From 97ad16edf62d37541a769fdbf567e23e724e9d16 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Thu, 9 Oct 2025 18:53:10 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=9D=E5=AD=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/shoot.uvguix.yxm23 | 377 +++---- MDK-ARM/shoot.uvoptx | 32 + MDK-ARM/shoot/config.o | Bin 5592 -> 5616 bytes MDK-ARM/shoot/shoot.axf | Bin 368256 -> 368320 bytes MDK-ARM/shoot/shoot.build_log.htm | 100 +- MDK-ARM/shoot/shoot.hex | 1698 ++++++++++++++--------------- MDK-ARM/shoot/shoot.htm | 6 +- MDK-ARM/shoot/shoot.map | 713 ++++++------ MDK-ARM/shoot/shoot_control.o | Bin 23720 -> 23772 bytes MDK-ARM/shoot/shoot_ctrl.o | Bin 9104 -> 9104 bytes MDK-ARM/shoot/shoot_shoot.dep | 20 +- Ozone/shoot.jdebug.user | 27 +- User/module/config.c | 2 + User/module/shoot_control.c | 3 +- User/module/shoot_control.h | 1 - 15 files changed, 1466 insertions(+), 1513 deletions(-) diff --git a/MDK-ARM/shoot.uvguix.yxm23 b/MDK-ARM/shoot.uvguix.yxm23 index 3294732..6c2a228 100644 --- a/MDK-ARM/shoot.uvguix.yxm23 +++ b/MDK-ARM/shoot.uvguix.yxm23 @@ -90,8 +90,8 @@ 44 - 2 - 3 + 0 + 2 -32000 -32000 @@ -101,17 +101,17 @@ -1 - 269 - 163 - 1208 - 1068 + 230 + 195 + 1240 + 1029 0 - 856 - 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a/MDK-ARM/shoot/shoot.build_log.htm +++ b/MDK-ARM/shoot/shoot.build_log.htm @@ -26,109 +26,13 @@ Project File Date: 10/03/2025

Output:

*** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin' -Rebuild target 'shoot' +Build target 'shoot' Note: source file '..\User\bsp\can.c' - object file renamed from 'shoot\can.o' to 'shoot\can_1.o'. -assembling startup_stm32f407xx.s... -compiling stm32f4xx_hal_flash_ramfunc.c... -compiling dma.c... -compiling stm32f4xx_hal_msp.c... -compiling stm32f4xx_it.c... -compiling usart.c... -compiling main.c... -compiling can.c... -compiling gpio.c... -compiling event_groups.c... -compiling freertos.c... -compiling stm32f4xx_hal_flash_ex.c... -compiling stm32f4xx_hal_gpio.c... -compiling stm32f4xx_hal_rcc.c... -compiling stm32f4xx_hal_cortex.c... -compiling stm32f4xx_hal_exti.c... -compiling stm32f4xx_hal_rcc_ex.c... -compiling stm32f4xx_hal_can.c... -compiling tasks.c... -compiling list.c... -compiling croutine.c... -compiling cmsis_os2.c... -compiling system_stm32f4xx.c... -compiling mm.c... -compiling stm32f4xx_hal.c... -compiling stm32f4xx_hal_pwr.c... -compiling stream_buffer.c... -compiling heap_4.c... -compiling port.c... -compiling stm32f4xx_hal_dma_ex.c... -compiling motor.c... -compiling stm32f4xx_hal_pwr_ex.c... -compiling stm32f4xx_hal_dma.c... -compiling time.c... -compiling dwt.c... -compiling timers.c... -compiling uart.c... -compiling stm32f4xx_hal_flash.c... -compiling queue.c... -compiling user_math.c... -../User/component/at9s_pro_cmd.c(2): warning: In file included from... -../User/component/at9s_pro_cmd.h(9): warning: In file included from... -../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] -typedef __packed struct - ^ -../User\component/user_math.h(33): note: expanded from macro '__packed' - #define __packed __attribute__((__packed__)) - ^ -1 warning generated. -compiling at9s_pro_cmd.c... -compiling vofa.c... -../User/device/AT9S_Pro.c(2): warning: In file included from... -../User/device/AT9S_Pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] -typedef __packed struct - ^ -../User\component/user_math.h(33): note: expanded from macro '__packed' - #define __packed __attribute__((__packed__)) - ^ -1 warning generated. -compiling AT9S_Pro.c... -compiling can.c... -compiling motor_rm.c... -compiling filter.c... -compiling pid.c... -compiling stm32f4xx_hal_uart.c... -../User/task/init.c(10): warning: In file included from... -../User\component/at9s_pro_cmd.h(9): warning: In file included from... -../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] -typedef __packed struct - ^ -../User\component/user_math.h(33): note: expanded from macro '__packed' - #define __packed __attribute__((__packed__)) - ^ -1 warning generated. -compiling init.c... -../User/task/rc.c(8): warning: In file included from... -../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] -typedef __packed struct - ^ -../User\component/user_math.h(33): note: expanded from macro '__packed' - #define __packed __attribute__((__packed__)) - ^ -1 warning generated. -compiling rc.c... -compiling config.c... -compiling user_task.c... -../User/task/shoot_ctrl.c(10): warning: In file included from... -../User\component/at9s_pro_cmd.h(9): warning: In file included from... -../User\device/at9s_pro.h(17): warning: '__packed__' attribute ignored [-Wignored-attributes] -typedef __packed struct - ^ -../User\component/user_math.h(33): note: expanded from macro '__packed' - #define __packed __attribute__((__packed__)) - ^ -1 warning generated. -compiling shoot_ctrl.c... compiling shoot_control.c... linking... Program Size: Code=32128 RO-data=660 RW-data=268 ZI-data=23668 FromELF: creating hex file... -"shoot\shoot.axf" - 0 Error(s), 5 Warning(s). +"shoot\shoot.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

diff --git a/MDK-ARM/shoot/shoot.hex b/MDK-ARM/shoot/shoot.hex index b91a97e..e81e672 100644 --- a/MDK-ARM/shoot/shoot.hex +++ b/MDK-ARM/shoot/shoot.hex @@ -1,12 +1,12 @@ :020000040800F2 -:10000000805D00202902000885360008A12D000827 -:1000100025350008710D0008114A00080000000095 -:10002000000000000000000000000000613900082E -:100030009916000800000000F138000895440008F7 +:10000000805D00202902000891360008AD2D00080F +:1000100031350008710D0008114A00080000000089 +:10002000000000000000000000000000713900081E +:10003000A5160008000000000139000895440008DA :10004000430200084302000843020008430200087C :10005000430200084302000843020008430200086C :10006000430200084302000843020008430200085C -:10007000BD150008430200084302000843020008BF +:10007000C9150008430200084302000843020008B3 :10008000430200084302000843020008950D0008DF :10009000750D0008850D00084302000843020008A2 :1000A000430200084302000843020008430200081C @@ -20,7 +20,7 @@ :10012000430200084302000843020008430200089B 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:1047B000016851E8031F026821F0100142E8031369 :1047C000002BF5D100214163016B012903D1818DBB -:1047D000FEF7B4F980BDFEF7BBFA80BD80B5806BF3 +:1047D000FEF7BAF980BDFEF7C1FA80BD80B5806BE7 :1047E00001214163016B012904D1818D4908FEF744 -:1047F000A5F980BDFEF7C0FA80BD0000016851E850 +:1047F000ABF980BDFEF7C6FA80BD0000016851E844 :10480000031F026821F4907142E80313002BF5D1D5 :10481000016851E8051F026821F0010142E8051313 :10482000002BF5D1016B01290AD100BF016851E8C5 @@ -1164,7 +1164,7 @@ :1048A00043EA0C01E3691143C268194349F20C63FE :1048B0009A431143C1604169A26921F4407141F2F8 :1048C0000043114340F48062C4F201039A42416103 -:1048D00002D1FDF745FF01E0FDF730FFE1696368B4 +:1048D00002D1FDF74BFF01E0FDF736FFE1696368A8 :1048E0001922B1F5004FA0FB02011CD15A00DB0FC9 :1048F000FBF7BAFC48F21F51C5F2EB11A0FB0123F4 :104900005A096FF0630302FB0300322303EBC0007C @@ -1177,7 +1177,7 @@ :1049700083854764222084F84200E06B44F2597535 :1049800044F2DD760A462168C0F60005C0F600064E :10499000C0E90F5644F20D76C0F600060431C0E9B6 -:1049A0001367FDF781FC38B110206064202084F883 +:1049A0001367FDF787FC38B110206064202084F87D :1049B0004200012001B0F0BD00972068016800911D :1049C000406800900098206950B100BF206850E80E :1049D000030F216840F4807041E80302002AF5D1FA @@ -1205,9 +1205,9 @@ :104B300045F25C710120C2F20001002D08BF042083 :104B40008D4208BF042001B0F0BDA06A10B1022060 :104B500001B0F0BD94F858100320012908BF0220CD -:104B600001B0F0BDFDF7B4FCFFF79EFCFEF766FC5C -:104B7000FEF718FCFEF7DAFBFEF7F6FBFEF798FCF3 -:104B8000FEF7B4FC00F03EF8FEF73AFC00F064F8E3 +:104B600001B0F0BDFDF7BAFCFFF79EFCFEF76CFC50 +:104B7000FEF71EFCFEF7E0FBFEF7FCFBFEF79EFCDB +:104B8000FEF7BAFC00F03EF8FEF740FC00F064F8D7 :104B9000FEE70000EFF3058100291CBF6FF0050060 :104BA0007047002804BF0020704780B501F028FA44 :104BB000002080BD10B582B0EFF3058119B16FF010 @@ -1222,7 +1222,7 @@ :104C400028B1022805D101F0AFFB002080BD012072 :104C500080BD4FF0FF3080BD10B5EFF30580002818 :104C60001CBF6FF0050010BD40F2DC14C2F200045E -:104C7000206801281CBF4FF0FF3010BDFEF782FEF8 +:104C7000206801281CBF4FF0FF3010BDFEF78AFEF0 :104C80000220206001F03EFB002010BD10B5EFF3C4 :104C9000058018B16FF00504204610BD02F08EFAB1 :104CA00002280ED080B902F07BFC01284FF00104ED diff --git a/MDK-ARM/shoot/shoot.htm b/MDK-ARM/shoot/shoot.htm index 2b18088..2410ec4 100644 --- a/MDK-ARM/shoot/shoot.htm +++ b/MDK-ARM/shoot/shoot.htm @@ -3,7 +3,7 @@ Static Call Graph - [shoot\shoot.axf]

Static Call Graph for image shoot\shoot.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Oct 8 20:22:54 2025 +

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

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

Call chain for Maximum Stack Depth:

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

[Called By] -

Config_ShootInit (Thumb, 152 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit)) +

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

[Stack]

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

[Calls]
  • >>   BSP_Malloc @@ -1587,7 +1587,7 @@ Global Symbols
    [Called By]
    • >>   Shoot_RunningFSM
    -

    Shoot_RunningFSM (Thumb, 1248 bytes, Stack size 56 bytes, shoot_control.o(.text.Shoot_RunningFSM)) +

    Shoot_RunningFSM (Thumb, 1232 bytes, Stack size 56 bytes, shoot_control.o(.text.Shoot_RunningFSM))

    [Stack]

    • Max Depth = 200
    • Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush

    [Calls]
    • >>   LowPassFilter2p_Apply diff --git a/MDK-ARM/shoot/shoot.map b/MDK-ARM/shoot/shoot.map index 180394f..f66f07c 100644 --- a/MDK-ARM/shoot/shoot.map +++ b/MDK-ARM/shoot/shoot.map @@ -3976,125 +3976,125 @@ Image Symbol Table [Anonymous Symbol] 0x080011d4 Section 0 user_math.o(.text.CircleError) [Anonymous Symbol] 0x08001210 Section 0 config.o(.text.Config_GetRobotParam) [Anonymous Symbol] 0x0800121c Section 0 config.o(.text.Config_ShootInit) - [Anonymous Symbol] 0x080012b4 Section 0 at9s_pro.o(.text.DEVICE_AT9S_Init) - [Anonymous Symbol] 0x080012fc Section 0 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) - DEVICE_AT9S_RxCpltCallback 0x08001575 Thumb Code 20 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) - [Anonymous Symbol] 0x08001574 Section 0 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) - [Anonymous Symbol] 0x08001588 Section 0 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) - [Anonymous Symbol] 0x080015a4 Section 0 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) - [Anonymous Symbol] 0x080015bc Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - [Anonymous Symbol] 0x080015cc Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DMA_CalcBaseAndBitshift 0x080015dd Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - [Anonymous Symbol] 0x080015dc Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x08001610 Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CheckFifoParam 0x08001619 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - [Anonymous Symbol] 0x08001618 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - DMA_SetConfig 0x08001669 Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08001668 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08001698 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x0800169c Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x080016a4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x080016cc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x08001760 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x08001840 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x08001864 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08001884 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x080019a8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x080019d0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x08001c0c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08001d00 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x08001e40 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08001e64 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x08001e88 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08001eac Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x08001ed0 Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x08001ef4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x08001f50 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08001f74 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x08001f98 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x08001fbc Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08001fe0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08002004 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08002028 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x0800204c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x080021d8 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x080022a8 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x0800230c Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x080024a8 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x080024b4 Section 0 stm32f4xx_hal.o(.text.HAL_IncTick) - [Anonymous Symbol] 0x080024d0 Section 0 stm32f4xx_hal.o(.text.HAL_Init) - [Anonymous Symbol] 0x08002508 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick) - [Anonymous Symbol] 0x08002558 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - [Anonymous Symbol] 0x080025a0 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - [Anonymous Symbol] 0x080025a8 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - [Anonymous Symbol] 0x080025c8 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - [Anonymous Symbol] 0x080025d0 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - [Anonymous Symbol] 0x08002730 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - [Anonymous Symbol] 0x0800273c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - [Anonymous Symbol] 0x08002760 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - [Anonymous Symbol] 0x08002784 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - [Anonymous Symbol] 0x080027ec Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - [Anonymous Symbol] 0x08002b34 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - [Anonymous Symbol] 0x08002b3c Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - [Anonymous Symbol] 0x08002b40 Section 0 uart.o(.text.HAL_UART_ErrorCallback) - [Anonymous Symbol] 0x08002b68 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - [Anonymous Symbol] 0x08002bc8 Section 0 usart.o(.text.HAL_UART_MspInit) - [Anonymous Symbol] 0x08002d24 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - [Anonymous Symbol] 0x08002d50 Section 0 uart.o(.text.HAL_UART_RxCpltCallback) - [Anonymous Symbol] 0x08002d78 Section 0 uart.o(.text.HAL_UART_RxHalfCpltCallback) - [Anonymous Symbol] 0x08002da0 Section 0 stm32f4xx_it.o(.text.HardFault_Handler) - [Anonymous Symbol] 0x08002da4 Section 0 filter.o(.text.LowPassFilter2p_Apply) - [Anonymous Symbol] 0x08002e20 Section 0 filter.o(.text.LowPassFilter2p_Init) - [Anonymous Symbol] 0x08002ec4 Section 0 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_RM_CreateCANManager 0x08002f21 Thumb Code 60 motor_rm.o(.text.MOTOR_RM_CreateCANManager) - [Anonymous Symbol] 0x08002f20 Section 0 motor_rm.o(.text.MOTOR_RM_CreateCANManager) - [Anonymous Symbol] 0x08002f5c Section 0 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetCANManager 0x08003035 Thumb Code 20 motor_rm.o(.text.MOTOR_RM_GetCANManager) - [Anonymous Symbol] 0x08003034 Section 0 motor_rm.o(.text.MOTOR_RM_GetCANManager) - MOTOR_RM_GetLSB 0x08003049 Thumb Code 38 motor_rm.o(.text.MOTOR_RM_GetLSB) - [Anonymous Symbol] 0x08003048 Section 0 motor_rm.o(.text.MOTOR_RM_GetLSB) - MOTOR_RM_GetLogicalIndex 0x08003071 Thumb Code 40 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex) - [Anonymous Symbol] 0x08003070 Section 0 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex) - [Anonymous Symbol] 0x08003098 Section 0 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_GetRatio 0x080030e9 Thumb Code 36 motor_rm.o(.text.MOTOR_RM_GetRatio) - [Anonymous Symbol] 0x080030e8 Section 0 motor_rm.o(.text.MOTOR_RM_GetRatio) - [Anonymous Symbol] 0x0800310c Section 0 motor_rm.o(.text.MOTOR_RM_Register) - [Anonymous Symbol] 0x080031b4 Section 0 motor_rm.o(.text.MOTOR_RM_Relax) - [Anonymous Symbol] 0x080031c4 Section 0 motor_rm.o(.text.MOTOR_RM_SetOutput) - [Anonymous Symbol] 0x08003264 Section 0 motor_rm.o(.text.MOTOR_RM_Update) - [Anonymous Symbol] 0x0800332c Section 0 can.o(.text.MX_CAN1_Init) - [Anonymous Symbol] 0x08003368 Section 0 can.o(.text.MX_CAN2_Init) - [Anonymous Symbol] 0x080033a4 Section 0 dma.o(.text.MX_DMA_Init) - [Anonymous Symbol] 0x08003400 Section 0 freertos.o(.text.MX_FREERTOS_Init) - [Anonymous Symbol] 0x0800343c Section 0 gpio.o(.text.MX_GPIO_Init) - [Anonymous Symbol] 0x080034b0 Section 0 usart.o(.text.MX_USART3_UART_Init) - [Anonymous Symbol] 0x080034ec Section 0 usart.o(.text.MX_USART6_UART_Init) - [Anonymous Symbol] 0x08003524 Section 0 stm32f4xx_it.o(.text.MemManage_Handler) - Motor_RM_Decode 0x08003529 Thumb Code 348 motor_rm.o(.text.Motor_RM_Decode) - [Anonymous Symbol] 0x08003528 Section 0 motor_rm.o(.text.Motor_RM_Decode) - [Anonymous Symbol] 0x08003684 Section 0 stm32f4xx_it.o(.text.NMI_Handler) - NVIC_EncodePriority 0x08003689 Thumb Code 44 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority) - [Anonymous Symbol] 0x08003688 Section 0 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority) - [Anonymous Symbol] 0x080036b4 Section 0 pid.o(.text.PID_Calc) - [Anonymous Symbol] 0x08003824 Section 0 pid.o(.text.PID_Init) - [Anonymous Symbol] 0x080038b4 Section 0 pid.o(.text.PID_Reset) - [Anonymous Symbol] 0x080038e0 Section 0 pid.o(.text.PID_ResetIntegral) - [Anonymous Symbol] 0x080038f0 Section 0 port.o(.text.PendSV_Handler) - pxCurrentTCBConst 0x08003950 Number 0 port.o(.text.PendSV_Handler) - [Anonymous Symbol] 0x08003960 Section 0 port.o(.text.SVC_Handler) - pxCurrentTCBConst2 0x08003980 Number 0 port.o(.text.SVC_Handler) - SVC_Setup 0x08003985 Thumb Code 8 cmsis_os2.o(.text.SVC_Setup) - [Anonymous Symbol] 0x08003984 Section 0 cmsis_os2.o(.text.SVC_Setup) - ScaleSumTo1 0x0800398d Thumb Code 54 shoot_control.o(.text.ScaleSumTo1) - [Anonymous Symbol] 0x0800398c Section 0 shoot_control.o(.text.ScaleSumTo1) - [Anonymous Symbol] 0x080039c4 Section 0 shoot_control.o(.text.Shoot_CaluTargetAngle) - [Anonymous Symbol] 0x08003a68 Section 0 shoot_control.o(.text.Shoot_Control) - [Anonymous Symbol] 0x08003ad4 Section 0 shoot_control.o(.text.Shoot_Init) - [Anonymous Symbol] 0x08003d08 Section 0 shoot_control.o(.text.Shoot_JamDetectionFSM) - [Anonymous Symbol] 0x08003e24 Section 0 shoot_control.o(.text.Shoot_ResetCalu) - [Anonymous Symbol] 0x08003ec8 Section 0 shoot_control.o(.text.Shoot_ResetIntegral) - [Anonymous Symbol] 0x08003f14 Section 0 shoot_control.o(.text.Shoot_ResetOutput) - [Anonymous Symbol] 0x08003f64 Section 0 shoot_control.o(.text.Shoot_RunningFSM) + [Anonymous Symbol] 0x080012c0 Section 0 at9s_pro.o(.text.DEVICE_AT9S_Init) + [Anonymous Symbol] 0x08001308 Section 0 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) + DEVICE_AT9S_RxCpltCallback 0x08001581 Thumb Code 20 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) + [Anonymous Symbol] 0x08001580 Section 0 at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) + [Anonymous Symbol] 0x08001594 Section 0 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) + [Anonymous Symbol] 0x080015b0 Section 0 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) + [Anonymous Symbol] 0x080015c8 Section 0 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[Anonymous Symbol] 0x08003d18 Section 0 shoot_control.o(.text.Shoot_JamDetectionFSM) + [Anonymous Symbol] 0x08003e34 Section 0 shoot_control.o(.text.Shoot_ResetCalu) + [Anonymous Symbol] 0x08003ed8 Section 0 shoot_control.o(.text.Shoot_ResetIntegral) + [Anonymous Symbol] 0x08003f24 Section 0 shoot_control.o(.text.Shoot_ResetOutput) + [Anonymous Symbol] 0x08003f74 Section 0 shoot_control.o(.text.Shoot_RunningFSM) [Anonymous Symbol] 0x08004444 Section 0 shoot_control.o(.text.Shoot_SetMode) [Anonymous Symbol] 0x08004458 Section 0 freertos.o(.text.StartDefaultTask) SysTick_Config 0x08004465 Thumb Code 46 stm32f4xx_hal_cortex.o(.text.SysTick_Config) @@ -4649,97 +4649,97 @@ Image Symbol Table CircleAdd 0x08001199 Thumb Code 58 user_math.o(.text.CircleAdd) CircleError 0x080011d5 Thumb Code 60 user_math.o(.text.CircleError) Config_GetRobotParam 0x08001211 Thumb Code 10 config.o(.text.Config_GetRobotParam) - Config_ShootInit 0x0800121d Thumb Code 152 config.o(.text.Config_ShootInit) - 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stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - HAL_CAN_ErrorCallback 0x08001841 Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetRxFifoFillLevel 0x08001865 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - HAL_CAN_GetRxMessage 0x08001885 Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - HAL_CAN_GetTxMailboxesFreeLevel 0x080019a9 Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x080019d1 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x08001c0d Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08001d01 Thumb Code 318 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x08001e41 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08001e65 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x08001e89 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08001ead Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x08001ed1 Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x08001ef5 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x08001f51 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x08001f75 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x08001f99 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x08001fbd Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08001fe1 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08002005 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08002029 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_IRQHandler 0x0800204d Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x080021d9 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x080022a9 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_GPIO_Init 0x0800230d Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GetTick 0x080024a9 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_IncTick 0x080024b5 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x080024d1 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08002509 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08002559 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_EnableIRQ 0x080025a1 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x080025a9 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x080025c9 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x080025d1 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x08002731 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x0800273d Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08002761 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08002785 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x080027ed Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SYSTICK_Config 0x08002b35 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_UARTEx_RxEventCallback 0x08002b3d Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08002b41 Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_Init 0x08002b69 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x08002bc9 Thumb Code 348 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x08002d25 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_RxCpltCallback 0x08002d51 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x08002d79 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HardFault_Handler 0x08002da1 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) - LowPassFilter2p_Apply 0x08002da5 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x08002e21 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x08002ec5 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_RM_Ctrl 0x08002f5d Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x08003099 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800310d Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_Relax 0x080031b5 Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax) - MOTOR_RM_SetOutput 0x080031c5 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x08003265 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x0800332d Thumb Code 60 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x08003369 Thumb Code 60 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x080033a5 Thumb Code 90 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x08003401 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x0800343d Thumb Code 116 gpio.o(.text.MX_GPIO_Init) - MX_USART3_UART_Init 0x080034b1 Thumb Code 60 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x080034ed Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x08003525 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x08003685 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x080036b5 Thumb Code 368 pid.o(.text.PID_Calc) - PID_Init 0x08003825 Thumb Code 144 pid.o(.text.PID_Init) - PID_Reset 0x080038b5 Thumb Code 44 pid.o(.text.PID_Reset) - PID_ResetIntegral 0x080038e1 Thumb Code 14 pid.o(.text.PID_ResetIntegral) - PendSV_Handler 0x080038f1 Thumb Code 100 port.o(.text.PendSV_Handler) - SVC_Handler 0x08003961 Thumb Code 36 port.o(.text.SVC_Handler) - Shoot_CaluTargetAngle 0x080039c5 Thumb Code 164 shoot_control.o(.text.Shoot_CaluTargetAngle) - Shoot_Control 0x08003a69 Thumb Code 108 shoot_control.o(.text.Shoot_Control) - Shoot_Init 0x08003ad5 Thumb Code 564 shoot_control.o(.text.Shoot_Init) - Shoot_JamDetectionFSM 0x08003d09 Thumb Code 284 shoot_control.o(.text.Shoot_JamDetectionFSM) - Shoot_ResetCalu 0x08003e25 Thumb Code 164 shoot_control.o(.text.Shoot_ResetCalu) - Shoot_ResetIntegral 0x08003ec9 Thumb Code 76 shoot_control.o(.text.Shoot_ResetIntegral) - Shoot_ResetOutput 0x08003f15 Thumb Code 80 shoot_control.o(.text.Shoot_ResetOutput) - Shoot_RunningFSM 0x08003f65 Thumb Code 1248 shoot_control.o(.text.Shoot_RunningFSM) + Config_ShootInit 0x0800121d Thumb Code 162 config.o(.text.Config_ShootInit) + DEVICE_AT9S_Init 0x080012c1 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init) + DEVICE_AT9S_ParseRaw 0x08001309 Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw) + DEVICE_AT9S_StartDmaRecv 0x08001595 Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv) + DEVICE_AT9S_WaitDmaCplt 0x080015b1 Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt) + DMA1_Stream1_IRQHandler 0x080015c9 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA2_Stream6_IRQHandler 0x080015d9 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DebugMon_Handler 0x080016a5 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + Error_Handler 0x080016a9 Thumb Code 6 main.o(.text.Error_Handler) + HAL_CAN_ActivateNotification 0x080016b1 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x080016d9 Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x0800176d Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x0800184d Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08001871 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x08001891 Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x080019b5 Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x080019dd Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x08001c19 Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08001d0d Thumb Code 318 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x08001e4d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x08001e71 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x08001e95 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x08001eb9 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x08001edd Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08001f01 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x08001f5d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08001f81 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08001fa5 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x08001fc9 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08001fed Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08002011 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08002035 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_IRQHandler 0x08002059 Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x080021e5 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x080022b5 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_GPIO_Init 0x08002319 Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GetTick 0x080024b5 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_IncTick 0x080024c1 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x080024dd Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08002515 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08002565 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_EnableIRQ 0x080025ad Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x080025b5 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x080025d5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x080025dd Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x0800273d Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x08002749 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x0800276d Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x08002791 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080027f9 Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SYSTICK_Config 0x08002b41 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_UARTEx_RxEventCallback 0x08002b49 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x08002b4d Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_Init 0x08002b75 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x08002bd5 Thumb Code 348 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x08002d31 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_RxCpltCallback 0x08002d5d Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x08002d85 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HardFault_Handler 0x08002dad Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) + LowPassFilter2p_Apply 0x08002db1 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x08002e2d Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x08002ed1 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_RM_Ctrl 0x08002f69 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x080030a5 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x08003119 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_Relax 0x080031c1 Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax) + MOTOR_RM_SetOutput 0x080031d1 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x08003271 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x08003339 Thumb Code 60 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x08003375 Thumb Code 60 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x080033b1 Thumb Code 90 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800340d Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x08003449 Thumb Code 116 gpio.o(.text.MX_GPIO_Init) + MX_USART3_UART_Init 0x080034bd Thumb Code 60 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x080034f9 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x08003531 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x08003691 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x080036c1 Thumb Code 368 pid.o(.text.PID_Calc) + PID_Init 0x08003831 Thumb Code 144 pid.o(.text.PID_Init) + PID_Reset 0x080038c1 Thumb Code 44 pid.o(.text.PID_Reset) + PID_ResetIntegral 0x080038ed Thumb Code 14 pid.o(.text.PID_ResetIntegral) + PendSV_Handler 0x08003901 Thumb Code 100 port.o(.text.PendSV_Handler) + SVC_Handler 0x08003971 Thumb Code 36 port.o(.text.SVC_Handler) + Shoot_CaluTargetAngle 0x080039d5 Thumb Code 164 shoot_control.o(.text.Shoot_CaluTargetAngle) + Shoot_Control 0x08003a79 Thumb Code 108 shoot_control.o(.text.Shoot_Control) + Shoot_Init 0x08003ae5 Thumb Code 564 shoot_control.o(.text.Shoot_Init) + Shoot_JamDetectionFSM 0x08003d19 Thumb Code 284 shoot_control.o(.text.Shoot_JamDetectionFSM) + Shoot_ResetCalu 0x08003e35 Thumb Code 164 shoot_control.o(.text.Shoot_ResetCalu) + Shoot_ResetIntegral 0x08003ed9 Thumb Code 76 shoot_control.o(.text.Shoot_ResetIntegral) + Shoot_ResetOutput 0x08003f25 Thumb Code 80 shoot_control.o(.text.Shoot_ResetOutput) + Shoot_RunningFSM 0x08003f75 Thumb Code 1232 shoot_control.o(.text.Shoot_RunningFSM) Shoot_SetMode 0x08004445 Thumb Code 18 shoot_control.o(.text.Shoot_SetMode) StartDefaultTask 0x08004459 Thumb Code 12 freertos.o(.text.StartDefaultTask) SysTick_Handler 0x08004495 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) @@ -5018,146 +5018,147 @@ Memory Map of the image 0x080011d4 0x080011d4 0x0000003c Code RO 1788 .text.CircleError user_math.o 0x08001210 0x08001210 0x0000000a Code RO 1890 .text.Config_GetRobotParam config.o 0x0800121a 0x0800121a 0x00000002 PAD - 0x0800121c 0x0800121c 0x00000098 Code RO 1892 .text.Config_ShootInit config.o - 0x080012b4 0x080012b4 0x00000046 Code RO 1753 .text.DEVICE_AT9S_Init at9s_pro.o - 0x080012fa 0x080012fa 0x00000002 PAD - 0x080012fc 0x080012fc 0x00000278 Code RO 1763 .text.DEVICE_AT9S_ParseRaw at9s_pro.o - 0x08001574 0x08001574 0x00000014 Code RO 1755 .text.DEVICE_AT9S_RxCpltCallback at9s_pro.o - 0x08001588 0x08001588 0x0000001c Code RO 1759 .text.DEVICE_AT9S_StartDmaRecv at9s_pro.o - 0x080015a4 0x080015a4 0x00000016 Code RO 1761 .text.DEVICE_AT9S_WaitDmaCplt at9s_pro.o - 0x080015ba 0x080015ba 0x00000002 PAD - 0x080015bc 0x080015bc 0x00000010 Code RO 109 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x080015cc 0x080015cc 0x00000010 Code RO 123 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o - 0x080015dc 0x080015dc 0x0000003c Code RO 405 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x08001618 0x08001618 0x00000050 Code RO 403 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x08001668 0x08001668 0x00000030 Code RO 411 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x08001698 0x08001698 0x00000002 Code RO 105 .text.DebugMon_Handler stm32f4xx_it.o - 0x0800169a 0x0800169a 0x00000002 PAD - 0x0800169c 0x0800169c 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x080016a2 0x080016a2 0x00000002 PAD - 0x080016a4 0x080016a4 0x00000026 Code RO 175 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x080016ca 0x080016ca 0x00000002 PAD - 0x080016cc 0x080016cc 0x00000092 Code RO 161 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800175e 0x0800175e 0x00000002 PAD - 0x08001760 0x08001760 0x000000de Code RO 151 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x0800183e 0x0800183e 0x00000002 PAD - 0x08001840 0x08001840 0x00000024 Code RO 1518 .text.HAL_CAN_ErrorCallback can_1.o - 0x08001864 0x08001864 0x00000020 Code RO 173 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x08001884 0x08001884 0x00000124 Code RO 171 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x080019a8 0x080019a8 0x00000028 Code RO 165 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x080019d0 0x080019d0 0x0000023a Code RO 179 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08001c0a 0x08001c0a 0x00000002 PAD - 0x08001c0c 0x08001c0c 0x000000f4 Code RO 141 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08001d00 0x08001d00 0x0000013e Code RO 51 .text.HAL_CAN_MspInit can.o - 0x08001e3e 0x08001e3e 0x00000002 PAD - 0x08001e40 0x08001e40 0x00000024 Code RO 1508 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08001e64 0x08001e64 0x00000024 Code RO 1506 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x08001e88 0x08001e88 0x00000024 Code RO 1512 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x08001eac 0x08001eac 0x00000024 Code RO 1510 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x08001ed0 0x08001ed0 0x00000024 Code RO 1514 .text.HAL_CAN_SleepCallback can_1.o - 0x08001ef4 0x08001ef4 0x0000005a Code RO 153 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x08001f4e 0x08001f4e 0x00000002 PAD - 0x08001f50 0x08001f50 0x00000024 Code RO 1500 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08001f74 0x08001f74 0x00000022 Code RO 1492 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x08001f96 0x08001f96 0x00000002 PAD - 0x08001f98 0x08001f98 0x00000024 Code RO 1502 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x08001fbc 0x08001fbc 0x00000024 Code RO 1496 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08001fe0 0x08001fe0 0x00000024 Code RO 1504 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08002004 0x08002004 0x00000024 Code RO 1498 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08002028 0x08002028 0x00000024 Code RO 1516 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x0800204c 0x0800204c 0x0000018c Code RO 421 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x080021d8 0x080021d8 0x000000ce Code RO 401 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x080022a6 0x080022a6 0x00000002 PAD - 0x080022a8 0x080022a8 0x00000062 Code RO 413 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x0800230a 0x0800230a 0x00000002 PAD - 0x0800230c 0x0800230c 0x0000019a Code RO 361 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x080024a6 0x080024a6 0x00000002 PAD - 0x080024a8 0x080024a8 0x0000000c Code RO 591 .text.HAL_GetTick stm32f4xx_hal.o - 0x080024b4 0x080024b4 0x0000001a Code RO 589 .text.HAL_IncTick stm32f4xx_hal.o - 0x080024ce 0x080024ce 0x00000002 PAD - 0x080024d0 0x080024d0 0x00000036 Code RO 579 .text.HAL_Init stm32f4xx_hal.o - 0x08002506 0x08002506 0x00000002 PAD - 0x08002508 0x08002508 0x00000050 Code RO 581 .text.HAL_InitTick stm32f4xx_hal.o - 0x08002558 0x08002558 0x00000046 Code RO 132 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x0800259e 0x0800259e 0x00000002 PAD - 0x080025a0 0x080025a0 0x00000008 Code RO 513 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x080025a8 0x080025a8 0x0000001e Code RO 505 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x080025c6 0x080025c6 0x00000002 PAD - 0x080025c8 0x080025c8 0x00000008 Code RO 501 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080025d0 0x080025d0 0x00000160 Code RO 225 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08002730 0x08002730 0x0000000c Code RO 235 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x0800273c 0x0800273c 0x00000022 Code RO 237 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x0800275e 0x0800275e 0x00000002 PAD - 0x08002760 0x08002760 0x00000022 Code RO 239 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x08002782 0x08002782 0x00000002 PAD - 0x08002784 0x08002784 0x00000068 Code RO 227 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080027ec 0x080027ec 0x00000348 Code RO 223 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08002b34 0x08002b34 0x00000008 Code RO 525 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08002b3c 0x08002b3c 0x00000002 Code RO 762 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08002b3e 0x08002b3e 0x00000002 PAD - 0x08002b40 0x08002b40 0x00000026 Code RO 1620 .text.HAL_UART_ErrorCallback uart.o - 0x08002b66 0x08002b66 0x00000002 PAD - 0x08002b68 0x08002b68 0x00000060 Code RO 670 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x08002bc8 0x08002bc8 0x0000015c Code RO 79 .text.HAL_UART_MspInit usart.o - 0x08002d24 0x08002d24 0x0000002c Code RO 706 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x08002d50 0x08002d50 0x00000026 Code RO 1616 .text.HAL_UART_RxCpltCallback uart.o - 0x08002d76 0x08002d76 0x00000002 PAD - 0x08002d78 0x08002d78 0x00000026 Code RO 1618 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x08002d9e 0x08002d9e 0x00000002 PAD - 0x08002da0 0x08002da0 0x00000002 Code RO 97 .text.HardFault_Handler stm32f4xx_it.o - 0x08002da2 0x08002da2 0x00000002 PAD - 0x08002da4 0x08002da4 0x0000007c Code RO 1815 .text.LowPassFilter2p_Apply filter.o - 0x08002e20 0x08002e20 0x000000a4 Code RO 1813 .text.LowPassFilter2p_Init filter.o - 0x08002ec4 0x08002ec4 0x0000005c Code RO 1819 .text.LowPassFilter2p_Reset filter.o - 0x08002f20 0x08002f20 0x0000003c Code RO 1697 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x08002f5c 0x08002f5c 0x000000d8 Code RO 1715 .text.MOTOR_RM_Ctrl motor_rm.o - 0x08003034 0x08003034 0x00000014 Code RO 1699 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x08003048 0x08003048 0x00000026 Code RO 1713 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800306e 0x0800306e 0x00000002 PAD - 0x08003070 0x08003070 0x00000028 Code RO 1711 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x08003098 0x08003098 0x00000050 Code RO 1709 .text.MOTOR_RM_GetMotor motor_rm.o - 0x080030e8 0x080030e8 0x00000024 Code RO 1721 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800310c 0x0800310c 0x000000a6 Code RO 1695 .text.MOTOR_RM_Register motor_rm.o - 0x080031b2 0x080031b2 0x00000002 PAD - 0x080031b4 0x080031b4 0x00000010 Code RO 1717 .text.MOTOR_RM_Relax motor_rm.o - 0x080031c4 0x080031c4 0x0000009e Code RO 1707 .text.MOTOR_RM_SetOutput motor_rm.o - 0x08003262 0x08003262 0x00000002 PAD - 0x08003264 0x08003264 0x000000c6 Code RO 1701 .text.MOTOR_RM_Update motor_rm.o - 0x0800332a 0x0800332a 0x00000002 PAD - 0x0800332c 0x0800332c 0x0000003c Code RO 47 .text.MX_CAN1_Init can.o - 0x08003368 0x08003368 0x0000003c Code RO 49 .text.MX_CAN2_Init can.o - 0x080033a4 0x080033a4 0x0000005a Code RO 66 .text.MX_DMA_Init dma.o - 0x080033fe 0x080033fe 0x00000002 PAD - 0x08003400 0x08003400 0x0000003a Code RO 33 .text.MX_FREERTOS_Init freertos.o - 0x0800343a 0x0800343a 0x00000002 PAD - 0x0800343c 0x0800343c 0x00000074 Code RO 25 .text.MX_GPIO_Init gpio.o - 0x080034b0 0x080034b0 0x0000003c Code RO 75 .text.MX_USART3_UART_Init usart.o - 0x080034ec 0x080034ec 0x00000038 Code RO 77 .text.MX_USART6_UART_Init usart.o - 0x08003524 0x08003524 0x00000002 Code RO 99 .text.MemManage_Handler stm32f4xx_it.o - 0x08003526 0x08003526 0x00000002 PAD - 0x08003528 0x08003528 0x0000015c Code RO 1703 .text.Motor_RM_Decode motor_rm.o - 0x08003684 0x08003684 0x00000002 Code RO 95 .text.NMI_Handler stm32f4xx_it.o - 0x08003686 0x08003686 0x00000002 PAD - 0x08003688 0x08003688 0x0000002c Code RO 511 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x080036b4 0x080036b4 0x00000170 Code RO 1843 .text.PID_Calc pid.o - 0x08003824 0x08003824 0x00000090 Code RO 1837 .text.PID_Init pid.o - 0x080038b4 0x080038b4 0x0000002c Code RO 1841 .text.PID_Reset pid.o - 0x080038e0 0x080038e0 0x0000000e Code RO 1845 .text.PID_ResetIntegral pid.o - 0x080038ee 0x080038ee 0x00000002 PAD - 0x080038f0 0x080038f0 0x00000064 Code RO 1475 .text.PendSV_Handler port.o - 0x08003954 0x08003954 0x0000000c PAD - 0x08003960 0x08003960 0x00000024 Code RO 1459 .text.SVC_Handler port.o - 0x08003984 0x08003984 0x00000008 Code RO 1253 .text.SVC_Setup cmsis_os2.o - 0x0800398c 0x0800398c 0x00000036 Code RO 1871 .text.ScaleSumTo1 shoot_control.o - 0x080039c2 0x080039c2 0x00000002 PAD - 0x080039c4 0x080039c4 0x000000a4 Code RO 1865 .text.Shoot_CaluTargetAngle shoot_control.o - 0x08003a68 0x08003a68 0x0000006c Code RO 1877 .text.Shoot_Control shoot_control.o - 0x08003ad4 0x08003ad4 0x00000234 Code RO 1875 .text.Shoot_Init shoot_control.o - 0x08003d08 0x08003d08 0x0000011c Code RO 1873 .text.Shoot_JamDetectionFSM shoot_control.o - 0x08003e24 0x08003e24 0x000000a4 Code RO 1859 .text.Shoot_ResetCalu shoot_control.o - 0x08003ec8 0x08003ec8 0x0000004c Code RO 1857 .text.Shoot_ResetIntegral shoot_control.o - 0x08003f14 0x08003f14 0x00000050 Code RO 1861 .text.Shoot_ResetOutput shoot_control.o - 0x08003f64 0x08003f64 0x000004e0 Code RO 1869 .text.Shoot_RunningFSM shoot_control.o + 0x0800121c 0x0800121c 0x000000a2 Code RO 1892 .text.Config_ShootInit config.o + 0x080012be 0x080012be 0x00000002 PAD + 0x080012c0 0x080012c0 0x00000046 Code RO 1753 .text.DEVICE_AT9S_Init at9s_pro.o + 0x08001306 0x08001306 0x00000002 PAD + 0x08001308 0x08001308 0x00000278 Code RO 1763 .text.DEVICE_AT9S_ParseRaw at9s_pro.o + 0x08001580 0x08001580 0x00000014 Code RO 1755 .text.DEVICE_AT9S_RxCpltCallback at9s_pro.o + 0x08001594 0x08001594 0x0000001c Code RO 1759 .text.DEVICE_AT9S_StartDmaRecv at9s_pro.o + 0x080015b0 0x080015b0 0x00000016 Code RO 1761 .text.DEVICE_AT9S_WaitDmaCplt at9s_pro.o + 0x080015c6 0x080015c6 0x00000002 PAD + 0x080015c8 0x080015c8 0x00000010 Code RO 109 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x080015d8 0x080015d8 0x00000010 Code RO 123 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x080015e8 0x080015e8 0x0000003c Code RO 405 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x08001624 0x08001624 0x00000050 Code RO 403 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x08001674 0x08001674 0x00000030 Code RO 411 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x080016a4 0x080016a4 0x00000002 Code RO 105 .text.DebugMon_Handler stm32f4xx_it.o + 0x080016a6 0x080016a6 0x00000002 PAD + 0x080016a8 0x080016a8 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x080016ae 0x080016ae 0x00000002 PAD + 0x080016b0 0x080016b0 0x00000026 Code RO 175 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080016d6 0x080016d6 0x00000002 PAD + 0x080016d8 0x080016d8 0x00000092 Code RO 161 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x0800176a 0x0800176a 0x00000002 PAD + 0x0800176c 0x0800176c 0x000000de Code RO 151 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x0800184a 0x0800184a 0x00000002 PAD + 0x0800184c 0x0800184c 0x00000024 Code RO 1518 .text.HAL_CAN_ErrorCallback can_1.o + 0x08001870 0x08001870 0x00000020 Code RO 173 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x08001890 0x08001890 0x00000124 Code RO 171 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x080019b4 0x080019b4 0x00000028 Code RO 165 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x080019dc 0x080019dc 0x0000023a Code RO 179 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08001c16 0x08001c16 0x00000002 PAD + 0x08001c18 0x08001c18 0x000000f4 Code RO 141 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08001d0c 0x08001d0c 0x0000013e Code RO 51 .text.HAL_CAN_MspInit can.o + 0x08001e4a 0x08001e4a 0x00000002 PAD + 0x08001e4c 0x08001e4c 0x00000024 Code RO 1508 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x08001e70 0x08001e70 0x00000024 Code RO 1506 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08001e94 0x08001e94 0x00000024 Code RO 1512 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08001eb8 0x08001eb8 0x00000024 Code RO 1510 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x08001edc 0x08001edc 0x00000024 Code RO 1514 .text.HAL_CAN_SleepCallback can_1.o + 0x08001f00 0x08001f00 0x0000005a Code RO 153 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x08001f5a 0x08001f5a 0x00000002 PAD + 0x08001f5c 0x08001f5c 0x00000024 Code RO 1500 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08001f80 0x08001f80 0x00000022 Code RO 1492 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08001fa2 0x08001fa2 0x00000002 PAD + 0x08001fa4 0x08001fa4 0x00000024 Code RO 1502 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x08001fc8 0x08001fc8 0x00000024 Code RO 1496 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08001fec 0x08001fec 0x00000024 Code RO 1504 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08002010 0x08002010 0x00000024 Code RO 1498 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x08002034 0x08002034 0x00000024 Code RO 1516 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08002058 0x08002058 0x0000018c Code RO 421 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x080021e4 0x080021e4 0x000000ce Code RO 401 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x080022b2 0x080022b2 0x00000002 PAD + 0x080022b4 0x080022b4 0x00000062 Code RO 413 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08002316 0x08002316 0x00000002 PAD + 0x08002318 0x08002318 0x0000019a Code RO 361 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x080024b2 0x080024b2 0x00000002 PAD + 0x080024b4 0x080024b4 0x0000000c Code RO 591 .text.HAL_GetTick stm32f4xx_hal.o + 0x080024c0 0x080024c0 0x0000001a Code RO 589 .text.HAL_IncTick stm32f4xx_hal.o + 0x080024da 0x080024da 0x00000002 PAD + 0x080024dc 0x080024dc 0x00000036 Code RO 579 .text.HAL_Init stm32f4xx_hal.o + 0x08002512 0x08002512 0x00000002 PAD + 0x08002514 0x08002514 0x00000050 Code RO 581 .text.HAL_InitTick stm32f4xx_hal.o + 0x08002564 0x08002564 0x00000046 Code RO 132 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x080025aa 0x080025aa 0x00000002 PAD + 0x080025ac 0x080025ac 0x00000008 Code RO 513 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x080025b4 0x080025b4 0x0000001e Code RO 505 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080025d2 0x080025d2 0x00000002 PAD + 0x080025d4 0x080025d4 0x00000008 Code RO 501 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x080025dc 0x080025dc 0x00000160 Code RO 225 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x0800273c 0x0800273c 0x0000000c Code RO 235 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08002748 0x08002748 0x00000022 Code RO 237 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x0800276a 0x0800276a 0x00000002 PAD + 0x0800276c 0x0800276c 0x00000022 Code RO 239 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x0800278e 0x0800278e 0x00000002 PAD + 0x08002790 0x08002790 0x00000068 Code RO 227 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080027f8 0x080027f8 0x00000348 Code RO 223 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08002b40 0x08002b40 0x00000008 Code RO 525 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08002b48 0x08002b48 0x00000002 Code RO 762 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08002b4a 0x08002b4a 0x00000002 PAD + 0x08002b4c 0x08002b4c 0x00000026 Code RO 1620 .text.HAL_UART_ErrorCallback uart.o + 0x08002b72 0x08002b72 0x00000002 PAD + 0x08002b74 0x08002b74 0x00000060 Code RO 670 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x08002bd4 0x08002bd4 0x0000015c Code RO 79 .text.HAL_UART_MspInit usart.o + 0x08002d30 0x08002d30 0x0000002c Code RO 706 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x08002d5c 0x08002d5c 0x00000026 Code RO 1616 .text.HAL_UART_RxCpltCallback uart.o + 0x08002d82 0x08002d82 0x00000002 PAD + 0x08002d84 0x08002d84 0x00000026 Code RO 1618 .text.HAL_UART_RxHalfCpltCallback uart.o + 0x08002daa 0x08002daa 0x00000002 PAD + 0x08002dac 0x08002dac 0x00000002 Code RO 97 .text.HardFault_Handler stm32f4xx_it.o + 0x08002dae 0x08002dae 0x00000002 PAD + 0x08002db0 0x08002db0 0x0000007c Code RO 1815 .text.LowPassFilter2p_Apply filter.o + 0x08002e2c 0x08002e2c 0x000000a4 Code RO 1813 .text.LowPassFilter2p_Init filter.o + 0x08002ed0 0x08002ed0 0x0000005c Code RO 1819 .text.LowPassFilter2p_Reset filter.o + 0x08002f2c 0x08002f2c 0x0000003c Code RO 1697 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x08002f68 0x08002f68 0x000000d8 Code RO 1715 .text.MOTOR_RM_Ctrl motor_rm.o + 0x08003040 0x08003040 0x00000014 Code RO 1699 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x08003054 0x08003054 0x00000026 Code RO 1713 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800307a 0x0800307a 0x00000002 PAD + 0x0800307c 0x0800307c 0x00000028 Code RO 1711 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x080030a4 0x080030a4 0x00000050 Code RO 1709 .text.MOTOR_RM_GetMotor motor_rm.o + 0x080030f4 0x080030f4 0x00000024 Code RO 1721 .text.MOTOR_RM_GetRatio motor_rm.o + 0x08003118 0x08003118 0x000000a6 Code RO 1695 .text.MOTOR_RM_Register motor_rm.o + 0x080031be 0x080031be 0x00000002 PAD + 0x080031c0 0x080031c0 0x00000010 Code RO 1717 .text.MOTOR_RM_Relax motor_rm.o + 0x080031d0 0x080031d0 0x0000009e Code RO 1707 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800326e 0x0800326e 0x00000002 PAD + 0x08003270 0x08003270 0x000000c6 Code RO 1701 .text.MOTOR_RM_Update motor_rm.o + 0x08003336 0x08003336 0x00000002 PAD + 0x08003338 0x08003338 0x0000003c Code RO 47 .text.MX_CAN1_Init can.o + 0x08003374 0x08003374 0x0000003c Code RO 49 .text.MX_CAN2_Init can.o + 0x080033b0 0x080033b0 0x0000005a Code RO 66 .text.MX_DMA_Init dma.o + 0x0800340a 0x0800340a 0x00000002 PAD + 0x0800340c 0x0800340c 0x0000003a Code RO 33 .text.MX_FREERTOS_Init freertos.o + 0x08003446 0x08003446 0x00000002 PAD + 0x08003448 0x08003448 0x00000074 Code RO 25 .text.MX_GPIO_Init gpio.o + 0x080034bc 0x080034bc 0x0000003c Code RO 75 .text.MX_USART3_UART_Init usart.o + 0x080034f8 0x080034f8 0x00000038 Code RO 77 .text.MX_USART6_UART_Init usart.o + 0x08003530 0x08003530 0x00000002 Code RO 99 .text.MemManage_Handler stm32f4xx_it.o + 0x08003532 0x08003532 0x00000002 PAD + 0x08003534 0x08003534 0x0000015c Code RO 1703 .text.Motor_RM_Decode motor_rm.o + 0x08003690 0x08003690 0x00000002 Code RO 95 .text.NMI_Handler stm32f4xx_it.o + 0x08003692 0x08003692 0x00000002 PAD + 0x08003694 0x08003694 0x0000002c Code RO 511 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x080036c0 0x080036c0 0x00000170 Code RO 1843 .text.PID_Calc pid.o + 0x08003830 0x08003830 0x00000090 Code RO 1837 .text.PID_Init pid.o + 0x080038c0 0x080038c0 0x0000002c Code RO 1841 .text.PID_Reset pid.o + 0x080038ec 0x080038ec 0x0000000e Code RO 1845 .text.PID_ResetIntegral pid.o + 0x080038fa 0x080038fa 0x00000006 PAD + 0x08003900 0x08003900 0x00000064 Code RO 1475 .text.PendSV_Handler port.o + 0x08003964 0x08003964 0x0000000c PAD + 0x08003970 0x08003970 0x00000024 Code RO 1459 .text.SVC_Handler port.o + 0x08003994 0x08003994 0x00000008 Code RO 1253 .text.SVC_Setup cmsis_os2.o + 0x0800399c 0x0800399c 0x00000036 Code RO 1871 .text.ScaleSumTo1 shoot_control.o + 0x080039d2 0x080039d2 0x00000002 PAD + 0x080039d4 0x080039d4 0x000000a4 Code RO 1865 .text.Shoot_CaluTargetAngle shoot_control.o + 0x08003a78 0x08003a78 0x0000006c Code RO 1877 .text.Shoot_Control shoot_control.o + 0x08003ae4 0x08003ae4 0x00000234 Code RO 1875 .text.Shoot_Init shoot_control.o + 0x08003d18 0x08003d18 0x0000011c Code RO 1873 .text.Shoot_JamDetectionFSM shoot_control.o + 0x08003e34 0x08003e34 0x000000a4 Code RO 1859 .text.Shoot_ResetCalu shoot_control.o + 0x08003ed8 0x08003ed8 0x0000004c Code RO 1857 .text.Shoot_ResetIntegral shoot_control.o + 0x08003f24 0x08003f24 0x00000050 Code RO 1861 .text.Shoot_ResetOutput shoot_control.o + 0x08003f74 0x08003f74 0x000004d0 Code RO 1869 .text.Shoot_RunningFSM shoot_control.o 0x08004444 0x08004444 0x00000012 Code RO 1855 .text.Shoot_SetMode shoot_control.o 0x08004456 0x08004456 0x00000002 PAD 0x08004458 0x08004458 0x0000000c Code RO 35 .text.StartDefaultTask freertos.o @@ -5509,7 +5510,7 @@ 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 - 162 0 0 252 0 2406 config.o + 172 0 0 252 0 2418 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 @@ -5524,7 +5525,7 @@ 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 - 3148 52 0 0 9 10629 shoot_control.o + 3132 52 0 0 9 10680 shoot_control.o 172 12 0 0 371 4992 shoot_ctrl.o 64 26 392 0 1536 804 startup_stm32f407xx.o 172 0 0 5 4 7276 stm32f4xx_hal.o @@ -5546,9 +5547,9 @@ Image component sizes 0 0 132 0 52 2872 user_task.o ---------------------------------------------------------------------- - 29332 290 628 268 23572 302615 Object Totals + 29332 290 628 268 23572 302678 Object Totals 0 0 32 0 0 0 (incl. Generated) - 260 12 0 3 15 0 (incl. Padding) + 266 12 0 3 15 0 (incl. Padding) ---------------------------------------------------------------------- @@ -5616,8 +5617,8 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 32128 552 660 268 23668 303399 Grand Totals - 32128 552 660 268 23668 303399 ELF Image Totals + 32128 552 660 268 23668 303462 Grand Totals + 32128 552 660 268 23668 303462 ELF Image Totals 32128 552 660 268 0 0 ROM Totals ============================================================================== diff --git a/MDK-ARM/shoot/shoot_control.o b/MDK-ARM/shoot/shoot_control.o index f6d0b6c367f4fbb0c0e1d7075b513c513fbb7825..26276909a8c7f8f70ed63a8c22b08dc356831a9d 100644 GIT binary patch delta 7498 zcmZ9Q3tZJzw#WBA|Ns7TfWtW(MLN`Q;v4a(q6a6{MJ6}Z+iKB{`wC|K3?v!mga@~%8UptATTi2c|28b_5m_BZ?lxB*1LasIAR1eu~W~xDQzFDO* z)Si2`e7?urr~XUcYcBQXj@Z*8bN=vMra16jj;Q)d$lZ8?m+byX;IHxA=TC^p;{9(P z3+kIh@Yu~_%je4xzucVg{w}M`-h}!9&knkS@U!5UG~Sti#NXg4F6jEMGX`%H-r^A(BcV z)^r~iDo-Ah97qx(*_AcjlaommB2bf*}N1ha|3 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z(2&mOC(^j)f^fc7mc0jKv6Mb@Qm&{B=(`r|LYiluP>pt5U`{jCsH^ZUjkh{HV|hb6 z*p+Rheq+*lJJ1W}S>B1oNG~;)*uY%HU*HB+?l5|AFa6+mGI}}CAI%j=|1<|Jva?(? y`(i1cS$Z6BQiA5VgDy(Z!J$Y;^j5={fhMk9{tHP1a_Da`-5{stb&+|;fcrmKZJG)I diff --git a/MDK-ARM/shoot/shoot_shoot.dep b/MDK-ARM/shoot/shoot_shoot.dep index d5ba9e2..9f1371c 100644 --- a/MDK-ARM/shoot/shoot_shoot.dep +++ b/MDK-ARM/shoot/shoot_shoot.dep @@ -1309,8 +1309,8 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) F (..\User\component\pid.h)(0x68DFDF27)() -F (..\User\module\shoot_control.c)(0x68E654D6)(-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)(0x68E652F9) +F (..\User\module\shoot_control.c)(0x68E674B6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_control.o -MD) +I (..\User\module\shoot_control.h)(0x68E67024) I (..\Core\Inc\main.h)(0x68D1384A) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) @@ -1367,9 +1367,9 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\bsp\time.h)(0x68DFDF27) -F (..\User\module\shoot_control.h)(0x68E652F9)() -F (..\User\module\config.c)(0x68E652F9)(-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)(0x68E63334) +F (..\User\module\shoot_control.h)(0x68E67024)() +F (..\User\module\config.c)(0x68E67024)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/config.o -MD) +I (..\User\module\config.h)(0x68E66139) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (..\User\component\pid.h)(0x68DFDF27) I (..\User\component\filter.h)(0x68DFDF27) @@ -1424,8 +1424,8 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) -I (..\User\module\shoot_control.h)(0x68E652F9) -F (..\User\module\config.h)(0x68E63334)() +I (..\User\module\shoot_control.h)(0x68E67024) +F (..\User\module\config.h)(0x68E66139)() F (..\User\task\init.c)(0x68D4AE2D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/init.o -MD) I (..\User\task\user_task.h)(0x68D3E4B9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) @@ -1468,7 +1468,7 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\device\device.h)(0x68DFDFA7) I (..\User\component\at9s_pro_cmd.h)(0x68D4B9F6) -F (..\User\task\shoot_ctrl.c)(0x68E63334)(-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)(0x68E66139)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/shoot_ctrl.o -MD) I (..\User\task\user_task.h)(0x68D3E4B9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -1489,7 +1489,7 @@ I (..\User\component\user_math.h)(0x68DFE123) I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (..\User\device\device.h)(0x68DFDFA7) -I (..\User\module\shoot_control.h)(0x68E652F9) +I (..\User\module\shoot_control.h)(0x68E67024) I (..\Core\Inc\main.h)(0x68D1384A) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68D1384A) @@ -1527,7 +1527,7 @@ I (..\Core\Inc\can.h)(0x68D13849) I (..\User\bsp\bsp.h)(0x68DFDF27) I (..\User\bsp\mm.h)(0x68DFDF27) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208) -I (..\User\module\config.h)(0x68E63334) +I (..\User\module\config.h)(0x68E66139) F (..\User\task\user_task.c)(0x68DCD9EF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I./RTE/_shoot -ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o shoot/user_task.o -MD) I (..\User\task\user_task.h)(0x68D3E4B9) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208) diff --git a/Ozone/shoot.jdebug.user b/Ozone/shoot.jdebug.user index ca33b90..85d9471 100644 --- a/Ozone/shoot.jdebug.user +++ b/Ozone/shoot.jdebug.user @@ -1,36 +1,41 @@ +Breakpoint=D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c:126, State=BP_STATE_ON Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:146:32, State=BP_STATE_DISABLED Breakpoint=D:/CUBEMX/shoot/User/device/motor_rm.c:149:49, State=BP_STATE_DISABLED -Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:116:26, State=BP_STATE_DISABLED +Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:118:23, State=BP_STATE_DISABLED +Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:462:21, State=BP_STATE_ON +Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:464, State=BP_STATE_DISABLED +Breakpoint=D:/CUBEMX/shoot/User/module/shoot_control.c:468:13, State=BP_STATE_ON GraphedExpression="((shoot).target_variable).target_angle", Color=#e56a6f, Show=0 GraphedExpression="(((shoot).feedback).trig).rotor_abs_angle", Color=#35792b, Show=0 GraphedExpression="dpos", Color=#769dda, Show=0 GraphedExpression="((shoot).output).outagl_trig", Color=#b14f0d, Show=0 GraphedExpression="((shoot).output).outomg_trig", Color=#b3c38e, Show=0 GraphedExpression="(((shoot).feedback).trig).torque_current", Color=#ab7b05 -GraphedExpression="(((shoot).feedback).fric[0]).rotor_speed", Color=#7fd3b7, Show=0 -OpenDocument="port.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c", Line=402 +OpenDocument="heap_4.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c", Line=104 +OpenDocument="mm.c", FilePath="D:/CUBEMX/shoot/User/bsp/mm.c", Line=0 +OpenDocument="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=9 OpenDocument="tasks.c", FilePath="D:/CUBEMX/shoot/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3419 OpenDocument="math.h", FilePath="D:/cangming/ARM/ARMCLANG/include/math.h", Line=160 -OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=128 +OpenDocument="shoot_control.c", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.c", Line=449 OpenDocument="startup_stm32f407xx.s", FilePath="D:/CUBEMX/shoot/MDK-ARM/startup_stm32f407xx.s", Line=161 OpenDocument="main.c", FilePath="D:/CUBEMX/shoot/Core/Src/main.c", Line=66 OpenDocument="stm32f4xx_hal_can.c", FilePath="D:/CUBEMX/shoot/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c", Line=2072 OpenDocument="shoot_control.h", FilePath="D:/CUBEMX/shoot/User/module/shoot_control.h", Line=58 -OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=39 +OpenDocument="config.c", FilePath="D:/CUBEMX/shoot/User/module/config.c", Line=4 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="shoot_ctrl.c", FilePath="D:/CUBEMX/shoot/User/task/shoot_ctrl.c", Line=1 +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 OpenToolbar="Debug", Floating=0, x=0, y=0 -OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=1, w=726, h=706, 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=695, 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=212, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 -OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=706, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=0, w=726, h=223, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 +OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=1, w=726, h=695, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0 OpenWindow="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" @@ -43,8 +48,8 @@ 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";" ((shoot).target_variable).target_angle";" (((shoot).feedback).trig).rotor_abs_angle";" dpos";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" (((shoot).feedback).trig).torque_current";" (((shoot).feedback).fric[0]).rotor_speed"], ColWidths=[100;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;124;114;154;110;126;1570] +TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((shoot).target_variable).target_angle";" (((shoot).feedback).trig).rotor_abs_angle";" dpos";" ((shoot).output).outagl_trig";" ((shoot).output).outomg_trig";" (((shoot).feedback).trig).torque_current"], ColWidths=[100;100;100;100;100;100;100;100] +TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;100;100;100;100;100;110;126;1706] TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340] WatchedExpression="shoot_ctrl_cmd_rc", RefreshRate=5, Window=Watched Data 1 WatchedExpression="shoot_cmd", RefreshRate=5, Window=Watched Data 1 diff --git a/User/module/config.c b/User/module/config.c index ea1c06a..eaca584 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -138,6 +138,8 @@ int8_t Config_ShootInit(void) { .gear = false, }; } + 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; } diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c index ff5b1d5..f31bbb3 100644 --- a/User/module/shoot_control.c +++ b/User/module/shoot_control.c @@ -9,6 +9,7 @@ #include "component/filter.h" #include "component/user_math.h" #include +#include "bsp/mm.h" #include "bsp/time.h" /* Private typedef ---------------------------------------------------------- */ @@ -351,7 +352,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) } } /* 输出 */ - for(int i=fric_num-1;i>3;i-=4) + for(int i=0;fric_num-i>0;i+=4) { MOTOR_RM_Ctrl(&s->param->fric_motor_param[i].param); } diff --git a/User/module/shoot_control.h b/User/module/shoot_control.h index 49a52d5..ff89bcc 100644 --- a/User/module/shoot_control.h +++ b/User/module/shoot_control.h @@ -22,7 +22,6 @@ extern "C" { #define SHOOT_ERR_MOTOR (-4) /* 运行时配置了不存在的电机类型 */ #define SHOOT_ERR_MALLOC (-5) /* 内存分配失败 */ -#define SHOOT_FRIC_NUM (6) /* 摩擦轮数量 */ #define MAX_FRIC_RPM 7000.0f #define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试 /* Exported macro ----------------------------------------------------------- */
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