diff --git a/MDK-ARM/shoot.uvguix.yxm23 b/MDK-ARM/shoot.uvguix.yxm23
index d30dcaa..525e607 100644
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@@ -3603,11 +3603,11 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>6</ActiveTab>
+      <ActiveTab>0</ActiveTab>
       <Doc>
         <Name>..\User\module\shoot_control.c</Name>
-        <ColumnNumber>17</ColumnNumber>
-        <TopLine>90</TopLine>
+        <ColumnNumber>4</ColumnNumber>
+        <TopLine>136</TopLine>
         <CurrentLine>158</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
@@ -3615,9 +3615,9 @@
       </Doc>
       <Doc>
         <Name>..\User\module\shoot_control.h</Name>
-        <ColumnNumber>22</ColumnNumber>
-        <TopLine>52</TopLine>
-        <CurrentLine>84</CurrentLine>
+        <ColumnNumber>43</ColumnNumber>
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         <Folding>1</Folding>
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@@ -3642,9 +3642,9 @@
       </Doc>
       <Doc>
         <Name>..\User\task\shoot_ctrl.c</Name>
-        <ColumnNumber>48</ColumnNumber>
-        <TopLine>18</TopLine>
-        <CurrentLine>48</CurrentLine>
+        <ColumnNumber>20</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>46</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -3660,16 +3660,16 @@
       </Doc>
       <Doc>
         <Name>..\User\module\config.c</Name>
-        <ColumnNumber>19</ColumnNumber>
-        <TopLine>50</TopLine>
-        <CurrentLine>68</CurrentLine>
+        <ColumnNumber>18</ColumnNumber>
+        <TopLine>55</TopLine>
+        <CurrentLine>39</CurrentLine>
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         <PaneID>0</PaneID>
       </Doc>
       <Doc>
         <Name>..\User\component\at9s_pro_cmd.c</Name>
-        <ColumnNumber>21</ColumnNumber>
+        <ColumnNumber>24</ColumnNumber>
         <TopLine>38</TopLine>
         <CurrentLine>62</CurrentLine>
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@@ -3678,9 +3678,9 @@
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       <Doc>
         <Name>..\User\component\at9s_pro_cmd.h</Name>
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-        <TopLine>27</TopLine>
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@@ -3688,7 +3688,7 @@
       <Doc>
         <Name>..\User\device\motor_rm.h</Name>
         <ColumnNumber>19</ColumnNumber>
-        <TopLine>49</TopLine>
+        <TopLine>48</TopLine>
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diff --git a/MDK-ARM/shoot/config.o b/MDK-ARM/shoot/config.o
index 0f11870..48d4a38 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 fe69fcb..6cea0e0 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 0c4bff7..f78d8cc 100644
--- a/MDK-ARM/shoot/shoot.build_log.htm
+++ b/MDK-ARM/shoot/shoot.build_log.htm
@@ -28,6 +28,9 @@ Project File Date:  09/30/2025
 *** 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'.
+linking...
+Program Size: Code=29872 RO-data=660 RW-data=156 ZI-data=21916  
+FromELF: creating hex file...
 "shoot\shoot.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -52,7 +55,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:00
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>
diff --git a/MDK-ARM/shoot/shoot.hex b/MDK-ARM/shoot/shoot.hex
index a7ce2d5..20bf0b1 100644
--- a/MDK-ARM/shoot/shoot.hex
+++ b/MDK-ARM/shoot/shoot.hex
@@ -1,8 +1,8 @@
 :020000040800F2
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@@ -26,17 +26,17 @@
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@@ -87,13 +87,13 @@
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@@ -104,16 +104,16 @@
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+:10763000E1EE100A70470000000000006E83F9A21E
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+:107650004190433CAB6351FE00000000000000007D
+:1076600001020304060708090000000001020304E8
+:107670001A77000800000000000000000000000071
+:1076800000000000000400003000000000000000C6
+:10769000000000000C77000800000000000000005F
+:1076A00000000000000000000004000018000000BE
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+:1076D0001800000000000000000000000077000813
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+:10775000010001020100000001000202010100001D
+:1077600001000302000001000000803F6666E63F62
+:107770000000000000000000000000006666663F98
+:107780000000F041000080BF0000803F000080400A
+:10779000CDCCCC3E0AD7233D0000803E0000803E89
+:1077A00000002042000080BF0000803F9A99993F6E
+:1077B00000000000CDCC4C3DCDCC4C3E6666663F13
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 :040000050800018965
 :00000001FF
diff --git a/MDK-ARM/shoot/shoot.htm b/MDK-ARM/shoot/shoot.htm
index 35758fc..fea15b3 100644
--- a/MDK-ARM/shoot/shoot.htm
+++ b/MDK-ARM/shoot/shoot.htm
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [shoot\shoot.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image shoot\shoot.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Sep 30 03:13:34 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Tue Sep 30 22:10:00 2025
 <BR><P>
 <H3>Maximum Stack Usage =        304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -1509,7 +1509,7 @@ Global Symbols
 <P><STRONG><a name="[6]"></a>SVC_Handler</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.SVC_Handler))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
 </UL>
-<P><STRONG><a name="[10e]"></a>Shoot_Control</STRONG> (Thumb, 768 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control))
+<P><STRONG><a name="[10e]"></a>Shoot_Control</STRONG> (Thumb, 820 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control))
 <BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = Shoot_Control &rArr; MOTOR_RM_Ctrl &rArr; BSP_CAN_WaitTxMailboxEmpty &rArr; osDelay &rArr; vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
 <BR>[Calls]<UL><LI><a href="#[10f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ScaleSumTo1
diff --git a/MDK-ARM/shoot/shoot.map b/MDK-ARM/shoot/shoot.map
index dafd8fb..691c776 100644
--- a/MDK-ARM/shoot/shoot.map
+++ b/MDK-ARM/shoot/shoot.map
@@ -2112,6 +2112,7 @@ Section Cross References
     shoot_control.o(.text.Chassis_UpdateFeedback) refers to motor_rm.o(.text.MOTOR_RM_GetMotor) for MOTOR_RM_GetMotor
     shoot_control.o(.ARM.exidx.text.Chassis_UpdateFeedback) refers to shoot_control.o(.text.Chassis_UpdateFeedback) for [Anonymous Symbol]
     shoot_control.o(.text.Shoot_Control) refers to dwt.o(.text.DWT_GetDeltaT) for DWT_GetDeltaT
+    shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.bss.last_firecmd) for last_firecmd
     shoot_control.o(.text.Shoot_Control) refers to pid.o(.text.PID_Calc) for PID_Calc
     shoot_control.o(.text.Shoot_Control) refers to shoot_control.o(.text.ScaleSumTo1) for ScaleSumTo1
     shoot_control.o(.text.Shoot_Control) refers to filter.o(.text.LowPassFilter2p_Apply) for LowPassFilter2p_Apply
@@ -3629,9 +3630,6 @@ Removing Unused input sections from the image.
     Removing shoot_control.o(.ARM.exidx.text.Chassis_UpdateFeedback), (8 bytes).
     Removing shoot_control.o(.ARM.exidx.text.Shoot_Control), (8 bytes).
     Removing shoot_control.o(.ARM.exidx.text.ScaleSumTo1), (8 bytes).
-    Removing shoot_control.o(.bss.last_firecmd), (1 bytes).
-    Removing shoot_control.o(.bss.shoot_ctrl_cnt_last), (4 bytes).
-    Removing shoot_control.o(.bss.shoot_ctrl_dt), (4 bytes).
     Removing config.o(.text), (0 bytes).
     Removing config.o(.ARM.exidx.text.Config_GetRobotParam), (8 bytes).
     Removing init.o(.text), (0 bytes).
@@ -3642,7 +3640,7 @@ Removing Unused input sections from the image.
     Removing shoot_ctrl.o(.ARM.exidx.text.Task_shoot_ctrl), (8 bytes).
     Removing user_task.o(.text), (0 bytes).
 
-1214 unused section(s) (total 33988 bytes) removed from the image.
+1211 unused section(s) (total 33979 bytes) removed from the image.
 
 ==============================================================================
 
@@ -4042,212 +4040,212 @@ Image Symbol Table
     ScaleSumTo1                              0x080037ad   Thumb Code    54  shoot_control.o(.text.ScaleSumTo1)
     [Anonymous Symbol]                       0x080037ac   Section        0  shoot_control.o(.text.ScaleSumTo1)
     [Anonymous Symbol]                       0x080037e4   Section        0  shoot_control.o(.text.Shoot_Control)
-    [Anonymous Symbol]                       0x08003ae4   Section        0  shoot_control.o(.text.Shoot_Init)
-    [Anonymous Symbol]                       0x08003bbc   Section        0  freertos.o(.text.StartDefaultTask)
-    SysTick_Config                           0x08003bc9   Thumb Code    46  stm32f4xx_hal_cortex.o(.text.SysTick_Config)
-    [Anonymous Symbol]                       0x08003bc8   Section        0  stm32f4xx_hal_cortex.o(.text.SysTick_Config)
-    [Anonymous Symbol]                       0x08003bf8   Section        0  stm32f4xx_it.o(.text.SysTick_Handler)
-    [Anonymous Symbol]                       0x08003c0c   Section        0  main.o(.text.SystemClock_Config)
-    [Anonymous Symbol]                       0x08003cb0   Section        0  system_stm32f4xx.o(.text.SystemInit)
-    [Anonymous Symbol]                       0x08003cc4   Section        0  init.o(.text.Task_Init)
-    [Anonymous Symbol]                       0x08003d28   Section        0  rc.o(.text.Task_rc)
-    [Anonymous Symbol]                       0x08003dc0   Section        0  shoot_ctrl.o(.text.Task_shoot_ctrl)
-    UART_DMAError                            0x08003e65   Thumb Code    76  stm32f4xx_hal_uart.o(.text.UART_DMAError)
-    [Anonymous Symbol]                       0x08003e64   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMAError)
-    UART_DMAReceiveCplt                      0x08003eb1   Thumb Code   132  stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)
-    [Anonymous Symbol]                       0x08003eb0   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt)
-    UART_DMARxHalfCplt                       0x08003f35   Thumb Code    30  stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)
-    [Anonymous Symbol]                       0x08003f34   Section        0  stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt)
-    UART_EndRxTransfer                       0x08003f55   Thumb Code    80  stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)
-    [Anonymous Symbol]                       0x08003f54   Section        0  stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer)
-    UART_EndTxTransfer                       0x08003fa5   Thumb Code    28  stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)
-    [Anonymous Symbol]                       0x08003fa4   Section        0  stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer)
-    UART_Get                                 0x08003fc1   Thumb Code    30  uart.o(.text.UART_Get)
-    [Anonymous Symbol]                       0x08003fc0   Section        0  uart.o(.text.UART_Get)
-    UART_SetConfig                           0x08003fe1   Thumb Code   220  stm32f4xx_hal_uart.o(.text.UART_SetConfig)
-    [Anonymous Symbol]                       0x08003fe0   Section        0  stm32f4xx_hal_uart.o(.text.UART_SetConfig)
-    [Anonymous Symbol]                       0x080040bc   Section        0  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
-    [Anonymous Symbol]                       0x08004168   Section        0  stm32f4xx_it.o(.text.UsageFault_Handler)
-    __ARM_isfinitef                          0x0800416d   Thumb Code    14  filter.o(.text.__ARM_isfinitef)
-    [Anonymous Symbol]                       0x0800416c   Section        0  filter.o(.text.__ARM_isfinitef)
-    __ARM_isfinitef                          0x0800417d   Thumb Code    14  pid.o(.text.__ARM_isfinitef)
-    [Anonymous Symbol]                       0x0800417c   Section        0  pid.o(.text.__ARM_isfinitef)
-    __ARM_isinff                             0x0800418d   Thumb Code    16  filter.o(.text.__ARM_isinff)
-    [Anonymous Symbol]                       0x0800418c   Section        0  filter.o(.text.__ARM_isinff)
-    __NVIC_EnableIRQ                         0x0800419d   Thumb Code    32  stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ)
-    [Anonymous Symbol]                       0x0800419c   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ)
-    __NVIC_GetPriorityGrouping               0x080041bd   Thumb Code    16  stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping)
-    [Anonymous Symbol]                       0x080041bc   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping)
-    __NVIC_SetPriority                       0x080041cd   Thumb Code    34  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority)
-    [Anonymous Symbol]                       0x080041cc   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority)
-    __NVIC_SetPriority                       0x080041f1   Thumb Code    14  cmsis_os2.o(.text.__NVIC_SetPriority)
-    [Anonymous Symbol]                       0x080041f0   Section        0  cmsis_os2.o(.text.__NVIC_SetPriority)
-    __NVIC_SetPriorityGrouping               0x08004201   Thumb Code    32  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping)
-    [Anonymous Symbol]                       0x08004200   Section        0  stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping)
-    [Anonymous Symbol]                       0x08004220   Section        0  tasks.o(.text.eTaskGetState)
-    [Anonymous Symbol]                       0x080042bc   Section        0  main.o(.text.main)
-    [Anonymous Symbol]                       0x080042ec   Section        0  cmsis_os2.o(.text.osDelay)
-    [Anonymous Symbol]                       0x0800430c   Section        0  cmsis_os2.o(.text.osDelayUntil)
-    [Anonymous Symbol]                       0x08004340   Section        0  cmsis_os2.o(.text.osKernelGetTickCount)
-    [Anonymous Symbol]                       0x08004354   Section        0  cmsis_os2.o(.text.osKernelGetTickFreq)
-    [Anonymous Symbol]                       0x0800435c   Section        0  cmsis_os2.o(.text.osKernelInitialize)
-    [Anonymous Symbol]                       0x08004384   Section        0  cmsis_os2.o(.text.osKernelLock)
-    [Anonymous Symbol]                       0x080043b0   Section        0  cmsis_os2.o(.text.osKernelStart)
-    [Anonymous Symbol]                       0x080043e4   Section        0  cmsis_os2.o(.text.osKernelUnlock)
-    [Anonymous Symbol]                       0x08004428   Section        0  cmsis_os2.o(.text.osMessageQueueGet)
-    [Anonymous Symbol]                       0x080044b0   Section        0  cmsis_os2.o(.text.osMessageQueueNew)
-    [Anonymous Symbol]                       0x08004550   Section        0  cmsis_os2.o(.text.osMessageQueuePut)
-    [Anonymous Symbol]                       0x080045e0   Section        0  cmsis_os2.o(.text.osMutexAcquire)
-    [Anonymous Symbol]                       0x08004634   Section        0  cmsis_os2.o(.text.osMutexNew)
-    [Anonymous Symbol]                       0x080046cc   Section        0  cmsis_os2.o(.text.osMutexRelease)
-    [Anonymous Symbol]                       0x0800470c   Section        0  cmsis_os2.o(.text.osThreadFlagsSet)
-    [Anonymous Symbol]                       0x0800478c   Section        0  cmsis_os2.o(.text.osThreadFlagsWait)
-    [Anonymous Symbol]                       0x08004848   Section        0  cmsis_os2.o(.text.osThreadGetId)
-    [Anonymous Symbol]                       0x08004850   Section        0  cmsis_os2.o(.text.osThreadNew)
-    [Anonymous Symbol]                       0x08004904   Section        0  cmsis_os2.o(.text.osThreadTerminate)
-    prvAddCurrentTaskToDelayedList           0x08004939   Thumb Code   128  tasks.o(.text.prvAddCurrentTaskToDelayedList)
-    [Anonymous Symbol]                       0x08004938   Section        0  tasks.o(.text.prvAddCurrentTaskToDelayedList)
-    prvAddNewTaskToReadyList                 0x080049b9   Thumb Code   172  tasks.o(.text.prvAddNewTaskToReadyList)
-    [Anonymous Symbol]                       0x080049b8   Section        0  tasks.o(.text.prvAddNewTaskToReadyList)
-    prvCheckForValidListAndQueue             0x08004a65   Thumb Code   116  timers.o(.text.prvCheckForValidListAndQueue)
-    [Anonymous Symbol]                       0x08004a64   Section        0  timers.o(.text.prvCheckForValidListAndQueue)
-    prvCheckTasksWaitingTermination          0x08004ae1   Thumb Code    78  tasks.o(.text.prvCheckTasksWaitingTermination)
-    [Anonymous Symbol]                       0x08004ae0   Section        0  tasks.o(.text.prvCheckTasksWaitingTermination)
-    prvCopyDataFromQueue                     0x08004b31   Thumb Code    38  queue.o(.text.prvCopyDataFromQueue)
-    [Anonymous Symbol]                       0x08004b30   Section        0  queue.o(.text.prvCopyDataFromQueue)
-    prvCopyDataToQueue                       0x08004b59   Thumb Code   122  queue.o(.text.prvCopyDataToQueue)
-    [Anonymous Symbol]                       0x08004b58   Section        0  queue.o(.text.prvCopyDataToQueue)
-    prvDeleteTCB                             0x08004bd5   Thumb Code    54  tasks.o(.text.prvDeleteTCB)
-    [Anonymous Symbol]                       0x08004bd4   Section        0  tasks.o(.text.prvDeleteTCB)
-    prvGetDisinheritPriorityAfterTimeout     0x08004c0d   Thumb Code    18  queue.o(.text.prvGetDisinheritPriorityAfterTimeout)
-    [Anonymous Symbol]                       0x08004c0c   Section        0  queue.o(.text.prvGetDisinheritPriorityAfterTimeout)
-    prvGetNextExpireTime                     0x08004c21   Thumb Code    32  timers.o(.text.prvGetNextExpireTime)
-    [Anonymous Symbol]                       0x08004c20   Section        0  timers.o(.text.prvGetNextExpireTime)
-    prvHeapInit                              0x08004c41   Thumb Code   118  heap_4.o(.text.prvHeapInit)
-    [Anonymous Symbol]                       0x08004c40   Section        0  heap_4.o(.text.prvHeapInit)
-    prvIdleTask                              0x08004cb9   Thumb Code    42  tasks.o(.text.prvIdleTask)
-    [Anonymous Symbol]                       0x08004cb8   Section        0  tasks.o(.text.prvIdleTask)
-    prvInitialiseMutex                       0x08004ce5   Thumb Code    32  queue.o(.text.prvInitialiseMutex)
-    [Anonymous Symbol]                       0x08004ce4   Section        0  queue.o(.text.prvInitialiseMutex)
-    prvInitialiseNewQueue                    0x08004d05   Thumb Code    32  queue.o(.text.prvInitialiseNewQueue)
-    [Anonymous Symbol]                       0x08004d04   Section        0  queue.o(.text.prvInitialiseNewQueue)
-    prvInitialiseNewTask                     0x08004d25   Thumb Code   152  tasks.o(.text.prvInitialiseNewTask)
-    [Anonymous Symbol]                       0x08004d24   Section        0  tasks.o(.text.prvInitialiseNewTask)
-    prvInitialiseTaskLists                   0x08004dbd   Thumb Code   112  tasks.o(.text.prvInitialiseTaskLists)
-    [Anonymous Symbol]                       0x08004dbc   Section        0  tasks.o(.text.prvInitialiseTaskLists)
-    prvInsertBlockIntoFreeList               0x08004e2d   Thumb Code    90  heap_4.o(.text.prvInsertBlockIntoFreeList)
-    [Anonymous Symbol]                       0x08004e2c   Section        0  heap_4.o(.text.prvInsertBlockIntoFreeList)
-    prvInsertTimerInActiveList               0x08004e89   Thumb Code    64  timers.o(.text.prvInsertTimerInActiveList)
-    [Anonymous Symbol]                       0x08004e88   Section        0  timers.o(.text.prvInsertTimerInActiveList)
-    prvIsQueueEmpty                          0x08004ec9   Thumb Code    24  queue.o(.text.prvIsQueueEmpty)
-    [Anonymous Symbol]                       0x08004ec8   Section        0  queue.o(.text.prvIsQueueEmpty)
-    prvIsQueueFull                           0x08004ee1   Thumb Code    28  queue.o(.text.prvIsQueueFull)
-    [Anonymous Symbol]                       0x08004ee0   Section        0  queue.o(.text.prvIsQueueFull)
-    prvPortStartFirstTask                    0x08004efd   Thumb Code    34  port.o(.text.prvPortStartFirstTask)
-    [Anonymous Symbol]                       0x08004efc   Section        0  port.o(.text.prvPortStartFirstTask)
-    prvProcessExpiredTimer                   0x08004f25   Thumb Code   110  timers.o(.text.prvProcessExpiredTimer)
-    [Anonymous Symbol]                       0x08004f24   Section        0  timers.o(.text.prvProcessExpiredTimer)
-    prvProcessReceivedCommands               0x08004f95   Thumb Code   290  timers.o(.text.prvProcessReceivedCommands)
-    [Anonymous Symbol]                       0x08004f94   Section        0  timers.o(.text.prvProcessReceivedCommands)
-    prvProcessTimerOrBlockTask               0x080050b9   Thumb Code   128  timers.o(.text.prvProcessTimerOrBlockTask)
-    [Anonymous Symbol]                       0x080050b8   Section        0  timers.o(.text.prvProcessTimerOrBlockTask)
-    prvResetNextTaskUnblockTime              0x08005139   Thumb Code    40  tasks.o(.text.prvResetNextTaskUnblockTime)
-    [Anonymous Symbol]                       0x08005138   Section        0  tasks.o(.text.prvResetNextTaskUnblockTime)
-    prvSampleTimeNow                         0x08005161   Thumb Code    42  timers.o(.text.prvSampleTimeNow)
-    [Anonymous Symbol]                       0x08005160   Section        0  timers.o(.text.prvSampleTimeNow)
-    prvSwitchTimerLists                      0x0800518d   Thumb Code   142  timers.o(.text.prvSwitchTimerLists)
-    [Anonymous Symbol]                       0x0800518c   Section        0  timers.o(.text.prvSwitchTimerLists)
-    prvTaskExitError                         0x0800521d   Thumb Code    50  port.o(.text.prvTaskExitError)
-    [Anonymous Symbol]                       0x0800521c   Section        0  port.o(.text.prvTaskExitError)
-    prvTimerTask                             0x08005251   Thumb Code    22  timers.o(.text.prvTimerTask)
-    [Anonymous Symbol]                       0x08005250   Section        0  timers.o(.text.prvTimerTask)
-    prvUnlockQueue                           0x08005269   Thumb Code   114  queue.o(.text.prvUnlockQueue)
-    [Anonymous Symbol]                       0x08005268   Section        0  queue.o(.text.prvUnlockQueue)
-    [Anonymous Symbol]                       0x080052dc   Section        0  heap_4.o(.text.pvPortMalloc)
-    [Anonymous Symbol]                       0x08005428   Section        0  tasks.o(.text.pvTaskIncrementMutexHeldCount)
-    [Anonymous Symbol]                       0x08005440   Section        0  port.o(.text.pxPortInitialiseStack)
-    [Anonymous Symbol]                       0x08005468   Section        0  list.o(.text.uxListRemove)
-    [Anonymous Symbol]                       0x0800548c   Section        0  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
-    [Anonymous Symbol]                       0x080054a8   Section        0  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
-    [Anonymous Symbol]                       0x080054c4   Section        0  list.o(.text.vListInitialise)
-    [Anonymous Symbol]                       0x080054dc   Section        0  list.o(.text.vListInitialiseItem)
-    [Anonymous Symbol]                       0x080054e4   Section        0  list.o(.text.vListInsert)
-    [Anonymous Symbol]                       0x08005520   Section        0  list.o(.text.vListInsertEnd)
-    vPortEnableVFP                           0x0800553d   Thumb Code    14  port.o(.text.vPortEnableVFP)
-    [Anonymous Symbol]                       0x0800553c   Section        0  port.o(.text.vPortEnableVFP)
-    [Anonymous Symbol]                       0x08005550   Section        0  port.o(.text.vPortEnterCritical)
-    [Anonymous Symbol]                       0x08005598   Section        0  port.o(.text.vPortExitCritical)
-    [Anonymous Symbol]                       0x080055c8   Section        0  heap_4.o(.text.vPortFree)
-    [Anonymous Symbol]                       0x08005654   Section        0  port.o(.text.vPortSetupTimerInterrupt)
-    [Anonymous Symbol]                       0x08005688   Section        0  port.o(.text.vPortValidateInterruptPriority)
-    [Anonymous Symbol]                       0x080056ec   Section        0  queue.o(.text.vQueueAddToRegistry)
-    [Anonymous Symbol]                       0x08005714   Section        0  queue.o(.text.vQueueWaitForMessageRestricted)
-    [Anonymous Symbol]                       0x08005758   Section        0  tasks.o(.text.vTaskDelay)
-    [Anonymous Symbol]                       0x080057ac   Section        0  tasks.o(.text.vTaskDelayUntil)
-    [Anonymous Symbol]                       0x08005854   Section        0  tasks.o(.text.vTaskDelete)
-    [Anonymous Symbol]                       0x08005918   Section        0  tasks.o(.text.vTaskInternalSetTimeOutState)
-    [Anonymous Symbol]                       0x08005934   Section        0  tasks.o(.text.vTaskMissedYield)
-    [Anonymous Symbol]                       0x08005944   Section        0  tasks.o(.text.vTaskPlaceOnEventList)
-    [Anonymous Symbol]                       0x08005978   Section        0  tasks.o(.text.vTaskPlaceOnEventListRestricted)
-    [Anonymous Symbol]                       0x080059b8   Section        0  tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
-    [Anonymous Symbol]                       0x08005a5c   Section        0  tasks.o(.text.vTaskStartScheduler)
-    [Anonymous Symbol]                       0x08005b00   Section        0  tasks.o(.text.vTaskSuspendAll)
-    [Anonymous Symbol]                       0x08005b10   Section        0  tasks.o(.text.vTaskSwitchContext)
-    [Anonymous Symbol]                       0x08005bac   Section        0  port.o(.text.xPortStartScheduler)
-    [Anonymous Symbol]                       0x08005cc0   Section        0  port.o(.text.xPortSysTickHandler)
-    [Anonymous Symbol]                       0x08005cf0   Section        0  queue.o(.text.xQueueCreateMutex)
-    [Anonymous Symbol]                       0x08005d08   Section        0  queue.o(.text.xQueueCreateMutexStatic)
-    [Anonymous Symbol]                       0x08005d2c   Section        0  queue.o(.text.xQueueGenericCreate)
-    [Anonymous Symbol]                       0x08005d74   Section        0  queue.o(.text.xQueueGenericCreateStatic)
-    [Anonymous Symbol]                       0x08005e0c   Section        0  queue.o(.text.xQueueGenericReset)
-    [Anonymous Symbol]                       0x08005e8c   Section        0  queue.o(.text.xQueueGenericSend)
-    [Anonymous Symbol]                       0x08006030   Section        0  queue.o(.text.xQueueGenericSendFromISR)
-    [Anonymous Symbol]                       0x08006100   Section        0  queue.o(.text.xQueueGiveMutexRecursive)
-    [Anonymous Symbol]                       0x08006144   Section        0  queue.o(.text.xQueueReceive)
-    [Anonymous Symbol]                       0x080062c8   Section        0  queue.o(.text.xQueueReceiveFromISR)
-    [Anonymous Symbol]                       0x08006374   Section        0  queue.o(.text.xQueueSemaphoreTake)
-    [Anonymous Symbol]                       0x0800653c   Section        0  queue.o(.text.xQueueTakeMutexRecursive)
-    [Anonymous Symbol]                       0x08006578   Section        0  tasks.o(.text.xTaskCheckForTimeOut)
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+    $v0                                      0x080074f4   Number         0  dfixu.o(x$fpl$dfixu)
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+    $v0                                      0x0800754e   Number         0  dflt_clz.o(x$fpl$dfltu)
+    x$fpl$dfltu                              0x0800754e   Section       38  dflt_clz.o(x$fpl$dfltu)
+    $v0                                      0x08007574   Number         0  dnaninf.o(x$fpl$dnaninf)
+    x$fpl$dnaninf                            0x08007574   Section      156  dnaninf.o(x$fpl$dnaninf)
+    $v0                                      0x08007610   Number         0  dretinf.o(x$fpl$dretinf)
+    x$fpl$dretinf                            0x08007610   Section       12  dretinf.o(x$fpl$dretinf)
+    $v0                                      0x0800761c   Number         0  fpinit.o(x$fpl$fpinit)
+    x$fpl$fpinit                             0x0800761c   Section       26  fpinit.o(x$fpl$fpinit)
+    x$fpl$usenofp                            0x08007636   Section        0  usenofp.o(x$fpl$usenofp)
+    twooverpi                                0x08007638   Data          32  rredf.o(.constdata)
+    .constdata                               0x08007638   Section       32  rredf.o(.constdata)
+    [Anonymous Symbol]                       0x08007700   Section        0  freertos.o(.rodata.str1.1)
+    [Anonymous Symbol]                       0x0800770c   Section        0  user_task.o(.rodata.str1.1)
     uxCriticalNesting                        0x20000098   Data           4  port.o(.data.uxCriticalNesting)
     [Anonymous Symbol]                       0x20000098   Section        0  port.o(.data.uxCriticalNesting)
     .bss                                     0x200000a0   Section       96  libspace.o(.bss)
@@ -4277,8 +4275,10 @@ Image Symbol Table
     [Anonymous Symbol]                       0x200003c4   Section        0  can_1.o(.bss.inited)
     inited                                   0x200003c5   Data           1  at9s_pro.o(.bss.inited)
     [Anonymous Symbol]                       0x200003c5   Section        0  at9s_pro.o(.bss.inited)
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-    [Anonymous Symbol]                       0x200003c6   Section        0  timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
+    last_firecmd                             0x200003c6   Data           1  shoot_control.o(.bss.last_firecmd)
+    [Anonymous Symbol]                       0x200003c6   Section        0  shoot_control.o(.bss.last_firecmd)
+    prvCheckForValidListAndQueue.ucStaticTimerQueueStorage 0x200003c7   Data         160  timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
+    [Anonymous Symbol]                       0x200003c7   Section        0  timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
     prvCheckForValidListAndQueue.xStaticTimerQueue 0x20000468   Data          80  timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue)
     [Anonymous Symbol]                       0x20000468   Section        0  timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue)
     prvSampleTimeNow.xLastTime               0x200004b8   Data           4  timers.o(.bss.prvSampleTimeNow.xLastTime)
@@ -4682,123 +4682,123 @@ Image Symbol Table
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     PendSV_Handler                           0x08003711   Thumb Code   100  port.o(.text.PendSV_Handler)
     SVC_Handler                              0x08003781   Thumb Code    36  port.o(.text.SVC_Handler)
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-    Shoot_Init                               0x08003ae5   Thumb Code   214  shoot_control.o(.text.Shoot_Init)
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-    SysTick_Handler                          0x08003bf9   Thumb Code    20  stm32f4xx_it.o(.text.SysTick_Handler)
-    SystemClock_Config                       0x08003c0d   Thumb Code   164  main.o(.text.SystemClock_Config)
-    SystemInit                               0x08003cb1   Thumb Code    18  system_stm32f4xx.o(.text.SystemInit)
-    Task_Init                                0x08003cc5   Thumb Code   100  init.o(.text.Task_Init)
-    Task_rc                                  0x08003d29   Thumb Code   152  rc.o(.text.Task_rc)
-    Task_shoot_ctrl                          0x08003dc1   Thumb Code   164  shoot_ctrl.o(.text.Task_shoot_ctrl)
-    UART_Start_Receive_DMA                   0x080040bd   Thumb Code   170  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
-    UsageFault_Handler                       0x08004169   Thumb Code     2  stm32f4xx_it.o(.text.UsageFault_Handler)
-    eTaskGetState                            0x08004221   Thumb Code   156  tasks.o(.text.eTaskGetState)
-    main                                     0x080042bd   Thumb Code    46  main.o(.text.main)
-    osDelay                                  0x080042ed   Thumb Code    32  cmsis_os2.o(.text.osDelay)
-    osDelayUntil                             0x0800430d   Thumb Code    52  cmsis_os2.o(.text.osDelayUntil)
-    osKernelGetTickCount                     0x08004341   Thumb Code    20  cmsis_os2.o(.text.osKernelGetTickCount)
-    osKernelGetTickFreq                      0x08004355   Thumb Code     6  cmsis_os2.o(.text.osKernelGetTickFreq)
-    osKernelInitialize                       0x0800435d   Thumb Code    40  cmsis_os2.o(.text.osKernelInitialize)
-    osKernelLock                             0x08004385   Thumb Code    44  cmsis_os2.o(.text.osKernelLock)
-    osKernelStart                            0x080043b1   Thumb Code    52  cmsis_os2.o(.text.osKernelStart)
-    osKernelUnlock                           0x080043e5   Thumb Code    68  cmsis_os2.o(.text.osKernelUnlock)
-    osMessageQueueGet                        0x08004429   Thumb Code   134  cmsis_os2.o(.text.osMessageQueueGet)
-    osMessageQueueNew                        0x080044b1   Thumb Code   160  cmsis_os2.o(.text.osMessageQueueNew)
-    osMessageQueuePut                        0x08004551   Thumb Code   142  cmsis_os2.o(.text.osMessageQueuePut)
-    osMutexAcquire                           0x080045e1   Thumb Code    82  cmsis_os2.o(.text.osMutexAcquire)
-    osMutexNew                               0x08004635   Thumb Code   150  cmsis_os2.o(.text.osMutexNew)
-    osMutexRelease                           0x080046cd   Thumb Code    62  cmsis_os2.o(.text.osMutexRelease)
-    osThreadFlagsSet                         0x0800470d   Thumb Code   126  cmsis_os2.o(.text.osThreadFlagsSet)
-    osThreadFlagsWait                        0x0800478d   Thumb Code   186  cmsis_os2.o(.text.osThreadFlagsWait)
-    osThreadGetId                            0x08004849   Thumb Code     8  cmsis_os2.o(.text.osThreadGetId)
-    osThreadNew                              0x08004851   Thumb Code   180  cmsis_os2.o(.text.osThreadNew)
-    osThreadTerminate                        0x08004905   Thumb Code    52  cmsis_os2.o(.text.osThreadTerminate)
-    pvPortMalloc                             0x080052dd   Thumb Code   330  heap_4.o(.text.pvPortMalloc)
-    pvTaskIncrementMutexHeldCount            0x08005429   Thumb Code    24  tasks.o(.text.pvTaskIncrementMutexHeldCount)
-    pxPortInitialiseStack                    0x08005441   Thumb Code    40  port.o(.text.pxPortInitialiseStack)
-    uxListRemove                             0x08005469   Thumb Code    36  list.o(.text.uxListRemove)
-    vApplicationGetIdleTaskMemory            0x0800548d   Thumb Code    26  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
-    vApplicationGetTimerTaskMemory           0x080054a9   Thumb Code    28  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
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-    vListInitialiseItem                      0x080054dd   Thumb Code     6  list.o(.text.vListInitialiseItem)
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-    vTaskInternalSetTimeOutState             0x08005919   Thumb Code    26  tasks.o(.text.vTaskInternalSetTimeOutState)
-    vTaskMissedYield                         0x08005935   Thumb Code    14  tasks.o(.text.vTaskMissedYield)
-    vTaskPlaceOnEventList                    0x08005945   Thumb Code    50  tasks.o(.text.vTaskPlaceOnEventList)
-    vTaskPlaceOnEventListRestricted          0x08005979   Thumb Code    62  tasks.o(.text.vTaskPlaceOnEventListRestricted)
-    vTaskPriorityDisinheritAfterTimeout      0x080059b9   Thumb Code   164  tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
-    vTaskStartScheduler                      0x08005a5d   Thumb Code   156  tasks.o(.text.vTaskStartScheduler)
-    vTaskSuspendAll                          0x08005b01   Thumb Code    16  tasks.o(.text.vTaskSuspendAll)
-    vTaskSwitchContext                       0x08005b11   Thumb Code   154  tasks.o(.text.vTaskSwitchContext)
-    xPortStartScheduler                      0x08005bad   Thumb Code   274  port.o(.text.xPortStartScheduler)
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-    xQueueCreateMutexStatic                  0x08005d09   Thumb Code    34  queue.o(.text.xQueueCreateMutexStatic)
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+    Shoot_Init                               0x08003b19   Thumb Code   214  shoot_control.o(.text.Shoot_Init)
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+    SysTick_Handler                          0x08003c2d   Thumb Code    20  stm32f4xx_it.o(.text.SysTick_Handler)
+    SystemClock_Config                       0x08003c41   Thumb Code   164  main.o(.text.SystemClock_Config)
+    SystemInit                               0x08003ce5   Thumb Code    18  system_stm32f4xx.o(.text.SystemInit)
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+    Task_rc                                  0x08003d61   Thumb Code   152  rc.o(.text.Task_rc)
+    Task_shoot_ctrl                          0x08003df9   Thumb Code   164  shoot_ctrl.o(.text.Task_shoot_ctrl)
+    UART_Start_Receive_DMA                   0x080040f5   Thumb Code   170  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
+    UsageFault_Handler                       0x080041a1   Thumb Code     2  stm32f4xx_it.o(.text.UsageFault_Handler)
+    eTaskGetState                            0x08004259   Thumb Code   156  tasks.o(.text.eTaskGetState)
+    main                                     0x080042f5   Thumb Code    46  main.o(.text.main)
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+    osKernelUnlock                           0x0800441d   Thumb Code    68  cmsis_os2.o(.text.osKernelUnlock)
+    osMessageQueueGet                        0x08004461   Thumb Code   134  cmsis_os2.o(.text.osMessageQueueGet)
+    osMessageQueueNew                        0x080044e9   Thumb Code   160  cmsis_os2.o(.text.osMessageQueueNew)
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+    osThreadFlagsSet                         0x08004745   Thumb Code   126  cmsis_os2.o(.text.osThreadFlagsSet)
+    osThreadFlagsWait                        0x080047c5   Thumb Code   186  cmsis_os2.o(.text.osThreadFlagsWait)
+    osThreadGetId                            0x08004881   Thumb Code     8  cmsis_os2.o(.text.osThreadGetId)
+    osThreadNew                              0x08004889   Thumb Code   180  cmsis_os2.o(.text.osThreadNew)
+    osThreadTerminate                        0x0800493d   Thumb Code    52  cmsis_os2.o(.text.osThreadTerminate)
+    pvPortMalloc                             0x08005315   Thumb Code   330  heap_4.o(.text.pvPortMalloc)
+    pvTaskIncrementMutexHeldCount            0x08005461   Thumb Code    24  tasks.o(.text.pvTaskIncrementMutexHeldCount)
+    pxPortInitialiseStack                    0x08005479   Thumb Code    40  port.o(.text.pxPortInitialiseStack)
+    uxListRemove                             0x080054a1   Thumb Code    36  list.o(.text.uxListRemove)
+    vApplicationGetIdleTaskMemory            0x080054c5   Thumb Code    26  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+    vApplicationGetTimerTaskMemory           0x080054e1   Thumb Code    28  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
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+    vListInitialiseItem                      0x08005515   Thumb Code     6  list.o(.text.vListInitialiseItem)
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+    vPortSetupTimerInterrupt                 0x0800568d   Thumb Code    52  port.o(.text.vPortSetupTimerInterrupt)
+    vPortValidateInterruptPriority           0x080056c1   Thumb Code    98  port.o(.text.vPortValidateInterruptPriority)
+    vQueueAddToRegistry                      0x08005725   Thumb Code    40  queue.o(.text.vQueueAddToRegistry)
+    vQueueWaitForMessageRestricted           0x0800574d   Thumb Code    68  queue.o(.text.vQueueWaitForMessageRestricted)
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+    vTaskDelayUntil                          0x080057e5   Thumb Code   168  tasks.o(.text.vTaskDelayUntil)
+    vTaskDelete                              0x0800588d   Thumb Code   194  tasks.o(.text.vTaskDelete)
+    vTaskInternalSetTimeOutState             0x08005951   Thumb Code    26  tasks.o(.text.vTaskInternalSetTimeOutState)
+    vTaskMissedYield                         0x0800596d   Thumb Code    14  tasks.o(.text.vTaskMissedYield)
+    vTaskPlaceOnEventList                    0x0800597d   Thumb Code    50  tasks.o(.text.vTaskPlaceOnEventList)
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+    vTaskPriorityDisinheritAfterTimeout      0x080059f1   Thumb Code   164  tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
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+    vTaskSuspendAll                          0x08005b39   Thumb Code    16  tasks.o(.text.vTaskSuspendAll)
+    vTaskSwitchContext                       0x08005b49   Thumb Code   154  tasks.o(.text.vTaskSwitchContext)
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+    xPortSysTickHandler                      0x08005cf9   Thumb Code    46  port.o(.text.xPortSysTickHandler)
+    xQueueCreateMutex                        0x08005d29   Thumb Code    22  queue.o(.text.xQueueCreateMutex)
+    xQueueCreateMutexStatic                  0x08005d41   Thumb Code    34  queue.o(.text.xQueueCreateMutexStatic)
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+    xQueueGenericSend                        0x08005ec5   Thumb Code   418  queue.o(.text.xQueueGenericSend)
+    xQueueGenericSendFromISR                 0x08006069   Thumb Code   206  queue.o(.text.xQueueGenericSendFromISR)
+    xQueueGiveMutexRecursive                 0x08006139   Thumb Code    66  queue.o(.text.xQueueGiveMutexRecursive)
+    xQueueReceive                            0x0800617d   Thumb Code   388  queue.o(.text.xQueueReceive)
+    xQueueReceiveFromISR                     0x08006301   Thumb Code   170  queue.o(.text.xQueueReceiveFromISR)
+    xQueueSemaphoreTake                      0x080063ad   Thumb Code   454  queue.o(.text.xQueueSemaphoreTake)
+    xQueueTakeMutexRecursive                 0x08006575   Thumb Code    60  queue.o(.text.xQueueTakeMutexRecursive)
+    xTaskCheckForTimeOut                     0x080065b1   Thumb Code   136  tasks.o(.text.xTaskCheckForTimeOut)
+    xTaskCreate                              0x08006639   Thumb Code   102  tasks.o(.text.xTaskCreate)
+    xTaskCreateStatic                        0x080066a1   Thumb Code   118  tasks.o(.text.xTaskCreateStatic)
+    xTaskGenericNotify                       0x08006719   Thumb Code   252  tasks.o(.text.xTaskGenericNotify)
+    xTaskGenericNotifyFromISR                0x08006815   Thumb Code   298  tasks.o(.text.xTaskGenericNotifyFromISR)
+    xTaskGetCurrentTaskHandle                0x08006941   Thumb Code    12  tasks.o(.text.xTaskGetCurrentTaskHandle)
+    xTaskGetSchedulerState                   0x0800694d   Thumb Code    38  tasks.o(.text.xTaskGetSchedulerState)
+    xTaskGetTickCount                        0x08006975   Thumb Code    12  tasks.o(.text.xTaskGetTickCount)
+    xTaskGetTickCountFromISR                 0x08006981   Thumb Code    18  tasks.o(.text.xTaskGetTickCountFromISR)
+    xTaskIncrementTick                       0x08006995   Thumb Code   338  tasks.o(.text.xTaskIncrementTick)
+    xTaskNotifyWait                          0x08006ae9   Thumb Code   144  tasks.o(.text.xTaskNotifyWait)
+    xTaskPriorityDisinherit                  0x08006b79   Thumb Code   146  tasks.o(.text.xTaskPriorityDisinherit)
+    xTaskPriorityInherit                     0x08006c0d   Thumb Code   146  tasks.o(.text.xTaskPriorityInherit)
+    xTaskRemoveFromEventList                 0x08006ca1   Thumb Code   142  tasks.o(.text.xTaskRemoveFromEventList)
+    xTaskResumeAll                           0x08006d31   Thumb Code   276  tasks.o(.text.xTaskResumeAll)
+    xTimerCreateTimerTask                    0x08006e45   Thumb Code   108  timers.o(.text.xTimerCreateTimerTask)
+    xTimerGenericCommand                     0x08006eb9   Thumb Code   104  timers.o(.text.xTimerGenericCommand)
+    __ARM_fpclassifyf                        0x08006f21   Thumb Code    38  fpclassifyf.o(i.__ARM_fpclassifyf)
+    __hardfp_tanf                            0x08006f49   Thumb Code   322  tanf.o(i.__hardfp_tanf)
+    __mathlib_flt_infnan                     0x080070c5   Thumb Code     6  funder.o(i.__mathlib_flt_infnan)
+    __mathlib_flt_invalid                    0x080070cd   Thumb Code    10  funder.o(i.__mathlib_flt_invalid)
+    __mathlib_flt_underflow                  0x080070dd   Thumb Code    10  funder.o(i.__mathlib_flt_underflow)
+    __mathlib_rredf2                         0x080070ed   Thumb Code   316  rredf.o(i.__mathlib_rredf2)
+    __aeabi_ddiv                             0x08007241   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    _ddiv                                    0x08007241   Thumb Code   556  ddiv.o(x$fpl$ddiv)
+    __aeabi_d2uiz                            0x080074f5   Thumb Code     0  dfixu.o(x$fpl$dfixu)
+    _dfixu                                   0x080074f5   Thumb Code    90  dfixu.o(x$fpl$dfixu)
+    __aeabi_ui2d                             0x0800754f   Thumb Code     0  dflt_clz.o(x$fpl$dfltu)
+    _dfltu                                   0x0800754f   Thumb Code    38  dflt_clz.o(x$fpl$dfltu)
+    __fpl_dnaninf                            0x08007575   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
+    __fpl_dretinf                            0x08007611   Thumb Code    12  dretinf.o(x$fpl$dretinf)
+    _fp_init                                 0x0800761d   Thumb Code    26  fpinit.o(x$fpl$fpinit)
+    __fplib_config_fpu_vfp                   0x08007635   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fplib_config_pureend_doubles           0x08007635   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __I$use$fp                               0x08007636   Number         0  usenofp.o(x$fpl$usenofp)
+    AHBPrescTable                            0x08007658   Data          16  system_stm32f4xx.o(.rodata.AHBPrescTable)
+    APBPrescTable                            0x08007668   Data           8  system_stm32f4xx.o(.rodata.APBPrescTable)
+    attr_init                                0x08007670   Data          36  user_task.o(.rodata.attr_init)
+    attr_rc                                  0x08007694   Data          36  user_task.o(.rodata.attr_rc)
+    attr_shoot_ctrl                          0x080076b8   Data          36  user_task.o(.rodata.attr_shoot_ctrl)
+    defaultTask_attributes                   0x080076dc   Data          36  freertos.o(.rodata.defaultTask_attributes)
+    Region$$Table$$Base                      0x08007724   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x08007744   Number         0  anon$$obj.o(Region$$Table)
     SystemCoreClock                          0x20000000   Data           4  system_stm32f4xx.o(.data.SystemCoreClock)
     robot_config                             0x20000004   Data         140  config.o(.data.robot_config)
     uwTickFreq                               0x20000090   Data           1  stm32f4xx_hal.o(.data.uwTickFreq)
@@ -4818,7 +4818,7 @@ Image Symbol Table
     r                                        0x2000093c   Data          24  at9s_pro.o(.bss.r)
     rc_cmd                                   0x20000954   Data          40  rc.o(.bss.rc_cmd)
     shoot_c                                  0x2000097c   Data         628  shoot_ctrl.o(.bss.shoot_c)
-    shoot_cmd                                0x20000bf0   Data           4  shoot_ctrl.o(.bss.shoot_cmd)
+    shoot_cmd                                0x20000bf0   Data           3  shoot_ctrl.o(.bss.shoot_cmd)
     shoot_ctrl_cmd_rc                        0x20000bf4   Data          40  shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc)
     task_runtime                             0x20000c1c   Data          52  user_task.o(.bss.task_runtime)
     uwTick                                   0x2000485c   Data           4  stm32f4xx_hal.o(.bss.uwTick)
@@ -4832,75 +4832,75 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000077b0, Max: 0x00100000, ABSOLUTE)
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000077e8, Max: 0x00100000, ABSOLUTE)
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000770c, Max: 0x00100000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00007744, 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         1975  * !!!main             c_w.l(__main.o)
-    0x08000190   0x08000190   0x00000034   Code   RO         2275    !!!scatter          c_w.l(__scatter.o)
-    0x080001c4   0x080001c4   0x0000001a   Code   RO         2277    !!handler_copy      c_w.l(__scatter_copy.o)
+    0x08000188   0x08000188   0x00000008   Code   RO         1973  * !!!main             c_w.l(__main.o)
+    0x08000190   0x08000190   0x00000034   Code   RO         2273    !!!scatter          c_w.l(__scatter.o)
+    0x080001c4   0x080001c4   0x0000001a   Code   RO         2275    !!handler_copy      c_w.l(__scatter_copy.o)
     0x080001de   0x080001de   0x00000002   PAD
-    0x080001e0   0x080001e0   0x0000001c   Code   RO         2279    !!handler_zi        c_w.l(__scatter_zi.o)
-    0x080001fc   0x080001fc   0x00000002   Code   RO         2140    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
-    0x080001fe   0x080001fe   0x00000004   Code   RO         2141    .ARM.Collect$$libinit$$00000001  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2144    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2147    .ARM.Collect$$libinit$$0000000A  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2149    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2151    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2154    .ARM.Collect$$libinit$$00000011  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2156    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2158    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2160    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2162    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2164    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2166    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2168    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2170    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2172    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2174    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2178    .ARM.Collect$$libinit$$0000002C  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2180    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2182    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000000   Code   RO         2184    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
-    0x08000202   0x08000202   0x00000002   Code   RO         2185    .ARM.Collect$$libinit$$00000033  c_w.l(libinit2.o)
-    0x08000204   0x08000204   0x00000002   Code   RO         2240    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
-    0x08000206   0x08000206   0x00000000   Code   RO         2258    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
-    0x08000206   0x08000206   0x00000000   Code   RO         2260    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
-    0x08000206   0x08000206   0x00000000   Code   RO         2263    .ARM.Collect$$libshutdown$$00000007  c_w.l(libshutdown2.o)
-    0x08000206   0x08000206   0x00000000   Code   RO         2266    .ARM.Collect$$libshutdown$$0000000A  c_w.l(libshutdown2.o)
-    0x08000206   0x08000206   0x00000000   Code   RO         2268    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
-    0x08000206   0x08000206   0x00000000   Code   RO         2271    .ARM.Collect$$libshutdown$$0000000F  c_w.l(libshutdown2.o)
-    0x08000206   0x08000206   0x00000002   Code   RO         2272    .ARM.Collect$$libshutdown$$00000010  c_w.l(libshutdown2.o)
-    0x08000208   0x08000208   0x00000000   Code   RO         2007    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
-    0x08000208   0x08000208   0x00000000   Code   RO         2054    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
-    0x08000208   0x08000208   0x00000006   Code   RO         2066    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
-    0x0800020e   0x0800020e   0x00000000   Code   RO         2056    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
-    0x0800020e   0x0800020e   0x00000004   Code   RO         2057    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
-    0x08000212   0x08000212   0x00000000   Code   RO         2059    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
-    0x08000212   0x08000212   0x00000008   Code   RO         2060    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
-    0x0800021a   0x0800021a   0x00000002   Code   RO         2186    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
-    0x0800021c   0x0800021c   0x00000000   Code   RO         2205    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
-    0x0800021c   0x0800021c   0x00000004   Code   RO         2206    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
-    0x08000220   0x08000220   0x00000006   Code   RO         2207    .ARM.Collect$$rtexit$$00000004  c_w.l(rtexit2.o)
+    0x080001e0   0x080001e0   0x0000001c   Code   RO         2277    !!handler_zi        c_w.l(__scatter_zi.o)
+    0x080001fc   0x080001fc   0x00000002   Code   RO         2138    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
+    0x080001fe   0x080001fe   0x00000004   Code   RO         2139    .ARM.Collect$$libinit$$00000001  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2142    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2145    .ARM.Collect$$libinit$$0000000A  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2147    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2149    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2152    .ARM.Collect$$libinit$$00000011  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2154    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2156    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2158    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2160    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2162    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2164    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2166    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2168    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2170    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2172    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2176    .ARM.Collect$$libinit$$0000002C  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2178    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2180    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000000   Code   RO         2182    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
+    0x08000202   0x08000202   0x00000002   Code   RO         2183    .ARM.Collect$$libinit$$00000033  c_w.l(libinit2.o)
+    0x08000204   0x08000204   0x00000002   Code   RO         2238    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
+    0x08000206   0x08000206   0x00000000   Code   RO         2256    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
+    0x08000206   0x08000206   0x00000000   Code   RO         2258    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
+    0x08000206   0x08000206   0x00000000   Code   RO         2261    .ARM.Collect$$libshutdown$$00000007  c_w.l(libshutdown2.o)
+    0x08000206   0x08000206   0x00000000   Code   RO         2264    .ARM.Collect$$libshutdown$$0000000A  c_w.l(libshutdown2.o)
+    0x08000206   0x08000206   0x00000000   Code   RO         2266    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
+    0x08000206   0x08000206   0x00000000   Code   RO         2269    .ARM.Collect$$libshutdown$$0000000F  c_w.l(libshutdown2.o)
+    0x08000206   0x08000206   0x00000002   Code   RO         2270    .ARM.Collect$$libshutdown$$00000010  c_w.l(libshutdown2.o)
+    0x08000208   0x08000208   0x00000000   Code   RO         2005    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
+    0x08000208   0x08000208   0x00000000   Code   RO         2052    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
+    0x08000208   0x08000208   0x00000006   Code   RO         2064    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
+    0x0800020e   0x0800020e   0x00000000   Code   RO         2054    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
+    0x0800020e   0x0800020e   0x00000004   Code   RO         2055    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
+    0x08000212   0x08000212   0x00000000   Code   RO         2057    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
+    0x08000212   0x08000212   0x00000008   Code   RO         2058    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
+    0x0800021a   0x0800021a   0x00000002   Code   RO         2184    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
+    0x0800021c   0x0800021c   0x00000000   Code   RO         2203    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
+    0x0800021c   0x0800021c   0x00000004   Code   RO         2204    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
+    0x08000220   0x08000220   0x00000006   Code   RO         2205    .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         1922    .text               c_w.l(lludivv7m.o)
-    0x08000358   0x08000358   0x0000008a   Code   RO         1961    .text               c_w.l(rt_memcpy_v6.o)
-    0x080003e2   0x080003e2   0x00000064   Code   RO         1963    .text               c_w.l(rt_memcpy_w.o)
-    0x08000446   0x08000446   0x00000010   Code   RO         1967    .text               c_w.l(aeabi_memset4.o)
-    0x08000456   0x08000456   0x0000004e   Code   RO         1971    .text               c_w.l(rt_memclr_w.o)
-    0x080004a4   0x080004a4   0x00000006   Code   RO         1973    .text               c_w.l(heapauxi.o)
-    0x080004aa   0x080004aa   0x00000016   Code   RO         2012    .text               c_w.l(_rserrno.o)
-    0x080004c0   0x080004c0   0x00000008   Code   RO         2078    .text               c_w.l(rt_errno_addr_intlibspace.o)
-    0x080004c8   0x080004c8   0x00000008   Code   RO         2120    .text               c_w.l(libspace.o)
-    0x080004d0   0x080004d0   0x0000004a   Code   RO         2123    .text               c_w.l(sys_stackheap_outer.o)
-    0x0800051a   0x0800051a   0x00000012   Code   RO         2127    .text               c_w.l(exit.o)
-    0x0800052c   0x0800052c   0x0000000c   Code   RO         2200    .text               c_w.l(sys_exit.o)
-    0x08000538   0x08000538   0x00000002   Code   RO         2227    .text               c_w.l(use_no_semi.o)
-    0x0800053a   0x0800053a   0x00000000   Code   RO         2229    .text               c_w.l(indicate_semi.o)
+    0x08000268   0x08000268   0x000000f0   Code   RO         1920    .text               c_w.l(lludivv7m.o)
+    0x08000358   0x08000358   0x0000008a   Code   RO         1959    .text               c_w.l(rt_memcpy_v6.o)
+    0x080003e2   0x080003e2   0x00000064   Code   RO         1961    .text               c_w.l(rt_memcpy_w.o)
+    0x08000446   0x08000446   0x00000010   Code   RO         1965    .text               c_w.l(aeabi_memset4.o)
+    0x08000456   0x08000456   0x0000004e   Code   RO         1969    .text               c_w.l(rt_memclr_w.o)
+    0x080004a4   0x080004a4   0x00000006   Code   RO         1971    .text               c_w.l(heapauxi.o)
+    0x080004aa   0x080004aa   0x00000016   Code   RO         2010    .text               c_w.l(_rserrno.o)
+    0x080004c0   0x080004c0   0x00000008   Code   RO         2076    .text               c_w.l(rt_errno_addr_intlibspace.o)
+    0x080004c8   0x080004c8   0x00000008   Code   RO         2118    .text               c_w.l(libspace.o)
+    0x080004d0   0x080004d0   0x0000004a   Code   RO         2121    .text               c_w.l(sys_stackheap_outer.o)
+    0x0800051a   0x0800051a   0x00000012   Code   RO         2125    .text               c_w.l(exit.o)
+    0x0800052c   0x0800052c   0x0000000c   Code   RO         2198    .text               c_w.l(sys_exit.o)
+    0x08000538   0x08000538   0x00000002   Code   RO         2225    .text               c_w.l(use_no_semi.o)
+    0x0800053a   0x0800053a   0x00000000   Code   RO         2227    .text               c_w.l(indicate_semi.o)
     0x0800053a   0x0800053a   0x00000002   PAD
     0x0800053c   0x0800053c   0x00000022   Code   RO         1773    .text.AbsClip       user_math.o
     0x0800055e   0x0800055e   0x00000002   PAD
@@ -4944,7 +4944,7 @@ Memory Map of the image
     0x08000c38   0x08000c38   0x0000021c   Code   RO         1799    .text.COMP_AT9S_CMD_ParseRc  at9s_pro_cmd.o
     0x08000e54   0x08000e54   0x00000140   Code   RO         1852    .text.Chassis_UpdateFeedback  shoot_control.o
     0x08000f94   0x08000f94   0x0000003c   Code   RO         1783    .text.CircleError   user_math.o
-    0x08000fd0   0x08000fd0   0x0000000a   Code   RO         1869    .text.Config_GetRobotParam  config.o
+    0x08000fd0   0x08000fd0   0x0000000a   Code   RO         1867    .text.Config_GetRobotParam  config.o
     0x08000fda   0x08000fda   0x00000002   PAD
     0x08000fdc   0x08000fdc   0x00000046   Code   RO         1748    .text.DEVICE_AT9S_Init  at9s_pro.o
     0x08001022   0x08001022   0x00000002   PAD
@@ -5082,254 +5082,255 @@ Memory Map of the image
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     0x080037ac   0x080037ac   0x00000036   Code   RO         1856    .text.ScaleSumTo1   shoot_control.o
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-    0x080041ee   0x080041ee   0x00000002   PAD
-    0x080041f0   0x080041f0   0x0000000e   Code   RO         1403    .text.__NVIC_SetPriority  cmsis_os2.o
-    0x080041fe   0x080041fe   0x00000002   PAD
-    0x08004200   0x08004200   0x00000020   Code   RO          499    .text.__NVIC_SetPriorityGrouping  stm32f4xx_hal_cortex.o
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-    0x08004632   0x08004632   0x00000002   PAD
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-    0x0800478a   0x0800478a   0x00000002   PAD
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-    0x08004846   0x08004846   0x00000002   PAD
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-    0x08004b2e   0x08004b2e   0x00000002   PAD
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-    0x08004bd2   0x08004bd2   0x00000002   PAD
-    0x08004bd4   0x08004bd4   0x00000036   Code   RO         1027    .text.prvDeleteTCB  tasks.o
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+    0x08003c2a   0x08003c2a   0x00000002   PAD
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+    0x08003f6c   0x08003f6c   0x0000001e   Code   RO          788    .text.UART_DMARxHalfCplt  stm32f4xx_hal_uart.o
+    0x08003f8a   0x08003f8a   0x00000002   PAD
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+    0x080040f4   0x080040f4   0x000000aa   Code   RO          704    .text.UART_Start_Receive_DMA  stm32f4xx_hal_uart.o
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+    0x080041a2   0x080041a2   0x00000002   PAD
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+    0x080042f4   0x080042f4   0x0000002e   Code   RO           11    .text.main          main.o
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+    0x0800438c   0x0800438c   0x00000006   Code   RO         1259    .text.osKernelGetTickFreq  cmsis_os2.o
+    0x08004392   0x08004392   0x00000002   PAD
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     0x08004c0a   0x08004c0a   0x00000002   PAD
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-    0x08005160   0x08005160   0x0000002a   Code   RO         1216    .text.prvSampleTimeNow  timers.o
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+    0x08006136   0x08006136   0x00000002   PAD
+    0x08006138   0x08006138   0x00000042   Code   RO          888    .text.xQueueGiveMutexRecursive  queue.o
+    0x0800617a   0x0800617a   0x00000002   PAD
+    0x0800617c   0x0800617c   0x00000184   Code   RO          910    .text.xQueueReceive  queue.o
+    0x08006300   0x08006300   0x000000aa   Code   RO          920    .text.xQueueReceiveFromISR  queue.o
+    0x080063aa   0x080063aa   0x00000002   PAD
+    0x080063ac   0x080063ac   0x000001c6   Code   RO          894    .text.xQueueSemaphoreTake  queue.o
+    0x08006572   0x08006572   0x00000002   PAD
+    0x08006574   0x08006574   0x0000003c   Code   RO          892    .text.xQueueTakeMutexRecursive  queue.o
+    0x080065b0   0x080065b0   0x00000088   Code   RO         1095    .text.xTaskCheckForTimeOut  tasks.o
+    0x08006638   0x08006638   0x00000066   Code   RO         1023    .text.xTaskCreate   tasks.o
+    0x0800669e   0x0800669e   0x00000002   PAD
+    0x080066a0   0x080066a0   0x00000076   Code   RO         1017    .text.xTaskCreateStatic  tasks.o
+    0x08006716   0x08006716   0x00000002   PAD
+    0x08006718   0x08006718   0x000000fc   Code   RO         1127    .text.xTaskGenericNotify  tasks.o
+    0x08006814   0x08006814   0x0000012a   Code   RO         1129    .text.xTaskGenericNotifyFromISR  tasks.o
+    0x0800693e   0x0800693e   0x00000002   PAD
+    0x08006940   0x08006940   0x0000000c   Code   RO         1109    .text.xTaskGetCurrentTaskHandle  tasks.o
+    0x0800694c   0x0800694c   0x00000026   Code   RO         1111    .text.xTaskGetSchedulerState  tasks.o
+    0x08006972   0x08006972   0x00000002   PAD
+    0x08006974   0x08006974   0x0000000c   Code   RO         1067    .text.xTaskGetTickCount  tasks.o
+    0x08006980   0x08006980   0x00000012   Code   RO         1069    .text.xTaskGetTickCountFromISR  tasks.o
+    0x08006992   0x08006992   0x00000002   PAD
+    0x08006994   0x08006994   0x00000152   Code   RO         1065    .text.xTaskIncrementTick  tasks.o
+    0x08006ae6   0x08006ae6   0x00000002   PAD
+    0x08006ae8   0x08006ae8   0x00000090   Code   RO         1125    .text.xTaskNotifyWait  tasks.o
+    0x08006b78   0x08006b78   0x00000092   Code   RO         1115    .text.xTaskPriorityDisinherit  tasks.o
+    0x08006c0a   0x08006c0a   0x00000002   PAD
+    0x08006c0c   0x08006c0c   0x00000092   Code   RO         1113    .text.xTaskPriorityInherit  tasks.o
+    0x08006c9e   0x08006c9e   0x00000002   PAD
+    0x08006ca0   0x08006ca0   0x0000008e   Code   RO         1087    .text.xTaskRemoveFromEventList  tasks.o
+    0x08006d2e   0x08006d2e   0x00000002   PAD
+    0x08006d30   0x08006d30   0x00000114   Code   RO         1037    .text.xTaskResumeAll  tasks.o
+    0x08006e44   0x08006e44   0x00000074   Code   RO         1170    .text.xTimerCreateTimerTask  timers.o
+    0x08006eb8   0x08006eb8   0x00000068   Code   RO         1182    .text.xTimerGenericCommand  timers.o
+    0x08006f20   0x08006f20   0x00000026   Code   RO         2032    i.__ARM_fpclassifyf  m_wm.l(fpclassifyf.o)
+    0x08006f46   0x08006f46   0x00000002   PAD
+    0x08006f48   0x08006f48   0x0000017c   Code   RO         1999    i.__hardfp_tanf     m_wm.l(tanf.o)
+    0x080070c4   0x080070c4   0x00000006   Code   RO         2035    i.__mathlib_flt_infnan  m_wm.l(funder.o)
+    0x080070ca   0x080070ca   0x00000002   PAD
+    0x080070cc   0x080070cc   0x00000010   Code   RO         2037    i.__mathlib_flt_invalid  m_wm.l(funder.o)
+    0x080070dc   0x080070dc   0x00000010   Code   RO         2040    i.__mathlib_flt_underflow  m_wm.l(funder.o)
+    0x080070ec   0x080070ec   0x00000154   Code   RO         2048    i.__mathlib_rredf2  m_wm.l(rredf.o)
+    0x08007240   0x08007240   0x000002b4   Code   RO         1976    x$fpl$ddiv          fz_wm.l(ddiv.o)
+    0x080074f4   0x080074f4   0x0000005a   Code   RO         1979    x$fpl$dfixu         fz_wm.l(dfixu.o)
+    0x0800754e   0x0800754e   0x00000026   Code   RO         1983    x$fpl$dfltu         fz_wm.l(dflt_clz.o)
+    0x08007574   0x08007574   0x0000009c   Code   RO         2025    x$fpl$dnaninf       fz_wm.l(dnaninf.o)
+    0x08007610   0x08007610   0x0000000c   Code   RO         2027    x$fpl$dretinf       fz_wm.l(dretinf.o)
+    0x0800761c   0x0800761c   0x0000001a   Code   RO         2196    x$fpl$fpinit        fz_wm.l(fpinit.o)
+    0x08007636   0x08007636   0x00000000   Code   RO         2031    x$fpl$usenofp       fz_wm.l(usenofp.o)
+    0x08007636   0x08007636   0x00000002   PAD
+    0x08007638   0x08007638   0x00000020   Data   RO         2049    .constdata          m_wm.l(rredf.o)
+    0x08007658   0x08007658   0x00000010   Data   RO          803    .rodata.AHBPrescTable  system_stm32f4xx.o
+    0x08007668   0x08007668   0x00000008   Data   RO          804    .rodata.APBPrescTable  system_stm32f4xx.o
+    0x08007670   0x08007670   0x00000024   Data   RO         1910    .rodata.attr_init   user_task.o
+    0x08007694   0x08007694   0x00000024   Data   RO         1912    .rodata.attr_rc     user_task.o
+    0x080076b8   0x080076b8   0x00000024   Data   RO         1911    .rodata.attr_shoot_ctrl  user_task.o
+    0x080076dc   0x080076dc   0x00000024   Data   RO           38    .rodata.defaultTask_attributes  freertos.o
+    0x08007700   0x08007700   0x0000000c   Data   RO           37    .rodata.str1.1      freertos.o
+    0x0800770c   0x0800770c   0x00000018   Data   RO         1909    .rodata.str1.1      user_task.o
+    0x08007724   0x08007724   0x00000020   Data   RO         2272    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08007710, Size: 0x00005638, Max: 0x0001c000, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08007748, Size: 0x00005638, Max: 0x0001c000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x08007710   0x00000004   Data   RW          802    .data.SystemCoreClock  system_stm32f4xx.o
-    0x20000004   0x08007714   0x0000008c   Data   RW         1871    .data.robot_config  config.o
-    0x20000090   0x080077a0   0x00000001   Data   RW          630    .data.uwTickFreq    stm32f4xx_hal.o
-    0x20000091   0x080077a1   0x00000003   PAD
-    0x20000094   0x080077a4   0x00000004   Data   RW          629    .data.uwTickPrio    stm32f4xx_hal.o
-    0x20000098   0x080077a8   0x00000004   Data   RW         1479    .data.uxCriticalNesting  port.o
-    0x2000009c   0x080077ac   0x00000004   PAD
-    0x200000a0        -       0x00000060   Zero   RW         2121    .bss                c_w.l(libspace.o)
+    0x20000000   0x08007748   0x00000004   Data   RW          802    .data.SystemCoreClock  system_stm32f4xx.o
+    0x20000004   0x0800774c   0x0000008c   Data   RW         1869    .data.robot_config  config.o
+    0x20000090   0x080077d8   0x00000001   Data   RW          630    .data.uwTickFreq    stm32f4xx_hal.o
+    0x20000091   0x080077d9   0x00000003   PAD
+    0x20000094   0x080077dc   0x00000004   Data   RW          629    .data.uwTickPrio    stm32f4xx_hal.o
+    0x20000098   0x080077e0   0x00000004   Data   RW         1479    .data.uxCriticalNesting  port.o
+    0x2000009c   0x080077e4   0x00000004   PAD
+    0x200000a0        -       0x00000060   Zero   RW         2119    .bss                c_w.l(libspace.o)
     0x20000100        -       0x00000068   Zero   RW         1564    .bss.CAN_Callback   can_1.o
     0x20000168        -       0x00000004   Zero   RW         1660    .bss.CPU_FREQ_Hz    dwt.o
     0x2000016c        -       0x00000004   Zero   RW         1661    .bss.CPU_FREQ_Hz_ms  dwt.o
@@ -5339,10 +5340,10 @@ Memory Map of the image
     0x2000017c        -       0x00000004   Zero   RW           57    .bss.HAL_RCC_CAN1_CLK_ENABLED  can.o
     0x20000180        -       0x00000004   Zero   RW         1405    .bss.KernelState    cmsis_os2.o
     0x20000184        -       0x00000048   Zero   RW         1633    .bss.UART_Callback  uart.o
-    0x200001cc        -       0x0000002c   Zero   RW         1889    .bss.at9s           rc.o
+    0x200001cc        -       0x0000002c   Zero   RW         1887    .bss.at9s           rc.o
     0x200001f8        -       0x00000008   Zero   RW         1718    .bss.can_managers   motor_rm.o
-    0x20000200        -       0x00000019   Zero   RW         1890    .bss.cmd_buffer     rc.o
-    0x20000219   0x080077ac   0x00000003   PAD
+    0x20000200        -       0x00000019   Zero   RW         1888    .bss.cmd_buffer     rc.o
+    0x20000219   0x080077e4   0x00000003   PAD
     0x2000021c        -       0x00000004   Zero   RW           39    .bss.defaultTaskHandle  freertos.o
     0x20000220        -       0x00000028   Zero   RW           55    .bss.hcan1          can.o
     0x20000248        -       0x00000028   Zero   RW           56    .bss.hcan2          can.o
@@ -5353,8 +5354,9 @@ Memory Map of the image
     0x200003c0        -       0x00000004   Zero   RW         1566    .bss.id_parser      can_1.o
     0x200003c4        -       0x00000001   Zero   RW         1565    .bss.inited         can_1.o
     0x200003c5        -       0x00000001   Zero   RW         1760    .bss.inited         at9s_pro.o
-    0x200003c6        -       0x000000a0   Zero   RW         1232    .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage  timers.o
-    0x20000466   0x080077ac   0x00000002   PAD
+    0x200003c6        -       0x00000001   Zero   RW         1858    .bss.last_firecmd   shoot_control.o
+    0x200003c7        -       0x000000a0   Zero   RW         1232    .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage  timers.o
+    0x20000467   0x080077e4   0x00000001   PAD
     0x20000468        -       0x00000050   Zero   RW         1231    .bss.prvCheckForValidListAndQueue.xStaticTimerQueue  timers.o
     0x200004b8        -       0x00000004   Zero   RW         1228    .bss.prvSampleTimeNow.xLastTime  timers.o
     0x200004bc        -       0x00000004   Zero   RW         1141    .bss.pxCurrentTCB   tasks.o
@@ -5367,15 +5369,16 @@ Memory Map of the image
     0x20000934        -       0x00000004   Zero   RW         1568    .bss.queue_list     can_1.o
     0x20000938        -       0x00000004   Zero   RW         1567    .bss.queue_mutex    can_1.o
     0x2000093c        -       0x00000018   Zero   RW         1762    .bss.r              at9s_pro.o
-    0x20000954        -       0x00000028   Zero   RW         1891    .bss.rc_cmd         rc.o
-    0x2000097c        -       0x00000274   Zero   RW         1901    .bss.shoot_c        shoot_ctrl.o
-    0x20000bf0        -       0x00000004   Zero   RW         1903    .bss.shoot_cmd      shoot_ctrl.o
-    0x20000bf4        -       0x00000028   Zero   RW         1902    .bss.shoot_ctrl_cmd_rc  shoot_ctrl.o
-    0x20000c1c        -       0x00000034   Zero   RW         1915    .bss.task_runtime   user_task.o
+    0x20000954        -       0x00000028   Zero   RW         1889    .bss.rc_cmd         rc.o
+    0x2000097c        -       0x00000274   Zero   RW         1899    .bss.shoot_c        shoot_ctrl.o
+    0x20000bf0        -       0x00000003   Zero   RW         1901    .bss.shoot_cmd      shoot_ctrl.o
+    0x20000bf3   0x080077e4   0x00000001   PAD
+    0x20000bf4        -       0x00000028   Zero   RW         1900    .bss.shoot_ctrl_cmd_rc  shoot_ctrl.o
+    0x20000c1c        -       0x00000034   Zero   RW         1913    .bss.task_runtime   user_task.o
     0x20000c50        -       0x00000004   Zero   RW         1761    .bss.thread_alert   at9s_pro.o
     0x20000c54        -       0x00003c00   Zero   RW         1442    .bss.ucHeap         heap_4.o
     0x20004854        -       0x00000001   Zero   RW         1477    .bss.ucMaxSysCallPriority  port.o
-    0x20004855   0x080077ac   0x00000003   PAD
+    0x20004855   0x080077e4   0x00000003   PAD
     0x20004858        -       0x00000004   Zero   RW         1478    .bss.ulMaxPRIGROUPValue  port.o
     0x2000485c        -       0x00000004   Zero   RW          631    .bss.uwTick         stm32f4xx_hal.o
     0x20004860        -       0x00000004   Zero   RW         1145    .bss.uxCurrentNumberOfTasks  tasks.o
@@ -5390,7 +5393,7 @@ Memory Map of the image
     0x20004f2c        -       0x00000014   Zero   RW         1229    .bss.xActiveTimerList1  timers.o
     0x20004f40        -       0x00000014   Zero   RW         1230    .bss.xActiveTimerList2  timers.o
     0x20004f54        -       0x00000001   Zero   RW         1436    .bss.xBlockAllocatedBit  heap_4.o
-    0x20004f55   0x080077ac   0x00000003   PAD
+    0x20004f55   0x080077e4   0x00000003   PAD
     0x20004f58        -       0x00000014   Zero   RW         1160    .bss.xDelayedTaskList1  tasks.o
     0x20004f6c        -       0x00000014   Zero   RW         1161    .bss.xDelayedTaskList2  tasks.o
     0x20004f80        -       0x00000004   Zero   RW         1437    .bss.xFreeBytesRemaining  heap_4.o
@@ -5415,7 +5418,7 @@ Memory Map of the image
     0x20005238        -       0x00000400   Zero   RW            1    STACK               startup_stm32f407xx.o
 
 
-    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x080077b0, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
+    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x080077e8, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
 
     **** No section assigned to this execution region ****
 
@@ -5448,8 +5451,8 @@ 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
-      1356         20          0          0          0       6232   shoot_control.o
-       164         12          0          0        672       4588   shoot_ctrl.o
+      1408         20          0          0          1       6177   shoot_control.o
+       164         12          0          0        671       4563   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
@@ -5470,9 +5473,9 @@ Image component sizes
          0          0        132          0         52       2872   user_task.o
 
     ----------------------------------------------------------------------
-     27116        258        628        156      21820     300857   Object Totals
+     27172        258        628        156      21820     300777   Object Totals
          0          0         32          0          0          0   (incl. Generated)
-       254         12          0          3         15          0   (incl. Padding)
+       258         12          0          3         15          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
@@ -5539,15 +5542,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     29816        520        660        156      21916     301593   Grand Totals
-     29816        520        660        156      21916     301593   ELF Image Totals
-     29816        520        660        156          0          0   ROM Totals
+     29872        520        660        156      21916     301513   Grand Totals
+     29872        520        660        156      21916     301513   ELF Image Totals
+     29872        520        660        156          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                30476 (  29.76kB)
+    Total RO  Size (Code + RO Data)                30532 (  29.82kB)
     Total RW  Size (RW Data + ZI Data)             22072 (  21.55kB)
-    Total ROM Size (Code + RO Data + RW Data)      30632 (  29.91kB)
+    Total ROM Size (Code + RO Data + RW Data)      30688 (  29.97kB)
 
 ==============================================================================
 
diff --git a/MDK-ARM/shoot/shoot_control.o b/MDK-ARM/shoot/shoot_control.o
index 0de7411..ca73447 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 0e92aa9..f4758a1 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 efdec32..bf9fc7f 100644
--- a/MDK-ARM/shoot/shoot_shoot.dep
+++ b/MDK-ARM/shoot/shoot_shoot.dep
@@ -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)(0x68D3FFDB)()
-F (..\User\module\shoot_control.c)(0x68DAD521)(-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)(0x68DAD1CF)
+F (..\User\module\shoot_control.c)(0x68DBE4B2)(-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)(0x68DBE202)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -1366,8 +1366,8 @@ 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\bsp\dwt.h)(0x68D3FFDB)
-F (..\User\module\shoot_control.h)(0x68DAD1CF)()
-F (..\User\module\config.c)(0x68DADA5D)(-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)
+F (..\User\module\shoot_control.h)(0x68DBE202)()
+F (..\User\module\config.c)(0x68DBDF20)(-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)(0x68DABE70)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\component\pid.h)(0x68D3FFDB)
@@ -1423,7 +1423,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (..\User\module\shoot_control.h)(0x68DAD1CF)
+I (..\User\module\shoot_control.h)(0x68DBE202)
 F (..\User\module\config.h)(0x68DABE70)()
 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)
@@ -1488,7 +1488,7 @@ I (..\User\component\user_math.h)(0x68D3FFDB)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68D400B4)
-I (..\User\module\shoot_control.h)(0x68DAD1CF)
+I (..\User\module\shoot_control.h)(0x68DBE202)
 I (..\Core\Inc\main.h)(0x68D1384A)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
 I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
diff --git a/Ozone/shoot.jdebug.user b/Ozone/shoot.jdebug.user
index 969cc6f..586b199 100644
--- a/Ozone/shoot.jdebug.user
+++ b/Ozone/shoot.jdebug.user
@@ -1,44 +1,34 @@
 
 
-GraphedExpression="errtosee", Color=#e56a6f, Show=0
-GraphedExpression="((pid_shoot_3508_errrpm[0]).last).out", Color=#35792b
-GraphedExpression="shoot_out[0]", Color=#769dda, Show=0
-GraphedExpression="shoot_errlpfout[0]", Color=#b14f0d
+GraphedExpression="(((shoot_c).feedback).fric[1]).rotor_speed", Color=#e56a6f, Show=0
+GraphedExpression="(((shoot_c).feedback).fric[0]).rotor_speed", Color=#35792b, Show=0
+GraphedExpression="(shoot_c).errtosee", Color=#769dda
 OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=854
 OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66
-OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=2
+OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=7
 OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
-OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=57
+OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=44
 OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
-OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3652
+OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419
 OpenToolbar="Debug", Floating=0, x=0, y=0
 OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=300, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=0, w=726, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=300, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1007, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, 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="799;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1333;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1349;0"
+OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="200 ms / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="61;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1328;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1344;0"
 OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=1007, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" errtosee";" ((pid_shoot_3508_errrpm[0]).last).out";" shoot_out[0]";" shoot_errlpfout[0]"], ColWidths=[100;100;100;100;100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[406;100;154;154;144;154;110;164;154]
 TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;482]
 TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1594;104;100;100;100]
 TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
 TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
 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;103]
+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_c).feedback).fric[1]).rotor_speed";" (((shoot_c).feedback).fric[0]).rotor_speed";" (shoot_c).errtosee"], ColWidths=[100;100;100;100;100]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[406;100;100;100;100;154;110;126;126]
 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
-WatchedExpression="shoot_motor_feedback", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="target_rpm", Window=Watched Data 1
-WatchedExpression="filtered_rpm", Window=Watched Data 1
-WatchedExpression="pid_shoot_3508_errrpm_params", Window=Watched Data 1
-WatchedExpression="pid_shoot_3508_errrpm", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="errtosee", Window=Watched Data 1
-WatchedExpression="pid_shoot_3508_rpm_params", Window=Watched Data 1
-WatchedExpression="r", Window=Watched Data 1
-WatchedExpression="shoot_errlpfout", Window=Watched Data 1
-WatchedExpression="shoot_out", Window=Watched Data 1
-WatchedExpression="shoot_out[1]", Window=Watched Data 1
\ No newline at end of file
+WatchedExpression="shoot_c", RefreshRate=5, Window=Watched Data 1
+WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1
\ No newline at end of file
diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c
index c414d92..bf21c53 100644
--- a/User/module/shoot_control.c
+++ b/User/module/shoot_control.c
@@ -6,9 +6,7 @@
 #include <math.h>
 #include "bsp/dwt.h"
 
-uint32_t shoot_ctrl_cnt_last;
-float shoot_ctrl_dt;
-bool last_firecmd=false;
+static bool last_firecmd;
 
 static inline void ScaleSumTo1(float *a, float *b) {
     float sum = *a + *b;
@@ -19,6 +17,7 @@ static inline void ScaleSumTo1(float *a, float *b) {
     }
 }
 
+
 int8_t Shoot_Init(shoot_t *c, Shoot_Params_t *param, float target_freq)
 {
     if (c == NULL || param == NULL || target_freq <= 0.0f) {
@@ -126,7 +125,7 @@ int8_t Shoot_Control(shoot_t *c, const Shoot_CMD_t *cmd)
                     {
                         c->running_state=SHOOT_STATE_IDLE;
                     }
-                    else if(cmd->last_firecmd==false&&cmd->firecmd==true)//可以加一个到达目标速度的判断
+                    else if(last_firecmd==false&&cmd->firecmd==true)//可以加一个到达目标速度的判断
                     {
                         c->running_state=SHOOT_STATE_FIRE;
 						c->target_variable.target_angle+=c->param->trig_step_angle;
@@ -156,7 +155,7 @@ int8_t Shoot_Control(shoot_t *c, const Shoot_CMD_t *cmd)
         }
     }
 	MOTOR_RM_Ctrl(&c->param->fric_motor_param[0]);
-    
+    last_firecmd = cmd->firecmd;
     return 0;
 }
 
diff --git a/User/module/shoot_control.h b/User/module/shoot_control.h
index 9923555..f6f6004 100644
--- a/User/module/shoot_control.h
+++ b/User/module/shoot_control.h
@@ -45,8 +45,6 @@ typedef struct {
   bool ready;                    /* 准备射击 */
   bool firecmd;                  /* 射击指令 */
 
-  bool last_firecmd;
-
 } Shoot_CMD_t;
 typedef struct {
   MOTOR_Feedback_t fric[SHOOT_FRIC_NUM]; /* 摩擦轮电机反馈 */