE\Device\STM32F103RB\startup_stm32f10x_md.s 0x00000000   Number         0  startup_stm32f10x_md.o ABSOLUTE
     RTE\Device\STM32F103RB\system_stm32f10x.c 0x00000000   Number         0  system_stm32f10x.o ABSOLUTE
     RTE\\Device\\STM32F103RB\\system_stm32f10x.c 0x00000000   Number         0  system_stm32f10x.o ABSOLUTE
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
     dc.s                                     0x00000000   Number         0  dc.o ABSOLUTE
     handlers.s                               0x00000000   Number         0  handlers.o ABSOLUTE
     init.s                                   0x00000000   Number         0  init.o ABSOLUTE
-    main.c                                   0x00000000   Number         0  main.o ABSOLUTE
-    system_stm32f10x.c                       0x00000000   Number         0  system_stm32f10x.o ABSOLUTE
+    src\\main.c                              0x00000000   Number         0  main.o ABSOLUTE
+    src\main.c                               0x00000000   Number         0  main.o ABSOLUTE
     RESET                                    0x08000000   Section      236  startup_stm32f10x_md.o(RESET)
     .ARM.Collect$$$$00000000                 0x080000ec   Section        0  entry.o(.ARM.Collect$$$$00000000)
     .ARM.Collect$$$$00000001                 0x080000ec   Section        4  entry2.o(.ARM.Collect$$$$00000001)
@@ -204,35 +158,48 @@ Image Symbol Table
     .ARM.Collect$$$$00000008                 0x080000f4   Section        0  entry7b.o(.ARM.Collect$$$$00000008)
     .ARM.Collect$$$$0000000A                 0x080000f4   Section        0  entry8b.o(.ARM.Collect$$$$0000000A)
     .ARM.Collect$$$$0000000B                 0x080000f4   Section        8  entry9a.o(.ARM.Collect$$$$0000000B)
-    __lit__00000000                          0x080000fc   Data           4  entry2.o(.ARM.Collect$$$$00002712)
-    .ARM.Collect$$$$0000000D                 0x080000fc   Section        0  entry10a.o(.ARM.Collect$$$$0000000D)
-    .ARM.Collect$$$$0000000F                 0x080000fc   Section        0  entry11a.o(.ARM.Collect$$$$0000000F)
-    .ARM.Collect$$$$00002712                 0x080000fc   Section        4  entry2.o(.ARM.Collect$$$$00002712)
-    .text                                    0x08000100   Section       36  startup_stm32f10x_md.o(.text)
-    .text                                    0x08000124   Section       36  init.o(.text)
-    [Anonymous Symbol]                       0x08000148   Section        0  driver_timer.o(.text.Bug)
-    [Anonymous Symbol]                       0x0800014c   Section        0  driver_gpio.o(.text.MyGPIO_Init)
-    [Anonymous Symbol]                       0x080001e8   Section        0  driver_gpio.o(.text.MyGPIO_Set)
-    [Anonymous Symbol]                       0x080001f8   Section        0  driver_timer.o(.text.MyTimer_Base_Init)
-    [Anonymous Symbol]                       0x08000284   Section        0  driver_timer.o(.text.MyTimer_ConfigurePWM)
-    [Anonymous Symbol]                       0x0800032c   Section        0  driver_timer.o(.text.MyTimer_Start)
-    [Anonymous Symbol]                       0x08000338   Section        0  driver_uart.o(.text.MyUART_Init)
-    [Anonymous Symbol]                       0x08000374   Section        0  driver_uart.o(.text.MyUART_SendByte)
-    [Anonymous Symbol]                       0x08000388   Section        0  system_stm32f10x.o(.text.SystemInit)
-    [Anonymous Symbol]                       0x08000498   Section        0  driver_timer.o(.text.TIM2_IRQHandler)
-    [Anonymous Symbol]                       0x080004b4   Section        0  driver_timer.o(.text.TIM3_IRQHandler)
-    [Anonymous Symbol]                       0x080004d0   Section        0  driver_timer.o(.text.TIM4_IRQHandler)
-    [Anonymous Symbol]                       0x080004ec   Section        0  main.o(.text.main)
-    i.__scatterload_copy                     0x0800058e   Section       14  handlers.o(i.__scatterload_copy)
-    i.__scatterload_null                     0x0800059c   Section        2  handlers.o(i.__scatterload_null)
-    i.__scatterload_zeroinit                 0x0800059e   Section       14  handlers.o(i.__scatterload_zeroinit)
-    STACK                                    0x20000010   Section     1024  startup_stm32f10x_md.o(STACK)
+    .ARM.Collect$$$$0000000E                 0x080000fc   Section        4  entry12b.o(.ARM.Collect$$$$0000000E)
+    .ARM.Collect$$$$0000000F                 0x08000100   Section        0  entry10a.o(.ARM.Collect$$$$0000000F)
+    .ARM.Collect$$$$00000011                 0x08000100   Section        0  entry11a.o(.ARM.Collect$$$$00000011)
+    .ARM.Collect$$$$00002712                 0x08000100   Section        4  entry2.o(.ARM.Collect$$$$00002712)
+    __lit__00000000                          0x08000100   Data           4  entry2.o(.ARM.Collect$$$$00002712)
+    .text                                    0x08000104   Section       36  startup_stm32f10x_md.o(.text)
+    .text                                    0x08000128   Section       36  init.o(.text)
+    i.ADC1_2_IRQHandler                      0x0800014c   Section        0  driver_adc.o(i.ADC1_2_IRQHandler)
+    i.Bug                                    0x0800016c   Section        0  driver_timer.o(i.Bug)
+    i.MySPI_Clear_NSS                        0x08000170   Section        0  myspi.o(i.MySPI_Clear_NSS)
+    i.MySPI_Init                             0x080001a0   Section        0  myspi.o(i.MySPI_Init)
+    i.MySPI_Read                             0x08000394   Section        0  myspi.o(i.MySPI_Read)
+    i.MySPI_Send                             0x080003e8   Section        0  myspi.o(i.MySPI_Send)
+    i.MySPI_Set_NSS                          0x08000438   Section        0  myspi.o(i.MySPI_Set_NSS)
+    i.SetSysClock                            0x08000464   Section        0  system_stm32f10x.o(i.SetSysClock)
+    SetSysClock                              0x08000465   Thumb Code     8  system_stm32f10x.o(i.SetSysClock)
+    i.SetSysClockTo72                        0x0800046c   Section        0  system_stm32f10x.o(i.SetSysClockTo72)
+    SetSysClockTo72                          0x0800046d   Thumb Code   214  system_stm32f10x.o(i.SetSysClockTo72)
+    i.SystemInit                             0x0800054c   Section        0  system_stm32f10x.o(i.SystemInit)
+    i.TIM2_IRQHandler                        0x080005ac   Section        0  driver_timer.o(i.TIM2_IRQHandler)
+    i.TIM3_IRQHandler                        0x080005cc   Section        0  driver_timer.o(i.TIM3_IRQHandler)
+    i.TIM4_IRQHandler                        0x080005ec   Section        0  driver_timer.o(i.TIM4_IRQHandler)
+    i.__scatterload_copy                     0x0800060c   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x0800061a   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x0800061c   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i.erreur                                 0x0800062a   Section        0  driver_adc.o(i.erreur)
+    i.main                                   0x0800062e   Section        0  main.o(i.main)
+    i.source_IMU_init                        0x08000644   Section        0  imu.o(i.source_IMU_init)
+    i.source_IMU_read                        0x0800066c   Section        0  imu.o(i.source_IMU_read)
+    i.source_IMU_write_register              0x080006a0   Section        0  imu.o(i.source_IMU_write_register)
+    .data                                    0x20000000   Section       12  driver_timer.o(.data)
+    .data                                    0x2000000c   Section        4  driver_adc.o(.data)
+    .data                                    0x20000010   Section        4  myspi.o(.data)
+    STACK                                    0x20000018   Section     1024  startup_stm32f10x_md.o(STACK)
 
     Global Symbols
 
     Symbol Name                              Value     Ov Type        Size  Object(Section)
 
-    BuildAttributes$$THM_ISAv4$P$D$K$B$S$PE$A:L22UL41UL21$X:L11$S22US41US21$IEEE1$IW$~IW$USESV6$~STKCKD$USESV7$~SHL$OTIME$EBA8$MICROLIB$REQ8$PRES8$EABIv2 0x00000000   Number         0  anon$$obj.o ABSOLUTE
+    BuildAttributes$$THM_ISAv4$P$D$K$B$S$PE$A:L22UL41UL21$X:L11$S22US41US21$IEEE1$IW$USESV6$~STKCKD$USESV7$~SHL$OSPACE$EBA8$MICROLIB$REQ8$PRES8$EABIv2 0x00000000   Number         0  anon$$obj.o ABSOLUTE
+    __ARM_use_no_argv                        0x00000000   Number         0  main.o ABSOLUTE
+    __arm_fini_                               - Undefined Weak Reference
     __cpp_initialize__aeabi_                  - Undefined Weak Reference
     __cxa_finalize                            - Undefined Weak Reference
     __decompress                              - Undefined Weak Reference
@@ -248,82 +215,87 @@ Image Symbol Table
     _main_clock                              0x080000f5   Thumb Code     0  entry7b.o(.ARM.Collect$$$$00000008)
     _main_cpp_init                           0x080000f5   Thumb Code     0  entry8b.o(.ARM.Collect$$$$0000000A)
     _main_init                               0x080000f5   Thumb Code     0  entry9a.o(.ARM.Collect$$$$0000000B)
-    __rt_final_cpp                           0x080000fd   Thumb Code     0  entry10a.o(.ARM.Collect$$$$0000000D)
-    __rt_final_exit                          0x080000fd   Thumb Code     0  entry11a.o(.ARM.Collect$$$$0000000F)
-    Reset_Handler                            0x08000101   Thumb Code     8  startup_stm32f10x_md.o(.text)
-    NMI_Handler                              0x08000109   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    HardFault_Handler                        0x0800010b   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    MemManage_Handler                        0x0800010d   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    BusFault_Handler                         0x0800010f   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    UsageFault_Handler                       0x08000111   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    SVC_Handler                              0x08000113   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    DebugMon_Handler                         0x08000115   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    PendSV_Handler                           0x08000117   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    SysTick_Handler                          0x08000119   Thumb Code     2  startup_stm32f10x_md.o(.text)
-    ADC1_2_IRQHandler                        0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    CAN1_RX1_IRQHandler                      0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    CAN1_SCE_IRQHandler                      0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel1_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel2_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel3_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel4_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel5_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel6_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    DMA1_Channel7_IRQHandler                 0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI0_IRQHandler                         0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI15_10_IRQHandler                     0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI1_IRQHandler                         0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI2_IRQHandler                         0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI3_IRQHandler                         0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI4_IRQHandler                         0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    EXTI9_5_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    FLASH_IRQHandler                         0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    I2C1_ER_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    I2C1_EV_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    I2C2_ER_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    I2C2_EV_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    PVD_IRQHandler                           0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    RCC_IRQHandler                           0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    RTCAlarm_IRQHandler                      0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    RTC_IRQHandler                           0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    SPI1_IRQHandler                          0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    SPI2_IRQHandler                          0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    TAMPER_IRQHandler                        0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    TIM1_BRK_IRQHandler                      0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    TIM1_CC_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    TIM1_TRG_COM_IRQHandler                  0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    TIM1_UP_IRQHandler                       0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    USART1_IRQHandler                        0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    USART2_IRQHandler                        0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    USART3_IRQHandler                        0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    USBWakeUp_IRQHandler                     0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    USB_HP_CAN1_TX_IRQHandler                0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    USB_LP_CAN1_RX0_IRQHandler               0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    WWDG_IRQHandler                          0x0800011b   Thumb Code     0  startup_stm32f10x_md.o(.text)
-    __scatterload                            0x08000125   Thumb Code    28  init.o(.text)
-    __scatterload_rt2                        0x08000125   Thumb Code     0  init.o(.text)
-    Bug                                      0x08000149   Thumb Code     2  driver_timer.o(.text.Bug)
-    MyGPIO_Init                              0x0800014d   Thumb Code   140  driver_gpio.o(.text.MyGPIO_Init)
-    MyGPIO_Set                               0x080001e9   Thumb Code    14  driver_gpio.o(.text.MyGPIO_Set)
-    MyTimer_Base_Init                        0x080001f9   Thumb Code   140  driver_timer.o(.text.MyTimer_Base_Init)
-    MyTimer_ConfigurePWM                     0x08000285   Thumb Code   168  driver_timer.o(.text.MyTimer_ConfigurePWM)
-    MyTimer_Start                            0x0800032d   Thumb Code    12  driver_timer.o(.text.MyTimer_Start)
-    MyUART_Init                              0x08000339   Thumb Code    58  driver_uart.o(.text.MyUART_Init)
-    MyUART_SendByte                          0x08000375   Thumb Code    20  driver_uart.o(.text.MyUART_SendByte)
-    SystemInit                               0x08000389   Thumb Code   272  system_stm32f10x.o(.text.SystemInit)
-    TIM2_IRQHandler                          0x08000499   Thumb Code    26  driver_timer.o(.text.TIM2_IRQHandler)
-    TIM3_IRQHandler                          0x080004b5   Thumb Code    28  driver_timer.o(.text.TIM3_IRQHandler)
-    TIM4_IRQHandler                          0x080004d1   Thumb Code    28  driver_timer.o(.text.TIM4_IRQHandler)
-    main                                     0x080004ed   Thumb Code   162  main.o(.text.main)
-    __scatterload_copy                       0x0800058f   Thumb Code    14  handlers.o(i.__scatterload_copy)
-    __scatterload_null                       0x0800059d   Thumb Code     2  handlers.o(i.__scatterload_null)
-    __scatterload_zeroinit                   0x0800059f   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
-    Region$$Table$$Base                      0x080005ac   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x080005cc   Number         0  anon$$obj.o(Region$$Table)
-    TIM2_fx                                  0x20000000   Data           4  driver_timer.o(.data.TIM2_fx)
-    TIM3_fx                                  0x20000004   Data           4  driver_timer.o(.data.TIM3_fx)
-    TIM4_fx                                  0x20000008   Data           4  driver_timer.o(.data.TIM4_fx)
-    __initial_sp                             0x20000410   Data           0  startup_stm32f10x_md.o(STACK)
+    __rt_lib_shutdown_fini                   0x080000fd   Thumb Code     0  entry12b.o(.ARM.Collect$$$$0000000E)
+    __rt_final_cpp                           0x08000101   Thumb Code     0  entry10a.o(.ARM.Collect$$$$0000000F)
+    __rt_final_exit                          0x08000101   Thumb Code     0  entry11a.o(.ARM.Collect$$$$00000011)
+    Reset_Handler                            0x08000105   Thumb Code     8  startup_stm32f10x_md.o(.text)
+    NMI_Handler                              0x0800010d   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    HardFault_Handler                        0x0800010f   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    MemManage_Handler                        0x08000111   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    BusFault_Handler                         0x08000113   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    UsageFault_Handler                       0x08000115   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    SVC_Handler                              0x08000117   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    DebugMon_Handler                         0x08000119   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    PendSV_Handler                           0x0800011b   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    SysTick_Handler                          0x0800011d   Thumb Code     2  startup_stm32f10x_md.o(.text)
+    CAN1_RX1_IRQHandler                      0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    CAN1_SCE_IRQHandler                      0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel1_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel2_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel3_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel4_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel5_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel6_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel7_IRQHandler                 0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI0_IRQHandler                         0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI15_10_IRQHandler                     0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI1_IRQHandler                         0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI2_IRQHandler                         0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI3_IRQHandler                         0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI4_IRQHandler                         0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI9_5_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    FLASH_IRQHandler                         0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C1_ER_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C1_EV_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C2_ER_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C2_EV_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    PVD_IRQHandler                           0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    RCC_IRQHandler                           0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    RTCAlarm_IRQHandler                      0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    RTC_IRQHandler                           0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    SPI1_IRQHandler                          0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    SPI2_IRQHandler                          0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TAMPER_IRQHandler                        0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_BRK_IRQHandler                      0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_CC_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_TRG_COM_IRQHandler                  0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_UP_IRQHandler                       0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USART1_IRQHandler                        0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USART2_IRQHandler                        0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USART3_IRQHandler                        0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USBWakeUp_IRQHandler                     0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USB_HP_CAN1_TX_IRQHandler                0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USB_LP_CAN1_RX0_IRQHandler               0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    WWDG_IRQHandler                          0x0800011f   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    __scatterload                            0x08000129   Thumb Code    28  init.o(.text)
+    __scatterload_rt2                        0x08000129   Thumb Code     0  init.o(.text)
+    ADC1_2_IRQHandler                        0x0800014d   Thumb Code    22  driver_adc.o(i.ADC1_2_IRQHandler)
+    Bug                                      0x0800016d   Thumb Code     4  driver_timer.o(i.Bug)
+    MySPI_Clear_NSS                          0x08000171   Thumb Code    30  myspi.o(i.MySPI_Clear_NSS)
+    MySPI_Init                               0x080001a1   Thumb Code   480  myspi.o(i.MySPI_Init)
+    MySPI_Read                               0x08000395   Thumb Code    70  myspi.o(i.MySPI_Read)
+    MySPI_Send                               0x080003e9   Thumb Code    68  myspi.o(i.MySPI_Send)
+    MySPI_Set_NSS                            0x08000439   Thumb Code    28  myspi.o(i.MySPI_Set_NSS)
+    SystemInit                               0x0800054d   Thumb Code    78  system_stm32f10x.o(i.SystemInit)
+    TIM2_IRQHandler                          0x080005ad   Thumb Code    26  driver_timer.o(i.TIM2_IRQHandler)
+    TIM3_IRQHandler                          0x080005cd   Thumb Code    22  driver_timer.o(i.TIM3_IRQHandler)
+    TIM4_IRQHandler                          0x080005ed   Thumb Code    22  driver_timer.o(i.TIM4_IRQHandler)
+    __scatterload_copy                       0x0800060d   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x0800061b   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x0800061d   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    erreur                                   0x0800062b   Thumb Code     4  driver_adc.o(i.erreur)
+    main                                     0x0800062f   Thumb Code    22  main.o(i.main)
+    source_IMU_init                          0x08000645   Thumb Code    34  imu.o(i.source_IMU_init)
+    source_IMU_read                          0x0800066d   Thumb Code    52  imu.o(i.source_IMU_read)
+    source_IMU_write_register                0x080006a1   Thumb Code    28  imu.o(i.source_IMU_write_register)
+    Region$$Table$$Base                      0x080006bc   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x080006dc   Number         0  anon$$obj.o(Region$$Table)
+    TIM2_fx                                  0x20000000   Data           4  driver_timer.o(.data)
+    TIM3_fx                                  0x20000004   Data           4  driver_timer.o(.data)
+    TIM4_fx                                  0x20000008   Data           4  driver_timer.o(.data)
+    ADC1_2_fx                                0x2000000c   Data           4  driver_adc.o(.data)
+    ActiveSPI                                0x20000010   Data           4  myspi.o(.data)
+    __initial_sp                             0x20000418   Data           0  startup_stm32f10x_md.o(STACK)
 
 
 
@@ -331,103 +303,66 @@ Image Symbol Table
 
 Memory Map of the image
 
-  Image Entry point : 0x08000101
+  Image Entry point : 0x08000105
 
-  Load Region LR_1 (Base: 0x08000000, Size: 0x000005d8, Max: 0xffffffff, ABSOLUTE)
+  Load Region LR_1 (Base: 0x08000000, Size: 0x000006f0, Max: 0xffffffff, ABSOLUTE)
 
-    Execution Region ER_RO (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000005cc, Max: 0xffffffff, ABSOLUTE)
+    Execution Region ER_RO (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000006dc, Max: 0xffffffff, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-<<<<<<< HEAD
-    0x08000000   0x08000000   0x000000ec   Data   RO           73    RESET               startup_stm32f10x_md.o
-    0x080000ec   0x080000ec   0x00000000   Code   RO           94  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
-    0x080000ec   0x080000ec   0x00000004   Code   RO           97    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
-    0x080000f0   0x080000f0   0x00000004   Code   RO          100    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
-    0x080000f4   0x080000f4   0x00000000   Code   RO          102    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
-    0x080000f4   0x080000f4   0x00000000   Code   RO          104    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
-    0x080000f4   0x080000f4   0x00000008   Code   RO          105    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
-    0x080000fc   0x080000fc   0x00000000   Code   RO          107    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
-    0x080000fc   0x080000fc   0x00000000   Code   RO          109    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
-    0x080000fc   0x080000fc   0x00000004   Code   RO           98    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
-    0x08000100   0x08000100   0x00000024   Code   RO           74  * .text               startup_stm32f10x_md.o
-    0x08000124   0x08000124   0x00000024   Code   RO          111    .text               mc_w.l(init.o)
-    0x08000148   0x08000148   0x00000002   Code   RO           37    .text.Bug           driver_timer.o
-    0x0800014a   0x0800014a   0x00000002   PAD
-    0x0800014c   0x0800014c   0x0000009c   Code   RO           11    .text.MyGPIO_Init   driver_gpio.o
-    0x080001e8   0x080001e8   0x0000000e   Code   RO           15    .text.MyGPIO_Set    driver_gpio.o
-    0x080001f6   0x080001f6   0x00000002   PAD
-    0x080001f8   0x080001f8   0x0000008c   Code   RO           29    .text.MyTimer_Base_Init  driver_timer.o
-    0x08000284   0x08000284   0x000000a8   Code   RO           35    .text.MyTimer_ConfigurePWM  driver_timer.o
-    0x0800032c   0x0800032c   0x0000000c   Code   RO           31    .text.MyTimer_Start  driver_timer.o
-    0x08000338   0x08000338   0x0000003a   Code   RO           58    .text.MyUART_Init   driver_uart.o
-    0x08000372   0x08000372   0x00000002   PAD
-    0x08000374   0x08000374   0x00000014   Code   RO           60    .text.MyUART_SendByte  driver_uart.o
-    0x08000388   0x08000388   0x00000110   Code   RO           81    .text.SystemInit    system_stm32f10x.o
-    0x08000498   0x08000498   0x0000001a   Code   RO           41    .text.TIM2_IRQHandler  driver_timer.o
-    0x080004b2   0x080004b2   0x00000002   PAD
-    0x080004b4   0x080004b4   0x0000001c   Code   RO           43    .text.TIM3_IRQHandler  driver_timer.o
-    0x080004d0   0x080004d0   0x0000001c   Code   RO           45    .text.TIM4_IRQHandler  driver_timer.o
-    0x080004ec   0x080004ec   0x000000a2   Code   RO            2    .text.main          main.o
-    0x0800058e   0x0800058e   0x0000000e   Code   RO          115    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x0800059c   0x0800059c   0x00000002   Code   RO          116    i.__scatterload_null  mc_w.l(handlers.o)
-    0x0800059e   0x0800059e   0x0000000e   Code   RO          117    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x080005ac   0x080005ac   0x00000020   Data   RO          114    Region$$Table       anon$$obj.o
-=======
-    0x08000000   0x08000000   0x000000ec   Data   RO          236    RESET               startup_stm32f10x_md.o
-    0x080000ec   0x080000ec   0x00000000   Code   RO          287  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
-    0x080000ec   0x080000ec   0x00000004   Code   RO          290    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
-    0x080000f0   0x080000f0   0x00000004   Code   RO          293    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
-    0x080000f4   0x080000f4   0x00000000   Code   RO          295    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
-    0x080000f4   0x080000f4   0x00000000   Code   RO          297    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
-    0x080000f4   0x080000f4   0x00000008   Code   RO          298    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
-    0x080000fc   0x080000fc   0x00000004   Code   RO          305    .ARM.Collect$$$$0000000E  mc_w.l(entry12b.o)
-    0x08000100   0x08000100   0x00000000   Code   RO          300    .ARM.Collect$$$$0000000F  mc_w.l(entry10a.o)
-    0x08000100   0x08000100   0x00000000   Code   RO          302    .ARM.Collect$$$$00000011  mc_w.l(entry11a.o)
-    0x08000100   0x08000100   0x00000004   Code   RO          291    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
-    0x08000104   0x08000104   0x00000024   Code   RO          237  * .text               startup_stm32f10x_md.o
-    0x08000128   0x08000128   0x00000024   Code   RO          306    .text               mc_w.l(init.o)
-    0x0800014c   0x0800014c   0x00000004   Code   RO          118    i.Bug               driver_timer.o
-    0x08000150   0x08000150   0x00000108   Code   RO           66    i.MyGPIO_Init       driver_gpio.o
-    0x08000258   0x08000258   0x0000000c   Code   RO           69    i.MyGPIO_Set        driver_gpio.o
-    0x08000264   0x08000264   0x00000008   Code   RO          244    i.SetSysClock       system_stm32f10x.o
-    0x0800026c   0x0800026c   0x000000e0   Code   RO          245    i.SetSysClockTo72   system_stm32f10x.o
-    0x0800034c   0x0800034c   0x00000060   Code   RO          247    i.SystemInit        system_stm32f10x.o
-    0x080003ac   0x080003ac   0x00000020   Code   RO          123    i.TIM2_IRQHandler   driver_timer.o
-    0x080003cc   0x080003cc   0x00000020   Code   RO          124    i.TIM3_IRQHandler   driver_timer.o
-    0x080003ec   0x080003ec   0x00000020   Code   RO          125    i.TIM4_IRQHandler   driver_timer.o
-    0x0800040c   0x0800040c   0x0000000e   Code   RO          310    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x0800041a   0x0800041a   0x00000002   Code   RO          311    i.__scatterload_null  mc_w.l(handlers.o)
-    0x0800041c   0x0800041c   0x0000000e   Code   RO          312    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x0800042a   0x0800042a   0x00000002   PAD
-    0x0800042c   0x0800042c   0x0000002c   Code   RO            4    i.main              main.o
-    0x08000458   0x08000458   0x00000020   Data   RO          308    Region$$Table       anon$$obj.o
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+    0x08000000   0x08000000   0x000000ec   Data   RO          310    RESET               startup_stm32f10x_md.o
+    0x080000ec   0x080000ec   0x00000000   Code   RO          378  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
+    0x080000ec   0x080000ec   0x00000004   Code   RO          381    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
+    0x080000f0   0x080000f0   0x00000004   Code   RO          384    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
+    0x080000f4   0x080000f4   0x00000000   Code   RO          386    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
+    0x080000f4   0x080000f4   0x00000000   Code   RO          388    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
+    0x080000f4   0x080000f4   0x00000008   Code   RO          389    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
+    0x080000fc   0x080000fc   0x00000004   Code   RO          396    .ARM.Collect$$$$0000000E  mc_w.l(entry12b.o)
+    0x08000100   0x08000100   0x00000000   Code   RO          391    .ARM.Collect$$$$0000000F  mc_w.l(entry10a.o)
+    0x08000100   0x08000100   0x00000000   Code   RO          393    .ARM.Collect$$$$00000011  mc_w.l(entry11a.o)
+    0x08000100   0x08000100   0x00000004   Code   RO          382    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
+    0x08000104   0x08000104   0x00000024   Code   RO          311  * .text               startup_stm32f10x_md.o
+    0x08000128   0x08000128   0x00000024   Code   RO          397    .text               mc_w.l(init.o)
+    0x0800014c   0x0800014c   0x00000020   Code   RO          214    i.ADC1_2_IRQHandler  driver_adc.o
+    0x0800016c   0x0800016c   0x00000004   Code   RO          131    i.Bug               driver_timer.o
+    0x08000170   0x08000170   0x00000030   Code   RO          364    i.MySPI_Clear_NSS   Lib_Com_Periph_2022.lib(myspi.o)
+    0x080001a0   0x080001a0   0x000001f4   Code   RO          365    i.MySPI_Init        Lib_Com_Periph_2022.lib(myspi.o)
+    0x08000394   0x08000394   0x00000054   Code   RO          366    i.MySPI_Read        Lib_Com_Periph_2022.lib(myspi.o)
+    0x080003e8   0x080003e8   0x00000050   Code   RO          367    i.MySPI_Send        Lib_Com_Periph_2022.lib(myspi.o)
+    0x08000438   0x08000438   0x0000002c   Code   RO          368    i.MySPI_Set_NSS     Lib_Com_Periph_2022.lib(myspi.o)
+    0x08000464   0x08000464   0x00000008   Code   RO          318    i.SetSysClock       system_stm32f10x.o
+    0x0800046c   0x0800046c   0x000000e0   Code   RO          319    i.SetSysClockTo72   system_stm32f10x.o
+    0x0800054c   0x0800054c   0x00000060   Code   RO          321    i.SystemInit        system_stm32f10x.o
+    0x080005ac   0x080005ac   0x00000020   Code   RO          136    i.TIM2_IRQHandler   driver_timer.o
+    0x080005cc   0x080005cc   0x00000020   Code   RO          137    i.TIM3_IRQHandler   driver_timer.o
+    0x080005ec   0x080005ec   0x00000020   Code   RO          138    i.TIM4_IRQHandler   driver_timer.o
+    0x0800060c   0x0800060c   0x0000000e   Code   RO          401    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x0800061a   0x0800061a   0x00000002   Code   RO          402    i.__scatterload_null  mc_w.l(handlers.o)
+    0x0800061c   0x0800061c   0x0000000e   Code   RO          403    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x0800062a   0x0800062a   0x00000004   Code   RO          218    i.erreur            driver_adc.o
+    0x0800062e   0x0800062e   0x00000016   Code   RO            4    i.main              main.o
+    0x08000644   0x08000644   0x00000028   Code   RO          269    i.source_IMU_init   imu.o
+    0x0800066c   0x0800066c   0x00000034   Code   RO          270    i.source_IMU_read   imu.o
+    0x080006a0   0x080006a0   0x0000001c   Code   RO          271    i.source_IMU_write_register  imu.o
+    0x080006bc   0x080006bc   0x00000020   Data   RO          399    Region$$Table       anon$$obj.o
 
 
-    Execution Region ER_RW (Exec base: 0x20000000, Load base: 0x080005cc, Size: 0x0000000c, Max: 0xffffffff, ABSOLUTE)
+    Execution Region ER_RW (Exec base: 0x20000000, Load base: 0x080006dc, Size: 0x00000014, Max: 0xffffffff, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-<<<<<<< HEAD
-    0x20000000   0x080005cc   0x00000004   Data   RW           47    .data.TIM2_fx       driver_timer.o
-    0x20000004   0x080005d0   0x00000004   Data   RW           48    .data.TIM3_fx       driver_timer.o
-    0x20000008   0x080005d4   0x00000004   Data   RW           49    .data.TIM4_fx       driver_timer.o
-=======
-    0x20000000   0x08000478   0x0000000c   Data   RW          128    .data               driver_timer.o
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+    0x20000000   0x080006dc   0x0000000c   Data   RW          141    .data               driver_timer.o
+    0x2000000c   0x080006e8   0x00000004   Data   RW          219    .data               driver_adc.o
+    0x20000010   0x080006ec   0x00000004   Data   RW          369    .data               Lib_Com_Periph_2022.lib(myspi.o)
 
 
-    Execution Region ER_ZI (Exec base: 0x20000010, Load base: 0x080005d8, Size: 0x00000400, Max: 0xffffffff, ABSOLUTE)
+    Execution Region ER_ZI (Exec base: 0x20000014, Load base: 0x080006f0, Size: 0x00000404, Max: 0xffffffff, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-<<<<<<< HEAD
-    0x20000010        -       0x00000400   Zero   RW           71    STACK               startup_stm32f10x_md.o
-=======
-    0x2000000c   0x08000484   0x00000004   PAD
-    0x20000010        -       0x00000400   Zero   RW          234    STACK               startup_stm32f10x_md.o
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+    0x20000014   0x080006f0   0x00000004   PAD
+    0x20000018        -       0x00000400   Zero   RW          308    STACK               startup_stm32f10x_md.o
 
 
 ==============================================================================
@@ -437,25 +372,27 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
-       170         16          0          0          0       2108   driver_gpio.o
-       404          4          0         12          0       6789   driver_timer.o
-        78          0          0          0          0       1956   driver_uart.o
-       162          0          0          0          0       2505   main.o
-        36          8        236          0       1024        860   startup_stm32f10x_md.o
-       272          0          0          0          0       2813   system_stm32f10x.o
+        36         10          0          4          0       1529   driver_adc.o
+       100         26          0         12          0       2554   driver_timer.o
+       120          6          0          0          0       1748   imu.o
+        22          0          0          0          0     207315   main.o
+        36          8        236          0       1024        824   startup_stm32f10x_md.o
+       328         28          0          0          0       2029   system_stm32f10x.o
 
     ----------------------------------------------------------------------
-      1130         28        268         12       1024      17031   Object Totals
+       642         78        268         16       1024     215999   Object Totals
          0          0         32          0          0          0   (incl. Generated)
-         8          0          0          0          0          0   (incl. Padding)
+         0          0          0          0          0          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Member Name
 
+       756         80          0          4          0        348   myspi.o
          0          0          0          0          0          0   entry.o
          0          0          0          0          0          0   entry10a.o
          0          0          0          0          0          0   entry11a.o
+         4          0          0          0          0          0   entry12b.o
          8          4          0          0          0          0   entry2.o
          4          0          0          0          0          0   entry5.o
          0          0          0          0          0          0   entry7b.o
@@ -465,17 +402,18 @@ Image component sizes
         36          8          0          0          0         68   init.o
 
     ----------------------------------------------------------------------
-        86         16          0          0          0         68   Library Totals
-         0          0          0          0          0          0   (incl. Padding)
+       846         96          0          4          4        416   Library Totals
+         0          0          0          0          4          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Name
 
-        86         16          0          0          0         68   mc_w.l
+       756         80          0          4          0        348   Lib_Com_Periph_2022.lib
+        90         16          0          0          0         68   mc_w.l
 
     ----------------------------------------------------------------------
-        86         16          0          0          0         68   Library Totals
+       846         96          0          4          4        416   Library Totals
 
     ----------------------------------------------------------------------
 
@@ -484,15 +422,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-      1216         44        268         12       1024      17171   Grand Totals
-      1216         44        268         12       1024      17171   ELF Image Totals
-      1216         44        268         12          0          0   ROM Totals
+      1488        174        268         20       1028     215839   Grand Totals
+      1488        174        268         20       1028     215839   ELF Image Totals
+      1488        174        268         20          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                 1484 (   1.45kB)
-    Total RW  Size (RW Data + ZI Data)              1036 (   1.01kB)
-    Total ROM Size (Code + RO Data + RW Data)       1496 (   1.46kB)
+    Total RO  Size (Code + RO Data)                 1756 (   1.71kB)
+    Total RW  Size (RW Data + ZI Data)              1048 (   1.02kB)
+    Total ROM Size (Code + RO Data + RW Data)       1776 (   1.73kB)
 
 ==============================================================================
 
diff --git a/projet-voilier/Objects/driver_gpio.crf b/projet-voilier/Objects/driver_gpio.crf
index 901a1ac..c0739e5 100644
Binary files a/projet-voilier/Objects/driver_gpio.crf and b/projet-voilier/Objects/driver_gpio.crf differ
diff --git a/projet-voilier/Objects/driver_gpio.o b/projet-voilier/Objects/driver_gpio.o
index 5f720ba..ac4850a 100644
Binary files a/projet-voilier/Objects/driver_gpio.o and b/projet-voilier/Objects/driver_gpio.o differ
diff --git a/projet-voilier/Objects/driver_timer.crf b/projet-voilier/Objects/driver_timer.crf
index 0be7435..3055fa8 100644
Binary files a/projet-voilier/Objects/driver_timer.crf and b/projet-voilier/Objects/driver_timer.crf differ
diff --git a/projet-voilier/Objects/driver_timer.o b/projet-voilier/Objects/driver_timer.o
index bbd875b..98367be 100644
Binary files a/projet-voilier/Objects/driver_timer.o and b/projet-voilier/Objects/driver_timer.o differ
diff --git a/projet-voilier/Objects/main.crf b/projet-voilier/Objects/main.crf
index d0ee215..66cb142 100644
Binary files a/projet-voilier/Objects/main.crf and b/projet-voilier/Objects/main.crf differ
diff --git a/projet-voilier/Objects/main.d b/projet-voilier/Objects/main.d
index 05cd3e8..ea60df2 100644
--- a/projet-voilier/Objects/main.d
+++ b/projet-voilier/Objects/main.d
@@ -1,16 +1,3 @@
-<<<<<<< HEAD
-./objects/main.o: src\main.c \
-  C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h \
-  RTE\_sim\RTE_Components.h \
-  C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h \
-  C:\Keil_v5\ARM\ARMCLANG\Bin\..\include\stdint.h \
-  C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h \
-  C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h \
-  C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h \
-  C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h \
-  ..\driver\Driver_GPIO.h ..\driver\Driver_Timer.h \
-  ..\driver\Driver_UART.h
-=======
 .\objects\main.o: src\main.c
 .\objects\main.o: C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h
 .\objects\main.o: .\RTE\_reel\RTE_Components.h
@@ -23,4 +10,5 @@
 .\objects\main.o: ..\driver\Driver_GPIO.h
 .\objects\main.o: ..\driver\Driver_Timer.h
 .\objects\main.o: ..\driver\Driver_ADC.h
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+.\objects\main.o: ..\driver\MySPI.h
+.\objects\main.o: ..\driver\IMU.h
diff --git a/projet-voilier/Objects/main.o b/projet-voilier/Objects/main.o
index 3dc02b9..87f392c 100644
Binary files a/projet-voilier/Objects/main.o and b/projet-voilier/Objects/main.o differ
diff --git a/projet-voilier/Objects/projet-voilier.axf b/projet-voilier/Objects/projet-voilier.axf
index 992d864..a190c9f 100644
Binary files a/projet-voilier/Objects/projet-voilier.axf and b/projet-voilier/Objects/projet-voilier.axf differ
diff --git a/projet-voilier/Objects/projet-voilier.build_log.htm b/projet-voilier/Objects/projet-voilier.build_log.htm
index dbb575e..1b3fa1f 100644
--- a/projet-voilier/Objects/projet-voilier.build_log.htm
+++ b/projet-voilier/Objects/projet-voilier.build_log.htm
@@ -3,74 +3,77 @@
 <pre>
 <h1>µVision Build Log</h1>
 <h2>Tool Versions:</h2>
-IDE-Version: µVision V5.38.0.0
-Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: Robin M, INSA, LIC=----
+IDE-Version: µVision V5.34.0.0
+Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: CSN CSN, INSA de Toulouse, LIC=----
  
 Tool Versions:
-Toolchain:       MDK-Lite  Version: 5.38.0.0
-Toolchain Path:  C:\Keil_v5\ARM\ARMCLANG\Bin
-C Compiler:      ArmClang.exe V6.19
-Assembler:       Armasm.exe V6.19
-Linker/Locator:  ArmLink.exe V6.19
-Library Manager: ArmAr.exe V6.19
-Hex Converter:   FromElf.exe V6.19
-CPU DLL:         SARMCM3.DLL V5.38.0.0
-Dialog DLL:      DARMSTM.DLL V1.69.1.0
-Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.1.0.0
-Dialog DLL:      TARMSTM.DLL V1.67.1.0
+Toolchain:       MDK-Lite  Version: 5.34.0.0
+Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
+C Compiler:      Armcc.exe V5.06 update 7 (build 960)
+Assembler:       Armasm.exe V5.06 update 7 (build 960)
+Linker/Locator:  ArmLink.exe V5.06 update 7 (build 960)
+Library Manager: ArmAr.exe V5.06 update 7 (build 960)
+Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
+CPU DLL:         SARMCM3.DLL V5.34.0.0
+Dialog DLL:      DARMSTM.DLL V1.68.0.0
+Target DLL:      UL2CM3.DLL V1.163.9.0
+Dialog DLL:      TARMSTM.DLL V1.66.0.0
  
 <h2>Project:</h2>
-C:\Users\robin\OneDrive\Documents\Dev\Projet-Voilier-3\projet-voilier\projet-voilier.uvprojx
-Project File Date:  03/27/2023
+U:\Documents\microcontroleur\Projet-Voilier-3\projet-voilier\projet-voilier.uvprojx
+Project File Date:  04/04/2023
 
 <h2>Output:</h2>
-*** Using Compiler 'V6.19', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Rebuild target 'sim'
 assembling startup_stm32f10x_md.s...
-compiling Driver_UART.c...
-compiling Driver_GPIO.c...
-src/main.c(51): warning: GCC does not allow variable declarations in for loop initializers before C99 [-Wgcc-compat]
-                for (int i = 0; i < 100000000; i++);
-                     ^
-1 warning generated.
-compiling main.c...
+compiling Driver_ADC.c...
 compiling system_stm32f10x.c...
+compiling main.c...
+src\main.c(10): warning:  #550-D: variable "val"  was set but never used
+  	static uint16_t val;
+src\main.c: 1 warning, 0 errors
+compiling IMU.c...
+..\driver\IMU.c(21): warning:  #177-D: variable "i"  was declared but never referenced
+  	int i;
+..\driver\IMU.c: 1 warning, 0 errors
 compiling Driver_Timer.c...
+compiling Driver_GPIO.c...
 linking...
-Program Size: Code=1468 RO-data=268 RW-data=12 ZI-data=1632  
-".\Objects\projet-voilier.axf" - 0 Error(s), 1 Warning(s).
+Program Size: Code=1704 RO-data=268 RW-data=20 ZI-data=1636  
+".\Objects\projet-voilier.axf" - 0 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
 
 Package Vendor: ARM
-                http://www.keil.com/pack/ARM.CMSIS.5.9.0.pack
-                ARM.CMSIS.5.9.0
-                CMSIS (Common Microcontroller Software Interface Standard)
-   * Component: CORE Version: 5.6.0
+                http://www.keil.com/pack/ARM.CMSIS.5.7.0.pack
+                ARM.CMSIS.5.7.0
+                CMSIS (Cortex Microcontroller Software Interface Standard)
+   * Component: CORE Version: 5.4.0
 
 Package Vendor: Keil
-                http://www.keil.com/pack/Keil.STM32F1xx_DFP.2.4.0.pack
-                Keil.STM32F1xx_DFP.2.4.0
+                http://www.keil.com/pack/Keil.STM32F1xx_DFP.2.3.0.pack
+                Keil.STM32F1xx_DFP.2.3.0
                 STMicroelectronics STM32F1 Series Device Support, Drivers and Examples
    * Component: Startup Version: 1.0.0
 
 <h2>Collection of Component include folders:</h2>
-  ./RTE/Device/STM32F103RB
-  ./RTE/_sim
-  C:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-  C:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include
+  .\RTE\Device\STM32F103RB
+  .\RTE\_sim
+  C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include
+  C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include
 
 <h2>Collection of Component Files used:</h2>
 
-   * Component: ARM::CMSIS:CORE:5.6.0
+   * Component: ARM::CMSIS:CORE:5.4.0
 
    * Component: Keil::Device:Startup:1.0.0
-      Source file:   Device/Source/ARM/startup_stm32f10x_md.s
-      Include file:  RTE_Driver/Config/RTE_Device.h
-      Source file:   Device/Source/system_stm32f10x.c
-      Source file:   Device/Source/ARM/STM32F1xx_OPT.s
-Build Time Elapsed:  00:00:01
+      Source file:   Device\Source\ARM\startup_stm32f10x_md.s
+      Include file:  RTE_Driver\Config\RTE_Device.h
+      Source file:   Device\Source\ARM\STM32F1xx_OPT.s
+      Source file:   Device\Source\system_stm32f10x.c
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>
diff --git a/projet-voilier/Objects/projet-voilier.htm b/projet-voilier/Objects/projet-voilier.htm
index 2c822d5..1a50198 100644
--- a/projet-voilier/Objects/projet-voilier.htm
+++ b/projet-voilier/Objects/projet-voilier.htm
@@ -3,548 +3,583 @@
 <title>Static Call Graph - [.\Objects\projet-voilier.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\projet-voilier.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6190004: Last Updated: Fri Mar 31 11:59:13 2023
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Tue Apr 04 15:13:02 2023
 <BR><P>
-<H3>Maximum Stack Usage =         48 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
+<H3>Maximum Stack Usage =         40 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
-__rt_entry_main &rArr; main &rArr; MyGPIO_Init
+__rt_entry_main &rArr; main &rArr; source_IMU_read
 <P>
 <H3>
 Functions with no stack information
 </H3><UL>
- <LI><a href="#[38]">__user_initial_stackheap</a>
+ <LI><a href="#[3e]">__user_initial_stackheap</a>
 </UL>
 </UL>
 <P>
 <H3>
 Mutually Recursive functions
-</H3> <LI><a href="#[1]">NMI_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1]">NMI_Handler</a><BR>
- <LI><a href="#[2]">HardFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[2]">HardFault_Handler</a><BR>
- <LI><a href="#[3]">MemManage_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[3]">MemManage_Handler</a><BR>
- <LI><a href="#[4]">BusFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[4]">BusFault_Handler</a><BR>
- <LI><a href="#[5]">UsageFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[5]">UsageFault_Handler</a><BR>
- <LI><a href="#[6]">SVC_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[6]">SVC_Handler</a><BR>
- <LI><a href="#[7]">DebugMon_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[7]">DebugMon_Handler</a><BR>
- <LI><a href="#[8]">PendSV_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[8]">PendSV_Handler</a><BR>
- <LI><a href="#[9]">SysTick_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[9]">SysTick_Handler</a><BR>
- <LI><a href="#[1c]">ADC1_2_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1c]">ADC1_2_IRQHandler</a><BR>
- <LI><a href="#[37]">Bug</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[37]">Bug</a><BR>
+</H3> <LI><a href="#[4]">NMI_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[4]">NMI_Handler</a><BR>
+ <LI><a href="#[5]">HardFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[5]">HardFault_Handler</a><BR>
+ <LI><a href="#[6]">MemManage_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[6]">MemManage_Handler</a><BR>
+ <LI><a href="#[7]">BusFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[7]">BusFault_Handler</a><BR>
+ <LI><a href="#[8]">UsageFault_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[8]">UsageFault_Handler</a><BR>
+ <LI><a href="#[9]">SVC_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[9]">SVC_Handler</a><BR>
+ <LI><a href="#[a]">DebugMon_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[a]">DebugMon_Handler</a><BR>
+ <LI><a href="#[b]">PendSV_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[b]">PendSV_Handler</a><BR>
+ <LI><a href="#[c]">SysTick_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[c]">SysTick_Handler</a><BR>
+ <LI><a href="#[22]">CAN1_RX1_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[22]">CAN1_RX1_IRQHandler</a><BR>
 </UL>
 <P>
 <H3>
 Function Pointers
 </H3><UL>
- <LI><a href="#[1c]">ADC1_2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[37]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM2_fx)
- <LI><a href="#[37]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM3_fx)
- <LI><a href="#[37]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM4_fx)
- <LI><a href="#[4]">BusFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[1f]">CAN1_RX1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[20]">CAN1_SCE_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[15]">DMA1_Channel1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[16]">DMA1_Channel2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[17]">DMA1_Channel3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[18]">DMA1_Channel4_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[19]">DMA1_Channel5_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[1a]">DMA1_Channel6_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[1b]">DMA1_Channel7_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[7]">DebugMon_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[10]">EXTI0_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[32]">EXTI15_10_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[11]">EXTI1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[12]">EXTI2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[13]">EXTI3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[14]">EXTI4_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[21]">EXTI9_5_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[e]">FLASH_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2]">HardFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2a]">I2C1_ER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[29]">I2C1_EV_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2c]">I2C2_ER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2b]">I2C2_EV_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[3]">MemManage_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[1]">NMI_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[b]">PVD_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[8]">PendSV_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[f]">RCC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[33]">RTCAlarm_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[d]">RTC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[0]">Reset_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2d]">SPI1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2e]">SPI2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[6]">SVC_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[9]">SysTick_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[35]">SystemInit</a> from system_stm32f10x.o(.text.SystemInit) referenced from startup_stm32f10x_md.o(.text)
- <LI><a href="#[c]">TAMPER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[22]">TIM1_BRK_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[25]">TIM1_CC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[24]">TIM1_TRG_COM_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[23]">TIM1_UP_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[26]">TIM2_IRQHandler</a> from driver_timer.o(.text.TIM2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[27]">TIM3_IRQHandler</a> from driver_timer.o(.text.TIM3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[28]">TIM4_IRQHandler</a> from driver_timer.o(.text.TIM4_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[2f]">USART1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[30]">USART2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[31]">USART3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[34]">USBWakeUp_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[1d]">USB_HP_CAN1_TX_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[1e]">USB_LP_CAN1_RX0_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[5]">UsageFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[a]">WWDG_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[36]">__main</a> from __main.o(!!!main) referenced from startup_stm32f10x_md.o(.text)
+ <LI><a href="#[1f]">ADC1_2_IRQHandler</a> from driver_adc.o(i.ADC1_2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[3a]">Bug</a> from driver_timer.o(i.Bug) referenced 3 times from driver_timer.o(.data)
+ <LI><a href="#[7]">BusFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[22]">CAN1_RX1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[23]">CAN1_SCE_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[18]">DMA1_Channel1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[19]">DMA1_Channel2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[1a]">DMA1_Channel3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[1b]">DMA1_Channel4_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[1c]">DMA1_Channel5_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[1d]">DMA1_Channel6_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[1e]">DMA1_Channel7_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[a]">DebugMon_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[13]">EXTI0_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[35]">EXTI15_10_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[14]">EXTI1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[15]">EXTI2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[16]">EXTI3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[17]">EXTI4_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[24]">EXTI9_5_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[11]">FLASH_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[5]">HardFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[2d]">I2C1_ER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[2c]">I2C1_EV_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[2f]">I2C2_ER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[2e]">I2C2_EV_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[6]">MemManage_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[4]">NMI_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[e]">PVD_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[b]">PendSV_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[12]">RCC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[36]">RTCAlarm_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[10]">RTC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[3c]">Reset_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[30]">SPI1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[31]">SPI2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[9]">SVC_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[c]">SysTick_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[38]">SystemInit</a> from system_stm32f10x.o(i.SystemInit) referenced from startup_stm32f10x_md.o(.text)
+ <LI><a href="#[f]">TAMPER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[25]">TIM1_BRK_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[28]">TIM1_CC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[27]">TIM1_TRG_COM_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[26]">TIM1_UP_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[29]">TIM2_IRQHandler</a> from driver_timer.o(i.TIM2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[2a]">TIM3_IRQHandler</a> from driver_timer.o(i.TIM3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[2b]">TIM4_IRQHandler</a> from driver_timer.o(i.TIM4_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[32]">USART1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[33]">USART2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[34]">USART3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[37]">USBWakeUp_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[20]">USB_HP_CAN1_TX_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[21]">USB_LP_CAN1_RX0_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[8]">UsageFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[d]">WWDG_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[3d]">__main</a> from __main.o(!!!main) referenced from startup_stm32f10x_md.o(.text)
+ <LI><a href="#[3b]">erreur</a> from driver_adc.o(i.erreur) referenced from driver_adc.o(.data)
 </UL>
 <P>
 <H3>
 Global Symbols
 </H3>
-<P><STRONG><a name="[36]"></a>__main</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main))
-<BR><BR>[Calls]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
-<LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
-</UL>
-<P><STRONG><a name="[39]"></a>__scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))
-<BR><BR>[Called By]<UL><LI><a href="#[36]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
+<P><STRONG><a name="[3d]"></a>__main</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main))
+<BR><BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
+<LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>
 
-<P><STRONG><a name="[3b]"></a>__scatterload_rt2</STRONG> (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
+<P><STRONG><a name="[3f]"></a>__scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))
+<BR><BR>[Called By]<UL><LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
 </UL>
 
-<P><STRONG><a name="[52]"></a>__scatterload_rt2_thumb_only</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
-
-<P><STRONG><a name="[53]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
-
-<P><STRONG><a name="[3c]"></a>__scatterload_copy</STRONG> (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED)
-<BR><BR>[Calls]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
-</UL>
-<BR>[Called By]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
+<P><STRONG><a name="[41]"></a>__scatterload_rt2</STRONG> (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry
 </UL>
 
-<P><STRONG><a name="[54]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
+<P><STRONG><a name="[5a]"></a>__scatterload_rt2_thumb_only</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
 
-<P><STRONG><a name="[40]"></a>__rt_lib_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_li
+<P><STRONG><a name="[5b]"></a>__scatterload_null</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
+
+<P><STRONG><a name="[42]"></a>__scatterload_copy</STRONG> (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED)
+<BR><BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
+</UL>
+<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_copy
 </UL>
 
-<P><STRONG><a name="[55]"></a>__rt_lib_init_alloca_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))
+<P><STRONG><a name="[5c]"></a>__scatterload_zeroinit</STRONG> (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
 
-<P><STRONG><a name="[56]"></a>__rt_lib_init_argv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))
-
-<P><STRONG><a name="[57]"></a>__rt_lib_init_atexit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))
-
-<P><STRONG><a name="[58]"></a>__rt_lib_init_clock_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))
-
-<P><STRONG><a name="[59]"></a>__rt_lib_init_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000034))
-
-<P><STRONG><a name="[5a]"></a>__rt_lib_init_exceptions_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))
-
-<P><STRONG><a name="[5b]"></a>__rt_lib_init_fp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000002))
-
-<P><STRONG><a name="[5c]"></a>__rt_lib_init_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))
-
-<P><STRONG><a name="[5d]"></a>__rt_lib_init_getenv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))
-
-<P><STRONG><a name="[5e]"></a>__rt_lib_init_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))
-
-<P><STRONG><a name="[5f]"></a>__rt_lib_init_lc_collate_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))
-
-<P><STRONG><a name="[60]"></a>__rt_lib_init_lc_ctype_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))
-
-<P><STRONG><a name="[61]"></a>__rt_lib_init_lc_monetary_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))
-
-<P><STRONG><a name="[62]"></a>__rt_lib_init_lc_numeric_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))
-
-<P><STRONG><a name="[63]"></a>__rt_lib_init_lc_time_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))
-
-<P><STRONG><a name="[64]"></a>__rt_lib_init_preinit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000006))
-
-<P><STRONG><a name="[65]"></a>__rt_lib_init_rand_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000010))
-
-<P><STRONG><a name="[66]"></a>__rt_lib_init_relocate_pie_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))
-
-<P><STRONG><a name="[67]"></a>__rt_lib_init_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000035))
-
-<P><STRONG><a name="[68]"></a>__rt_lib_init_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))
-
-<P><STRONG><a name="[69]"></a>__rt_lib_init_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000027))
-
-<P><STRONG><a name="[6a]"></a>__rt_lib_init_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))
-
-<P><STRONG><a name="[45]"></a>__rt_lib_shutdown</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_ls
+<P><STRONG><a name="[46]"></a>__rt_lib_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_li
 </UL>
 
-<P><STRONG><a name="[6b]"></a>__rt_lib_shutdown_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000002))
+<P><STRONG><a name="[5d]"></a>__rt_lib_init_alloca_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))
 
-<P><STRONG><a name="[6c]"></a>__rt_lib_shutdown_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000007))
+<P><STRONG><a name="[5e]"></a>__rt_lib_init_argv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C))
 
-<P><STRONG><a name="[6d]"></a>__rt_lib_shutdown_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F))
+<P><STRONG><a name="[5f]"></a>__rt_lib_init_atexit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))
 
-<P><STRONG><a name="[6e]"></a>__rt_lib_shutdown_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000010))
+<P><STRONG><a name="[60]"></a>__rt_lib_init_clock_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))
 
-<P><STRONG><a name="[6f]"></a>__rt_lib_shutdown_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A))
+<P><STRONG><a name="[61]"></a>__rt_lib_init_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))
 
-<P><STRONG><a name="[70]"></a>__rt_lib_shutdown_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000004))
+<P><STRONG><a name="[62]"></a>__rt_lib_init_exceptions_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))
 
-<P><STRONG><a name="[71]"></a>__rt_lib_shutdown_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C))
+<P><STRONG><a name="[63]"></a>__rt_lib_init_fp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000002))
 
-<P><STRONG><a name="[3a]"></a>__rt_entry</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_rt2
-<LI><a href="#[36]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
+<P><STRONG><a name="[64]"></a>__rt_lib_init_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))
+
+<P><STRONG><a name="[65]"></a>__rt_lib_init_getenv_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))
+
+<P><STRONG><a name="[66]"></a>__rt_lib_init_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A))
+
+<P><STRONG><a name="[67]"></a>__rt_lib_init_lc_collate_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011))
+
+<P><STRONG><a name="[68]"></a>__rt_lib_init_lc_ctype_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))
+
+<P><STRONG><a name="[69]"></a>__rt_lib_init_lc_monetary_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))
+
+<P><STRONG><a name="[6a]"></a>__rt_lib_init_lc_numeric_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))
+
+<P><STRONG><a name="[6b]"></a>__rt_lib_init_lc_time_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))
+
+<P><STRONG><a name="[6c]"></a>__rt_lib_init_preinit_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))
+
+<P><STRONG><a name="[6d]"></a>__rt_lib_init_rand_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))
+
+<P><STRONG><a name="[6e]"></a>__rt_lib_init_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033))
+
+<P><STRONG><a name="[6f]"></a>__rt_lib_init_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))
+
+<P><STRONG><a name="[70]"></a>__rt_lib_init_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))
+
+<P><STRONG><a name="[71]"></a>__rt_lib_init_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))
+
+<P><STRONG><a name="[4b]"></a>__rt_lib_shutdown</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_ls
 </UL>
 
-<P><STRONG><a name="[72]"></a>__rt_entry_presh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))
+<P><STRONG><a name="[72]"></a>__rt_lib_shutdown_cpp_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000004))
 
-<P><STRONG><a name="[3d]"></a>__rt_entry_sh</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry4.o(.ARM.Collect$$rtentry$$00000004))
+<P><STRONG><a name="[73]"></a>__rt_lib_shutdown_fini_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000002))
+
+<P><STRONG><a name="[74]"></a>__rt_lib_shutdown_fp_trap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000009))
+
+<P><STRONG><a name="[75]"></a>__rt_lib_shutdown_heap_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000011))
+
+<P><STRONG><a name="[76]"></a>__rt_lib_shutdown_return</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000012))
+
+<P><STRONG><a name="[77]"></a>__rt_lib_shutdown_signal_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C))
+
+<P><STRONG><a name="[78]"></a>__rt_lib_shutdown_stdio_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000006))
+
+<P><STRONG><a name="[79]"></a>__rt_lib_shutdown_user_alloc_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000E))
+
+<P><STRONG><a name="[40]"></a>__rt_entry</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main
+<LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload_rt2
+</UL>
+
+<P><STRONG><a name="[7a]"></a>__rt_entry_presh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))
+
+<P><STRONG><a name="[43]"></a>__rt_entry_sh</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry4.o(.ARM.Collect$$rtentry$$00000004))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <LI>Call Chain = __rt_entry_sh &rArr; __user_setup_stackheap
 </UL>
-<BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+<BR>[Calls]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
 </UL>
 
-<P><STRONG><a name="[3f]"></a>__rt_entry_li</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000A))
-<BR><BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init
+<P><STRONG><a name="[45]"></a>__rt_entry_li</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000A))
+<BR><BR>[Calls]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_init
 </UL>
 
-<P><STRONG><a name="[73]"></a>__rt_entry_postsh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009))
+<P><STRONG><a name="[7b]"></a>__rt_entry_postsh_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009))
 
-<P><STRONG><a name="[41]"></a>__rt_entry_main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000D))
-<BR><BR>[Stack]<UL><LI>Max Depth = 48 + Unknown Stack Size
-<LI>Call Chain = __rt_entry_main &rArr; main &rArr; MyGPIO_Init
+<P><STRONG><a name="[47]"></a>__rt_entry_main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000D))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40 + Unknown Stack Size
+<LI>Call Chain = __rt_entry_main &rArr; main &rArr; source_IMU_read
 </UL>
-<BR>[Calls]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
-<LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Calls]<UL><LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
+<LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[74]"></a>__rt_entry_postli_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C))
+<P><STRONG><a name="[7c]"></a>__rt_entry_postli_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C))
 
-<P><STRONG><a name="[49]"></a>__rt_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit.o(.ARM.Collect$$rtexit$$00000000))
-<BR><BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
+<P><STRONG><a name="[4f]"></a>__rt_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit.o(.ARM.Collect$$rtexit$$00000000))
+<BR><BR>[Called By]<UL><LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;exit
 </UL>
 
-<P><STRONG><a name="[44]"></a>__rt_exit_ls</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000003))
-<BR><BR>[Calls]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_shutdown
+<P><STRONG><a name="[4a]"></a>__rt_exit_ls</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000003))
+<BR><BR>[Calls]<UL><LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_lib_shutdown
 </UL>
 
-<P><STRONG><a name="[75]"></a>__rt_exit_prels_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002))
+<P><STRONG><a name="[7d]"></a>__rt_exit_prels_1</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002))
 
-<P><STRONG><a name="[46]"></a>__rt_exit_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000004))
-<BR><BR>[Calls]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sys_exit
+<P><STRONG><a name="[4c]"></a>__rt_exit_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000004))
+<BR><BR>[Calls]<UL><LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_sys_exit
 </UL>
 
-<P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
+<P><STRONG><a name="[3c]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+
+<P><STRONG><a name="[4]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
 </UL>
-<P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
-</UL>
-<BR>[Called By]<UL><LI><a href="#[1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
+<BR>[Called By]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2]"></a>HardFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HardFault_Handler
+<P><STRONG><a name="[5]"></a>HardFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HardFault_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HardFault_Handler
+<BR>[Called By]<UL><LI><a href="#[5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HardFault_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[3]"></a>MemManage_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MemManage_Handler
+<P><STRONG><a name="[6]"></a>MemManage_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MemManage_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MemManage_Handler
+<BR>[Called By]<UL><LI><a href="#[6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MemManage_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[4]"></a>BusFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
+<P><STRONG><a name="[7]"></a>BusFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
+<BR>[Called By]<UL><LI><a href="#[7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BusFault_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[5]"></a>UsageFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UsageFault_Handler
+<P><STRONG><a name="[8]"></a>UsageFault_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UsageFault_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UsageFault_Handler
+<BR>[Called By]<UL><LI><a href="#[8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UsageFault_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[6]"></a>SVC_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SVC_Handler
+<P><STRONG><a name="[9]"></a>SVC_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SVC_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SVC_Handler
+<BR>[Called By]<UL><LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SVC_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[7]"></a>DebugMon_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DebugMon_Handler
+<P><STRONG><a name="[a]"></a>DebugMon_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DebugMon_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DebugMon_Handler
+<BR>[Called By]<UL><LI><a href="#[a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DebugMon_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[8]"></a>PendSV_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
+<P><STRONG><a name="[b]"></a>PendSV_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
+<BR>[Called By]<UL><LI><a href="#[b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[9]"></a>SysTick_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
+<P><STRONG><a name="[c]"></a>SysTick_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
+<BR>[Called By]<UL><LI><a href="#[c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1c]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC1_2_IRQHandler
+<P><STRONG><a name="[22]"></a>CAN1_RX1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[22]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CAN1_RX1_IRQHandler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC1_2_IRQHandler
+<BR>[Called By]<UL><LI><a href="#[22]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CAN1_RX1_IRQHandler
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1f]"></a>CAN1_RX1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[23]"></a>CAN1_SCE_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[20]"></a>CAN1_SCE_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[18]"></a>DMA1_Channel1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[15]"></a>DMA1_Channel1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[19]"></a>DMA1_Channel2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[16]"></a>DMA1_Channel2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[1a]"></a>DMA1_Channel3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[17]"></a>DMA1_Channel3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[1b]"></a>DMA1_Channel4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[18]"></a>DMA1_Channel4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[1c]"></a>DMA1_Channel5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[19]"></a>DMA1_Channel5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[1d]"></a>DMA1_Channel6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1a]"></a>DMA1_Channel6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[1e]"></a>DMA1_Channel7_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1b]"></a>DMA1_Channel7_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[13]"></a>EXTI0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[10]"></a>EXTI0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[35]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[32]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[14]"></a>EXTI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[11]"></a>EXTI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[15]"></a>EXTI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[12]"></a>EXTI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[16]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[13]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[17]"></a>EXTI4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[14]"></a>EXTI4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[24]"></a>EXTI9_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[21]"></a>EXTI9_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[11]"></a>FLASH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[e]"></a>FLASH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[2d]"></a>I2C1_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2a]"></a>I2C1_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[2c]"></a>I2C1_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[29]"></a>I2C1_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[2f]"></a>I2C2_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2c]"></a>I2C2_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[2e]"></a>I2C2_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2b]"></a>I2C2_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[e]"></a>PVD_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[b]"></a>PVD_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[12]"></a>RCC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[f]"></a>RCC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[36]"></a>RTCAlarm_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[33]"></a>RTCAlarm_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[10]"></a>RTC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[d]"></a>RTC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[30]"></a>SPI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2d]"></a>SPI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[31]"></a>SPI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2e]"></a>SPI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[f]"></a>TAMPER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[c]"></a>TAMPER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[25]"></a>TIM1_BRK_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[22]"></a>TIM1_BRK_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[28]"></a>TIM1_CC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[25]"></a>TIM1_CC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[27]"></a>TIM1_TRG_COM_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[24]"></a>TIM1_TRG_COM_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[26]"></a>TIM1_UP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[23]"></a>TIM1_UP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[32]"></a>USART1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[2f]"></a>USART1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[33]"></a>USART2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[30]"></a>USART2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[34]"></a>USART3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[31]"></a>USART3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[37]"></a>USBWakeUp_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[34]"></a>USBWakeUp_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[20]"></a>USB_HP_CAN1_TX_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1d]"></a>USB_HP_CAN1_TX_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[21]"></a>USB_LP_CAN1_RX0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1e]"></a>USB_LP_CAN1_RX0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<P><STRONG><a name="[d]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[a]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[38]"></a>__user_initial_stackheap</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+<P><STRONG><a name="[3e]"></a>__user_initial_stackheap</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
 </UL>
 
-<P><STRONG><a name="[76]"></a>__use_two_region_memory</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
+<P><STRONG><a name="[7e]"></a>__use_two_region_memory</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 
-<P><STRONG><a name="[77]"></a>__rt_heap_escrow$2region</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
+<P><STRONG><a name="[7f]"></a>__rt_heap_escrow$2region</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 
-<P><STRONG><a name="[78]"></a>__rt_heap_expand$2region</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
+<P><STRONG><a name="[80]"></a>__rt_heap_expand$2region</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)
 
-<P><STRONG><a name="[3e]"></a>__user_setup_stackheap</STRONG> (Thumb, 74 bytes, Stack size 8 bytes, sys_stackheap_outer.o(.text))
+<P><STRONG><a name="[44]"></a>__user_setup_stackheap</STRONG> (Thumb, 74 bytes, Stack size 8 bytes, sys_stackheap_outer.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <LI>Call Chain = __user_setup_stackheap
 </UL>
-<BR>[Calls]<UL><LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_perproc_libspace
-<LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_initial_stackheap
+<BR>[Calls]<UL><LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_perproc_libspace
+<LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_initial_stackheap
 </UL>
-<BR>[Called By]<UL><LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_sh
+<BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_sh
 </UL>
 
-<P><STRONG><a name="[43]"></a>exit</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, exit.o(.text))
+<P><STRONG><a name="[49]"></a>exit</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, exit.o(.text))
 <BR><BR>[Stack]<UL><LI>Max Depth = 8 + Unknown Stack Size
 <LI>Call Chain = exit
 </UL>
-<BR>[Calls]<UL><LI><a href="#[49]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit
+<BR>[Calls]<UL><LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit
 </UL>
-<BR>[Called By]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+<BR>[Called By]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
 </UL>
 
-<P><STRONG><a name="[79]"></a>__user_libspace</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
+<P><STRONG><a name="[81]"></a>__user_libspace</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
 
-<P><STRONG><a name="[48]"></a>__user_perproc_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
+<P><STRONG><a name="[4e]"></a>__user_perproc_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__user_setup_stackheap
 </UL>
 
-<P><STRONG><a name="[7a]"></a>__user_perthread_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
+<P><STRONG><a name="[82]"></a>__user_perthread_libspace</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)
 
-<P><STRONG><a name="[47]"></a>_sys_exit</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, sys_exit.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_exit
+<P><STRONG><a name="[4d]"></a>_sys_exit</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, sys_exit.o(.text))
+<BR><BR>[Called By]<UL><LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_exit_exit
 </UL>
 
-<P><STRONG><a name="[7b]"></a>__I$use$semihosting</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
+<P><STRONG><a name="[83]"></a>__I$use$semihosting</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
 
-<P><STRONG><a name="[7c]"></a>__use_no_semihosting_swi</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
+<P><STRONG><a name="[84]"></a>__use_no_semihosting_swi</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)
 
-<P><STRONG><a name="[7d]"></a>__semihosting_library_function</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED)
+<P><STRONG><a name="[85]"></a>__semihosting_library_function</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED)
 
-<P><STRONG><a name="[37]"></a>Bug</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, driver_timer.o(.text.Bug))
-<BR><BR>[Calls]<UL><LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
+<P><STRONG><a name="[1f]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_adc.o(i.ADC1_2_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = ADC1_2_IRQHandler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<BR>[Address Reference Count : 3]<UL><LI> driver_timer.o(.data.TIM2_fx)
-<LI> driver_timer.o(.data.TIM3_fx)
-<LI> driver_timer.o(.data.TIM4_fx)
+<P><STRONG><a name="[3a]"></a>Bug</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_timer.o(i.Bug))
+<BR>[Address Reference Count : 1]<UL><LI> driver_timer.o(.data)
 </UL>
-<P><STRONG><a name="[4a]"></a>MyGPIO_Init</STRONG> (Thumb, 140 bytes, Stack size 8 bytes, driver_gpio.o(.text.MyGPIO_Init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyGPIO_Init
-</UL>
-<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[59]"></a>MySPI_Clear_NSS</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Clear_NSS))
+<BR><BR>[Called By]<UL><LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
 </UL>
 
-<P><STRONG><a name="[4b]"></a>MyGPIO_Set</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, driver_gpio.o(.text.MyGPIO_Set))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[50]"></a>MySPI_Init</STRONG> (Thumb, 480 bytes, Stack size 4 bytes, myspi.o(i.MySPI_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MySPI_Init
+</UL>
+<BR>[Calls]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
+</UL>
+<BR>[Called By]<UL><LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_init
 </UL>
 
-<P><STRONG><a name="[4c]"></a>MyTimer_Base_Init</STRONG> (Thumb, 140 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Base_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[58]"></a>MySPI_Read</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Read))
+<BR><BR>[Called By]<UL><LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
 </UL>
 
-<P><STRONG><a name="[4d]"></a>MyTimer_ConfigurePWM</STRONG> (Thumb, 168 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_ConfigurePWM))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[57]"></a>MySPI_Send</STRONG> (Thumb, 68 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Send))
+<BR><BR>[Called By]<UL><LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
 </UL>
 
-<P><STRONG><a name="[4e]"></a>MyTimer_Start</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Start))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[51]"></a>MySPI_Set_NSS</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Set_NSS))
+<BR><BR>[Called By]<UL><LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Init
+<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+<LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
 </UL>
 
-<P><STRONG><a name="[4f]"></a>MyUART_Init</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[38]"></a>SystemInit</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SystemInit))
+<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
 </UL>
-
-<P><STRONG><a name="[51]"></a>MyUART_ReceiveByte</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_ReceiveByte))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[50]"></a>MyUART_SendByte</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_SendByte))
-<BR><BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[35]"></a>SystemInit</STRONG> (Thumb, 272 bytes, Stack size 8 bytes, system_stm32f10x.o(.text.SystemInit))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = SystemInit
+<BR>[Calls]<UL><LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
 </UL>
-<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM2_IRQHandler))
+<P><STRONG><a name="[29]"></a>TIM2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, driver_timer.o(i.TIM2_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM2_IRQHandler
+</UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM3_IRQHandler))
+<P><STRONG><a name="[2a]"></a>TIM3_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_timer.o(i.TIM3_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM3_IRQHandler
+</UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM4_IRQHandler))
+<P><STRONG><a name="[2b]"></a>TIM4_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_timer.o(i.TIM4_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM4_IRQHandler
+</UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[42]"></a>main</STRONG> (Thumb, 168 bytes, Stack size 40 bytes, main.o(.text.main))
-<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = main &rArr; MyGPIO_Init
+<P><STRONG><a name="[3b]"></a>erreur</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_adc.o(i.erreur))
+<BR>[Address Reference Count : 1]<UL><LI> driver_adc.o(.data)
 </UL>
-<BR>[Calls]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_ReceiveByte
-<LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_SendByte
-<LI><a href="#[4f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_Init
-<LI><a href="#[4e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Start
-<LI><a href="#[4d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigurePWM
-<LI><a href="#[4c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Base_Init
-<LI><a href="#[4b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Set
-<LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
+<P><STRONG><a name="[48]"></a>main</STRONG> (Thumb, 22 bytes, Stack size 16 bytes, main.o(i.main))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = main &rArr; source_IMU_read
 </UL>
-<BR>[Called By]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+<BR>[Calls]<UL><LI><a href="#[55]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
+<LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_init
+</UL>
+<BR>[Called By]<UL><LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__rt_entry_main
+</UL>
+
+<P><STRONG><a name="[54]"></a>source_IMU_init</STRONG> (Thumb, 34 bytes, Stack size 8 bytes, imu.o(i.source_IMU_init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = source_IMU_init &rArr; source_IMU_write_register
+</UL>
+<BR>[Calls]<UL><LI><a href="#[50]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Init
+<LI><a href="#[56]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+</UL>
+<BR>[Called By]<UL><LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[55]"></a>source_IMU_read</STRONG> (Thumb, 48 bytes, Stack size 24 bytes, imu.o(i.source_IMU_read))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = source_IMU_read
+</UL>
+<BR>[Calls]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
+<LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Send
+<LI><a href="#[58]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Read
+<LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Clear_NSS
+</UL>
+<BR>[Called By]<UL><LI><a href="#[48]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+</UL>
+
+<P><STRONG><a name="[56]"></a>source_IMU_write_register</STRONG> (Thumb, 28 bytes, Stack size 16 bytes, imu.o(i.source_IMU_write_register))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = source_IMU_write_register
+</UL>
+<BR>[Calls]<UL><LI><a href="#[51]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
+<LI><a href="#[57]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Send
+<LI><a href="#[59]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Clear_NSS
+</UL>
+<BR>[Called By]<UL><LI><a href="#[54]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_init
 </UL>
 <P>
 <H3>
 Local Symbols
-</H3><P>
+</H3>
+<P><STRONG><a name="[52]"></a>SetSysClock</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SetSysClock))
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = SetSysClock &rArr; SetSysClockTo72
+</UL>
+<BR>[Calls]<UL><LI><a href="#[53]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClockTo72
+</UL>
+<BR>[Called By]<UL><LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemInit
+</UL>
+
+<P><STRONG><a name="[53]"></a>SetSysClockTo72</STRONG> (Thumb, 214 bytes, Stack size 12 bytes, system_stm32f10x.o(i.SetSysClockTo72))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = SetSysClockTo72
+</UL>
+<BR>[Called By]<UL><LI><a href="#[52]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+</UL>
+<P>
 <H3>
 Undefined Global Symbols
 </H3><HR></body></html>
diff --git a/projet-voilier/Objects/projet-voilier.lnp b/projet-voilier/Objects/projet-voilier.lnp
index 58b9b4c..b3d5cf3 100644
--- a/projet-voilier/Objects/projet-voilier.lnp
+++ b/projet-voilier/Objects/projet-voilier.lnp
@@ -2,7 +2,9 @@
 ".\objects\main.o"
 ".\objects\driver_gpio.o"
 ".\objects\driver_timer.o"
-".\objects\driver_uart.o"
+".\objects\driver_adc.o"
+"..\driver\Lib_Com_Periph_2022.lib"
+".\objects\imu.o"
 ".\objects\startup_stm32f10x_md.o"
 ".\objects\system_stm32f10x.o"
 --ro-base 0x08000000 --entry 0x08000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
diff --git a/projet-voilier/Objects/projet-voilier_reel.axf b/projet-voilier/Objects/projet-voilier_reel.axf
index dc9661a..778362d 100644
Binary files a/projet-voilier/Objects/projet-voilier_reel.axf and b/projet-voilier/Objects/projet-voilier_reel.axf differ
diff --git a/projet-voilier/Objects/projet-voilier_reel.build_log.htm b/projet-voilier/Objects/projet-voilier_reel.build_log.htm
index d1490bb..dba438f 100644
--- a/projet-voilier/Objects/projet-voilier_reel.build_log.htm
+++ b/projet-voilier/Objects/projet-voilier_reel.build_log.htm
@@ -3,84 +3,77 @@
 <pre>
 <h1>µVision Build Log</h1>
 <h2>Tool Versions:</h2>
-IDE-Version: µVision V5.38.0.0
-Copyright (C) 2022 ARM Ltd and ARM Germany GmbH. All rights reserved.
-License Information: Robin M, INSA, LIC=----
+IDE-Version: µVision V5.34.0.0
+Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: CSN CSN, INSA de Toulouse, LIC=----
  
 Tool Versions:
-Toolchain:       MDK-Lite  Version: 5.38.0.0
-Toolchain Path:  C:\Keil_v5\ARM\ARMCLANG\Bin
-C Compiler:      ArmClang.exe V6.19
-Assembler:       Armasm.exe V6.19
-Linker/Locator:  ArmLink.exe V6.19
-Library Manager: ArmAr.exe V6.19
-Hex Converter:   FromElf.exe V6.19
-CPU DLL:         SARMCM3.DLL V5.38.0.0
-Dialog DLL:      DARMSTM.DLL V1.69.1.0
-Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.1.0.0
-Dialog DLL:      TARMSTM.DLL V1.67.1.0
+Toolchain:       MDK-Lite  Version: 5.34.0.0
+Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
+C Compiler:      Armcc.exe V5.06 update 7 (build 960)
+Assembler:       Armasm.exe V5.06 update 7 (build 960)
+Linker/Locator:  ArmLink.exe V5.06 update 7 (build 960)
+Library Manager: ArmAr.exe V5.06 update 7 (build 960)
+Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
+CPU DLL:         SARMCM3.DLL V5.34.0.0
+Dialog DLL:      DARMSTM.DLL V1.68.0.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.0.8.0
+Dialog DLL:      TARMSTM.DLL V1.66.0.0
  
 <h2>Project:</h2>
-C:\Users\robin\OneDrive\Documents\Dev\Projet-Voilier-3\projet-voilier\projet-voilier.uvprojx
-Project File Date:  03/27/2023
+U:\Documents\microcontroleur\Projet-Voilier-3\projet-voilier\projet-voilier.uvprojx
+Project File Date:  04/04/2023
 
 <h2>Output:</h2>
-<<<<<<< HEAD
-*** Using Compiler 'V6.19', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
-Build target 'reel'
-compiling Driver_UART.c...
-=======
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
 Rebuild target 'reel'
 assembling startup_stm32f10x_md.s...
+compiling Driver_GPIO.c...
 compiling Driver_ADC.c...
 compiling system_stm32f10x.c...
-compiling Driver_GPIO.c...
 compiling main.c...
+src\main.c(10): warning:  #550-D: variable "val"  was set but never used
+  	static uint16_t val;
+src\main.c: 1 warning, 0 errors
 compiling Driver_Timer.c...
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+compiling IMU.c...
+..\driver\IMU.c(21): warning:  #177-D: variable "i"  was declared but never referenced
+  	int i;
+..\driver\IMU.c: 1 warning, 0 errors
 linking...
-Program Size: Code=1216 RO-data=268 RW-data=12 ZI-data=1024  
-".\Objects\projet-voilier_reel.axf" - 0 Error(s), 0 Warning(s).
+Program Size: Code=1488 RO-data=268 RW-data=20 ZI-data=1028  
+".\Objects\projet-voilier_reel.axf" - 0 Error(s), 2 Warning(s).
 
 <h2>Software Packages used:</h2>
 
 Package Vendor: ARM
-                http://www.keil.com/pack/ARM.CMSIS.5.9.0.pack
-                ARM.CMSIS.5.9.0
-                CMSIS (Common Microcontroller Software Interface Standard)
-   * Component: CORE Version: 5.6.0
+                http://www.keil.com/pack/ARM.CMSIS.5.7.0.pack
+                ARM.CMSIS.5.7.0
+                CMSIS (Cortex Microcontroller Software Interface Standard)
+   * Component: CORE Version: 5.4.0
 
 Package Vendor: Keil
-                http://www.keil.com/pack/Keil.STM32F1xx_DFP.2.4.0.pack
-                Keil.STM32F1xx_DFP.2.4.0
+                http://www.keil.com/pack/Keil.STM32F1xx_DFP.2.3.0.pack
+                Keil.STM32F1xx_DFP.2.3.0
                 STMicroelectronics STM32F1 Series Device Support, Drivers and Examples
    * Component: Startup Version: 1.0.0
 
 <h2>Collection of Component include folders:</h2>
-  ./RTE/Device/STM32F103RB
-  ./RTE/_reel
-  C:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-  C:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include
+  .\RTE\Device\STM32F103RB
+  .\RTE\_reel
+  C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include
+  C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include
 
 <h2>Collection of Component Files used:</h2>
 
-   * Component: ARM::CMSIS:CORE:5.6.0
+   * Component: ARM::CMSIS:CORE:5.4.0
 
    * Component: Keil::Device:Startup:1.0.0
-<<<<<<< HEAD
-      Source file:   Device/Source/ARM/startup_stm32f10x_md.s
-      Include file:  RTE_Driver/Config/RTE_Device.h
-      Source file:   Device/Source/system_stm32f10x.c
-      Source file:   Device/Source/ARM/STM32F1xx_OPT.s
-Build Time Elapsed:  00:00:00
-=======
-      Include file:  RTE_Driver\Config\RTE_Device.h
-      Source file:   Device\Source\system_stm32f10x.c
       Source file:   Device\Source\ARM\startup_stm32f10x_md.s
+      Include file:  RTE_Driver\Config\RTE_Device.h
       Source file:   Device\Source\ARM\STM32F1xx_OPT.s
-Build Time Elapsed:  00:00:01
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+      Source file:   Device\Source\system_stm32f10x.c
+Build Time Elapsed:  00:00:02
 </pre>
 </body>
 </html>
diff --git a/projet-voilier/Objects/projet-voilier_reel.dep b/projet-voilier/Objects/projet-voilier_reel.dep
index 73270b4..76a0eb7 100644
--- a/projet-voilier/Objects/projet-voilier_reel.dep
+++ b/projet-voilier/Objects/projet-voilier_reel.dep
@@ -61,7 +61,7 @@ I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cms
 I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
 =======
 CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
-F (.\src\main.c)(0x641B1ED7)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
+F (.\src\main.c)(0x642C2204)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
 I (.\RTE\_reel\RTE_Components.h)(0x641B02F1)
 I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
@@ -71,8 +71,10 @@ I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compil
 I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
 I (..\driver\Driver_GPIO.h)(0x641864E8)
-I (..\driver\Driver_Timer.h)(0x6419C780)
-I (..\driver\Driver_ADC.h)(0x641B1EE6)
+I (..\driver\Driver_Timer.h)(0x64269488)
+I (..\driver\Driver_ADC.h)(0x6426958B)
+I (..\driver\MySPI.h)(0x634E5AE0)
+I (..\driver\IMU.h)(0x642C0AF7)
 F (..\driver\Driver_GPIO.c)(0x64186DCB)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_gpio.o --omf_browse .\objects\driver_gpio.crf --depend .\objects\driver_gpio.d)
 I (..\driver\Driver_GPIO.h)(0x641864E8)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
@@ -85,8 +87,8 @@ I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E9122)
 F (..\driver\Driver_GPIO.h)(0x641864E8)()
-F (..\driver\Driver_Timer.c)(0x6419C743)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_timer.o --omf_browse .\objects\driver_timer.crf --depend .\objects\driver_timer.d)
-I (..\driver\Driver_Timer.h)(0x6419C780)
+F (..\driver\Driver_Timer.c)(0x64269488)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_timer.o --omf_browse .\objects\driver_timer.crf --depend .\objects\driver_timer.d)
+I (..\driver\Driver_Timer.h)(0x64269488)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
 I (.\RTE\_reel\RTE_Components.h)(0x641B02F1)
 I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
@@ -96,9 +98,8 @@ I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compil
 I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E9122)
-F (..\driver\Driver_Timer.h)(0x6419C780)()
-F (..\driver\Driver_ADC.c)(0x641B1EBA)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_adc.o --omf_browse .\objects\driver_adc.crf --depend .\objects\driver_adc.d)
-I (..\driver\Driver_ADC.h)(0x641B1EE6)
+F (..\driver\Driver_Timer.h)(0x64269488)()
+F (..\driver\Driver_ADC.c)(0x6426958B)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_adc.o --omf_browse .\objects\driver_adc.crf --depend .\objects\driver_adc.d)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
 I (.\RTE\_reel\RTE_Components.h)(0x641B02F1)
 I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
@@ -108,7 +109,21 @@ I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compil
 I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
 I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
 I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E9122)
-F (..\driver\Driver_ADC.h)(0x641B1EE6)()
+I (..\driver\Driver_ADC.h)(0x6426958B)
+F (..\driver\Driver_ADC.h)(0x6426958B)()
+F (..\driver\Lib_Com_Periph_2022.lib)(0x634E68C6)()
+F (..\driver\MySPI.h)(0x634E5AE0)()
+F (..\driver\IMU.c)(0x642C23EC)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\imu.o --omf_browse .\objects\imu.crf --depend .\objects\imu.d)
+I (..\driver\MySpi.h)(0x634E5AE0)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_reel\RTE_Components.h)(0x641B02F1)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
+F (..\driver\IMU.h)(0x642C0AF7)()
 F (RTE\Device\STM32F103RB\RTE_Device.h)(0x59283406)()
 F (RTE\Device\STM32F103RB\startup_stm32f10x_md.s)(0x58258CCC)(--cpu Cortex-M3 --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1"

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

--pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F10X_MD SETA 1" --pd "_RTE_ SETA 1"

--list .\listings\startup_stm32f10x_md.lst --xref -o .\objects\startup_stm32f10x_md.o --depend .\objects\startup_stm32f10x_md.d)
 F (RTE\Device\STM32F103RB\system_stm32f10x.c)(0x58258CCC)(-c --cpu Cortex-M3 -D__EVAL -D__MICROLIB -g -O0 --apcs=interwork --split_sections -I .\src -I ..\driver

-I.\RTE\Device\STM32F103RB

-I.\RTE\_reel

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\system_stm32f10x.o --omf_browse .\objects\system_stm32f10x.crf --depend .\objects\system_stm32f10x.d)
diff --git a/projet-voilier/Objects/projet-voilier_reel.htm b/projet-voilier/Objects/projet-voilier_reel.htm
index 7509333..cdd4dc4 100644
--- a/projet-voilier/Objects/projet-voilier_reel.htm
+++ b/projet-voilier/Objects/projet-voilier_reel.htm
@@ -3,15 +3,11 @@
 <title>Static Call Graph - [.\Objects\projet-voilier_reel.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\projet-voilier_reel.axf</H1><HR>
-<<<<<<< HEAD
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6190004: Last Updated: Fri Mar 31 11:39:01 2023
-=======
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Wed Mar 22 16:29:44 2023
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Tue Apr 04 15:19:46 2023
 <BR><P>
-<H3>Maximum Stack Usage =         48 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
+<H3>Maximum Stack Usage =         40 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
-main &rArr; MyGPIO_Init
+main &rArr; source_IMU_read
 <P>
 <H3>
 Mutually Recursive functions
@@ -24,17 +20,14 @@ Mutually Recursive functions
  <LI><a href="#[7]">DebugMon_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[7]">DebugMon_Handler</a><BR>
  <LI><a href="#[8]">PendSV_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[8]">PendSV_Handler</a><BR>
  <LI><a href="#[9]">SysTick_Handler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[9]">SysTick_Handler</a><BR>
- <LI><a href="#[1c]">ADC1_2_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1c]">ADC1_2_IRQHandler</a><BR>
- <LI><a href="#[38]">Bug</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[38]">Bug</a><BR>
+ <LI><a href="#[1f]">CAN1_RX1_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1f]">CAN1_RX1_IRQHandler</a><BR>
 </UL>
 <P>
 <H3>
 Function Pointers
 </H3><UL>
- <LI><a href="#[1c]">ADC1_2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[38]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM2_fx)
- <LI><a href="#[38]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM3_fx)
- <LI><a href="#[38]">Bug</a> from driver_timer.o(.text.Bug) referenced from driver_timer.o(.data.TIM4_fx)
+ <LI><a href="#[1c]">ADC1_2_IRQHandler</a> from driver_adc.o(i.ADC1_2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[38]">Bug</a> from driver_timer.o(i.Bug) referenced 3 times from driver_timer.o(.data)
  <LI><a href="#[4]">BusFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[1f]">CAN1_RX1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[20]">CAN1_SCE_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
@@ -66,20 +59,20 @@ Function Pointers
  <LI><a href="#[f]">RCC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[33]">RTCAlarm_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[d]">RTC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[0]">Reset_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[3a]">Reset_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[2d]">SPI1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[2e]">SPI2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[6]">SVC_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[9]">SysTick_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[36]">SystemInit</a> from system_stm32f10x.o(.text.SystemInit) referenced from startup_stm32f10x_md.o(.text)
+ <LI><a href="#[36]">SystemInit</a> from system_stm32f10x.o(i.SystemInit) referenced from startup_stm32f10x_md.o(.text)
  <LI><a href="#[c]">TAMPER_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[22]">TIM1_BRK_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[25]">TIM1_CC_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[24]">TIM1_TRG_COM_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[23]">TIM1_UP_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[26]">TIM2_IRQHandler</a> from driver_timer.o(.text.TIM2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[27]">TIM3_IRQHandler</a> from driver_timer.o(.text.TIM3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
- <LI><a href="#[28]">TIM4_IRQHandler</a> from driver_timer.o(.text.TIM4_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[26]">TIM2_IRQHandler</a> from driver_timer.o(i.TIM2_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[27]">TIM3_IRQHandler</a> from driver_timer.o(i.TIM3_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
+ <LI><a href="#[28]">TIM4_IRQHandler</a> from driver_timer.o(i.TIM4_IRQHandler) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[2f]">USART1_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[30]">USART2_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[31]">USART3_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
@@ -89,7 +82,8 @@ Function Pointers
  <LI><a href="#[5]">UsageFault_Handler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[a]">WWDG_IRQHandler</a> from startup_stm32f10x_md.o(.text) referenced from startup_stm32f10x_md.o(RESET)
  <LI><a href="#[37]">__main</a> from entry.o(.ARM.Collect$$$$00000000) referenced from startup_stm32f10x_md.o(.text)
- <LI><a href="#[35]">main</a> from main.o(.text.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
+ <LI><a href="#[39]">erreur</a> from driver_adc.o(i.erreur) referenced from driver_adc.o(.data)
+ <LI><a href="#[35]">main</a> from main.o(i.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
 </UL>
 <P>
 <H3>
@@ -98,29 +92,30 @@ Global Symbols
 <P><STRONG><a name="[37]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
 </UL>
-<P><STRONG><a name="[43]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
+<P><STRONG><a name="[48]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))
 
-<P><STRONG><a name="[39]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
-<BR><BR>[Calls]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+<P><STRONG><a name="[3b]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
+<BR><BR>[Calls]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>
 
-<P><STRONG><a name="[3b]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
-<BR><BR>[Called By]<UL><LI><a href="#[3a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
+<P><STRONG><a name="[3d]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
+<BR><BR>[Called By]<UL><LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
 </UL>
 
-<P><STRONG><a name="[44]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
+<P><STRONG><a name="[49]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))
 
-<P><STRONG><a name="[45]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
+<P><STRONG><a name="[4a]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))
 
-<P><STRONG><a name="[46]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
+<P><STRONG><a name="[4b]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))
 
-<P><STRONG><a name="[47]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))
+<P><STRONG><a name="[4c]"></a>__rt_lib_shutdown_fini</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E))
 
-<P><STRONG><a name="[48]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))
+<P><STRONG><a name="[4d]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000F))
+
+<P><STRONG><a name="[4e]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))
+
+<P><STRONG><a name="[3a]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 
-<P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
 <P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR><BR>[Calls]<UL><LI><a href="#[1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;NMI_Handler
 </UL>
@@ -184,14 +179,11 @@ Global Symbols
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[1c]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC1_2_IRQHandler
-</UL>
-<BR>[Called By]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC1_2_IRQHandler
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
 <P><STRONG><a name="[1f]"></a>CAN1_RX1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[1f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CAN1_RX1_IRQHandler
+</UL>
+<BR>[Called By]<UL><LI><a href="#[1f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CAN1_RX1_IRQHandler
+</UL>
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
 <P><STRONG><a name="[20]"></a>CAN1_SCE_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
@@ -308,89 +300,136 @@ Global Symbols
 <P><STRONG><a name="[a]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f10x_md.o(.text))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<P><STRONG><a name="[3a]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
-<BR><BR>[Calls]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
+<P><STRONG><a name="[3c]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
+<BR><BR>[Calls]<UL><LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
 </UL>
-<BR>[Called By]<UL><LI><a href="#[39]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
+<BR>[Called By]<UL><LI><a href="#[3b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
 </UL>
 
-<P><STRONG><a name="[49]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
+<P><STRONG><a name="[4f]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)
 
-<P><STRONG><a name="[38]"></a>Bug</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, driver_timer.o(.text.Bug))
-<BR><BR>[Calls]<UL><LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
+<P><STRONG><a name="[1c]"></a>ADC1_2_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_adc.o(i.ADC1_2_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = ADC1_2_IRQHandler
 </UL>
-<BR>[Called By]<UL><LI><a href="#[38]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Bug
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
 </UL>
-<BR>[Address Reference Count : 3]<UL><LI> driver_timer.o(.data.TIM2_fx)
-<LI> driver_timer.o(.data.TIM3_fx)
-<LI> driver_timer.o(.data.TIM4_fx)
+<P><STRONG><a name="[38]"></a>Bug</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_timer.o(i.Bug))
+<BR>[Address Reference Count : 1]<UL><LI> driver_timer.o(.data)
 </UL>
-<P><STRONG><a name="[3c]"></a>MyGPIO_Init</STRONG> (Thumb, 140 bytes, Stack size 8 bytes, driver_gpio.o(.text.MyGPIO_Init))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = MyGPIO_Init
+<P><STRONG><a name="[45]"></a>MySPI_Clear_NSS</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Clear_NSS))
+<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
+</UL>
+
+<P><STRONG><a name="[3e]"></a>MySPI_Init</STRONG> (Thumb, 480 bytes, Stack size 4 bytes, myspi.o(i.MySPI_Init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = MySPI_Init
+</UL>
+<BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
+</UL>
+<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_init
+</UL>
+
+<P><STRONG><a name="[47]"></a>MySPI_Read</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Read))
+<BR><BR>[Called By]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
+</UL>
+
+<P><STRONG><a name="[46]"></a>MySPI_Send</STRONG> (Thumb, 68 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Send))
+<BR><BR>[Called By]<UL><LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
+</UL>
+
+<P><STRONG><a name="[3f]"></a>MySPI_Set_NSS</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, myspi.o(i.MySPI_Set_NSS))
+<BR><BR>[Called By]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Init
+<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
+<LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
+</UL>
+
+<P><STRONG><a name="[36]"></a>SystemInit</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SystemInit))
+<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = SystemInit &rArr; SetSysClock &rArr; SetSysClockTo72
+</UL>
+<BR>[Calls]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
+</UL>
+<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, driver_timer.o(i.TIM2_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM2_IRQHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
+</UL>
+<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_timer.o(i.TIM3_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM3_IRQHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
+</UL>
+<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 22 bytes, Stack size 8 bytes, driver_timer.o(i.TIM4_IRQHandler))
+<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM4_IRQHandler
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
+</UL>
+<P><STRONG><a name="[50]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
+
+<P><STRONG><a name="[51]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
+
+<P><STRONG><a name="[52]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
+
+<P><STRONG><a name="[39]"></a>erreur</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, driver_adc.o(i.erreur))
+<BR>[Address Reference Count : 1]<UL><LI> driver_adc.o(.data)
+</UL>
+<P><STRONG><a name="[35]"></a>main</STRONG> (Thumb, 22 bytes, Stack size 16 bytes, main.o(i.main))
+<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = main &rArr; source_IMU_read
+</UL>
+<BR>[Calls]<UL><LI><a href="#[43]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_read
+<LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_init
+</UL>
+<BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
+</UL>
+<P><STRONG><a name="[42]"></a>source_IMU_init</STRONG> (Thumb, 34 bytes, Stack size 8 bytes, imu.o(i.source_IMU_init))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = source_IMU_init &rArr; source_IMU_write_register
+</UL>
+<BR>[Calls]<UL><LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Init
+<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_write_register
 </UL>
 <BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[3d]"></a>MyGPIO_Set</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, driver_gpio.o(.text.MyGPIO_Set))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[43]"></a>source_IMU_read</STRONG> (Thumb, 52 bytes, Stack size 24 bytes, imu.o(i.source_IMU_read))
+<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = source_IMU_read
+</UL>
+<BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
+<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Send
+<LI><a href="#[47]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Read
+<LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Clear_NSS
+</UL>
+<BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
 
-<P><STRONG><a name="[3e]"></a>MyTimer_Base_Init</STRONG> (Thumb, 140 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Base_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<P><STRONG><a name="[44]"></a>source_IMU_write_register</STRONG> (Thumb, 28 bytes, Stack size 16 bytes, imu.o(i.source_IMU_write_register))
+<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = source_IMU_write_register
 </UL>
-
-<P><STRONG><a name="[3f]"></a>MyTimer_ConfigurePWM</STRONG> (Thumb, 168 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_ConfigurePWM))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Calls]<UL><LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Set_NSS
+<LI><a href="#[46]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Send
+<LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MySPI_Clear_NSS
 </UL>
-
-<P><STRONG><a name="[40]"></a>MyTimer_Start</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, driver_timer.o(.text.MyTimer_Start))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
+<BR>[Called By]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;source_IMU_init
 </UL>
-
-<P><STRONG><a name="[41]"></a>MyUART_Init</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_Init))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[42]"></a>MyUART_SendByte</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, driver_uart.o(.text.MyUART_SendByte))
-<BR><BR>[Called By]<UL><LI><a href="#[35]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
-</UL>
-
-<P><STRONG><a name="[36]"></a>SystemInit</STRONG> (Thumb, 272 bytes, Stack size 8 bytes, system_stm32f10x.o(.text.SystemInit))
-<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = SystemInit
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(.text)
-</UL>
-<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM2_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM3_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, driver_timer.o(.text.TIM4_IRQHandler))
-<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f10x_md.o(RESET)
-</UL>
-<P><STRONG><a name="[35]"></a>main</STRONG> (Thumb, 162 bytes, Stack size 40 bytes, main.o(.text.main))
-<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = main &rArr; MyGPIO_Init
-</UL>
-<BR>[Calls]<UL><LI><a href="#[42]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_SendByte
-<LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyUART_Init
-<LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Start
-<LI><a href="#[3f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_ConfigurePWM
-<LI><a href="#[3e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyTimer_Base_Init
-<LI><a href="#[3d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Set
-<LI><a href="#[3c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MyGPIO_Init
-</UL>
-<BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
-</UL>
-<P><STRONG><a name="[4a]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)
-
-<P><STRONG><a name="[4b]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)
-
-<P><STRONG><a name="[4c]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)
 <P>
 <H3>
 Local Symbols
-</H3><P>
+</H3>
+<P><STRONG><a name="[40]"></a>SetSysClock</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, system_stm32f10x.o(i.SetSysClock))
+<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = SetSysClock &rArr; SetSysClockTo72
+</UL>
+<BR>[Calls]<UL><LI><a href="#[41]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClockTo72
+</UL>
+<BR>[Called By]<UL><LI><a href="#[36]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemInit
+</UL>
+
+<P><STRONG><a name="[41]"></a>SetSysClockTo72</STRONG> (Thumb, 214 bytes, Stack size 12 bytes, system_stm32f10x.o(i.SetSysClockTo72))
+<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = SetSysClockTo72
+</UL>
+<BR>[Called By]<UL><LI><a href="#[40]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SetSysClock
+</UL>
+<P>
 <H3>
 Undefined Global Symbols
 </H3><HR></body></html>
diff --git a/projet-voilier/Objects/projet-voilier_reel.lnp b/projet-voilier/Objects/projet-voilier_reel.lnp
index 355d85c..43722f6 100644
--- a/projet-voilier/Objects/projet-voilier_reel.lnp
+++ b/projet-voilier/Objects/projet-voilier_reel.lnp
@@ -2,11 +2,9 @@
 ".\objects\main.o"
 ".\objects\driver_gpio.o"
 ".\objects\driver_timer.o"
-<<<<<<< HEAD
-".\objects\driver_uart.o"
-=======
 ".\objects\driver_adc.o"
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+"..\driver\Lib_Com_Periph_2022.lib"
+".\objects\imu.o"
 ".\objects\startup_stm32f10x_md.o"
 ".\objects\system_stm32f10x.o"
 --library_type=microlib --ro-base 0x08000000 --entry 0x08000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
diff --git a/projet-voilier/Objects/projet-voilier_sim.dep b/projet-voilier/Objects/projet-voilier_sim.dep
index 2cd7c0c..a7605ff 100644
--- a/projet-voilier/Objects/projet-voilier_sim.dep
+++ b/projet-voilier/Objects/projet-voilier_sim.dep
@@ -1,60 +1,76 @@
 Dependencies for Project 'projet-voilier', Target 'sim': (DO NOT MODIFY !)
-CompilerVersion: 6190000::V6.19::ARMCLANG
-F (.\src\main.c)(0x6426AEF0)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

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

-D__EVAL -gdwarf-4 -O1 -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 ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/main.o -MD)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
-I (RTE\_sim\RTE_Components.h)(0x6421A260)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-I (..\driver\Driver_GPIO.h)(0x641B050C)
-I (..\driver\Driver_Timer.h)(0x6421D747)
-I (..\driver\Driver_UART.h)(0x6425DA6A)
-F (..\driver\Driver_GPIO.c)(0x641B050C)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

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

-D__EVAL -gdwarf-4 -O1 -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 ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_gpio.o -MD)
-I (..\driver\Driver_GPIO.h)(0x641B050C)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
-I (RTE\_sim\RTE_Components.h)(0x6421A260)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-F (..\driver\Driver_GPIO.h)(0x641B050C)()
-F (..\driver\Driver_Timer.c)(0x6425CEE2)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

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

-D__EVAL -gdwarf-4 -O1 -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 ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_timer.o -MD)
-I (..\driver\Driver_Timer.h)(0x6421D747)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
-I (RTE\_sim\RTE_Components.h)(0x6421A260)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdio.h)(0x6388AB78)
-F (..\driver\Driver_Timer.h)(0x6421D747)()
-F (..\driver\Driver_UART.c)(0x6426ACD7)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

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

-D__EVAL -gdwarf-4 -O1 -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 ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/driver_uart.o -MD)
-I (..\driver\Driver_UART.h)(0x6425DA6A)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
-I (RTE\_sim\RTE_Components.h)(0x6421A260)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
-F (..\driver\Driver_UART.h)(0x6425DA6A)()
-F (RTE/Device/STM32F103RB/RTE_Device.h)(0x641B050C)()
-F (RTE/Device/STM32F103RB/startup_stm32f10x_md.s)(0x641B050C)(--target=arm-arm-none-eabi -mcpu=cortex-m3 -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c

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

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-Wa,armasm,--pd,"__UVISION_VERSION SETA 538" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F10X_MD SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1"

-o ./objects/startup_stm32f10x_md.o)
-F (RTE/Device/STM32F103RB/system_stm32f10x.c)(0x641B050C)(-xc -std=c90 --target=arm-arm-none-eabi -mcpu=cortex-m3 -c

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

-D__EVAL -gdwarf-4 -O1 -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 ../driver -I ./src

-I./RTE/Device/STM32F103RB

-I./RTE/_sim

-IC:/Users/robin/AppData/Local/Arm/Packs/ARM/CMSIS/5.9.0/CMSIS/Core/Include

-IC:/Users/robin/AppData/Local/Arm/Packs/Keil/STM32F1xx_DFP/2.4.0/Device/Include

-D__UVISION_VERSION="538" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o ./objects/system_stm32f10x.o -MD)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\stm32f10x.h)(0x61ADDBCE)
-I (RTE\_sim\RTE_Components.h)(0x6421A260)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\core_cm3.h)(0x626FAD4E)
-I (C:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6388AB78)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_version.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_compiler.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\ARM\CMSIS\5.9.0\CMSIS\Core\Include\cmsis_armclang.h)(0x626FAD4E)
-I (C:\Users\robin\AppData\Local\Arm\Packs\Keil\STM32F1xx_DFP\2.4.0\Device\Include\system_stm32f10x.h)(0x61ADDBCE)
+CompilerVersion: 5060960::V5.06 update 7 (build 960)::.\ARMCC
+F (.\src\main.c)(0x642C2204)(-c --cpu Cortex-M3 -D__EVAL -g -O0 --apcs=interwork --split_sections -I ..\driver -I .\src

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_sim\RTE_Components.h)(0x641B00B4)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
+I (..\driver\Driver_GPIO.h)(0x641864E8)
+I (..\driver\Driver_Timer.h)(0x64269488)
+I (..\driver\Driver_ADC.h)(0x6426958B)
+I (..\driver\MySPI.h)(0x634E5AE0)
+I (..\driver\IMU.h)(0x642C0AF7)
+F (..\driver\Driver_GPIO.c)(0x64186DCB)(-c --cpu Cortex-M3 -D__EVAL -g -O0 --apcs=interwork --split_sections -I ..\driver -I .\src

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_gpio.o --omf_browse .\objects\driver_gpio.crf --depend .\objects\driver_gpio.d)
+I (..\driver\Driver_GPIO.h)(0x641864E8)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_sim\RTE_Components.h)(0x641B00B4)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E9122)
+F (..\driver\Driver_GPIO.h)(0x641864E8)()
+F (..\driver\Driver_Timer.c)(0x64269488)(-c --cpu Cortex-M3 -D__EVAL -g -O0 --apcs=interwork --split_sections -I ..\driver -I .\src

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_timer.o --omf_browse .\objects\driver_timer.crf --depend .\objects\driver_timer.d)
+I (..\driver\Driver_Timer.h)(0x64269488)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_sim\RTE_Components.h)(0x641B00B4)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E9122)
+F (..\driver\Driver_Timer.h)(0x64269488)()
+F (..\driver\Driver_ADC.c)(0x6426958B)(-c --cpu Cortex-M3 -D__EVAL -g -O0 --apcs=interwork --split_sections -I ..\driver -I .\src

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\driver_adc.o --omf_browse .\objects\driver_adc.crf --depend .\objects\driver_adc.d)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_sim\RTE_Components.h)(0x641B00B4)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
+I (C:\Keil_v5\ARM\ARMCC\include\stdio.h)(0x5E8E9122)
+I (..\driver\Driver_ADC.h)(0x6426958B)
+F (..\driver\Driver_ADC.h)(0x6426958B)()
+F (..\driver\Lib_Com_Periph_2022.lib)(0x634E68C6)()
+F (..\driver\MySPI.h)(0x634E5AE0)()
+F (..\driver\IMU.c)(0x642C21C5)(-c --cpu Cortex-M3 -D__EVAL -g -O0 --apcs=interwork --split_sections -I ..\driver -I .\src

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\imu.o --omf_browse .\objects\imu.crf --depend .\objects\imu.d)
+I (..\driver\MySpi.h)(0x634E5AE0)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_sim\RTE_Components.h)(0x641B00B4)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
+F (..\driver\IMU.h)(0x642C0AF7)()
+F (RTE\Device\STM32F103RB\RTE_Device.h)(0x59283406)()
+F (RTE\Device\STM32F103RB\startup_stm32f10x_md.s)(0x58258CCC)(--cpu Cortex-M3 --pd "__EVAL SETA 1" -g --apcs=interwork 

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

--pd "__UVISION_VERSION SETA 534" --pd "_RTE_ SETA 1" --pd "STM32F10X_MD SETA 1" --pd "_RTE_ SETA 1"

--list .\listings\startup_stm32f10x_md.lst --xref -o .\objects\startup_stm32f10x_md.o --depend .\objects\startup_stm32f10x_md.d)
+F (RTE\Device\STM32F103RB\system_stm32f10x.c)(0x58258CCC)(-c --cpu Cortex-M3 -D__EVAL -g -O0 --apcs=interwork --split_sections -I ..\driver -I .\src

-I.\RTE\Device\STM32F103RB

-I.\RTE\_sim

-IC:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-IC:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F10X_MD -D_RTE_

-o .\objects\system_stm32f10x.o --omf_browse .\objects\system_stm32f10x.crf --depend .\objects\system_stm32f10x.d)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h)(0x58258CCC)
+I (.\RTE\_sim\RTE_Components.h)(0x641B00B4)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\core_cm3.h)(0x5E8F2582)
+I (C:\Keil_v5\ARM\ARMCC\include\stdint.h)(0x5E8E9122)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_version.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_compiler.h)(0x5E835B22)
+I (C:\Programdata\Keil\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include\cmsis_armcc.h)(0x5E8F2582)
+I (C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\system_stm32f10x.h)(0x58258CCC)
diff --git a/projet-voilier/Objects/system_stm32f10x.crf b/projet-voilier/Objects/system_stm32f10x.crf
index 0a31406..c7894a4 100644
Binary files a/projet-voilier/Objects/system_stm32f10x.crf and b/projet-voilier/Objects/system_stm32f10x.crf differ
diff --git a/projet-voilier/Objects/system_stm32f10x.o b/projet-voilier/Objects/system_stm32f10x.o
index b21be5e..caa5b0d 100644
Binary files a/projet-voilier/Objects/system_stm32f10x.o and b/projet-voilier/Objects/system_stm32f10x.o differ
diff --git a/projet-voilier/projet-voilier.uvguix.sanch b/projet-voilier/projet-voilier.uvguix.sanch
index 6693679..5ad4760 100644
--- a/projet-voilier/projet-voilier.uvguix.sanch
+++ b/projet-voilier/projet-voilier.uvguix.sanch
@@ -6,7 +6,7 @@
   <Header>### uVision Project, (C) Keil Software</Header>
 
   <PrjGuiSettings>
-    <LastAddFilePath>U:\Documents\microcontroleur\Projet-Voilier-3\driver</LastAddFilePath>
+    <LastAddFilePath>U:\Documents\microcontroleur\Projet-Voilier-3\projet-voilier</LastAddFilePath>
   </PrjGuiSettings>
 
   <ViewPool/>
@@ -15,17 +15,17 @@
     <View>
       <WinId>38003</WinId>
       <ViewName>Registers</ViewName>
-      <TableColWidths>185 186</TableColWidths>
+      <TableColWidths>185 100</TableColWidths>
     </View>
     <View>
       <WinId>346</WinId>
       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>1010 160</TableColWidths>
+      <TableColWidths>1010 673</TableColWidths>
     </View>
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>1170</TableColWidths>
+      <TableColWidths>1170 175 175 163</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -63,8 +63,8 @@
     <View>
       <WinId>2506</WinId>
       <ViewName>Trace Data</ViewName>
-      <UserString></UserString>
-      <TableColWidths>75 135 130 95 70 230 200 150</TableColWidths>
+      <UserString>FiltIdx=0;DescrEn=0;DescrHeight=4;FuncTrc=1;FindType=8;ColWidths=004B00870082005F004600E600C80096</UserString>
+      <TableColWidths>75 135 95 70 230 200 150</TableColWidths>
     </View>
     <View>
       <WinId>466</WinId>
@@ -93,25 +93,25 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
         <yPos>-1</yPos>
       </MaxPosition>
       <NormalPosition>
-        <Top>495</Top>
-        <Left>289</Left>
-        <Right>1729</Right>
-        <Bottom>1341</Bottom>
+        <Top>378</Top>
+        <Left>190</Left>
+        <Right>1630</Right>
+        <Bottom>1224</Bottom>
       </NormalPosition>
     </WindowPosition>
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>1231</Len>
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         <OriginalItems>
           <Len>583</Len>
@@ -3579,7 +3579,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2362</Len>
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         <OriginalItems>
           <Len>898</Len>
@@ -3603,28 +3603,37 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>9</ActiveTab>
+      <ActiveTab>0</ActiveTab>
       <Doc>
         <Name>.\src\main.c</Name>
-        <ColumnNumber>23</ColumnNumber>
+        <ColumnNumber>12</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>4</CurrentLine>
+        <CurrentLine>14</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\driver\Driver_GPIO.c</Name>
-        <ColumnNumber>7</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>11</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
-      <Doc>
-        <Name>..\driver\Driver_GPIO.h</Name>
+        <Name>RTE\Device\STM32F103RB\startup_stm32f10x_md.s</Name>
         <ColumnNumber>0</ColumnNumber>
+        <TopLine>122</TopLine>
+        <CurrentLine>133</CurrentLine>
+        <Folding>0</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>U:\Documents\microcontroleur\Projet-Voilier-3\driver\Driver_SPI.c</Name>
+        <ColumnNumber>8</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>38</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>U:\Documents\microcontroleur\Projet-Voilier-3\driver\Driver_SPI.h</Name>
+        <ColumnNumber>18</ColumnNumber>
         <TopLine>1</TopLine>
         <CurrentLine>1</CurrentLine>
         <Folding>1</Folding>
@@ -3632,34 +3641,7 @@
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\driver\Driver_Timer.c</Name>
-        <ColumnNumber>14</ColumnNumber>
-        <TopLine>30</TopLine>
-        <CurrentLine>46</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
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-      <Doc>
-        <Name>..\driver\Driver_Timer.h</Name>
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-        <CurrentLine>49</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
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-      </Doc>
-      <Doc>
-        <Name>RTE\Device\STM32F103RB\startup_stm32f10x_md.s</Name>
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-        <TopLine>134</TopLine>
-        <CurrentLine>135</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
-      <Doc>
-        <Name>RTE\Device\STM32F103RB\RTE_Device.h</Name>
+        <Name>..\driver\Driver_ADC.h</Name>
         <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
         <CurrentLine>1</CurrentLine>
@@ -3670,26 +3652,44 @@
       <Doc>
         <Name>C:\Programdata\Keil\Arm\Packs\Keil\STM32F1xx_DFP\2.3.0\Device\Include\stm32f10x.h</Name>
         <ColumnNumber>12</ColumnNumber>
-        <TopLine>1412</TopLine>
-        <CurrentLine>1420</CurrentLine>
+        <TopLine>1407</TopLine>
+        <CurrentLine>1423</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\driver\IMU.h</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>10</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\driver\IMU.c</Name>
+        <ColumnNumber>21</ColumnNumber>
+        <TopLine>11</TopLine>
+        <CurrentLine>46</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\driver\Driver_ADC.c</Name>
-        <ColumnNumber>1</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>34</CurrentLine>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>4</TopLine>
+        <CurrentLine>64</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
       </Doc>
       <Doc>
-        <Name>..\driver\Driver_ADC.h</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>10</CurrentLine>
+        <Name>..\driver\MySPI.h</Name>
+        <ColumnNumber>15</ColumnNumber>
+        <TopLine>82</TopLine>
+        <CurrentLine>70</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
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diff --git a/projet-voilier/projet-voilier.uvoptx b/projet-voilier/projet-voilier.uvoptx
index 68f5219..7fe4ad5 100644
--- a/projet-voilier/projet-voilier.uvoptx
+++ b/projet-voilier/projet-voilier.uvoptx
@@ -75,8 +75,6 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-<<<<<<< HEAD
-=======
         <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
@@ -127,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGDARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=75,104,496,531,0)(121=-1,-1,-1,-1,0)(122=75,104,496,531,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(234=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=1125,344,1728,1095,1)(151=-1,-1,-1,-1,0)</Name>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=75,104,496,531,0)(121=-1,-1,-1,-1,0)(122=75,104,496,531,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=41,406,368,764,1)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(234=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=1222,193,1825,944,1)(151=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -144,9 +142,9 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>23</LineNumber>
+          <LineNumber>41</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134219356</Address>
+          <Address>134219538</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
@@ -155,39 +153,7 @@
           <BreakIfRCount>1</BreakIfRCount>
           <Filename>.\src\main.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier\src/main.c\23</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>9</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134219402</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>.\src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier\src/main.c\9</Expression>
-        </Bp>
-        <Bp>
-          <Number>2</Number>
-          <Type>0</Type>
-          <LineNumber>62</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134218310</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\driver\Driver_ADC.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier\../driver/Driver_ADC.c\62</Expression>
+          <Expression>\\projet_voilier\src/main.c\41</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -196,7 +162,20 @@
           <WinNumber>1</WinNumber>
           <ItemText>val</ItemText>
         </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>values</ItemText>
+        </Ww>
       </WatchWindow1>
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>values</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -303,7 +282,6 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
@@ -354,11 +332,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGTARM</Key>
-<<<<<<< HEAD
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-=======
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=75,104,496,509,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=120,153,405,449,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=1048,459,1651,1093,1)(151=-1,-1,-1,-1,0)</Name>
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=75,104,496,509,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=120,153,405,449,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=252,566,855,1200,0)(151=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -373,7 +347,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U066BFF504955857567212025 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
+          <Name>-U066BFF504955857567212025 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -381,75 +355,27 @@
           <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM))</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-<<<<<<< HEAD
-          <LineNumber>53</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134219424</Address>
-=======
-          <LineNumber>62</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134218062</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\driver\Driver_ADC.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier_reel\../driver/Driver_ADC.c\62</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>27</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134219156</Address>
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>.\src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-<<<<<<< HEAD
-          <Expression>\\projet_voilier\src/main.c\53</Expression>
-        </Bp>
-      </Breakpoint>
-=======
-          <Expression>\\projet_voilier_reel\src/main.c\27</Expression>
-        </Bp>
-        <Bp>
-          <Number>2</Number>
-          <Type>0</Type>
-          <LineNumber>64</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>..\driver\Driver_ADC.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
-        </Bp>
-      </Breakpoint>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
           <ItemText>val</ItemText>
         </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>values</ItemText>
+        </Ww>
       </WatchWindow1>
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+      <MemoryWindow1>
+        <Mm>
+          <WinNumber>1</WinNumber>
+          <SubType>0</SubType>
+          <ItemText>0x20000408</ItemText>
+          <AccSizeX>0</AccSizeX>
+        </Mm>
+      </MemoryWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -459,7 +385,7 @@
         <aLwin>1</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
-        <aSer2>1</aSer2>
+        <aSer2>0</aSer2>
         <aPa>0</aPa>
         <viewmode>1</viewmode>
         <vrSel>0</vrSel>
@@ -502,203 +428,6 @@
     </TargetOption>
   </Target>
 
-  <Target>
-    <TargetName>reel</TargetName>
-    <ToolsetNumber>0x4</ToolsetNumber>
-    <ToolsetName>ARM-ADS</ToolsetName>
-    <TargetOption>
-      <CLKADS>12000000</CLKADS>
-      <OPTTT>
-        <gFlags>1</gFlags>
-        <BeepAtEnd>1</BeepAtEnd>
-        <RunSim>0</RunSim>
-        <RunTarget>1</RunTarget>
-        <RunAbUc>0</RunAbUc>
-      </OPTTT>
-      <OPTHX>
-        <HexSelection>1</HexSelection>
-        <FlashByte>65535</FlashByte>
-        <HexRangeLowAddress>0</HexRangeLowAddress>
-        <HexRangeHighAddress>0</HexRangeHighAddress>
-        <HexOffset>0</HexOffset>
-      </OPTHX>
-      <OPTLEX>
-        <PageWidth>79</PageWidth>
-        <PageLength>66</PageLength>
-        <TabStop>8</TabStop>
-        <ListingPath>.\Listings\</ListingPath>
-      </OPTLEX>
-      <ListingPage>
-        <CreateCListing>1</CreateCListing>
-        <CreateAListing>1</CreateAListing>
-        <CreateLListing>1</CreateLListing>
-        <CreateIListing>0</CreateIListing>
-        <AsmCond>1</AsmCond>
-        <AsmSymb>1</AsmSymb>
-        <AsmXref>0</AsmXref>
-        <CCond>1</CCond>
-        <CCode>0</CCode>
-        <CListInc>0</CListInc>
-        <CSymb>0</CSymb>
-        <LinkerCodeListing>0</LinkerCodeListing>
-      </ListingPage>
-      <OPTXL>
-        <LMap>1</LMap>
-        <LComments>1</LComments>
-        <LGenerateSymbols>1</LGenerateSymbols>
-        <LLibSym>1</LLibSym>
-        <LLines>1</LLines>
-        <LLocSym>1</LLocSym>
-        <LPubSym>1</LPubSym>
-        <LXref>0</LXref>
-        <LExpSel>0</LExpSel>
-      </OPTXL>
-      <OPTFL>
-        <tvExp>1</tvExp>
-        <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
-      </OPTFL>
-      <CpuCode>18</CpuCode>
-      <DebugOpt>
-        <uSim>0</uSim>
-        <uTrg>1</uTrg>
-        <sLdApp>1</sLdApp>
-        <sGomain>1</sGomain>
-        <sRbreak>1</sRbreak>
-        <sRwatch>1</sRwatch>
-        <sRmem>1</sRmem>
-        <sRfunc>1</sRfunc>
-        <sRbox>1</sRbox>
-        <tLdApp>1</tLdApp>
-        <tGomain>1</tGomain>
-        <tRbreak>1</tRbreak>
-        <tRwatch>1</tRwatch>
-        <tRmem>1</tRmem>
-        <tRfunc>0</tRfunc>
-        <tRbox>1</tRbox>
-        <tRtrace>1</tRtrace>
-        <sRSysVw>1</sRSysVw>
-        <tRSysVw>1</tRSysVw>
-        <sRunDeb>0</sRunDeb>
-        <sLrtime>0</sLrtime>
-        <bEvRecOn>1</bEvRecOn>
-        <bSchkAxf>0</bSchkAxf>
-        <bTchkAxf>0</bTchkAxf>
-        <nTsel>6</nTsel>
-        <sDll></sDll>
-        <sDllPa></sDllPa>
-        <sDlgDll></sDlgDll>
-        <sDlgPa></sDlgPa>
-        <sIfile></sIfile>
-        <tDll></tDll>
-        <tDllPa></tDllPa>
-        <tDlgDll></tDlgDll>
-        <tDlgPa></tDlgPa>
-        <tIfile></tIfile>
-        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
-      </DebugOpt>
-      <TargetDriverDllRegistry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMRTXEVENTFLAGS</Key>
-          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGTARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=16,47,662,720,0)(110=61,96,281,556,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=942,311,1363,716,1)(121=961,76,1382,481,0)(122=920,173,1341,578,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=105,137,504,482,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=120,153,405,449,0)(130=-1,-1,-1,-1,0)(131=418,192,1012,886,0)(132=207,214,801,908,0)(133=442,222,1036,916,0)(160=-1,-1,-1,-1,0)(161=978,399,1426,813,1)(162=455,416,903,830,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ARMDBGFLAGS</Key>
-          <Name></Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U066BFF504955857567212025 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(1BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2</Name>
-        </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>UL2CM3</Key>
-          <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM))</Name>
-        </SetRegEntry>
-      </TargetDriverDllRegistry>
-      <Breakpoint>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>49</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134219140</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>.\src\main.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\projet_voilier_reel\src/main.c\49</Expression>
-        </Bp>
-      </Breakpoint>
-      <Tracepoint>
-        <THDelay>0</THDelay>
-      </Tracepoint>
-      <DebugFlag>
-        <trace>0</trace>
-        <periodic>1</periodic>
-        <aLwin>1</aLwin>
-        <aCover>0</aCover>
-        <aSer1>0</aSer1>
-        <aSer2>1</aSer2>
-        <aPa>0</aPa>
-        <viewmode>1</viewmode>
-        <vrSel>0</vrSel>
-        <aSym>0</aSym>
-        <aTbox>0</aTbox>
-        <AscS1>0</AscS1>
-        <AscS2>0</AscS2>
-        <AscS3>0</AscS3>
-        <aSer3>1</aSer3>
-        <eProf>0</eProf>
-        <aLa>0</aLa>
-        <aPa1>0</aPa1>
-        <AscS4>0</AscS4>
-        <aSer4>0</aSer4>
-        <StkLoc>0</StkLoc>
-        <TrcWin>0</TrcWin>
-        <newCpu>0</newCpu>
-        <uProt>0</uProt>
-      </DebugFlag>
-      <LintExecutable></LintExecutable>
-      <LintConfigFile></LintConfigFile>
-      <bLintAuto>0</bLintAuto>
-      <bAutoGenD>0</bAutoGenD>
-      <LntExFlags>0</LntExFlags>
-      <pMisraName></pMisraName>
-      <pszMrule></pszMrule>
-      <pSingCmds></pSingCmds>
-      <pMultCmds></pMultCmds>
-      <pMisraNamep></pMisraNamep>
-      <pszMrulep></pszMrulep>
-      <pSingCmdsp></pSingCmdsp>
-      <pMultCmdsp></pMultCmdsp>
-      <DebugDescription>
-        <Enable>1</Enable>
-        <EnableFlashSeq>0</EnableFlashSeq>
-        <EnableLog>0</EnableLog>
-        <Protocol>2</Protocol>
-        <DbgClock>10000000</DbgClock>
-      </DebugDescription>
-    </TargetOption>
-  </Target>
-
   <Group>
     <GroupName>src</GroupName>
     <tvExp>1</tvExp>
@@ -780,13 +509,8 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-<<<<<<< HEAD
-      <PathWithFileName>..\driver\Driver_UART.c</PathWithFileName>
-      <FilenameWithoutPath>Driver_UART.c</FilenameWithoutPath>
-=======
       <PathWithFileName>..\driver\Driver_ADC.c</PathWithFileName>
       <FilenameWithoutPath>Driver_ADC.c</FilenameWithoutPath>
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
@@ -797,13 +521,56 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-<<<<<<< HEAD
-      <PathWithFileName>..\driver\Driver_UART.h</PathWithFileName>
-      <FilenameWithoutPath>Driver_UART.h</FilenameWithoutPath>
-=======
       <PathWithFileName>..\driver\Driver_ADC.h</PathWithFileName>
       <FilenameWithoutPath>Driver_ADC.h</FilenameWithoutPath>
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>8</FileNumber>
+      <FileType>4</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\driver\Lib_Com_Periph_2022.lib</PathWithFileName>
+      <FilenameWithoutPath>Lib_Com_Periph_2022.lib</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>9</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\driver\MySPI.h</PathWithFileName>
+      <FilenameWithoutPath>MySPI.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>10</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\driver\IMU.c</PathWithFileName>
+      <FilenameWithoutPath>IMU.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>2</GroupNumber>
+      <FileNumber>11</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\driver\IMU.h</PathWithFileName>
+      <FilenameWithoutPath>IMU.h</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
diff --git a/projet-voilier/projet-voilier.uvprojx b/projet-voilier/projet-voilier.uvprojx
index 2f9403e..05d8b81 100644
--- a/projet-voilier/projet-voilier.uvprojx
+++ b/projet-voilier/projet-voilier.uvprojx
@@ -435,6 +435,26 @@
               <FilePath>..\driver\Driver_ADC.h</FilePath>
 >>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
             </File>
+            <File>
+              <FileName>Lib_Com_Periph_2022.lib</FileName>
+              <FileType>4</FileType>
+              <FilePath>..\driver\Lib_Com_Periph_2022.lib</FilePath>
+            </File>
+            <File>
+              <FileName>MySPI.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\driver\MySPI.h</FilePath>
+            </File>
+            <File>
+              <FileName>IMU.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\driver\IMU.c</FilePath>
+            </File>
+            <File>
+              <FileName>IMU.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\driver\IMU.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
@@ -874,6 +894,26 @@
               <FilePath>..\driver\Driver_ADC.h</FilePath>
 >>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
             </File>
+            <File>
+              <FileName>Lib_Com_Periph_2022.lib</FileName>
+              <FileType>4</FileType>
+              <FilePath>..\driver\Lib_Com_Periph_2022.lib</FilePath>
+            </File>
+            <File>
+              <FileName>MySPI.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\driver\MySPI.h</FilePath>
+            </File>
+            <File>
+              <FileName>IMU.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\driver\IMU.c</FilePath>
+            </File>
+            <File>
+              <FileName>IMU.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\driver\IMU.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/projet-voilier/src/main.c b/projet-voilier/src/main.c
index 66883c4..fc68a89 100644
--- a/projet-voilier/src/main.c
+++ b/projet-voilier/src/main.c
@@ -5,74 +5,21 @@
 #include "Driver_UART.h"
 =======
 #include "Driver_ADC.h"
-
-void toto (void)
-{
-	static uint16_t val;
-	val = driver_adc_1_read();
-}
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
-
+#include "MySPI.h"
+#include "Driver_IMU.h"
 int main() {
-	MyGPIO_Struct_TypeDef LED;
+//Pour le Driver_IMU
+	char DATAX0 = 0x32;
+	unsigned char values[6];
+
 	MyGPIO_Struct_TypeDef GPIO_ADC1;
 	
-	LED.GPIO_Pin = 5;
-	LED.GPIO_Conf = Out_Ppull;
-	LED.GPIO = GPIOA;
-	MyGPIO_Init(&LED);
-	MyGPIO_Set(LED.GPIO, LED.GPIO_Pin);
-<<<<<<< HEAD
+  	driver_adc_1_launch_read();
 
-	MyGPIO_Struct_TypeDef PWM_GPIO;
-	PWM_GPIO.GPIO_Pin = 0;
-	PWM_GPIO.GPIO_Conf = AltOut_Ppull;
-	PWM_GPIO.GPIO = GPIOA;
-	MyGPIO_Init(&PWM_GPIO);
-
-	MyTimer_Struct_TypeDef PWM;
-	PWM.Timer = TIM2;
-	PWM.PSC = 7200;
-	PWM.ARR = 5000;
-	MyTimer_Base_Init(&PWM);
-	MyTimer_ConfigurePWM(&PWM, 1, 40);
-	MyTimer_Start(&PWM);
-
-
-
-	MyGPIO_Struct_TypeDef UART;
-	UART.GPIO_Pin = 10;
-	UART.GPIO_Conf = AltOut_Ppull;
-	UART.GPIO = GPIOB;
-	MyGPIO_Init(&UART);
-
-	UART.GPIO_Pin = 11;
-	UART.GPIO_Conf = In_Floating;
-	UART.GPIO = GPIOB;
-	MyGPIO_Init(&UART);
-
-	MyUART_Struct_TypeDef UART_TEST;
-	UART_TEST.baudrate = 9600;
-	UART_TEST.UART = USART3; // USART3_TX : PB10
-	MyUART_Init(&UART_TEST);
-
-
-	while(1) {
-		MyUART_SendByte(&UART_TEST, 'A');
-
-		for (int i = 0; i < 100000000; i++);
-
-		int a = MyUART_ReceiveByte(&UART_TEST);
+	driver_IMU_init();
+	while(1)
+	{
+		driver_IMU_read(DATAX0, 6, values);
 	}
-=======
-	
-	GPIO_ADC1.GPIO_Pin = 1;
-  GPIO_ADC1.GPIO_Conf = In_Analog;
-  GPIO_ADC1.GPIO = GPIOC;
-  MyGPIO_Init(&GPIO_ADC1);	
-	
-	driver_adc_1_init(0x01,&toto);
-  driver_adc_1_launch_read();
-	while(1);
->>>>>>> 26e44a6d5ba2eda12f591ccdce71c8c854107110
+}
 }