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This commit is contained in:
yxming66 2025-10-09 18:53:10 +08:00
parent 7fbec09276
commit 97ad16edf6
15 changed files with 1466 additions and 1513 deletions
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377
MDK-ARM/shoot.uvguix.yxm23
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32
MDK-ARM/shoot.uvoptx
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@ -186,6 +186,38 @@
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>131</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\module\shoot_control.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>3</Number>
<Type>0</Type>
<LineNumber>134</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>0</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>..\User\module\shoot_control.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
<Ww>

BIN
MDK-ARM/shoot/config.o
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BIN
MDK-ARM/shoot/shoot.axf
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100
MDK-ARM/shoot/shoot.build_log.htm
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@ -26,109 +26,13 @@ Project File Date: 10/03/2025
<h2>Output:</h2>
*** 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).
<h2>Software Packages used:</h2>

1698
MDK-ARM/shoot/shoot.hex
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6
MDK-ARM/shoot/shoot.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [shoot\shoot.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image shoot\shoot.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Oct 8 20:22:54 2025
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Oct 8 22:27:04 2025
<BR><P>
<H3>Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
@ -834,7 +834,7 @@ Global Symbols
<BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_shoot_ctrl
</UL>
<P><STRONG><a name="[b2]"></a>Config_ShootInit</STRONG> (Thumb, 152 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit))
<P><STRONG><a name="[b2]"></a>Config_ShootInit</STRONG> (Thumb, 162 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = Config_ShootInit &rArr; BSP_Malloc &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Malloc
@ -1587,7 +1587,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[117]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_RunningFSM
</UL>
<P><STRONG><a name="[117]"></a>Shoot_RunningFSM</STRONG> (Thumb, 1248 bytes, Stack size 56 bytes, shoot_control.o(.text.Shoot_RunningFSM))
<P><STRONG><a name="[117]"></a>Shoot_RunningFSM</STRONG> (Thumb, 1232 bytes, Stack size 56 bytes, shoot_control.o(.text.Shoot_RunningFSM))
<BR><BR>[Stack]<UL><LI>Max Depth = 200<LI>Call Chain = Shoot_RunningFSM &rArr; MOTOR_RM_Ctrl &rArr; BSP_CAN_TransmitStdDataFrame &rArr; BSP_CAN_Transmit &rArr; BSP_CAN_TxQueuePush
</UL>
<BR>[Calls]<UL><LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Apply

713
MDK-ARM/shoot/shoot.map
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@ -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 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
[Anonymous Symbol] 0x080015d8 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
DMA_CalcBaseAndBitshift 0x080015e9 Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
[Anonymous Symbol] 0x080015e8 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x0800161c Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
DMA_CheckFifoParam 0x08001625 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
[Anonymous Symbol] 0x08001624 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
DMA_SetConfig 0x08001675 Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
[Anonymous Symbol] 0x08001674 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
[Anonymous Symbol] 0x080016a4 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler)
[Anonymous Symbol] 0x080016a8 Section 0 main.o(.text.Error_Handler)
[Anonymous Symbol] 0x080016b0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
[Anonymous Symbol] 0x080016d8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
[Anonymous Symbol] 0x0800176c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
[Anonymous Symbol] 0x0800184c Section 0 can_1.o(.text.HAL_CAN_ErrorCallback)
[Anonymous Symbol] 0x08001870 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
[Anonymous Symbol] 0x08001890 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
[Anonymous Symbol] 0x080019b4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
[Anonymous Symbol] 0x080019dc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
[Anonymous Symbol] 0x08001c18 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
[Anonymous Symbol] 0x08001d0c Section 0 can.o(.text.HAL_CAN_MspInit)
[Anonymous Symbol] 0x08001e4c Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
[Anonymous Symbol] 0x08001e70 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
[Anonymous Symbol] 0x08001e94 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
[Anonymous Symbol] 0x08001eb8 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
[Anonymous Symbol] 0x08001edc Section 0 can_1.o(.text.HAL_CAN_SleepCallback)
[Anonymous Symbol] 0x08001f00 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
[Anonymous Symbol] 0x08001f5c Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
[Anonymous Symbol] 0x08001f80 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
[Anonymous Symbol] 0x08001fa4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
[Anonymous Symbol] 0x08001fc8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
[Anonymous Symbol] 0x08001fec Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
[Anonymous Symbol] 0x08002010 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
[Anonymous Symbol] 0x08002034 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
[Anonymous Symbol] 0x08002058 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
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[Anonymous Symbol] 0x080022b4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
[Anonymous Symbol] 0x08002318 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
[Anonymous Symbol] 0x080024b4 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick)
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[Anonymous Symbol] 0x08002564 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
[Anonymous Symbol] 0x080025ac Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
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[Anonymous Symbol] 0x080025d4 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
[Anonymous Symbol] 0x080025dc Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
[Anonymous Symbol] 0x0800273c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
[Anonymous Symbol] 0x08002748 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
[Anonymous Symbol] 0x0800276c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
[Anonymous Symbol] 0x08002790 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
[Anonymous Symbol] 0x080027f8 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
[Anonymous Symbol] 0x08002b40 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
[Anonymous Symbol] 0x08002b48 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
[Anonymous Symbol] 0x08002b4c Section 0 uart.o(.text.HAL_UART_ErrorCallback)
[Anonymous Symbol] 0x08002b74 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
[Anonymous Symbol] 0x08002bd4 Section 0 usart.o(.text.HAL_UART_MspInit)
[Anonymous Symbol] 0x08002d30 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
[Anonymous Symbol] 0x08002d5c Section 0 uart.o(.text.HAL_UART_RxCpltCallback)
[Anonymous Symbol] 0x08002d84 Section 0 uart.o(.text.HAL_UART_RxHalfCpltCallback)
[Anonymous Symbol] 0x08002dac Section 0 stm32f4xx_it.o(.text.HardFault_Handler)
[Anonymous Symbol] 0x08002db0 Section 0 filter.o(.text.LowPassFilter2p_Apply)
[Anonymous Symbol] 0x08002e2c Section 0 filter.o(.text.LowPassFilter2p_Init)
[Anonymous Symbol] 0x08002ed0 Section 0 filter.o(.text.LowPassFilter2p_Reset)
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[Anonymous Symbol] 0x08002f2c Section 0 motor_rm.o(.text.MOTOR_RM_CreateCANManager)
[Anonymous Symbol] 0x08002f68 Section 0 motor_rm.o(.text.MOTOR_RM_Ctrl)
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[Anonymous Symbol] 0x08003040 Section 0 motor_rm.o(.text.MOTOR_RM_GetCANManager)
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[Anonymous Symbol] 0x08003054 Section 0 motor_rm.o(.text.MOTOR_RM_GetLSB)
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[Anonymous Symbol] 0x0800307c Section 0 motor_rm.o(.text.MOTOR_RM_GetLogicalIndex)
[Anonymous Symbol] 0x080030a4 Section 0 motor_rm.o(.text.MOTOR_RM_GetMotor)
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[Anonymous Symbol] 0x080030f4 Section 0 motor_rm.o(.text.MOTOR_RM_GetRatio)
[Anonymous Symbol] 0x08003118 Section 0 motor_rm.o(.text.MOTOR_RM_Register)
[Anonymous Symbol] 0x080031c0 Section 0 motor_rm.o(.text.MOTOR_RM_Relax)
[Anonymous Symbol] 0x080031d0 Section 0 motor_rm.o(.text.MOTOR_RM_SetOutput)
[Anonymous Symbol] 0x08003270 Section 0 motor_rm.o(.text.MOTOR_RM_Update)
[Anonymous Symbol] 0x08003338 Section 0 can.o(.text.MX_CAN1_Init)
[Anonymous Symbol] 0x08003374 Section 0 can.o(.text.MX_CAN2_Init)
[Anonymous Symbol] 0x080033b0 Section 0 dma.o(.text.MX_DMA_Init)
[Anonymous Symbol] 0x0800340c Section 0 freertos.o(.text.MX_FREERTOS_Init)
[Anonymous Symbol] 0x08003448 Section 0 gpio.o(.text.MX_GPIO_Init)
[Anonymous Symbol] 0x080034bc Section 0 usart.o(.text.MX_USART3_UART_Init)
[Anonymous Symbol] 0x080034f8 Section 0 usart.o(.text.MX_USART6_UART_Init)
[Anonymous Symbol] 0x08003530 Section 0 stm32f4xx_it.o(.text.MemManage_Handler)
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[Anonymous Symbol] 0x08003534 Section 0 motor_rm.o(.text.Motor_RM_Decode)
[Anonymous Symbol] 0x08003690 Section 0 stm32f4xx_it.o(.text.NMI_Handler)
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[Anonymous Symbol] 0x08003694 Section 0 stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority)
[Anonymous Symbol] 0x080036c0 Section 0 pid.o(.text.PID_Calc)
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[Anonymous Symbol] 0x080038ec Section 0 pid.o(.text.PID_ResetIntegral)
[Anonymous Symbol] 0x08003900 Section 0 port.o(.text.PendSV_Handler)
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[Anonymous Symbol] 0x08003ae4 Section 0 shoot_control.o(.text.Shoot_Init)
[Anonymous Symbol] 0x08003d18 Section 0 shoot_control.o(.text.Shoot_JamDetectionFSM)
[Anonymous Symbol] 0x08003e34 Section 0 shoot_control.o(.text.Shoot_ResetCalu)
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[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)
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@ -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)
DEVICE_AT9S_Init 0x080012b5 Thumb Code 70 at9s_pro.o(.text.DEVICE_AT9S_Init)
DEVICE_AT9S_ParseRaw 0x080012fd Thumb Code 632 at9s_pro.o(.text.DEVICE_AT9S_ParseRaw)
DEVICE_AT9S_StartDmaRecv 0x08001589 Thumb Code 28 at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv)
DEVICE_AT9S_WaitDmaCplt 0x080015a5 Thumb Code 22 at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt)
DMA1_Stream1_IRQHandler 0x080015bd Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
DMA2_Stream6_IRQHandler 0x080015cd Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
DebugMon_Handler 0x08001699 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
Error_Handler 0x0800169d Thumb Code 6 main.o(.text.Error_Handler)
HAL_CAN_ActivateNotification 0x080016a5 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
HAL_CAN_AddTxMessage 0x080016cd Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
HAL_CAN_ConfigFilter 0x08001761 Thumb Code 222 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
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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
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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
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0x08002b3e 0x08002b3e 0x00000002 PAD
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0x0800332a 0x0800332a 0x00000002 PAD
0x0800332c 0x0800332c 0x0000003c Code RO 47 .text.MX_CAN1_Init can.o
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0x080033fe 0x080033fe 0x00000002 PAD
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0x0800343a 0x0800343a 0x00000002 PAD
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0x080034b0 0x080034b0 0x0000003c Code RO 75 .text.MX_USART3_UART_Init usart.o
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0x08003526 0x08003526 0x00000002 PAD
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0x08003824 0x08003824 0x00000090 Code RO 1837 .text.PID_Init pid.o
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0x08003954 0x08003954 0x0000000c PAD
0x08003960 0x08003960 0x00000024 Code RO 1459 .text.SVC_Handler port.o
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0x080015c6 0x080015c6 0x00000002 PAD
0x080015c8 0x080015c8 0x00000010 Code RO 109 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o
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0x080016a6 0x080016a6 0x00000002 PAD
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0x080016ae 0x080016ae 0x00000002 PAD
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0x080016d6 0x080016d6 0x00000002 PAD
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0x0800176a 0x0800176a 0x00000002 PAD
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0x0800184a 0x0800184a 0x00000002 PAD
0x0800184c 0x0800184c 0x00000024 Code RO 1518 .text.HAL_CAN_ErrorCallback can_1.o
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0x080019dc 0x080019dc 0x0000023a Code RO 179 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o
0x08001c16 0x08001c16 0x00000002 PAD
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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
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0x08001f5a 0x08001f5a 0x00000002 PAD
0x08001f5c 0x08001f5c 0x00000024 Code RO 1500 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o
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0x08001fa2 0x08001fa2 0x00000002 PAD
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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
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0x080024b2 0x080024b2 0x00000002 PAD
0x080024b4 0x080024b4 0x0000000c Code RO 591 .text.HAL_GetTick stm32f4xx_hal.o
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0x080024da 0x080024da 0x00000002 PAD
0x080024dc 0x080024dc 0x00000036 Code RO 579 .text.HAL_Init stm32f4xx_hal.o
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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
==============================================================================

BIN
MDK-ARM/shoot/shoot_control.o
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BIN
MDK-ARM/shoot/shoot_ctrl.o
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20
MDK-ARM/shoot/shoot_shoot.dep
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@ -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)

27
Ozone/shoot.jdebug.user
View File

@ -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

2
User/module/config.c
View File

@ -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;
}

3
User/module/shoot_control.c
View File

@ -9,6 +9,7 @@
#include "component/filter.h"
#include "component/user_math.h"
#include <math.h>
#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);
}

1
User/module/shoot_control.h
View File

@ -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 ----------------------------------------------------------- */