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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 :10067000022A90ED033A20EE030A21EE021A30EE30 :10068000010A30EE000A8DED030A079890ED020A88 :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 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+:1064500019A04B2042203A20B82938292029284960 +:10646000C869D8290C1EC03F9A9999181129C47976 +:106470002059603980292029440C119A9919402902 +:1064800004C1A94029A8A9041212520212608A501C +:106490002C69807910998029E8196821499C413A32 +:1064A00020FC298089D0B97CD9401AA0401A202C20 +:1064B0000910404924437A443C5EDC3E1036608A31 +:0864C0005A3F0132101AAA0133 :040000050800018965 :00000001FF 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 SymbolsUsageFault_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 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0x0801250d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08012641 Thumb Code 224 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x08012721 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x08012731 Thumb Code 198 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x080127f9 Thumb Code 342 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08012951 Thumb Code 60 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x0801298d Thumb Code 38 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x080129b5 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x080129e9 Thumb Code 116 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08012a5d Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x08012b6d Thumb Code 186 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x08012c29 Thumb Code 556 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x08012e55 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x08012fa1 Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x0801300d Thumb Code 476 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x080131e9 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x080132f1 Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x0801351d Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x0801358d Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08013659 Thumb Code 158 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x080136f9 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x080137c9 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x08013941 Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x08013b05 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08013b19 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x08013b51 Thumb Code 20 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x08013b65 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x08013b85 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08013d49 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08013e21 Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08013f0d Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x0801401d Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x080140ed Thumb Code 390 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x08014275 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x08014309 Thumb Code 176 timers.o(.text.xTimerGenericCommand) - __ARM_fpclassify 0x080143b9 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) - __ARM_fpclassifyf 0x080143e9 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_asinf 0x08014411 Thumb Code 258 asinf.o(i.__hardfp_asinf) - __hardfp_atan 0x08014541 Thumb Code 622 atan.o(i.__hardfp_atan) - __hardfp_atan2 0x08014819 Thumb Code 448 atan2.o(i.__hardfp_atan2) - __hardfp_atan2f 0x08014a19 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) - __hardfp_cosf 0x08014cc5 Thumb Code 280 cosf.o(i.__hardfp_cosf) - __hardfp_sinf 0x08014e15 Thumb Code 344 sinf.o(i.__hardfp_sinf) - __hardfp_tanf 0x08014fa5 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __kernel_poly 0x08015121 Thumb Code 248 poly.o(i.__kernel_poly) - __mathlib_dbl_infnan 0x08015219 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) - __mathlib_dbl_infnan2 0x0801522d Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) - __mathlib_dbl_underflow 0x08015241 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) - __mathlib_flt_infnan 0x08015261 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_infnan2 0x08015267 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) - __mathlib_flt_invalid 0x0801526d Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x0801527d Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x0801528d Thumb Code 316 rredf.o(i.__mathlib_rredf2) - atan 0x080153e1 Thumb Code 16 atan.o(i.atan) - fabs 0x080153f1 Thumb Code 24 fabs.o(i.fabs) - sqrtf 0x08015409 Thumb Code 62 sqrtf.o(i.sqrtf) - __aeabi_dneg 0x08015447 Thumb Code 0 basic.o(x$fpl$basic) - _dneg 0x08015447 Thumb Code 6 basic.o(x$fpl$basic) - __aeabi_fneg 0x0801544d Thumb Code 0 basic.o(x$fpl$basic) - _fneg 0x0801544d Thumb Code 6 basic.o(x$fpl$basic) - _dabs 0x08015453 Thumb Code 6 basic.o(x$fpl$basic) - _fabs 0x08015459 Thumb Code 6 basic.o(x$fpl$basic) - __aeabi_d2f 0x08015461 Thumb Code 0 d2f.o(x$fpl$d2f) - _d2f 0x08015461 Thumb Code 98 d2f.o(x$fpl$d2f) - __aeabi_dadd 0x080154c5 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - _dadd 0x080154c5 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) - __fpl_dcmp_Inf 0x08015615 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) - __aeabi_ddiv 0x0801562d Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x0801562d Thumb Code 556 ddiv.o(x$fpl$ddiv) - __aeabi_cdcmpeq 0x080158e1 Thumb Code 0 deqf.o(x$fpl$deqf) - _dcmpeq 0x080158e1 Thumb Code 120 deqf.o(x$fpl$deqf) - __aeabi_d2uiz 0x08015959 Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x08015959 Thumb Code 90 dfixu.o(x$fpl$dfixu) - __aeabi_ui2d 0x080159b3 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) - _dfltu 0x080159b3 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) - __aeabi_cdcmpge 0x080159d9 Thumb Code 0 dgeqf.o(x$fpl$dgeqf) - _dcmpge 0x080159d9 Thumb Code 120 dgeqf.o(x$fpl$dgeqf) - __aeabi_cdcmple 0x08015a51 Thumb Code 0 dleqf.o(x$fpl$dleqf) - _dcmple 0x08015a51 Thumb Code 120 dleqf.o(x$fpl$dleqf) - __fpl_dcmple_InfNaN 0x08015ab3 Thumb Code 0 dleqf.o(x$fpl$dleqf) - __aeabi_dmul 0x08015ac9 Thumb Code 0 dmul.o(x$fpl$dmul) - _dmul 0x08015ac9 Thumb Code 332 dmul.o(x$fpl$dmul) - __fpl_dnaninf 0x08015c1d Thumb Code 156 dnaninf.o(x$fpl$dnaninf) - __fpl_dretinf 0x08015cb9 Thumb Code 12 dretinf.o(x$fpl$dretinf) - __aeabi_drsub 0x08015cc5 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) - _drsb 0x08015cc5 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) - __aeabi_dsub 0x08015cdd Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - _dsub 0x08015cdd Thumb Code 472 daddsub_clz.o(x$fpl$dsub) - __aeabi_f2d 0x08015eb9 Thumb Code 0 f2d.o(x$fpl$f2d) - _f2d 0x08015eb9 Thumb Code 86 f2d.o(x$fpl$f2d) - __aeabi_dcmpeq 0x08015f0f Thumb Code 0 dcmp.o(x$fpl$fcmp) - _deq 0x08015f0f Thumb Code 14 dcmp.o(x$fpl$fcmp) - _dneq 0x08015f1d Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmpgt 0x08015f2b Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dgr 0x08015f2b Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmpge 0x08015f39 Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dgeq 0x08015f39 Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmple 0x08015f47 Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dleq 0x08015f47 Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmplt 0x08015f55 Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dls 0x08015f55 Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_ul2f 0x08015f63 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_uto_f 0x08015f63 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) - __aeabi_l2f 0x08015f69 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_sto_f 0x08015f69 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) - __fpl_fnaninf 0x08015fc3 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) - _fp_init 0x0801604f Thumb Code 26 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x08016067 Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x08016067 Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fpl_fretinf 0x08016069 Thumb Code 10 fretinf.o(x$fpl$fretinf) - __aeabi_f2lz 0x08016075 Thumb Code 0 ffixll.o(x$fpl$llsfromf) - _ll_sfrom_f 0x08016075 Thumb Code 134 ffixll.o(x$fpl$llsfromf) - __I$use$fp 0x080160fa Number 0 usenofp.o(x$fpl$usenofp) - __mathlib_zero 0x08016198 Data 8 qnan.o(.constdata) - AHBPrescTable 0x080161c0 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x080161d0 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_atti_esti 0x08016240 Data 36 user_task.o(.rodata.attr_atti_esti) - attr_blink 0x08016264 Data 36 user_task.o(.rodata.attr_blink) - attr_cmd 0x08016288 Data 36 user_task.o(.rodata.attr_cmd) - attr_ctrl_chassis 0x080162ac Data 36 user_task.o(.rodata.attr_ctrl_chassis) - attr_ctrl_gimbal 0x080162d0 Data 36 user_task.o(.rodata.attr_ctrl_gimbal) - attr_ctrl_shoot 0x080162f4 Data 36 user_task.o(.rodata.attr_ctrl_shoot) - attr_init 0x08016318 Data 36 user_task.o(.rodata.attr_init) - attr_rc 0x0801633c Data 36 user_task.o(.rodata.attr_rc) - defaultTask_attributes 0x08016360 Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08016408 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08016428 Number 0 anon$$obj.o(Region$$Table) + chassis_control 0x0800f489 Thumb Code 2408 chassis.o(.text.chassis_control) + eTaskGetState 0x0800fe11 Thumb Code 246 tasks.o(.text.eTaskGetState) + main 0x0800ff61 Thumb Code 76 main.o(.text.main) + osDelay 0x0800ffad Thumb Code 52 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x0800ffe1 Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x08010039 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x0801008d Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x080100b5 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x080100bd Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x08010105 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0801015d Thumb Code 82 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x080101b1 Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x08010221 Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) + 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) + __aeabi_dadd 0x0801545d Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _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) + 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+ 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 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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 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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 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.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 d187cd0c429d2f6d96c4b3e6bf482d6e43ff43da..1cb04685235220a4fbdd7f8d236d620c9b3e288a 100644 GIT binary patch delta 14 WcmX>hc|vl-Rc6MF&DWSeaR2}?ZU#C4 delta 14 WcmX>hc|vl-Rc6NY&DWSeaR2}?Xa+d| 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);