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z^WA#xzAtEMdN~^R?e>oKyxt|&d6ks)iT+Nkmjwe>51q4sAW!Oc3*36;(<{2(7xkp| j9@di<@FnB)UaqxF-zlEf=#6;dV+$XP@sYOga4Y=}ydxxh 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).

Software Packages used:

@@ -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 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 :100000003856002029020008A5340008B52B000846 -:1000100041330008D10B00086941000800000000CE +:1000100041330008D10B0008A14100080000000096 :100020000000000000000000000000008137000810 -:10003000C51400080000000011370008F93B000853 +:10003000C514000800000000113700082D3C00081E :10004000430200084302000843020008430200087C :10005000430200084302000843020008430200086C :10006000430200084302000843020008430200085C @@ -26,17 +26,17 @@ :10018000430200084302000800F002F800F03CF8C7 :100190000AA090E8000C82448344AAF10107DA45E2 :1001A00001D100F031F8AFF2090EBAE80F0013F0F8 -:1001B000010F18BFFB1A43F0010318473075000008 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+:1077B00000000000CDCC4C3DCDCC4C3E6666663F13 +:1077C0000000F041000080BF0000F0410000F041E7 +:1077D0000000F0410000F041010000001000000036 +:0877E000AAAAAAAA00000000F9 :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 @@ Static Call Graph - [shoot\shoot.axf]

Static Call Graph for image shoot\shoot.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Sep 30 03:13:34 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Tue Sep 30 22:10:00 2025

Maximum Stack Usage = 304 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -1509,7 +1509,7 @@ Global Symbols

SVC_Handler (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.SVC_Handler))
[Address Reference Count : 1]

  • startup_stm32f407xx.o(RESET)
-

Shoot_Control (Thumb, 768 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control)) +

Shoot_Control (Thumb, 820 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_Control))

[Stack]

  • Max Depth = 224
  • Call Chain = Shoot_Control ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_WaitTxMailboxEmpty ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

[Calls]
  • >>   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 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tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x08006669 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x080066e1 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x080067dd Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x08006909 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08006915 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x0800693d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x08006949 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x0800695d Thumb Code 338 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08006ab1 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08006b41 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08006bd5 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08006c69 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x08006cf9 Thumb Code 276 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x08006e0d Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x08006e81 Thumb Code 104 timers.o(.text.xTimerGenericCommand) - __ARM_fpclassifyf 0x08006ee9 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_tanf 0x08006f11 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __mathlib_flt_infnan 0x0800708d Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_invalid 0x08007095 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x080070a5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x080070b5 Thumb Code 316 rredf.o(i.__mathlib_rredf2) - __aeabi_ddiv 0x08007209 Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x08007209 Thumb Code 556 ddiv.o(x$fpl$ddiv) - __aeabi_d2uiz 0x080074bd Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x080074bd Thumb Code 90 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Thumb Code 156 tasks.o(.text.eTaskGetState) + main 0x080042f5 Thumb Code 46 main.o(.text.main) + osDelay 0x08004325 Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x08004345 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) + osKernelGetTickCount 0x08004379 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x0800438d Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x08004395 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x080043bd Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x080043e9 Thumb Code 52 cmsis_os2.o(.text.osKernelStart) + 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) + osMessageQueuePut 0x08004589 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) + osMutexAcquire 0x08004619 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x0800466d Thumb Code 150 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x08004705 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) + 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) + vListInitialise 0x080054fd Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x08005515 Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x0800551d Thumb Code 58 list.o(.text.vListInsert) + vListInsertEnd 0x08005559 Thumb Code 28 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08005589 Thumb Code 70 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x080055d1 Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x08005601 Thumb Code 138 heap_4.o(.text.vPortFree) + 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) + vTaskDelay 0x08005791 Thumb Code 84 tasks.o(.text.vTaskDelay) + 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) + vTaskPlaceOnEventListRestricted 0x080059b1 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x080059f1 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x08005a95 Thumb Code 156 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08005b39 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08005b49 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08005be5 Thumb Code 274 port.o(.text.xPortStartScheduler) + 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) + xQueueGenericCreate 0x08005d65 Thumb Code 70 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08005dad Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x08005e45 Thumb Code 126 queue.o(.text.xQueueGenericReset) + 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 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0x08005588 0x08005588 0x00000046 Code RO 1467 .text.vPortEnterCritical port.o + 0x080055ce 0x080055ce 0x00000002 PAD + 0x080055d0 0x080055d0 0x0000002e Code RO 1469 .text.vPortExitCritical port.o + 0x080055fe 0x080055fe 0x00000002 PAD + 0x08005600 0x08005600 0x0000008a Code RO 1425 .text.vPortFree heap_4.o + 0x0800568a 0x0800568a 0x00000002 PAD + 0x0800568c 0x0800568c 0x00000034 Code RO 1459 .text.vPortSetupTimerInterrupt port.o + 0x080056c0 0x080056c0 0x00000062 Code RO 1475 .text.vPortValidateInterruptPriority port.o + 0x08005722 0x08005722 0x00000002 PAD + 0x08005724 0x08005724 0x00000028 Code RO 944 .text.vQueueAddToRegistry queue.o + 0x0800574c 0x0800574c 0x00000044 Code RO 948 .text.vQueueWaitForMessageRestricted queue.o + 0x08005790 0x08005790 0x00000054 Code RO 1039 .text.vTaskDelay tasks.o + 0x080057e4 0x080057e4 0x000000a8 Code RO 1031 .text.vTaskDelayUntil tasks.o + 0x0800588c 0x0800588c 0x000000c2 Code RO 1025 .text.vTaskDelete tasks.o + 0x0800594e 0x0800594e 0x00000002 PAD + 0x08005950 0x08005950 0x0000001a Code RO 1093 .text.vTaskInternalSetTimeOutState tasks.o + 0x0800596a 0x0800596a 0x00000002 PAD + 0x0800596c 0x0800596c 0x0000000e Code RO 1097 .text.vTaskMissedYield tasks.o + 0x0800597a 0x0800597a 0x00000002 PAD + 0x0800597c 0x0800597c 0x00000032 Code RO 1081 .text.vTaskPlaceOnEventList tasks.o + 0x080059ae 0x080059ae 0x00000002 PAD + 0x080059b0 0x080059b0 0x0000003e Code RO 1085 .text.vTaskPlaceOnEventListRestricted tasks.o + 0x080059ee 0x080059ee 0x00000002 PAD + 0x080059f0 0x080059f0 0x000000a4 Code RO 1117 .text.vTaskPriorityDisinheritAfterTimeout tasks.o + 0x08005a94 0x08005a94 0x000000a4 Code RO 1059 .text.vTaskStartScheduler tasks.o + 0x08005b38 0x08005b38 0x00000010 Code RO 1033 .text.vTaskSuspendAll tasks.o + 0x08005b48 0x08005b48 0x0000009a Code RO 1051 .text.vTaskSwitchContext tasks.o + 0x08005be2 0x08005be2 0x00000002 PAD + 0x08005be4 0x08005be4 0x00000112 Code RO 1457 .text.xPortStartScheduler port.o + 0x08005cf6 0x08005cf6 0x00000002 PAD + 0x08005cf8 0x08005cf8 0x0000002e Code RO 1473 .text.xPortSysTickHandler port.o + 0x08005d26 0x08005d26 0x00000002 PAD + 0x08005d28 0x08005d28 0x00000016 Code RO 878 .text.xQueueCreateMutex queue.o + 0x08005d3e 0x08005d3e 0x00000002 PAD + 0x08005d40 0x08005d40 0x00000022 Code RO 882 .text.xQueueCreateMutexStatic queue.o + 0x08005d62 0x08005d62 0x00000002 PAD + 0x08005d64 0x08005d64 0x00000046 Code RO 876 .text.xQueueGenericCreate queue.o + 0x08005daa 0x08005daa 0x00000002 PAD + 0x08005dac 0x08005dac 0x00000096 Code RO 872 .text.xQueueGenericCreateStatic queue.o + 0x08005e42 0x08005e42 0x00000002 PAD + 0x08005e44 0x08005e44 0x0000007e Code RO 870 .text.xQueueGenericReset queue.o + 0x08005ec2 0x08005ec2 0x00000002 PAD + 0x08005ec4 0x08005ec4 0x000001a2 Code RO 890 .text.xQueueGenericSend queue.o + 0x08006066 0x08006066 0x00000002 PAD + 0x08006068 0x08006068 0x000000ce Code RO 906 .text.xQueueGenericSendFromISR queue.o + 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 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Kw*$AUNAnM0RHGCC 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 #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 */