Call Chain = Config_ShootInit ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
+Config_ShootInit (Thumb, 154 bytes, Stack size 24 bytes, config.o(.text.Config_ShootInit))
+
[Stack]
- Max Depth = 144
- Call Chain = Config_ShootInit ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
[Calls]- >> BSP_Malloc
+
- >> BSP_Free
[Called By]
@@ -1528,7 +1531,11 @@ 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_CaluTargetAngle (Thumb, 160 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_CaluTargetAngle))
+
ScaleSumTo1 (Thumb, 54 bytes, Stack size 0 bytes, user_math.o(.text.ScaleSumTo1))
+
[Called By]
+
+Shoot_CaluTargetAngle (Thumb, 192 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_CaluTargetAngle))
[Stack]
- Max Depth = 32
- Call Chain = Shoot_CaluTargetAngle
[Calls]- >> CircleError
@@ -1538,7 +1545,7 @@ Global Symbols
Shoot_Control (Thumb, 108 bytes, Stack size 24 bytes, shoot_control.o(.text.Shoot_Control))
-
[Stack]
- Max Depth = 232
- Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
+
[Stack]- Max Depth = 240
- Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
[Calls]- >> BSP_TIME_Get_us
- >> __aeabi_ul2f
@@ -1547,13 +1554,14 @@ Global Symbols
[Called By]
-Shoot_Init (Thumb, 582 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))
+
Shoot_Init (Thumb, 606 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))
[Stack]
- Max Depth = 288 + Unknown Stack Size
- Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
[Calls]- >> LowPassFilter2p_Init
- >> MOTOR_RM_Register
- >> BSP_Malloc
+
- >> BSP_Free
- >> BSP_CAN_Init
- >> __aeabi_memclr4
- >> PID_Init
@@ -1561,8 +1569,8 @@ Global Symbols
[Called By]
-Shoot_JamDetectionFSM (Thumb, 292 bytes, Stack size 8 bytes, shoot_control.o(.text.Shoot_JamDetectionFSM))
-
[Stack]
- Max Depth = 208
- Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
+
Shoot_JamDetectionFSM (Thumb, 304 bytes, Stack size 16 bytes, shoot_control.o(.text.Shoot_JamDetectionFSM))
+
[Stack]
- Max Depth = 216
- Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
[Calls]
@@ -1596,6 +1604,7 @@ Global Symbols
[Stack]- Max Depth = 200
- Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
[Calls]- >> LowPassFilter2p_Apply
+
- >> ScaleSumTo1
- >> MOTOR_RM_SetOutput
- >> MOTOR_RM_Relax
- >> MOTOR_RM_Ctrl
@@ -1603,7 +1612,6 @@ Global Symbols
- >> Shoot_ResetIntegral
- >> Shoot_ResetCalu
- >> Shoot_CaluTargetAngle
-
- >> ScaleSumTo1
- >> PID_ResetIntegral
- >> PID_Calc
@@ -1677,7 +1685,7 @@ Global Symbols
[Address Reference Count : 1]
-Task_shoot_ctrl (Thumb, 260 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl))
+
Task_shoot_ctrl (Thumb, 164 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl))
[Stack]
- Max Depth = 312 + Unknown Stack Size
- Call Chain = Task_shoot_ctrl ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
@@ -3171,10 +3179,6 @@ Local Symbols
[Called By]
-
-ScaleSumTo1 (Thumb, 54 bytes, Stack size 0 bytes, shoot_control.o(.text.ScaleSumTo1))
-
[Called By]
Undefined Global Symbols
diff --git a/MDK-ARM/shoot/shoot.map b/MDK-ARM/shoot/shoot.map
index deb794c..c86fbbb 100644
--- a/MDK-ARM/shoot/shoot.map
+++ b/MDK-ARM/shoot/shoot.map
@@ -2066,6 +2066,7 @@ Section Cross References
user_math.o(.ARM.exidx.text.CircleAdd) refers to user_math.o(.text.CircleAdd) for [Anonymous Symbol]
user_math.o(.ARM.exidx.text.CircleReverse) refers to user_math.o(.text.CircleReverse) for [Anonymous Symbol]
user_math.o(.ARM.exidx.text.CalculateRpm) refers to user_math.o(.text.CalculateRpm) for [Anonymous Symbol]
+ user_math.o(.ARM.exidx.text.ScaleSumTo1) refers to user_math.o(.text.ScaleSumTo1) for [Anonymous Symbol]
at9s_pro_cmd.o(.ARM.exidx.text.COMP_AT9S_CMD_ParseRc) refers to at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc) for [Anonymous Symbol]
filter.o(.text.LowPassFilter2p_Init) refers to tanf.o(i.__hardfp_tanf) for __hardfp_tanf
filter.o(.ARM.exidx.text.LowPassFilter2p_Init) refers to filter.o(.text.LowPassFilter2p_Init) for [Anonymous Symbol]
@@ -2122,13 +2123,13 @@ Section Cross References
shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_ResetOutput) for Shoot_ResetOutput
shoot_control.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_Relax) for MOTOR_RM_Relax
shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_CaluTargetAngle) for Shoot_CaluTargetAngle
- shoot_control.o(.text.Shoot_RunningFSM) refers to shoot_control.o(.text.ScaleSumTo1) for ScaleSumTo1
+ shoot_control.o(.text.Shoot_RunningFSM) refers to user_math.o(.text.ScaleSumTo1) for ScaleSumTo1
shoot_control.o(.text.Shoot_RunningFSM) refers to motor_rm.o(.text.MOTOR_RM_Ctrl) for MOTOR_RM_Ctrl
shoot_control.o(.ARM.exidx.text.Shoot_RunningFSM) refers to shoot_control.o(.text.Shoot_RunningFSM) for [Anonymous Symbol]
- shoot_control.o(.ARM.exidx.text.ScaleSumTo1) refers to shoot_control.o(.text.ScaleSumTo1) for [Anonymous Symbol]
shoot_control.o(.text.Shoot_JamDetectionFSM) refers to shoot_control.o(.text.Shoot_RunningFSM) for Shoot_RunningFSM
shoot_control.o(.ARM.exidx.text.Shoot_JamDetectionFSM) refers to shoot_control.o(.text.Shoot_JamDetectionFSM) for [Anonymous Symbol]
shoot_control.o(.text.Shoot_Init) refers to mm.o(.text.BSP_Malloc) for BSP_Malloc
+ shoot_control.o(.text.Shoot_Init) refers to mm.o(.text.BSP_Free) for BSP_Free
shoot_control.o(.text.Shoot_Init) refers to can_1.o(.text.BSP_CAN_Init) for BSP_CAN_Init
shoot_control.o(.text.Shoot_Init) refers to motor_rm.o(.text.MOTOR_RM_Register) for MOTOR_RM_Register
shoot_control.o(.text.Shoot_Init) refers to pid.o(.text.PID_Init) for PID_Init
@@ -2143,6 +2144,7 @@ Section Cross References
config.o(.ARM.exidx.text.Config_GetRobotParam) refers to config.o(.text.Config_GetRobotParam) for [Anonymous Symbol]
config.o(.text.Config_ShootInit) refers to config.o(.data.robot_config) for robot_config
config.o(.text.Config_ShootInit) refers to mm.o(.text.BSP_Malloc) for BSP_Malloc
+ config.o(.text.Config_ShootInit) refers to mm.o(.text.BSP_Free) for BSP_Free
config.o(.ARM.exidx.text.Config_ShootInit) refers to config.o(.text.Config_ShootInit) for [Anonymous Symbol]
init.o(.text.Task_Init) refers to cmsis_os2.o(.text.osKernelLock) for osKernelLock
init.o(.text.Task_Init) refers to shoot_ctrl.o(.text.Task_shoot_ctrl) for Task_shoot_ctrl
@@ -2177,6 +2179,7 @@ Section Cross References
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickFreq) for osKernelGetTickFreq
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dflt_clz.o(x$fpl$dfltu) for __aeabi_ui2d
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv
+ shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osDelay) for osDelay
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to config.o(.text.Config_ShootInit) for Config_ShootInit
@@ -2184,9 +2187,6 @@ Section Cross References
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot) for shoot
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_control.o(.text.Shoot_Init) for Shoot_Init
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_control.o(.text.Shoot_SetMode) for Shoot_SetMode
- shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.a) for a
- shoot_ctrl.o(.text.Task_shoot_ctrl) refers to dfixu.o(x$fpl$dfixu) for __aeabi_d2uiz
- shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.b) for b
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to user_task.o(.bss.task_runtime) for task_runtime
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc) for shoot_ctrl_cmd_rc
shoot_ctrl.o(.text.Task_shoot_ctrl) refers to shoot_ctrl.o(.bss.shoot_cmd) for shoot_cmd
@@ -3635,6 +3635,7 @@ Removing Unused input sections from the image.
Removing user_math.o(.ARM.exidx.text.CircleReverse), (8 bytes).
Removing user_math.o(.text.CalculateRpm), (176 bytes).
Removing user_math.o(.ARM.exidx.text.CalculateRpm), (8 bytes).
+ Removing user_math.o(.ARM.exidx.text.ScaleSumTo1), (8 bytes).
Removing at9s_pro_cmd.o(.text), (0 bytes).
Removing at9s_pro_cmd.o(.ARM.exidx.text.COMP_AT9S_CMD_ParseRc), (8 bytes).
Removing filter.o(.text), (0 bytes).
@@ -3660,12 +3661,11 @@ Removing Unused input sections from the image.
Removing shoot_control.o(.ARM.exidx.text.Shoot_ResetIntegral), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_ResetCalu), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_ResetOutput), (8 bytes).
- Removing shoot_control.o(.text.Shoot_CaluTargetRPM), (26 bytes).
+ Removing shoot_control.o(.text.Shoot_CaluTargetRPM), (36 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_CaluTargetRPM), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_CaluTargetAngle), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Chassis_UpdateFeedback), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_RunningFSM), (8 bytes).
- Removing shoot_control.o(.ARM.exidx.text.ScaleSumTo1), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_JamDetectionFSM), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_Init), (8 bytes).
Removing shoot_control.o(.ARM.exidx.text.Shoot_Control), (8 bytes).
@@ -3680,7 +3680,7 @@ 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).
-1226 unused section(s) (total 33999 bytes) removed from the image.
+1226 unused section(s) (total 34009 bytes) removed from the image.
==============================================================================
@@ -3974,339 +3974,338 @@ Image Symbol Table
[Anonymous Symbol] 0x08000dd4 Section 0 can_1.o(.text.CAN_Get)
[Anonymous Symbol] 0x08000df8 Section 0 at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc)
[Anonymous Symbol] 0x08001014 Section 0 shoot_control.o(.text.Chassis_UpdateFeedback)
- [Anonymous Symbol] 0x080011f4 Section 0 user_math.o(.text.CircleAdd)
- [Anonymous Symbol] 0x08001230 Section 0 user_math.o(.text.CircleError)
- [Anonymous Symbol] 0x0800126c Section 0 config.o(.text.Config_GetRobotParam)
- [Anonymous Symbol] 0x08001278 Section 0 config.o(.text.Config_ShootInit)
- [Anonymous Symbol] 0x08001338 Section 0 at9s_pro.o(.text.DEVICE_AT9S_Init)
- [Anonymous Symbol] 0x08001380 Section 0 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw)
- DEVICE_AT9S_RxCpltCallback 0x080015f9 Thumb Code 20 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback)
- [Anonymous Symbol] 0x080015f8 Section 0 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback)
- [Anonymous Symbol] 0x0800160c Section 0 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv)
- [Anonymous Symbol] 0x08001628 Section 0 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt)
- [Anonymous Symbol] 0x08001640 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
- [Anonymous Symbol] 0x08001650 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
- DMA_CalcBaseAndBitshift 0x08001661 Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- [Anonymous Symbol] 0x08001660 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x08001694 Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- DMA_CheckFifoParam 0x0800169d Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
- [Anonymous Symbol] 0x0800169c Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
- DMA_SetConfig 0x080016ed Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
- [Anonymous Symbol] 0x080016ec Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
- [Anonymous Symbol] 0x0800171c Section 0 stm32f4xx_it.o(.text.DebugMon_Handler)
- [Anonymous Symbol] 0x08001720 Section 0 main.o(.text.Error_Handler)
- [Anonymous Symbol] 0x08001728 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- [Anonymous Symbol] 0x08001750 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- [Anonymous Symbol] 0x080017e4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- [Anonymous Symbol] 0x080018c4 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback)
- [Anonymous Symbol] 0x080018e8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- [Anonymous Symbol] 0x08001908 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- [Anonymous Symbol] 0x08001a2c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- [Anonymous Symbol] 0x08001a54 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- [Anonymous Symbol] 0x08001c90 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- [Anonymous Symbol] 0x08001d84 Section 0 can.o(.text.HAL_CAN_MspInit)
- [Anonymous Symbol] 0x08001ec4 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- [Anonymous Symbol] 0x08001ee8 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- [Anonymous Symbol] 0x08001f0c Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- [Anonymous Symbol] 0x08001f30 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- [Anonymous Symbol] 0x08001f54 Section 0 can_1.o(.text.HAL_CAN_SleepCallback)
- [Anonymous Symbol] 0x08001f78 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- [Anonymous Symbol] 0x08001fd4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- [Anonymous Symbol] 0x08001ff8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- [Anonymous Symbol] 0x0800201c Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- [Anonymous Symbol] 0x08002040 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- [Anonymous Symbol] 0x08002064 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- [Anonymous Symbol] 0x08002088 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- [Anonymous Symbol] 0x080020ac Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- [Anonymous Symbol] 0x080020d0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- [Anonymous Symbol] 0x0800225c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- [Anonymous Symbol] 0x0800232c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- [Anonymous Symbol] 0x08002390 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- [Anonymous Symbol] 0x0800252c Section 0 stm32f4xx_hal.o(.text.HAL_GetTick)
- [Anonymous Symbol] 0x08002538 Section 0 stm32f4xx_hal.o(.text.HAL_IncTick)
- [Anonymous Symbol] 0x08002554 Section 0 stm32f4xx_hal.o(.text.HAL_Init)
- [Anonymous Symbol] 0x0800258c Section 0 stm32f4xx_hal.o(.text.HAL_InitTick)
- [Anonymous Symbol] 0x080025dc Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- [Anonymous Symbol] 0x08002624 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- [Anonymous Symbol] 0x0800262c Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- [Anonymous Symbol] 0x0800264c Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- [Anonymous Symbol] 0x08002654 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- [Anonymous Symbol] 0x080027b4 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- [Anonymous Symbol] 0x080027c0 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- [Anonymous Symbol] 0x080027e4 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- [Anonymous Symbol] 0x08002808 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- [Anonymous Symbol] 0x08002870 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- [Anonymous Symbol] 0x08002bb8 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
- [Anonymous Symbol] 0x08002bc0 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
- [Anonymous Symbol] 0x08002bc4 Section 0 uart.o(.text.HAL_UART_ErrorCallback)
- [Anonymous Symbol] 0x08002bec Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
- [Anonymous Symbol] 0x08002c4c Section 0 usart.o(.text.HAL_UART_MspInit)
- [Anonymous Symbol] 0x08002da8 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
- [Anonymous Symbol] 0x08002dd4 Section 0 uart.o(.text.HAL_UART_RxCpltCallback)
- [Anonymous Symbol] 0x08002dfc Section 0 uart.o(.text.HAL_UART_RxHalfCpltCallback)
- [Anonymous Symbol] 0x08002e24 Section 0 stm32f4xx_it.o(.text.HardFault_Handler)
- [Anonymous Symbol] 0x08002e28 Section 0 filter.o(.text.LowPassFilter2p_Apply)
- [Anonymous Symbol] 0x08002ea4 Section 0 filter.o(.text.LowPassFilter2p_Init)
- [Anonymous Symbol] 0x08002f48 Section 0 filter.o(.text.LowPassFilter2p_Reset)
- MOTOR_RM_CreateCANManager 0x08002fa5 Thumb Code 60 motor_rm.o(.text.MOTOR_RM_CreateCANManager)
- [Anonymous Symbol] 0x08002fa4 Section 0 motor_rm.o(.text.MOTOR_RM_CreateCANManager)
- [Anonymous Symbol] 0x08002fe0 Section 0 motor_rm.o(.text.MOTOR_RM_Ctrl)
- MOTOR_RM_GetCANManager 0x080030b9 Thumb Code 20 motor_rm.o(.text.MOTOR_RM_GetCANManager)
- [Anonymous Symbol] 0x080030b8 Section 0 motor_rm.o(.text.MOTOR_RM_GetCANManager)
- MOTOR_RM_GetLSB 0x080030cd Thumb Code 38 motor_rm.o(.text.MOTOR_RM_GetLSB)
- [Anonymous Symbol] 0x080030cc Section 0 motor_rm.o(.text.MOTOR_RM_GetLSB)
- MOTOR_RM_GetLogicalIndex 0x080030f5 Thumb Code 40 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex)
- [Anonymous Symbol] 0x080030f4 Section 0 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex)
- [Anonymous Symbol] 0x0800311c Section 0 motor_rm.o(.text.MOTOR_RM_GetMotor)
- MOTOR_RM_GetRatio 0x0800316d Thumb Code 36 motor_rm.o(.text.MOTOR_RM_GetRatio)
- [Anonymous Symbol] 0x0800316c Section 0 motor_rm.o(.text.MOTOR_RM_GetRatio)
- [Anonymous Symbol] 0x08003190 Section 0 motor_rm.o(.text.MOTOR_RM_Register)
- [Anonymous Symbol] 0x08003238 Section 0 motor_rm.o(.text.MOTOR_RM_Relax)
- [Anonymous Symbol] 0x08003248 Section 0 motor_rm.o(.text.MOTOR_RM_SetOutput)
- [Anonymous Symbol] 0x080032e8 Section 0 motor_rm.o(.text.MOTOR_RM_Update)
- [Anonymous Symbol] 0x080033b0 Section 0 can.o(.text.MX_CAN1_Init)
- [Anonymous Symbol] 0x080033ec Section 0 can.o(.text.MX_CAN2_Init)
- [Anonymous Symbol] 0x08003428 Section 0 dma.o(.text.MX_DMA_Init)
- [Anonymous Symbol] 0x08003484 Section 0 freertos.o(.text.MX_FREERTOS_Init)
- [Anonymous Symbol] 0x080034c0 Section 0 gpio.o(.text.MX_GPIO_Init)
- [Anonymous Symbol] 0x08003534 Section 0 usart.o(.text.MX_USART3_UART_Init)
- [Anonymous Symbol] 0x08003570 Section 0 usart.o(.text.MX_USART6_UART_Init)
- [Anonymous Symbol] 0x080035a8 Section 0 stm32f4xx_it.o(.text.MemManage_Handler)
- Motor_RM_Decode 0x080035ad Thumb Code 348 motor_rm.o(.text.Motor_RM_Decode)
- [Anonymous Symbol] 0x080035ac Section 0 motor_rm.o(.text.Motor_RM_Decode)
- [Anonymous Symbol] 0x08003708 Section 0 stm32f4xx_it.o(.text.NMI_Handler)
- NVIC_EncodePriority 0x0800370d Thumb Code 44 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority)
- [Anonymous Symbol] 0x0800370c Section 0 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority)
- [Anonymous Symbol] 0x08003738 Section 0 pid.o(.text.PID_Calc)
- [Anonymous Symbol] 0x080038a8 Section 0 pid.o(.text.PID_Init)
- [Anonymous Symbol] 0x08003938 Section 0 pid.o(.text.PID_Reset)
- [Anonymous Symbol] 0x08003964 Section 0 pid.o(.text.PID_ResetIntegral)
- [Anonymous Symbol] 0x08003980 Section 0 port.o(.text.PendSV_Handler)
- pxCurrentTCBConst 0x080039e0 Number 0 port.o(.text.PendSV_Handler)
- [Anonymous Symbol] 0x080039f0 Section 0 port.o(.text.SVC_Handler)
- pxCurrentTCBConst2 0x08003a10 Number 0 port.o(.text.SVC_Handler)
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+ [Anonymous Symbol] 0x08007650 Section 0 tasks.o(.text.xTaskResumeAll)
+ [Anonymous Symbol] 0x08007764 Section 0 timers.o(.text.xTimerCreateTimerTask)
+ [Anonymous Symbol] 0x080077d8 Section 0 timers.o(.text.xTimerGenericCommand)
+ i.__ARM_fpclassifyf 0x08007840 Section 0 fpclassifyf.o(i.__ARM_fpclassifyf)
+ i.__hardfp_tanf 0x08007868 Section 0 tanf.o(i.__hardfp_tanf)
+ i.__mathlib_flt_infnan 0x080079e4 Section 0 funder.o(i.__mathlib_flt_infnan)
+ i.__mathlib_flt_invalid 0x080079ec Section 0 funder.o(i.__mathlib_flt_invalid)
+ i.__mathlib_flt_underflow 0x080079fc Section 0 funder.o(i.__mathlib_flt_underflow)
+ i.__mathlib_rredf2 0x08007a0c Section 0 rredf.o(i.__mathlib_rredf2)
+ $v0 0x08007b60 Number 0 ddiv.o(x$fpl$ddiv)
+ x$fpl$ddiv 0x08007b60 Section 692 ddiv.o(x$fpl$ddiv)
+ ddiv_entry 0x08007b67 Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ $v0 0x08007e14 Number 0 dfixu.o(x$fpl$dfixu)
+ x$fpl$dfixu 0x08007e14 Section 90 dfixu.o(x$fpl$dfixu)
+ $v0 0x08007e6e Number 0 dflt_clz.o(x$fpl$dfltu)
+ x$fpl$dfltu 0x08007e6e Section 38 dflt_clz.o(x$fpl$dfltu)
+ $v0 0x08007e94 Number 0 dnaninf.o(x$fpl$dnaninf)
+ x$fpl$dnaninf 0x08007e94 Section 156 dnaninf.o(x$fpl$dnaninf)
+ $v0 0x08007f30 Number 0 dretinf.o(x$fpl$dretinf)
+ x$fpl$dretinf 0x08007f30 Section 12 dretinf.o(x$fpl$dretinf)
+ $v0 0x08007f3c Number 0 ffltll_clz.o(x$fpl$ffltll)
+ x$fpl$ffltll 0x08007f3c Section 96 ffltll_clz.o(x$fpl$ffltll)
+ $v0 0x08007f9c Number 0 fpinit.o(x$fpl$fpinit)
+ x$fpl$fpinit 0x08007f9c Section 26 fpinit.o(x$fpl$fpinit)
+ x$fpl$usenofp 0x08007fb6 Section 0 usenofp.o(x$fpl$usenofp)
+ twooverpi 0x08007fb8 Data 32 rredf.o(.constdata)
+ .constdata 0x08007fb8 Section 32 rredf.o(.constdata)
+ [Anonymous Symbol] 0x08008080 Section 0 freertos.o(.rodata.str1.1)
+ [Anonymous Symbol] 0x0800808c Section 0 user_task.o(.rodata.str1.1)
+ uxCriticalNesting 0x20000114 Data 4 port.o(.data.uxCriticalNesting)
+ [Anonymous Symbol] 0x20000114 Section 0 port.o(.data.uxCriticalNesting)
.bss 0x20000118 Section 96 libspace.o(.bss)
CAN_Callback 0x20000178 Data 104 can_1.o(.bss.CAN_Callback)
[Anonymous Symbol] 0x20000178 Section 0 can_1.o(.bss.CAN_Callback)
@@ -4318,115 +4317,115 @@ Image Symbol Table
[Anonymous Symbol] 0x200001e8 Section 0 shoot_control.o(.bss.Shoot_RunningFSM.pos)
UART_Callback 0x200001ec Data 72 uart.o(.bss.UART_Callback)
[Anonymous Symbol] 0x200001ec Section 0 uart.o(.bss.UART_Callback)
- can_managers 0x200002a4 Data 8 motor_rm.o(.bss.can_managers)
- [Anonymous Symbol] 0x200002a4 Section 0 motor_rm.o(.bss.can_managers)
- id_parser 0x2000046c Data 4 can_1.o(.bss.id_parser)
- [Anonymous Symbol] 0x2000046c Section 0 can_1.o(.bss.id_parser)
- inited 0x20000470 Data 1 can_1.o(.bss.inited)
- [Anonymous Symbol] 0x20000470 Section 0 can_1.o(.bss.inited)
- inited 0x20000471 Data 1 at9s_pro.o(.bss.inited)
- [Anonymous Symbol] 0x20000471 Section 0 at9s_pro.o(.bss.inited)
- last_firecmd 0x20000472 Data 1 shoot_control.o(.bss.last_firecmd)
- [Anonymous Symbol] 0x20000472 Section 0 shoot_control.o(.bss.last_firecmd)
- prvCheckForValidListAndQueue.ucStaticTimerQueueStorage 0x20000473 Data 160 timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
- [Anonymous Symbol] 0x20000473 Section 0 timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
- prvCheckForValidListAndQueue.xStaticTimerQueue 0x20000514 Data 80 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue)
- [Anonymous Symbol] 0x20000514 Section 0 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue)
- prvSampleTimeNow.xLastTime 0x20000564 Data 4 timers.o(.bss.prvSampleTimeNow.xLastTime)
- [Anonymous Symbol] 0x20000564 Section 0 timers.o(.bss.prvSampleTimeNow.xLastTime)
- pxCurrentTimerList 0x2000056c Data 4 timers.o(.bss.pxCurrentTimerList)
- [Anonymous Symbol] 0x2000056c Section 0 timers.o(.bss.pxCurrentTimerList)
- pxDelayedTaskList 0x20000570 Data 4 tasks.o(.bss.pxDelayedTaskList)
- [Anonymous Symbol] 0x20000570 Section 0 tasks.o(.bss.pxDelayedTaskList)
- pxEnd 0x20000574 Data 4 heap_4.o(.bss.pxEnd)
- [Anonymous Symbol] 0x20000574 Section 0 heap_4.o(.bss.pxEnd)
- pxOverflowDelayedTaskList 0x20000578 Data 4 tasks.o(.bss.pxOverflowDelayedTaskList)
- [Anonymous Symbol] 0x20000578 Section 0 tasks.o(.bss.pxOverflowDelayedTaskList)
- pxOverflowTimerList 0x2000057c Data 4 timers.o(.bss.pxOverflowTimerList)
- [Anonymous Symbol] 0x2000057c Section 0 timers.o(.bss.pxOverflowTimerList)
- pxReadyTasksLists 0x20000580 Data 1120 tasks.o(.bss.pxReadyTasksLists)
- [Anonymous Symbol] 0x20000580 Section 0 tasks.o(.bss.pxReadyTasksLists)
- queue_list 0x200009e0 Data 4 can_1.o(.bss.queue_list)
- [Anonymous Symbol] 0x200009e0 Section 0 can_1.o(.bss.queue_list)
- queue_mutex 0x200009e4 Data 4 can_1.o(.bss.queue_mutex)
- [Anonymous Symbol] 0x200009e4 Section 0 can_1.o(.bss.queue_mutex)
- thread_alert 0x20000c20 Data 4 at9s_pro.o(.bss.thread_alert)
- [Anonymous Symbol] 0x20000c20 Section 0 at9s_pro.o(.bss.thread_alert)
- tx_queues 0x20000c24 Data 2064 can_1.o(.bss.tx_queues)
- [Anonymous Symbol] 0x20000c24 Section 0 can_1.o(.bss.tx_queues)
- ucHeap 0x20001434 Data 15360 heap_4.o(.bss.ucHeap)
- [Anonymous Symbol] 0x20001434 Section 0 heap_4.o(.bss.ucHeap)
- ucMaxSysCallPriority 0x20005034 Data 1 port.o(.bss.ucMaxSysCallPriority)
- [Anonymous Symbol] 0x20005034 Section 0 port.o(.bss.ucMaxSysCallPriority)
- ulMaxPRIGROUPValue 0x20005038 Data 4 port.o(.bss.ulMaxPRIGROUPValue)
- [Anonymous Symbol] 0x20005038 Section 0 port.o(.bss.ulMaxPRIGROUPValue)
- uxCurrentNumberOfTasks 0x20005040 Data 4 tasks.o(.bss.uxCurrentNumberOfTasks)
- [Anonymous Symbol] 0x20005040 Section 0 tasks.o(.bss.uxCurrentNumberOfTasks)
- uxDeletedTasksWaitingCleanUp 0x20005044 Data 4 tasks.o(.bss.uxDeletedTasksWaitingCleanUp)
- [Anonymous Symbol] 0x20005044 Section 0 tasks.o(.bss.uxDeletedTasksWaitingCleanUp)
- uxSchedulerSuspended 0x20005048 Data 4 tasks.o(.bss.uxSchedulerSuspended)
- [Anonymous Symbol] 0x20005048 Section 0 tasks.o(.bss.uxSchedulerSuspended)
- uxTaskNumber 0x2000504c Data 4 tasks.o(.bss.uxTaskNumber)
- [Anonymous Symbol] 0x2000504c Section 0 tasks.o(.bss.uxTaskNumber)
- uxTopReadyPriority 0x20005050 Data 4 tasks.o(.bss.uxTopReadyPriority)
- [Anonymous Symbol] 0x20005050 Section 0 tasks.o(.bss.uxTopReadyPriority)
- vApplicationGetIdleTaskMemory.Idle_Stack 0x20005054 Data 512 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack)
- [Anonymous Symbol] 0x20005054 Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack)
- vApplicationGetIdleTaskMemory.Idle_TCB 0x20005254 Data 92 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB)
- [Anonymous Symbol] 0x20005254 Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB)
- vApplicationGetTimerTaskMemory.Timer_Stack 0x200052b0 Data 1024 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack)
- [Anonymous Symbol] 0x200052b0 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack)
- vApplicationGetTimerTaskMemory.Timer_TCB 0x200056b0 Data 92 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB)
- [Anonymous Symbol] 0x200056b0 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB)
- xActiveTimerList1 0x2000570c Data 20 timers.o(.bss.xActiveTimerList1)
- [Anonymous Symbol] 0x2000570c Section 0 timers.o(.bss.xActiveTimerList1)
- xActiveTimerList2 0x20005720 Data 20 timers.o(.bss.xActiveTimerList2)
- [Anonymous Symbol] 0x20005720 Section 0 timers.o(.bss.xActiveTimerList2)
- xBlockAllocatedBit 0x20005734 Data 1 heap_4.o(.bss.xBlockAllocatedBit)
- [Anonymous Symbol] 0x20005734 Section 0 heap_4.o(.bss.xBlockAllocatedBit)
- xDelayedTaskList1 0x20005738 Data 20 tasks.o(.bss.xDelayedTaskList1)
- [Anonymous Symbol] 0x20005738 Section 0 tasks.o(.bss.xDelayedTaskList1)
- xDelayedTaskList2 0x2000574c Data 20 tasks.o(.bss.xDelayedTaskList2)
- [Anonymous Symbol] 0x2000574c Section 0 tasks.o(.bss.xDelayedTaskList2)
- xFreeBytesRemaining 0x20005760 Data 4 heap_4.o(.bss.xFreeBytesRemaining)
- [Anonymous Symbol] 0x20005760 Section 0 heap_4.o(.bss.xFreeBytesRemaining)
- xIdleTaskHandle 0x20005764 Data 4 tasks.o(.bss.xIdleTaskHandle)
- [Anonymous Symbol] 0x20005764 Section 0 tasks.o(.bss.xIdleTaskHandle)
- xMinimumEverFreeBytesRemaining 0x20005768 Data 4 heap_4.o(.bss.xMinimumEverFreeBytesRemaining)
- [Anonymous Symbol] 0x20005768 Section 0 heap_4.o(.bss.xMinimumEverFreeBytesRemaining)
- xNextTaskUnblockTime 0x2000576c Data 4 tasks.o(.bss.xNextTaskUnblockTime)
- [Anonymous Symbol] 0x2000576c Section 0 tasks.o(.bss.xNextTaskUnblockTime)
- xNumOfOverflows 0x20005770 Data 4 tasks.o(.bss.xNumOfOverflows)
- [Anonymous Symbol] 0x20005770 Section 0 tasks.o(.bss.xNumOfOverflows)
- xNumberOfSuccessfulAllocations 0x20005774 Data 4 heap_4.o(.bss.xNumberOfSuccessfulAllocations)
- [Anonymous Symbol] 0x20005774 Section 0 heap_4.o(.bss.xNumberOfSuccessfulAllocations)
- xNumberOfSuccessfulFrees 0x20005778 Data 4 heap_4.o(.bss.xNumberOfSuccessfulFrees)
- [Anonymous Symbol] 0x20005778 Section 0 heap_4.o(.bss.xNumberOfSuccessfulFrees)
- xPendedTicks 0x2000577c Data 4 tasks.o(.bss.xPendedTicks)
- [Anonymous Symbol] 0x2000577c Section 0 tasks.o(.bss.xPendedTicks)
- xPendingReadyList 0x20005780 Data 20 tasks.o(.bss.xPendingReadyList)
- [Anonymous Symbol] 0x20005780 Section 0 tasks.o(.bss.xPendingReadyList)
- xSchedulerRunning 0x200057d4 Data 4 tasks.o(.bss.xSchedulerRunning)
- [Anonymous Symbol] 0x200057d4 Section 0 tasks.o(.bss.xSchedulerRunning)
- xStart 0x200057d8 Data 8 heap_4.o(.bss.xStart)
- [Anonymous Symbol] 0x200057d8 Section 0 heap_4.o(.bss.xStart)
- xSuspendedTaskList 0x200057e0 Data 20 tasks.o(.bss.xSuspendedTaskList)
- [Anonymous Symbol] 0x200057e0 Section 0 tasks.o(.bss.xSuspendedTaskList)
- xTasksWaitingTermination 0x200057f4 Data 20 tasks.o(.bss.xTasksWaitingTermination)
- [Anonymous Symbol] 0x200057f4 Section 0 tasks.o(.bss.xTasksWaitingTermination)
- xTickCount 0x20005808 Data 4 tasks.o(.bss.xTickCount)
- [Anonymous Symbol] 0x20005808 Section 0 tasks.o(.bss.xTickCount)
- xTimerQueue 0x2000580c Data 4 timers.o(.bss.xTimerQueue)
- [Anonymous Symbol] 0x2000580c Section 0 timers.o(.bss.xTimerQueue)
- xTimerTaskHandle 0x20005810 Data 4 timers.o(.bss.xTimerTaskHandle)
- [Anonymous Symbol] 0x20005810 Section 0 timers.o(.bss.xTimerTaskHandle)
- xYieldPending 0x20005814 Data 4 tasks.o(.bss.xYieldPending)
- [Anonymous Symbol] 0x20005814 Section 0 tasks.o(.bss.xYieldPending)
- Heap_Mem 0x20005818 Data 512 startup_stm32f407xx.o(HEAP)
- HEAP 0x20005818 Section 512 startup_stm32f407xx.o(HEAP)
- Stack_Mem 0x20005a18 Data 1024 startup_stm32f407xx.o(STACK)
- STACK 0x20005a18 Section 1024 startup_stm32f407xx.o(STACK)
- __initial_sp 0x20005e18 Data 0 startup_stm32f407xx.o(STACK)
+ can_managers 0x20000260 Data 8 motor_rm.o(.bss.can_managers)
+ [Anonymous Symbol] 0x20000260 Section 0 motor_rm.o(.bss.can_managers)
+ id_parser 0x20000428 Data 4 can_1.o(.bss.id_parser)
+ [Anonymous Symbol] 0x20000428 Section 0 can_1.o(.bss.id_parser)
+ inited 0x2000042c Data 1 can_1.o(.bss.inited)
+ [Anonymous Symbol] 0x2000042c Section 0 can_1.o(.bss.inited)
+ inited 0x2000042d Data 1 at9s_pro.o(.bss.inited)
+ [Anonymous Symbol] 0x2000042d Section 0 at9s_pro.o(.bss.inited)
+ last_firecmd 0x2000042e Data 1 shoot_control.o(.bss.last_firecmd)
+ [Anonymous Symbol] 0x2000042e Section 0 shoot_control.o(.bss.last_firecmd)
+ prvCheckForValidListAndQueue.ucStaticTimerQueueStorage 0x2000042f Data 160 timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
+ [Anonymous Symbol] 0x2000042f Section 0 timers.o(.bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage)
+ prvCheckForValidListAndQueue.xStaticTimerQueue 0x200004d0 Data 80 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue)
+ [Anonymous Symbol] 0x200004d0 Section 0 timers.o(.bss.prvCheckForValidListAndQueue.xStaticTimerQueue)
+ prvSampleTimeNow.xLastTime 0x20000520 Data 4 timers.o(.bss.prvSampleTimeNow.xLastTime)
+ [Anonymous Symbol] 0x20000520 Section 0 timers.o(.bss.prvSampleTimeNow.xLastTime)
+ pxCurrentTimerList 0x20000528 Data 4 timers.o(.bss.pxCurrentTimerList)
+ [Anonymous Symbol] 0x20000528 Section 0 timers.o(.bss.pxCurrentTimerList)
+ pxDelayedTaskList 0x2000052c Data 4 tasks.o(.bss.pxDelayedTaskList)
+ [Anonymous Symbol] 0x2000052c Section 0 tasks.o(.bss.pxDelayedTaskList)
+ pxEnd 0x20000530 Data 4 heap_4.o(.bss.pxEnd)
+ [Anonymous Symbol] 0x20000530 Section 0 heap_4.o(.bss.pxEnd)
+ pxOverflowDelayedTaskList 0x20000534 Data 4 tasks.o(.bss.pxOverflowDelayedTaskList)
+ [Anonymous Symbol] 0x20000534 Section 0 tasks.o(.bss.pxOverflowDelayedTaskList)
+ pxOverflowTimerList 0x20000538 Data 4 timers.o(.bss.pxOverflowTimerList)
+ [Anonymous Symbol] 0x20000538 Section 0 timers.o(.bss.pxOverflowTimerList)
+ pxReadyTasksLists 0x2000053c Data 1120 tasks.o(.bss.pxReadyTasksLists)
+ [Anonymous Symbol] 0x2000053c Section 0 tasks.o(.bss.pxReadyTasksLists)
+ queue_list 0x2000099c Data 4 can_1.o(.bss.queue_list)
+ [Anonymous Symbol] 0x2000099c Section 0 can_1.o(.bss.queue_list)
+ queue_mutex 0x200009a0 Data 4 can_1.o(.bss.queue_mutex)
+ [Anonymous Symbol] 0x200009a0 Section 0 can_1.o(.bss.queue_mutex)
+ thread_alert 0x20000be0 Data 4 at9s_pro.o(.bss.thread_alert)
+ [Anonymous Symbol] 0x20000be0 Section 0 at9s_pro.o(.bss.thread_alert)
+ tx_queues 0x20000be4 Data 2064 can_1.o(.bss.tx_queues)
+ [Anonymous Symbol] 0x20000be4 Section 0 can_1.o(.bss.tx_queues)
+ ucHeap 0x200013f4 Data 15360 heap_4.o(.bss.ucHeap)
+ [Anonymous Symbol] 0x200013f4 Section 0 heap_4.o(.bss.ucHeap)
+ ucMaxSysCallPriority 0x20004ff4 Data 1 port.o(.bss.ucMaxSysCallPriority)
+ [Anonymous Symbol] 0x20004ff4 Section 0 port.o(.bss.ucMaxSysCallPriority)
+ ulMaxPRIGROUPValue 0x20004ff8 Data 4 port.o(.bss.ulMaxPRIGROUPValue)
+ [Anonymous Symbol] 0x20004ff8 Section 0 port.o(.bss.ulMaxPRIGROUPValue)
+ uxCurrentNumberOfTasks 0x20005000 Data 4 tasks.o(.bss.uxCurrentNumberOfTasks)
+ [Anonymous Symbol] 0x20005000 Section 0 tasks.o(.bss.uxCurrentNumberOfTasks)
+ uxDeletedTasksWaitingCleanUp 0x20005004 Data 4 tasks.o(.bss.uxDeletedTasksWaitingCleanUp)
+ [Anonymous Symbol] 0x20005004 Section 0 tasks.o(.bss.uxDeletedTasksWaitingCleanUp)
+ uxSchedulerSuspended 0x20005008 Data 4 tasks.o(.bss.uxSchedulerSuspended)
+ [Anonymous Symbol] 0x20005008 Section 0 tasks.o(.bss.uxSchedulerSuspended)
+ uxTaskNumber 0x2000500c Data 4 tasks.o(.bss.uxTaskNumber)
+ [Anonymous Symbol] 0x2000500c Section 0 tasks.o(.bss.uxTaskNumber)
+ uxTopReadyPriority 0x20005010 Data 4 tasks.o(.bss.uxTopReadyPriority)
+ [Anonymous Symbol] 0x20005010 Section 0 tasks.o(.bss.uxTopReadyPriority)
+ vApplicationGetIdleTaskMemory.Idle_Stack 0x20005014 Data 512 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack)
+ [Anonymous Symbol] 0x20005014 Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_Stack)
+ vApplicationGetIdleTaskMemory.Idle_TCB 0x20005214 Data 92 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB)
+ [Anonymous Symbol] 0x20005214 Section 0 cmsis_os2.o(.bss.vApplicationGetIdleTaskMemory.Idle_TCB)
+ vApplicationGetTimerTaskMemory.Timer_Stack 0x20005270 Data 1024 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack)
+ [Anonymous Symbol] 0x20005270 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_Stack)
+ vApplicationGetTimerTaskMemory.Timer_TCB 0x20005670 Data 92 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB)
+ [Anonymous Symbol] 0x20005670 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB)
+ xActiveTimerList1 0x200056cc Data 20 timers.o(.bss.xActiveTimerList1)
+ [Anonymous Symbol] 0x200056cc Section 0 timers.o(.bss.xActiveTimerList1)
+ xActiveTimerList2 0x200056e0 Data 20 timers.o(.bss.xActiveTimerList2)
+ [Anonymous Symbol] 0x200056e0 Section 0 timers.o(.bss.xActiveTimerList2)
+ xBlockAllocatedBit 0x200056f4 Data 1 heap_4.o(.bss.xBlockAllocatedBit)
+ [Anonymous Symbol] 0x200056f4 Section 0 heap_4.o(.bss.xBlockAllocatedBit)
+ xDelayedTaskList1 0x200056f8 Data 20 tasks.o(.bss.xDelayedTaskList1)
+ [Anonymous Symbol] 0x200056f8 Section 0 tasks.o(.bss.xDelayedTaskList1)
+ xDelayedTaskList2 0x2000570c Data 20 tasks.o(.bss.xDelayedTaskList2)
+ [Anonymous Symbol] 0x2000570c Section 0 tasks.o(.bss.xDelayedTaskList2)
+ xFreeBytesRemaining 0x20005720 Data 4 heap_4.o(.bss.xFreeBytesRemaining)
+ [Anonymous Symbol] 0x20005720 Section 0 heap_4.o(.bss.xFreeBytesRemaining)
+ xIdleTaskHandle 0x20005724 Data 4 tasks.o(.bss.xIdleTaskHandle)
+ [Anonymous Symbol] 0x20005724 Section 0 tasks.o(.bss.xIdleTaskHandle)
+ xMinimumEverFreeBytesRemaining 0x20005728 Data 4 heap_4.o(.bss.xMinimumEverFreeBytesRemaining)
+ [Anonymous Symbol] 0x20005728 Section 0 heap_4.o(.bss.xMinimumEverFreeBytesRemaining)
+ xNextTaskUnblockTime 0x2000572c Data 4 tasks.o(.bss.xNextTaskUnblockTime)
+ [Anonymous Symbol] 0x2000572c Section 0 tasks.o(.bss.xNextTaskUnblockTime)
+ xNumOfOverflows 0x20005730 Data 4 tasks.o(.bss.xNumOfOverflows)
+ [Anonymous Symbol] 0x20005730 Section 0 tasks.o(.bss.xNumOfOverflows)
+ xNumberOfSuccessfulAllocations 0x20005734 Data 4 heap_4.o(.bss.xNumberOfSuccessfulAllocations)
+ [Anonymous Symbol] 0x20005734 Section 0 heap_4.o(.bss.xNumberOfSuccessfulAllocations)
+ xNumberOfSuccessfulFrees 0x20005738 Data 4 heap_4.o(.bss.xNumberOfSuccessfulFrees)
+ [Anonymous Symbol] 0x20005738 Section 0 heap_4.o(.bss.xNumberOfSuccessfulFrees)
+ xPendedTicks 0x2000573c Data 4 tasks.o(.bss.xPendedTicks)
+ [Anonymous Symbol] 0x2000573c Section 0 tasks.o(.bss.xPendedTicks)
+ xPendingReadyList 0x20005740 Data 20 tasks.o(.bss.xPendingReadyList)
+ [Anonymous Symbol] 0x20005740 Section 0 tasks.o(.bss.xPendingReadyList)
+ xSchedulerRunning 0x20005794 Data 4 tasks.o(.bss.xSchedulerRunning)
+ [Anonymous Symbol] 0x20005794 Section 0 tasks.o(.bss.xSchedulerRunning)
+ xStart 0x20005798 Data 8 heap_4.o(.bss.xStart)
+ [Anonymous Symbol] 0x20005798 Section 0 heap_4.o(.bss.xStart)
+ xSuspendedTaskList 0x200057a0 Data 20 tasks.o(.bss.xSuspendedTaskList)
+ [Anonymous Symbol] 0x200057a0 Section 0 tasks.o(.bss.xSuspendedTaskList)
+ xTasksWaitingTermination 0x200057b4 Data 20 tasks.o(.bss.xTasksWaitingTermination)
+ [Anonymous Symbol] 0x200057b4 Section 0 tasks.o(.bss.xTasksWaitingTermination)
+ xTickCount 0x200057c8 Data 4 tasks.o(.bss.xTickCount)
+ [Anonymous Symbol] 0x200057c8 Section 0 tasks.o(.bss.xTickCount)
+ xTimerQueue 0x200057cc Data 4 timers.o(.bss.xTimerQueue)
+ [Anonymous Symbol] 0x200057cc Section 0 timers.o(.bss.xTimerQueue)
+ xTimerTaskHandle 0x200057d0 Data 4 timers.o(.bss.xTimerTaskHandle)
+ [Anonymous Symbol] 0x200057d0 Section 0 timers.o(.bss.xTimerTaskHandle)
+ xYieldPending 0x200057d4 Data 4 tasks.o(.bss.xYieldPending)
+ [Anonymous Symbol] 0x200057d4 Section 0 tasks.o(.bss.xYieldPending)
+ Heap_Mem 0x200057d8 Data 512 startup_stm32f407xx.o(HEAP)
+ HEAP 0x200057d8 Section 512 startup_stm32f407xx.o(HEAP)
+ Stack_Mem 0x200059d8 Data 1024 startup_stm32f407xx.o(STACK)
+ STACK 0x200059d8 Section 1024 startup_stm32f407xx.o(STACK)
+ __initial_sp 0x20005dd8 Data 0 startup_stm32f407xx.o(STACK)
Global Symbols
@@ -4647,247 +4646,246 @@ Image Symbol Table
CAN2_RX1_IRQHandler 0x08000db5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler)
CAN2_TX_IRQHandler 0x08000dc5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler)
COMP_AT9S_CMD_ParseRc 0x08000df9 Thumb Code 540 at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc)
- Chassis_UpdateFeedback 0x08001015 Thumb Code 480 shoot_control.o(.text.Chassis_UpdateFeedback)
- CircleAdd 0x080011f5 Thumb Code 58 user_math.o(.text.CircleAdd)
- CircleError 0x08001231 Thumb Code 60 user_math.o(.text.CircleError)
- Config_GetRobotParam 0x0800126d Thumb Code 10 config.o(.text.Config_GetRobotParam)
- Config_ShootInit 0x08001279 Thumb Code 190 config.o(.text.Config_ShootInit)
- DEVICE_AT9S_Init 0x08001339 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init)
- DEVICE_AT9S_ParseRaw 0x08001381 Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw)
- DEVICE_AT9S_StartDmaRecv 0x0800160d Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv)
- DEVICE_AT9S_WaitDmaCplt 0x08001629 Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt)
- DMA1_Stream1_IRQHandler 0x08001641 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
- DMA2_Stream6_IRQHandler 0x08001651 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
- DebugMon_Handler 0x0800171d Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
- Error_Handler 0x08001721 Thumb Code 6 main.o(.text.Error_Handler)
- HAL_CAN_ActivateNotification 0x08001729 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- HAL_CAN_AddTxMessage 0x08001751 Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- HAL_CAN_ConfigFilter 0x080017e5 Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- HAL_CAN_ErrorCallback 0x080018c5 Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback)
- HAL_CAN_GetRxFifoFillLevel 0x080018e9 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- HAL_CAN_GetRxMessage 0x08001909 Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- HAL_CAN_GetTxMailboxesFreeLevel 0x08001a2d Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- HAL_CAN_IRQHandler 0x08001a55 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- HAL_CAN_Init 0x08001c91 Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- HAL_CAN_MspInit 0x08001d85 Thumb Code 318 can.o(.text.HAL_CAN_MspInit)
- HAL_CAN_RxFifo0FullCallback 0x08001ec5 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- HAL_CAN_RxFifo0MsgPendingCallback 0x08001ee9 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- HAL_CAN_RxFifo1FullCallback 0x08001f0d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- HAL_CAN_RxFifo1MsgPendingCallback 0x08001f31 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- HAL_CAN_SleepCallback 0x08001f55 Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback)
- HAL_CAN_Start 0x08001f79 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- HAL_CAN_TxMailbox0AbortCallback 0x08001fd5 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- HAL_CAN_TxMailbox0CompleteCallback 0x08001ff9 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- HAL_CAN_TxMailbox1AbortCallback 0x0800201d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- HAL_CAN_TxMailbox1CompleteCallback 0x08002041 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- HAL_CAN_TxMailbox2AbortCallback 0x08002065 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- HAL_CAN_TxMailbox2CompleteCallback 0x08002089 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- HAL_CAN_WakeUpFromRxMsgCallback 0x080020ad Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- HAL_DMA_IRQHandler 0x080020d1 Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- HAL_DMA_Init 0x0800225d Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- HAL_DMA_Start_IT 0x0800232d Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- HAL_GPIO_Init 0x08002391 Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- HAL_GetTick 0x0800252d Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
- HAL_IncTick 0x08002539 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
- HAL_Init 0x08002555 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
- HAL_InitTick 0x0800258d Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick)
- HAL_MspInit 0x080025dd Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- HAL_NVIC_EnableIRQ 0x08002625 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- HAL_NVIC_SetPriority 0x0800262d Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- HAL_NVIC_SetPriorityGrouping 0x0800264d Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- HAL_RCC_ClockConfig 0x08002655 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- HAL_RCC_GetHCLKFreq 0x080027b5 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- HAL_RCC_GetPCLK1Freq 0x080027c1 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- HAL_RCC_GetPCLK2Freq 0x080027e5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- HAL_RCC_GetSysClockFreq 0x08002809 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- HAL_RCC_OscConfig 0x08002871 Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- HAL_SYSTICK_Config 0x08002bb9 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
- HAL_UARTEx_RxEventCallback 0x08002bc1 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
- HAL_UART_ErrorCallback 0x08002bc5 Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback)
- HAL_UART_Init 0x08002bed Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
- HAL_UART_MspInit 0x08002c4d Thumb Code 348 usart.o(.text.HAL_UART_MspInit)
- HAL_UART_Receive_DMA 0x08002da9 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
- HAL_UART_RxCpltCallback 0x08002dd5 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback)
- HAL_UART_RxHalfCpltCallback 0x08002dfd Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback)
- HardFault_Handler 0x08002e25 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler)
- LowPassFilter2p_Apply 0x08002e29 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply)
- LowPassFilter2p_Init 0x08002ea5 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init)
- LowPassFilter2p_Reset 0x08002f49 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset)
- MOTOR_RM_Ctrl 0x08002fe1 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl)
- MOTOR_RM_GetMotor 0x0800311d Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor)
- MOTOR_RM_Register 0x08003191 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register)
- MOTOR_RM_Relax 0x08003239 Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax)
- MOTOR_RM_SetOutput 0x08003249 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput)
- MOTOR_RM_Update 0x080032e9 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update)
- MX_CAN1_Init 0x080033b1 Thumb Code 60 can.o(.text.MX_CAN1_Init)
- MX_CAN2_Init 0x080033ed Thumb Code 60 can.o(.text.MX_CAN2_Init)
- MX_DMA_Init 0x08003429 Thumb Code 90 dma.o(.text.MX_DMA_Init)
- MX_FREERTOS_Init 0x08003485 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init)
- MX_GPIO_Init 0x080034c1 Thumb Code 116 gpio.o(.text.MX_GPIO_Init)
- MX_USART3_UART_Init 0x08003535 Thumb Code 60 usart.o(.text.MX_USART3_UART_Init)
- MX_USART6_UART_Init 0x08003571 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init)
- MemManage_Handler 0x080035a9 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler)
- NMI_Handler 0x08003709 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler)
- PID_Calc 0x08003739 Thumb Code 368 pid.o(.text.PID_Calc)
- PID_Init 0x080038a9 Thumb Code 144 pid.o(.text.PID_Init)
- PID_Reset 0x08003939 Thumb Code 44 pid.o(.text.PID_Reset)
- PID_ResetIntegral 0x08003965 Thumb Code 14 pid.o(.text.PID_ResetIntegral)
- PendSV_Handler 0x08003981 Thumb Code 100 port.o(.text.PendSV_Handler)
- SVC_Handler 0x080039f1 Thumb Code 36 port.o(.text.SVC_Handler)
- Shoot_CaluTargetAngle 0x08003a55 Thumb Code 160 shoot_control.o(.text.Shoot_CaluTargetAngle)
+ Chassis_UpdateFeedback 0x08001015 Thumb Code 496 shoot_control.o(.text.Chassis_UpdateFeedback)
+ CircleAdd 0x08001205 Thumb Code 58 user_math.o(.text.CircleAdd)
+ CircleError 0x08001241 Thumb Code 60 user_math.o(.text.CircleError)
+ Config_GetRobotParam 0x0800127d Thumb Code 10 config.o(.text.Config_GetRobotParam)
+ Config_ShootInit 0x08001289 Thumb Code 154 config.o(.text.Config_ShootInit)
+ DEVICE_AT9S_Init 0x08001325 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init)
+ DEVICE_AT9S_ParseRaw 0x0800136d Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw)
+ DEVICE_AT9S_StartDmaRecv 0x080015f9 Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv)
+ DEVICE_AT9S_WaitDmaCplt 0x08001615 Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt)
+ DMA1_Stream1_IRQHandler 0x0800162d Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
+ DMA2_Stream6_IRQHandler 0x0800163d Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
+ DebugMon_Handler 0x08001709 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
+ Error_Handler 0x0800170d Thumb Code 6 main.o(.text.Error_Handler)
+ HAL_CAN_ActivateNotification 0x08001715 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
+ HAL_CAN_AddTxMessage 0x0800173d Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
+ HAL_CAN_ConfigFilter 0x080017d1 Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
+ HAL_CAN_ErrorCallback 0x080018b1 Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback)
+ HAL_CAN_GetRxFifoFillLevel 0x080018d5 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
+ HAL_CAN_GetRxMessage 0x080018f5 Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
+ HAL_CAN_GetTxMailboxesFreeLevel 0x08001a19 Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
+ HAL_CAN_IRQHandler 0x08001a41 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
+ HAL_CAN_Init 0x08001c7d Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
+ HAL_CAN_MspInit 0x08001d71 Thumb Code 318 can.o(.text.HAL_CAN_MspInit)
+ HAL_CAN_RxFifo0FullCallback 0x08001eb1 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
+ HAL_CAN_RxFifo0MsgPendingCallback 0x08001ed5 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
+ HAL_CAN_RxFifo1FullCallback 0x08001ef9 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
+ HAL_CAN_RxFifo1MsgPendingCallback 0x08001f1d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
+ HAL_CAN_SleepCallback 0x08001f41 Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback)
+ HAL_CAN_Start 0x08001f65 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
+ HAL_CAN_TxMailbox0AbortCallback 0x08001fc1 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
+ HAL_CAN_TxMailbox0CompleteCallback 0x08001fe5 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
+ HAL_CAN_TxMailbox1AbortCallback 0x08002009 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
+ HAL_CAN_TxMailbox1CompleteCallback 0x0800202d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
+ HAL_CAN_TxMailbox2AbortCallback 0x08002051 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
+ HAL_CAN_TxMailbox2CompleteCallback 0x08002075 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
+ HAL_CAN_WakeUpFromRxMsgCallback 0x08002099 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
+ HAL_DMA_IRQHandler 0x080020bd Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+ HAL_DMA_Init 0x08002249 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
+ HAL_DMA_Start_IT 0x08002319 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
+ HAL_GPIO_Init 0x0800237d Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+ HAL_GetTick 0x08002519 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
+ HAL_IncTick 0x08002525 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
+ HAL_Init 0x08002541 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
+ HAL_InitTick 0x08002579 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick)
+ HAL_MspInit 0x080025c9 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
+ HAL_NVIC_EnableIRQ 0x08002611 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+ HAL_NVIC_SetPriority 0x08002619 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+ HAL_NVIC_SetPriorityGrouping 0x08002639 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+ HAL_RCC_ClockConfig 0x08002641 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+ HAL_RCC_GetHCLKFreq 0x080027a1 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
+ HAL_RCC_GetPCLK1Freq 0x080027ad Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+ HAL_RCC_GetPCLK2Freq 0x080027d1 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+ HAL_RCC_GetSysClockFreq 0x080027f5 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+ HAL_RCC_OscConfig 0x0800285d Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+ HAL_SYSTICK_Config 0x08002ba5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+ HAL_UARTEx_RxEventCallback 0x08002bad Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
+ HAL_UART_ErrorCallback 0x08002bb1 Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback)
+ HAL_UART_Init 0x08002bd9 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
+ HAL_UART_MspInit 0x08002c39 Thumb Code 348 usart.o(.text.HAL_UART_MspInit)
+ HAL_UART_Receive_DMA 0x08002d95 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
+ HAL_UART_RxCpltCallback 0x08002dc1 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback)
+ HAL_UART_RxHalfCpltCallback 0x08002de9 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback)
+ HardFault_Handler 0x08002e11 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler)
+ LowPassFilter2p_Apply 0x08002e15 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply)
+ LowPassFilter2p_Init 0x08002e91 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init)
+ LowPassFilter2p_Reset 0x08002f35 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset)
+ MOTOR_RM_Ctrl 0x08002fcd Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl)
+ MOTOR_RM_GetMotor 0x08003109 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor)
+ MOTOR_RM_Register 0x0800317d Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register)
+ MOTOR_RM_Relax 0x08003225 Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax)
+ MOTOR_RM_SetOutput 0x08003235 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput)
+ MOTOR_RM_Update 0x080032d5 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update)
+ MX_CAN1_Init 0x0800339d Thumb Code 60 can.o(.text.MX_CAN1_Init)
+ MX_CAN2_Init 0x080033d9 Thumb Code 60 can.o(.text.MX_CAN2_Init)
+ MX_DMA_Init 0x08003415 Thumb Code 90 dma.o(.text.MX_DMA_Init)
+ MX_FREERTOS_Init 0x08003471 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init)
+ MX_GPIO_Init 0x080034ad Thumb Code 116 gpio.o(.text.MX_GPIO_Init)
+ MX_USART3_UART_Init 0x08003521 Thumb Code 60 usart.o(.text.MX_USART3_UART_Init)
+ MX_USART6_UART_Init 0x0800355d Thumb Code 56 usart.o(.text.MX_USART6_UART_Init)
+ MemManage_Handler 0x08003595 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler)
+ NMI_Handler 0x080036f5 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler)
+ PID_Calc 0x08003725 Thumb Code 368 pid.o(.text.PID_Calc)
+ PID_Init 0x08003895 Thumb Code 144 pid.o(.text.PID_Init)
+ PID_Reset 0x08003925 Thumb Code 44 pid.o(.text.PID_Reset)
+ PID_ResetIntegral 0x08003951 Thumb Code 14 pid.o(.text.PID_ResetIntegral)
+ PendSV_Handler 0x08003961 Thumb Code 100 port.o(.text.PendSV_Handler)
+ SVC_Handler 0x080039d1 Thumb Code 36 port.o(.text.SVC_Handler)
+ ScaleSumTo1 0x080039fd Thumb Code 54 user_math.o(.text.ScaleSumTo1)
+ Shoot_CaluTargetAngle 0x08003a35 Thumb Code 192 shoot_control.o(.text.Shoot_CaluTargetAngle)
Shoot_Control 0x08003af5 Thumb Code 108 shoot_control.o(.text.Shoot_Control)
- Shoot_Init 0x08003b61 Thumb Code 582 shoot_control.o(.text.Shoot_Init)
- Shoot_JamDetectionFSM 0x08003da9 Thumb Code 292 shoot_control.o(.text.Shoot_JamDetectionFSM)
- Shoot_ResetCalu 0x08003ecd Thumb Code 164 shoot_control.o(.text.Shoot_ResetCalu)
- Shoot_ResetIntegral 0x08003f71 Thumb Code 78 shoot_control.o(.text.Shoot_ResetIntegral)
- Shoot_ResetOutput 0x08003fc1 Thumb Code 82 shoot_control.o(.text.Shoot_ResetOutput)
- Shoot_RunningFSM 0x08004015 Thumb Code 1224 shoot_control.o(.text.Shoot_RunningFSM)
- Shoot_SetMode 0x080044dd Thumb Code 18 shoot_control.o(.text.Shoot_SetMode)
- StartDefaultTask 0x080044f1 Thumb Code 12 freertos.o(.text.StartDefaultTask)
- SysTick_Handler 0x0800452d Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler)
- SystemClock_Config 0x08004541 Thumb Code 164 main.o(.text.SystemClock_Config)
- SystemInit 0x080045e5 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
- Task_Init 0x080045f9 Thumb Code 100 init.o(.text.Task_Init)
- Task_rc 0x08004661 Thumb Code 152 rc.o(.text.Task_rc)
- Task_shoot_ctrl 0x080046f9 Thumb Code 260 shoot_ctrl.o(.text.Task_shoot_ctrl)
- UART_Start_Receive_DMA 0x08004a55 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
- UsageFault_Handler 0x08004b01 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler)
- eTaskGetState 0x08004bb9 Thumb Code 156 tasks.o(.text.eTaskGetState)
- main 0x08004c55 Thumb Code 46 main.o(.text.main)
- osDelay 0x08004c85 Thumb Code 32 cmsis_os2.o(.text.osDelay)
- osDelayUntil 0x08004ca5 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil)
- osKernelGetTickCount 0x08004cd9 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount)
- osKernelGetTickFreq 0x08004ced Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
- osKernelInitialize 0x08004cf5 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize)
- osKernelLock 0x08004d1d Thumb Code 44 cmsis_os2.o(.text.osKernelLock)
- osKernelStart 0x08004d49 Thumb Code 52 cmsis_os2.o(.text.osKernelStart)
- osKernelUnlock 0x08004d7d Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock)
- osMessageQueueGet 0x08004dc1 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet)
- osMessageQueueNew 0x08004e49 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew)
- osMessageQueuePut 0x08004ee9 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut)
- osMutexAcquire 0x08004f79 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire)
- osMutexNew 0x08004fcd Thumb Code 150 cmsis_os2.o(.text.osMutexNew)
- osMutexRelease 0x08005065 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease)
- osThreadFlagsSet 0x080050a5 Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet)
- osThreadFlagsWait 0x08005125 Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait)
- osThreadGetId 0x080051e1 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId)
- osThreadNew 0x080051e9 Thumb Code 180 cmsis_os2.o(.text.osThreadNew)
- osThreadTerminate 0x0800529d Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate)
- pvPortMalloc 0x08005c75 Thumb Code 330 heap_4.o(.text.pvPortMalloc)
- pvTaskIncrementMutexHeldCount 0x08005dc1 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount)
- pxPortInitialiseStack 0x08005dd9 Thumb Code 40 port.o(.text.pxPortInitialiseStack)
- uxListRemove 0x08005e01 Thumb Code 36 list.o(.text.uxListRemove)
- vApplicationGetIdleTaskMemory 0x08005e25 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
- vApplicationGetTimerTaskMemory 0x08005e41 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
- vListInitialise 0x08005e5d Thumb Code 22 list.o(.text.vListInitialise)
- vListInitialiseItem 0x08005e75 Thumb Code 6 list.o(.text.vListInitialiseItem)
- vListInsert 0x08005e7d Thumb Code 58 list.o(.text.vListInsert)
- vListInsertEnd 0x08005eb9 Thumb Code 28 list.o(.text.vListInsertEnd)
- vPortEnterCritical 0x08005ee9 Thumb Code 70 port.o(.text.vPortEnterCritical)
- vPortExitCritical 0x08005f31 Thumb Code 46 port.o(.text.vPortExitCritical)
- vPortFree 0x08005f61 Thumb Code 138 heap_4.o(.text.vPortFree)
- vPortSetupTimerInterrupt 0x08005fed Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt)
- vPortValidateInterruptPriority 0x08006021 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority)
- vQueueAddToRegistry 0x08006085 Thumb Code 40 queue.o(.text.vQueueAddToRegistry)
- vQueueWaitForMessageRestricted 0x080060ad Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted)
- vTaskDelay 0x080060f1 Thumb Code 84 tasks.o(.text.vTaskDelay)
- vTaskDelayUntil 0x08006145 Thumb Code 168 tasks.o(.text.vTaskDelayUntil)
- vTaskDelete 0x080061ed Thumb Code 194 tasks.o(.text.vTaskDelete)
- vTaskInternalSetTimeOutState 0x080062b1 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState)
- vTaskMissedYield 0x080062cd Thumb Code 14 tasks.o(.text.vTaskMissedYield)
- vTaskPlaceOnEventList 0x080062dd Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList)
- vTaskPlaceOnEventListRestricted 0x08006311 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted)
- vTaskPriorityDisinheritAfterTimeout 0x08006351 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
- vTaskStartScheduler 0x080063f5 Thumb Code 156 tasks.o(.text.vTaskStartScheduler)
- vTaskSuspendAll 0x08006499 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
- vTaskSwitchContext 0x080064a9 Thumb Code 154 tasks.o(.text.vTaskSwitchContext)
- xPortStartScheduler 0x08006545 Thumb Code 274 port.o(.text.xPortStartScheduler)
- xPortSysTickHandler 0x08006659 Thumb Code 46 port.o(.text.xPortSysTickHandler)
- xQueueCreateMutex 0x08006689 Thumb Code 22 queue.o(.text.xQueueCreateMutex)
- xQueueCreateMutexStatic 0x080066a1 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic)
- xQueueGenericCreate 0x080066c5 Thumb Code 70 queue.o(.text.xQueueGenericCreate)
- xQueueGenericCreateStatic 0x0800670d Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic)
- xQueueGenericReset 0x080067a5 Thumb Code 126 queue.o(.text.xQueueGenericReset)
- xQueueGenericSend 0x08006825 Thumb Code 418 queue.o(.text.xQueueGenericSend)
- xQueueGenericSendFromISR 0x080069c9 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR)
- xQueueGiveMutexRecursive 0x08006a99 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive)
- xQueueReceive 0x08006add Thumb Code 388 queue.o(.text.xQueueReceive)
- xQueueReceiveFromISR 0x08006c61 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR)
- xQueueSemaphoreTake 0x08006d0d Thumb Code 454 queue.o(.text.xQueueSemaphoreTake)
- xQueueTakeMutexRecursive 0x08006ed5 Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive)
- xTaskCheckForTimeOut 0x08006f11 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut)
- xTaskCreate 0x08006f99 Thumb Code 102 tasks.o(.text.xTaskCreate)
- xTaskCreateStatic 0x08007001 Thumb Code 118 tasks.o(.text.xTaskCreateStatic)
- xTaskGenericNotify 0x08007079 Thumb Code 252 tasks.o(.text.xTaskGenericNotify)
- xTaskGenericNotifyFromISR 0x08007175 Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR)
- xTaskGetCurrentTaskHandle 0x080072a1 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle)
- xTaskGetSchedulerState 0x080072ad Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState)
- xTaskGetTickCount 0x080072d5 Thumb Code 12 tasks.o(.text.xTaskGetTickCount)
- xTaskGetTickCountFromISR 0x080072e1 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR)
- xTaskIncrementTick 0x080072f5 Thumb Code 338 tasks.o(.text.xTaskIncrementTick)
- xTaskNotifyWait 0x08007449 Thumb Code 144 tasks.o(.text.xTaskNotifyWait)
- xTaskPriorityDisinherit 0x080074d9 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit)
- xTaskPriorityInherit 0x0800756d Thumb Code 146 tasks.o(.text.xTaskPriorityInherit)
- xTaskRemoveFromEventList 0x08007601 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList)
- xTaskResumeAll 0x08007691 Thumb Code 276 tasks.o(.text.xTaskResumeAll)
- xTimerCreateTimerTask 0x080077a5 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask)
- xTimerGenericCommand 0x08007819 Thumb Code 104 timers.o(.text.xTimerGenericCommand)
- __ARM_fpclassifyf 0x08007881 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
- __hardfp_tanf 0x080078a9 Thumb Code 322 tanf.o(i.__hardfp_tanf)
- __mathlib_flt_infnan 0x08007a25 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
- __mathlib_flt_invalid 0x08007a2d Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
- __mathlib_flt_underflow 0x08007a3d Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
- __mathlib_rredf2 0x08007a4d Thumb Code 316 rredf.o(i.__mathlib_rredf2)
- __aeabi_ddiv 0x08007ba1 Thumb Code 0 ddiv.o(x$fpl$ddiv)
- _ddiv 0x08007ba1 Thumb Code 556 ddiv.o(x$fpl$ddiv)
- __aeabi_d2uiz 0x08007e55 Thumb Code 0 dfixu.o(x$fpl$dfixu)
- _dfixu 0x08007e55 Thumb Code 90 dfixu.o(x$fpl$dfixu)
- __aeabi_ui2d 0x08007eaf Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
- _dfltu 0x08007eaf Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
- __fpl_dnaninf 0x08007ed5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
- __fpl_dretinf 0x08007f71 Thumb Code 12 dretinf.o(x$fpl$dretinf)
- __aeabi_ul2f 0x08007f7d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
- _ll_uto_f 0x08007f7d Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
- __aeabi_l2f 0x08007f83 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
- _ll_sto_f 0x08007f83 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
- _fp_init 0x08007fdd Thumb Code 26 fpinit.o(x$fpl$fpinit)
- __fplib_config_fpu_vfp 0x08007ff5 Thumb Code 0 fpinit.o(x$fpl$fpinit)
- __fplib_config_pureend_doubles 0x08007ff5 Thumb Code 0 fpinit.o(x$fpl$fpinit)
- __I$use$fp 0x08007ff6 Number 0 usenofp.o(x$fpl$usenofp)
- AHBPrescTable 0x08008018 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
- APBPrescTable 0x08008028 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
- attr_init 0x08008030 Data 36 user_task.o(.rodata.attr_init)
- attr_rc 0x08008054 Data 36 user_task.o(.rodata.attr_rc)
- attr_shoot_ctrl 0x08008078 Data 36 user_task.o(.rodata.attr_shoot_ctrl)
- defaultTask_attributes 0x0800809c Data 36 freertos.o(.rodata.defaultTask_attributes)
- Region$$Table$$Base 0x080080e4 Number 0 anon$$obj.o(Region$$Table)
- Region$$Table$$Limit 0x08008104 Number 0 anon$$obj.o(Region$$Table)
+ Shoot_Init 0x08003b61 Thumb Code 606 shoot_control.o(.text.Shoot_Init)
+ Shoot_JamDetectionFSM 0x08003dc1 Thumb Code 304 shoot_control.o(.text.Shoot_JamDetectionFSM)
+ Shoot_ResetCalu 0x08003ef1 Thumb Code 164 shoot_control.o(.text.Shoot_ResetCalu)
+ Shoot_ResetIntegral 0x08003f95 Thumb Code 78 shoot_control.o(.text.Shoot_ResetIntegral)
+ Shoot_ResetOutput 0x08003fe5 Thumb Code 82 shoot_control.o(.text.Shoot_ResetOutput)
+ Shoot_RunningFSM 0x08004039 Thumb Code 1224 shoot_control.o(.text.Shoot_RunningFSM)
+ Shoot_SetMode 0x08004501 Thumb Code 18 shoot_control.o(.text.Shoot_SetMode)
+ StartDefaultTask 0x08004515 Thumb Code 12 freertos.o(.text.StartDefaultTask)
+ SysTick_Handler 0x08004551 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler)
+ SystemClock_Config 0x08004565 Thumb Code 164 main.o(.text.SystemClock_Config)
+ SystemInit 0x08004609 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
+ Task_Init 0x0800461d Thumb Code 100 init.o(.text.Task_Init)
+ Task_rc 0x08004681 Thumb Code 152 rc.o(.text.Task_rc)
+ Task_shoot_ctrl 0x08004719 Thumb Code 164 shoot_ctrl.o(.text.Task_shoot_ctrl)
+ UART_Start_Receive_DMA 0x08004a15 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
+ UsageFault_Handler 0x08004ac1 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler)
+ eTaskGetState 0x08004b79 Thumb Code 156 tasks.o(.text.eTaskGetState)
+ main 0x08004c15 Thumb Code 46 main.o(.text.main)
+ osDelay 0x08004c45 Thumb Code 32 cmsis_os2.o(.text.osDelay)
+ osDelayUntil 0x08004c65 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil)
+ osKernelGetTickCount 0x08004c99 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount)
+ osKernelGetTickFreq 0x08004cad Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
+ osKernelInitialize 0x08004cb5 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize)
+ osKernelLock 0x08004cdd Thumb Code 44 cmsis_os2.o(.text.osKernelLock)
+ osKernelStart 0x08004d09 Thumb Code 52 cmsis_os2.o(.text.osKernelStart)
+ osKernelUnlock 0x08004d3d Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock)
+ osMessageQueueGet 0x08004d81 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet)
+ osMessageQueueNew 0x08004e09 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew)
+ osMessageQueuePut 0x08004ea9 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut)
+ osMutexAcquire 0x08004f39 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire)
+ osMutexNew 0x08004f8d Thumb Code 150 cmsis_os2.o(.text.osMutexNew)
+ osMutexRelease 0x08005025 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease)
+ osThreadFlagsSet 0x08005065 Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet)
+ osThreadFlagsWait 0x080050e5 Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait)
+ osThreadGetId 0x080051a1 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId)
+ osThreadNew 0x080051a9 Thumb Code 180 cmsis_os2.o(.text.osThreadNew)
+ osThreadTerminate 0x0800525d Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate)
+ pvPortMalloc 0x08005c35 Thumb Code 330 heap_4.o(.text.pvPortMalloc)
+ pvTaskIncrementMutexHeldCount 0x08005d81 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount)
+ pxPortInitialiseStack 0x08005d99 Thumb Code 40 port.o(.text.pxPortInitialiseStack)
+ uxListRemove 0x08005dc1 Thumb Code 36 list.o(.text.uxListRemove)
+ vApplicationGetIdleTaskMemory 0x08005de5 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+ vApplicationGetTimerTaskMemory 0x08005e01 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+ vListInitialise 0x08005e1d Thumb Code 22 list.o(.text.vListInitialise)
+ vListInitialiseItem 0x08005e35 Thumb Code 6 list.o(.text.vListInitialiseItem)
+ vListInsert 0x08005e3d Thumb Code 58 list.o(.text.vListInsert)
+ vListInsertEnd 0x08005e79 Thumb Code 28 list.o(.text.vListInsertEnd)
+ vPortEnterCritical 0x08005ea9 Thumb Code 70 port.o(.text.vPortEnterCritical)
+ vPortExitCritical 0x08005ef1 Thumb Code 46 port.o(.text.vPortExitCritical)
+ vPortFree 0x08005f21 Thumb Code 138 heap_4.o(.text.vPortFree)
+ vPortSetupTimerInterrupt 0x08005fad Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt)
+ vPortValidateInterruptPriority 0x08005fe1 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority)
+ vQueueAddToRegistry 0x08006045 Thumb Code 40 queue.o(.text.vQueueAddToRegistry)
+ vQueueWaitForMessageRestricted 0x0800606d Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted)
+ vTaskDelay 0x080060b1 Thumb Code 84 tasks.o(.text.vTaskDelay)
+ vTaskDelayUntil 0x08006105 Thumb Code 168 tasks.o(.text.vTaskDelayUntil)
+ vTaskDelete 0x080061ad Thumb Code 194 tasks.o(.text.vTaskDelete)
+ vTaskInternalSetTimeOutState 0x08006271 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState)
+ vTaskMissedYield 0x0800628d Thumb Code 14 tasks.o(.text.vTaskMissedYield)
+ vTaskPlaceOnEventList 0x0800629d Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList)
+ vTaskPlaceOnEventListRestricted 0x080062d1 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted)
+ vTaskPriorityDisinheritAfterTimeout 0x08006311 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+ vTaskStartScheduler 0x080063b5 Thumb Code 156 tasks.o(.text.vTaskStartScheduler)
+ vTaskSuspendAll 0x08006459 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
+ vTaskSwitchContext 0x08006469 Thumb Code 154 tasks.o(.text.vTaskSwitchContext)
+ xPortStartScheduler 0x08006505 Thumb Code 274 port.o(.text.xPortStartScheduler)
+ xPortSysTickHandler 0x08006619 Thumb Code 46 port.o(.text.xPortSysTickHandler)
+ xQueueCreateMutex 0x08006649 Thumb Code 22 queue.o(.text.xQueueCreateMutex)
+ xQueueCreateMutexStatic 0x08006661 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic)
+ xQueueGenericCreate 0x08006685 Thumb Code 70 queue.o(.text.xQueueGenericCreate)
+ xQueueGenericCreateStatic 0x080066cd Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic)
+ xQueueGenericReset 0x08006765 Thumb Code 126 queue.o(.text.xQueueGenericReset)
+ xQueueGenericSend 0x080067e5 Thumb Code 418 queue.o(.text.xQueueGenericSend)
+ xQueueGenericSendFromISR 0x08006989 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR)
+ xQueueGiveMutexRecursive 0x08006a59 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive)
+ xQueueReceive 0x08006a9d Thumb Code 388 queue.o(.text.xQueueReceive)
+ xQueueReceiveFromISR 0x08006c21 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR)
+ xQueueSemaphoreTake 0x08006ccd Thumb Code 454 queue.o(.text.xQueueSemaphoreTake)
+ xQueueTakeMutexRecursive 0x08006e95 Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive)
+ xTaskCheckForTimeOut 0x08006ed1 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut)
+ xTaskCreate 0x08006f59 Thumb Code 102 tasks.o(.text.xTaskCreate)
+ xTaskCreateStatic 0x08006fc1 Thumb Code 118 tasks.o(.text.xTaskCreateStatic)
+ xTaskGenericNotify 0x08007039 Thumb Code 252 tasks.o(.text.xTaskGenericNotify)
+ xTaskGenericNotifyFromISR 0x08007135 Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR)
+ xTaskGetCurrentTaskHandle 0x08007261 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle)
+ xTaskGetSchedulerState 0x0800726d Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState)
+ xTaskGetTickCount 0x08007295 Thumb Code 12 tasks.o(.text.xTaskGetTickCount)
+ xTaskGetTickCountFromISR 0x080072a1 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR)
+ xTaskIncrementTick 0x080072b5 Thumb Code 338 tasks.o(.text.xTaskIncrementTick)
+ xTaskNotifyWait 0x08007409 Thumb Code 144 tasks.o(.text.xTaskNotifyWait)
+ xTaskPriorityDisinherit 0x08007499 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit)
+ xTaskPriorityInherit 0x0800752d Thumb Code 146 tasks.o(.text.xTaskPriorityInherit)
+ xTaskRemoveFromEventList 0x080075c1 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList)
+ xTaskResumeAll 0x08007651 Thumb Code 276 tasks.o(.text.xTaskResumeAll)
+ xTimerCreateTimerTask 0x08007765 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask)
+ xTimerGenericCommand 0x080077d9 Thumb Code 104 timers.o(.text.xTimerGenericCommand)
+ __ARM_fpclassifyf 0x08007841 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
+ __hardfp_tanf 0x08007869 Thumb Code 322 tanf.o(i.__hardfp_tanf)
+ __mathlib_flt_infnan 0x080079e5 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
+ __mathlib_flt_invalid 0x080079ed Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
+ __mathlib_flt_underflow 0x080079fd Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
+ __mathlib_rredf2 0x08007a0d Thumb Code 316 rredf.o(i.__mathlib_rredf2)
+ __aeabi_ddiv 0x08007b61 Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ _ddiv 0x08007b61 Thumb Code 556 ddiv.o(x$fpl$ddiv)
+ __aeabi_d2uiz 0x08007e15 Thumb Code 0 dfixu.o(x$fpl$dfixu)
+ _dfixu 0x08007e15 Thumb Code 90 dfixu.o(x$fpl$dfixu)
+ __aeabi_ui2d 0x08007e6f Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
+ _dfltu 0x08007e6f Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
+ __fpl_dnaninf 0x08007e95 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
+ __fpl_dretinf 0x08007f31 Thumb Code 12 dretinf.o(x$fpl$dretinf)
+ __aeabi_ul2f 0x08007f3d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_uto_f 0x08007f3d Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
+ __aeabi_l2f 0x08007f43 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_sto_f 0x08007f43 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
+ _fp_init 0x08007f9d Thumb Code 26 fpinit.o(x$fpl$fpinit)
+ __fplib_config_fpu_vfp 0x08007fb5 Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fplib_config_pureend_doubles 0x08007fb5 Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __I$use$fp 0x08007fb6 Number 0 usenofp.o(x$fpl$usenofp)
+ AHBPrescTable 0x08007fd8 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
+ APBPrescTable 0x08007fe8 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
+ attr_init 0x08007ff0 Data 36 user_task.o(.rodata.attr_init)
+ attr_rc 0x08008014 Data 36 user_task.o(.rodata.attr_rc)
+ attr_shoot_ctrl 0x08008038 Data 36 user_task.o(.rodata.attr_shoot_ctrl)
+ defaultTask_attributes 0x0800805c Data 36 freertos.o(.rodata.defaultTask_attributes)
+ Region$$Table$$Base 0x080080a4 Number 0 anon$$obj.o(Region$$Table)
+ Region$$Table$$Limit 0x080080c4 Number 0 anon$$obj.o(Region$$Table)
SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock)
- robot_config 0x20000004 Data 260 config.o(.data.robot_config)
- uwTickFreq 0x20000108 Data 1 stm32f4xx_hal.o(.data.uwTickFreq)
- uwTickPrio 0x2000010c Data 4 stm32f4xx_hal.o(.data.uwTickPrio)
+ robot_config 0x20000004 Data 264 config.o(.data.robot_config)
+ uwTickFreq 0x2000010c Data 1 stm32f4xx_hal.o(.data.uwTickFreq)
+ uwTickPrio 0x20000110 Data 4 stm32f4xx_hal.o(.data.uwTickPrio)
__libspace_start 0x20000118 Data 96 libspace.o(.bss)
__temporary_stack_top$libspace 0x20000178 Data 0 libspace.o(.bss)
- a 0x20000234 Data 8 shoot_ctrl.o(.bss.a)
- at9s 0x2000023c Data 44 rc.o(.bss.at9s)
- b 0x20000268 Data 60 shoot_ctrl.o(.bss.b)
- cmd_buffer 0x200002ac Data 25 rc.o(.bss.cmd_buffer)
- defaultTaskHandle 0x200002c8 Data 4 freertos.o(.bss.defaultTaskHandle)
- hcan1 0x200002cc Data 40 can.o(.bss.hcan1)
- hcan2 0x200002f4 Data 40 can.o(.bss.hcan2)
- hdma_usart3_rx 0x2000031c Data 96 usart.o(.bss.hdma_usart3_rx)
- hdma_usart6_tx 0x2000037c Data 96 usart.o(.bss.hdma_usart6_tx)
- huart3 0x200003dc Data 72 usart.o(.bss.huart3)
- huart6 0x20000424 Data 72 usart.o(.bss.huart6)
- pxCurrentTCB 0x20000568 Data 4 tasks.o(.bss.pxCurrentTCB)
- r 0x200009e8 Data 24 at9s_pro.o(.bss.r)
- rc_cmd 0x20000a00 Data 40 rc.o(.bss.rc_cmd)
- shoot 0x20000a28 Data 408 shoot_ctrl.o(.bss.shoot)
- shoot_cmd 0x20000bc0 Data 3 shoot_ctrl.o(.bss.shoot_cmd)
- shoot_ctrl_cmd_rc 0x20000bc4 Data 40 shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc)
- task_runtime 0x20000bec Data 52 user_task.o(.bss.task_runtime)
- uwTick 0x2000503c Data 4 stm32f4xx_hal.o(.bss.uwTick)
- xQueueRegistry 0x20005794 Data 64 queue.o(.bss.xQueueRegistry)
+ at9s 0x20000234 Data 44 rc.o(.bss.at9s)
+ cmd_buffer 0x20000268 Data 25 rc.o(.bss.cmd_buffer)
+ defaultTaskHandle 0x20000284 Data 4 freertos.o(.bss.defaultTaskHandle)
+ hcan1 0x20000288 Data 40 can.o(.bss.hcan1)
+ hcan2 0x200002b0 Data 40 can.o(.bss.hcan2)
+ hdma_usart3_rx 0x200002d8 Data 96 usart.o(.bss.hdma_usart3_rx)
+ hdma_usart6_tx 0x20000338 Data 96 usart.o(.bss.hdma_usart6_tx)
+ huart3 0x20000398 Data 72 usart.o(.bss.huart3)
+ huart6 0x200003e0 Data 72 usart.o(.bss.huart6)
+ pxCurrentTCB 0x20000524 Data 4 tasks.o(.bss.pxCurrentTCB)
+ r 0x200009a4 Data 24 at9s_pro.o(.bss.r)
+ rc_cmd 0x200009bc Data 40 rc.o(.bss.rc_cmd)
+ shoot 0x200009e8 Data 408 shoot_ctrl.o(.bss.shoot)
+ shoot_cmd 0x20000b80 Data 4 shoot_ctrl.o(.bss.shoot_cmd)
+ shoot_ctrl_cmd_rc 0x20000b84 Data 40 shoot_ctrl.o(.bss.shoot_ctrl_cmd_rc)
+ task_runtime 0x20000bac Data 52 user_task.o(.bss.task_runtime)
+ uwTick 0x20004ffc Data 4 stm32f4xx_hal.o(.bss.uwTick)
+ xQueueRegistry 0x20005754 Data 64 queue.o(.bss.xQueueRegistry)
@@ -4897,75 +4895,75 @@ Memory Map of the image
Image Entry point : 0x08000189
- Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008220, Max: 0x00100000, ABSOLUTE)
+ Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000081e0, Max: 0x00100000, ABSOLUTE)
- Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00008104, Max: 0x00100000, ABSOLUTE)
+ Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000080c4, 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 2001 * !!!main c_w.l(__main.o)
- 0x08000190 0x08000190 0x00000034 Code RO 2303 !!!scatter c_w.l(__scatter.o)
- 0x080001c4 0x080001c4 0x0000001a Code RO 2305 !!handler_copy c_w.l(__scatter_copy.o)
+ 0x08000188 0x08000188 0x00000008 Code RO 1999 * !!!main c_w.l(__main.o)
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0x08000226 0x08000226 0x00000002 PAD
0x08000228 0x08000228 0x00000040 Code RO 4 .text startup_stm32f407xx.o
- 0x08000268 0x08000268 0x000000f0 Code RO 1948 .text c_w.l(lludivv7m.o)
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- 0x0800053a 0x0800053a 0x00000000 Code RO 2257 .text c_w.l(indicate_semi.o)
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0x0800053a 0x0800053a 0x00000002 PAD
0x0800053c 0x0800053c 0x00000022 Code RO 1778 .text.AbsClip user_math.o
0x0800055e 0x0800055e 0x00000002 PAD
@@ -5014,493 +5012,489 @@ Memory Map of the image
0x08000db4 0x08000db4 0x00000010 Code RO 121 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o
0x08000dc4 0x08000dc4 0x00000010 Code RO 117 .text.CAN2_TX_IRQHandler stm32f4xx_it.o
0x08000dd4 0x08000dd4 0x00000024 Code RO 1494 .text.CAN_Get can_1.o
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- 0x08001336 0x08001336 0x00000002 PAD
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- 0x080017e2 0x080017e2 0x00000002 PAD
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- 0x08001ec2 0x08001ec2 0x00000002 PAD
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- 0x0800201a 0x0800201a 0x00000002 PAD
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0x08003af4 0x08003af4 0x0000006c Code RO 1877 .text.Shoot_Control shoot_control.o
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+ 0x0800606c 0x0800606c 0x00000044 Code RO 952 .text.vQueueWaitForMessageRestricted queue.o
+ 0x080060b0 0x080060b0 0x00000054 Code RO 1043 .text.vTaskDelay tasks.o
+ 0x08006104 0x08006104 0x000000a8 Code RO 1035 .text.vTaskDelayUntil tasks.o
+ 0x080061ac 0x080061ac 0x000000c2 Code RO 1029 .text.vTaskDelete tasks.o
+ 0x0800626e 0x0800626e 0x00000002 PAD
+ 0x08006270 0x08006270 0x0000001a Code RO 1097 .text.vTaskInternalSetTimeOutState tasks.o
+ 0x0800628a 0x0800628a 0x00000002 PAD
+ 0x0800628c 0x0800628c 0x0000000e Code RO 1101 .text.vTaskMissedYield tasks.o
+ 0x0800629a 0x0800629a 0x00000002 PAD
+ 0x0800629c 0x0800629c 0x00000032 Code RO 1085 .text.vTaskPlaceOnEventList tasks.o
+ 0x080062ce 0x080062ce 0x00000002 PAD
+ 0x080062d0 0x080062d0 0x0000003e Code RO 1089 .text.vTaskPlaceOnEventListRestricted tasks.o
0x0800630e 0x0800630e 0x00000002 PAD
- 0x08006310 0x08006310 0x0000003e Code RO 1089 .text.vTaskPlaceOnEventListRestricted tasks.o
- 0x0800634e 0x0800634e 0x00000002 PAD
- 0x08006350 0x08006350 0x000000a4 Code RO 1121 .text.vTaskPriorityDisinheritAfterTimeout tasks.o
- 0x080063f4 0x080063f4 0x000000a4 Code RO 1063 .text.vTaskStartScheduler tasks.o
- 0x08006498 0x08006498 0x00000010 Code RO 1037 .text.vTaskSuspendAll tasks.o
- 0x080064a8 0x080064a8 0x0000009a Code RO 1055 .text.vTaskSwitchContext tasks.o
- 0x08006542 0x08006542 0x00000002 PAD
- 0x08006544 0x08006544 0x00000112 Code RO 1461 .text.xPortStartScheduler port.o
- 0x08006656 0x08006656 0x00000002 PAD
- 0x08006658 0x08006658 0x0000002e Code RO 1477 .text.xPortSysTickHandler port.o
- 0x08006686 0x08006686 0x00000002 PAD
- 0x08006688 0x08006688 0x00000016 Code RO 882 .text.xQueueCreateMutex queue.o
- 0x0800669e 0x0800669e 0x00000002 PAD
- 0x080066a0 0x080066a0 0x00000022 Code RO 886 .text.xQueueCreateMutexStatic queue.o
- 0x080066c2 0x080066c2 0x00000002 PAD
- 0x080066c4 0x080066c4 0x00000046 Code RO 880 .text.xQueueGenericCreate queue.o
- 0x0800670a 0x0800670a 0x00000002 PAD
- 0x0800670c 0x0800670c 0x00000096 Code RO 876 .text.xQueueGenericCreateStatic queue.o
- 0x080067a2 0x080067a2 0x00000002 PAD
- 0x080067a4 0x080067a4 0x0000007e Code RO 874 .text.xQueueGenericReset queue.o
- 0x08006822 0x08006822 0x00000002 PAD
- 0x08006824 0x08006824 0x000001a2 Code RO 894 .text.xQueueGenericSend queue.o
- 0x080069c6 0x080069c6 0x00000002 PAD
- 0x080069c8 0x080069c8 0x000000ce Code RO 910 .text.xQueueGenericSendFromISR queue.o
- 0x08006a96 0x08006a96 0x00000002 PAD
- 0x08006a98 0x08006a98 0x00000042 Code RO 892 .text.xQueueGiveMutexRecursive queue.o
- 0x08006ada 0x08006ada 0x00000002 PAD
- 0x08006adc 0x08006adc 0x00000184 Code RO 914 .text.xQueueReceive queue.o
- 0x08006c60 0x08006c60 0x000000aa Code RO 924 .text.xQueueReceiveFromISR queue.o
- 0x08006d0a 0x08006d0a 0x00000002 PAD
- 0x08006d0c 0x08006d0c 0x000001c6 Code RO 898 .text.xQueueSemaphoreTake queue.o
- 0x08006ed2 0x08006ed2 0x00000002 PAD
- 0x08006ed4 0x08006ed4 0x0000003c Code RO 896 .text.xQueueTakeMutexRecursive queue.o
- 0x08006f10 0x08006f10 0x00000088 Code RO 1099 .text.xTaskCheckForTimeOut tasks.o
- 0x08006f98 0x08006f98 0x00000066 Code RO 1027 .text.xTaskCreate tasks.o
- 0x08006ffe 0x08006ffe 0x00000002 PAD
- 0x08007000 0x08007000 0x00000076 Code RO 1021 .text.xTaskCreateStatic tasks.o
- 0x08007076 0x08007076 0x00000002 PAD
- 0x08007078 0x08007078 0x000000fc Code RO 1131 .text.xTaskGenericNotify tasks.o
- 0x08007174 0x08007174 0x0000012a Code RO 1133 .text.xTaskGenericNotifyFromISR tasks.o
- 0x0800729e 0x0800729e 0x00000002 PAD
- 0x080072a0 0x080072a0 0x0000000c Code RO 1113 .text.xTaskGetCurrentTaskHandle tasks.o
- 0x080072ac 0x080072ac 0x00000026 Code RO 1115 .text.xTaskGetSchedulerState tasks.o
- 0x080072d2 0x080072d2 0x00000002 PAD
- 0x080072d4 0x080072d4 0x0000000c Code RO 1071 .text.xTaskGetTickCount tasks.o
- 0x080072e0 0x080072e0 0x00000012 Code RO 1073 .text.xTaskGetTickCountFromISR tasks.o
- 0x080072f2 0x080072f2 0x00000002 PAD
- 0x080072f4 0x080072f4 0x00000152 Code RO 1069 .text.xTaskIncrementTick tasks.o
- 0x08007446 0x08007446 0x00000002 PAD
- 0x08007448 0x08007448 0x00000090 Code RO 1129 .text.xTaskNotifyWait tasks.o
- 0x080074d8 0x080074d8 0x00000092 Code RO 1119 .text.xTaskPriorityDisinherit tasks.o
- 0x0800756a 0x0800756a 0x00000002 PAD
- 0x0800756c 0x0800756c 0x00000092 Code RO 1117 .text.xTaskPriorityInherit tasks.o
- 0x080075fe 0x080075fe 0x00000002 PAD
- 0x08007600 0x08007600 0x0000008e Code RO 1091 .text.xTaskRemoveFromEventList tasks.o
- 0x0800768e 0x0800768e 0x00000002 PAD
- 0x08007690 0x08007690 0x00000114 Code RO 1041 .text.xTaskResumeAll tasks.o
- 0x080077a4 0x080077a4 0x00000074 Code RO 1174 .text.xTimerCreateTimerTask timers.o
- 0x08007818 0x08007818 0x00000068 Code RO 1186 .text.xTimerGenericCommand timers.o
- 0x08007880 0x08007880 0x00000026 Code RO 2062 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o)
- 0x080078a6 0x080078a6 0x00000002 PAD
- 0x080078a8 0x080078a8 0x0000017c Code RO 2029 i.__hardfp_tanf m_wm.l(tanf.o)
- 0x08007a24 0x08007a24 0x00000006 Code RO 2065 i.__mathlib_flt_infnan m_wm.l(funder.o)
- 0x08007a2a 0x08007a2a 0x00000002 PAD
- 0x08007a2c 0x08007a2c 0x00000010 Code RO 2067 i.__mathlib_flt_invalid m_wm.l(funder.o)
- 0x08007a3c 0x08007a3c 0x00000010 Code RO 2070 i.__mathlib_flt_underflow m_wm.l(funder.o)
- 0x08007a4c 0x08007a4c 0x00000154 Code RO 2078 i.__mathlib_rredf2 m_wm.l(rredf.o)
- 0x08007ba0 0x08007ba0 0x000002b4 Code RO 2004 x$fpl$ddiv fz_wm.l(ddiv.o)
- 0x08007e54 0x08007e54 0x0000005a Code RO 2007 x$fpl$dfixu fz_wm.l(dfixu.o)
- 0x08007eae 0x08007eae 0x00000026 Code RO 2011 x$fpl$dfltu fz_wm.l(dflt_clz.o)
- 0x08007ed4 0x08007ed4 0x0000009c Code RO 2055 x$fpl$dnaninf fz_wm.l(dnaninf.o)
- 0x08007f70 0x08007f70 0x0000000c Code RO 2057 x$fpl$dretinf fz_wm.l(dretinf.o)
- 0x08007f7c 0x08007f7c 0x00000060 Code RO 2019 x$fpl$ffltll fz_wm.l(ffltll_clz.o)
- 0x08007fdc 0x08007fdc 0x0000001a Code RO 2226 x$fpl$fpinit fz_wm.l(fpinit.o)
- 0x08007ff6 0x08007ff6 0x00000000 Code RO 2061 x$fpl$usenofp fz_wm.l(usenofp.o)
- 0x08007ff6 0x08007ff6 0x00000002 PAD
- 0x08007ff8 0x08007ff8 0x00000020 Data RO 2079 .constdata m_wm.l(rredf.o)
- 0x08008018 0x08008018 0x00000010 Data RO 807 .rodata.AHBPrescTable system_stm32f4xx.o
- 0x08008028 0x08008028 0x00000008 Data RO 808 .rodata.APBPrescTable system_stm32f4xx.o
- 0x08008030 0x08008030 0x00000024 Data RO 1938 .rodata.attr_init user_task.o
- 0x08008054 0x08008054 0x00000024 Data RO 1940 .rodata.attr_rc user_task.o
- 0x08008078 0x08008078 0x00000024 Data RO 1939 .rodata.attr_shoot_ctrl user_task.o
- 0x0800809c 0x0800809c 0x00000024 Data RO 38 .rodata.defaultTask_attributes freertos.o
- 0x080080c0 0x080080c0 0x0000000c Data RO 37 .rodata.str1.1 freertos.o
- 0x080080cc 0x080080cc 0x00000018 Data RO 1937 .rodata.str1.1 user_task.o
- 0x080080e4 0x080080e4 0x00000020 Data RO 2302 Region$$Table anon$$obj.o
+ 0x08006310 0x08006310 0x000000a4 Code RO 1121 .text.vTaskPriorityDisinheritAfterTimeout tasks.o
+ 0x080063b4 0x080063b4 0x000000a4 Code RO 1063 .text.vTaskStartScheduler tasks.o
+ 0x08006458 0x08006458 0x00000010 Code RO 1037 .text.vTaskSuspendAll tasks.o
+ 0x08006468 0x08006468 0x0000009a Code RO 1055 .text.vTaskSwitchContext tasks.o
+ 0x08006502 0x08006502 0x00000002 PAD
+ 0x08006504 0x08006504 0x00000112 Code RO 1461 .text.xPortStartScheduler port.o
+ 0x08006616 0x08006616 0x00000002 PAD
+ 0x08006618 0x08006618 0x0000002e Code RO 1477 .text.xPortSysTickHandler port.o
+ 0x08006646 0x08006646 0x00000002 PAD
+ 0x08006648 0x08006648 0x00000016 Code RO 882 .text.xQueueCreateMutex queue.o
+ 0x0800665e 0x0800665e 0x00000002 PAD
+ 0x08006660 0x08006660 0x00000022 Code RO 886 .text.xQueueCreateMutexStatic queue.o
+ 0x08006682 0x08006682 0x00000002 PAD
+ 0x08006684 0x08006684 0x00000046 Code RO 880 .text.xQueueGenericCreate queue.o
+ 0x080066ca 0x080066ca 0x00000002 PAD
+ 0x080066cc 0x080066cc 0x00000096 Code RO 876 .text.xQueueGenericCreateStatic queue.o
+ 0x08006762 0x08006762 0x00000002 PAD
+ 0x08006764 0x08006764 0x0000007e Code RO 874 .text.xQueueGenericReset queue.o
+ 0x080067e2 0x080067e2 0x00000002 PAD
+ 0x080067e4 0x080067e4 0x000001a2 Code RO 894 .text.xQueueGenericSend queue.o
+ 0x08006986 0x08006986 0x00000002 PAD
+ 0x08006988 0x08006988 0x000000ce Code RO 910 .text.xQueueGenericSendFromISR queue.o
+ 0x08006a56 0x08006a56 0x00000002 PAD
+ 0x08006a58 0x08006a58 0x00000042 Code RO 892 .text.xQueueGiveMutexRecursive queue.o
+ 0x08006a9a 0x08006a9a 0x00000002 PAD
+ 0x08006a9c 0x08006a9c 0x00000184 Code RO 914 .text.xQueueReceive queue.o
+ 0x08006c20 0x08006c20 0x000000aa Code RO 924 .text.xQueueReceiveFromISR queue.o
+ 0x08006cca 0x08006cca 0x00000002 PAD
+ 0x08006ccc 0x08006ccc 0x000001c6 Code RO 898 .text.xQueueSemaphoreTake queue.o
+ 0x08006e92 0x08006e92 0x00000002 PAD
+ 0x08006e94 0x08006e94 0x0000003c Code RO 896 .text.xQueueTakeMutexRecursive queue.o
+ 0x08006ed0 0x08006ed0 0x00000088 Code RO 1099 .text.xTaskCheckForTimeOut tasks.o
+ 0x08006f58 0x08006f58 0x00000066 Code RO 1027 .text.xTaskCreate tasks.o
+ 0x08006fbe 0x08006fbe 0x00000002 PAD
+ 0x08006fc0 0x08006fc0 0x00000076 Code RO 1021 .text.xTaskCreateStatic tasks.o
+ 0x08007036 0x08007036 0x00000002 PAD
+ 0x08007038 0x08007038 0x000000fc Code RO 1131 .text.xTaskGenericNotify tasks.o
+ 0x08007134 0x08007134 0x0000012a Code RO 1133 .text.xTaskGenericNotifyFromISR tasks.o
+ 0x0800725e 0x0800725e 0x00000002 PAD
+ 0x08007260 0x08007260 0x0000000c Code RO 1113 .text.xTaskGetCurrentTaskHandle tasks.o
+ 0x0800726c 0x0800726c 0x00000026 Code RO 1115 .text.xTaskGetSchedulerState tasks.o
+ 0x08007292 0x08007292 0x00000002 PAD
+ 0x08007294 0x08007294 0x0000000c Code RO 1071 .text.xTaskGetTickCount tasks.o
+ 0x080072a0 0x080072a0 0x00000012 Code RO 1073 .text.xTaskGetTickCountFromISR tasks.o
+ 0x080072b2 0x080072b2 0x00000002 PAD
+ 0x080072b4 0x080072b4 0x00000152 Code RO 1069 .text.xTaskIncrementTick tasks.o
+ 0x08007406 0x08007406 0x00000002 PAD
+ 0x08007408 0x08007408 0x00000090 Code RO 1129 .text.xTaskNotifyWait tasks.o
+ 0x08007498 0x08007498 0x00000092 Code RO 1119 .text.xTaskPriorityDisinherit tasks.o
+ 0x0800752a 0x0800752a 0x00000002 PAD
+ 0x0800752c 0x0800752c 0x00000092 Code RO 1117 .text.xTaskPriorityInherit tasks.o
+ 0x080075be 0x080075be 0x00000002 PAD
+ 0x080075c0 0x080075c0 0x0000008e Code RO 1091 .text.xTaskRemoveFromEventList tasks.o
+ 0x0800764e 0x0800764e 0x00000002 PAD
+ 0x08007650 0x08007650 0x00000114 Code RO 1041 .text.xTaskResumeAll tasks.o
+ 0x08007764 0x08007764 0x00000074 Code RO 1174 .text.xTimerCreateTimerTask timers.o
+ 0x080077d8 0x080077d8 0x00000068 Code RO 1186 .text.xTimerGenericCommand timers.o
+ 0x08007840 0x08007840 0x00000026 Code RO 2060 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o)
+ 0x08007866 0x08007866 0x00000002 PAD
+ 0x08007868 0x08007868 0x0000017c Code RO 2027 i.__hardfp_tanf m_wm.l(tanf.o)
+ 0x080079e4 0x080079e4 0x00000006 Code RO 2063 i.__mathlib_flt_infnan m_wm.l(funder.o)
+ 0x080079ea 0x080079ea 0x00000002 PAD
+ 0x080079ec 0x080079ec 0x00000010 Code RO 2065 i.__mathlib_flt_invalid m_wm.l(funder.o)
+ 0x080079fc 0x080079fc 0x00000010 Code RO 2068 i.__mathlib_flt_underflow m_wm.l(funder.o)
+ 0x08007a0c 0x08007a0c 0x00000154 Code RO 2076 i.__mathlib_rredf2 m_wm.l(rredf.o)
+ 0x08007b60 0x08007b60 0x000002b4 Code RO 2002 x$fpl$ddiv fz_wm.l(ddiv.o)
+ 0x08007e14 0x08007e14 0x0000005a Code RO 2005 x$fpl$dfixu fz_wm.l(dfixu.o)
+ 0x08007e6e 0x08007e6e 0x00000026 Code RO 2009 x$fpl$dfltu fz_wm.l(dflt_clz.o)
+ 0x08007e94 0x08007e94 0x0000009c Code RO 2053 x$fpl$dnaninf fz_wm.l(dnaninf.o)
+ 0x08007f30 0x08007f30 0x0000000c Code RO 2055 x$fpl$dretinf fz_wm.l(dretinf.o)
+ 0x08007f3c 0x08007f3c 0x00000060 Code RO 2017 x$fpl$ffltll fz_wm.l(ffltll_clz.o)
+ 0x08007f9c 0x08007f9c 0x0000001a Code RO 2224 x$fpl$fpinit fz_wm.l(fpinit.o)
+ 0x08007fb6 0x08007fb6 0x00000000 Code RO 2059 x$fpl$usenofp fz_wm.l(usenofp.o)
+ 0x08007fb6 0x08007fb6 0x00000002 PAD
+ 0x08007fb8 0x08007fb8 0x00000020 Data RO 2077 .constdata m_wm.l(rredf.o)
+ 0x08007fd8 0x08007fd8 0x00000010 Data RO 807 .rodata.AHBPrescTable system_stm32f4xx.o
+ 0x08007fe8 0x08007fe8 0x00000008 Data RO 808 .rodata.APBPrescTable system_stm32f4xx.o
+ 0x08007ff0 0x08007ff0 0x00000024 Data RO 1936 .rodata.attr_init user_task.o
+ 0x08008014 0x08008014 0x00000024 Data RO 1938 .rodata.attr_rc user_task.o
+ 0x08008038 0x08008038 0x00000024 Data RO 1937 .rodata.attr_shoot_ctrl user_task.o
+ 0x0800805c 0x0800805c 0x00000024 Data RO 38 .rodata.defaultTask_attributes freertos.o
+ 0x08008080 0x08008080 0x0000000c Data RO 37 .rodata.str1.1 freertos.o
+ 0x0800808c 0x0800808c 0x00000018 Data RO 1935 .rodata.str1.1 user_task.o
+ 0x080080a4 0x080080a4 0x00000020 Data RO 2300 Region$$Table anon$$obj.o
- Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008108, Size: 0x00005e18, Max: 0x0001c000, ABSOLUTE)
+ Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080080c8, Size: 0x00005dd8, Max: 0x0001c000, ABSOLUTE)
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
- 0x20000000 0x08008108 0x00000004 Data RW 806 .data.SystemCoreClock system_stm32f4xx.o
- 0x20000004 0x0800810c 0x00000104 Data RW 1893 .data.robot_config config.o
- 0x20000108 0x08008210 0x00000001 Data RW 634 .data.uwTickFreq stm32f4xx_hal.o
- 0x20000109 0x08008211 0x00000003 PAD
- 0x2000010c 0x08008214 0x00000004 Data RW 633 .data.uwTickPrio stm32f4xx_hal.o
- 0x20000110 0x08008218 0x00000004 Data RW 1483 .data.uxCriticalNesting port.o
- 0x20000114 0x0800821c 0x00000004 PAD
- 0x20000118 - 0x00000060 Zero RW 2149 .bss c_w.l(libspace.o)
+ 0x20000000 0x080080c8 0x00000004 Data RW 806 .data.SystemCoreClock system_stm32f4xx.o
+ 0x20000004 0x080080cc 0x00000108 Data RW 1893 .data.robot_config config.o
+ 0x2000010c 0x080081d4 0x00000001 Data RW 634 .data.uwTickFreq stm32f4xx_hal.o
+ 0x2000010d 0x080081d5 0x00000003 PAD
+ 0x20000110 0x080081d8 0x00000004 Data RW 633 .data.uwTickPrio stm32f4xx_hal.o
+ 0x20000114 0x080081dc 0x00000004 Data RW 1483 .data.uxCriticalNesting port.o
+ 0x20000118 - 0x00000060 Zero RW 2147 .bss c_w.l(libspace.o)
0x20000178 - 0x00000068 Zero RW 1568 .bss.CAN_Callback can_1.o
0x200001e0 - 0x00000004 Zero RW 57 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o
0x200001e4 - 0x00000004 Zero RW 1409 .bss.KernelState cmsis_os2.o
0x200001e8 - 0x00000004 Zero RW 1879 .bss.Shoot_RunningFSM.pos shoot_control.o
0x200001ec - 0x00000048 Zero RW 1638 .bss.UART_Callback uart.o
- 0x20000234 - 0x00000008 Zero RW 1926 .bss.a shoot_ctrl.o
- 0x2000023c - 0x0000002c Zero RW 1913 .bss.at9s rc.o
- 0x20000268 - 0x0000003c Zero RW 1927 .bss.b shoot_ctrl.o
- 0x200002a4 - 0x00000008 Zero RW 1723 .bss.can_managers motor_rm.o
- 0x200002ac - 0x00000019 Zero RW 1914 .bss.cmd_buffer rc.o
- 0x200002c5 0x0800821c 0x00000003 PAD
- 0x200002c8 - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o
- 0x200002cc - 0x00000028 Zero RW 55 .bss.hcan1 can.o
- 0x200002f4 - 0x00000028 Zero RW 56 .bss.hcan2 can.o
- 0x2000031c - 0x00000060 Zero RW 85 .bss.hdma_usart3_rx usart.o
- 0x2000037c - 0x00000060 Zero RW 86 .bss.hdma_usart6_tx usart.o
- 0x200003dc - 0x00000048 Zero RW 83 .bss.huart3 usart.o
- 0x20000424 - 0x00000048 Zero RW 84 .bss.huart6 usart.o
- 0x2000046c - 0x00000004 Zero RW 1570 .bss.id_parser can_1.o
- 0x20000470 - 0x00000001 Zero RW 1569 .bss.inited can_1.o
- 0x20000471 - 0x00000001 Zero RW 1765 .bss.inited at9s_pro.o
- 0x20000472 - 0x00000001 Zero RW 1880 .bss.last_firecmd shoot_control.o
- 0x20000473 - 0x000000a0 Zero RW 1236 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o
- 0x20000513 0x0800821c 0x00000001 PAD
- 0x20000514 - 0x00000050 Zero RW 1235 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o
- 0x20000564 - 0x00000004 Zero RW 1232 .bss.prvSampleTimeNow.xLastTime timers.o
- 0x20000568 - 0x00000004 Zero RW 1145 .bss.pxCurrentTCB tasks.o
- 0x2000056c - 0x00000004 Zero RW 1230 .bss.pxCurrentTimerList timers.o
- 0x20000570 - 0x00000004 Zero RW 1153 .bss.pxDelayedTaskList tasks.o
- 0x20000574 - 0x00000004 Zero RW 1439 .bss.pxEnd heap_4.o
- 0x20000578 - 0x00000004 Zero RW 1154 .bss.pxOverflowDelayedTaskList tasks.o
- 0x2000057c - 0x00000004 Zero RW 1231 .bss.pxOverflowTimerList timers.o
- 0x20000580 - 0x00000460 Zero RW 1156 .bss.pxReadyTasksLists tasks.o
- 0x200009e0 - 0x00000004 Zero RW 1573 .bss.queue_list can_1.o
- 0x200009e4 - 0x00000004 Zero RW 1571 .bss.queue_mutex can_1.o
- 0x200009e8 - 0x00000018 Zero RW 1767 .bss.r at9s_pro.o
- 0x20000a00 - 0x00000028 Zero RW 1915 .bss.rc_cmd rc.o
- 0x20000a28 - 0x00000198 Zero RW 1925 .bss.shoot shoot_ctrl.o
- 0x20000bc0 - 0x00000003 Zero RW 1929 .bss.shoot_cmd shoot_ctrl.o
- 0x20000bc3 0x0800821c 0x00000001 PAD
- 0x20000bc4 - 0x00000028 Zero RW 1928 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o
- 0x20000bec - 0x00000034 Zero RW 1941 .bss.task_runtime user_task.o
- 0x20000c20 - 0x00000004 Zero RW 1766 .bss.thread_alert at9s_pro.o
- 0x20000c24 - 0x00000810 Zero RW 1572 .bss.tx_queues can_1.o
- 0x20001434 - 0x00003c00 Zero RW 1446 .bss.ucHeap heap_4.o
- 0x20005034 - 0x00000001 Zero RW 1481 .bss.ucMaxSysCallPriority port.o
- 0x20005035 0x0800821c 0x00000003 PAD
- 0x20005038 - 0x00000004 Zero RW 1482 .bss.ulMaxPRIGROUPValue port.o
- 0x2000503c - 0x00000004 Zero RW 635 .bss.uwTick stm32f4xx_hal.o
- 0x20005040 - 0x00000004 Zero RW 1149 .bss.uxCurrentNumberOfTasks tasks.o
- 0x20005044 - 0x00000004 Zero RW 1148 .bss.uxDeletedTasksWaitingCleanUp tasks.o
- 0x20005048 - 0x00000004 Zero RW 1151 .bss.uxSchedulerSuspended tasks.o
- 0x2000504c - 0x00000004 Zero RW 1146 .bss.uxTaskNumber tasks.o
- 0x20005050 - 0x00000004 Zero RW 1157 .bss.uxTopReadyPriority tasks.o
- 0x20005054 - 0x00000200 Zero RW 1412 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o
- 0x20005254 - 0x0000005c Zero RW 1411 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o
- 0x200052b0 - 0x00000400 Zero RW 1414 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o
- 0x200056b0 - 0x0000005c Zero RW 1413 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o
- 0x2000570c - 0x00000014 Zero RW 1233 .bss.xActiveTimerList1 timers.o
- 0x20005720 - 0x00000014 Zero RW 1234 .bss.xActiveTimerList2 timers.o
- 0x20005734 - 0x00000001 Zero RW 1440 .bss.xBlockAllocatedBit heap_4.o
- 0x20005735 0x0800821c 0x00000003 PAD
- 0x20005738 - 0x00000014 Zero RW 1164 .bss.xDelayedTaskList1 tasks.o
- 0x2000574c - 0x00000014 Zero RW 1165 .bss.xDelayedTaskList2 tasks.o
- 0x20005760 - 0x00000004 Zero RW 1441 .bss.xFreeBytesRemaining heap_4.o
- 0x20005764 - 0x00000004 Zero RW 1159 .bss.xIdleTaskHandle tasks.o
- 0x20005768 - 0x00000004 Zero RW 1443 .bss.xMinimumEverFreeBytesRemaining heap_4.o
- 0x2000576c - 0x00000004 Zero RW 1160 .bss.xNextTaskUnblockTime tasks.o
- 0x20005770 - 0x00000004 Zero RW 1163 .bss.xNumOfOverflows tasks.o
- 0x20005774 - 0x00000004 Zero RW 1444 .bss.xNumberOfSuccessfulAllocations heap_4.o
- 0x20005778 - 0x00000004 Zero RW 1445 .bss.xNumberOfSuccessfulFrees heap_4.o
- 0x2000577c - 0x00000004 Zero RW 1162 .bss.xPendedTicks tasks.o
- 0x20005780 - 0x00000014 Zero RW 1158 .bss.xPendingReadyList tasks.o
- 0x20005794 - 0x00000040 Zero RW 954 .bss.xQueueRegistry queue.o
- 0x200057d4 - 0x00000004 Zero RW 1150 .bss.xSchedulerRunning tasks.o
- 0x200057d8 - 0x00000008 Zero RW 1442 .bss.xStart heap_4.o
- 0x200057e0 - 0x00000014 Zero RW 1155 .bss.xSuspendedTaskList tasks.o
- 0x200057f4 - 0x00000014 Zero RW 1147 .bss.xTasksWaitingTermination tasks.o
- 0x20005808 - 0x00000004 Zero RW 1152 .bss.xTickCount tasks.o
- 0x2000580c - 0x00000004 Zero RW 1228 .bss.xTimerQueue timers.o
- 0x20005810 - 0x00000004 Zero RW 1229 .bss.xTimerTaskHandle timers.o
- 0x20005814 - 0x00000004 Zero RW 1161 .bss.xYieldPending tasks.o
- 0x20005818 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o
- 0x20005a18 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o
+ 0x20000234 - 0x0000002c Zero RW 1913 .bss.at9s rc.o
+ 0x20000260 - 0x00000008 Zero RW 1723 .bss.can_managers motor_rm.o
+ 0x20000268 - 0x00000019 Zero RW 1914 .bss.cmd_buffer rc.o
+ 0x20000281 0x080081e0 0x00000003 PAD
+ 0x20000284 - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o
+ 0x20000288 - 0x00000028 Zero RW 55 .bss.hcan1 can.o
+ 0x200002b0 - 0x00000028 Zero RW 56 .bss.hcan2 can.o
+ 0x200002d8 - 0x00000060 Zero RW 85 .bss.hdma_usart3_rx usart.o
+ 0x20000338 - 0x00000060 Zero RW 86 .bss.hdma_usart6_tx usart.o
+ 0x20000398 - 0x00000048 Zero RW 83 .bss.huart3 usart.o
+ 0x200003e0 - 0x00000048 Zero RW 84 .bss.huart6 usart.o
+ 0x20000428 - 0x00000004 Zero RW 1570 .bss.id_parser can_1.o
+ 0x2000042c - 0x00000001 Zero RW 1569 .bss.inited can_1.o
+ 0x2000042d - 0x00000001 Zero RW 1765 .bss.inited at9s_pro.o
+ 0x2000042e - 0x00000001 Zero RW 1880 .bss.last_firecmd shoot_control.o
+ 0x2000042f - 0x000000a0 Zero RW 1236 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o
+ 0x200004cf 0x080081e0 0x00000001 PAD
+ 0x200004d0 - 0x00000050 Zero RW 1235 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o
+ 0x20000520 - 0x00000004 Zero RW 1232 .bss.prvSampleTimeNow.xLastTime timers.o
+ 0x20000524 - 0x00000004 Zero RW 1145 .bss.pxCurrentTCB tasks.o
+ 0x20000528 - 0x00000004 Zero RW 1230 .bss.pxCurrentTimerList timers.o
+ 0x2000052c - 0x00000004 Zero RW 1153 .bss.pxDelayedTaskList tasks.o
+ 0x20000530 - 0x00000004 Zero RW 1439 .bss.pxEnd heap_4.o
+ 0x20000534 - 0x00000004 Zero RW 1154 .bss.pxOverflowDelayedTaskList tasks.o
+ 0x20000538 - 0x00000004 Zero RW 1231 .bss.pxOverflowTimerList timers.o
+ 0x2000053c - 0x00000460 Zero RW 1156 .bss.pxReadyTasksLists tasks.o
+ 0x2000099c - 0x00000004 Zero RW 1573 .bss.queue_list can_1.o
+ 0x200009a0 - 0x00000004 Zero RW 1571 .bss.queue_mutex can_1.o
+ 0x200009a4 - 0x00000018 Zero RW 1767 .bss.r at9s_pro.o
+ 0x200009bc - 0x00000028 Zero RW 1915 .bss.rc_cmd rc.o
+ 0x200009e4 0x080081e0 0x00000004 PAD
+ 0x200009e8 - 0x00000198 Zero RW 1925 .bss.shoot shoot_ctrl.o
+ 0x20000b80 - 0x00000004 Zero RW 1927 .bss.shoot_cmd shoot_ctrl.o
+ 0x20000b84 - 0x00000028 Zero RW 1926 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o
+ 0x20000bac - 0x00000034 Zero RW 1939 .bss.task_runtime user_task.o
+ 0x20000be0 - 0x00000004 Zero RW 1766 .bss.thread_alert at9s_pro.o
+ 0x20000be4 - 0x00000810 Zero RW 1572 .bss.tx_queues can_1.o
+ 0x200013f4 - 0x00003c00 Zero RW 1446 .bss.ucHeap heap_4.o
+ 0x20004ff4 - 0x00000001 Zero RW 1481 .bss.ucMaxSysCallPriority port.o
+ 0x20004ff5 0x080081e0 0x00000003 PAD
+ 0x20004ff8 - 0x00000004 Zero RW 1482 .bss.ulMaxPRIGROUPValue port.o
+ 0x20004ffc - 0x00000004 Zero RW 635 .bss.uwTick stm32f4xx_hal.o
+ 0x20005000 - 0x00000004 Zero RW 1149 .bss.uxCurrentNumberOfTasks tasks.o
+ 0x20005004 - 0x00000004 Zero RW 1148 .bss.uxDeletedTasksWaitingCleanUp tasks.o
+ 0x20005008 - 0x00000004 Zero RW 1151 .bss.uxSchedulerSuspended tasks.o
+ 0x2000500c - 0x00000004 Zero RW 1146 .bss.uxTaskNumber tasks.o
+ 0x20005010 - 0x00000004 Zero RW 1157 .bss.uxTopReadyPriority tasks.o
+ 0x20005014 - 0x00000200 Zero RW 1412 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o
+ 0x20005214 - 0x0000005c Zero RW 1411 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o
+ 0x20005270 - 0x00000400 Zero RW 1414 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o
+ 0x20005670 - 0x0000005c Zero RW 1413 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o
+ 0x200056cc - 0x00000014 Zero RW 1233 .bss.xActiveTimerList1 timers.o
+ 0x200056e0 - 0x00000014 Zero RW 1234 .bss.xActiveTimerList2 timers.o
+ 0x200056f4 - 0x00000001 Zero RW 1440 .bss.xBlockAllocatedBit heap_4.o
+ 0x200056f5 0x080081e0 0x00000003 PAD
+ 0x200056f8 - 0x00000014 Zero RW 1164 .bss.xDelayedTaskList1 tasks.o
+ 0x2000570c - 0x00000014 Zero RW 1165 .bss.xDelayedTaskList2 tasks.o
+ 0x20005720 - 0x00000004 Zero RW 1441 .bss.xFreeBytesRemaining heap_4.o
+ 0x20005724 - 0x00000004 Zero RW 1159 .bss.xIdleTaskHandle tasks.o
+ 0x20005728 - 0x00000004 Zero RW 1443 .bss.xMinimumEverFreeBytesRemaining heap_4.o
+ 0x2000572c - 0x00000004 Zero RW 1160 .bss.xNextTaskUnblockTime tasks.o
+ 0x20005730 - 0x00000004 Zero RW 1163 .bss.xNumOfOverflows tasks.o
+ 0x20005734 - 0x00000004 Zero RW 1444 .bss.xNumberOfSuccessfulAllocations heap_4.o
+ 0x20005738 - 0x00000004 Zero RW 1445 .bss.xNumberOfSuccessfulFrees heap_4.o
+ 0x2000573c - 0x00000004 Zero RW 1162 .bss.xPendedTicks tasks.o
+ 0x20005740 - 0x00000014 Zero RW 1158 .bss.xPendingReadyList tasks.o
+ 0x20005754 - 0x00000040 Zero RW 954 .bss.xQueueRegistry queue.o
+ 0x20005794 - 0x00000004 Zero RW 1150 .bss.xSchedulerRunning tasks.o
+ 0x20005798 - 0x00000008 Zero RW 1442 .bss.xStart heap_4.o
+ 0x200057a0 - 0x00000014 Zero RW 1155 .bss.xSuspendedTaskList tasks.o
+ 0x200057b4 - 0x00000014 Zero RW 1147 .bss.xTasksWaitingTermination tasks.o
+ 0x200057c8 - 0x00000004 Zero RW 1152 .bss.xTickCount tasks.o
+ 0x200057cc - 0x00000004 Zero RW 1228 .bss.xTimerQueue timers.o
+ 0x200057d0 - 0x00000004 Zero RW 1229 .bss.xTimerTaskHandle timers.o
+ 0x200057d4 - 0x00000004 Zero RW 1161 .bss.xYieldPending tasks.o
+ 0x200057d8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o
+ 0x200059d8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o
- Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008220, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
+ Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x080081e0, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
**** No section assigned to this execution region ****
@@ -5517,7 +5511,7 @@ Image component sizes
438 0 0 0 84 6388 can.o
2364 4 0 0 2181 17056 can_1.o
1672 0 0 0 1724 42592 cmsis_os2.o
- 200 0 0 260 0 2600 config.o
+ 164 0 0 264 0 2701 config.o
90 0 0 0 0 3293 dma.o
410 20 0 0 0 4100 filter.o
70 0 48 0 4 2523 freertos.o
@@ -5532,8 +5526,8 @@ 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
- 3242 60 0 0 5 10950 shoot_control.o
- 260 12 0 0 519 5758 shoot_ctrl.o
+ 3272 64 0 0 5 11086 shoot_control.o
+ 164 12 0 0 452 5610 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
@@ -5550,13 +5544,13 @@ Image component sizes
1174 26 0 0 300 14796 timers.o
226 0 0 0 72 7000 uart.o
464 0 0 0 336 5297 usart.o
- 152 0 0 0 0 2608 user_math.o
+ 206 0 0 0 0 2855 user_math.o
0 0 132 0 52 2872 user_task.o
----------------------------------------------------------------------
- 29572 298 628 276 23716 303896 Object Totals
+ 29508 302 628 280 23648 304232 Object Totals
0 0 32 0 0 0 (incl. Generated)
- 280 12 0 3 15 0 (incl. Padding)
+ 264 12 0 3 14 0 (incl. Padding)
----------------------------------------------------------------------
@@ -5624,15 +5618,15 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 32368 560 660 276 23812 304680 Grand Totals
- 32368 560 660 276 23812 304680 ELF Image Totals
- 32368 560 660 276 0 0 ROM Totals
+ 32304 564 660 280 23744 305016 Grand Totals
+ 32304 564 660 280 23744 305016 ELF Image Totals
+ 32304 564 660 280 0 0 ROM Totals
==============================================================================
- Total RO Size (Code + RO Data) 33028 ( 32.25kB)
- Total RW Size (RW Data + ZI Data) 24088 ( 23.52kB)
- Total ROM Size (Code + RO Data + RW Data) 33304 ( 32.52kB)
+ Total RO Size (Code + RO Data) 32964 ( 32.19kB)
+ Total RW Size (RW Data + ZI Data) 24024 ( 23.46kB)
+ Total ROM Size (Code + RO Data + RW Data) 33244 ( 32.46kB)
==============================================================================
diff --git a/MDK-ARM/shoot/shoot_control.d b/MDK-ARM/shoot/shoot_control.d
index 249e98b..dca072f 100644
--- a/MDK-ARM/shoot/shoot_control.d
+++ b/MDK-ARM/shoot/shoot_control.d
@@ -1,4 +1,5 @@
shoot/shoot_control.o: ..\User\module\shoot_control.c \
+ D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h \
..\User\module\shoot_control.h ..\Core\Inc\main.h \
..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
..\Core\Inc\stm32f4xx_hal_conf.h \
@@ -48,4 +49,4 @@ shoot/shoot_control.o: ..\User\module\shoot_control.c \
..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
- D:\cangming\ARM\ARMCLANG\Bin\..\include\string.h ..\User\bsp\time.h
+ ..\User\bsp\time.h
diff --git a/MDK-ARM/shoot/shoot_control.o b/MDK-ARM/shoot/shoot_control.o
index f32eb64..cb09ee0 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 1fbdb29..fb2f5f1 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 6e57a9c..66672aa 100644
--- a/MDK-ARM/shoot/shoot_shoot.dep
+++ b/MDK-ARM/shoot/shoot_shoot.dep
@@ -1181,7 +1181,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
F (..\User\device\motor_rm.h)(0x68DFDF0A)()
@@ -1230,7 +1230,7 @@ I (..\User\device\AT9S_Pro.h)(0x68CE6AC0)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@@ -1268,15 +1268,15 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (..\User\bsp\bsp.h)(0x68DFDF27)
F (..\User\device\AT9S_Pro.h)(0x68CE6AC0)()
-F (..\User\component\user_math.c)(0x68E881BF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User
-I./RTE/_shoot
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o shoot/user_math.o -MD)
-I (..\User\component\user_math.h)(0x68E86971)
+F (..\User\component\user_math.c)(0x68E9125E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User
-I./RTE/_shoot
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o shoot/user_math.o -MD)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\component\user_math.h)(0x68E86971)()
+F (..\User\component\user_math.h)(0x68E9125E)()
F (..\User\component\at9s_pro_cmd.c)(0x68E869ED)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User
-I./RTE/_shoot
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o shoot/at9s_pro_cmd.o -MD)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@@ -1284,7 +1284,7 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
@@ -1292,7 +1292,7 @@ I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
F (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)()
F (..\User\component\filter.c)(0x68DFDF27)(-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/filter.o -MD)
I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@@ -1303,14 +1303,15 @@ F (..\User\component\pid.c)(0x68E86971)(-xc -std=c99 --target=arm-arm-none-eabi
I (..\User\component\pid.h)(0x68E86971)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
F (..\User\component\pid.h)(0x68E86971)()
-F (..\User\module\shoot_control.c)(0x68E8858C)(-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)(0x68E882B7)
+F (..\User\module\shoot_control.c)(0x68E9116B)(-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 (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
+I (..\User\module\shoot_control.h)(0x68E9116B)
I (..\Core\Inc\main.h)(0x68D1384A)
I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A)
@@ -1344,7 +1345,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68E86971)
I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\motor_rm.h)(0x68DFDF0A)
@@ -1365,15 +1366,14 @@ 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 (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
I (..\User\bsp\time.h)(0x68DFDF27)
-F (..\User\module\shoot_control.h)(0x68E882B7)()
-F (..\User\module\config.c)(0x68E885C4)(-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)(0x68E9116B)()
+F (..\User\module\config.c)(0x68E9116B)(-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)(0x68E869ED)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (..\User\component\pid.h)(0x68E86971)
I (..\User\component\filter.h)(0x68DFDF27)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
@@ -1424,7 +1424,7 @@ 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)(0x68E882B7)
+I (..\User\module\shoot_control.h)(0x68E9116B)
F (..\User\module\config.h)(0x68E869ED)()
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)
@@ -1443,7 +1443,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
@@ -1462,13 +1462,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
-F (..\User\task\shoot_ctrl.c)(0x68E8725A)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User
-I./RTE/_shoot
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o shoot/shoot_ctrl.o -MD)
+F (..\User\task\shoot_ctrl.c)(0x68E90844)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User
-I./RTE/_shoot
-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o shoot/shoot_ctrl.o -MD)
I (..\User\task\user_task.h)(0x68D3E4B9)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -1485,11 +1485,11 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6)
I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\device\at9s_pro.h)(0x68CE6AC0)
-I (..\User\component\user_math.h)(0x68E86971)
+I (..\User\component\user_math.h)(0x68E9125E)
I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (..\User\device\device.h)(0x68E86971)
-I (..\User\module\shoot_control.h)(0x68E882B7)
+I (..\User\module\shoot_control.h)(0x68E9116B)
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/MDK-ARM/shoot/user_math.o b/MDK-ARM/shoot/user_math.o
index edefa76..a62083a 100644
Binary files a/MDK-ARM/shoot/user_math.o and b/MDK-ARM/shoot/user_math.o differ
diff --git a/Ozone/shoot.jdebug.user b/Ozone/shoot.jdebug.user
index 8f6387c..b88ae6c 100644
--- a/Ozone/shoot.jdebug.user
+++ b/Ozone/shoot.jdebug.user
@@ -4,30 +4,40 @@
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED
Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:120:26, State=BP_STATE_DISABLED
-GraphedExpression="dpos", Color=#e56a6f, Show=0
+GraphedExpression="((((shoot).pid).trig).last).out", Color=#e56a6f, Show=0
+GraphedExpression="((((shoot).pid).trig_omg).last).out", Color=#35792b, Show=0
+GraphedExpression="((shoot).target_variable).target_angle", Color=#769dda, Show=0
+GraphedExpression="((shoot).feedback).trig_agl", Color=#b14f0d, Show=0
+GraphedExpression="((((shoot).feedback).trig).feedback).rotor_abs_angle", Color=#b3c38e, Show=0
+GraphedExpression="((((shoot).feedback).trig).feedback).torque_current", Color=#ab7b05, Show=0
+OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=231
+OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=83
+OpenDocument="cmsis_os2.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=885
+OpenDocument="test.cpp", FilePath="D:/CUBEMX/shoot/User/module/test.cpp", Line=0
+OpenDocument="stm32f4xx_it.c", FilePath="D:/CUBEMX/shoot/Core/Src/stm32f4xx_it.c", Line=82
OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=46
OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161
OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3637
OpenDocument="config.h", FilePath="D:/CUBEMX/shoot/User/module/config.h", Line=0
OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0
-OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=14
-OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=427
-OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=132
+OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=16
+OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=436
+OpenDocument="pid.c", FilePath="D:/CUBEMX/shoot/User/component/pid.c", Line=111
OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=108
OpenDocument="queue.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=2062
OpenDocument="filter.c", FilePath="D:/CUBEMX/shoot/User/component/filter.c", Line=49
OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402
OpenDocument="rc.c", FilePath="D:/CUBEMX/shoot/User/task/rc.c", Line=0
OpenDocument="motor.h", FilePath="D:/CUBEMX/shoot/User/device/motor.h", Line=21
-OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/shoot/User/device/motor_rm.c", Line=148
+OpenDocument="pid.h", FilePath="D:/CUBEMX/shoot/User/component/pid.h", Line=0
OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=675, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
+OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=657, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=243, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=675, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=261, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=657, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=301, h=919, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="1094;240", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
+OpenWindow="Timeline", DockArea=FLOATING, x=997, y=976, w=1552, h=555, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="974;0", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="70;20", CodeGraphLegendShown=0, CodeGraphLegendPosition="80;20"
OpenWindow="Console", DockArea=BOTTOM, x=0, y=0, w=2560, h=536, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;144;482]
@@ -37,8 +47,8 @@ TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Na
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;734]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[250;282;91;100]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" dpos"], ColWidths=[100;100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;1706]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((shoot).pid).trig).last).out";" ((((shoot).pid).trig_omg).last).out";" ((shoot).target_variable).target_angle";" ((shoot).feedback).trig_agl";" ((((shoot).feedback).trig).feedback).rotor_abs_angle";" ((((shoot).feedback).trig).feedback).torque_current"], ColWidths=[100;100;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=[118;100;144;100;114;134;110;126;1614]
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_cmd", RefreshRate=5, Window=Watched Data 1
@@ -47,4 +57,5 @@ WatchedExpression="pos", RefreshRate=5, Window=Watched Data 1
WatchedExpression="feedback_current", Window=Watched Data 1
WatchedExpression="dpos", Window=Watched Data 1
WatchedExpression="robot_config", RefreshRate=5, Window=Watched Data 1
-WatchedExpression="a", RefreshRate=1, Window=Watched Data 1
\ No newline at end of file
+WatchedExpression="shoot.param->fric_motor_param[1]", Window=Watched Data 1
+WatchedExpression="shoot.param->fric_motor_param[2]", Window=Watched Data 1
\ No newline at end of file
diff --git a/User/component/user_math.c b/User/component/user_math.c
index 706763a..2783a6d 100644
--- a/User/component/user_math.c
+++ b/User/component/user_math.c
@@ -119,6 +119,20 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
return 60.0f * (float)bullet_speed / (M_2PI * fric_radius);
}
+/**
+ * @brief 按比例缩放
+ *
+ * @param a 传入值1
+ * @param b 传入值2
+ */
+inline void ScaleSumTo1(float *a, float *b) {
+ float sum = *a + *b;
+ if (sum > 1.0f) {
+ float scale = 1.0f / sum;
+ *a *= scale;
+ *b *= scale;
+ }
+}
// /**
// * @brief 断言失败处理
// *
diff --git a/User/component/user_math.h b/User/component/user_math.h
index d2a9ed1..6df07c3 100644
--- a/User/component/user_math.h
+++ b/User/component/user_math.h
@@ -120,6 +120,13 @@ void CircleReverse(float *origin);
*/
float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
+/**
+ * @brief 按比例缩放
+ *
+ * @param a 传入值1
+ * @param b 传入值2
+ */
+void ScaleSumTo1(float *a, float *b);
#ifdef __cplusplus
}
#endif
diff --git a/User/module/config.c b/User/module/config.c
index a8418c3..308e604 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -19,11 +19,12 @@ Config_RobotParam_t robot_config = {
.shoot_param = {
+ .proj=SHOOT_PROJECTILE_17MM,
.fric_num=6,
.extra_deceleration_ratio=1.0f,
.num_trig_tooth=8,
.shot_freq=20.0f,
- .shot_burst_num=1,
+ .shot_burst_num=5,
.num_multilevel=2,
.jam_enable=true,
.jam_threshold=120.0f,
@@ -32,7 +33,7 @@ Config_RobotParam_t robot_config = {
.can = BSP_CAN_2,
.id = 0x207,
.module = MOTOR_M2006,
- .reverse = true,
+ .reverse = false,
.gear=true,
},
.fric_follow = {
@@ -76,22 +77,22 @@ Config_RobotParam_t robot_config = {
.range=-1.0f,
},
.trig_3508 = {
- .k=0.0f,
- .p=0.0f,
- .i=0.0f,
- .d=0.00f,
- .i_limit=0.0f,
- .out_limit=0.0f,
+ .k=0.5f,
+ .p=1.8f,
+ .i=0.3f,
+ .d=0.1f,
+ .i_limit=0.15f,
+ .out_limit=1.0f,
.d_cutoff_freq=-1.0f,
.range=M_2PI,
},
.trig_omg_3508 = {
- .k=0.0f,
- .p=0.0f,
+ .k=1.0f,
+ .p=1.0f,
.i=0.0f,
.d=0.0f,
.i_limit=0.0f,
- .out_limit=0.0f,
+ .out_limit=1.0f,
.d_cutoff_freq=-1.0f,
.range=-1.0f,
},
@@ -118,40 +119,40 @@ Config_RobotParam_t* Config_GetRobotParam(void) {
}
/**
- * @brief 初始化机器人配置参数
+ * @brief 初始化发射部分配置参数
* @return 初始化结果
*/
int8_t Config_ShootInit(void) {
int fric_num = robot_config.shoot_param.fric_num;
int num_multilevel = robot_config.shoot_param.num_multilevel;
-
robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t));
if (robot_config.shoot_param.fric_motor_param == NULL) {
+ BSP_Free(robot_config.shoot_param.fric_motor_param);
return -1; // 内存分配失败
}
robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float));
if (robot_config.shoot_param.ratio_multilevel == NULL) {
+ BSP_Free(robot_config.shoot_param.ratio_multilevel);
return -1; // 内存分配失败
}
- // 初始化摩擦轮参数
+ /* 初始化摩擦轮电机参数 */
for (uint8_t i = 0; i < fric_num; i++) {
robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){
.can = BSP_CAN_2,
.id = 0x201 + i,
.module = MOTOR_M3508,
- .reverse = (i == 0||1) ? true : false,
+ /*设置电机反装；example***********************
+ .reverse = (i == 0||1||3||5) ? true : false,*/
+ .reverse = (i == 0) ? true : false,
.gear = false,
};
}
+ /*规定电机属于哪级发射；example************************
+ robot_config.shoot_param.fric_motor_param[0].level=1;*/
robot_config.shoot_param.fric_motor_param[0].level=1;
robot_config.shoot_param.fric_motor_param[1].level=1;
- if(num_multilevel==1){
- robot_config.shoot_param.ratio_multilevel[0]=1.0f;
- }
- else if(num_multilevel>1){
- robot_config.shoot_param.ratio_multilevel[0]=1.0f;
- robot_config.shoot_param.ratio_multilevel[1]=1.1f;
- }
-
+ /*规定各级摩擦轮转速比；example*********************
+ robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/
+ robot_config.shoot_param.ratio_multilevel[0]=1.0f;
return SHOOT_OK;
}
\ No newline at end of file
diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c
index 4126327..b3de6a6 100644
--- a/User/module/shoot_control.c
+++ b/User/module/shoot_control.c
@@ -1,31 +1,49 @@
/*
* far♂蛇模块
*/
+
+/********************************* 使用示例 **********************************/
+/*1.配置config参数以及Config_ShootInit函数参数*/
+/*2.
+COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
+Shoot_t shoot;
+Shoot_CMD_t shoot_cmd;
+
+void Task(void *argument) {
+
+ Config_ShootInit();
+ Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
+ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 初始化一个模式
+
+ while (1) {
+
+ shoot_cmd.online =shoot_ctrl_cmd_rc.online;
+ shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready;
+ shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd;
+
+ shoot.mode =shoot_ctrl_cmd_rc.mode; 或者用遥控器随时切换模式；二选一
+
+ Chassis_UpdateFeedback(&shoot);
+ Shoot_Control(&shoot,&shoot_cmd);
+ }
+}
+*******************************************************************************/
+
/* Includes ----------------------------------------------------------------- */
-#include "shoot_control.h"
#include
-#include "can.h"
-#include "component/filter.h"
-#include "component/user_math.h"
-#include
+#include "shoot_control.h"
#include "bsp/mm.h"
#include "bsp/time.h"
-
+#include "component/filter.h"
+#include "component/user_math.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
+#define WONDERFUL_COMPENSATION_FORHERO 0.010478f//给英雄做的补偿
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
static bool last_firecmd;
/* Private function -------------------------------------------------------- */
-static inline void ScaleSumTo1(float *a, float *b) {
- float sum = *a + *b;
- if (sum > 1.0f) {
- float scale = 1.0f / sum;
- *a *= scale;
- *b *= scale;
- }
-}
/**
* \brief 设置射击模式
@@ -134,7 +152,15 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed)
if (s == NULL) {
return SHOOT_ERR_NULL; // 参数错误
}
- s->target_variable.target_rpm=4000.0f/MAX_FRIC_RPM;
+ switch(s->param->proj)
+ {
+ case SHOOT_PROJECTILE_17MM:
+ s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
+ break;
+ case SHOOT_PROJECTILE_42MM:
+ s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM;
+ break;
+ }
return SHOOT_OK;
}
@@ -158,6 +184,8 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
{
s->anglecalu.time_last_shoot=s->now;
CircleAdd(&s->target_variable.target_angle, M_2PI/s->param->num_trig_tooth, M_2PI);
+ if(s->param->trig_motor_param.module==MOTOR_M3508){
+ s->target_variable.target_angle+=WONDERFUL_COMPENSATION_FORHERO;}
s->anglecalu.num_to_shoot--;
}
return SHOOT_OK;
@@ -199,8 +227,11 @@ int8_t Chassis_UpdateFeedback(Shoot_t *s)
MOTOR_RM_Update(&s->param->trig_motor_param);
s->feedback.trig = *MOTOR_RM_GetMotor(&s->param->trig_motor_param);
s->feedback.trig_agl=s->param->extra_deceleration_ratio*s->feedback.trig.gearbox_total_angle;
- while(s->feedback.trig_agl>M_2PI)s->feedback.trig_agl-=M_2PI;
- while(s->feedback.trig_agl<-M_2PI)s->feedback.trig_agl+=M_2PI;
+ while(s->feedback.trig_agl<0)s->feedback.trig_agl+=M_2PI;
+ while(s->feedback.trig_agl>=M_2PI)s->feedback.trig_agl-=M_2PI;
+ if (s->feedback.trig.motor.reverse) {
+ s->feedback.trig_agl = M_2PI - s->feedback.trig_agl;
+ }
s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
s->feedback.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f;
@@ -402,56 +433,62 @@ int8_t Shoot_JamDetectionFSM(Shoot_t *s, Shoot_CMD_t *cmd)
if (s == NULL) {
return SHOOT_ERR_NULL; // 参数错误
}
-
- switch (s->jamdetection.jamfsm_state) {
- case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
- /* 检测电流是否超过阈值 */
- if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) {
- s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
- s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
- }
- /* 正常运行射击状态机 */
- Shoot_RunningFSM(s, cmd);
- break;
+ if(s->param->jam_enable){
+ switch (s->jamdetection.jamfsm_state) {
+ case SHOOT_JAMFSM_STATE_NORMAL:/* 正常运行 */
+ /* 检测电流是否超过阈值 */
+ if (s->feedback.trig.feedback.torque_current/1000.0f > s->param->jam_threshold) {
+ s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_SUSPECTED;
+ s->jamdetection.jam_last_time = s->now; /* 记录怀疑开始时间 */
+ }
+ /* 正常运行射击状态机 */
+ Shoot_RunningFSM(s, cmd);
+ break;
- case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
- /* 检测电流是否低于阈值 */
- if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
+ case SHOOT_JAMFSM_STATE_SUSPECTED:/* 怀疑堵塞 */
+ /* 检测电流是否低于阈值 */
+ if (s->feedback.trig.feedback.torque_current/1000.0f < s->param->jam_threshold) {
+ s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+ break;
+ }
+ /* 检测高阈值状态是否超过设定怀疑时间 */
+ else if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
+ s->jamdetection.jam_detected =true;
+ s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
+ break;
+ }
+ /* 正常运行射击状态机 */
+ Shoot_RunningFSM(s, cmd);
+ break;
+
+ case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */
+ /* 清空待发射弹 */
+ s->anglecalu.num_to_shoot=0;
+ /* 修改拨弹盘目标角度 */
+ s->target_variable.target_angle = s->feedback.trig_agl-(M_2PI/s->param->num_trig_tooth);
+ /* 切换状态 */
+ s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
+ /* 记录处理开始时间 */
+ s->jamdetection.jam_last_time = s->now;
+
+ case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */
+ /* 正常运行射击状态机 */
+ Shoot_RunningFSM(s, cmd);
+ /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */
+ if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) {
+ s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+ }
+ break;
+
+ default:
s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
break;
- }
- /* 检测高阈值状态是否超过设定怀疑时间 */
- else if ((s->now - s->jamdetection.jam_last_time) >= s->param->jam_suspected_time) {
- s->jamdetection.jam_detected =true;
- s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_CONFIRMED;
- break;
- }
- /* 正常运行射击状态机 */
- Shoot_RunningFSM(s, cmd);
- break;
-
- case SHOOT_JAMFSM_STATE_CONFIRMED:/* 确认堵塞 */
- /* 清空待发射弹 */
- s->anglecalu.num_to_shoot=0;
- /* 修改拨弹盘目标角度 */
- s->target_variable.target_angle = s->feedback.trig_agl-(0.5f*M_2PI/s->param->num_trig_tooth);
- /* 切换状态 */
- s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_DEAL;
- /* 记录处理开始时间 */
- s->jamdetection.jam_last_time = s->now;
-
- case SHOOT_JAMFSM_STATE_DEAL:/* 堵塞处理 */
- /* 正常运行射击状态机 */
- Shoot_RunningFSM(s, cmd);
- /* 给予0.3秒响应时间并检测电流小于20A，认为堵塞已解除 */
- if ((s->now - s->jamdetection.jam_last_time)>=0.3f&&s->feedback.trig.feedback.torque_current/1000.0f < 20.0f) {
- s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
- }
- break;
-
- default:
- s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
- break;
+ }
+ }
+ else{
+ s->jamdetection.jamfsm_state = SHOOT_JAMFSM_STATE_NORMAL;
+ s->jamdetection.jam_detected = false;
+ Shoot_RunningFSM(s, cmd);
}
return SHOOT_OK;
@@ -472,10 +509,12 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
return SHOOT_ERR_NULL; // 参数错误
}
uint8_t fric_num = param->fric_num;
+
+ /* 分配内存 */
s->param=param;
- s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc((size_t)fric_num * sizeof(MOTOR_Feedback_t));
- s->feedback.fil_fric_rpm = (float *) BSP_Malloc((size_t)fric_num * sizeof(float));
- s->feedback.fric_rpm = (float *) BSP_Malloc((size_t)fric_num * sizeof(float));
+ s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t));
+ s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
+ s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float));
s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float));
@@ -485,14 +524,25 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
s->filter.fric.out = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t));
+ /* 内存分配失败 */
if (s->feedback.fric == NULL || s->feedback.fil_fric_rpm == NULL || s->feedback.fric_rpm == NULL ||
s->output.out_follow == NULL || s->output.out_err == NULL || s->output.out_fric == NULL ||
s->output.lpfout_fric == NULL || s->param->fric_motor_param == NULL || s->pid.fric_follow == NULL ||
s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) {
- return SHOOT_ERR_MALLOC;}/* 内存分配失败 */
+ BSP_Free(s->feedback.fric);
+ BSP_Free(s->feedback.fil_fric_rpm);
+ BSP_Free(s->feedback.fric_rpm);
+ BSP_Free(s->output.out_follow);
+ BSP_Free(s->output.out_err);
+ BSP_Free(s->output.out_fric);
+ BSP_Free(s->output.lpfout_fric);
+ BSP_Free(s->param->fric_motor_param);
+ BSP_Free(s->pid.fric_follow);
+ BSP_Free(s->pid.fric_err);
+ BSP_Free(s->filter.fric.in);
+ BSP_Free(s->filter.fric.out);
+ return SHOOT_ERR_MALLOC;}
-
-
BSP_CAN_Init();
/* 初始化摩擦轮PID和滤波器 */
for(int i=0;inow = BSP_TIME_Get_us() / 1000000.0f;
- s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
- s->lask_wakeup = BSP_TIME_Get_us();
- s->online = cmd->online;
- //电机在线检测函数
+ s->now =BSP_TIME_Get_us() / 1000000.0f;
+ s->dt =(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
+ s->lask_wakeup =BSP_TIME_Get_us();
+ s->online =cmd->online;
Shoot_JamDetectionFSM(s, cmd);
return SHOOT_OK;
}
diff --git a/User/module/shoot_control.h b/User/module/shoot_control.h
index b4b1e07..65a4cae 100644
--- a/User/module/shoot_control.h
+++ b/User/module/shoot_control.h
@@ -31,26 +31,31 @@ typedef enum {
SHOOT_JAMFSM_STATE_SUSPECTED, /* 怀疑状态 */
SHOOT_JAMFSM_STATE_CONFIRMED, /* 确认状态 */
SHOOT_JAMFSM_STATE_DEAL /* 处理状态 */
-} Shoot_JamDetectionFSM_State_t;
+}Shoot_JamDetectionFSM_State_t;
typedef enum {
SHOOT_STATE_IDLE = 0, /* 熄火 */
SHOOT_STATE_READY, /* 准备射击 */
SHOOT_STATE_FIRE /* 射击 */
-} Shoot_Running_State_t;
+}Shoot_Running_State_t;
typedef enum {
SHOOT_MODE_SAFE = 0, /* 安全模式 */
SHOOT_MODE_SINGLE, /* 单发模式 */
SHOOT_MODE_BURST, /* 多发模式 */
SHOOT_MODE_CONTINUE /* 连发模式 */
-} Shoot_Mode_t;
+}Shoot_Mode_t;
+
+typedef enum {
+ SHOOT_PROJECTILE_17MM,
+ SHOOT_PROJECTILE_42MM,
+}Shoot_Projectile_t;
+
typedef struct {
- bool online;
-
+ bool online; /* 遥控器在线 */
+ bool mode; /* 射击模式 */
bool ready; /* 准备射击 */
bool firecmd; /* 射击指令 */
-
-} Shoot_CMD_t;
+}Shoot_CMD_t;
typedef struct{
MOTOR_RM_Param_t param;
@@ -98,6 +103,7 @@ typedef struct {
/* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */
typedef struct {
+ Shoot_Projectile_t proj;
size_t fric_num; /* 摩擦轮数量 */
float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/
@@ -109,7 +115,7 @@ typedef struct {
float *ratio_multilevel; /* 多级发射各级速度比例 */
bool jam_enable; /* 是否启用卡弹检测 */ //还没加到逻辑里
- float jam_threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为300A,根据实际测试调整)*/
+ float jam_threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/
float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */
Shoot_MOTOR_RM_Param_t *fric_motor_param;
@@ -140,8 +146,7 @@ typedef struct {
* 包含了初始化参数，中间变量，输出变量
*/
typedef struct {
- bool online;//待完善，电机或遥控器在线检测
-
+ bool online; /*在线检测*/
float now; /* 当前时间，单位秒 */
uint64_t lask_wakeup; /* 上次唤醒时间，单位微秒 */
float dt; /* 两次唤醒间隔时间，单位秒 */
diff --git a/User/task/shoot_ctrl.c b/User/task/shoot_ctrl.c
index d3dbf88..c427b4d 100644
--- a/User/task/shoot_ctrl.c
+++ b/User/task/shoot_ctrl.c
@@ -19,8 +19,6 @@ COMP_AT9S_CMD_t shoot_ctrl_cmd_rc;
Shoot_t shoot;
Shoot_CMD_t shoot_cmd;
/* USER STRUCT BEGIN */
-float a[2];
-Shoot_MOTOR_RM_Param_t b[6];
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@@ -39,13 +37,6 @@ void Task_shoot_ctrl(void *argument) {
Config_ShootInit();
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_BURST);
-
- for(int i=0;i<2;i++){
- a[i]=shoot.param->ratio_multilevel[i];
- }
- for(int i=0;i<6;i++){
- b[i]=shoot.param->fric_motor_param[i];
- }
/* USER CODE INIT END */
while (1) {