0
diff --git a/MDK-ARM/hero/atti_esti.o b/MDK-ARM/hero/atti_esti.o
index 12d7fb8..3a43a5a 100644
Binary files a/MDK-ARM/hero/atti_esti.o and b/MDK-ARM/hero/atti_esti.o differ
diff --git a/MDK-ARM/hero/chassis.o b/MDK-ARM/hero/chassis.o
index 3af4f70..1469345 100644
Binary files a/MDK-ARM/hero/chassis.o and b/MDK-ARM/hero/chassis.o differ
diff --git a/MDK-ARM/hero/cmd.o b/MDK-ARM/hero/cmd.o
index 7c6002c..52ec024 100644
Binary files a/MDK-ARM/hero/cmd.o and b/MDK-ARM/hero/cmd.o differ
diff --git a/MDK-ARM/hero/hero.axf b/MDK-ARM/hero/hero.axf
index b12f2db..5fa1ebb 100644
Binary files a/MDK-ARM/hero/hero.axf and b/MDK-ARM/hero/hero.axf differ
diff --git a/MDK-ARM/hero/hero.build_log.htm b/MDK-ARM/hero/hero.build_log.htm
index 75a5856..14fdf42 100644
--- a/MDK-ARM/hero/hero.build_log.htm
+++ b/MDK-ARM/hero/hero.build_log.htm
@@ -30,9 +30,10 @@ Build target 'hero'
Note: source file '..\User\bsp\can.c' - object file renamed from 'hero\can.o' to 'hero\can_1.o'.
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'hero\gpio.o' to 'hero\gpio_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'hero\spi.o' to 'hero\spi_1.o'.
+compiling blink.c...
compiling chassis.c...
linking...
-Program Size: Code=89976 RO-data=1200 RW-data=624 ZI-data=42304
+Program Size: Code=89872 RO-data=1200 RW-data=624 ZI-data=42304
FromELF: creating hex file...
"hero\hero.axf" - 0 Error(s), 0 Warning(s).
diff --git a/MDK-ARM/hero/hero.hex b/MDK-ARM/hero/hero.hex
index 423e54b..625a4ba 100644
--- a/MDK-ARM/hero/hero.hex
+++ b/MDK-ARM/hero/hero.hex
@@ -26,8 +26,8 @@
:10018000830200088302000800F002F800F05CF827
:100190000AA090E8000C82448344AAF10107DA45E2
:1001A00001D100F051F8AFF2090EBAE80F0013F0D8
-:1001B000010F18BFFB1A43F0010318474C620100FE
-:1001C0006C6201000A444FF0000C10F8013B13F080
+:1001B000010F18BFFB1A43F001031847E461010067
+:1001C000046201000A444FF0000C10F8013B13F0E8
:1001D000070408BF10F8014B1D1108BF10F8015BA0
:1001E000641E05D010F8016B641E01F8016BF9D193
:1001F00013F0080F1EBF10F8014BAD1C0C1B09D1EA
@@ -35,8 +35,8 @@
:1002100001F8016B6D1EF9D59142D6D370470000ED
:100220000023002400250026103A28BF78C1FBD8FF
:10023000520728BF30C148BF0B6070471FB515F08B
-:1002400006FF1FBD10B510BD00F062F91146FFF7A3
-:10025000F5FF0FF0B9FE00F080F903B4FFF7F2FFED
+:10024000D2FE1FBD10B510BD00F062F91146FFF7D8
+:10025000F5FF0FF085FE00F080F903B4FFF7F2FF21
:1002600003BC00F083F900000948804709480047B3
:10027000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE756
:10028000FEE7FEE704480549054A064B70470000B3
@@ -94,30 +94,30 @@
:1005C000000A8DED060A079890ED010A90ED021AD7
:1005D00020EE000A21EE011A30EE010A30EE001A78
:1005E000B7EE000A8DED010A30EE410A8DED050AE5
-:1005F0009DED060ADDED050A14F00EFA9DED011AD7
+:1005F0009DED060ADDED050A14F0DAF99DED011A0C
:10060000089880ED010A079890ED000A90ED013AF4
:1006100090ED024A90ED032A20EE040A22EE032A0E
:1006200030EE420A30EE000A8DED040A9DED040A18
:10063000B0EEC00AB4EE410AF1EE10FA0ADBFFE7B1
-:10064000DDED040A9FED230A0FF006FC089880ED0B
-:10065000020A07E09DED040A13F0DAFE089880ED27
+:10064000DDED040A9FED230A0FF0D2FB089880ED40
+:10065000020A07E09DED040A13F0A6FE089880ED5B
:10066000020AFFE7079890ED000A90ED011A90ED5D
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:1006900090ED031A20EE000A21EE011A30EE010A55
:1006A00030EE001AB7EE000A30EE410A8DED020A74
-:1006B0009DED030ADDED020A14F0AEF9089880ED15
+:1006B0009DED030ADDED020A14F07AF9089880ED49
:1006C000000A00208DF82700FFE79DF927000AB0F7
:1006D00080BD00BFDB0FC93F80B58CB00A90099187
:1006E0008DED080A0A9820B9FFE7FF208DF82F004A
:1006F00029E19DED081AB7EE000A80EE010A0A987A
:1007000080ED040A0A994FF07E5008600A99002093
:1007100048600A9988600A99C8600998002800F022
-:100720000E81FFE7099801680091406815F0C4FB4D
+:100720000E81FFE7099801680091406815F090FB81
:100730000246009801920A46019942EC101B8DED89
-:10074000020B15F0B9FB9DED020B41EC110B14F0FF
-:1007500063F88DED040B9DF8170080F080008DF894
-:1007600017000498059914F07BFE0790099890ED06
+:10074000020B15F085FB9DED020B41EC110B14F033
+:100750002FF88DED040B9DF8170080F080008DF8C8
+:1007600017000498059914F047FE0790099890ED3A
:10077000000AB5EE400AF1EE10FA2BD1FFE7099816
:1007800090ED010AB5EE400AF1EE10FA22D1FFE732
:10079000099890ED020AB5EE400AF1EE10FA19D16F
@@ -444,19 +444,19 @@
:101BA00004E09DED030A8DED000AFFE79DED000ABC
:101BB0008DED010AFFE79DED010A04B070470000BA
:101BC00080B541F2AC70C2F20000006804210EF052
-:101BD000E1FD80BD80B582B040F28842C2F20002D1
+:101BD000ADFD80BD80B582B040F28842C2F2000205
:101BE000002001901221132300F030FA019802B076
:101BF00080BD000080B501214FF0FF3208460EF095
-:101C00001BFE80BD81B000909FED010A01B07047BE
+:101C0000E7FD80BD81B000909FED010A01B07047F3
:101C10000000C84380B541F2AC70C2F20000006819
-:101C200008210EF0B7FD80BD80B540F28840C2F2B9
+:101C200008210EF083FD80BD80B540F28840C2F2ED
:101C30000000C21D01200221062300F007FA002047
:101C400080BD000080B5022001214FF0FF320EF070
-:101C5000F3FD80BD80B58AB008900791089820B93F
+:101C5000BFFD80BD80B58AB008900791089820B973
:101C6000FFE7FE208DF82700B4E0079820B9FFE7D2
:101C7000FE208DF82700ADE040F61A40C2F20000C9
:101C80000078C00720B1FFE7FD208DF82700A1E014
-:101C90000EF060FE41F2AC71C2F20001086020B9A2
+:101C90000EF02CFE41F2AC71C2F20001086020B9D6
:101CA000FFE7FE208DF8270094E007980899C862A6
:101CB000002006907E21B622049200F05DFA049A7C
:101CC0000120142100F058FA1E20059001F0C6FAF8
@@ -511,11 +511,11 @@
:101FD000FE208DF80F00FFE79DF90F0004B0704759
:101FE0006F12034235FA8E3C80B582B0012000F0BA
:101FF000FDFE70B9FFE701210191084600F064FF82
-:10200000019941F2AC70C2F2000000680EF0C2FB10
+:10200000019941F2AC70C2F2000000680EF08EFB44
:10201000FFE7022000F0EAFE70B9FFE7022000901F
:10202000012100F051FF009941F2AC70C2F20000B2
-:1020300000680EF0AFFBFFE702B080BD80B50C205A
-:1020400001214FF0FF320EF0F7FB80BD80B586B066
+:1020300000680EF07BFBFFE702B080BD80B50C208E
+:1020400001214FF0FF320EF0C3FB80BD80B586B09A
:102050008DF817008DF8161004928DF80F30049843
:1020600008B9FFE72BE09DF817000146029120B167
:10207000FFE70298012805D009E00120002100F0C7
@@ -546,21 +546,21 @@
:10220000012100F061FEFFE704B080BD80B586B01B
:102210008DF8160004918DF80F209DF80F0020B95D
:10222000FFE70A208DF80F00FFE741F21C50C2F2D1
-:102230000000006864210EF089F920B1FFE7FB205F
+:102230000000006864210EF055F920B1FFE7FB2093
:102240008DF8170070E041F21850C2F200000068EB
:102250000290FFE70298E0B1FFE7029800789DF84E
:102260001610884211D1FFE702984068049988420D
:102270000BD1FFE741F21C50C2F2000000680EF0E3
-:1022800049FAFF208DF817004EE00298006902908D
+:1022800015FAFF208DF817004EE0029800690290C1
:10229000E0E7142000F040FE0190019858B9FFE7F4
-:1022A00041F21C50C2F2000000680EF033FAFE202A
+:1022A00041F21C50C2F2000000680EF0FFF9FE205F
:1022B0008DF8170038E09DF80F001C2100220EF069
-:1022C00043F8019988600198806870B9FFE7019828
+:1022C0000FF8019988600198806870B9FFE701985C
:1022D00000F02CFD41F21C50C2F2000000680EF02C
-:1022E00019FAFF208DF817001EE09DF816000199DD
+:1022E000E5F9FF208DF817001EE09DF81600019912
:1022F00008700498019948609DF80F0001990873CF
:1023000041F21851C2F200010868019A1061019867
-:10231000086041F21C50C2F2000000680EF0FAF9A9
+:10231000086041F21C50C2F2000000680EF0C6F9DD
:1023200000208DF81700FFE79DF9170006B080BD6B
:1023300082B001908DF80310019802B07047000040
:1023400084B08DF80B00019141F21850C2F20000E8
@@ -581,11 +581,11 @@
:102430001840C2F200000078C00720B9FFE7FD2075
:102440008DF8170037E0039820B9FFE7FE208DF8DC
:10245000170030E041F21C50C2F200000068642115
-:102460000EF074F820B1FFE7FB208DF8170022E092
+:102460000EF040F820B1FFE7FB208DF8170022E0C6
:102470009DF816000499FFF763FF019041F21C508C
-:10248000C2F2000000680EF045F9019820B9FFE79C
+:10248000C2F2000000680EF011F9019820B9FFE7D0
:10249000FC208DF817000EE001980399029B0022A2
-:1024A0000DF0F2FE00900098002818BF4FF0FF30AA
+:1024A0000DF0BEFE00900098002818BF4FF0FF30DE
:1024B0008DF81700FFE79DF9170006B080BD0000FA
:1024C00080B596B040F61840C2F200000078C00710
:1024D00020B1FFE7FD208DF85700A7E040F2D020A3
@@ -593,7 +593,7 @@
:1024F0001498012809DCFFE79DF8500000F01CFB50
:10250000FFE7149801301490F2E740F6D831C2F298
:10251000000142F23130C0F60000086000200EF0E9
-:1025200065F8014641F21C50C2F2000001600068EB
+:1025200031F8014641F21C50C2F20000016000681F
:1025300020B9FFE7FF208DF8570077E040F61841FB
:10254000C2F2000107910120089008700AA80390C8
:102550002821FDF7A0FF0399089A002009900F9009
@@ -639,7 +639,7 @@
:1027D000039002909DF82F008DF808000C9803904C
:1027E0000A98049015988DF81400149838B9FFE7EA
:1027F00002A80D30159A0FA9FDF7CEFDFFE704F0F2
-:1028000029F90890099802A900231A460DF01CFE28
+:1028000029F90890099802A900231A460DF0E8FD5D
:10281000FFE7FFE7A7E7FFE70E9801300E9094E788
:1028200018B080BD80B598B000200E90FFE70E98DC
:10283000012867DCFFE79DF83800FFF7C9FD0D9020
@@ -654,7 +654,7 @@
:1028C0000C9803900A98049015988DF814001498A9
:1028D00038B9FFE702A80D30159A0FA9FDF75CFD86
:1028E000FFE704F0B7F80890099802A900231A46F8
-:1028F0000DF0AAFDFFE7FFE7A7E7FFE70E9801301D
+:1028F0000DF076FDFFE7FFE7A7E7FFE70E98013051
:102900000E9094E718B080BD80B592B084461498BC
:102910008DF846C08DF8451010920F938DF83B004E
:1029200040F61840C2F200000078C00720B9FFE767
@@ -722,7 +722,7 @@
:102D0000C1F810E0C1F80CC08B6048609069D269CE
:102D1000CA61886101980299C1F8000401208DF808
:102D20001300FFE79DF8130005B0F0BD80B582B039
-:102D3000019001980FF012F902B080BD80B582B009
+:102D3000019001980FF0DEF802B080BD80B582B03E
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:102D50000099DFE801F0031313070B0F062004F0BE
:102D6000FDF80FE00A2004F0F9F80BE0172004F05A
@@ -735,13 +735,13 @@
:102DD000CFF803E0FF208DF8070003E000208DF816
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+:102E00008DF8070013E09DF8062046F27811C0F611
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:102E20000138B0FA80F040098DF80700FFE79DF8FF
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:102E4000019820B9FFE7FE208DF80B0038E09DF8CF
:102E50000A00072804DBFFE7FF208DF80B002FE0B6
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:102E80000F2819DCFFE7BDF802009DF80110C840CB
:102E9000C00750B1FFE701989DF8012040F238319A
@@ -749,37 +749,37 @@
:102EB00001308DF80100E1E700208DF80B00FFE7FD
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:102ED0008DF805109DF80600072804DBFFE7FF20AA
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@@ -805,18 +805,18 @@
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-:1032C000009002E001200090FFE700980CF0A2FEC1
+:1032C000009002E001200090FFE700980CF06EFEF5
:1032D00003E0049803F040F9FFE700208DF81700A1
:1032E000FFE79DF9170006B080BD000080B58AB0E9
-:1032F0000CF014FF079010F02BFC079A4FF47A7132
+:1032F0000CF0E0FE079010F0F7FB079A4FF47A719C
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:1033300006980499884215D1FFE704984FF47A72F1
:103340005043059951434EF21402CEF20002126826
@@ -907,7 +907,7 @@
:1038900080BD000080B584B00290029820B9FFE797
:1038A000FE208DF80F002BE040F61940C2F2000018
:1038B0000078C00720B1FFE7FD208DF80F001FE062
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+:1038C0000DF014F841F2A871C2F20001086020B9AD
:1038D000FFE7FE208DF80F0012E044F2E122C0F66F
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@@ -937,42 +937,42 @@
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:103B900020B9FFE71A9900200861FFE71A984068EA
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diff --git a/MDK-ARM/hero/hero.htm b/MDK-ARM/hero/hero.htm
index 2c41196..06bc628 100644
--- a/MDK-ARM/hero/hero.htm
+++ b/MDK-ARM/hero/hero.htm
@@ -3,7 +3,7 @@
Static Call Graph - [hero\hero.axf]
Static Call Graph for image hero\hero.axf
-
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Oct 15 21:38:54 2025
+
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Oct 26 13:49:44 2025
Maximum Stack Usage = 588 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)
Call chain for Maximum Stack Depth:
@@ -2758,7 +2758,7 @@ Global Symbols
UsageFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.UsageFault_Handler))
[Address Reference Count : 1]
- startup_stm32f407xx.o(RESET)
-chassis_control (Thumb, 2512 bytes, Stack size 184 bytes, chassis.o(.text.chassis_control))
+
chassis_control (Thumb, 2408 bytes, Stack size 184 bytes, chassis.o(.text.chassis_control))
[Stack]
- Max Depth = 508
- Call Chain = chassis_control ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
[Calls]- >> Inverse_resolve
diff --git a/MDK-ARM/hero/hero.map b/MDK-ARM/hero/hero.map
index 3a0d366..983ca2e 100644
--- a/MDK-ARM/hero/hero.map
+++ b/MDK-ARM/hero/hero.map
@@ -6613,248 +6613,248 @@ Image Symbol Table
[Anonymous Symbol] 0x0800f44c Section 0 stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping)
[Anonymous Symbol] 0x0800f488 Section 0 chassis.o(.text.chassis_control)
__arm_cp.2_7 0x0800f874 Number 4 chassis.o(.text.chassis_control)
- copysignf 0x0800fe59 Thumb Code 30 ahrs.o(.text.copysignf)
- [Anonymous Symbol] 0x0800fe58 Section 0 ahrs.o(.text.copysignf)
- [Anonymous Symbol] 0x0800fe78 Section 0 tasks.o(.text.eTaskGetState)
- float_to_uint 0x0800ff71 Thumb Code 88 motor_dm.o(.text.float_to_uint)
- [Anonymous Symbol] 0x0800ff70 Section 0 motor_dm.o(.text.float_to_uint)
- [Anonymous Symbol] 0x0800ffc8 Section 0 main.o(.text.main)
- [Anonymous Symbol] 0x08010014 Section 0 cmsis_os2.o(.text.osDelay)
- [Anonymous Symbol] 0x08010048 Section 0 cmsis_os2.o(.text.osDelayUntil)
- [Anonymous Symbol] 0x080100a0 Section 0 cmsis_os2.o(.text.osKernelGetState)
- [Anonymous Symbol] 0x080100f4 Section 0 cmsis_os2.o(.text.osKernelGetTickCount)
- [Anonymous Symbol] 0x0801011c Section 0 cmsis_os2.o(.text.osKernelGetTickFreq)
- [Anonymous Symbol] 0x08010124 Section 0 cmsis_os2.o(.text.osKernelInitialize)
- [Anonymous Symbol] 0x0801016c Section 0 cmsis_os2.o(.text.osKernelLock)
- [Anonymous Symbol] 0x080101c4 Section 0 cmsis_os2.o(.text.osKernelStart)
- [Anonymous Symbol] 0x08010218 Section 0 cmsis_os2.o(.text.osKernelUnlock)
- [Anonymous Symbol] 0x08010288 Section 0 cmsis_os2.o(.text.osMessageQueueGet)
- [Anonymous Symbol] 0x08010348 Section 0 cmsis_os2.o(.text.osMessageQueueNew)
- [Anonymous Symbol] 0x08010448 Section 0 cmsis_os2.o(.text.osMessageQueuePut)
- [Anonymous Symbol] 0x0801050c Section 0 cmsis_os2.o(.text.osMessageQueueReset)
- [Anonymous Symbol] 0x0801054c Section 0 cmsis_os2.o(.text.osMutexAcquire)
- [Anonymous Symbol] 0x080105ec Section 0 cmsis_os2.o(.text.osMutexNew)
- [Anonymous Symbol] 0x08010714 Section 0 cmsis_os2.o(.text.osMutexRelease)
- [Anonymous Symbol] 0x08010794 Section 0 cmsis_os2.o(.text.osThreadFlagsSet)
- [Anonymous Symbol] 0x08010838 Section 0 cmsis_os2.o(.text.osThreadFlagsWait)
- [Anonymous Symbol] 0x08010954 Section 0 cmsis_os2.o(.text.osThreadGetId)
- [Anonymous Symbol] 0x08010964 Section 0 cmsis_os2.o(.text.osThreadNew)
- [Anonymous Symbol] 0x08010ac0 Section 0 cmsis_os2.o(.text.osThreadTerminate)
- prvAddCurrentTaskToDelayedList 0x08010b21 Thumb Code 212 tasks.o(.text.prvAddCurrentTaskToDelayedList)
- [Anonymous Symbol] 0x08010b20 Section 0 tasks.o(.text.prvAddCurrentTaskToDelayedList)
- prvAddNewTaskToReadyList 0x08010bf5 Thumb Code 290 tasks.o(.text.prvAddNewTaskToReadyList)
- [Anonymous Symbol] 0x08010bf4 Section 0 tasks.o(.text.prvAddNewTaskToReadyList)
- prvCheckForValidListAndQueue 0x08010d19 Thumb Code 162 timers.o(.text.prvCheckForValidListAndQueue)
- [Anonymous Symbol] 0x08010d18 Section 0 timers.o(.text.prvCheckForValidListAndQueue)
- prvCheckTasksWaitingTermination 0x08010dbd Thumb Code 90 tasks.o(.text.prvCheckTasksWaitingTermination)
- [Anonymous Symbol] 0x08010dbc Section 0 tasks.o(.text.prvCheckTasksWaitingTermination)
- prvCopyDataFromQueue 0x08010e19 Thumb Code 66 queue.o(.text.prvCopyDataFromQueue)
- [Anonymous Symbol] 0x08010e18 Section 0 queue.o(.text.prvCopyDataFromQueue)
- prvCopyDataToQueue 0x08010e5d Thumb Code 204 queue.o(.text.prvCopyDataToQueue)
- [Anonymous Symbol] 0x08010e5c Section 0 queue.o(.text.prvCopyDataToQueue)
- prvDeleteTCB 0x08010f29 Thumb Code 94 tasks.o(.text.prvDeleteTCB)
- [Anonymous Symbol] 0x08010f28 Section 0 tasks.o(.text.prvDeleteTCB)
- prvGetDisinheritPriorityAfterTimeout 0x08010f89 Thumb Code 38 queue.o(.text.prvGetDisinheritPriorityAfterTimeout)
- [Anonymous Symbol] 0x08010f88 Section 0 queue.o(.text.prvGetDisinheritPriorityAfterTimeout)
- prvGetNextExpireTime 0x08010fb1 Thumb Code 64 timers.o(.text.prvGetNextExpireTime)
- [Anonymous Symbol] 0x08010fb0 Section 0 timers.o(.text.prvGetNextExpireTime)
- prvHeapInit 0x08010ff1 Thumb Code 188 heap_4.o(.text.prvHeapInit)
- [Anonymous Symbol] 0x08010ff0 Section 0 heap_4.o(.text.prvHeapInit)
- prvIdleTask 0x080110ad Thumb Code 56 tasks.o(.text.prvIdleTask)
- [Anonymous Symbol] 0x080110ac Section 0 tasks.o(.text.prvIdleTask)
- prvInitialiseMutex 0x080110e5 Thumb Code 44 queue.o(.text.prvInitialiseMutex)
- [Anonymous Symbol] 0x080110e4 Section 0 queue.o(.text.prvInitialiseMutex)
- prvInitialiseNewQueue 0x08011111 Thumb Code 72 queue.o(.text.prvInitialiseNewQueue)
- [Anonymous Symbol] 0x08011110 Section 0 queue.o(.text.prvInitialiseNewQueue)
- prvInitialiseNewTask 0x08011159 Thumb Code 290 tasks.o(.text.prvInitialiseNewTask)
- [Anonymous Symbol] 0x08011158 Section 0 tasks.o(.text.prvInitialiseNewTask)
- prvInitialiseTaskLists 0x0801127d Thumb Code 142 tasks.o(.text.prvInitialiseTaskLists)
- [Anonymous Symbol] 0x0801127c Section 0 tasks.o(.text.prvInitialiseTaskLists)
- prvInsertBlockIntoFreeList 0x0801130d Thumb Code 198 heap_4.o(.text.prvInsertBlockIntoFreeList)
- [Anonymous Symbol] 0x0801130c Section 0 heap_4.o(.text.prvInsertBlockIntoFreeList)
- prvInsertTimerInActiveList 0x080113d5 Thumb Code 134 timers.o(.text.prvInsertTimerInActiveList)
- [Anonymous Symbol] 0x080113d4 Section 0 timers.o(.text.prvInsertTimerInActiveList)
- prvIsQueueEmpty 0x0801145d Thumb Code 40 queue.o(.text.prvIsQueueEmpty)
- [Anonymous Symbol] 0x0801145c Section 0 queue.o(.text.prvIsQueueEmpty)
- prvIsQueueFull 0x08011485 Thumb Code 46 queue.o(.text.prvIsQueueFull)
- [Anonymous Symbol] 0x08011484 Section 0 queue.o(.text.prvIsQueueFull)
- prvPortStartFirstTask 0x080114b5 Thumb Code 34 port.o(.text.prvPortStartFirstTask)
- [Anonymous Symbol] 0x080114b4 Section 0 port.o(.text.prvPortStartFirstTask)
- prvProcessExpiredTimer 0x080114dd Thumb Code 142 timers.o(.text.prvProcessExpiredTimer)
- [Anonymous Symbol] 0x080114dc Section 0 timers.o(.text.prvProcessExpiredTimer)
- prvProcessReceivedCommands 0x0801156d Thumb Code 402 timers.o(.text.prvProcessReceivedCommands)
- [Anonymous Symbol] 0x0801156c Section 0 timers.o(.text.prvProcessReceivedCommands)
- prvProcessTimerOrBlockTask 0x08011701 Thumb Code 154 timers.o(.text.prvProcessTimerOrBlockTask)
- [Anonymous Symbol] 0x08011700 Section 0 timers.o(.text.prvProcessTimerOrBlockTask)
- prvResetNextTaskUnblockTime 0x0801179d Thumb Code 70 tasks.o(.text.prvResetNextTaskUnblockTime)
- [Anonymous Symbol] 0x0801179c Section 0 tasks.o(.text.prvResetNextTaskUnblockTime)
- prvSampleTimeNow 0x080117e5 Thumb Code 68 timers.o(.text.prvSampleTimeNow)
- [Anonymous Symbol] 0x080117e4 Section 0 timers.o(.text.prvSampleTimeNow)
- prvSwitchTimerLists 0x08011829 Thumb Code 212 timers.o(.text.prvSwitchTimerLists)
- [Anonymous Symbol] 0x08011828 Section 0 timers.o(.text.prvSwitchTimerLists)
- prvTaskExitError 0x080118fd Thumb Code 76 port.o(.text.prvTaskExitError)
- [Anonymous Symbol] 0x080118fc Section 0 port.o(.text.prvTaskExitError)
- prvTimerTask 0x08011949 Thumb Code 30 timers.o(.text.prvTimerTask)
- [Anonymous Symbol] 0x08011948 Section 0 timers.o(.text.prvTimerTask)
- prvUnlockQueue 0x08011969 Thumb Code 174 queue.o(.text.prvUnlockQueue)
- [Anonymous Symbol] 0x08011968 Section 0 queue.o(.text.prvUnlockQueue)
- [Anonymous Symbol] 0x08011a18 Section 0 heap_4.o(.text.pvPortMalloc)
- [Anonymous Symbol] 0x08011c04 Section 0 tasks.o(.text.pvTaskIncrementMutexHeldCount)
- [Anonymous Symbol] 0x08011c30 Section 0 port.o(.text.pxPortInitialiseStack)
- start_gyro_calibration 0x08011c91 Thumb Code 56 atti_esti.o(.text.start_gyro_calibration)
- [Anonymous Symbol] 0x08011c90 Section 0 atti_esti.o(.text.start_gyro_calibration)
- uint_to_float 0x08011cc9 Thumb Code 82 motor_dm.o(.text.uint_to_float)
- [Anonymous Symbol] 0x08011cc8 Section 0 motor_dm.o(.text.uint_to_float)
- [Anonymous Symbol] 0x08011d1c Section 0 list.o(.text.uxListRemove)
- [Anonymous Symbol] 0x08011d64 Section 0 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
- [Anonymous Symbol] 0x08011d90 Section 0 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
- [Anonymous Symbol] 0x08011dbc Section 0 list.o(.text.vListInitialise)
- [Anonymous Symbol] 0x08011dec Section 0 list.o(.text.vListInitialiseItem)
- [Anonymous Symbol] 0x08011dfc Section 0 list.o(.text.vListInsert)
- [Anonymous Symbol] 0x08011e68 Section 0 list.o(.text.vListInsertEnd)
- vPortEnableVFP 0x08011ea5 Thumb Code 14 port.o(.text.vPortEnableVFP)
- [Anonymous Symbol] 0x08011ea4 Section 0 port.o(.text.vPortEnableVFP)
- [Anonymous Symbol] 0x08011eb8 Section 0 port.o(.text.vPortEnterCritical)
- [Anonymous Symbol] 0x08011f10 Section 0 port.o(.text.vPortExitCritical)
- [Anonymous Symbol] 0x08011f5c Section 0 heap_4.o(.text.vPortFree)
- [Anonymous Symbol] 0x0801202c Section 0 port.o(.text.vPortSetupTimerInterrupt)
- [Anonymous Symbol] 0x08012070 Section 0 port.o(.text.vPortValidateInterruptPriority)
- [Anonymous Symbol] 0x080120f4 Section 0 queue.o(.text.vQueueAddToRegistry)
- [Anonymous Symbol] 0x08012148 Section 0 queue.o(.text.vQueueWaitForMessageRestricted)
- [Anonymous Symbol] 0x080121ac Section 0 tasks.o(.text.vTaskDelay)
- [Anonymous Symbol] 0x0801221c Section 0 tasks.o(.text.vTaskDelayUntil)
- [Anonymous Symbol] 0x08012330 Section 0 tasks.o(.text.vTaskDelete)
- [Anonymous Symbol] 0x08012440 Section 0 tasks.o(.text.vTaskInternalSetTimeOutState)
- [Anonymous Symbol] 0x08012464 Section 0 tasks.o(.text.vTaskMissedYield)
- [Anonymous Symbol] 0x08012474 Section 0 tasks.o(.text.vTaskPlaceOnEventList)
- [Anonymous Symbol] 0x080124b8 Section 0 tasks.o(.text.vTaskPlaceOnEventListRestricted)
- [Anonymous Symbol] 0x0801250c Section 0 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
- [Anonymous Symbol] 0x08012640 Section 0 tasks.o(.text.vTaskStartScheduler)
- [Anonymous Symbol] 0x08012720 Section 0 tasks.o(.text.vTaskSuspendAll)
- [Anonymous Symbol] 0x08012730 Section 0 tasks.o(.text.vTaskSwitchContext)
- [Anonymous Symbol] 0x080127f8 Section 0 port.o(.text.xPortStartScheduler)
- [Anonymous Symbol] 0x08012950 Section 0 port.o(.text.xPortSysTickHandler)
- [Anonymous Symbol] 0x0801298c Section 0 queue.o(.text.xQueueCreateMutex)
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- [Anonymous Symbol] 0x08012b6c Section 0 queue.o(.text.xQueueGenericReset)
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- [Anonymous Symbol] 0x080132f0 Section 0 queue.o(.text.xQueueSemaphoreTake)
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- [Anonymous Symbol] 0x08014274 Section 0 timers.o(.text.xTimerCreateTimerTask)
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- i.__ARM_fpclassify 0x080143b8 Section 0 fpclassify.o(i.__ARM_fpclassify)
- i.__ARM_fpclassifyf 0x080143e8 Section 0 fpclassifyf.o(i.__ARM_fpclassifyf)
- i.__hardfp_asinf 0x08014410 Section 0 asinf.o(i.__hardfp_asinf)
- i.__hardfp_atan 0x08014540 Section 0 atan.o(i.__hardfp_atan)
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+ osMessageQueueNew 0x080102e1 Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew)
+ osMessageQueuePut 0x080103e1 Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut)
+ osMessageQueueReset 0x080104a5 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset)
+ osMutexAcquire 0x080104e5 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire)
+ osMutexNew 0x08010585 Thumb Code 296 cmsis_os2.o(.text.osMutexNew)
+ osMutexRelease 0x080106ad Thumb Code 126 cmsis_os2.o(.text.osMutexRelease)
+ osThreadFlagsSet 0x0801072d Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet)
+ osThreadFlagsWait 0x080107d1 Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait)
+ osThreadGetId 0x080108ed Thumb Code 16 cmsis_os2.o(.text.osThreadGetId)
+ osThreadNew 0x080108fd Thumb Code 346 cmsis_os2.o(.text.osThreadNew)
+ osThreadTerminate 0x08010a59 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate)
+ pvPortMalloc 0x080119b1 Thumb Code 492 heap_4.o(.text.pvPortMalloc)
+ pvTaskIncrementMutexHeldCount 0x08011b9d Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount)
+ pxPortInitialiseStack 0x08011bc9 Thumb Code 94 port.o(.text.pxPortInitialiseStack)
+ uxListRemove 0x08011cb5 Thumb Code 72 list.o(.text.uxListRemove)
+ vApplicationGetIdleTaskMemory 0x08011cfd Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+ vApplicationGetTimerTaskMemory 0x08011d29 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+ vListInitialise 0x08011d55 Thumb Code 46 list.o(.text.vListInitialise)
+ vListInitialiseItem 0x08011d85 Thumb Code 14 list.o(.text.vListInitialiseItem)
+ vListInsert 0x08011d95 Thumb Code 106 list.o(.text.vListInsert)
+ vListInsertEnd 0x08011e01 Thumb Code 58 list.o(.text.vListInsertEnd)
+ vPortEnterCritical 0x08011e51 Thumb Code 86 port.o(.text.vPortEnterCritical)
+ vPortExitCritical 0x08011ea9 Thumb Code 74 port.o(.text.vPortExitCritical)
+ vPortFree 0x08011ef5 Thumb Code 206 heap_4.o(.text.vPortFree)
+ vPortSetupTimerInterrupt 0x08011fc5 Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt)
+ vPortValidateInterruptPriority 0x08012009 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority)
+ vQueueAddToRegistry 0x0801208d Thumb Code 82 queue.o(.text.vQueueAddToRegistry)
+ vQueueWaitForMessageRestricted 0x080120e1 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted)
+ vTaskDelay 0x08012145 Thumb Code 110 tasks.o(.text.vTaskDelay)
+ vTaskDelayUntil 0x080121b5 Thumb Code 276 tasks.o(.text.vTaskDelayUntil)
+ vTaskDelete 0x080122c9 Thumb Code 270 tasks.o(.text.vTaskDelete)
+ vTaskInternalSetTimeOutState 0x080123d9 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState)
+ vTaskMissedYield 0x080123fd Thumb Code 14 tasks.o(.text.vTaskMissedYield)
+ vTaskPlaceOnEventList 0x0801240d Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList)
+ vTaskPlaceOnEventListRestricted 0x08012451 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted)
+ vTaskPriorityDisinheritAfterTimeout 0x080124a5 Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+ vTaskStartScheduler 0x080125d9 Thumb Code 224 tasks.o(.text.vTaskStartScheduler)
+ vTaskSuspendAll 0x080126b9 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
+ vTaskSwitchContext 0x080126c9 Thumb Code 198 tasks.o(.text.vTaskSwitchContext)
+ xPortStartScheduler 0x08012791 Thumb Code 342 port.o(.text.xPortStartScheduler)
+ xPortSysTickHandler 0x080128e9 Thumb Code 60 port.o(.text.xPortSysTickHandler)
+ xQueueCreateMutex 0x08012925 Thumb Code 38 queue.o(.text.xQueueCreateMutex)
+ xQueueCreateMutexStatic 0x0801294d Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic)
+ xQueueGenericCreate 0x08012981 Thumb Code 116 queue.o(.text.xQueueGenericCreate)
+ xQueueGenericCreateStatic 0x080129f5 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic)
+ xQueueGenericReset 0x08012b05 Thumb Code 186 queue.o(.text.xQueueGenericReset)
+ xQueueGenericSend 0x08012bc1 Thumb Code 556 queue.o(.text.xQueueGenericSend)
+ xQueueGenericSendFromISR 0x08012ded Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR)
+ xQueueGiveMutexRecursive 0x08012f39 Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive)
+ xQueueReceive 0x08012fa5 Thumb Code 476 queue.o(.text.xQueueReceive)
+ xQueueReceiveFromISR 0x08013181 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR)
+ xQueueSemaphoreTake 0x08013289 Thumb Code 556 queue.o(.text.xQueueSemaphoreTake)
+ xQueueTakeMutexRecursive 0x080134b5 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive)
+ xTaskCheckForTimeOut 0x08013525 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut)
+ xTaskCreate 0x080135f1 Thumb Code 158 tasks.o(.text.xTaskCreate)
+ xTaskCreateStatic 0x08013691 Thumb Code 206 tasks.o(.text.xTaskCreateStatic)
+ xTaskGenericNotify 0x08013761 Thumb Code 376 tasks.o(.text.xTaskGenericNotify)
+ xTaskGenericNotifyFromISR 0x080138d9 Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR)
+ xTaskGetCurrentTaskHandle 0x08013a9d Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle)
+ xTaskGetSchedulerState 0x08013ab1 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState)
+ xTaskGetTickCount 0x08013ae9 Thumb Code 20 tasks.o(.text.xTaskGetTickCount)
+ xTaskGetTickCountFromISR 0x08013afd Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR)
+ xTaskIncrementTick 0x08013b1d Thumb Code 452 tasks.o(.text.xTaskIncrementTick)
+ xTaskNotifyWait 0x08013ce1 Thumb Code 214 tasks.o(.text.xTaskNotifyWait)
+ xTaskPriorityDisinherit 0x08013db9 Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit)
+ xTaskPriorityInherit 0x08013ea5 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit)
+ xTaskRemoveFromEventList 0x08013fb5 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList)
+ xTaskResumeAll 0x08014085 Thumb Code 390 tasks.o(.text.xTaskResumeAll)
+ xTimerCreateTimerTask 0x0801420d Thumb Code 148 timers.o(.text.xTimerCreateTimerTask)
+ xTimerGenericCommand 0x080142a1 Thumb Code 176 timers.o(.text.xTimerGenericCommand)
+ __ARM_fpclassify 0x08014351 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify)
+ __ARM_fpclassifyf 0x08014381 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
+ __hardfp_asinf 0x080143a9 Thumb Code 258 asinf.o(i.__hardfp_asinf)
+ __hardfp_atan 0x080144d9 Thumb Code 622 atan.o(i.__hardfp_atan)
+ __hardfp_atan2 0x080147b1 Thumb Code 448 atan2.o(i.__hardfp_atan2)
+ __hardfp_atan2f 0x080149b1 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
+ __hardfp_cosf 0x08014c5d Thumb Code 280 cosf.o(i.__hardfp_cosf)
+ __hardfp_sinf 0x08014dad Thumb Code 344 sinf.o(i.__hardfp_sinf)
+ __hardfp_tanf 0x08014f3d Thumb Code 322 tanf.o(i.__hardfp_tanf)
+ __kernel_poly 0x080150b9 Thumb Code 248 poly.o(i.__kernel_poly)
+ __mathlib_dbl_infnan 0x080151b1 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
+ __mathlib_dbl_infnan2 0x080151c5 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
+ __mathlib_dbl_underflow 0x080151d9 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
+ __mathlib_flt_infnan 0x080151f9 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
+ __mathlib_flt_infnan2 0x080151ff Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
+ __mathlib_flt_invalid 0x08015205 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
+ __mathlib_flt_underflow 0x08015215 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
+ __mathlib_rredf2 0x08015225 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
+ atan 0x08015379 Thumb Code 16 atan.o(i.atan)
+ fabs 0x08015389 Thumb Code 24 fabs.o(i.fabs)
+ sqrtf 0x080153a1 Thumb Code 62 sqrtf.o(i.sqrtf)
+ __aeabi_dneg 0x080153df Thumb Code 0 basic.o(x$fpl$basic)
+ _dneg 0x080153df Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_fneg 0x080153e5 Thumb Code 0 basic.o(x$fpl$basic)
+ _fneg 0x080153e5 Thumb Code 6 basic.o(x$fpl$basic)
+ _dabs 0x080153eb Thumb Code 6 basic.o(x$fpl$basic)
+ _fabs 0x080153f1 Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_d2f 0x080153f9 Thumb Code 0 d2f.o(x$fpl$d2f)
+ _d2f 0x080153f9 Thumb Code 98 d2f.o(x$fpl$d2f)
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+ _dadd 0x0801545d Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
+ __fpl_dcmp_Inf 0x080155ad Thumb Code 24 dcmpi.o(x$fpl$dcmpinf)
+ __aeabi_ddiv 0x080155c5 Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ _ddiv 0x080155c5 Thumb Code 556 ddiv.o(x$fpl$ddiv)
+ __aeabi_cdcmpeq 0x08015879 Thumb Code 0 deqf.o(x$fpl$deqf)
+ _dcmpeq 0x08015879 Thumb Code 120 deqf.o(x$fpl$deqf)
+ __aeabi_d2uiz 0x080158f1 Thumb Code 0 dfixu.o(x$fpl$dfixu)
+ _dfixu 0x080158f1 Thumb Code 90 dfixu.o(x$fpl$dfixu)
+ __aeabi_ui2d 0x0801594b Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
+ _dfltu 0x0801594b Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
+ __aeabi_cdcmpge 0x08015971 Thumb Code 0 dgeqf.o(x$fpl$dgeqf)
+ _dcmpge 0x08015971 Thumb Code 120 dgeqf.o(x$fpl$dgeqf)
+ __aeabi_cdcmple 0x080159e9 Thumb Code 0 dleqf.o(x$fpl$dleqf)
+ _dcmple 0x080159e9 Thumb Code 120 dleqf.o(x$fpl$dleqf)
+ __fpl_dcmple_InfNaN 0x08015a4b Thumb Code 0 dleqf.o(x$fpl$dleqf)
+ __aeabi_dmul 0x08015a61 Thumb Code 0 dmul.o(x$fpl$dmul)
+ _dmul 0x08015a61 Thumb Code 332 dmul.o(x$fpl$dmul)
+ __fpl_dnaninf 0x08015bb5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
+ __fpl_dretinf 0x08015c51 Thumb Code 12 dretinf.o(x$fpl$dretinf)
+ __aeabi_drsub 0x08015c5d Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
+ _drsb 0x08015c5d Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
+ __aeabi_dsub 0x08015c75 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
+ _dsub 0x08015c75 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
+ __aeabi_f2d 0x08015e51 Thumb Code 0 f2d.o(x$fpl$f2d)
+ _f2d 0x08015e51 Thumb Code 86 f2d.o(x$fpl$f2d)
+ __aeabi_dcmpeq 0x08015ea7 Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _deq 0x08015ea7 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ _dneq 0x08015eb5 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmpgt 0x08015ec3 Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dgr 0x08015ec3 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmpge 0x08015ed1 Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dgeq 0x08015ed1 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmple 0x08015edf Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dleq 0x08015edf Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmplt 0x08015eed Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dls 0x08015eed Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_ul2f 0x08015efb Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_uto_f 0x08015efb Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
+ __aeabi_l2f 0x08015f01 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_sto_f 0x08015f01 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
+ __fpl_fnaninf 0x08015f5b Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
+ _fp_init 0x08015fe7 Thumb Code 26 fpinit.o(x$fpl$fpinit)
+ __fplib_config_fpu_vfp 0x08015fff Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fplib_config_pureend_doubles 0x08015fff Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fpl_fretinf 0x08016001 Thumb Code 10 fretinf.o(x$fpl$fretinf)
+ __aeabi_f2lz 0x0801600d Thumb Code 0 ffixll.o(x$fpl$llsfromf)
+ _ll_sfrom_f 0x0801600d Thumb Code 134 ffixll.o(x$fpl$llsfromf)
+ __I$use$fp 0x08016092 Number 0 usenofp.o(x$fpl$usenofp)
+ __mathlib_zero 0x08016130 Data 8 qnan.o(.constdata)
+ AHBPrescTable 0x08016158 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
+ APBPrescTable 0x08016168 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
+ attr_atti_esti 0x080161d8 Data 36 user_task.o(.rodata.attr_atti_esti)
+ attr_blink 0x080161fc Data 36 user_task.o(.rodata.attr_blink)
+ attr_cmd 0x08016220 Data 36 user_task.o(.rodata.attr_cmd)
+ attr_ctrl_chassis 0x08016244 Data 36 user_task.o(.rodata.attr_ctrl_chassis)
+ attr_ctrl_gimbal 0x08016268 Data 36 user_task.o(.rodata.attr_ctrl_gimbal)
+ attr_ctrl_shoot 0x0801628c Data 36 user_task.o(.rodata.attr_ctrl_shoot)
+ attr_init 0x080162b0 Data 36 user_task.o(.rodata.attr_init)
+ attr_rc 0x080162d4 Data 36 user_task.o(.rodata.attr_rc)
+ defaultTask_attributes 0x080162f8 Data 36 freertos.o(.rodata.defaultTask_attributes)
+ Region$$Table$$Base 0x080163a0 Number 0 anon$$obj.o(Region$$Table)
+ Region$$Table$$Limit 0x080163c0 Number 0 anon$$obj.o(Region$$Table)
SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock)
cali_bmi088 0x20000008 Data 12 atti_esti.o(.data.cali_bmi088)
motor1to4_param 0x20000014 Data 32 chassis.o(.data.motor1to4_param)
@@ -7670,9 +7670,9 @@ Memory Map of the image
Image Entry point : 0x08000189
- Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00016698, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00016530])
+ Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00016630, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x000164c8])
- Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00016428, Max: 0x00100000, ABSOLUTE)
+ Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000163c0, Max: 0x00100000, ABSOLUTE)
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
@@ -8166,263 +8166,263 @@ Memory Map of the image
0x0800f408 0x0800f408 0x00000042 Code RO 2086 .text.__NVIC_SetPriority cmsis_os2.o
0x0800f44a 0x0800f44a 0x00000002 PAD
0x0800f44c 0x0800f44c 0x0000003c Code RO 566 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o
- 0x0800f488 0x0800f488 0x000009d0 Code RO 2808 .text.chassis_control chassis.o
- 0x0800fe58 0x0800fe58 0x0000001e Code RO 2635 .text.copysignf ahrs.o
- 0x0800fe76 0x0800fe76 0x00000002 PAD
- 0x0800fe78 0x0800fe78 0x000000f6 Code RO 1724 .text.eTaskGetState tasks.o
- 0x0800ff6e 0x0800ff6e 0x00000002 PAD
- 0x0800ff70 0x0800ff70 0x00000058 Code RO 2561 .text.float_to_uint motor_dm.o
- 0x0800ffc8 0x0800ffc8 0x0000004c Code RO 11 .text.main main.o
- 0x08010014 0x08010014 0x00000034 Code RO 1990 .text.osDelay cmsis_os2.o
- 0x08010048 0x08010048 0x00000058 Code RO 1992 .text.osDelayUntil cmsis_os2.o
- 0x080100a0 0x080100a0 0x00000052 Code RO 1928 .text.osKernelGetState cmsis_os2.o
- 0x080100f2 0x080100f2 0x00000002 PAD
- 0x080100f4 0x080100f4 0x00000026 Code RO 1940 .text.osKernelGetTickCount cmsis_os2.o
- 0x0801011a 0x0801011a 0x00000002 PAD
- 0x0801011c 0x0801011c 0x00000006 Code RO 1942 .text.osKernelGetTickFreq cmsis_os2.o
- 0x08010122 0x08010122 0x00000002 PAD
- 0x08010124 0x08010124 0x00000046 Code RO 1924 .text.osKernelInitialize cmsis_os2.o
- 0x0801016a 0x0801016a 0x00000002 PAD
- 0x0801016c 0x0801016c 0x00000056 Code RO 1934 .text.osKernelLock cmsis_os2.o
- 0x080101c2 0x080101c2 0x00000002 PAD
- 0x080101c4 0x080101c4 0x00000052 Code RO 1930 .text.osKernelStart cmsis_os2.o
- 0x08010216 0x08010216 0x00000002 PAD
- 0x08010218 0x08010218 0x0000006e Code RO 1936 .text.osKernelUnlock cmsis_os2.o
- 0x08010286 0x08010286 0x00000002 PAD
- 0x08010288 0x08010288 0x000000c0 Code RO 2044 .text.osMessageQueueGet cmsis_os2.o
- 0x08010348 0x08010348 0x000000fe Code RO 2040 .text.osMessageQueueNew cmsis_os2.o
- 0x08010446 0x08010446 0x00000002 PAD
- 0x08010448 0x08010448 0x000000c4 Code RO 2042 .text.osMessageQueuePut cmsis_os2.o
- 0x0801050c 0x0801050c 0x00000040 Code RO 2054 .text.osMessageQueueReset cmsis_os2.o
- 0x0801054c 0x0801054c 0x0000009e Code RO 2022 .text.osMutexAcquire cmsis_os2.o
- 0x080105ea 0x080105ea 0x00000002 PAD
- 0x080105ec 0x080105ec 0x00000128 Code RO 2020 .text.osMutexNew cmsis_os2.o
- 0x08010714 0x08010714 0x0000007e Code RO 2024 .text.osMutexRelease cmsis_os2.o
- 0x08010792 0x08010792 0x00000002 PAD
- 0x08010794 0x08010794 0x000000a4 Code RO 1982 .text.osThreadFlagsSet cmsis_os2.o
- 0x08010838 0x08010838 0x0000011a Code RO 1988 .text.osThreadFlagsWait cmsis_os2.o
- 0x08010952 0x08010952 0x00000002 PAD
- 0x08010954 0x08010954 0x00000010 Code RO 1958 .text.osThreadGetId cmsis_os2.o
- 0x08010964 0x08010964 0x0000015a Code RO 1954 .text.osThreadNew cmsis_os2.o
- 0x08010abe 0x08010abe 0x00000002 PAD
- 0x08010ac0 0x08010ac0 0x0000005e Code RO 1976 .text.osThreadTerminate cmsis_os2.o
- 0x08010b1e 0x08010b1e 0x00000002 PAD
- 0x08010b20 0x08010b20 0x000000d4 Code RO 1718 .text.prvAddCurrentTaskToDelayedList tasks.o
- 0x08010bf4 0x08010bf4 0x00000122 Code RO 1704 .text.prvAddNewTaskToReadyList tasks.o
- 0x08010d16 0x08010d16 0x00000002 PAD
- 0x08010d18 0x08010d18 0x000000a2 Code RO 1855 .text.prvCheckForValidListAndQueue timers.o
- 0x08010dba 0x08010dba 0x00000002 PAD
- 0x08010dbc 0x08010dbc 0x0000005a Code RO 1822 .text.prvCheckTasksWaitingTermination tasks.o
- 0x08010e16 0x08010e16 0x00000002 PAD
- 0x08010e18 0x08010e18 0x00000042 Code RO 1597 .text.prvCopyDataFromQueue queue.o
- 0x08010e5a 0x08010e5a 0x00000002 PAD
- 0x08010e5c 0x08010e5c 0x000000cc Code RO 1585 .text.prvCopyDataToQueue queue.o
- 0x08010f28 0x08010f28 0x0000005e Code RO 1710 .text.prvDeleteTCB tasks.o
- 0x08010f86 0x08010f86 0x00000002 PAD
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- 0x08010fae 0x08010fae 0x00000002 PAD
- 0x08010fb0 0x08010fb0 0x00000040 Code RO 1893 .text.prvGetNextExpireTime timers.o
- 0x08010ff0 0x08010ff0 0x000000bc Code RO 2103 .text.prvHeapInit heap_4.o
- 0x080110ac 0x080110ac 0x00000038 Code RO 1744 .text.prvIdleTask tasks.o
- 0x080110e4 0x080110e4 0x0000002c Code RO 1565 .text.prvInitialiseMutex queue.o
- 0x08011110 0x08011110 0x00000048 Code RO 1559 .text.prvInitialiseNewQueue queue.o
- 0x08011158 0x08011158 0x00000122 Code RO 1702 .text.prvInitialiseNewTask tasks.o
- 0x0801127a 0x0801127a 0x00000002 PAD
- 0x0801127c 0x0801127c 0x0000008e Code RO 1820 .text.prvInitialiseTaskLists tasks.o
- 0x0801130a 0x0801130a 0x00000002 PAD
- 0x0801130c 0x0801130c 0x000000c6 Code RO 2105 .text.prvInsertBlockIntoFreeList heap_4.o
- 0x080113d2 0x080113d2 0x00000002 PAD
- 0x080113d4 0x080113d4 0x00000086 Code RO 1905 .text.prvInsertTimerInActiveList timers.o
- 0x0801145a 0x0801145a 0x00000002 PAD
- 0x0801145c 0x0801145c 0x00000028 Code RO 1599 .text.prvIsQueueEmpty queue.o
- 0x08011484 0x08011484 0x0000002e Code RO 1587 .text.prvIsQueueFull queue.o
- 0x080114b2 0x080114b2 0x00000002 PAD
- 0x080114b4 0x080114b4 0x00000028 Code RO 2144 .text.prvPortStartFirstTask port.o
- 0x080114dc 0x080114dc 0x0000008e Code RO 1901 .text.prvProcessExpiredTimer timers.o
- 0x0801156a 0x0801156a 0x00000002 PAD
- 0x0801156c 0x0801156c 0x00000192 Code RO 1897 .text.prvProcessReceivedCommands timers.o
- 0x080116fe 0x080116fe 0x00000002 PAD
- 0x08011700 0x08011700 0x0000009a Code RO 1895 .text.prvProcessTimerOrBlockTask timers.o
- 0x0801179a 0x0801179a 0x00000002 PAD
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+ 0x0801141c 0x0801141c 0x0000002e Code RO 1587 .text.prvIsQueueFull queue.o
+ 0x0801144a 0x0801144a 0x00000002 PAD
+ 0x0801144c 0x0801144c 0x00000028 Code RO 2144 .text.prvPortStartFirstTask port.o
+ 0x08011474 0x08011474 0x0000008e Code RO 1901 .text.prvProcessExpiredTimer timers.o
+ 0x08011502 0x08011502 0x00000002 PAD
+ 0x08011504 0x08011504 0x00000192 Code RO 1897 .text.prvProcessReceivedCommands timers.o
+ 0x08011696 0x08011696 0x00000002 PAD
+ 0x08011698 0x08011698 0x0000009a Code RO 1895 .text.prvProcessTimerOrBlockTask timers.o
+ 0x08011732 0x08011732 0x00000002 PAD
+ 0x08011734 0x08011734 0x00000046 Code RO 1712 .text.prvResetNextTaskUnblockTime tasks.o
+ 0x0801177a 0x0801177a 0x00000002 PAD
+ 0x0801177c 0x0801177c 0x00000044 Code RO 1899 .text.prvSampleTimeNow timers.o
+ 0x080117c0 0x080117c0 0x000000d4 Code RO 1903 .text.prvSwitchTimerLists timers.o
+ 0x08011894 0x08011894 0x0000004c Code RO 2134 .text.prvTaskExitError port.o
+ 0x080118e0 0x080118e0 0x0000001e Code RO 1857 .text.prvTimerTask timers.o
+ 0x080118fe 0x080118fe 0x00000002 PAD
+ 0x08011900 0x08011900 0x000000ae Code RO 1589 .text.prvUnlockQueue queue.o
+ 0x080119ae 0x080119ae 0x00000002 PAD
+ 0x080119b0 0x080119b0 0x000001ec Code RO 2101 .text.pvPortMalloc heap_4.o
+ 0x08011b9c 0x08011b9c 0x0000002c Code RO 1804 .text.pvTaskIncrementMutexHeldCount tasks.o
+ 0x08011bc8 0x08011bc8 0x0000005e Code RO 2132 .text.pxPortInitialiseStack port.o
+ 0x08011c26 0x08011c26 0x00000002 PAD
+ 0x08011c28 0x08011c28 0x00000038 Code RO 2841 .text.start_gyro_calibration atti_esti.o
+ 0x08011c60 0x08011c60 0x00000052 Code RO 2559 .text.uint_to_float motor_dm.o
+ 0x08011cb2 0x08011cb2 0x00000002 PAD
+ 0x08011cb4 0x08011cb4 0x00000048 Code RO 1546 .text.uxListRemove list.o
+ 0x08011cfc 0x08011cfc 0x0000002a Code RO 2082 .text.vApplicationGetIdleTaskMemory cmsis_os2.o
+ 0x08011d26 0x08011d26 0x00000002 PAD
+ 0x08011d28 0x08011d28 0x0000002c Code RO 2084 .text.vApplicationGetTimerTaskMemory cmsis_os2.o
+ 0x08011d54 0x08011d54 0x0000002e Code RO 1538 .text.vListInitialise list.o
+ 0x08011d82 0x08011d82 0x00000002 PAD
+ 0x08011d84 0x08011d84 0x0000000e Code RO 1540 .text.vListInitialiseItem list.o
+ 0x08011d92 0x08011d92 0x00000002 PAD
+ 0x08011d94 0x08011d94 0x0000006a Code RO 1544 .text.vListInsert list.o
+ 0x08011dfe 0x08011dfe 0x00000002 PAD
+ 0x08011e00 0x08011e00 0x0000003a Code RO 1542 .text.vListInsertEnd list.o
+ 0x08011e3a 0x08011e3a 0x00000002 PAD
+ 0x08011e3c 0x08011e3c 0x00000014 Code RO 2142 .text.vPortEnableVFP port.o
+ 0x08011e50 0x08011e50 0x00000056 Code RO 2148 .text.vPortEnterCritical port.o
+ 0x08011ea6 0x08011ea6 0x00000002 PAD
+ 0x08011ea8 0x08011ea8 0x0000004a Code RO 2150 .text.vPortExitCritical port.o
+ 0x08011ef2 0x08011ef2 0x00000002 PAD
+ 0x08011ef4 0x08011ef4 0x000000ce Code RO 2107 .text.vPortFree heap_4.o
+ 0x08011fc2 0x08011fc2 0x00000002 PAD
+ 0x08011fc4 0x08011fc4 0x00000044 Code RO 2140 .text.vPortSetupTimerInterrupt port.o
+ 0x08012008 0x08012008 0x00000084 Code RO 2156 .text.vPortValidateInterruptPriority port.o
+ 0x0801208c 0x0801208c 0x00000052 Code RO 1629 .text.vQueueAddToRegistry queue.o
+ 0x080120de 0x080120de 0x00000002 PAD
+ 0x080120e0 0x080120e0 0x00000064 Code RO 1633 .text.vQueueWaitForMessageRestricted queue.o
+ 0x08012144 0x08012144 0x0000006e Code RO 1722 .text.vTaskDelay tasks.o
+ 0x080121b2 0x080121b2 0x00000002 PAD
+ 0x080121b4 0x080121b4 0x00000114 Code RO 1714 .text.vTaskDelayUntil tasks.o
+ 0x080122c8 0x080122c8 0x0000010e Code RO 1708 .text.vTaskDelete tasks.o
+ 0x080123d6 0x080123d6 0x00000002 PAD
+ 0x080123d8 0x080123d8 0x00000024 Code RO 1776 .text.vTaskInternalSetTimeOutState tasks.o
+ 0x080123fc 0x080123fc 0x0000000e Code RO 1780 .text.vTaskMissedYield tasks.o
+ 0x0801240a 0x0801240a 0x00000002 PAD
+ 0x0801240c 0x0801240c 0x00000042 Code RO 1764 .text.vTaskPlaceOnEventList tasks.o
+ 0x0801244e 0x0801244e 0x00000002 PAD
+ 0x08012450 0x08012450 0x00000052 Code RO 1768 .text.vTaskPlaceOnEventListRestricted tasks.o
+ 0x080124a2 0x080124a2 0x00000002 PAD
+ 0x080124a4 0x080124a4 0x00000134 Code RO 1800 .text.vTaskPriorityDisinheritAfterTimeout tasks.o
+ 0x080125d8 0x080125d8 0x000000e0 Code RO 1742 .text.vTaskStartScheduler tasks.o
+ 0x080126b8 0x080126b8 0x00000010 Code RO 1716 .text.vTaskSuspendAll tasks.o
+ 0x080126c8 0x080126c8 0x000000c6 Code RO 1734 .text.vTaskSwitchContext tasks.o
+ 0x0801278e 0x0801278e 0x00000002 PAD
+ 0x08012790 0x08012790 0x00000156 Code RO 2138 .text.xPortStartScheduler port.o
+ 0x080128e6 0x080128e6 0x00000002 PAD
+ 0x080128e8 0x080128e8 0x0000003c Code RO 2154 .text.xPortSysTickHandler port.o
+ 0x08012924 0x08012924 0x00000026 Code RO 1563 .text.xQueueCreateMutex queue.o
+ 0x0801294a 0x0801294a 0x00000002 PAD
+ 0x0801294c 0x0801294c 0x00000032 Code RO 1567 .text.xQueueCreateMutexStatic queue.o
+ 0x0801297e 0x0801297e 0x00000002 PAD
+ 0x08012980 0x08012980 0x00000074 Code RO 1561 .text.xQueueGenericCreate queue.o
+ 0x080129f4 0x080129f4 0x0000010e Code RO 1557 .text.xQueueGenericCreateStatic queue.o
+ 0x08012b02 0x08012b02 0x00000002 PAD
+ 0x08012b04 0x08012b04 0x000000ba Code RO 1555 .text.xQueueGenericReset queue.o
+ 0x08012bbe 0x08012bbe 0x00000002 PAD
+ 0x08012bc0 0x08012bc0 0x0000022c Code RO 1575 .text.xQueueGenericSend queue.o
+ 0x08012dec 0x08012dec 0x0000014c Code RO 1591 .text.xQueueGenericSendFromISR queue.o
+ 0x08012f38 0x08012f38 0x0000006c Code RO 1573 .text.xQueueGiveMutexRecursive queue.o
+ 0x08012fa4 0x08012fa4 0x000001dc Code RO 1595 .text.xQueueReceive queue.o
+ 0x08013180 0x08013180 0x00000108 Code RO 1605 .text.xQueueReceiveFromISR queue.o
+ 0x08013288 0x08013288 0x0000022c Code RO 1579 .text.xQueueSemaphoreTake queue.o
+ 0x080134b4 0x080134b4 0x0000006e Code RO 1577 .text.xQueueTakeMutexRecursive queue.o
+ 0x08013522 0x08013522 0x00000002 PAD
+ 0x08013524 0x08013524 0x000000cc Code RO 1778 .text.xTaskCheckForTimeOut tasks.o
+ 0x080135f0 0x080135f0 0x0000009e Code RO 1706 .text.xTaskCreate tasks.o
+ 0x0801368e 0x0801368e 0x00000002 PAD
+ 0x08013690 0x08013690 0x000000ce Code RO 1700 .text.xTaskCreateStatic tasks.o
+ 0x0801375e 0x0801375e 0x00000002 PAD
+ 0x08013760 0x08013760 0x00000178 Code RO 1810 .text.xTaskGenericNotify tasks.o
+ 0x080138d8 0x080138d8 0x000001c4 Code RO 1812 .text.xTaskGenericNotifyFromISR tasks.o
+ 0x08013a9c 0x08013a9c 0x00000014 Code RO 1792 .text.xTaskGetCurrentTaskHandle tasks.o
+ 0x08013ab0 0x08013ab0 0x00000038 Code RO 1794 .text.xTaskGetSchedulerState tasks.o
+ 0x08013ae8 0x08013ae8 0x00000014 Code RO 1750 .text.xTaskGetTickCount tasks.o
+ 0x08013afc 0x08013afc 0x0000001e Code RO 1752 .text.xTaskGetTickCountFromISR tasks.o
+ 0x08013b1a 0x08013b1a 0x00000002 PAD
+ 0x08013b1c 0x08013b1c 0x000001c4 Code RO 1748 .text.xTaskIncrementTick tasks.o
+ 0x08013ce0 0x08013ce0 0x000000d6 Code RO 1808 .text.xTaskNotifyWait tasks.o
+ 0x08013db6 0x08013db6 0x00000002 PAD
+ 0x08013db8 0x08013db8 0x000000ec Code RO 1798 .text.xTaskPriorityDisinherit tasks.o
+ 0x08013ea4 0x08013ea4 0x0000010e Code RO 1796 .text.xTaskPriorityInherit tasks.o
+ 0x08013fb2 0x08013fb2 0x00000002 PAD
+ 0x08013fb4 0x08013fb4 0x000000ce Code RO 1770 .text.xTaskRemoveFromEventList tasks.o
+ 0x08014082 0x08014082 0x00000002 PAD
+ 0x08014084 0x08014084 0x00000186 Code RO 1720 .text.xTaskResumeAll tasks.o
+ 0x0801420a 0x0801420a 0x00000002 PAD
+ 0x0801420c 0x0801420c 0x00000094 Code RO 1853 .text.xTimerCreateTimerTask timers.o
+ 0x080142a0 0x080142a0 0x000000b0 Code RO 1865 .text.xTimerGenericCommand timers.o
+ 0x08014350 0x08014350 0x00000030 Code RO 3264 i.__ARM_fpclassify m_wm.l(fpclassify.o)
+ 0x08014380 0x08014380 0x00000026 Code RO 3194 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o)
+ 0x080143a6 0x080143a6 0x00000002 PAD
+ 0x080143a8 0x080143a8 0x0000012c Code RO 3000 i.__hardfp_asinf m_wm.l(asinf.o)
+ 0x080144d4 0x080144d4 0x00000004 PAD
+ 0x080144d8 0x080144d8 0x000002d8 Code RO 3167 i.__hardfp_atan m_wm.l(atan.o)
+ 0x080147b0 0x080147b0 0x00000200 Code RO 3006 i.__hardfp_atan2 m_wm.l(atan2.o)
+ 0x080149b0 0x080149b0 0x000002ac Code RO 3012 i.__hardfp_atan2f m_wm.l(atan2f.o)
+ 0x08014c5c 0x08014c5c 0x00000150 Code RO 3018 i.__hardfp_cosf m_wm.l(cosf.o)
+ 0x08014dac 0x08014dac 0x00000190 Code RO 3024 i.__hardfp_sinf m_wm.l(sinf.o)
+ 0x08014f3c 0x08014f3c 0x0000017c Code RO 3030 i.__hardfp_tanf m_wm.l(tanf.o)
+ 0x080150b8 0x080150b8 0x000000f8 Code RO 3266 i.__kernel_poly m_wm.l(poly.o)
+ 0x080151b0 0x080151b0 0x00000014 Code RO 3175 i.__mathlib_dbl_infnan m_wm.l(dunder.o)
+ 0x080151c4 0x080151c4 0x00000014 Code RO 3176 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o)
+ 0x080151d8 0x080151d8 0x00000020 Code RO 3180 i.__mathlib_dbl_underflow m_wm.l(dunder.o)
+ 0x080151f8 0x080151f8 0x00000006 Code RO 3197 i.__mathlib_flt_infnan m_wm.l(funder.o)
+ 0x080151fe 0x080151fe 0x00000006 Code RO 3198 i.__mathlib_flt_infnan2 m_wm.l(funder.o)
+ 0x08015204 0x08015204 0x00000010 Code RO 3199 i.__mathlib_flt_invalid m_wm.l(funder.o)
+ 0x08015214 0x08015214 0x00000010 Code RO 3202 i.__mathlib_flt_underflow m_wm.l(funder.o)
+ 0x08015224 0x08015224 0x00000154 Code RO 3211 i.__mathlib_rredf2 m_wm.l(rredf.o)
+ 0x08015378 0x08015378 0x00000010 Code RO 3169 i.atan m_wm.l(atan.o)
+ 0x08015388 0x08015388 0x00000018 Code RO 3190 i.fabs m_wm.l(fabs.o)
+ 0x080153a0 0x080153a0 0x0000003e Code RO 3216 i.sqrtf m_wm.l(sqrtf.o)
+ 0x080153de 0x080153de 0x00000018 Code RO 3136 x$fpl$basic fz_wm.l(basic.o)
+ 0x080153f6 0x080153f6 0x00000002 PAD
+ 0x080153f8 0x080153f8 0x00000062 Code RO 2972 x$fpl$d2f fz_wm.l(d2f.o)
+ 0x0801545a 0x0801545a 0x00000002 PAD
+ 0x0801545c 0x0801545c 0x00000150 Code RO 3138 x$fpl$dadd fz_wm.l(daddsub_clz.o)
+ 0x080155ac 0x080155ac 0x00000018 Code RO 3262 x$fpl$dcmpinf fz_wm.l(dcmpi.o)
+ 0x080155c4 0x080155c4 0x000002b4 Code RO 2977 x$fpl$ddiv fz_wm.l(ddiv.o)
+ 0x08015878 0x08015878 0x00000078 Code RO 3144 x$fpl$deqf fz_wm.l(deqf.o)
+ 0x080158f0 0x080158f0 0x0000005a Code RO 2980 x$fpl$dfixu fz_wm.l(dfixu.o)
+ 0x0801594a 0x0801594a 0x00000026 Code RO 2984 x$fpl$dfltu fz_wm.l(dflt_clz.o)
+ 0x08015970 0x08015970 0x00000078 Code RO 3146 x$fpl$dgeqf fz_wm.l(dgeqf.o)
+ 0x080159e8 0x080159e8 0x00000078 Code RO 3148 x$fpl$dleqf fz_wm.l(dleqf.o)
+ 0x08015a60 0x08015a60 0x00000154 Code RO 2990 x$fpl$dmul fz_wm.l(dmul.o)
+ 0x08015bb4 0x08015bb4 0x0000009c Code RO 3150 x$fpl$dnaninf fz_wm.l(dnaninf.o)
+ 0x08015c50 0x08015c50 0x0000000c Code RO 3152 x$fpl$dretinf fz_wm.l(dretinf.o)
+ 0x08015c5c 0x08015c5c 0x00000016 Code RO 3139 x$fpl$drsb fz_wm.l(daddsub_clz.o)
+ 0x08015c72 0x08015c72 0x00000002 PAD
+ 0x08015c74 0x08015c74 0x000001dc Code RO 3140 x$fpl$dsub fz_wm.l(daddsub_clz.o)
+ 0x08015e50 0x08015e50 0x00000056 Code RO 2992 x$fpl$f2d fz_wm.l(f2d.o)
+ 0x08015ea6 0x08015ea6 0x00000054 Code RO 2974 x$fpl$fcmp fz_wm.l(dcmp.o)
+ 0x08015efa 0x08015efa 0x00000060 Code RO 2998 x$fpl$ffltll fz_wm.l(ffltll_clz.o)
+ 0x08015f5a 0x08015f5a 0x0000008c Code RO 3154 x$fpl$fnaninf fz_wm.l(fnaninf.o)
+ 0x08015fe6 0x08015fe6 0x0000001a Code RO 3405 x$fpl$fpinit fz_wm.l(fpinit.o)
+ 0x08016000 0x08016000 0x0000000a Code RO 3156 x$fpl$fretinf fz_wm.l(fretinf.o)
+ 0x0801600a 0x0801600a 0x00000002 PAD
+ 0x0801600c 0x0801600c 0x00000086 Code RO 2994 x$fpl$llsfromf fz_wm.l(ffixll.o)
+ 0x08016092 0x08016092 0x00000000 Code RO 3166 x$fpl$usenofp fz_wm.l(usenofp.o)
+ 0x08016092 0x08016092 0x00000006 PAD
+ 0x08016098 0x08016098 0x00000098 Data RO 3170 .constdata m_wm.l(atan.o)
+ 0x08016130 0x08016130 0x00000008 Data RO 3210 .constdata m_wm.l(qnan.o)
+ 0x08016138 0x08016138 0x00000020 Data RO 3212 .constdata m_wm.l(rredf.o)
+ 0x08016158 0x08016158 0x00000010 Data RO 1491 .rodata.AHBPrescTable system_stm32f4xx.o
+ 0x08016168 0x08016168 0x00000008 Data RO 1492 .rodata.APBPrescTable system_stm32f4xx.o
+ 0x08016170 0x08016170 0x00000008 Data RO 496 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o
+ 0x08016178 0x08016178 0x00000038 Data RO 2307 .rodata.GPIO_Map gpio_1.o
+ 0x080161b0 0x080161b0 0x00000028 Data RO 2344 .rodata.PWM_Map pwm.o
+ 0x080161d8 0x080161d8 0x00000024 Data RO 2883 .rodata.attr_atti_esti user_task.o
+ 0x080161fc 0x080161fc 0x00000024 Data RO 2884 .rodata.attr_blink user_task.o
+ 0x08016220 0x08016220 0x00000024 Data RO 2888 .rodata.attr_cmd user_task.o
+ 0x08016244 0x08016244 0x00000024 Data RO 2885 .rodata.attr_ctrl_chassis user_task.o
+ 0x08016268 0x08016268 0x00000024 Data RO 2886 .rodata.attr_ctrl_gimbal user_task.o
+ 0x0801628c 0x0801628c 0x00000024 Data RO 2887 .rodata.attr_ctrl_shoot user_task.o
+ 0x080162b0 0x080162b0 0x00000024 Data RO 2881 .rodata.attr_init user_task.o
+ 0x080162d4 0x080162d4 0x00000024 Data RO 2882 .rodata.attr_rc user_task.o
+ 0x080162f8 0x080162f8 0x00000024 Data RO 38 .rodata.defaultTask_attributes freertos.o
+ 0x0801631c 0x0801631c 0x00000020 Data RO 2848 .rodata.imu_temp_ctrl_pid_param atti_esti.o
+ 0x0801633c 0x0801633c 0x0000000c Data RO 37 .rodata.str1.1 freertos.o
+ 0x08016348 0x08016348 0x00000005 Data RO 1838 .rodata.str1.1 tasks.o
+ 0x0801634d 0x0801634d 0x0000000d Data RO 1908 .rodata.str1.1 timers.o
+ 0x0801635a 0x0801635a 0x00000045 Data RO 2880 .rodata.str1.1 user_task.o
+ 0x0801639f 0x0801639f 0x00000001 PAD
+ 0x080163a0 0x080163a0 0x00000020 Data RO 3466 Region$$Table anon$$obj.o
- Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08016428, Size: 0x0000a7b0, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000108])
+ Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080163c0, Size: 0x0000a7b0, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000108])
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
@@ -8575,7 +8575,7 @@ Memory Map of the image
0x200097b0 - 0x00001000 Zero RW 1 STACK startup_stm32f407xx.o
- Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08016530, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
+ Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x080164c8, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
**** No section assigned to this execution region ****
@@ -8595,7 +8595,7 @@ Image component sizes
1604 16 0 0 26 5120 bmi088.o
620 0 0 0 84 6402 can.o
3946 4 0 0 2181 14214 can_1.o
- 2858 64 0 160 956 5703 chassis.o
+ 2754 64 0 160 956 5663 chassis.o
504 8 0 0 60 1913 cmd.o
2968 0 0 0 1724 34918 cmsis_os2.o
312 0 0 432 0 3284 config.o
@@ -8649,7 +8649,7 @@ Image component sizes
0 0 357 0 156 3455 user_task.o
----------------------------------------------------------------------
- 81532 534 1008 624 42208 460586 Object Totals
+ 81428 534 1008 624 42208 460546 Object Totals
0 0 32 0 0 0 (incl. Generated)
382 16 1 3 22 0 (incl. Padding)
@@ -8744,15 +8744,15 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 89976 1278 1200 624 42304 462630 Grand Totals
- 89976 1278 1200 264 42304 462630 ELF Image Totals (compressed)
- 89976 1278 1200 264 0 0 ROM Totals
+ 89872 1278 1200 624 42304 462590 Grand Totals
+ 89872 1278 1200 264 42304 462590 ELF Image Totals (compressed)
+ 89872 1278 1200 264 0 0 ROM Totals
==============================================================================
- Total RO Size (Code + RO Data) 91176 ( 89.04kB)
+ Total RO Size (Code + RO Data) 91072 ( 88.94kB)
Total RW Size (RW Data + ZI Data) 42928 ( 41.92kB)
- Total ROM Size (Code + RO Data + RW Data) 91440 ( 89.30kB)
+ Total ROM Size (Code + RO Data + RW Data) 91336 ( 89.20kB)
==============================================================================
diff --git a/MDK-ARM/hero/hero_hero.dep b/MDK-ARM/hero/hero_hero.dep
index b9b52c3..7e8d904 100644
--- a/MDK-ARM/hero/hero_hero.dep
+++ b/MDK-ARM/hero/hero_hero.dep
@@ -2012,8 +2012,8 @@ I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\mixer.h)(0x68E7A00E)()
-F (..\User\module\config.c)(0x68EF9203)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/config.o -MD)
-I (..\User\module\config.h)(0x68EE0C86)
+F (..\User\module\config.c)(0x68F63FED)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/config.o -MD)
+I (..\User\module\config.h)(0x68F63FDE)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68ED397F)
I (..\User\component\filter.h)(0x68ED397F)
@@ -2077,11 +2077,11 @@ I (..\User\module\shoot.h)(0x68EDEE45)
I (..\User\module\gimbal.h)(0x68EBA05E)
I (..\User\component\ahrs.h)(0x68ED397F)
I (..\User\device\motor_dm.h)(0x68ED1758)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+I (..\User\module\chassis.h)(0x68F63FDE)
I (..\User\component\at9s_pro_cmd.h)(0x68EB9885)
I (..\User\device\at9s_pro.h)(0x68ED3DD6)
-F (..\User\module\config.h)(0x68EE0C86)()
-F (..\User\module\gimbal.c)(0x68EF4F48)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/gimbal.o -MD)
+F (..\User\module\config.h)(0x68F63FDE)()
+F (..\User\module\gimbal.c)(0x68F63FDE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/gimbal.o -MD)
I (..\User\module\gimbal.h)(0x68EBA05E)
I (..\User\component\ahrs.h)(0x68ED397F)
I (..\User\component\user_math.h)(0x68ED40F8)
@@ -2146,7 +2146,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8
I (..\User\device\motor_rm.h)(0x68ED1758)
I (..\User\bsp\time.h)(0x68ED397F)
F (..\User\module\gimbal.h)(0x68EBA05E)()
-F (..\User\module\shoot.c)(0x68EF8ACA)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/shoot.o -MD)
+F (..\User\module\shoot.c)(0x68F0F138)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/shoot.o -MD)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\module\shoot.h)(0x68EDEE45)
I (..\Core\Inc\main.h)(0x68ED28BE)
@@ -2210,8 +2210,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (..\User\bsp\time.h)(0x68ED397F)
F (..\User\module\shoot.h)(0x68EDEE45)()
-F (..\User\module\chassis.c)(0x68EFA3EC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/chassis.o -MD)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+F (..\User\module\chassis.c)(0x68FDB677)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/chassis.o -MD)
+I (..\User\module\chassis.h)(0x68F63FDE)
I (..\Core\Inc\main.h)(0x68ED28BE)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68ED1237)
@@ -2274,8 +2274,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\bsp\time.h)(0x68ED397F)
-F (..\User\module\chassis.h)(0x68EE0C6A)()
-F (..\User\task\atti_esti.c)(0x68EE0CE7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/atti_esti.o -MD)
+F (..\User\module\chassis.h)(0x68F63FDE)()
+F (..\User\task\atti_esti.c)(0x68F64023)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/atti_esti.o -MD)
I (..\User\task\user_task.h)(0x68ED486E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -2342,11 +2342,11 @@ I (..\User\bsp\can.h)(0x68ED397F)
I (..\Core\Inc\can.h)(0x68ED1236)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\User\device\motor_rm.h)(0x68ED1758)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+I (..\User\module\chassis.h)(0x68F63FDE)
I (..\User\component\at9s_pro_cmd.h)(0x68EB9885)
I (..\User\device\at9s_pro.h)(0x68ED3DD6)
I (..\User\device\bmi088.h)(0x68ED1758)
-F (..\User\task\init.c)(0x68EE482C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/init.o -MD)
+F (..\User\task\init.c)(0x68F6400C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/init.o -MD)
I (..\User\task\user_task.h)(0x68ED486E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -2413,7 +2413,7 @@ I (..\User\bsp\mm.h)(0x68ED397F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\User\device\motor_rm.h)(0x68ED1758)
I (..\User\module\shoot.h)(0x68EDEE45)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+I (..\User\module\chassis.h)(0x68F63FDE)
F (..\User\task\rc.c)(0x68ED61A2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/rc.o -MD)
I (..\User\task\user_task.h)(0x68ED486E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
@@ -2450,7 +2450,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
F (..\User\task\user_task.h)(0x68ED486E)()
-F (..\User\task\blink.c)(0x68ED324C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/blink.o -MD)
+F (..\User\task\blink.c)(0x68F6435F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/blink.o -MD)
I (..\User\task\user_task.h)(0x68ED486E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -2501,7 +2501,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68ED397F)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-F (..\User\task\ctrl_chassis.c)(0x68EE4926)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/ctrl_chassis.o -MD)
+F (..\User\task\ctrl_chassis.c)(0x68F63FDE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/ctrl_chassis.o -MD)
I (..\User\task\user_task.h)(0x68ED486E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -2549,7 +2549,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+I (..\User\module\chassis.h)(0x68F63FDE)
I (..\User\component\at9s_pro_cmd.h)(0x68EB9885)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68ED3DD6)
@@ -2621,9 +2621,9 @@ I (..\User\bsp\bsp.h)(0x68ED397F)
I (..\User\bsp\mm.h)(0x68ED397F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
I (..\User\device\motor_rm.h)(0x68ED1758)
-I (..\User\module\config.h)(0x68EE0C86)
+I (..\User\module\config.h)(0x68F63FDE)
I (..\User\module\shoot.h)(0x68EDEE45)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+I (..\User\module\chassis.h)(0x68F63FDE)
I (..\User\component\at9s_pro_cmd.h)(0x68EB9885)
I (..\User\device\at9s_pro.h)(0x68ED3DD6)
F (..\User\task\ctrl_shoot.c)(0x68EE0794)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/ctrl_shoot.o -MD)
@@ -2690,12 +2690,12 @@ I (..\Core\Inc\can.h)(0x68ED1236)
I (..\User\bsp\bsp.h)(0x68ED397F)
I (..\User\bsp\mm.h)(0x68ED397F)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
-I (..\User\module\config.h)(0x68EE0C86)
+I (..\User\module\config.h)(0x68F63FDE)
I (..\User\module\gimbal.h)(0x68EBA05E)
I (..\User\component\ahrs.h)(0x68ED397F)
I (..\User\device\motor_dm.h)(0x68ED1758)
-I (..\User\module\chassis.h)(0x68EE0C6A)
-F (..\User\task\cmd.c)(0x68EE4EFC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/cmd.o -MD)
+I (..\User\module\chassis.h)(0x68F63FDE)
+F (..\User\task\cmd.c)(0x68F63FDE)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -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 -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User
-I./RTE/_hero
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o hero/cmd.o -MD)
I (..\User\task\user_task.h)(0x68ED486E)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -2715,7 +2715,7 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68ED40AA)
-I (..\User\module\config.h)(0x68EE0C86)
+I (..\User\module\config.h)(0x68F63FDE)
I (..\User\component\pid.h)(0x68ED397F)
I (..\User\component\filter.h)(0x68ED397F)
I (..\User\device\motor.h)(0x68ED1758)
@@ -2762,5 +2762,5 @@ I (..\User\module\shoot.h)(0x68EDEE45)
I (..\User\module\gimbal.h)(0x68EBA05E)
I (..\User\component\ahrs.h)(0x68ED397F)
I (..\User\device\motor_dm.h)(0x68ED1758)
-I (..\User\module\chassis.h)(0x68EE0C6A)
+I (..\User\module\chassis.h)(0x68F63FDE)
I (..\User\component\at9s_pro_cmd.h)(0x68EB9885)
diff --git a/MDK-ARM/hero/init.o b/MDK-ARM/hero/init.o
index d187cd0..1cb0468 100644
Binary files a/MDK-ARM/hero/init.o and b/MDK-ARM/hero/init.o differ
diff --git a/User/module/chassis.c b/User/module/chassis.c
index bace95f..c499d01 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -100,7 +100,7 @@ void chassis_control(chassis_ctrl_eulr_t eulr, COMP_AT9S_CMD_t cmd_rc)//k:ת�
vx =cos_delta_angle * cmd_rc.chassis_ctrl_vec.x - sin_delta_angle * cmd_rc.chassis_ctrl_vec.y;
vy =sin_delta_angle * cmd_rc.chassis_ctrl_vec.x + cos_delta_angle * cmd_rc.chassis_ctrl_vec.y;
- w=PID_Calc(&pid_follow, eulr.chassis_mech_zero_yaw,
+ w=PID_Calc(&pid_follow, eulr.chassis_mech_zero_yaw,
eulr.chassis_encoder_yaw, 0.0f, dt);
break;
case 3:
@@ -151,7 +151,7 @@ void chassis_control(chassis_ctrl_eulr_t eulr, COMP_AT9S_CMD_t cmd_rc)//k:ת�
// chassis_out[2] = 0;
// chassis_out[3] = 0;
for(int i=0;i<4;i++){
- speed[i]=motor1to4_measure[i].rotor_speed*19.2032/7000.0f;
+ speed[i]=motor1to4_measure[i].rotor_speed*19.2032/8000.0f;
if(speed[i]>1)speed[i]=1;
else if(speed[i]<-1)speed[i]=-1;
@@ -165,11 +165,11 @@ void chassis_control(chassis_ctrl_eulr_t eulr, COMP_AT9S_CMD_t cmd_rc)//k:ת�
lockagl[i]=motor1to4_measure[i].rotor_abs_angle;
- speed[i]=motor1to4_measure[i].rotor_speed*19.2032/7000.0f;
+ speed[i]=motor1to4_measure[i].rotor_speed*19.2032/8000.0f;
if(speed[i]>1)speed[i]=1;
else if(speed[i]<-1)speed[i]=-1;
chassis_out[i] = PID_Calc(&pid_wheel[i],Wheel_status[i],speed[i], 0,dt);
- if(chassis_out[i]>0.8f)chassis_out[i]=0.8f;
+
}
break;
@@ -178,11 +178,11 @@ void chassis_control(chassis_ctrl_eulr_t eulr, COMP_AT9S_CMD_t cmd_rc)//k:ת�
lockagl[i]=motor1to4_measure[i].rotor_abs_angle;
- speed[i]=motor1to4_measure[i].rotor_speed*19.2032/7000.0f;
+ speed[i]=motor1to4_measure[i].rotor_speed*19.2032/8000.0f;
if(speed[i]>1)speed[i]=1;
else if(speed[i]<-1)speed[i]=-1;
chassis_out[i] = PID_Calc(&pid_wheel[i],Wheel_status[i],speed[i], 0,dt);
- if(chassis_out[i]>0.8f)chassis_out[i]=0.8f;
+
}
break;
default :
diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index a1b443a..1998da7 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -32,7 +32,7 @@ KPID_t imu_temp_ctrl_pid;
Gimbal_IMU_t gimbal_to_send;
//Chassis_IMU_t chassis_to_send;
-
+//Chassis_IMU_t chassis_to_send;
BMI088_Cali_t cali_bmi088= {
.gyro_offset = {-0.00147764047f,-0.00273479894f,0.00154074503f},
};
@@ -159,6 +159,10 @@ void Task_atti_esti(void *argument) {
osMessageQueueReset(task_runtime.msgq.gimbal.imu);
osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_to_send, 0, 0);
+
+// chassis_to_send.eulr=eulr_to_send;
+// chassis_to_send.gyro=bmi088.gyro;
+// osMessageQueuePut(task_runtime.msgq.chassis.imu, &chassis_to_send, 0, 0);
// osMessageQueuePut(task_runtime.msgq.chassis.imu, &chassis_to_send, 0, 0);
BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
/* USER CODE END */
diff --git a/User/task/blink.c b/User/task/blink.c
index 72b351f..bd294f5 100644
--- a/User/task/blink.c
+++ b/User/task/blink.c
@@ -16,7 +16,7 @@
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
-/* USER STRUCT END */
+/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
diff --git a/User/task/init.c b/User/task/init.c
index 904f15c..e40c78e 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -47,6 +47,7 @@ void Task_Init(void *argument) {
/* USER MESSAGE BEGIN */
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DEVICE_AT9S_t), NULL);
+// task_runtime.msgq.chassis.imu= osMessageQueueNew(3u, sizeof(Chassis_IMU_t), NULL);
task_runtime.msgq.chassis.cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL);
task_runtime.msgq.chassis.yaw = osMessageQueueNew(2u, sizeof(float), NULL);
task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);