From a5b600866bd4f7e05d1c206bfadd9285e26c2aa8 Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Thu, 2 Oct 2025 23:27:27 +0800 Subject: [PATCH] =?UTF-8?q?err=E5=A5=BD=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/shoot.uvguix.yxm23 | 8 +- MDK-ARM/shoot.uvoptx | 16 + MDK-ARM/shoot/shoot.axf | Bin 368648 -> 368680 bytes MDK-ARM/shoot/shoot.hex | 2509 +++++++++++++++++---------------- MDK-ARM/shoot/shoot.htm | 6 +- MDK-ARM/shoot/shoot.map | 1295 +++++++++-------- MDK-ARM/shoot/shoot_control.o | Bin 21500 -> 21540 bytes MDK-ARM/shoot/shoot_shoot.dep | 2 +- Ozone/shoot.jdebug | 1 + User/module/shoot_control.c | 1 + 10 files changed, 1928 insertions(+), 1910 deletions(-) diff --git a/MDK-ARM/shoot.uvguix.yxm23 b/MDK-ARM/shoot.uvguix.yxm23 index 94e1517..e58eec5 100644 --- a/MDK-ARM/shoot.uvguix.yxm23 +++ b/MDK-ARM/shoot.uvguix.yxm23 @@ -1806,7 +1806,7 @@ File 3011 - 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z{{enfjK2~1IdC}_{}6C#+~W0MeJS|nXF(V|2D@>Wz^}mhz@NGBQ{XutzQJydU~uxA zaiB8rc3^Aht`D4rqoE{M{#f98*t8_Na6Is8U^Y0V9M2~p90TDs3jj|8K8amS8@3R5 zA#iKVKfHQlyb*XXu-%3C1CIoDbKx_GMI<-dev5LOivm;szw3`<~Js?$I&a3^q>(SM-Us*UD13x&&d>$LW`mbStatic Call Graph - [shoot\shoot.axf]

Static Call Graph for image shoot\shoot.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Oct 2 22:48:54 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Oct 2 23:17:59 2025

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

Call chain for Maximum Stack Depth:

@@ -1523,8 +1523,8 @@ Global Symbols
[Called By]
  • >>   Task_shoot_ctrl
-

Shoot_Init (Thumb, 234 bytes, Stack size 40 bytes, shoot_control.o(.text.Shoot_Init)) -

[Stack]

  • Max Depth = 280 + Unknown Stack Size +

    Shoot_Init (Thumb, 260 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init)) +

    [Stack]

    • Max Depth = 288 + Unknown Stack Size
    • Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

    [Calls]
    • >>   PID_Init diff --git a/MDK-ARM/shoot/shoot.map b/MDK-ARM/shoot/shoot.map index 8a0e619..085be82 100644 --- a/MDK-ARM/shoot/shoot.map +++ b/MDK-ARM/shoot/shoot.map @@ -4123,238 +4123,238 @@ Image Symbol Table [Anonymous Symbol] 0x08003774 Section 0 shoot_control.o(.text.Shoot_CaluTargetAngle) [Anonymous Symbol] 0x08003800 Section 0 shoot_control.o(.text.Shoot_Control) [Anonymous Symbol] 0x0800386c Section 0 shoot_control.o(.text.Shoot_Init) - [Anonymous Symbol] 0x08003958 Section 0 shoot_control.o(.text.Shoot_JamDetectionFSM) - [Anonymous Symbol] 0x08003a6c Section 0 shoot_control.o(.text.Shoot_ResetCalu) - [Anonymous Symbol] 0x08003b04 Section 0 shoot_control.o(.text.Shoot_ResetIntegral) - [Anonymous Symbol] 0x08003b48 Section 0 shoot_control.o(.text.Shoot_ResetOutput) - [Anonymous Symbol] 0x08003b70 Section 0 shoot_control.o(.text.Shoot_RunningFSM) - [Anonymous Symbol] 0x08003f68 Section 0 freertos.o(.text.StartDefaultTask) - SysTick_Config 0x08003f75 Thumb Code 46 stm32f4xx_hal_cortex.o(.text.SysTick_Config) - [Anonymous Symbol] 0x08003f74 Section 0 stm32f4xx_hal_cortex.o(.text.SysTick_Config) - [Anonymous Symbol] 0x08003fa4 Section 0 stm32f4xx_it.o(.text.SysTick_Handler) - [Anonymous Symbol] 0x08003fb8 Section 0 main.o(.text.SystemClock_Config) - [Anonymous Symbol] 0x0800405c Section 0 system_stm32f4xx.o(.text.SystemInit) - [Anonymous Symbol] 0x08004070 Section 0 init.o(.text.Task_Init) - [Anonymous Symbol] 0x080040d8 Section 0 rc.o(.text.Task_rc) - [Anonymous Symbol] 0x08004170 Section 0 shoot_ctrl.o(.text.Task_shoot_ctrl) - UART_DMAError 0x08004215 Thumb Code 76 stm32f4xx_hal_uart.o(.text.UART_DMAError) - [Anonymous Symbol] 0x08004214 Section 0 stm32f4xx_hal_uart.o(.text.UART_DMAError) - UART_DMAReceiveCplt 0x08004261 Thumb Code 132 stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) - [Anonymous Symbol] 0x08004260 Section 0 stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) - UART_DMARxHalfCplt 0x080042e5 Thumb Code 30 stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) - [Anonymous Symbol] 0x080042e4 Section 0 stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) - UART_EndRxTransfer 0x08004305 Thumb Code 80 stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer) - [Anonymous Symbol] 0x08004304 Section 0 stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer) - UART_EndTxTransfer 0x08004355 Thumb Code 28 stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer) - [Anonymous Symbol] 0x08004354 Section 0 stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer) - UART_Get 0x08004371 Thumb Code 30 uart.o(.text.UART_Get) - [Anonymous Symbol] 0x08004370 Section 0 uart.o(.text.UART_Get) - UART_SetConfig 0x08004391 Thumb Code 220 stm32f4xx_hal_uart.o(.text.UART_SetConfig) - [Anonymous Symbol] 0x08004390 Section 0 stm32f4xx_hal_uart.o(.text.UART_SetConfig) - [Anonymous Symbol] 0x0800446c Section 0 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) - [Anonymous Symbol] 0x08004518 Section 0 stm32f4xx_it.o(.text.UsageFault_Handler) - __ARM_isfinitef 0x0800451d Thumb Code 14 filter.o(.text.__ARM_isfinitef) - [Anonymous Symbol] 0x0800451c Section 0 filter.o(.text.__ARM_isfinitef) - __ARM_isfinitef 0x0800452d Thumb Code 14 pid.o(.text.__ARM_isfinitef) - [Anonymous Symbol] 0x0800452c Section 0 pid.o(.text.__ARM_isfinitef) - __ARM_isinff 0x0800453d Thumb Code 16 filter.o(.text.__ARM_isinff) - [Anonymous Symbol] 0x0800453c Section 0 filter.o(.text.__ARM_isinff) - __NVIC_EnableIRQ 0x0800454d Thumb Code 32 stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ) - [Anonymous Symbol] 0x0800454c Section 0 stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ) - __NVIC_GetPriorityGrouping 0x0800456d Thumb Code 16 stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping) - [Anonymous Symbol] 0x0800456c Section 0 stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping) - __NVIC_SetPriority 0x0800457d Thumb Code 34 stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority) - [Anonymous Symbol] 0x0800457c Section 0 stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority) - __NVIC_SetPriority 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cmsis_os2.o(.text.osKernelStart) - [Anonymous Symbol] 0x08004794 Section 0 cmsis_os2.o(.text.osKernelUnlock) - [Anonymous Symbol] 0x080047d8 Section 0 cmsis_os2.o(.text.osMessageQueueGet) - [Anonymous Symbol] 0x08004860 Section 0 cmsis_os2.o(.text.osMessageQueueNew) - [Anonymous Symbol] 0x08004900 Section 0 cmsis_os2.o(.text.osMessageQueuePut) - [Anonymous Symbol] 0x08004990 Section 0 cmsis_os2.o(.text.osMutexAcquire) - [Anonymous Symbol] 0x080049e4 Section 0 cmsis_os2.o(.text.osMutexNew) - [Anonymous Symbol] 0x08004a7c Section 0 cmsis_os2.o(.text.osMutexRelease) - [Anonymous Symbol] 0x08004abc Section 0 cmsis_os2.o(.text.osThreadFlagsSet) - [Anonymous Symbol] 0x08004b3c Section 0 cmsis_os2.o(.text.osThreadFlagsWait) - [Anonymous Symbol] 0x08004bf8 Section 0 cmsis_os2.o(.text.osThreadGetId) - [Anonymous Symbol] 0x08004c00 Section 0 cmsis_os2.o(.text.osThreadNew) - [Anonymous Symbol] 0x08004cb4 Section 0 cmsis_os2.o(.text.osThreadTerminate) - prvAddCurrentTaskToDelayedList 0x08004ce9 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queue.o(.text.prvCopyDataToQueue) - prvDeleteTCB 0x08004f85 Thumb Code 54 tasks.o(.text.prvDeleteTCB) - [Anonymous Symbol] 0x08004f84 Section 0 tasks.o(.text.prvDeleteTCB) - prvGetDisinheritPriorityAfterTimeout 0x08004fbd Thumb Code 18 queue.o(.text.prvGetDisinheritPriorityAfterTimeout) - [Anonymous Symbol] 0x08004fbc Section 0 queue.o(.text.prvGetDisinheritPriorityAfterTimeout) - prvGetNextExpireTime 0x08004fd1 Thumb Code 32 timers.o(.text.prvGetNextExpireTime) - [Anonymous Symbol] 0x08004fd0 Section 0 timers.o(.text.prvGetNextExpireTime) - prvHeapInit 0x08004ff1 Thumb Code 118 heap_4.o(.text.prvHeapInit) - [Anonymous Symbol] 0x08004ff0 Section 0 heap_4.o(.text.prvHeapInit) - prvIdleTask 0x08005069 Thumb Code 42 tasks.o(.text.prvIdleTask) - [Anonymous Symbol] 0x08005068 Section 0 tasks.o(.text.prvIdleTask) - prvInitialiseMutex 0x08005095 Thumb Code 32 queue.o(.text.prvInitialiseMutex) - [Anonymous Symbol] 0x08005094 Section 0 queue.o(.text.prvInitialiseMutex) - prvInitialiseNewQueue 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0x08005875 Thumb Code 22 list.o(.text.vListInitialise) - vListInitialiseItem 0x0800588d Thumb Code 6 list.o(.text.vListInitialiseItem) - vListInsert 0x08005895 Thumb Code 58 list.o(.text.vListInsert) - vListInsertEnd 0x080058d1 Thumb Code 28 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x08005901 Thumb Code 70 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08005949 Thumb Code 46 port.o(.text.vPortExitCritical) - vPortFree 0x08005979 Thumb Code 138 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08005a05 Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08005a39 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08005a9d Thumb Code 40 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08005ac5 Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08005b09 Thumb Code 84 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x08005b5d Thumb Code 168 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08005c05 Thumb Code 194 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08005cc9 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08005ce5 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08005cf5 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08005d29 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x08005d69 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08005e0d Thumb Code 156 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x08005eb1 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x08005ec1 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08005f5d Thumb Code 274 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08006071 Thumb Code 46 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x080060a1 Thumb Code 22 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x080060b9 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x080060dd Thumb Code 70 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08006125 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x080061bd Thumb Code 126 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x0800623d Thumb Code 418 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x080063e1 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x080064b1 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x080064f5 Thumb Code 388 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x08006679 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x08006725 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x080068ed Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x08006929 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x080069b1 Thumb Code 102 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x08006a19 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x08006a91 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x08006b8d Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x08006cb9 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08006cc5 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x08006ced Thumb Code 12 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x08006cf9 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x08006d0d Thumb Code 338 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08006e61 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08006ef1 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08006f85 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08007019 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x080070a9 Thumb Code 276 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x080071bd Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x08007231 Thumb Code 104 timers.o(.text.xTimerGenericCommand) - __ARM_fpclassifyf 0x08007299 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_fmod 0x080072c1 Thumb Code 254 fmod.o(i.__hardfp_fmod) - __hardfp_tanf 0x080073c5 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __mathlib_dbl_invalid 0x08007541 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) - __mathlib_flt_infnan 0x08007561 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_invalid 0x08007569 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x08007579 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x08007589 Thumb Code 316 rredf.o(i.__mathlib_rredf2) - __aeabi_d2f 0x080076dd Thumb Code 0 d2f.o(x$fpl$d2f) - _d2f 0x080076dd Thumb Code 98 d2f.o(x$fpl$d2f) - __aeabi_dadd 0x08007741 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - _dadd 0x08007741 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) - __aeabi_ddiv 0x08007891 Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x08007891 Thumb Code 556 ddiv.o(x$fpl$ddiv) - __aeabi_d2uiz 0x08007b45 Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x08007b45 Thumb Code 90 dfixu.o(x$fpl$dfixu) - __aeabi_ui2d 0x08007b9f Thumb Code 0 dflt_clz.o(x$fpl$dfltu) - _dfltu 0x08007b9f Thumb Code 38 dflt_clz.o(x$fpl$dfltu) - __fpl_dnaninf 0x08007bc5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) - _drem 0x08007c61 Thumb Code 328 drem_clz.o(x$fpl$drem) - __fpl_dretinf 0x08007db1 Thumb Code 12 dretinf.o(x$fpl$dretinf) - __aeabi_drsub 0x08007dbd Thumb Code 0 daddsub_clz.o(x$fpl$drsb) - _drsb 0x08007dbd Thumb Code 22 daddsub_clz.o(x$fpl$drsb) - __aeabi_dsub 0x08007dd5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - _dsub 0x08007dd5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) - __aeabi_f2d 0x08007fb1 Thumb Code 0 f2d.o(x$fpl$f2d) - _f2d 0x08007fb1 Thumb Code 86 f2d.o(x$fpl$f2d) - __aeabi_ul2f 0x08008007 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_uto_f 0x08008007 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) - __aeabi_l2f 0x0800800d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_sto_f 0x0800800d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) - __fpl_fnaninf 0x08008067 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) - _fp_init 0x080080f3 Thumb Code 26 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x0800810b Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x0800810b Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fpl_fretinf 0x0800810d Thumb Code 10 fretinf.o(x$fpl$fretinf) - __I$use$fp 0x08008116 Number 0 usenofp.o(x$fpl$usenofp) - AHBPrescTable 0x08008138 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08008148 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_init 0x08008150 Data 36 user_task.o(.rodata.attr_init) - attr_rc 0x08008174 Data 36 user_task.o(.rodata.attr_rc) - attr_shoot_ctrl 0x08008198 Data 36 user_task.o(.rodata.attr_shoot_ctrl) - defaultTask_attributes 0x080081bc Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08008204 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08008224 Number 0 anon$$obj.o(Region$$Table) + Shoot_Init 0x0800386d Thumb Code 260 shoot_control.o(.text.Shoot_Init) + Shoot_JamDetectionFSM 0x08003971 Thumb Code 276 shoot_control.o(.text.Shoot_JamDetectionFSM) + Shoot_ResetCalu 0x08003a85 Thumb Code 152 shoot_control.o(.text.Shoot_ResetCalu) + Shoot_ResetIntegral 0x08003b1d Thumb Code 68 shoot_control.o(.text.Shoot_ResetIntegral) + Shoot_ResetOutput 0x08003b61 Thumb Code 38 shoot_control.o(.text.Shoot_ResetOutput) + Shoot_RunningFSM 0x08003b89 Thumb Code 1016 shoot_control.o(.text.Shoot_RunningFSM) + StartDefaultTask 0x08003f81 Thumb Code 12 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x08003fbd Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x08003fd1 Thumb Code 164 main.o(.text.SystemClock_Config) + SystemInit 0x08004075 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + Task_Init 0x08004089 Thumb Code 100 init.o(.text.Task_Init) + Task_rc 0x080040f1 Thumb Code 152 rc.o(.text.Task_rc) + Task_shoot_ctrl 0x08004189 Thumb Code 164 shoot_ctrl.o(.text.Task_shoot_ctrl) + UART_Start_Receive_DMA 0x08004485 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + UsageFault_Handler 0x08004531 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + eTaskGetState 0x080045e9 Thumb Code 156 tasks.o(.text.eTaskGetState) + main 0x08004685 Thumb Code 46 main.o(.text.main) + osDelay 0x080046b5 Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x080046d5 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) + osKernelGetTickCount 0x08004709 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x0800471d Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x08004725 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x0800474d Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x08004779 Thumb Code 52 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x080047ad Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x080047f1 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x08004879 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x08004919 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) + osMutexAcquire 0x080049a9 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x080049fd Thumb Code 150 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x08004a95 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x08004ad5 Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x08004b55 Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x08004c11 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x08004c19 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x08004ccd Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x080056a5 Thumb Code 330 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x080057f1 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x08005809 Thumb Code 40 port.o(.text.pxPortInitialiseStack) + uxListRemove 0x08005831 Thumb Code 36 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x08005855 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08005871 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vListInitialise 0x0800588d Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x080058a5 Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x080058ad Thumb Code 58 list.o(.text.vListInsert) + vListInsertEnd 0x080058e9 Thumb Code 28 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08005919 Thumb Code 70 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08005961 Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x08005991 Thumb Code 138 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08005a1d Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08005a51 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08005ab5 Thumb Code 40 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08005add Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08005b21 Thumb Code 84 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x08005b75 Thumb Code 168 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08005c1d Thumb Code 194 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08005ce1 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08005cfd Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08005d0d Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08005d41 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x08005d81 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x08005e25 Thumb Code 156 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08005ec9 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08005ed9 Thumb Code 154 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08005f75 Thumb Code 274 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x08006089 Thumb Code 46 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x080060b9 Thumb Code 22 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x080060d1 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x080060f5 Thumb Code 70 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x0800613d Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x080061d5 Thumb Code 126 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x08006255 Thumb Code 418 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x080063f9 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x080064c9 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x0800650d Thumb Code 388 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08006691 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x0800673d Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x08006905 Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08006941 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x080069c9 Thumb Code 102 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08006a31 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08006aa9 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x08006ba5 Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08006cd1 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08006cdd Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x08006d05 Thumb Code 12 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08006d11 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x08006d25 Thumb Code 338 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x08006e79 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08006f09 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08006f9d Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08007031 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x080070c1 Thumb Code 276 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x080071d5 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x08007249 Thumb Code 104 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassifyf 0x080072b1 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_fmod 0x080072d9 Thumb Code 254 fmod.o(i.__hardfp_fmod) + __hardfp_tanf 0x080073dd Thumb Code 322 tanf.o(i.__hardfp_tanf) + __mathlib_dbl_invalid 0x08007559 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) + __mathlib_flt_infnan 0x08007579 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_invalid 0x08007581 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x08007591 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x080075a1 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + __aeabi_d2f 0x080076f5 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x080076f5 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x08007759 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08007759 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __aeabi_ddiv 0x080078a9 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x080078a9 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_d2uiz 0x08007b5d Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08007b5d Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_ui2d 0x08007bb7 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08007bb7 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __fpl_dnaninf 0x08007bdd Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + _drem 0x08007c79 Thumb Code 328 drem_clz.o(x$fpl$drem) + __fpl_dretinf 0x08007dc9 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_drsub 0x08007dd5 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x08007dd5 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + __aeabi_dsub 0x08007ded Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x08007ded Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x08007fc9 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x08007fc9 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x0800801f Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x0800801f Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x08008025 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x08008025 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x0800807f Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x0800810b Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x08008123 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x08008123 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x08008125 Thumb Code 10 fretinf.o(x$fpl$fretinf) + __I$use$fp 0x0800812e Number 0 usenofp.o(x$fpl$usenofp) + AHBPrescTable 0x08008150 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08008160 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_init 0x08008168 Data 36 user_task.o(.rodata.attr_init) + attr_rc 0x0800818c Data 36 user_task.o(.rodata.attr_rc) + attr_shoot_ctrl 0x080081b0 Data 36 user_task.o(.rodata.attr_shoot_ctrl) + defaultTask_attributes 0x080081d4 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x0800821c Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x0800823c Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) robot_config 0x20000004 Data 220 config.o(.data.robot_config) uwTickFreq 0x200000e0 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) @@ -4956,9 +4956,9 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008318, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008330, Max: 0x00100000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00008224, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000823c, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -5204,272 +5204,271 @@ Memory Map of the image 0x08003772 0x08003772 0x00000002 PAD 0x08003774 0x08003774 0x0000008c Code RO 1860 .text.Shoot_CaluTargetAngle shoot_control.o 0x08003800 0x08003800 0x0000006c Code RO 1872 .text.Shoot_Control shoot_control.o - 0x0800386c 0x0800386c 0x000000ea Code RO 1862 .text.Shoot_Init shoot_control.o - 0x08003956 0x08003956 0x00000002 PAD - 0x08003958 0x08003958 0x00000114 Code RO 1870 .text.Shoot_JamDetectionFSM shoot_control.o - 0x08003a6c 0x08003a6c 0x00000098 Code RO 1854 .text.Shoot_ResetCalu shoot_control.o - 0x08003b04 0x08003b04 0x00000044 Code RO 1852 .text.Shoot_ResetIntegral shoot_control.o - 0x08003b48 0x08003b48 0x00000026 Code RO 1856 .text.Shoot_ResetOutput shoot_control.o - 0x08003b6e 0x08003b6e 0x00000002 PAD - 0x08003b70 0x08003b70 0x000003f8 Code RO 1866 .text.Shoot_RunningFSM shoot_control.o - 0x08003f68 0x08003f68 0x0000000c Code RO 35 .text.StartDefaultTask freertos.o - 0x08003f74 0x08003f74 0x0000002e Code RO 523 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x08003fa2 0x08003fa2 0x00000002 PAD - 0x08003fa4 0x08003fa4 0x00000014 Code RO 107 .text.SysTick_Handler stm32f4xx_it.o - 0x08003fb8 0x08003fb8 0x000000a4 Code RO 13 .text.SystemClock_Config main.o - 0x0800405c 0x0800405c 0x00000012 Code RO 798 .text.SystemInit system_stm32f4xx.o - 0x0800406e 0x0800406e 0x00000002 PAD - 0x08004070 0x08004070 0x00000064 Code RO 1893 .text.Task_Init init.o - 0x080040d4 0x080040d4 0x00000004 PAD - 0x080040d8 0x080040d8 0x00000098 Code RO 1902 .text.Task_rc rc.o - 0x08004170 0x08004170 0x000000a4 Code RO 1914 .text.Task_shoot_ctrl shoot_ctrl.o - 0x08004214 0x08004214 0x0000004c Code RO 700 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x08004260 0x08004260 0x00000084 Code RO 786 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o - 0x080042e4 0x080042e4 0x0000001e Code RO 788 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o - 0x08004302 0x08004302 0x00000002 PAD - 0x08004304 0x08004304 0x00000050 Code RO 714 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x08004354 0x08004354 0x0000001c Code RO 712 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o - 0x08004370 0x08004370 0x0000001e Code RO 1607 .text.UART_Get uart.o - 0x0800438e 0x0800438e 0x00000002 PAD - 0x08004390 0x08004390 0x000000dc Code RO 670 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800446c 0x0800446c 0x000000aa Code RO 704 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o - 0x08004516 0x08004516 0x00000002 PAD - 0x08004518 0x08004518 0x00000002 Code RO 103 .text.UsageFault_Handler stm32f4xx_it.o - 0x0800451a 0x0800451a 0x00000002 PAD - 0x0800451c 0x0800451c 0x0000000e Code RO 1816 .text.__ARM_isfinitef filter.o - 0x0800452a 0x0800452a 0x00000002 PAD - 0x0800452c 0x0800452c 0x0000000e Code RO 1834 .text.__ARM_isfinitef pid.o - 0x0800453a 0x0800453a 0x00000002 PAD - 0x0800453c 0x0800453c 0x00000010 Code RO 1812 .text.__ARM_isinff filter.o - 0x0800454c 0x0800454c 0x00000020 Code RO 511 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800456c 0x0800456c 0x00000010 Code RO 503 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800457c 0x0800457c 0x00000022 Code RO 505 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800459e 0x0800459e 0x00000002 PAD - 0x080045a0 0x080045a0 0x0000000e Code RO 1403 .text.__NVIC_SetPriority cmsis_os2.o - 0x080045ae 0x080045ae 0x00000002 PAD - 0x080045b0 0x080045b0 0x00000020 Code RO 499 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080045d0 0x080045d0 0x0000009c Code RO 1041 .text.eTaskGetState tasks.o - 0x0800466c 0x0800466c 0x0000002e Code RO 11 .text.main main.o - 0x0800469a 0x0800469a 0x00000002 PAD - 0x0800469c 0x0800469c 0x00000020 Code RO 1307 .text.osDelay cmsis_os2.o - 0x080046bc 0x080046bc 0x00000034 Code RO 1309 .text.osDelayUntil cmsis_os2.o - 0x080046f0 0x080046f0 0x00000014 Code RO 1257 .text.osKernelGetTickCount cmsis_os2.o - 0x08004704 0x08004704 0x00000006 Code RO 1259 .text.osKernelGetTickFreq cmsis_os2.o - 0x0800470a 0x0800470a 0x00000002 PAD - 0x0800470c 0x0800470c 0x00000028 Code RO 1241 .text.osKernelInitialize cmsis_os2.o - 0x08004734 0x08004734 0x0000002c Code RO 1251 .text.osKernelLock cmsis_os2.o - 0x08004760 0x08004760 0x00000034 Code RO 1247 .text.osKernelStart cmsis_os2.o - 0x08004794 0x08004794 0x00000044 Code RO 1253 .text.osKernelUnlock cmsis_os2.o - 0x080047d8 0x080047d8 0x00000086 Code RO 1361 .text.osMessageQueueGet cmsis_os2.o - 0x0800485e 0x0800485e 0x00000002 PAD - 0x08004860 0x08004860 0x000000a0 Code RO 1357 .text.osMessageQueueNew cmsis_os2.o - 0x08004900 0x08004900 0x0000008e Code RO 1359 .text.osMessageQueuePut cmsis_os2.o - 0x0800498e 0x0800498e 0x00000002 PAD - 0x08004990 0x08004990 0x00000052 Code RO 1339 .text.osMutexAcquire cmsis_os2.o - 0x080049e2 0x080049e2 0x00000002 PAD - 0x080049e4 0x080049e4 0x00000096 Code RO 1337 .text.osMutexNew cmsis_os2.o - 0x08004a7a 0x08004a7a 0x00000002 PAD - 0x08004a7c 0x08004a7c 0x0000003e Code RO 1341 .text.osMutexRelease cmsis_os2.o - 0x08004aba 0x08004aba 0x00000002 PAD - 0x08004abc 0x08004abc 0x0000007e Code RO 1299 .text.osThreadFlagsSet cmsis_os2.o - 0x08004b3a 0x08004b3a 0x00000002 PAD - 0x08004b3c 0x08004b3c 0x000000ba Code RO 1305 .text.osThreadFlagsWait cmsis_os2.o - 0x08004bf6 0x08004bf6 0x00000002 PAD - 0x08004bf8 0x08004bf8 0x00000008 Code RO 1275 .text.osThreadGetId cmsis_os2.o - 0x08004c00 0x08004c00 0x000000b4 Code RO 1271 .text.osThreadNew cmsis_os2.o - 0x08004cb4 0x08004cb4 0x00000034 Code RO 1293 .text.osThreadTerminate cmsis_os2.o - 0x08004ce8 0x08004ce8 0x00000080 Code RO 1035 .text.prvAddCurrentTaskToDelayedList tasks.o - 0x08004d68 0x08004d68 0x000000ac Code RO 1021 .text.prvAddNewTaskToReadyList tasks.o - 0x08004e14 0x08004e14 0x0000007c Code RO 1172 .text.prvCheckForValidListAndQueue timers.o - 0x08004e90 0x08004e90 0x0000004e Code RO 1139 .text.prvCheckTasksWaitingTermination tasks.o - 0x08004ede 0x08004ede 0x00000002 PAD - 0x08004ee0 0x08004ee0 0x00000026 Code RO 912 .text.prvCopyDataFromQueue queue.o - 0x08004f06 0x08004f06 0x00000002 PAD - 0x08004f08 0x08004f08 0x0000007a Code RO 900 .text.prvCopyDataToQueue queue.o - 0x08004f82 0x08004f82 0x00000002 PAD - 0x08004f84 0x08004f84 0x00000036 Code RO 1027 .text.prvDeleteTCB tasks.o - 0x08004fba 0x08004fba 0x00000002 PAD - 0x08004fbc 0x08004fbc 0x00000012 Code RO 916 .text.prvGetDisinheritPriorityAfterTimeout queue.o - 0x08004fce 0x08004fce 0x00000002 PAD - 0x08004fd0 0x08004fd0 0x00000020 Code RO 1210 .text.prvGetNextExpireTime timers.o - 0x08004ff0 0x08004ff0 0x00000076 Code RO 1421 .text.prvHeapInit heap_4.o - 0x08005066 0x08005066 0x00000002 PAD - 0x08005068 0x08005068 0x0000002a Code RO 1061 .text.prvIdleTask tasks.o - 0x08005092 0x08005092 0x00000002 PAD - 0x08005094 0x08005094 0x00000020 Code RO 880 .text.prvInitialiseMutex queue.o - 0x080050b4 0x080050b4 0x00000020 Code RO 874 .text.prvInitialiseNewQueue queue.o - 0x080050d4 0x080050d4 0x00000098 Code RO 1019 .text.prvInitialiseNewTask tasks.o - 0x0800516c 0x0800516c 0x00000070 Code RO 1137 .text.prvInitialiseTaskLists tasks.o - 0x080051dc 0x080051dc 0x0000005a Code RO 1423 .text.prvInsertBlockIntoFreeList heap_4.o - 0x08005236 0x08005236 0x00000002 PAD - 0x08005238 0x08005238 0x00000040 Code RO 1222 .text.prvInsertTimerInActiveList timers.o - 0x08005278 0x08005278 0x00000018 Code RO 914 .text.prvIsQueueEmpty queue.o - 0x08005290 0x08005290 0x0000001c Code RO 902 .text.prvIsQueueFull queue.o - 0x080052ac 0x080052ac 0x00000028 Code RO 1463 .text.prvPortStartFirstTask port.o - 0x080052d4 0x080052d4 0x0000006e Code RO 1218 .text.prvProcessExpiredTimer timers.o - 0x08005342 0x08005342 0x00000002 PAD - 0x08005344 0x08005344 0x00000122 Code RO 1214 .text.prvProcessReceivedCommands timers.o - 0x08005466 0x08005466 0x00000002 PAD - 0x08005468 0x08005468 0x00000080 Code RO 1212 .text.prvProcessTimerOrBlockTask timers.o - 0x080054e8 0x080054e8 0x00000028 Code RO 1029 .text.prvResetNextTaskUnblockTime tasks.o - 0x08005510 0x08005510 0x0000002a Code RO 1216 .text.prvSampleTimeNow timers.o - 0x0800553a 0x0800553a 0x00000002 PAD - 0x0800553c 0x0800553c 0x0000008e Code RO 1220 .text.prvSwitchTimerLists timers.o - 0x080055ca 0x080055ca 0x00000002 PAD - 0x080055cc 0x080055cc 0x00000032 Code RO 1453 .text.prvTaskExitError port.o - 0x080055fe 0x080055fe 0x00000002 PAD - 0x08005600 0x08005600 0x00000016 Code RO 1174 .text.prvTimerTask timers.o + 0x0800386c 0x0800386c 0x00000104 Code RO 1862 .text.Shoot_Init shoot_control.o + 0x08003970 0x08003970 0x00000114 Code RO 1870 .text.Shoot_JamDetectionFSM shoot_control.o + 0x08003a84 0x08003a84 0x00000098 Code RO 1854 .text.Shoot_ResetCalu shoot_control.o + 0x08003b1c 0x08003b1c 0x00000044 Code RO 1852 .text.Shoot_ResetIntegral shoot_control.o + 0x08003b60 0x08003b60 0x00000026 Code RO 1856 .text.Shoot_ResetOutput shoot_control.o + 0x08003b86 0x08003b86 0x00000002 PAD + 0x08003b88 0x08003b88 0x000003f8 Code RO 1866 .text.Shoot_RunningFSM shoot_control.o + 0x08003f80 0x08003f80 0x0000000c Code RO 35 .text.StartDefaultTask freertos.o + 0x08003f8c 0x08003f8c 0x0000002e Code RO 523 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x08003fba 0x08003fba 0x00000002 PAD + 0x08003fbc 0x08003fbc 0x00000014 Code RO 107 .text.SysTick_Handler stm32f4xx_it.o + 0x08003fd0 0x08003fd0 0x000000a4 Code RO 13 .text.SystemClock_Config main.o + 0x08004074 0x08004074 0x00000012 Code RO 798 .text.SystemInit system_stm32f4xx.o + 0x08004086 0x08004086 0x00000002 PAD + 0x08004088 0x08004088 0x00000064 Code RO 1893 .text.Task_Init init.o + 0x080040ec 0x080040ec 0x00000004 PAD + 0x080040f0 0x080040f0 0x00000098 Code RO 1902 .text.Task_rc rc.o + 0x08004188 0x08004188 0x000000a4 Code RO 1914 .text.Task_shoot_ctrl shoot_ctrl.o + 0x0800422c 0x0800422c 0x0000004c Code RO 700 .text.UART_DMAError stm32f4xx_hal_uart.o + 0x08004278 0x08004278 0x00000084 Code RO 786 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o + 0x080042fc 0x080042fc 0x0000001e Code RO 788 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o + 0x0800431a 0x0800431a 0x00000002 PAD + 0x0800431c 0x0800431c 0x00000050 Code RO 714 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o + 0x0800436c 0x0800436c 0x0000001c Code RO 712 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o + 0x08004388 0x08004388 0x0000001e Code RO 1607 .text.UART_Get uart.o + 0x080043a6 0x080043a6 0x00000002 PAD + 0x080043a8 0x080043a8 0x000000dc Code RO 670 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x08004484 0x08004484 0x000000aa Code RO 704 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o + 0x0800452e 0x0800452e 0x00000002 PAD + 0x08004530 0x08004530 0x00000002 Code RO 103 .text.UsageFault_Handler stm32f4xx_it.o + 0x08004532 0x08004532 0x00000002 PAD + 0x08004534 0x08004534 0x0000000e Code RO 1816 .text.__ARM_isfinitef filter.o + 0x08004542 0x08004542 0x00000002 PAD + 0x08004544 0x08004544 0x0000000e Code RO 1834 .text.__ARM_isfinitef pid.o + 0x08004552 0x08004552 0x00000002 PAD + 0x08004554 0x08004554 0x00000010 Code RO 1812 .text.__ARM_isinff filter.o + 0x08004564 0x08004564 0x00000020 Code RO 511 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08004584 0x08004584 0x00000010 Code RO 503 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08004594 0x08004594 0x00000022 Code RO 505 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080045b6 0x080045b6 0x00000002 PAD + 0x080045b8 0x080045b8 0x0000000e Code RO 1403 .text.__NVIC_SetPriority cmsis_os2.o + 0x080045c6 0x080045c6 0x00000002 PAD + 0x080045c8 0x080045c8 0x00000020 Code RO 499 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x080045e8 0x080045e8 0x0000009c Code RO 1041 .text.eTaskGetState tasks.o + 0x08004684 0x08004684 0x0000002e Code RO 11 .text.main main.o + 0x080046b2 0x080046b2 0x00000002 PAD + 0x080046b4 0x080046b4 0x00000020 Code RO 1307 .text.osDelay cmsis_os2.o + 0x080046d4 0x080046d4 0x00000034 Code RO 1309 .text.osDelayUntil cmsis_os2.o + 0x08004708 0x08004708 0x00000014 Code RO 1257 .text.osKernelGetTickCount cmsis_os2.o + 0x0800471c 0x0800471c 0x00000006 Code RO 1259 .text.osKernelGetTickFreq cmsis_os2.o + 0x08004722 0x08004722 0x00000002 PAD + 0x08004724 0x08004724 0x00000028 Code RO 1241 .text.osKernelInitialize cmsis_os2.o + 0x0800474c 0x0800474c 0x0000002c Code RO 1251 .text.osKernelLock cmsis_os2.o + 0x08004778 0x08004778 0x00000034 Code RO 1247 .text.osKernelStart cmsis_os2.o + 0x080047ac 0x080047ac 0x00000044 Code RO 1253 .text.osKernelUnlock cmsis_os2.o + 0x080047f0 0x080047f0 0x00000086 Code RO 1361 .text.osMessageQueueGet cmsis_os2.o + 0x08004876 0x08004876 0x00000002 PAD + 0x08004878 0x08004878 0x000000a0 Code RO 1357 .text.osMessageQueueNew cmsis_os2.o + 0x08004918 0x08004918 0x0000008e Code RO 1359 .text.osMessageQueuePut cmsis_os2.o + 0x080049a6 0x080049a6 0x00000002 PAD + 0x080049a8 0x080049a8 0x00000052 Code RO 1339 .text.osMutexAcquire cmsis_os2.o + 0x080049fa 0x080049fa 0x00000002 PAD + 0x080049fc 0x080049fc 0x00000096 Code RO 1337 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0x08006f9a 0x00000002 PAD + 0x08006f9c 0x08006f9c 0x00000092 Code RO 1113 .text.xTaskPriorityInherit tasks.o + 0x0800702e 0x0800702e 0x00000002 PAD + 0x08007030 0x08007030 0x0000008e Code RO 1087 .text.xTaskRemoveFromEventList tasks.o + 0x080070be 0x080070be 0x00000002 PAD + 0x080070c0 0x080070c0 0x00000114 Code RO 1037 .text.xTaskResumeAll tasks.o + 0x080071d4 0x080071d4 0x00000074 Code RO 1170 .text.xTimerCreateTimerTask timers.o + 0x08007248 0x08007248 0x00000068 Code RO 1182 .text.xTimerGenericCommand timers.o + 0x080072b0 0x080072b0 0x00000026 Code RO 2083 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x080072d6 0x080072d6 0x00000002 PAD + 0x080072d8 0x080072d8 0x00000104 Code RO 2020 i.__hardfp_fmod m_wm.l(fmod.o) + 0x080073dc 0x080073dc 0x0000017c Code RO 2026 i.__hardfp_tanf m_wm.l(tanf.o) + 0x08007558 0x08007558 0x00000020 Code RO 2072 i.__mathlib_dbl_invalid m_wm.l(dunder.o) + 0x08007578 0x08007578 0x00000006 Code RO 2086 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x0800757e 0x0800757e 0x00000002 PAD + 0x08007580 0x08007580 0x00000010 Code RO 2088 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x08007590 0x08007590 0x00000010 Code RO 2091 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x080075a0 0x080075a0 0x00000154 Code RO 2099 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x080076f4 0x080076f4 0x00000062 Code RO 1992 x$fpl$d2f fz_wm.l(d2f.o) + 0x08007756 0x08007756 0x00000002 PAD + 0x08007758 0x08007758 0x00000150 Code RO 2052 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x080078a8 0x080078a8 0x000002b4 Code RO 1995 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x08007b5c 0x08007b5c 0x0000005a Code RO 1998 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x08007bb6 0x08007bb6 0x00000026 Code RO 2002 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x08007bdc 0x08007bdc 0x0000009c Code RO 2058 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x08007c78 0x08007c78 0x00000150 Code RO 2060 x$fpl$drem fz_wm.l(drem_clz.o) + 0x08007dc8 0x08007dc8 0x0000000c Code RO 2062 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x08007dd4 0x08007dd4 0x00000016 Code RO 2053 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x08007dea 0x08007dea 0x00000002 PAD + 0x08007dec 0x08007dec 0x000001dc Code RO 2054 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x08007fc8 0x08007fc8 0x00000056 Code RO 2008 x$fpl$f2d fz_wm.l(f2d.o) + 0x0800801e 0x0800801e 0x00000060 Code RO 2010 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x0800807e 0x0800807e 0x0000008c Code RO 2064 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x0800810a 0x0800810a 0x0000001a Code RO 2249 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x08008124 0x08008124 0x0000000a Code RO 2066 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x0800812e 0x0800812e 0x00000000 Code RO 2068 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x0800812e 0x0800812e 0x00000002 PAD + 0x08008130 0x08008130 0x00000020 Data RO 2100 .constdata m_wm.l(rredf.o) + 0x08008150 0x08008150 0x00000010 Data RO 803 .rodata.AHBPrescTable system_stm32f4xx.o + 0x08008160 0x08008160 0x00000008 Data RO 804 .rodata.APBPrescTable system_stm32f4xx.o + 0x08008168 0x08008168 0x00000024 Data RO 1927 .rodata.attr_init user_task.o + 0x0800818c 0x0800818c 0x00000024 Data RO 1929 .rodata.attr_rc user_task.o + 0x080081b0 0x080081b0 0x00000024 Data RO 1928 .rodata.attr_shoot_ctrl user_task.o + 0x080081d4 0x080081d4 0x00000024 Data RO 38 .rodata.defaultTask_attributes freertos.o + 0x080081f8 0x080081f8 0x0000000c Data RO 37 .rodata.str1.1 freertos.o + 0x08008204 0x08008204 0x00000018 Data RO 1926 .rodata.str1.1 user_task.o + 0x0800821c 0x0800821c 0x00000020 Data RO 2325 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008228, Size: 0x00005b10, Max: 0x0001c000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08008240, Size: 0x00005b10, Max: 0x0001c000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x08008228 0x00000004 Data RW 802 .data.SystemCoreClock system_stm32f4xx.o - 0x20000004 0x0800822c 0x000000dc Data RW 1886 .data.robot_config config.o - 0x200000e0 0x08008308 0x00000001 Data RW 630 .data.uwTickFreq stm32f4xx_hal.o - 0x200000e1 0x08008309 0x00000003 PAD - 0x200000e4 0x0800830c 0x00000004 Data RW 629 .data.uwTickPrio stm32f4xx_hal.o - 0x200000e8 0x08008310 0x00000004 Data RW 1479 .data.uxCriticalNesting port.o - 0x200000ec 0x08008314 0x00000004 PAD + 0x20000000 0x08008240 0x00000004 Data RW 802 .data.SystemCoreClock system_stm32f4xx.o + 0x20000004 0x08008244 0x000000dc Data RW 1886 .data.robot_config config.o + 0x200000e0 0x08008320 0x00000001 Data RW 630 .data.uwTickFreq stm32f4xx_hal.o + 0x200000e1 0x08008321 0x00000003 PAD + 0x200000e4 0x08008324 0x00000004 Data RW 629 .data.uwTickPrio stm32f4xx_hal.o + 0x200000e8 0x08008328 0x00000004 Data RW 1479 .data.uxCriticalNesting port.o + 0x200000ec 0x0800832c 0x00000004 PAD 0x200000f0 - 0x00000060 Zero RW 2172 .bss c_w.l(libspace.o) 0x20000150 - 0x00000068 Zero RW 1564 .bss.CAN_Callback can_1.o 0x200001b8 - 0x00000004 Zero RW 57 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o @@ -5479,7 +5478,7 @@ Memory Map of the image 0x2000020c - 0x0000002c Zero RW 1904 .bss.at9s rc.o 0x20000238 - 0x00000008 Zero RW 1718 .bss.can_managers motor_rm.o 0x20000240 - 0x00000019 Zero RW 1905 .bss.cmd_buffer rc.o - 0x20000259 0x08008314 0x00000003 PAD + 0x20000259 0x0800832c 0x00000003 PAD 0x2000025c - 0x00000004 Zero RW 39 .bss.defaultTaskHandle freertos.o 0x20000260 - 0x00000028 Zero RW 55 .bss.hcan1 can.o 0x20000288 - 0x00000028 Zero RW 56 .bss.hcan2 can.o @@ -5492,7 +5491,7 @@ Memory Map of the image 0x20000405 - 0x00000001 Zero RW 1760 .bss.inited at9s_pro.o 0x20000406 - 0x00000001 Zero RW 1875 .bss.last_firecmd shoot_control.o 0x20000407 - 0x000000a0 Zero RW 1232 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x200004a7 0x08008314 0x00000001 PAD + 0x200004a7 0x0800832c 0x00000001 PAD 0x200004a8 - 0x00000050 Zero RW 1231 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o 0x200004f8 - 0x00000004 Zero RW 1228 .bss.prvSampleTimeNow.xLastTime timers.o 0x200004fc - 0x00000004 Zero RW 1141 .bss.pxCurrentTCB tasks.o @@ -5506,16 +5505,16 @@ Memory Map of the image 0x20000978 - 0x00000004 Zero RW 1567 .bss.queue_mutex can_1.o 0x2000097c - 0x00000018 Zero RW 1762 .bss.r at9s_pro.o 0x20000994 - 0x00000028 Zero RW 1906 .bss.rc_cmd rc.o - 0x200009bc 0x08008314 0x00000004 PAD + 0x200009bc 0x0800832c 0x00000004 PAD 0x200009c0 - 0x00000708 Zero RW 1916 .bss.shoot shoot_ctrl.o 0x200010c8 - 0x00000003 Zero RW 1918 .bss.shoot_cmd shoot_ctrl.o - 0x200010cb 0x08008314 0x00000001 PAD + 0x200010cb 0x0800832c 0x00000001 PAD 0x200010cc - 0x00000028 Zero RW 1917 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o 0x200010f4 - 0x00000034 Zero RW 1930 .bss.task_runtime user_task.o 0x20001128 - 0x00000004 Zero RW 1761 .bss.thread_alert at9s_pro.o 0x2000112c - 0x00003c00 Zero RW 1442 .bss.ucHeap heap_4.o 0x20004d2c - 0x00000001 Zero RW 1477 .bss.ucMaxSysCallPriority port.o - 0x20004d2d 0x08008314 0x00000003 PAD + 0x20004d2d 0x0800832c 0x00000003 PAD 0x20004d30 - 0x00000004 Zero RW 1478 .bss.ulMaxPRIGROUPValue port.o 0x20004d34 - 0x00000004 Zero RW 631 .bss.uwTick stm32f4xx_hal.o 0x20004d38 - 0x00000004 Zero RW 1145 .bss.uxCurrentNumberOfTasks tasks.o @@ -5530,7 +5529,7 @@ Memory Map of the image 0x20005404 - 0x00000014 Zero RW 1229 .bss.xActiveTimerList1 timers.o 0x20005418 - 0x00000014 Zero RW 1230 .bss.xActiveTimerList2 timers.o 0x2000542c - 0x00000001 Zero RW 1436 .bss.xBlockAllocatedBit heap_4.o - 0x2000542d 0x08008314 0x00000003 PAD + 0x2000542d 0x0800832c 0x00000003 PAD 0x20005430 - 0x00000014 Zero RW 1160 .bss.xDelayedTaskList1 tasks.o 0x20005444 - 0x00000014 Zero RW 1161 .bss.xDelayedTaskList2 tasks.o 0x20005458 - 0x00000004 Zero RW 1437 .bss.xFreeBytesRemaining heap_4.o @@ -5555,7 +5554,7 @@ Memory Map of the image 0x20005710 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008318, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08008330, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -5587,7 +5586,7 @@ 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 - 2538 84 0 0 5 9479 shoot_control.o + 2564 84 0 0 5 9486 shoot_control.o 164 12 0 0 1843 4936 shoot_ctrl.o 64 26 392 0 1536 804 startup_stm32f407xx.o 172 0 0 5 4 7276 stm32f4xx_hal.o @@ -5609,9 +5608,9 @@ Image component sizes 0 0 132 0 52 2872 user_task.o ---------------------------------------------------------------------- - 28060 326 628 236 22980 300980 Object Totals + 28084 326 628 236 22980 300987 Object Totals 0 0 32 0 0 0 (incl. Generated) - 268 16 0 3 19 0 (incl. Padding) + 266 16 0 3 19 0 (incl. Padding) ---------------------------------------------------------------------- @@ -5687,15 +5686,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 32656 642 660 236 23076 302204 Grand Totals - 32656 642 660 236 23076 302204 ELF Image Totals - 32656 642 660 236 0 0 ROM Totals + 32680 642 660 236 23076 302211 Grand Totals + 32680 642 660 236 23076 302211 ELF Image Totals + 32680 642 660 236 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 33316 ( 32.54kB) + Total RO Size (Code + RO Data) 33340 ( 32.56kB) Total RW Size (RW Data + ZI Data) 23312 ( 22.77kB) - Total ROM Size (Code + RO Data + RW Data) 33552 ( 32.77kB) + Total ROM Size (Code + RO Data + RW Data) 33576 ( 32.79kB) ============================================================================== diff --git a/MDK-ARM/shoot/shoot_control.o b/MDK-ARM/shoot/shoot_control.o index 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b/MDK-ARM/shoot/shoot_shoot.dep index 45c7d16..dbbac6d 100644 --- a/MDK-ARM/shoot/shoot_shoot.dep +++ b/MDK-ARM/shoot/shoot_shoot.dep @@ -1309,7 +1309,7 @@ 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)(0x68DD0ECB)() -F (..\User\module\shoot_control.c)(0x68DE9081)(-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) +F (..\User\module\shoot_control.c)(0x68DE97A5)(-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)(0x68DE8F09) I (..\Core\Inc\main.h)(0x68D1384A) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F) diff --git a/Ozone/shoot.jdebug b/Ozone/shoot.jdebug index a750dbc..a4a0778 100644 --- a/Ozone/shoot.jdebug +++ b/Ozone/shoot.jdebug @@ -32,6 +32,7 @@ void OnProjectLoad (void) { // // User settings // + Edit.SysVar (VAR_HSS_SPEED, "100 Hz"); Project.SetOSPlugin ("FreeRTOSPlugin_Cortex-M"); File.Open ("D:/CUBEMX/shoot/MDK-ARM/shoot/shoot.axf"); Util.Error("==== 脚本已加载，路径请看标题栏", 0); diff --git a/User/module/shoot_control.c b/User/module/shoot_control.c index 5cd2675..1baf164 100644 --- a/User/module/shoot_control.c +++ b/User/module/shoot_control.c @@ -121,6 +121,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) for(int i=0;ifric_motor_param[i]); PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,¶m->fric_follow); + PID_Init(&s->pid.fric_err[i], KPID_MODE_CALC_D, target_freq,¶m->fric_err); LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in); LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out); }