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898 @@ -3603,39 +3603,39 @@ 0 100 - 1 + 0 ..\User\module\config.c - 47 - 123 - 142 + 79 + 79 + 127 1 0 ..\User\module\shoot_control.c - 18 - 1 - 12 + 9 + 31 + 8 1 0 ..\User\module\shoot_control.h - 0 - 10 - 24 + 30 + 93 + 112 1 0 ..\User\task\shoot_ctrl.c - 7 - 22 - 41 + 21 + 31 + 48 1 0 @@ -3697,12 +3697,21 @@ ..\User\bsp\mm.c 13 - 5 + 1 24 1 0 + + ..\User\component\at9s_pro_cmd.c + 29 + 38 + 51 + 1 + + 0 + diff --git a/MDK-ARM/shoot/config.o b/MDK-ARM/shoot/config.o index bf28b16..40388b9 100644 Binary files a/MDK-ARM/shoot/config.o and b/MDK-ARM/shoot/config.o differ diff --git a/MDK-ARM/shoot/shoot.axf b/MDK-ARM/shoot/shoot.axf index ca51727..4415545 100644 Binary files a/MDK-ARM/shoot/shoot.axf and b/MDK-ARM/shoot/shoot.axf differ diff --git a/MDK-ARM/shoot/shoot.build_log.htm b/MDK-ARM/shoot/shoot.build_log.htm index e909688..7be26be 100644 --- a/MDK-ARM/shoot/shoot.build_log.htm +++ b/MDK-ARM/shoot/shoot.build_log.htm @@ -28,10 +28,6 @@ Project File Date: 10/03/2025 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' Build target 'shoot' Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'. -compiling shoot_control.c... -linking... -Program Size: Code=32128 RO-data=660 RW-data=268 ZI-data=23668 -FromELF: creating hex file... "shoot\shoot.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -56,7 +52,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/shoot/shoot.hex b/MDK-ARM/shoot/shoot.hex index e81e672..49d23e9 100644 --- a/MDK-ARM/shoot/shoot.hex +++ b/MDK-ARM/shoot/shoot.hex @@ -1,12 +1,12 @@ :020000040800F2 -:10000000805D00202902000891360008AD2D00080F -:1000100031350008710D0008114A00080000000089 -:10002000000000000000000000000000713900081E -:10003000A5160008000000000139000895440008DA +:10000000C85D002029020008A1360008BD2D0008A7 +:1000100041350008710D0008694A00080000000021 +:10002000000000000000000000000000813900080E +:10003000B5160008000000001139000899440008B6 :10004000430200084302000843020008430200087C :10005000430200084302000843020008430200086C :10006000430200084302000843020008430200085C -:10007000C9150008430200084302000843020008B3 +:10007000D9150008430200084302000843020008A3 :10008000430200084302000843020008950D0008DF 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a/MDK-ARM/shoot/shoot.htm b/MDK-ARM/shoot/shoot.htm index 2410ec4..16cf48d 100644 --- a/MDK-ARM/shoot/shoot.htm +++ b/MDK-ARM/shoot/shoot.htm @@ -3,7 +3,7 @@ Static Call Graph - [shoot\shoot.axf]

Static Call Graph for image shoot\shoot.axf


-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Oct 8 22:27:04 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Oct 9 20:55:15 2025

Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -834,7 +834,7 @@ Global Symbols

[Called By]
  • >>   Task_shoot_ctrl
-

Config_ShootInit (Thumb, 162 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit)) +

Config_ShootInit (Thumb, 180 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit))

[Stack]

  • Max Depth = 152
  • Call Chain = Config_ShootInit ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

[Calls]
  • >>   BSP_Malloc @@ -1542,7 +1542,7 @@ Global Symbols
    [Called By]
    • >>   Task_shoot_ctrl
    -

    Shoot_Init (Thumb, 564 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init)) +

    Shoot_Init (Thumb, 550 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))

    [Stack]

    • Max Depth = 288 + Unknown Stack Size
    • Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
    @@ -1672,7 +1672,7 @@ Global Symbols

[Address Reference Count : 1]
  • init.o(.text.Task_Init)
-

Task_shoot_ctrl (Thumb, 172 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl)) +

Task_shoot_ctrl (Thumb, 260 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl))

[Stack]

  • Max Depth = 312 + Unknown Stack Size
  • Call Chain = Task_shoot_ctrl ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
diff --git a/MDK-ARM/shoot/shoot.map b/MDK-ARM/shoot/shoot.map index f66f07c..ae2d79c 100644 --- a/MDK-ARM/shoot/shoot.map +++ b/MDK-ARM/shoot/shoot.map @@ -2177,7 +2177,6 @@ Section Cross References shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d shoot_ctrl.o(.text.Task_shoot_ctrl) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv - shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osDelay) for osDelay shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount shoot_ctrl.o(.text.Task_shoot_ctrl) refers to config.o(.text.Config_ShootInit) for Config_ShootInit @@ -2185,6 +2184,9 @@ Section Cross References shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot) for shoot shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_control.o(.text.Shoot_Init) for Shoot_Init shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_control.o(.text.Shoot_SetMode) for Shoot_SetMode + shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.a) for a + shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz + shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.b) for b shoot_ctrl.o(.text.Task_shoot_ctrl) refers to user_task.o(.bss.task_runtime) for task_runtime shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc) for shoot_ctrl_cmd_rc shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot_cmd) for shoot_cmd @@ -3976,333 +3978,333 @@ Image Symbol Table [Anonymous Symbol] 0x080011d4 Section 0 user_math.o(.text.CircleError) [Anonymous Symbol] 0x08001210 Section 0 config.o(.text.Config_GetRobotParam) [Anonymous Symbol] 0x0800121c Section 0 config.o(.text.Config_ShootInit) - [Anonymous Symbol] 0x080012c0 Section 0 at9s_pro.o(.text.DEVICE_AT9S_Init) - [Anonymous Symbol] 0x08001308 Section 0 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) - DEVICE_AT9S_RxCpltCallback 0x08001581 Thumb Code 20 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) - [Anonymous Symbol] 0x08001580 Section 0 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) - [Anonymous Symbol] 0x08001594 Section 0 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) - [Anonymous Symbol] 0x080015b0 Section 0 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) - [Anonymous Symbol] 0x080015c8 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - [Anonymous Symbol] 0x080015d8 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DMA_CalcBaseAndBitshift 0x080015e9 Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - [Anonymous Symbol] 0x080015e8 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x0800161c Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CheckFifoParam 0x08001625 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - [Anonymous Symbol] 0x08001624 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - DMA_SetConfig 0x08001675 Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08001674 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x080016a4 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x080016a8 Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x080016b0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x080016d8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x0800176c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x0800184c Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x08001870 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08001890 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x080019b4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x080019dc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x08001c18 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08001d0c Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x08001e4c Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08001e70 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x08001e94 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08001eb8 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x08001edc Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x08001f00 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x08001f5c Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08001f80 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x08001fa4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x08001fc8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08001fec Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08002010 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08002034 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x08002058 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x080021e4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x080022b4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08002318 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x080024b4 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x080024c0 Section 0 stm32f4xx_hal.o(.text.HAL_IncTick) - [Anonymous Symbol] 0x080024dc Section 0 stm32f4xx_hal.o(.text.HAL_Init) - [Anonymous Symbol] 0x08002514 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick) - [Anonymous Symbol] 0x08002564 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - [Anonymous Symbol] 0x080025ac Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - [Anonymous Symbol] 0x080025b4 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - [Anonymous Symbol] 0x080025d4 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - [Anonymous Symbol] 0x080025dc Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - [Anonymous Symbol] 0x0800273c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - [Anonymous Symbol] 0x08002748 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - [Anonymous Symbol] 0x0800276c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - [Anonymous Symbol] 0x08002790 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - [Anonymous Symbol] 0x080027f8 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - [Anonymous Symbol] 0x08002b40 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - [Anonymous Symbol] 0x08002b48 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - [Anonymous Symbol] 0x08002b4c Section 0 uart.o(.text.HAL_UART_ErrorCallback) - [Anonymous Symbol] 0x08002b74 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - [Anonymous Symbol] 0x08002bd4 Section 0 usart.o(.text.HAL_UART_MspInit) - [Anonymous Symbol] 0x08002d30 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - [Anonymous Symbol] 0x08002d5c Section 0 uart.o(.text.HAL_UART_RxCpltCallback) - [Anonymous Symbol] 0x08002d84 Section 0 uart.o(.text.HAL_UART_RxHalfCpltCallback) - [Anonymous Symbol] 0x08002dac Section 0 stm32f4xx_it.o(.text.HardFault_Handler) - [Anonymous Symbol] 0x08002db0 Section 0 filter.o(.text.LowPassFilter2p_Apply) - [Anonymous Symbol] 0x08002e2c Section 0 filter.o(.text.LowPassFilter2p_Init) - [Anonymous Symbol] 0x08002ed0 Section 0 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_RM_CreateCANManager 0x08002f2d Thumb Code 60 motor_rm.o(.text.MOTOR_RM_CreateCANManager) - [Anonymous Symbol] 0x08002f2c Section 0 motor_rm.o(.text.MOTOR_RM_CreateCANManager) - [Anonymous Symbol] 0x08002f68 Section 0 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetCANManager 0x08003041 Thumb Code 20 motor_rm.o(.text.MOTOR_RM_GetCANManager) - [Anonymous Symbol] 0x08003040 Section 0 motor_rm.o(.text.MOTOR_RM_GetCANManager) - MOTOR_RM_GetLSB 0x08003055 Thumb Code 38 motor_rm.o(.text.MOTOR_RM_GetLSB) - [Anonymous Symbol] 0x08003054 Section 0 motor_rm.o(.text.MOTOR_RM_GetLSB) - MOTOR_RM_GetLogicalIndex 0x0800307d Thumb Code 40 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex) - [Anonymous Symbol] 0x0800307c Section 0 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex) - [Anonymous Symbol] 0x080030a4 Section 0 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_GetRatio 0x080030f5 Thumb Code 36 motor_rm.o(.text.MOTOR_RM_GetRatio) - [Anonymous Symbol] 0x080030f4 Section 0 motor_rm.o(.text.MOTOR_RM_GetRatio) - [Anonymous Symbol] 0x08003118 Section 0 motor_rm.o(.text.MOTOR_RM_Register) - [Anonymous Symbol] 0x080031c0 Section 0 motor_rm.o(.text.MOTOR_RM_Relax) - [Anonymous Symbol] 0x080031d0 Section 0 motor_rm.o(.text.MOTOR_RM_SetOutput) - [Anonymous Symbol] 0x08003270 Section 0 motor_rm.o(.text.MOTOR_RM_Update) - [Anonymous Symbol] 0x08003338 Section 0 can.o(.text.MX_CAN1_Init) - [Anonymous Symbol] 0x08003374 Section 0 can.o(.text.MX_CAN2_Init) - [Anonymous Symbol] 0x080033b0 Section 0 dma.o(.text.MX_DMA_Init) - [Anonymous Symbol] 0x0800340c Section 0 freertos.o(.text.MX_FREERTOS_Init) - [Anonymous Symbol] 0x08003448 Section 0 gpio.o(.text.MX_GPIO_Init) - [Anonymous Symbol] 0x080034bc Section 0 usart.o(.text.MX_USART3_UART_Init) - [Anonymous Symbol] 0x080034f8 Section 0 usart.o(.text.MX_USART6_UART_Init) - [Anonymous Symbol] 0x08003530 Section 0 stm32f4xx_it.o(.text.MemManage_Handler) - Motor_RM_Decode 0x08003535 Thumb Code 348 motor_rm.o(.text.Motor_RM_Decode) - [Anonymous Symbol] 0x08003534 Section 0 motor_rm.o(.text.Motor_RM_Decode) - [Anonymous Symbol] 0x08003690 Section 0 stm32f4xx_it.o(.text.NMI_Handler) - NVIC_EncodePriority 0x08003695 Thumb Code 44 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority) - [Anonymous Symbol] 0x08003694 Section 0 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority) - [Anonymous Symbol] 0x080036c0 Section 0 pid.o(.text.PID_Calc) - [Anonymous Symbol] 0x08003830 Section 0 pid.o(.text.PID_Init) - [Anonymous Symbol] 0x080038c0 Section 0 pid.o(.text.PID_Reset) - [Anonymous Symbol] 0x080038ec Section 0 pid.o(.text.PID_ResetIntegral) - [Anonymous Symbol] 0x08003900 Section 0 port.o(.text.PendSV_Handler) - pxCurrentTCBConst 0x08003960 Number 0 port.o(.text.PendSV_Handler) - [Anonymous Symbol] 0x08003970 Section 0 port.o(.text.SVC_Handler) - pxCurrentTCBConst2 0x08003990 Number 0 port.o(.text.SVC_Handler) 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fpclassifyf.o(i.__ARM_fpclassifyf) + i.__hardfp_tanf 0x08007810 Section 0 tanf.o(i.__hardfp_tanf) + i.__mathlib_flt_infnan 0x0800798c Section 0 funder.o(i.__mathlib_flt_infnan) + i.__mathlib_flt_invalid 0x08007994 Section 0 funder.o(i.__mathlib_flt_invalid) + i.__mathlib_flt_underflow 0x080079a4 Section 0 funder.o(i.__mathlib_flt_underflow) + i.__mathlib_rredf2 0x080079b4 Section 0 rredf.o(i.__mathlib_rredf2) + $v0 0x08007b08 Number 0 ddiv.o(x$fpl$ddiv) + x$fpl$ddiv 0x08007b08 Section 692 ddiv.o(x$fpl$ddiv) + ddiv_entry 0x08007b0f Thumb Code 0 ddiv.o(x$fpl$ddiv) + $v0 0x08007dbc Number 0 dfixu.o(x$fpl$dfixu) + x$fpl$dfixu 0x08007dbc Section 90 dfixu.o(x$fpl$dfixu) + $v0 0x08007e16 Number 0 dflt_clz.o(x$fpl$dfltu) + x$fpl$dfltu 0x08007e16 Section 38 dflt_clz.o(x$fpl$dfltu) + $v0 0x08007e3c Number 0 dnaninf.o(x$fpl$dnaninf) + x$fpl$dnaninf 0x08007e3c Section 156 dnaninf.o(x$fpl$dnaninf) + $v0 0x08007ed8 Number 0 dretinf.o(x$fpl$dretinf) + x$fpl$dretinf 0x08007ed8 Section 12 dretinf.o(x$fpl$dretinf) + $v0 0x08007ee4 Number 0 ffltll_clz.o(x$fpl$ffltll) + x$fpl$ffltll 0x08007ee4 Section 96 ffltll_clz.o(x$fpl$ffltll) + $v0 0x08007f44 Number 0 fpinit.o(x$fpl$fpinit) + x$fpl$fpinit 0x08007f44 Section 26 fpinit.o(x$fpl$fpinit) + x$fpl$usenofp 0x08007f5e Section 0 usenofp.o(x$fpl$usenofp) + twooverpi 0x08007f60 Data 32 rredf.o(.constdata) + .constdata 0x08007f60 Section 32 rredf.o(.constdata) + [Anonymous Symbol] 0x08008028 Section 0 freertos.o(.rodata.str1.1) + [Anonymous Symbol] 0x08008034 Section 0 user_task.o(.rodata.str1.1) uxCriticalNesting 0x20000108 Data 4 port.o(.data.uxCriticalNesting) [Anonymous Symbol] 0x20000108 Section 0 port.o(.data.uxCriticalNesting) .bss 0x20000110 Section 96 libspace.o(.bss) @@ -4316,115 +4318,115 @@ Image Symbol Table [Anonymous Symbol] 0x200001e0 Section 0 shoot_control.o(.bss.Shoot_RunningFSM.pos) UART_Callback 0x200001e4 Data 72 uart.o(.bss.UART_Callback) [Anonymous Symbol] 0x200001e4 Section 0 uart.o(.bss.UART_Callback) - 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timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue) - [Anonymous Symbol] 0x200004cc Section 0 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue) - prvSampleTimeNow.xLastTime 0x2000051c Data 4 timers.o(.bss.prvSampleTimeNow.xLastTime) - [Anonymous Symbol] 0x2000051c Section 0 timers.o(.bss.prvSampleTimeNow.xLastTime) - pxCurrentTimerList 0x20000524 Data 4 timers.o(.bss.pxCurrentTimerList) - [Anonymous Symbol] 0x20000524 Section 0 timers.o(.bss.pxCurrentTimerList) - pxDelayedTaskList 0x20000528 Data 4 tasks.o(.bss.pxDelayedTaskList) - [Anonymous Symbol] 0x20000528 Section 0 tasks.o(.bss.pxDelayedTaskList) - pxEnd 0x2000052c Data 4 heap_4.o(.bss.pxEnd) - [Anonymous Symbol] 0x2000052c Section 0 heap_4.o(.bss.pxEnd) - pxOverflowDelayedTaskList 0x20000530 Data 4 tasks.o(.bss.pxOverflowDelayedTaskList) - [Anonymous Symbol] 0x20000530 Section 0 tasks.o(.bss.pxOverflowDelayedTaskList) - pxOverflowTimerList 0x20000534 Data 4 timers.o(.bss.pxOverflowTimerList) - [Anonymous Symbol] 0x20000534 Section 0 timers.o(.bss.pxOverflowTimerList) - pxReadyTasksLists 0x20000538 Data 1120 tasks.o(.bss.pxReadyTasksLists) - [Anonymous Symbol] 0x20000538 Section 0 tasks.o(.bss.pxReadyTasksLists) - queue_list 0x20000998 Data 4 can_1.o(.bss.queue_list) - [Anonymous Symbol] 0x20000998 Section 0 can_1.o(.bss.queue_list) - queue_mutex 0x2000099c Data 4 can_1.o(.bss.queue_mutex) - [Anonymous Symbol] 0x2000099c Section 0 can_1.o(.bss.queue_mutex) - thread_alert 0x20000b88 Data 4 at9s_pro.o(.bss.thread_alert) - [Anonymous Symbol] 0x20000b88 Section 0 at9s_pro.o(.bss.thread_alert) - tx_queues 0x20000b8c Data 2064 can_1.o(.bss.tx_queues) - [Anonymous Symbol] 0x20000b8c Section 0 can_1.o(.bss.tx_queues) - ucHeap 0x2000139c Data 15360 heap_4.o(.bss.ucHeap) - [Anonymous Symbol] 0x2000139c Section 0 heap_4.o(.bss.ucHeap) - ucMaxSysCallPriority 0x20004f9c Data 1 port.o(.bss.ucMaxSysCallPriority) - [Anonymous Symbol] 0x20004f9c Section 0 port.o(.bss.ucMaxSysCallPriority) - ulMaxPRIGROUPValue 0x20004fa0 Data 4 port.o(.bss.ulMaxPRIGROUPValue) - [Anonymous Symbol] 0x20004fa0 Section 0 port.o(.bss.ulMaxPRIGROUPValue) - uxCurrentNumberOfTasks 0x20004fa8 Data 4 tasks.o(.bss.uxCurrentNumberOfTasks) - [Anonymous Symbol] 0x20004fa8 Section 0 tasks.o(.bss.uxCurrentNumberOfTasks) - uxDeletedTasksWaitingCleanUp 0x20004fac Data 4 tasks.o(.bss.uxDeletedTasksWaitingCleanUp) - [Anonymous Symbol] 0x20004fac Section 0 tasks.o(.bss.uxDeletedTasksWaitingCleanUp) - uxSchedulerSuspended 0x20004fb0 Data 4 tasks.o(.bss.uxSchedulerSuspended) - [Anonymous Symbol] 0x20004fb0 Section 0 tasks.o(.bss.uxSchedulerSuspended) - uxTaskNumber 0x20004fb4 Data 4 tasks.o(.bss.uxTaskNumber) - [Anonymous Symbol] 0x20004fb4 Section 0 tasks.o(.bss.uxTaskNumber) - uxTopReadyPriority 0x20004fb8 Data 4 tasks.o(.bss.uxTopReadyPriority) - [Anonymous Symbol] 0x20004fb8 Section 0 tasks.o(.bss.uxTopReadyPriority) - vApplicationGetIdleTaskMemory.Idle_Stack 0x20004fbc Data 512 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack) - [Anonymous Symbol] 0x20004fbc Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack) - vApplicationGetIdleTaskMemory.Idle_TCB 0x200051bc Data 92 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB) - [Anonymous Symbol] 0x200051bc Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB) - vApplicationGetTimerTaskMemory.Timer_Stack 0x20005218 Data 1024 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack) - [Anonymous Symbol] 0x20005218 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack) - vApplicationGetTimerTaskMemory.Timer_TCB 0x20005618 Data 92 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB) - [Anonymous Symbol] 0x20005618 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB) - xActiveTimerList1 0x20005674 Data 20 timers.o(.bss.xActiveTimerList1) - [Anonymous Symbol] 0x20005674 Section 0 timers.o(.bss.xActiveTimerList1) - xActiveTimerList2 0x20005688 Data 20 timers.o(.bss.xActiveTimerList2) - [Anonymous Symbol] 0x20005688 Section 0 timers.o(.bss.xActiveTimerList2) - xBlockAllocatedBit 0x2000569c Data 1 heap_4.o(.bss.xBlockAllocatedBit) - [Anonymous Symbol] 0x2000569c Section 0 heap_4.o(.bss.xBlockAllocatedBit) - xDelayedTaskList1 0x200056a0 Data 20 tasks.o(.bss.xDelayedTaskList1) - [Anonymous Symbol] 0x200056a0 Section 0 tasks.o(.bss.xDelayedTaskList1) - xDelayedTaskList2 0x200056b4 Data 20 tasks.o(.bss.xDelayedTaskList2) - [Anonymous Symbol] 0x200056b4 Section 0 tasks.o(.bss.xDelayedTaskList2) - xFreeBytesRemaining 0x200056c8 Data 4 heap_4.o(.bss.xFreeBytesRemaining) - [Anonymous Symbol] 0x200056c8 Section 0 heap_4.o(.bss.xFreeBytesRemaining) - xIdleTaskHandle 0x200056cc Data 4 tasks.o(.bss.xIdleTaskHandle) - [Anonymous Symbol] 0x200056cc Section 0 tasks.o(.bss.xIdleTaskHandle) - xMinimumEverFreeBytesRemaining 0x200056d0 Data 4 heap_4.o(.bss.xMinimumEverFreeBytesRemaining) - [Anonymous Symbol] 0x200056d0 Section 0 heap_4.o(.bss.xMinimumEverFreeBytesRemaining) - xNextTaskUnblockTime 0x200056d4 Data 4 tasks.o(.bss.xNextTaskUnblockTime) - [Anonymous Symbol] 0x200056d4 Section 0 tasks.o(.bss.xNextTaskUnblockTime) - xNumOfOverflows 0x200056d8 Data 4 tasks.o(.bss.xNumOfOverflows) - [Anonymous Symbol] 0x200056d8 Section 0 tasks.o(.bss.xNumOfOverflows) - xNumberOfSuccessfulAllocations 0x200056dc Data 4 heap_4.o(.bss.xNumberOfSuccessfulAllocations) - [Anonymous Symbol] 0x200056dc Section 0 heap_4.o(.bss.xNumberOfSuccessfulAllocations) - xNumberOfSuccessfulFrees 0x200056e0 Data 4 heap_4.o(.bss.xNumberOfSuccessfulFrees) - [Anonymous Symbol] 0x200056e0 Section 0 heap_4.o(.bss.xNumberOfSuccessfulFrees) - xPendedTicks 0x200056e4 Data 4 tasks.o(.bss.xPendedTicks) - [Anonymous Symbol] 0x200056e4 Section 0 tasks.o(.bss.xPendedTicks) - xPendingReadyList 0x200056e8 Data 20 tasks.o(.bss.xPendingReadyList) - [Anonymous Symbol] 0x200056e8 Section 0 tasks.o(.bss.xPendingReadyList) - xSchedulerRunning 0x2000573c Data 4 tasks.o(.bss.xSchedulerRunning) - [Anonymous Symbol] 0x2000573c Section 0 tasks.o(.bss.xSchedulerRunning) - xStart 0x20005740 Data 8 heap_4.o(.bss.xStart) - [Anonymous Symbol] 0x20005740 Section 0 heap_4.o(.bss.xStart) - xSuspendedTaskList 0x20005748 Data 20 tasks.o(.bss.xSuspendedTaskList) - [Anonymous Symbol] 0x20005748 Section 0 tasks.o(.bss.xSuspendedTaskList) - xTasksWaitingTermination 0x2000575c Data 20 tasks.o(.bss.xTasksWaitingTermination) - [Anonymous Symbol] 0x2000575c Section 0 tasks.o(.bss.xTasksWaitingTermination) - xTickCount 0x20005770 Data 4 tasks.o(.bss.xTickCount) - [Anonymous Symbol] 0x20005770 Section 0 tasks.o(.bss.xTickCount) - xTimerQueue 0x20005774 Data 4 timers.o(.bss.xTimerQueue) - [Anonymous Symbol] 0x20005774 Section 0 timers.o(.bss.xTimerQueue) - xTimerTaskHandle 0x20005778 Data 4 timers.o(.bss.xTimerTaskHandle) - [Anonymous Symbol] 0x20005778 Section 0 timers.o(.bss.xTimerTaskHandle) - xYieldPending 0x2000577c Data 4 tasks.o(.bss.xYieldPending) - [Anonymous Symbol] 0x2000577c Section 0 tasks.o(.bss.xYieldPending) - Heap_Mem 0x20005780 Data 512 startup_stm32f407xx.o(HEAP) - HEAP 0x20005780 Section 512 startup_stm32f407xx.o(HEAP) - Stack_Mem 0x20005980 Data 1024 startup_stm32f407xx.o(STACK) - STACK 0x20005980 Section 1024 startup_stm32f407xx.o(STACK) - __initial_sp 0x20005d80 Data 0 startup_stm32f407xx.o(STACK) + can_managers 0x2000029c Data 8 motor_rm.o(.bss.can_managers) + [Anonymous Symbol] 0x2000029c Section 0 motor_rm.o(.bss.can_managers) + id_parser 0x20000468 Data 4 can_1.o(.bss.id_parser) + [Anonymous Symbol] 0x20000468 Section 0 can_1.o(.bss.id_parser) + inited 0x2000046c Data 1 can_1.o(.bss.inited) + [Anonymous Symbol] 0x2000046c Section 0 can_1.o(.bss.inited) + inited 0x2000046d Data 1 at9s_pro.o(.bss.inited) + [Anonymous Symbol] 0x2000046d Section 0 at9s_pro.o(.bss.inited) + last_firecmd 0x2000046e Data 1 shoot_control.o(.bss.last_firecmd) + [Anonymous Symbol] 0x2000046e Section 0 shoot_control.o(.bss.last_firecmd) + prvCheckForValidListAndQueue.ucStaticTimerQueueStorage 0x2000046f Data 160 timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage) + [Anonymous Symbol] 0x2000046f Section 0 timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage) + prvCheckForValidListAndQueue.xStaticTimerQueue 0x20000510 Data 80 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue) + [Anonymous Symbol] 0x20000510 Section 0 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue) + prvSampleTimeNow.xLastTime 0x20000560 Data 4 timers.o(.bss.prvSampleTimeNow.xLastTime) + [Anonymous Symbol] 0x20000560 Section 0 timers.o(.bss.prvSampleTimeNow.xLastTime) + pxCurrentTimerList 0x20000568 Data 4 timers.o(.bss.pxCurrentTimerList) + [Anonymous Symbol] 0x20000568 Section 0 timers.o(.bss.pxCurrentTimerList) + pxDelayedTaskList 0x2000056c Data 4 tasks.o(.bss.pxDelayedTaskList) + [Anonymous Symbol] 0x2000056c Section 0 tasks.o(.bss.pxDelayedTaskList) + pxEnd 0x20000570 Data 4 heap_4.o(.bss.pxEnd) + [Anonymous Symbol] 0x20000570 Section 0 heap_4.o(.bss.pxEnd) + pxOverflowDelayedTaskList 0x20000574 Data 4 tasks.o(.bss.pxOverflowDelayedTaskList) + [Anonymous Symbol] 0x20000574 Section 0 tasks.o(.bss.pxOverflowDelayedTaskList) + pxOverflowTimerList 0x20000578 Data 4 timers.o(.bss.pxOverflowTimerList) + [Anonymous Symbol] 0x20000578 Section 0 timers.o(.bss.pxOverflowTimerList) + pxReadyTasksLists 0x2000057c Data 1120 tasks.o(.bss.pxReadyTasksLists) + [Anonymous Symbol] 0x2000057c Section 0 tasks.o(.bss.pxReadyTasksLists) + queue_list 0x200009dc Data 4 can_1.o(.bss.queue_list) + [Anonymous Symbol] 0x200009dc Section 0 can_1.o(.bss.queue_list) + queue_mutex 0x200009e0 Data 4 can_1.o(.bss.queue_mutex) + [Anonymous Symbol] 0x200009e0 Section 0 can_1.o(.bss.queue_mutex) + thread_alert 0x20000bd0 Data 4 at9s_pro.o(.bss.thread_alert) + [Anonymous Symbol] 0x20000bd0 Section 0 at9s_pro.o(.bss.thread_alert) + tx_queues 0x20000bd4 Data 2064 can_1.o(.bss.tx_queues) + [Anonymous Symbol] 0x20000bd4 Section 0 can_1.o(.bss.tx_queues) + ucHeap 0x200013e4 Data 15360 heap_4.o(.bss.ucHeap) + [Anonymous Symbol] 0x200013e4 Section 0 heap_4.o(.bss.ucHeap) + ucMaxSysCallPriority 0x20004fe4 Data 1 port.o(.bss.ucMaxSysCallPriority) + [Anonymous Symbol] 0x20004fe4 Section 0 port.o(.bss.ucMaxSysCallPriority) + ulMaxPRIGROUPValue 0x20004fe8 Data 4 port.o(.bss.ulMaxPRIGROUPValue) + [Anonymous Symbol] 0x20004fe8 Section 0 port.o(.bss.ulMaxPRIGROUPValue) + uxCurrentNumberOfTasks 0x20004ff0 Data 4 tasks.o(.bss.uxCurrentNumberOfTasks) + [Anonymous Symbol] 0x20004ff0 Section 0 tasks.o(.bss.uxCurrentNumberOfTasks) + uxDeletedTasksWaitingCleanUp 0x20004ff4 Data 4 tasks.o(.bss.uxDeletedTasksWaitingCleanUp) + [Anonymous Symbol] 0x20004ff4 Section 0 tasks.o(.bss.uxDeletedTasksWaitingCleanUp) + uxSchedulerSuspended 0x20004ff8 Data 4 tasks.o(.bss.uxSchedulerSuspended) + [Anonymous Symbol] 0x20004ff8 Section 0 tasks.o(.bss.uxSchedulerSuspended) + uxTaskNumber 0x20004ffc Data 4 tasks.o(.bss.uxTaskNumber) + [Anonymous Symbol] 0x20004ffc Section 0 tasks.o(.bss.uxTaskNumber) + uxTopReadyPriority 0x20005000 Data 4 tasks.o(.bss.uxTopReadyPriority) + [Anonymous Symbol] 0x20005000 Section 0 tasks.o(.bss.uxTopReadyPriority) + vApplicationGetIdleTaskMemory.Idle_Stack 0x20005004 Data 512 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack) + [Anonymous Symbol] 0x20005004 Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack) + vApplicationGetIdleTaskMemory.Idle_TCB 0x20005204 Data 92 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB) + [Anonymous Symbol] 0x20005204 Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB) + vApplicationGetTimerTaskMemory.Timer_Stack 0x20005260 Data 1024 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack) + [Anonymous Symbol] 0x20005260 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack) + vApplicationGetTimerTaskMemory.Timer_TCB 0x20005660 Data 92 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB) + [Anonymous Symbol] 0x20005660 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB) + xActiveTimerList1 0x200056bc Data 20 timers.o(.bss.xActiveTimerList1) + [Anonymous Symbol] 0x200056bc Section 0 timers.o(.bss.xActiveTimerList1) + xActiveTimerList2 0x200056d0 Data 20 timers.o(.bss.xActiveTimerList2) + [Anonymous Symbol] 0x200056d0 Section 0 timers.o(.bss.xActiveTimerList2) + xBlockAllocatedBit 0x200056e4 Data 1 heap_4.o(.bss.xBlockAllocatedBit) + [Anonymous Symbol] 0x200056e4 Section 0 heap_4.o(.bss.xBlockAllocatedBit) + xDelayedTaskList1 0x200056e8 Data 20 tasks.o(.bss.xDelayedTaskList1) + [Anonymous Symbol] 0x200056e8 Section 0 tasks.o(.bss.xDelayedTaskList1) + xDelayedTaskList2 0x200056fc Data 20 tasks.o(.bss.xDelayedTaskList2) + [Anonymous Symbol] 0x200056fc Section 0 tasks.o(.bss.xDelayedTaskList2) + xFreeBytesRemaining 0x20005710 Data 4 heap_4.o(.bss.xFreeBytesRemaining) + [Anonymous Symbol] 0x20005710 Section 0 heap_4.o(.bss.xFreeBytesRemaining) + xIdleTaskHandle 0x20005714 Data 4 tasks.o(.bss.xIdleTaskHandle) + [Anonymous Symbol] 0x20005714 Section 0 tasks.o(.bss.xIdleTaskHandle) + xMinimumEverFreeBytesRemaining 0x20005718 Data 4 heap_4.o(.bss.xMinimumEverFreeBytesRemaining) + [Anonymous Symbol] 0x20005718 Section 0 heap_4.o(.bss.xMinimumEverFreeBytesRemaining) + xNextTaskUnblockTime 0x2000571c Data 4 tasks.o(.bss.xNextTaskUnblockTime) + [Anonymous Symbol] 0x2000571c Section 0 tasks.o(.bss.xNextTaskUnblockTime) + xNumOfOverflows 0x20005720 Data 4 tasks.o(.bss.xNumOfOverflows) + [Anonymous Symbol] 0x20005720 Section 0 tasks.o(.bss.xNumOfOverflows) + xNumberOfSuccessfulAllocations 0x20005724 Data 4 heap_4.o(.bss.xNumberOfSuccessfulAllocations) + [Anonymous Symbol] 0x20005724 Section 0 heap_4.o(.bss.xNumberOfSuccessfulAllocations) + xNumberOfSuccessfulFrees 0x20005728 Data 4 heap_4.o(.bss.xNumberOfSuccessfulFrees) + [Anonymous Symbol] 0x20005728 Section 0 heap_4.o(.bss.xNumberOfSuccessfulFrees) + xPendedTicks 0x2000572c Data 4 tasks.o(.bss.xPendedTicks) + [Anonymous Symbol] 0x2000572c Section 0 tasks.o(.bss.xPendedTicks) + xPendingReadyList 0x20005730 Data 20 tasks.o(.bss.xPendingReadyList) + [Anonymous Symbol] 0x20005730 Section 0 tasks.o(.bss.xPendingReadyList) + xSchedulerRunning 0x20005784 Data 4 tasks.o(.bss.xSchedulerRunning) + [Anonymous Symbol] 0x20005784 Section 0 tasks.o(.bss.xSchedulerRunning) + xStart 0x20005788 Data 8 heap_4.o(.bss.xStart) + [Anonymous Symbol] 0x20005788 Section 0 heap_4.o(.bss.xStart) + xSuspendedTaskList 0x20005790 Data 20 tasks.o(.bss.xSuspendedTaskList) + [Anonymous Symbol] 0x20005790 Section 0 tasks.o(.bss.xSuspendedTaskList) + xTasksWaitingTermination 0x200057a4 Data 20 tasks.o(.bss.xTasksWaitingTermination) + [Anonymous Symbol] 0x200057a4 Section 0 tasks.o(.bss.xTasksWaitingTermination) + xTickCount 0x200057b8 Data 4 tasks.o(.bss.xTickCount) + [Anonymous Symbol] 0x200057b8 Section 0 tasks.o(.bss.xTickCount) + xTimerQueue 0x200057bc Data 4 timers.o(.bss.xTimerQueue) + [Anonymous Symbol] 0x200057bc Section 0 timers.o(.bss.xTimerQueue) + xTimerTaskHandle 0x200057c0 Data 4 timers.o(.bss.xTimerTaskHandle) + [Anonymous Symbol] 0x200057c0 Section 0 timers.o(.bss.xTimerTaskHandle) + xYieldPending 0x200057c4 Data 4 tasks.o(.bss.xYieldPending) + [Anonymous Symbol] 0x200057c4 Section 0 tasks.o(.bss.xYieldPending) + Heap_Mem 0x200057c8 Data 512 startup_stm32f407xx.o(HEAP) + HEAP 0x200057c8 Section 512 startup_stm32f407xx.o(HEAP) + Stack_Mem 0x200059c8 Data 1024 startup_stm32f407xx.o(STACK) + STACK 0x200059c8 Section 1024 startup_stm32f407xx.o(STACK) + __initial_sp 0x20005dc8 Data 0 startup_stm32f407xx.o(STACK) Global Symbols @@ -4649,242 +4651,244 @@ Image Symbol Table CircleAdd 0x08001199 Thumb Code 58 user_math.o(.text.CircleAdd) CircleError 0x080011d5 Thumb Code 60 user_math.o(.text.CircleError) Config_GetRobotParam 0x08001211 Thumb Code 10 config.o(.text.Config_GetRobotParam) - Config_ShootInit 0x0800121d Thumb Code 162 config.o(.text.Config_ShootInit) - DEVICE_AT9S_Init 0x080012c1 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init) - DEVICE_AT9S_ParseRaw 0x08001309 Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) - DEVICE_AT9S_StartDmaRecv 0x08001595 Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) - DEVICE_AT9S_WaitDmaCplt 0x080015b1 Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) - DMA1_Stream1_IRQHandler 0x080015c9 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - DMA2_Stream6_IRQHandler 0x080015d9 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DebugMon_Handler 0x080016a5 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - Error_Handler 0x080016a9 Thumb Code 6 main.o(.text.Error_Handler) - HAL_CAN_ActivateNotification 0x080016b1 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - HAL_CAN_AddTxMessage 0x080016d9 Thumb Code 146 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HAL_CAN_TxMailbox2CompleteCallback 0x08002011 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08002035 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_IRQHandler 0x08002059 Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x080021e5 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x080022b5 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_GPIO_Init 0x08002319 Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GetTick 0x080024b5 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_IncTick 0x080024c1 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x080024dd Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08002515 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08002565 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_EnableIRQ 0x080025ad Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x080025b5 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x080025d5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x080025dd Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x0800273d Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x08002749 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x0800276d Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08002791 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x080027f9 Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SYSTICK_Config 0x08002b41 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_UARTEx_RxEventCallback 0x08002b49 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08002b4d Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_Init 0x08002b75 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x08002bd5 Thumb Code 348 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x08002d31 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_RxCpltCallback 0x08002d5d Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x08002d85 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HardFault_Handler 0x08002dad Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) - LowPassFilter2p_Apply 0x08002db1 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x08002e2d Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x08002ed1 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_RM_Ctrl 0x08002f69 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x080030a5 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x08003119 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_Relax 0x080031c1 Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax) - MOTOR_RM_SetOutput 0x080031d1 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x08003271 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x08003339 Thumb Code 60 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x08003375 Thumb Code 60 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x080033b1 Thumb Code 90 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800340d Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x08003449 Thumb Code 116 gpio.o(.text.MX_GPIO_Init) - MX_USART3_UART_Init 0x080034bd Thumb Code 60 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x080034f9 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x08003531 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x08003691 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x080036c1 Thumb Code 368 pid.o(.text.PID_Calc) - PID_Init 0x08003831 Thumb Code 144 pid.o(.text.PID_Init) - PID_Reset 0x080038c1 Thumb Code 44 pid.o(.text.PID_Reset) - PID_ResetIntegral 0x080038ed Thumb Code 14 pid.o(.text.PID_ResetIntegral) - PendSV_Handler 0x08003901 Thumb Code 100 port.o(.text.PendSV_Handler) - SVC_Handler 0x08003971 Thumb Code 36 port.o(.text.SVC_Handler) - Shoot_CaluTargetAngle 0x080039d5 Thumb Code 164 shoot_control.o(.text.Shoot_CaluTargetAngle) - Shoot_Control 0x08003a79 Thumb Code 108 shoot_control.o(.text.Shoot_Control) - Shoot_Init 0x08003ae5 Thumb Code 564 shoot_control.o(.text.Shoot_Init) - Shoot_JamDetectionFSM 0x08003d19 Thumb Code 284 shoot_control.o(.text.Shoot_JamDetectionFSM) - Shoot_ResetCalu 0x08003e35 Thumb Code 164 shoot_control.o(.text.Shoot_ResetCalu) - Shoot_ResetIntegral 0x08003ed9 Thumb Code 76 shoot_control.o(.text.Shoot_ResetIntegral) - Shoot_ResetOutput 0x08003f25 Thumb Code 80 shoot_control.o(.text.Shoot_ResetOutput) - Shoot_RunningFSM 0x08003f75 Thumb Code 1232 shoot_control.o(.text.Shoot_RunningFSM) - Shoot_SetMode 0x08004445 Thumb Code 18 shoot_control.o(.text.Shoot_SetMode) - StartDefaultTask 0x08004459 Thumb Code 12 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x08004495 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x080044a9 Thumb Code 164 main.o(.text.SystemClock_Config) - SystemInit 0x0800454d Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - Task_Init 0x08004561 Thumb Code 100 init.o(.text.Task_Init) + Config_ShootInit 0x0800121d Thumb Code 180 config.o(.text.Config_ShootInit) + DEVICE_AT9S_Init 0x080012d1 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init) + DEVICE_AT9S_ParseRaw 0x08001319 Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) + DEVICE_AT9S_StartDmaRecv 0x080015a5 Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) + DEVICE_AT9S_WaitDmaCplt 0x080015c1 Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) + DMA1_Stream1_IRQHandler 0x080015d9 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA2_Stream6_IRQHandler 0x080015e9 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DebugMon_Handler 0x080016b5 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + Error_Handler 0x080016b9 Thumb Code 6 main.o(.text.Error_Handler) + HAL_CAN_ActivateNotification 0x080016c1 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x080016e9 Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x0800177d Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x0800185d Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08001881 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + 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90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x08001f6d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08001f91 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08001fb5 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x08001fd9 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08001ffd Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08002021 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08002045 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_IRQHandler 0x08002069 Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x080021f5 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x080022c5 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_GPIO_Init 0x08002329 Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GetTick 0x080024c5 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_IncTick 0x080024d1 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x080024ed Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08002525 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08002575 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_EnableIRQ 0x080025bd Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x080025c5 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x080025e5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x080025ed Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x0800274d Thumb Code 12 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HAL_UART_RxCpltCallback 0x08002d6d Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x08002d95 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HardFault_Handler 0x08002dbd Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) + LowPassFilter2p_Apply 0x08002dc1 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x08002e3d Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x08002ee1 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_RM_Ctrl 0x08002f79 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x080030b5 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x08003129 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_Relax 0x080031d1 Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax) + MOTOR_RM_SetOutput 0x080031e1 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x08003281 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x08003349 Thumb Code 60 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x08003385 Thumb Code 60 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x080033c1 Thumb Code 90 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800341d Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x08003459 Thumb Code 116 gpio.o(.text.MX_GPIO_Init) + MX_USART3_UART_Init 0x080034cd Thumb Code 60 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x08003509 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x08003541 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x080036a1 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x080036d1 Thumb Code 368 pid.o(.text.PID_Calc) + PID_Init 0x08003841 Thumb Code 144 pid.o(.text.PID_Init) + PID_Reset 0x080038d1 Thumb Code 44 pid.o(.text.PID_Reset) + PID_ResetIntegral 0x080038fd Thumb Code 14 pid.o(.text.PID_ResetIntegral) + PendSV_Handler 0x08003911 Thumb Code 100 port.o(.text.PendSV_Handler) + SVC_Handler 0x08003981 Thumb Code 36 port.o(.text.SVC_Handler) + Shoot_CaluTargetAngle 0x080039e5 Thumb Code 164 shoot_control.o(.text.Shoot_CaluTargetAngle) + Shoot_Control 0x08003a89 Thumb Code 108 shoot_control.o(.text.Shoot_Control) + Shoot_Init 0x08003af5 Thumb Code 550 shoot_control.o(.text.Shoot_Init) + Shoot_JamDetectionFSM 0x08003d1d Thumb Code 284 shoot_control.o(.text.Shoot_JamDetectionFSM) + Shoot_ResetCalu 0x08003e39 Thumb Code 164 shoot_control.o(.text.Shoot_ResetCalu) + Shoot_ResetIntegral 0x08003edd Thumb Code 76 shoot_control.o(.text.Shoot_ResetIntegral) + Shoot_ResetOutput 0x08003f29 Thumb Code 80 shoot_control.o(.text.Shoot_ResetOutput) + Shoot_RunningFSM 0x08003f79 Thumb Code 1232 shoot_control.o(.text.Shoot_RunningFSM) + Shoot_SetMode 0x08004449 Thumb Code 18 shoot_control.o(.text.Shoot_SetMode) + StartDefaultTask 0x0800445d Thumb Code 12 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x08004499 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x080044ad Thumb Code 164 main.o(.text.SystemClock_Config) + SystemInit 0x08004551 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + Task_Init 0x08004565 Thumb Code 100 init.o(.text.Task_Init) Task_rc 0x080045c9 Thumb Code 152 rc.o(.text.Task_rc) - Task_shoot_ctrl 0x08004661 Thumb Code 172 shoot_ctrl.o(.text.Task_shoot_ctrl) - UART_Start_Receive_DMA 0x08004965 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) - UsageFault_Handler 0x08004a11 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) - eTaskGetState 0x08004ac9 Thumb Code 156 tasks.o(.text.eTaskGetState) - main 0x08004b65 Thumb Code 46 main.o(.text.main) - osDelay 0x08004b95 Thumb Code 32 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x08004bb5 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) - osKernelGetTickCount 0x08004be9 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x08004bfd Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x08004c05 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x08004c2d Thumb Code 44 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x08004c59 Thumb Code 52 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x08004c8d Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x08004cd1 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x08004d59 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x08004df9 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) - osMutexAcquire 0x08004e89 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) - osMutexNew 0x08004edd Thumb Code 150 cmsis_os2.o(.text.osMutexNew) - osMutexRelease 0x08004f75 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsSet 0x08004fb5 Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) - osThreadFlagsWait 0x08005035 Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x080050f1 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x080050f9 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x080051ad Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 0x08005b85 Thumb Code 330 heap_4.o(.text.pvPortMalloc) - pvTaskIncrementMutexHeldCount 0x08005cd1 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount) - pxPortInitialiseStack 0x08005ce9 Thumb Code 40 port.o(.text.pxPortInitialiseStack) - uxListRemove 0x08005d11 Thumb Code 36 list.o(.text.uxListRemove) - vApplicationGetIdleTaskMemory 0x08005d35 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) - vApplicationGetTimerTaskMemory 0x08005d51 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) - vListInitialise 0x08005d6d Thumb Code 22 list.o(.text.vListInitialise) - vListInitialiseItem 0x08005d85 Thumb Code 6 list.o(.text.vListInitialiseItem) - vListInsert 0x08005d8d Thumb Code 58 list.o(.text.vListInsert) - vListInsertEnd 0x08005dc9 Thumb Code 28 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x08005df9 Thumb Code 70 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08005e41 Thumb Code 46 port.o(.text.vPortExitCritical) - vPortFree 0x08005e71 Thumb Code 138 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08005efd Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08005f31 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08005f95 Thumb Code 40 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08005fbd Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08006001 Thumb Code 84 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x08006055 Thumb Code 168 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x080060fd Thumb Code 194 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x080061c1 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x080061dd Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x080061ed Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08006221 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x08006261 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08006305 Thumb Code 156 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x080063a9 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x080063b9 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08006455 Thumb Code 274 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08006569 Thumb Code 46 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x08006599 Thumb Code 22 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x080065b1 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x080065d5 Thumb Code 70 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x0800661d Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x080066b5 Thumb Code 126 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x08006735 Thumb Code 418 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x080068d9 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x080069a9 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x080069ed Thumb Code 388 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x08006b71 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x08006c1d Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x08006de5 Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x08006e21 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08006ea9 Thumb Code 102 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x08006f11 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x08006f89 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x08007085 Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x080071b1 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x080071bd Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x080071e5 Thumb Code 12 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x080071f1 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x08007205 Thumb Code 338 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08007359 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x080073e9 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x0800747d Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08007511 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x080075a1 Thumb Code 276 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x080076b5 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x08007729 Thumb Code 104 timers.o(.text.xTimerGenericCommand) - __ARM_fpclassifyf 0x08007791 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_tanf 0x080077b9 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __mathlib_flt_infnan 0x08007935 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_invalid 0x0800793d Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x0800794d Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x0800795d Thumb Code 316 rredf.o(i.__mathlib_rredf2) - __aeabi_ddiv 0x08007ab1 Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x08007ab1 Thumb Code 556 ddiv.o(x$fpl$ddiv) - __aeabi_d2uiz 0x08007d65 Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x08007d65 Thumb Code 90 dfixu.o(x$fpl$dfixu) - __aeabi_ui2d 0x08007dbf Thumb Code 0 dflt_clz.o(x$fpl$dfltu) - _dfltu 0x08007dbf Thumb Code 38 dflt_clz.o(x$fpl$dfltu) - __fpl_dnaninf 0x08007de5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) - __fpl_dretinf 0x08007e81 Thumb Code 12 dretinf.o(x$fpl$dretinf) - __aeabi_ul2f 0x08007e8d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_uto_f 0x08007e8d Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) - __aeabi_l2f 0x08007e93 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_sto_f 0x08007e93 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) - _fp_init 0x08007eed Thumb Code 26 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x08007f05 Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x08007f05 Thumb Code 0 fpinit.o(x$fpl$fpinit) - __I$use$fp 0x08007f06 Number 0 usenofp.o(x$fpl$usenofp) - AHBPrescTable 0x08007f28 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08007f38 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_init 0x08007f40 Data 36 user_task.o(.rodata.attr_init) - attr_rc 0x08007f64 Data 36 user_task.o(.rodata.attr_rc) - attr_shoot_ctrl 0x08007f88 Data 36 user_task.o(.rodata.attr_shoot_ctrl) - defaultTask_attributes 0x08007fac Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08007ff4 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08008014 Number 0 anon$$obj.o(Region$$Table) + Task_shoot_ctrl 0x08004661 Thumb Code 260 shoot_ctrl.o(.text.Task_shoot_ctrl) + UART_Start_Receive_DMA 0x080049bd Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + UsageFault_Handler 0x08004a69 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + eTaskGetState 0x08004b21 Thumb Code 156 tasks.o(.text.eTaskGetState) + main 0x08004bbd Thumb Code 46 main.o(.text.main) + osDelay 0x08004bed Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x08004c0d Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) + osKernelGetTickCount 0x08004c41 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x08004c55 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x08004c5d Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x08004c85 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x08004cb1 Thumb Code 52 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x08004ce5 Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x08004d29 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x08004db1 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x08004e51 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) + osMutexAcquire 0x08004ee1 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x08004f35 Thumb Code 150 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x08004fcd Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x0800500d Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x0800508d Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x08005149 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x08005151 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x08005205 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x08005bdd Thumb Code 330 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x08005d29 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x08005d41 Thumb Code 40 port.o(.text.pxPortInitialiseStack) + uxListRemove 0x08005d69 Thumb Code 36 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x08005d8d Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08005da9 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vListInitialise 0x08005dc5 Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x08005ddd Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x08005de5 Thumb Code 58 list.o(.text.vListInsert) + vListInsertEnd 0x08005e21 Thumb Code 28 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08005e51 Thumb Code 70 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08005e99 Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x08005ec9 Thumb Code 138 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08005f55 Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08005f89 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08005fed Thumb Code 40 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08006015 Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08006059 Thumb Code 84 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x080060ad Thumb Code 168 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08006155 Thumb Code 194 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08006219 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08006235 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08006245 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08006279 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x080062b9 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x0800635d Thumb Code 156 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08006401 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08006411 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x080064ad Thumb Code 274 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x080065c1 Thumb Code 46 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x080065f1 Thumb Code 22 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x08006609 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x0800662d Thumb Code 70 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08006675 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x0800670d Thumb Code 126 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x0800678d Thumb Code 418 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x08006931 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x08006a01 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08006a45 Thumb Code 388 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08006bc9 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x08006c75 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x08006e3d Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08006e79 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x08006f01 Thumb Code 102 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08006f69 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08006fe1 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x080070dd Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08007209 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08007215 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x0800723d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08007249 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x0800725d Thumb Code 338 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x080073b1 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08007441 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x080074d5 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08007569 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x080075f9 Thumb Code 276 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x0800770d Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x08007781 Thumb Code 104 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassifyf 0x080077e9 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_tanf 0x08007811 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __mathlib_flt_infnan 0x0800798d Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_invalid 0x08007995 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x080079a5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x080079b5 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + __aeabi_ddiv 0x08007b09 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08007b09 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_d2uiz 0x08007dbd Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08007dbd Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_ui2d 0x08007e17 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08007e17 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __fpl_dnaninf 0x08007e3d Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x08007ed9 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_ul2f 0x08007ee5 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08007ee5 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x08007eeb Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x08007eeb Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + _fp_init 0x08007f45 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x08007f5d Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x08007f5d Thumb Code 0 fpinit.o(x$fpl$fpinit) + __I$use$fp 0x08007f5e Number 0 usenofp.o(x$fpl$usenofp) + AHBPrescTable 0x08007f80 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08007f90 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_init 0x08007f98 Data 36 user_task.o(.rodata.attr_init) + attr_rc 0x08007fbc Data 36 user_task.o(.rodata.attr_rc) + attr_shoot_ctrl 0x08007fe0 Data 36 user_task.o(.rodata.attr_shoot_ctrl) + defaultTask_attributes 0x08008004 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x0800804c Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x0800806c Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) robot_config 0x20000004 Data 252 config.o(.data.robot_config) uwTickFreq 0x20000100 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) uwTickPrio 0x20000104 Data 4 stm32f4xx_hal.o(.data.uwTickPrio) __libspace_start 0x20000110 Data 96 libspace.o(.bss) __temporary_stack_top$libspace 0x20000170 Data 0 libspace.o(.bss) - at9s 0x2000022c Data 44 rc.o(.bss.at9s) - cmd_buffer 0x20000260 Data 25 rc.o(.bss.cmd_buffer) - defaultTaskHandle 0x2000027c Data 4 freertos.o(.bss.defaultTaskHandle) - dpos 0x20000280 Data 4 shoot_control.o(.bss.dpos) - hcan1 0x20000284 Data 40 can.o(.bss.hcan1) - hcan2 0x200002ac Data 40 can.o(.bss.hcan2) - hdma_usart3_rx 0x200002d4 Data 96 usart.o(.bss.hdma_usart3_rx) - hdma_usart6_tx 0x20000334 Data 96 usart.o(.bss.hdma_usart6_tx) - huart3 0x20000394 Data 72 usart.o(.bss.huart3) - huart6 0x200003dc Data 72 usart.o(.bss.huart6) - pxCurrentTCB 0x20000520 Data 4 tasks.o(.bss.pxCurrentTCB) - r 0x200009a0 Data 24 at9s_pro.o(.bss.r) - rc_cmd 0x200009b8 Data 40 rc.o(.bss.rc_cmd) - shoot 0x200009e0 Data 328 shoot_ctrl.o(.bss.shoot) - shoot_cmd 0x20000b28 Data 3 shoot_ctrl.o(.bss.shoot_cmd) - shoot_ctrl_cmd_rc 0x20000b2c Data 40 shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc) - task_runtime 0x20000b54 Data 52 user_task.o(.bss.task_runtime) - uwTick 0x20004fa4 Data 4 stm32f4xx_hal.o(.bss.uwTick) - xQueueRegistry 0x200056fc Data 64 queue.o(.bss.xQueueRegistry) + a 0x2000022c Data 8 shoot_ctrl.o(.bss.a) + at9s 0x20000234 Data 44 rc.o(.bss.at9s) + b 0x20000260 Data 60 shoot_ctrl.o(.bss.b) + cmd_buffer 0x200002a4 Data 25 rc.o(.bss.cmd_buffer) + defaultTaskHandle 0x200002c0 Data 4 freertos.o(.bss.defaultTaskHandle) + dpos 0x200002c4 Data 4 shoot_control.o(.bss.dpos) + hcan1 0x200002c8 Data 40 can.o(.bss.hcan1) + hcan2 0x200002f0 Data 40 can.o(.bss.hcan2) + hdma_usart3_rx 0x20000318 Data 96 usart.o(.bss.hdma_usart3_rx) + hdma_usart6_tx 0x20000378 Data 96 usart.o(.bss.hdma_usart6_tx) + huart3 0x200003d8 Data 72 usart.o(.bss.huart3) + huart6 0x20000420 Data 72 usart.o(.bss.huart6) + pxCurrentTCB 0x20000564 Data 4 tasks.o(.bss.pxCurrentTCB) + r 0x200009e4 Data 24 at9s_pro.o(.bss.r) + rc_cmd 0x200009fc Data 40 rc.o(.bss.rc_cmd) + shoot 0x20000a28 Data 328 shoot_ctrl.o(.bss.shoot) + shoot_cmd 0x20000b70 Data 3 shoot_ctrl.o(.bss.shoot_cmd) + shoot_ctrl_cmd_rc 0x20000b74 Data 40 shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc) + task_runtime 0x20000b9c Data 52 user_task.o(.bss.task_runtime) + uwTick 0x20004fec Data 4 stm32f4xx_hal.o(.bss.uwTick) + xQueueRegistry 0x20005744 Data 64 queue.o(.bss.xQueueRegistry) @@ -4894,75 +4898,75 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008128, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008180, Max: 0x00100000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00008014, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000806c, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o - 0x08000188 0x08000188 0x00000008 Code RO 2000 * !!!main c_w.l(__main.o) - 0x08000190 0x08000190 0x00000034 Code RO 2302 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000001a Code RO 2304 !!handler_copy c_w.l(__scatter_copy.o) + 0x08000188 0x08000188 0x00000008 Code RO 2002 * !!!main c_w.l(__main.o) + 0x08000190 0x08000190 0x00000034 Code RO 2304 !!!scatter c_w.l(__scatter.o) + 0x080001c4 0x080001c4 0x0000001a Code RO 2306 !!handler_copy c_w.l(__scatter_copy.o) 0x080001de 0x080001de 0x00000002 PAD - 0x080001e0 0x080001e0 0x0000001c Code RO 2306 !!handler_zi c_w.l(__scatter_zi.o) - 0x080001fc 0x080001fc 0x00000002 Code RO 2167 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x080001fe 0x080001fe 0x00000004 Code RO 2168 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2171 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2174 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2176 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2178 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2181 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2183 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 2185 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000202 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c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000002 Code RO 2299 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000208 0x08000208 0x00000000 Code RO 2034 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000208 0x08000208 0x00000000 Code RO 2081 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000208 0x08000208 0x00000006 Code RO 2093 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800020e 0x0800020e 0x00000000 Code RO 2083 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800020e 0x0800020e 0x00000004 Code RO 2084 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000000 Code RO 2086 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000008 Code RO 2087 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800021a 0x0800021a 0x00000002 Code RO 2213 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800021c 0x0800021c 0x00000000 Code RO 2232 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800021c 0x0800021c 0x00000004 Code RO 2233 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000220 0x08000220 0x00000006 Code RO 2234 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x080001e0 0x080001e0 0x0000001c Code RO 2308 !!handler_zi c_w.l(__scatter_zi.o) + 0x080001fc 0x080001fc 0x00000002 Code RO 2169 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x080001fe 0x080001fe 0x00000004 Code RO 2170 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2173 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2176 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2178 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2180 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2183 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2185 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2187 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2189 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2191 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2193 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2195 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2197 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2199 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2201 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2203 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2207 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2209 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2211 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 2213 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000002 Code RO 2214 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000204 0x08000204 0x00000002 Code RO 2269 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000206 0x08000206 0x00000000 Code RO 2287 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2289 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2292 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2295 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2297 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 2300 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000002 Code RO 2301 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x08000208 0x08000208 0x00000000 Code RO 2036 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x08000208 0x08000208 0x00000000 Code RO 2083 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x08000208 0x08000208 0x00000006 Code RO 2095 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x0800020e 0x0800020e 0x00000000 Code RO 2085 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x0800020e 0x0800020e 0x00000004 Code RO 2086 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000212 0x08000212 0x00000000 Code RO 2088 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x08000212 0x08000212 0x00000008 Code RO 2089 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x0800021a 0x0800021a 0x00000002 Code RO 2215 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x0800021c 0x0800021c 0x00000000 Code RO 2234 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x0800021c 0x0800021c 0x00000004 Code RO 2235 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x08000220 0x08000220 0x00000006 Code RO 2236 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) 0x08000226 0x08000226 0x00000002 PAD 0x08000228 0x08000228 0x00000040 Code RO 4 .text startup_stm32f407xx.o - 0x08000268 0x08000268 0x000000f0 Code RO 1947 .text c_w.l(lludivv7m.o) - 0x08000358 0x08000358 0x0000008a Code RO 1986 .text c_w.l(rt_memcpy_v6.o) - 0x080003e2 0x080003e2 0x00000064 Code RO 1988 .text c_w.l(rt_memcpy_w.o) - 0x08000446 0x08000446 0x00000010 Code RO 1992 .text c_w.l(aeabi_memset4.o) - 0x08000456 0x08000456 0x0000004e Code RO 1996 .text c_w.l(rt_memclr_w.o) - 0x080004a4 0x080004a4 0x00000006 Code RO 1998 .text c_w.l(heapauxi.o) - 0x080004aa 0x080004aa 0x00000016 Code RO 2039 .text c_w.l(_rserrno.o) - 0x080004c0 0x080004c0 0x00000008 Code RO 2105 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x080004c8 0x080004c8 0x00000008 Code RO 2147 .text c_w.l(libspace.o) - 0x080004d0 0x080004d0 0x0000004a Code RO 2150 .text c_w.l(sys_stackheap_outer.o) - 0x0800051a 0x0800051a 0x00000012 Code RO 2154 .text c_w.l(exit.o) - 0x0800052c 0x0800052c 0x0000000c Code RO 2227 .text c_w.l(sys_exit.o) - 0x08000538 0x08000538 0x00000002 Code RO 2254 .text c_w.l(use_no_semi.o) - 0x0800053a 0x0800053a 0x00000000 Code RO 2256 .text c_w.l(indicate_semi.o) + 0x08000268 0x08000268 0x000000f0 Code RO 1949 .text c_w.l(lludivv7m.o) + 0x08000358 0x08000358 0x0000008a Code RO 1988 .text c_w.l(rt_memcpy_v6.o) + 0x080003e2 0x080003e2 0x00000064 Code RO 1990 .text c_w.l(rt_memcpy_w.o) + 0x08000446 0x08000446 0x00000010 Code RO 1994 .text c_w.l(aeabi_memset4.o) + 0x08000456 0x08000456 0x0000004e Code RO 1998 .text c_w.l(rt_memclr_w.o) + 0x080004a4 0x080004a4 0x00000006 Code RO 2000 .text c_w.l(heapauxi.o) + 0x080004aa 0x080004aa 0x00000016 Code RO 2041 .text c_w.l(_rserrno.o) + 0x080004c0 0x080004c0 0x00000008 Code RO 2107 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x080004c8 0x080004c8 0x00000008 Code RO 2149 .text c_w.l(libspace.o) + 0x080004d0 0x080004d0 0x0000004a Code RO 2152 .text c_w.l(sys_stackheap_outer.o) + 0x0800051a 0x0800051a 0x00000012 Code RO 2156 .text c_w.l(exit.o) + 0x0800052c 0x0800052c 0x0000000c Code RO 2229 .text c_w.l(sys_exit.o) + 0x08000538 0x08000538 0x00000002 Code RO 2256 .text c_w.l(use_no_semi.o) + 0x0800053a 0x0800053a 0x00000000 Code RO 2258 .text c_w.l(indicate_semi.o) 0x0800053a 0x0800053a 0x00000002 PAD 0x0800053c 0x0800053c 0x00000022 Code RO 1778 .text.AbsClip user_math.o 0x0800055e 0x0800055e 0x00000002 PAD @@ -5018,482 +5022,484 @@ Memory Map of the image 0x080011d4 0x080011d4 0x0000003c Code RO 1788 .text.CircleError user_math.o 0x08001210 0x08001210 0x0000000a Code RO 1890 .text.Config_GetRobotParam config.o 0x0800121a 0x0800121a 0x00000002 PAD - 0x0800121c 0x0800121c 0x000000a2 Code RO 1892 .text.Config_ShootInit config.o - 0x080012be 0x080012be 0x00000002 PAD - 0x080012c0 0x080012c0 0x00000046 Code RO 1753 .text.DEVICE_AT9S_Init at9s_pro.o - 0x08001306 0x08001306 0x00000002 PAD - 0x08001308 0x08001308 0x00000278 Code RO 1763 .text.DEVICE_AT9S_ParseRaw at9s_pro.o - 0x08001580 0x08001580 0x00000014 Code RO 1755 .text.DEVICE_AT9S_RxCpltCallback at9s_pro.o - 0x08001594 0x08001594 0x0000001c Code RO 1759 .text.DEVICE_AT9S_StartDmaRecv at9s_pro.o - 0x080015b0 0x080015b0 0x00000016 Code RO 1761 .text.DEVICE_AT9S_WaitDmaCplt at9s_pro.o - 0x080015c6 0x080015c6 0x00000002 PAD - 0x080015c8 0x080015c8 0x00000010 Code RO 109 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x080015d8 0x080015d8 0x00000010 Code RO 123 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o - 0x080015e8 0x080015e8 0x0000003c Code RO 405 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x08001624 0x08001624 0x00000050 Code RO 403 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x08001674 0x08001674 0x00000030 Code RO 411 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x080016a4 0x080016a4 0x00000002 Code RO 105 .text.DebugMon_Handler stm32f4xx_it.o - 0x080016a6 0x080016a6 0x00000002 PAD - 0x080016a8 0x080016a8 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x080016ae 0x080016ae 0x00000002 PAD - 0x080016b0 0x080016b0 0x00000026 Code RO 175 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x080016d6 0x080016d6 0x00000002 PAD - 0x080016d8 0x080016d8 0x00000092 Code RO 161 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800176a 0x0800176a 0x00000002 PAD - 0x0800176c 0x0800176c 0x000000de Code RO 151 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x0800184a 0x0800184a 0x00000002 PAD - 0x0800184c 0x0800184c 0x00000024 Code RO 1518 .text.HAL_CAN_ErrorCallback can_1.o - 0x08001870 0x08001870 0x00000020 Code RO 173 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x08001890 0x08001890 0x00000124 Code RO 171 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x080019b4 0x080019b4 0x00000028 Code RO 165 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x080019dc 0x080019dc 0x0000023a Code RO 179 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08001c16 0x08001c16 0x00000002 PAD - 0x08001c18 0x08001c18 0x000000f4 Code RO 141 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08001d0c 0x08001d0c 0x0000013e Code RO 51 .text.HAL_CAN_MspInit can.o - 0x08001e4a 0x08001e4a 0x00000002 PAD - 0x08001e4c 0x08001e4c 0x00000024 Code RO 1508 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08001e70 0x08001e70 0x00000024 Code RO 1506 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x08001e94 0x08001e94 0x00000024 Code RO 1512 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x08001eb8 0x08001eb8 0x00000024 Code RO 1510 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x08001edc 0x08001edc 0x00000024 Code RO 1514 .text.HAL_CAN_SleepCallback can_1.o - 0x08001f00 0x08001f00 0x0000005a Code RO 153 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x08001f5a 0x08001f5a 0x00000002 PAD - 0x08001f5c 0x08001f5c 0x00000024 Code RO 1500 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08001f80 0x08001f80 0x00000022 Code RO 1492 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x08001fa2 0x08001fa2 0x00000002 PAD - 0x08001fa4 0x08001fa4 0x00000024 Code RO 1502 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x08001fc8 0x08001fc8 0x00000024 Code RO 1496 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08001fec 0x08001fec 0x00000024 Code RO 1504 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08002010 0x08002010 0x00000024 Code RO 1498 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08002034 0x08002034 0x00000024 Code RO 1516 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x08002058 0x08002058 0x0000018c Code RO 421 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x080021e4 0x080021e4 0x000000ce Code RO 401 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x080022b2 0x080022b2 0x00000002 PAD - 0x080022b4 0x080022b4 0x00000062 Code RO 413 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08002316 0x08002316 0x00000002 PAD - 0x08002318 0x08002318 0x0000019a Code RO 361 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x080024b2 0x080024b2 0x00000002 PAD - 0x080024b4 0x080024b4 0x0000000c Code RO 591 .text.HAL_GetTick stm32f4xx_hal.o - 0x080024c0 0x080024c0 0x0000001a Code RO 589 .text.HAL_IncTick stm32f4xx_hal.o - 0x080024da 0x080024da 0x00000002 PAD - 0x080024dc 0x080024dc 0x00000036 Code RO 579 .text.HAL_Init stm32f4xx_hal.o - 0x08002512 0x08002512 0x00000002 PAD - 0x08002514 0x08002514 0x00000050 Code RO 581 .text.HAL_InitTick stm32f4xx_hal.o - 0x08002564 0x08002564 0x00000046 Code RO 132 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x080025aa 0x080025aa 0x00000002 PAD - 0x080025ac 0x080025ac 0x00000008 Code RO 513 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x080025b4 0x080025b4 0x0000001e Code RO 505 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x080025d2 0x080025d2 0x00000002 PAD - 0x080025d4 0x080025d4 0x00000008 Code RO 501 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080025dc 0x080025dc 0x00000160 Code RO 225 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x0800273c 0x0800273c 0x0000000c Code RO 235 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x08002748 0x08002748 0x00000022 Code RO 237 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x0800276a 0x0800276a 0x00000002 PAD - 0x0800276c 0x0800276c 0x00000022 Code RO 239 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x0800278e 0x0800278e 0x00000002 PAD - 0x08002790 0x08002790 0x00000068 Code RO 227 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080027f8 0x080027f8 0x00000348 Code RO 223 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08002b40 0x08002b40 0x00000008 Code RO 525 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08002b48 0x08002b48 0x00000002 Code RO 762 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08002b4a 0x08002b4a 0x00000002 PAD - 0x08002b4c 0x08002b4c 0x00000026 Code RO 1620 .text.HAL_UART_ErrorCallback uart.o - 0x08002b72 0x08002b72 0x00000002 PAD - 0x08002b74 0x08002b74 0x00000060 Code RO 670 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x08002bd4 0x08002bd4 0x0000015c Code RO 79 .text.HAL_UART_MspInit usart.o - 0x08002d30 0x08002d30 0x0000002c Code RO 706 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x08002d5c 0x08002d5c 0x00000026 Code RO 1616 .text.HAL_UART_RxCpltCallback uart.o - 0x08002d82 0x08002d82 0x00000002 PAD - 0x08002d84 0x08002d84 0x00000026 Code RO 1618 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x08002daa 0x08002daa 0x00000002 PAD - 0x08002dac 0x08002dac 0x00000002 Code RO 97 .text.HardFault_Handler stm32f4xx_it.o - 0x08002dae 0x08002dae 0x00000002 PAD - 0x08002db0 0x08002db0 0x0000007c Code RO 1815 .text.LowPassFilter2p_Apply filter.o - 0x08002e2c 0x08002e2c 0x000000a4 Code RO 1813 .text.LowPassFilter2p_Init filter.o - 0x08002ed0 0x08002ed0 0x0000005c Code RO 1819 .text.LowPassFilter2p_Reset filter.o - 0x08002f2c 0x08002f2c 0x0000003c Code RO 1697 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x08002f68 0x08002f68 0x000000d8 Code RO 1715 .text.MOTOR_RM_Ctrl motor_rm.o - 0x08003040 0x08003040 0x00000014 Code RO 1699 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x08003054 0x08003054 0x00000026 Code RO 1713 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800307a 0x0800307a 0x00000002 PAD - 0x0800307c 0x0800307c 0x00000028 Code RO 1711 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x080030a4 0x080030a4 0x00000050 Code RO 1709 .text.MOTOR_RM_GetMotor motor_rm.o - 0x080030f4 0x080030f4 0x00000024 Code RO 1721 .text.MOTOR_RM_GetRatio motor_rm.o - 0x08003118 0x08003118 0x000000a6 Code RO 1695 .text.MOTOR_RM_Register motor_rm.o - 0x080031be 0x080031be 0x00000002 PAD - 0x080031c0 0x080031c0 0x00000010 Code RO 1717 .text.MOTOR_RM_Relax motor_rm.o - 0x080031d0 0x080031d0 0x0000009e Code RO 1707 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800326e 0x0800326e 0x00000002 PAD - 0x08003270 0x08003270 0x000000c6 Code RO 1701 .text.MOTOR_RM_Update motor_rm.o - 0x08003336 0x08003336 0x00000002 PAD - 0x08003338 0x08003338 0x0000003c Code RO 47 .text.MX_CAN1_Init can.o - 0x08003374 0x08003374 0x0000003c Code RO 49 .text.MX_CAN2_Init can.o - 0x080033b0 0x080033b0 0x0000005a Code RO 66 .text.MX_DMA_Init dma.o - 0x0800340a 0x0800340a 0x00000002 PAD - 0x0800340c 0x0800340c 0x0000003a Code RO 33 .text.MX_FREERTOS_Init freertos.o - 0x08003446 0x08003446 0x00000002 PAD - 0x08003448 0x08003448 0x00000074 Code RO 25 .text.MX_GPIO_Init gpio.o - 0x080034bc 0x080034bc 0x0000003c Code RO 75 .text.MX_USART3_UART_Init usart.o - 0x080034f8 0x080034f8 0x00000038 Code RO 77 .text.MX_USART6_UART_Init usart.o - 0x08003530 0x08003530 0x00000002 Code RO 99 .text.MemManage_Handler stm32f4xx_it.o - 0x08003532 0x08003532 0x00000002 PAD - 0x08003534 0x08003534 0x0000015c Code RO 1703 .text.Motor_RM_Decode motor_rm.o - 0x08003690 0x08003690 0x00000002 Code RO 95 .text.NMI_Handler stm32f4xx_it.o - 0x08003692 0x08003692 0x00000002 PAD - 0x08003694 0x08003694 0x0000002c Code RO 511 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x080036c0 0x080036c0 0x00000170 Code RO 1843 .text.PID_Calc pid.o - 0x08003830 0x08003830 0x00000090 Code RO 1837 .text.PID_Init pid.o - 0x080038c0 0x080038c0 0x0000002c Code RO 1841 .text.PID_Reset pid.o - 0x080038ec 0x080038ec 0x0000000e Code RO 1845 .text.PID_ResetIntegral pid.o - 0x080038fa 0x080038fa 0x00000006 PAD - 0x08003900 0x08003900 0x00000064 Code RO 1475 .text.PendSV_Handler port.o - 0x08003964 0x08003964 0x0000000c PAD - 0x08003970 0x08003970 0x00000024 Code RO 1459 .text.SVC_Handler port.o - 0x08003994 0x08003994 0x00000008 Code RO 1253 .text.SVC_Setup cmsis_os2.o - 0x0800399c 0x0800399c 0x00000036 Code RO 1871 .text.ScaleSumTo1 shoot_control.o - 0x080039d2 0x080039d2 0x00000002 PAD - 0x080039d4 0x080039d4 0x000000a4 Code RO 1865 .text.Shoot_CaluTargetAngle shoot_control.o - 0x08003a78 0x08003a78 0x0000006c Code RO 1877 .text.Shoot_Control shoot_control.o - 0x08003ae4 0x08003ae4 0x00000234 Code RO 1875 .text.Shoot_Init shoot_control.o - 0x08003d18 0x08003d18 0x0000011c Code RO 1873 .text.Shoot_JamDetectionFSM shoot_control.o - 0x08003e34 0x08003e34 0x000000a4 Code RO 1859 .text.Shoot_ResetCalu shoot_control.o - 0x08003ed8 0x08003ed8 0x0000004c Code RO 1857 .text.Shoot_ResetIntegral shoot_control.o - 0x08003f24 0x08003f24 0x00000050 Code RO 1861 .text.Shoot_ResetOutput shoot_control.o - 0x08003f74 0x08003f74 0x000004d0 Code RO 1869 .text.Shoot_RunningFSM shoot_control.o - 0x08004444 0x08004444 0x00000012 Code RO 1855 .text.Shoot_SetMode shoot_control.o - 0x08004456 0x08004456 0x00000002 PAD - 0x08004458 0x08004458 0x0000000c Code RO 35 .text.StartDefaultTask freertos.o - 0x08004464 0x08004464 0x0000002e Code RO 527 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x08004492 0x08004492 0x00000002 PAD - 0x08004494 0x08004494 0x00000014 Code RO 107 .text.SysTick_Handler stm32f4xx_it.o - 0x080044a8 0x080044a8 0x000000a4 Code RO 13 .text.SystemClock_Config main.o - 0x0800454c 0x0800454c 0x00000012 Code RO 802 .text.SystemInit system_stm32f4xx.o - 0x0800455e 0x0800455e 0x00000002 PAD - 0x08004560 0x08004560 0x00000064 Code RO 1903 .text.Task_Init init.o - 0x080045c4 0x080045c4 0x00000004 PAD + 0x0800121c 0x0800121c 0x000000b4 Code RO 1892 .text.Config_ShootInit config.o + 0x080012d0 0x080012d0 0x00000046 Code RO 1753 .text.DEVICE_AT9S_Init at9s_pro.o + 0x08001316 0x08001316 0x00000002 PAD + 0x08001318 0x08001318 0x00000278 Code RO 1763 .text.DEVICE_AT9S_ParseRaw at9s_pro.o + 0x08001590 0x08001590 0x00000014 Code RO 1755 .text.DEVICE_AT9S_RxCpltCallback at9s_pro.o + 0x080015a4 0x080015a4 0x0000001c Code RO 1759 .text.DEVICE_AT9S_StartDmaRecv at9s_pro.o + 0x080015c0 0x080015c0 0x00000016 Code RO 1761 .text.DEVICE_AT9S_WaitDmaCplt at9s_pro.o + 0x080015d6 0x080015d6 0x00000002 PAD + 0x080015d8 0x080015d8 0x00000010 Code RO 109 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x080015e8 0x080015e8 0x00000010 Code RO 123 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x080015f8 0x080015f8 0x0000003c Code RO 405 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x08001634 0x08001634 0x00000050 Code RO 403 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x08001684 0x08001684 0x00000030 Code RO 411 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x080016b4 0x080016b4 0x00000002 Code RO 105 .text.DebugMon_Handler stm32f4xx_it.o + 0x080016b6 0x080016b6 0x00000002 PAD + 0x080016b8 0x080016b8 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x080016be 0x080016be 0x00000002 PAD + 0x080016c0 0x080016c0 0x00000026 Code RO 175 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080016e6 0x080016e6 0x00000002 PAD + 0x080016e8 0x080016e8 0x00000092 Code RO 161 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x0800177a 0x0800177a 0x00000002 PAD + 0x0800177c 0x0800177c 0x000000de Code RO 151 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x0800185a 0x0800185a 0x00000002 PAD + 0x0800185c 0x0800185c 0x00000024 Code RO 1518 .text.HAL_CAN_ErrorCallback can_1.o + 0x08001880 0x08001880 0x00000020 Code RO 173 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x080018a0 0x080018a0 0x00000124 Code RO 171 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x080019c4 0x080019c4 0x00000028 Code RO 165 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x080019ec 0x080019ec 0x0000023a Code RO 179 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08001c26 0x08001c26 0x00000002 PAD + 0x08001c28 0x08001c28 0x000000f4 Code RO 141 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08001d1c 0x08001d1c 0x0000013e Code RO 51 .text.HAL_CAN_MspInit can.o + 0x08001e5a 0x08001e5a 0x00000002 PAD + 0x08001e5c 0x08001e5c 0x00000024 Code RO 1508 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x08001e80 0x08001e80 0x00000024 Code RO 1506 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08001ea4 0x08001ea4 0x00000024 Code RO 1512 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08001ec8 0x08001ec8 0x00000024 Code RO 1510 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x08001eec 0x08001eec 0x00000024 Code RO 1514 .text.HAL_CAN_SleepCallback can_1.o + 0x08001f10 0x08001f10 0x0000005a Code RO 153 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x08001f6a 0x08001f6a 0x00000002 PAD + 0x08001f6c 0x08001f6c 0x00000024 Code RO 1500 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08001f90 0x08001f90 0x00000022 Code RO 1492 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08001fb2 0x08001fb2 0x00000002 PAD + 0x08001fb4 0x08001fb4 0x00000024 Code RO 1502 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x08001fd8 0x08001fd8 0x00000024 Code RO 1496 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08001ffc 0x08001ffc 0x00000024 Code RO 1504 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08002020 0x08002020 0x00000024 Code RO 1498 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x08002044 0x08002044 0x00000024 Code RO 1516 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08002068 0x08002068 0x0000018c Code RO 421 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x080021f4 0x080021f4 0x000000ce Code RO 401 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x080022c2 0x080022c2 0x00000002 PAD + 0x080022c4 0x080022c4 0x00000062 Code RO 413 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08002326 0x08002326 0x00000002 PAD + 0x08002328 0x08002328 0x0000019a Code RO 361 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x080024c2 0x080024c2 0x00000002 PAD + 0x080024c4 0x080024c4 0x0000000c Code RO 591 .text.HAL_GetTick stm32f4xx_hal.o + 0x080024d0 0x080024d0 0x0000001a Code RO 589 .text.HAL_IncTick stm32f4xx_hal.o + 0x080024ea 0x080024ea 0x00000002 PAD + 0x080024ec 0x080024ec 0x00000036 Code RO 579 .text.HAL_Init stm32f4xx_hal.o + 0x08002522 0x08002522 0x00000002 PAD + 0x08002524 0x08002524 0x00000050 Code RO 581 .text.HAL_InitTick stm32f4xx_hal.o + 0x08002574 0x08002574 0x00000046 Code RO 132 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x080025ba 0x080025ba 0x00000002 PAD + 0x080025bc 0x080025bc 0x00000008 Code RO 513 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x080025c4 0x080025c4 0x0000001e Code RO 505 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080025e2 0x080025e2 0x00000002 PAD + 0x080025e4 0x080025e4 0x00000008 Code RO 501 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x080025ec 0x080025ec 0x00000160 Code RO 225 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x0800274c 0x0800274c 0x0000000c Code RO 235 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08002758 0x08002758 0x00000022 Code RO 237 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x0800277a 0x0800277a 0x00000002 PAD + 0x0800277c 0x0800277c 0x00000022 Code RO 239 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x0800279e 0x0800279e 0x00000002 PAD + 0x080027a0 0x080027a0 0x00000068 Code RO 227 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x08002808 0x08002808 0x00000348 Code RO 223 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08002b50 0x08002b50 0x00000008 Code RO 525 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08002b58 0x08002b58 0x00000002 Code RO 762 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08002b5a 0x08002b5a 0x00000002 PAD + 0x08002b5c 0x08002b5c 0x00000026 Code RO 1620 .text.HAL_UART_ErrorCallback uart.o + 0x08002b82 0x08002b82 0x00000002 PAD + 0x08002b84 0x08002b84 0x00000060 Code RO 670 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x08002be4 0x08002be4 0x0000015c Code RO 79 .text.HAL_UART_MspInit usart.o + 0x08002d40 0x08002d40 0x0000002c Code RO 706 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x08002d6c 0x08002d6c 0x00000026 Code RO 1616 .text.HAL_UART_RxCpltCallback uart.o + 0x08002d92 0x08002d92 0x00000002 PAD + 0x08002d94 0x08002d94 0x00000026 Code RO 1618 .text.HAL_UART_RxHalfCpltCallback uart.o + 0x08002dba 0x08002dba 0x00000002 PAD + 0x08002dbc 0x08002dbc 0x00000002 Code RO 97 .text.HardFault_Handler stm32f4xx_it.o + 0x08002dbe 0x08002dbe 0x00000002 PAD + 0x08002dc0 0x08002dc0 0x0000007c Code RO 1815 .text.LowPassFilter2p_Apply filter.o + 0x08002e3c 0x08002e3c 0x000000a4 Code RO 1813 .text.LowPassFilter2p_Init filter.o + 0x08002ee0 0x08002ee0 0x0000005c Code RO 1819 .text.LowPassFilter2p_Reset filter.o + 0x08002f3c 0x08002f3c 0x0000003c Code RO 1697 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x08002f78 0x08002f78 0x000000d8 Code RO 1715 .text.MOTOR_RM_Ctrl motor_rm.o + 0x08003050 0x08003050 0x00000014 Code RO 1699 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x08003064 0x08003064 0x00000026 Code RO 1713 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800308a 0x0800308a 0x00000002 PAD + 0x0800308c 0x0800308c 0x00000028 Code RO 1711 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x080030b4 0x080030b4 0x00000050 Code RO 1709 .text.MOTOR_RM_GetMotor motor_rm.o + 0x08003104 0x08003104 0x00000024 Code RO 1721 .text.MOTOR_RM_GetRatio motor_rm.o + 0x08003128 0x08003128 0x000000a6 Code RO 1695 .text.MOTOR_RM_Register motor_rm.o + 0x080031ce 0x080031ce 0x00000002 PAD + 0x080031d0 0x080031d0 0x00000010 Code RO 1717 .text.MOTOR_RM_Relax motor_rm.o + 0x080031e0 0x080031e0 0x0000009e Code RO 1707 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800327e 0x0800327e 0x00000002 PAD + 0x08003280 0x08003280 0x000000c6 Code RO 1701 .text.MOTOR_RM_Update motor_rm.o + 0x08003346 0x08003346 0x00000002 PAD + 0x08003348 0x08003348 0x0000003c Code RO 47 .text.MX_CAN1_Init can.o + 0x08003384 0x08003384 0x0000003c Code RO 49 .text.MX_CAN2_Init can.o + 0x080033c0 0x080033c0 0x0000005a Code RO 66 .text.MX_DMA_Init dma.o + 0x0800341a 0x0800341a 0x00000002 PAD + 0x0800341c 0x0800341c 0x0000003a Code RO 33 .text.MX_FREERTOS_Init freertos.o + 0x08003456 0x08003456 0x00000002 PAD + 0x08003458 0x08003458 0x00000074 Code RO 25 .text.MX_GPIO_Init gpio.o + 0x080034cc 0x080034cc 0x0000003c Code RO 75 .text.MX_USART3_UART_Init usart.o + 0x08003508 0x08003508 0x00000038 Code RO 77 .text.MX_USART6_UART_Init usart.o + 0x08003540 0x08003540 0x00000002 Code RO 99 .text.MemManage_Handler stm32f4xx_it.o + 0x08003542 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RO 2079 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x08007b08 0x08007b08 0x000002b4 Code RO 2005 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x08007dbc 0x08007dbc 0x0000005a Code RO 2008 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x08007e16 0x08007e16 0x00000026 Code RO 2012 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x08007e3c 0x08007e3c 0x0000009c Code RO 2056 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x08007ed8 0x08007ed8 0x0000000c Code RO 2058 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x08007ee4 0x08007ee4 0x00000060 Code RO 2020 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x08007f44 0x08007f44 0x0000001a Code RO 2227 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x08007f5e 0x08007f5e 0x00000000 Code RO 2062 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x08007f5e 0x08007f5e 0x00000002 PAD + 0x08007f60 0x08007f60 0x00000020 Data RO 2080 .constdata m_wm.l(rredf.o) + 0x08007f80 0x08007f80 0x00000010 Data RO 807 .rodata.AHBPrescTable system_stm32f4xx.o + 0x08007f90 0x08007f90 0x00000008 Data RO 808 .rodata.APBPrescTable system_stm32f4xx.o + 0x08007f98 0x08007f98 0x00000024 Data RO 1939 .rodata.attr_init user_task.o + 0x08007fbc 0x08007fbc 0x00000024 Data RO 1941 .rodata.attr_rc user_task.o + 0x08007fe0 0x08007fe0 0x00000024 Data RO 1940 .rodata.attr_shoot_ctrl user_task.o + 0x08008004 0x08008004 0x00000024 Data RO 38 .rodata.defaultTask_attributes freertos.o + 0x08008028 0x08008028 0x0000000c Data RO 37 .rodata.str1.1 freertos.o + 0x08008034 0x08008034 0x00000018 Data RO 1938 .rodata.str1.1 user_task.o + 0x0800804c 0x0800804c 0x00000020 Data RO 2303 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008018, Size: 0x00005d80, Max: 0x0001c000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008070, Size: 0x00005dc8, Max: 0x0001c000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x08008018 0x00000004 Data RW 806 .data.SystemCoreClock system_stm32f4xx.o - 0x20000004 0x0800801c 0x000000fc Data RW 1894 .data.robot_config config.o - 0x20000100 0x08008118 0x00000001 Data RW 634 .data.uwTickFreq stm32f4xx_hal.o - 0x20000101 0x08008119 0x00000003 PAD - 0x20000104 0x0800811c 0x00000004 Data RW 633 .data.uwTickPrio stm32f4xx_hal.o - 0x20000108 0x08008120 0x00000004 Data RW 1483 .data.uxCriticalNesting port.o - 0x2000010c 0x08008124 0x00000004 PAD - 0x20000110 - 0x00000060 Zero RW 2148 .bss c_w.l(libspace.o) + 0x20000000 0x08008070 0x00000004 Data RW 806 .data.SystemCoreClock system_stm32f4xx.o + 0x20000004 0x08008074 0x000000fc Data RW 1894 .data.robot_config config.o + 0x20000100 0x08008170 0x00000001 Data RW 634 .data.uwTickFreq stm32f4xx_hal.o + 0x20000101 0x08008171 0x00000003 PAD + 0x20000104 0x08008174 0x00000004 Data RW 633 .data.uwTickPrio stm32f4xx_hal.o + 0x20000108 0x08008178 0x00000004 Data RW 1483 .data.uxCriticalNesting port.o + 0x2000010c 0x0800817c 0x00000004 PAD + 0x20000110 - 0x00000060 Zero RW 2150 .bss c_w.l(libspace.o) 0x20000170 - 0x00000068 Zero RW 1568 .bss.CAN_Callback can_1.o 0x200001d8 - 0x00000004 Zero RW 57 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o 0x200001dc - 0x00000004 Zero RW 1409 .bss.KernelState cmsis_os2.o 0x200001e0 - 0x00000004 Zero RW 1880 .bss.Shoot_RunningFSM.pos shoot_control.o 0x200001e4 - 0x00000048 Zero RW 1638 .bss.UART_Callback uart.o - 0x2000022c - 0x0000002c Zero RW 1914 .bss.at9s rc.o - 0x20000258 - 0x00000008 Zero RW 1723 .bss.can_managers motor_rm.o - 0x20000260 - 0x00000019 Zero RW 1915 .bss.cmd_buffer rc.o - 0x20000279 0x08008124 0x00000003 PAD - 0x2000027c - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o - 0x20000280 - 0x00000004 Zero RW 1879 .bss.dpos shoot_control.o - 0x20000284 - 0x00000028 Zero RW 55 .bss.hcan1 can.o - 0x200002ac - 0x00000028 Zero RW 56 .bss.hcan2 can.o - 0x200002d4 - 0x00000060 Zero RW 85 .bss.hdma_usart3_rx usart.o - 0x20000334 - 0x00000060 Zero RW 86 .bss.hdma_usart6_tx usart.o - 0x20000394 - 0x00000048 Zero RW 83 .bss.huart3 usart.o - 0x200003dc - 0x00000048 Zero RW 84 .bss.huart6 usart.o - 0x20000424 - 0x00000004 Zero RW 1570 .bss.id_parser can_1.o - 0x20000428 - 0x00000001 Zero RW 1569 .bss.inited can_1.o - 0x20000429 - 0x00000001 Zero RW 1765 .bss.inited at9s_pro.o - 0x2000042a - 0x00000001 Zero RW 1881 .bss.last_firecmd shoot_control.o - 0x2000042b - 0x000000a0 Zero RW 1236 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x200004cb 0x08008124 0x00000001 PAD - 0x200004cc - 0x00000050 Zero RW 1235 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x2000051c - 0x00000004 Zero RW 1232 .bss.prvSampleTimeNow.xLastTime timers.o - 0x20000520 - 0x00000004 Zero RW 1145 .bss.pxCurrentTCB tasks.o - 0x20000524 - 0x00000004 Zero RW 1230 .bss.pxCurrentTimerList timers.o - 0x20000528 - 0x00000004 Zero RW 1153 .bss.pxDelayedTaskList tasks.o - 0x2000052c - 0x00000004 Zero RW 1439 .bss.pxEnd heap_4.o - 0x20000530 - 0x00000004 Zero RW 1154 .bss.pxOverflowDelayedTaskList tasks.o - 0x20000534 - 0x00000004 Zero RW 1231 .bss.pxOverflowTimerList timers.o - 0x20000538 - 0x00000460 Zero RW 1156 .bss.pxReadyTasksLists tasks.o - 0x20000998 - 0x00000004 Zero RW 1573 .bss.queue_list can_1.o - 0x2000099c - 0x00000004 Zero RW 1571 .bss.queue_mutex can_1.o - 0x200009a0 - 0x00000018 Zero RW 1767 .bss.r at9s_pro.o - 0x200009b8 - 0x00000028 Zero RW 1916 .bss.rc_cmd rc.o - 0x200009e0 - 0x00000148 Zero RW 1926 .bss.shoot shoot_ctrl.o - 0x20000b28 - 0x00000003 Zero RW 1928 .bss.shoot_cmd shoot_ctrl.o - 0x20000b2b 0x08008124 0x00000001 PAD - 0x20000b2c - 0x00000028 Zero RW 1927 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o - 0x20000b54 - 0x00000034 Zero RW 1940 .bss.task_runtime user_task.o - 0x20000b88 - 0x00000004 Zero RW 1766 .bss.thread_alert at9s_pro.o - 0x20000b8c - 0x00000810 Zero RW 1572 .bss.tx_queues can_1.o - 0x2000139c - 0x00003c00 Zero RW 1446 .bss.ucHeap heap_4.o - 0x20004f9c - 0x00000001 Zero RW 1481 .bss.ucMaxSysCallPriority port.o - 0x20004f9d 0x08008124 0x00000003 PAD - 0x20004fa0 - 0x00000004 Zero RW 1482 .bss.ulMaxPRIGROUPValue port.o - 0x20004fa4 - 0x00000004 Zero RW 635 .bss.uwTick stm32f4xx_hal.o - 0x20004fa8 - 0x00000004 Zero RW 1149 .bss.uxCurrentNumberOfTasks tasks.o - 0x20004fac - 0x00000004 Zero RW 1148 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x20004fb0 - 0x00000004 Zero RW 1151 .bss.uxSchedulerSuspended tasks.o - 0x20004fb4 - 0x00000004 Zero RW 1146 .bss.uxTaskNumber tasks.o - 0x20004fb8 - 0x00000004 Zero RW 1157 .bss.uxTopReadyPriority tasks.o - 0x20004fbc - 0x00000200 Zero RW 1412 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x200051bc - 0x0000005c Zero RW 1411 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x20005218 - 0x00000400 Zero RW 1414 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x20005618 - 0x0000005c Zero RW 1413 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x20005674 - 0x00000014 Zero RW 1233 .bss.xActiveTimerList1 timers.o - 0x20005688 - 0x00000014 Zero RW 1234 .bss.xActiveTimerList2 timers.o - 0x2000569c - 0x00000001 Zero RW 1440 .bss.xBlockAllocatedBit heap_4.o - 0x2000569d 0x08008124 0x00000003 PAD - 0x200056a0 - 0x00000014 Zero RW 1164 .bss.xDelayedTaskList1 tasks.o - 0x200056b4 - 0x00000014 Zero RW 1165 .bss.xDelayedTaskList2 tasks.o - 0x200056c8 - 0x00000004 Zero RW 1441 .bss.xFreeBytesRemaining heap_4.o - 0x200056cc - 0x00000004 Zero RW 1159 .bss.xIdleTaskHandle tasks.o - 0x200056d0 - 0x00000004 Zero RW 1443 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x200056d4 - 0x00000004 Zero RW 1160 .bss.xNextTaskUnblockTime tasks.o - 0x200056d8 - 0x00000004 Zero RW 1163 .bss.xNumOfOverflows tasks.o - 0x200056dc - 0x00000004 Zero RW 1444 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x200056e0 - 0x00000004 Zero RW 1445 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x200056e4 - 0x00000004 Zero RW 1162 .bss.xPendedTicks tasks.o - 0x200056e8 - 0x00000014 Zero RW 1158 .bss.xPendingReadyList tasks.o - 0x200056fc - 0x00000040 Zero RW 954 .bss.xQueueRegistry queue.o - 0x2000573c - 0x00000004 Zero RW 1150 .bss.xSchedulerRunning tasks.o - 0x20005740 - 0x00000008 Zero RW 1442 .bss.xStart heap_4.o - 0x20005748 - 0x00000014 Zero RW 1155 .bss.xSuspendedTaskList tasks.o - 0x2000575c - 0x00000014 Zero RW 1147 .bss.xTasksWaitingTermination tasks.o - 0x20005770 - 0x00000004 Zero RW 1152 .bss.xTickCount tasks.o - 0x20005774 - 0x00000004 Zero RW 1228 .bss.xTimerQueue timers.o - 0x20005778 - 0x00000004 Zero RW 1229 .bss.xTimerTaskHandle timers.o - 0x2000577c - 0x00000004 Zero RW 1161 .bss.xYieldPending tasks.o - 0x20005780 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x20005980 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x2000022c - 0x00000008 Zero RW 1927 .bss.a shoot_ctrl.o + 0x20000234 - 0x0000002c Zero RW 1914 .bss.at9s rc.o + 0x20000260 - 0x0000003c Zero RW 1928 .bss.b shoot_ctrl.o + 0x2000029c - 0x00000008 Zero RW 1723 .bss.can_managers motor_rm.o + 0x200002a4 - 0x00000019 Zero RW 1915 .bss.cmd_buffer rc.o + 0x200002bd 0x0800817c 0x00000003 PAD + 0x200002c0 - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o + 0x200002c4 - 0x00000004 Zero RW 1879 .bss.dpos shoot_control.o + 0x200002c8 - 0x00000028 Zero RW 55 .bss.hcan1 can.o + 0x200002f0 - 0x00000028 Zero RW 56 .bss.hcan2 can.o + 0x20000318 - 0x00000060 Zero RW 85 .bss.hdma_usart3_rx usart.o + 0x20000378 - 0x00000060 Zero RW 86 .bss.hdma_usart6_tx usart.o + 0x200003d8 - 0x00000048 Zero RW 83 .bss.huart3 usart.o + 0x20000420 - 0x00000048 Zero RW 84 .bss.huart6 usart.o + 0x20000468 - 0x00000004 Zero RW 1570 .bss.id_parser can_1.o + 0x2000046c - 0x00000001 Zero RW 1569 .bss.inited can_1.o + 0x2000046d - 0x00000001 Zero RW 1765 .bss.inited at9s_pro.o + 0x2000046e - 0x00000001 Zero RW 1881 .bss.last_firecmd shoot_control.o + 0x2000046f - 0x000000a0 Zero RW 1236 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x2000050f 0x0800817c 0x00000001 PAD + 0x20000510 - 0x00000050 Zero RW 1235 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x20000560 - 0x00000004 Zero RW 1232 .bss.prvSampleTimeNow.xLastTime timers.o + 0x20000564 - 0x00000004 Zero RW 1145 .bss.pxCurrentTCB tasks.o + 0x20000568 - 0x00000004 Zero RW 1230 .bss.pxCurrentTimerList timers.o + 0x2000056c - 0x00000004 Zero RW 1153 .bss.pxDelayedTaskList tasks.o + 0x20000570 - 0x00000004 Zero RW 1439 .bss.pxEnd heap_4.o + 0x20000574 - 0x00000004 Zero RW 1154 .bss.pxOverflowDelayedTaskList tasks.o + 0x20000578 - 0x00000004 Zero RW 1231 .bss.pxOverflowTimerList timers.o + 0x2000057c - 0x00000460 Zero RW 1156 .bss.pxReadyTasksLists tasks.o + 0x200009dc - 0x00000004 Zero RW 1573 .bss.queue_list can_1.o + 0x200009e0 - 0x00000004 Zero RW 1571 .bss.queue_mutex can_1.o + 0x200009e4 - 0x00000018 Zero RW 1767 .bss.r at9s_pro.o + 0x200009fc - 0x00000028 Zero RW 1916 .bss.rc_cmd rc.o + 0x20000a24 0x0800817c 0x00000004 PAD + 0x20000a28 - 0x00000148 Zero RW 1926 .bss.shoot shoot_ctrl.o + 0x20000b70 - 0x00000003 Zero RW 1930 .bss.shoot_cmd shoot_ctrl.o + 0x20000b73 0x0800817c 0x00000001 PAD + 0x20000b74 - 0x00000028 Zero RW 1929 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o + 0x20000b9c - 0x00000034 Zero RW 1942 .bss.task_runtime user_task.o + 0x20000bd0 - 0x00000004 Zero RW 1766 .bss.thread_alert at9s_pro.o + 0x20000bd4 - 0x00000810 Zero RW 1572 .bss.tx_queues can_1.o + 0x200013e4 - 0x00003c00 Zero RW 1446 .bss.ucHeap heap_4.o + 0x20004fe4 - 0x00000001 Zero RW 1481 .bss.ucMaxSysCallPriority port.o + 0x20004fe5 0x0800817c 0x00000003 PAD + 0x20004fe8 - 0x00000004 Zero RW 1482 .bss.ulMaxPRIGROUPValue port.o + 0x20004fec - 0x00000004 Zero RW 635 .bss.uwTick stm32f4xx_hal.o + 0x20004ff0 - 0x00000004 Zero RW 1149 .bss.uxCurrentNumberOfTasks tasks.o + 0x20004ff4 - 0x00000004 Zero RW 1148 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x20004ff8 - 0x00000004 Zero RW 1151 .bss.uxSchedulerSuspended tasks.o + 0x20004ffc - 0x00000004 Zero RW 1146 .bss.uxTaskNumber tasks.o + 0x20005000 - 0x00000004 Zero RW 1157 .bss.uxTopReadyPriority tasks.o + 0x20005004 - 0x00000200 Zero RW 1412 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x20005204 - 0x0000005c Zero RW 1411 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20005260 - 0x00000400 Zero RW 1414 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20005660 - 0x0000005c Zero RW 1413 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x200056bc - 0x00000014 Zero RW 1233 .bss.xActiveTimerList1 timers.o + 0x200056d0 - 0x00000014 Zero RW 1234 .bss.xActiveTimerList2 timers.o + 0x200056e4 - 0x00000001 Zero RW 1440 .bss.xBlockAllocatedBit heap_4.o + 0x200056e5 0x0800817c 0x00000003 PAD + 0x200056e8 - 0x00000014 Zero RW 1164 .bss.xDelayedTaskList1 tasks.o + 0x200056fc - 0x00000014 Zero RW 1165 .bss.xDelayedTaskList2 tasks.o + 0x20005710 - 0x00000004 Zero RW 1441 .bss.xFreeBytesRemaining heap_4.o + 0x20005714 - 0x00000004 Zero RW 1159 .bss.xIdleTaskHandle tasks.o + 0x20005718 - 0x00000004 Zero RW 1443 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x2000571c - 0x00000004 Zero RW 1160 .bss.xNextTaskUnblockTime tasks.o + 0x20005720 - 0x00000004 Zero RW 1163 .bss.xNumOfOverflows tasks.o + 0x20005724 - 0x00000004 Zero RW 1444 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x20005728 - 0x00000004 Zero RW 1445 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x2000572c - 0x00000004 Zero RW 1162 .bss.xPendedTicks tasks.o + 0x20005730 - 0x00000014 Zero RW 1158 .bss.xPendingReadyList tasks.o + 0x20005744 - 0x00000040 Zero RW 954 .bss.xQueueRegistry queue.o + 0x20005784 - 0x00000004 Zero RW 1150 .bss.xSchedulerRunning tasks.o + 0x20005788 - 0x00000008 Zero RW 1442 .bss.xStart heap_4.o + 0x20005790 - 0x00000014 Zero RW 1155 .bss.xSuspendedTaskList tasks.o + 0x200057a4 - 0x00000014 Zero RW 1147 .bss.xTasksWaitingTermination tasks.o + 0x200057b8 - 0x00000004 Zero RW 1152 .bss.xTickCount tasks.o + 0x200057bc - 0x00000004 Zero RW 1228 .bss.xTimerQueue timers.o + 0x200057c0 - 0x00000004 Zero RW 1229 .bss.xTimerTaskHandle timers.o + 0x200057c4 - 0x00000004 Zero RW 1161 .bss.xYieldPending tasks.o + 0x200057c8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x200059c8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008128, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008180, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -5510,7 +5516,7 @@ Image component sizes 438 0 0 0 84 6388 can.o 2364 4 0 0 2181 17056 can_1.o 1672 0 0 0 1724 42592 cmsis_os2.o - 172 0 0 252 0 2418 config.o + 190 0 0 252 0 2472 config.o 90 0 0 0 0 3293 dma.o 410 20 0 0 0 4100 filter.o 70 0 48 0 4 2523 freertos.o @@ -5525,8 +5531,8 @@ Image component sizes 872 16 0 4 5 3792 port.o 2680 0 0 0 64 22578 queue.o 152 8 0 0 109 1955 rc.o - 3132 52 0 0 9 10680 shoot_control.o - 172 12 0 0 371 4992 shoot_ctrl.o + 3118 52 0 0 9 10658 shoot_control.o + 260 12 0 0 439 5269 shoot_ctrl.o 64 26 392 0 1536 804 startup_stm32f407xx.o 172 0 0 5 4 7276 stm32f4xx_hal.o 1674 6 0 0 0 13145 stm32f4xx_hal_can.o @@ -5547,9 +5553,9 @@ Image component sizes 0 0 132 0 52 2872 user_task.o ---------------------------------------------------------------------- - 29332 290 628 268 23572 302678 Object Totals + 29420 290 628 268 23644 302987 Object Totals 0 0 32 0 0 0 (incl. Generated) - 266 12 0 3 15 0 (incl. Padding) + 262 12 0 3 19 0 (incl. Padding) ---------------------------------------------------------------------- @@ -5617,15 +5623,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 32128 552 660 268 23668 303462 Grand Totals - 32128 552 660 268 23668 303462 ELF Image Totals - 32128 552 660 268 0 0 ROM Totals + 32216 552 660 268 23740 303771 Grand Totals + 32216 552 660 268 23740 303771 ELF Image Totals + 32216 552 660 268 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 32788 ( 32.02kB) - Total RW Size (RW Data + ZI Data) 23936 ( 23.38kB) - Total ROM Size (Code + RO Data + RW Data) 33056 ( 32.28kB) + Total RO Size (Code + RO Data) 32876 ( 32.11kB) + Total RW Size (RW Data + ZI Data) 24008 ( 23.45kB) + Total ROM Size (Code + RO Data + RW Data) 33144 ( 32.37kB) ============================================================================== diff --git a/MDK-ARM/shoot/shoot_control.o b/MDK-ARM/shoot/shoot_control.o index 2627690..3c05122 100644 Binary files a/MDK-ARM/shoot/shoot_control.o and b/MDK-ARM/shoot/shoot_control.o differ diff --git a/MDK-ARM/shoot/shoot_ctrl.o b/MDK-ARM/shoot/shoot_ctrl.o index f0c26e3..aa02099 100644 Binary files a/MDK-ARM/shoot/shoot_ctrl.o and b/MDK-ARM/shoot/shoot_ctrl.o differ diff --git a/MDK-ARM/shoot/shoot_shoot.dep b/MDK-ARM/shoot/shoot_shoot.dep index 9f1371c..628aede 100644 --- a/MDK-ARM/shoot/shoot_shoot.dep +++ b/MDK-ARM/shoot/shoot_shoot.dep @@ -1277,7 +1277,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) F (..\User\component\user_math.h)(0x68DFE123)() -F (..\User\component\at9s_pro_cmd.c)(0x68DAC603)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/at9s_pro_cmd.o -MD) +F (..\User\component\at9s_pro_cmd.c)(0x68E79B41)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/at9s_pro_cmd.o -MD) I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -1309,8 +1309,8 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) F (..\User\component\pid.h)(0x68DFDF27)() -F (..\User\module\shoot_control.c)(0x68E674B6)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/shoot_control.o -MD) -I (..\User\module\shoot_control.h)(0x68E67024) +F (..\User\module\shoot_control.c)(0x68E7AE56)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/shoot_control.o -MD) +I (..\User\module\shoot_control.h)(0x68E79B9A) I (..\Core\Inc\main.h)(0x68D1384A) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) @@ -1367,9 +1367,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\time.h)(0x68DFDF27) -F (..\User\module\shoot_control.h)(0x68E67024)() -F (..\User\module\config.c)(0x68E67024)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/config.o -MD) -I (..\User\module\config.h)(0x68E66139) +F (..\User\module\shoot_control.h)(0x68E79B9A)() +F (..\User\module\config.c)(0x68E7AF4F)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/config.o -MD) +I (..\User\module\config.h)(0x68E79B9A) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\component\pid.h)(0x68DFDF27) I (..\User\component\filter.h)(0x68DFDF27) @@ -1424,8 +1424,8 @@ 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 (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) -I (..\User\module\shoot_control.h)(0x68E67024) -F (..\User\module\config.h)(0x68E66139)() +I (..\User\module\shoot_control.h)(0x68E79B9A) +F (..\User\module\config.h)(0x68E79B9A)() F (..\User\task\init.c)(0x68D4AE2D)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/init.o -MD) I (..\User\task\user_task.h)(0x68D3E4B9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) @@ -1468,7 +1468,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\device\device.h)(0x68DFDFA7) I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6) -F (..\User\task\shoot_ctrl.c)(0x68E66139)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/shoot_ctrl.o -MD) +F (..\User\task\shoot_ctrl.c)(0x68E7B0B2)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/shoot_ctrl.o -MD) I (..\User\task\user_task.h)(0x68D3E4B9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -1489,7 +1489,7 @@ I (..\User\component\user_math.h)(0x68DFE123) I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x68DFDFA7) -I (..\User\module\shoot_control.h)(0x68E67024) +I (..\User\module\shoot_control.h)(0x68E79B9A) I (..\Core\Inc\main.h)(0x68D1384A) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) @@ -1527,7 +1527,7 @@ I (..\Core\Inc\can.h)(0x68D13849) I (..\User\bsp\bsp.h)(0x68DFDF27) I (..\User\bsp\mm.h)(0x68DFDF27) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208) -I (..\User\module\config.h)(0x68E66139) +I (..\User\module\config.h)(0x68E79B9A) F (..\User\task\user_task.c)(0x68DCD9EF)(-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 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -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 ../User -I./RTE/_shoot -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 shoot/user_task.o -MD) I (..\User\task\user_task.h)(0x68D3E4B9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) diff --git a/Ozone/shoot.jdebug.user b/Ozone/shoot.jdebug.user index 85d9471..8f6387c 100644 --- a/Ozone/shoot.jdebug.user +++ b/Ozone/shoot.jdebug.user @@ -1,30 +1,19 @@ -Breakpoint=D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c:126, State=BP_STATE_ON Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED -Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:118:23, State=BP_STATE_DISABLED -Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:462:21, State=BP_STATE_ON -Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:464, State=BP_STATE_DISABLED -Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:468:13, State=BP_STATE_ON -GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f, Show=0 -GraphedExpression="(((shoot).feedback).trig).rotor_abs_angle", Color=#35792b, Show=0 -GraphedExpression="dpos", Color=#769dda, Show=0 -GraphedExpression="((shoot).output).outagl_trig", Color=#b14f0d, Show=0 -GraphedExpression="((shoot).output).outomg_trig", Color=#b3c38e, Show=0 -GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#ab7b05 -OpenDocument="heap_4.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c", Line=104 -OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0 -OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=9 -OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419 -OpenDocument="math.h", FilePath="D:/cangming/ARM/ARMCLANG/include/math.h", Line=160 -OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=449 +Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:120:26, State=BP_STATE_DISABLED +GraphedExpression="dpos", Color=#e56a6f, Show=0 +OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=46 OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161 -OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66 -OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=2072 -OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58 -OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=4 +OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3637 +OpenDocument="config.h", FilePath="D:/CUBEMX/shoot/User/module/config.h", Line=0 +OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0 +OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=14 +OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=427 +OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=132 +OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=108 OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=2062 OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49 OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402 @@ -32,10 +21,10 @@ OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0 OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=21 OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=148 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=695, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 +OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=675, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=223, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=695, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=243, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=675, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0 OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="1094;240", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20" @@ -48,7 +37,7 @@ TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Na TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[] TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;734] TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100] -TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).target_variable).target_angle";" (((shoot).feedback).trig).rotor_abs_angle";" dpos";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" (((shoot).feedback).trig).torque_current"], ColWidths=[100;100;100;100;100;100;100;100] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" dpos"], ColWidths=[100;100;100] TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;1706] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340] WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1 @@ -56,4 +45,6 @@ WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot", RefreshRate=5, Window=Watched Data 1 WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1 WatchedExpression="feedback_current", Window=Watched Data 1 -WatchedExpression="dpos", Window=Watched Data 1 \ No newline at end of file +WatchedExpression="dpos", Window=Watched Data 1 +WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1 +WatchedExpression="a", RefreshRate=1, Window=Watched Data 1 \ No newline at end of file diff --git a/User/module/config.c b/User/module/config.c index eaca584..9096a26 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -23,7 +23,7 @@ Config_RobotParam_t robot_config = { .num_trig_tooth=8, .shot_freq=20.0f, .shot_burst_num=1, - .num_multilevel=1, + .num_multilevel=2, .jam_enable=true, .jam_threshold=120.0f, .jam_suspected_time=0.5f, @@ -123,11 +123,15 @@ Config_RobotParam_t* Config_GetRobotParam(void) { int8_t Config_ShootInit(void) { int fric_num = robot_config.shoot_param.fric_num; int num_multilevel = robot_config.shoot_param.num_multilevel; + robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t)); if (robot_config.shoot_param.fric_motor_param == NULL) { return -1; // 内存分配失败 } - + robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float)); + if (robot_config.shoot_param.ratio_multilevel == NULL) { + return -1; // 内存分配失败 + } // 初始化摩擦轮参数 for (uint8_t i = 0; i < fric_num; i++) { robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){ diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c index f31bbb3..1f82814 100644 --- a/User/module/shoot_control.c +++ b/User/module/shoot_control.c @@ -445,15 +445,14 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) } uint8_t fric_num = param->fric_num; - + s->param=param; s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t)); s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float)); s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->param->fric_motor_param= (Shoot_MOTOR_RM_Param_t *) BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t)); + s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); s->pid.fric_follow = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); s->pid.fric_err = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t)); @@ -465,7 +464,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) { return SHOOT_ERR_MALLOC;}/* 内存分配失败 */ - s->param=param; + BSP_CAN_Init(); /* 初始化摩擦轮PID和滤波器 */ diff --git a/User/task/shoot_ctrl.c b/User/task/shoot_ctrl.c index 4f8ec09..9338199 100644 --- a/User/task/shoot_ctrl.c +++ b/User/task/shoot_ctrl.c @@ -20,7 +20,8 @@ COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; Shoot_t shoot; Shoot_CMD_t shoot_cmd; /* USER STRUCT BEGIN */ - +float a[2]; +Shoot_MOTOR_RM_Param_t b[6]; /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -39,6 +40,13 @@ void Task_shoot_ctrl(void *argument) { Config_ShootInit(); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); Shoot_SetMode(&shoot,SHOOT_MODE_BURST); + + for(int i=0;i<2;i++){ + a[i]=shoot.param->ratio_multilevel[i]; + } + for(int i=0;i<6;i++){ + b[i]=shoot.param->fric_motor_param[i]; + } /* USER CODE INIT END */ while (1) {