diff --git a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha
index 0bf0578..8513a4e 100644
--- a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha	
+++ b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha	
@@ -20,12 +20,12 @@
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+      <TableColWidths>710 152</TableColWidths>
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     <View>
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-      <TableColWidths>466 130 130 100</TableColWidths>
+      <TableColWidths>502 130 130 100</TableColWidths>
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         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -3579,7 +3579,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2362</Len>
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         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -3598,8 +3598,76 @@
     </ViewEx>
   </WinLayoutEx>
 
-  <Bookmarks>
-    <ListItem>..\User\module\cmd\cmd.c 71</ListItem>
-  </Bookmarks>
+  <MDIGroups>
+    <Orientation>1</Orientation>
+    <ActiveMDIGroup>0</ActiveMDIGroup>
+    <MDIGroup>
+      <Size>100</Size>
+      <ActiveTab>4</ActiveTab>
+      <Doc>
+        <Name>..\User\task\cmd.c</Name>
+        <ColumnNumber>7</ColumnNumber>
+        <TopLine>52</TopLine>
+        <CurrentLine>71</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\module\cmd\cmd_adapter.c</Name>
+        <ColumnNumber>33</ColumnNumber>
+        <TopLine>88</TopLine>
+        <CurrentLine>47</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>startup_stm32f407xx.s</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>168</TopLine>
+        <CurrentLine>174</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>../Core/Src/main.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>68</TopLine>
+        <CurrentLine>78</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\device\ET16s.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>67</TopLine>
+        <CurrentLine>78</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>../Middlewares/Third_Party/FreeRTOS/Source/tasks.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>3349</TopLine>
+        <CurrentLine>3432</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\task\ET16s.c</Name>
+        <ColumnNumber>8</ColumnNumber>
+        <TopLine>20</TopLine>
+        <CurrentLine>17</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+    </MDIGroup>
+  </MDIGroups>
 
 </ProjectGui>
diff --git a/MDK-ARM/Steering Wheel_Infatry.uvoptx b/MDK-ARM/Steering Wheel_Infatry.uvoptx
index da450fa..b8a8d38 100644
--- a/MDK-ARM/Steering Wheel_Infatry.uvoptx	
+++ b/MDK-ARM/Steering Wheel_Infatry.uvoptx	
@@ -163,32 +163,12 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>et16s,0x0A</ItemText>
+          <ItemText>cbuf</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>cmd,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd_et16s</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd_for_gimbal</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd_for_chassis</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd_for_shoot</ItemText>
+          <ItemText>et16s,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -1093,7 +1073,7 @@
 
   <Group>
     <GroupName>device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1301,7 +1281,7 @@
 
   <Group>
     <GroupName>task</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1441,7 +1421,7 @@
 
   <Group>
     <GroupName>cmd</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
index b25bf86..818c11d 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf and b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf differ
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm
index 14042e7..217e3a8 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm	
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.build_log.htm	
@@ -60,7 +60,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
index 5d668c7..8a1cad9 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex	
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex	
@@ -1,18 +1,18 @@
 :020000040800F2
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+:10009000E9210008F9210008E7020008D537000827
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@@ -20,14 +20,14 @@
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diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm
index f7c9575..0a06c9c 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm	
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.htm	
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [Steering Wheel_Infatry\Steering Wheel_Infatry.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image Steering Wheel_Infatry\Steering Wheel_Infatry.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Thu Jan 22 12:03:07 2026
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Thu Jan 22 16:18:26 2026
 <BR><P>
 <H3>Maximum Stack Usage =        328 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -1379,7 +1379,7 @@ Global Symbols
 <P><STRONG><a name="[10]"></a>DebugMon_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DebugMon_Handler))
 <BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
 </UL>
-<P><STRONG><a name="[133]"></a>ET16S_ParseRC</STRONG> (Thumb, 174 bytes, Stack size 16 bytes, et16s.o(.text.ET16S_ParseRC))
+<P><STRONG><a name="[133]"></a>ET16S_ParseRC</STRONG> (Thumb, 146 bytes, Stack size 16 bytes, et16s.o(.text.ET16S_ParseRC))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = ET16S_ParseRC &rArr; ET16s_ParseRaw &rArr; __aeabi_f2d
 </UL>
 <BR>[Calls]<UL><LI><a href="#[135]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Keymap
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
index f2bba27..8a0327f 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map	
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map	
@@ -4181,7 +4181,6 @@ Section Cross References
     et16s.o(.ARM.exidx.text.ET16s_ParseRaw) refers to et16s.o(.text.ET16s_ParseRaw) for [Anonymous Symbol]
     et16s.o(.text.ET16S_ParseRC) refers to et16s.o(.text.ET16s_ParseRaw) for ET16s_ParseRaw
     et16s.o(.text.ET16S_ParseRC) refers to et16s.o(.text.Keymap) for Keymap
-    et16s.o(.text.ET16S_ParseRC) refers to et16s.o(.bss.cbuf) for cbuf
     et16s.o(.ARM.exidx.text.ET16S_ParseRC) refers to et16s.o(.text.ET16S_ParseRC) for [Anonymous Symbol]
     et16s.o(.ARM.exidx.text.ET16s_HandleOffline) refers to et16s.o(.text.ET16s_HandleOffline) for [Anonymous Symbol]
     dr16.o(.text.DR16_Init) refers to dr16.o(.bss.inited) for inited
@@ -7812,531 +7811,531 @@ Image Symbol Table
     [Anonymous Symbol]                       0x08003460   Section        0  dr16.o(.text.DR16_RxCpltCallback)
     [Anonymous Symbol]                       0x08003474   Section        0  stm32f4xx_it.o(.text.DebugMon_Handler)
     [Anonymous Symbol]                       0x08003478   Section        0  et16s.o(.text.ET16S_ParseRC)
-    [Anonymous Symbol]                       0x08003528   Section        0  et16s.o(.text.ET16s_HandleOffline)
-    [Anonymous Symbol]                       0x08003560   Section        0  et16s.o(.text.ET16s_ParseRaw)
-    [Anonymous Symbol]                       0x080037c8   Section        0  stm32f4xx_it.o(.text.EXTI0_IRQHandler)
-    [Anonymous Symbol]                       0x080037d4   Section        0  stm32f4xx_it.o(.text.EXTI3_IRQHandler)
-    [Anonymous Symbol]                       0x080037e0   Section        0  stm32f4xx_it.o(.text.EXTI4_IRQHandler)
-    [Anonymous Symbol]                       0x080037ec   Section        0  stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
-    [Anonymous Symbol]                       0x080037f8   Section        0  main.o(.text.Error_Handler)
-    [Anonymous Symbol]                       0x08003800   Section        0  gimbal.o(.text.Gimbal_Control)
-    [Anonymous Symbol]                       0x08003ba0   Section        0  gimbal.o(.text.Gimbal_Control_mode)
-    Gimbal_Direction                         0x08003bf9   Thumb Code   164  gimbal.o(.text.Gimbal_Direction)
-    [Anonymous Symbol]                       0x08003bf8   Section        0  gimbal.o(.text.Gimbal_Direction)
-    [Anonymous Symbol]                       0x08003c9c   Section        0  gimbal.o(.text.Gimbal_Init)
-    [Anonymous Symbol]                       0x08003dec   Section        0  gimbal.o(.text.Gimbal_Output)
-    Gimbal_SetMode                           0x08003f05   Thumb Code   136  gimbal.o(.text.Gimbal_SetMode)
-    [Anonymous Symbol]                       0x08003f04   Section        0  gimbal.o(.text.Gimbal_SetMode)
-    [Anonymous Symbol]                       0x08003f8c   Section        0  gimbal.o(.text.Gimbal_UpdateFeedback)
-    [Anonymous Symbol]                       0x080040a4   Section        0  gimbal.o(.text.Gimbal_UpdateIMU)
-    [Anonymous Symbol]                       0x080040f4   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
-    [Anonymous Symbol]                       0x0800411c   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
-    [Anonymous Symbol]                       0x080041b0   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
-    [Anonymous Symbol]                       0x08004290   Section        0  can_1.o(.text.HAL_CAN_ErrorCallback)
-    [Anonymous Symbol]                       0x080042b4   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
-    [Anonymous Symbol]                       0x080042d4   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
-    [Anonymous Symbol]                       0x080043f8   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
-    [Anonymous Symbol]                       0x08004420   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
-    [Anonymous Symbol]                       0x0800465c   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
-    [Anonymous Symbol]                       0x08004750   Section        0  can.o(.text.HAL_CAN_MspInit)
-    [Anonymous Symbol]                       0x0800489c   Section        0  can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
-    [Anonymous Symbol]                       0x080048c0   Section        0  can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
-    [Anonymous Symbol]                       0x080048e4   Section        0  can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
-    [Anonymous Symbol]                       0x08004908   Section        0  can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
-    [Anonymous Symbol]                       0x0800492c   Section        0  can_1.o(.text.HAL_CAN_SleepCallback)
-    [Anonymous Symbol]                       0x08004950   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
-    [Anonymous Symbol]                       0x080049ac   Section        0  can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
-    [Anonymous Symbol]                       0x080049d0   Section        0  can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
-    [Anonymous Symbol]                       0x080049f4   Section        0  can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
-    [Anonymous Symbol]                       0x08004a18   Section        0  can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
-    [Anonymous Symbol]                       0x08004a3c   Section        0  can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
-    [Anonymous Symbol]                       0x08004a60   Section        0  can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
-    [Anonymous Symbol]                       0x08004a84   Section        0  can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
-    [Anonymous Symbol]                       0x08004aa8   Section        0  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
-    [Anonymous Symbol]                       0x08004b28   Section        0  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
-    [Anonymous Symbol]                       0x08004b4c   Section        0  stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
-    [Anonymous Symbol]                       0x08004cd8   Section        0  stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
-    [Anonymous Symbol]                       0x08004da8   Section        0  stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
-    [Anonymous Symbol]                       0x08004e0c   Section        0  stm32f4xx_hal.o(.text.HAL_Delay)
-    [Anonymous Symbol]                       0x08004e34   Section        0  gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
-    [Anonymous Symbol]                       0x08004e60   Section        0  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
-    [Anonymous Symbol]                       0x08004e7c   Section        0  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
-    [Anonymous Symbol]                       0x08005018   Section        0  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
-    [Anonymous Symbol]                       0x08005024   Section        0  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
-    [Anonymous Symbol]                       0x08005030   Section        0  stm32f4xx_hal.o(.text.HAL_GetTick)
-    [Anonymous Symbol]                       0x0800503c   Section        0  stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
-    [Anonymous Symbol]                       0x080051d4   Section        0  i2c.o(.text.HAL_I2C_MspInit)
-    [Anonymous Symbol]                       0x080052ac   Section        0  stm32f4xx_hal.o(.text.HAL_IncTick)
-    [Anonymous Symbol]                       0x080052c8   Section        0  stm32f4xx_hal.o(.text.HAL_Init)
-    [Anonymous Symbol]                       0x08005300   Section        0  stm32f4xx_hal.o(.text.HAL_InitTick)
-    [Anonymous Symbol]                       0x08005350   Section        0  stm32f4xx_hal_msp.o(.text.HAL_MspInit)
-    [Anonymous Symbol]                       0x08005398   Section        0  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
-    [Anonymous Symbol]                       0x080053a0   Section        0  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
-    [Anonymous Symbol]                       0x080053a8   Section        0  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
-    [Anonymous Symbol]                       0x080053c8   Section        0  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
-    [Anonymous Symbol]                       0x080053d0   Section        0  stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
-    [Anonymous Symbol]                       0x08005530   Section        0  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
-    [Anonymous Symbol]                       0x0800553c   Section        0  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
-    [Anonymous Symbol]                       0x08005560   Section        0  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
-    [Anonymous Symbol]                       0x08005584   Section        0  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
-    [Anonymous Symbol]                       0x080055ec   Section        0  stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
-    [Anonymous Symbol]                       0x08005934   Section        0  spi_1.o(.text.HAL_SPI_ErrorCallback)
-    [Anonymous Symbol]                       0x08005958   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
-    [Anonymous Symbol]                       0x08005a0c   Section        0  spi.o(.text.HAL_SPI_MspInit)
-    [Anonymous Symbol]                       0x08005b3c   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
-    [Anonymous Symbol]                       0x08005cb0   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
-    [Anonymous Symbol]                       0x08005d9c   Section        0  spi_1.o(.text.HAL_SPI_RxCpltCallback)
-    [Anonymous Symbol]                       0x08005dc0   Section        0  spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
-    [Anonymous Symbol]                       0x08005de4   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
-    [Anonymous Symbol]                       0x08005f70   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
-    [Anonymous Symbol]                       0x08006168   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
-    [Anonymous Symbol]                       0x0800628c   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
-    [Anonymous Symbol]                       0x08006358   Section        0  spi_1.o(.text.HAL_SPI_TxCpltCallback)
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-    [Anonymous Symbol]                       0x08006e84   Section        0  uart.o(.text.HAL_UART_TxCpltCallback)
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-    .constdata                               0x0800f210   Section       32  rredf.o(.constdata)
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+    [Anonymous Symbol]                       0x080037c8   Section        0  stm32f4xx_it.o(.text.EXTI4_IRQHandler)
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+    [Anonymous Symbol]                       0x08004104   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
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+    [Anonymous Symbol]                       0x0800429c   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
+    [Anonymous Symbol]                       0x080042bc   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
+    [Anonymous Symbol]                       0x080043e0   Section        0  stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
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+    [Anonymous Symbol]                       0x08004994   Section        0  can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
+    [Anonymous Symbol]                       0x080049b8   Section        0  can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
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+    [Anonymous Symbol]                       0x08004a00   Section        0  can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
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+    [Anonymous Symbol]                       0x08004a48   Section        0  can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
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+    [Anonymous Symbol]                       0x08004a90   Section        0  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
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+    [Anonymous Symbol]                       0x08004df4   Section        0  stm32f4xx_hal.o(.text.HAL_Delay)
+    [Anonymous Symbol]                       0x08004e1c   Section        0  gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
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+    [Anonymous Symbol]                       0x08005018   Section        0  stm32f4xx_hal.o(.text.HAL_GetTick)
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+    [Anonymous Symbol]                       0x080051bc   Section        0  i2c.o(.text.HAL_I2C_MspInit)
+    [Anonymous Symbol]                       0x08005294   Section        0  stm32f4xx_hal.o(.text.HAL_IncTick)
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+    [Anonymous Symbol]                       0x08005338   Section        0  stm32f4xx_hal_msp.o(.text.HAL_MspInit)
+    [Anonymous Symbol]                       0x08005380   Section        0  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
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+    [Anonymous Symbol]                       0x08005940   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
+    [Anonymous Symbol]                       0x080059f4   Section        0  spi.o(.text.HAL_SPI_MspInit)
+    [Anonymous Symbol]                       0x08005b24   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
+    [Anonymous Symbol]                       0x08005c98   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
+    [Anonymous Symbol]                       0x08005d84   Section        0  spi_1.o(.text.HAL_SPI_RxCpltCallback)
+    [Anonymous Symbol]                       0x08005da8   Section        0  spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
+    [Anonymous Symbol]                       0x08005dcc   Section        0  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
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+    [Anonymous Symbol]                       0x08006360   Section        0  spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
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+    [Anonymous Symbol]                       0x080078fc   Section        0  can.o(.text.MX_CAN1_Init)
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+    [Anonymous Symbol]                       0x08008324   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMAError)
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+    [Anonymous Symbol]                       0x08008348   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMAHalfReceiveCplt)
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+    [Anonymous Symbol]                       0x08008354   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitCplt)
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+    [Anonymous Symbol]                       0x08008360   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitReceiveCplt)
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+    [Anonymous Symbol]                       0x0800836c   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMAReceiveCplt)
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+    [Anonymous Symbol]                       0x080083d4   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMATransmitCplt)
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+    [Anonymous Symbol]                       0x08008444   Section        0  stm32f4xx_hal_spi.o(.text.SPI_DMATransmitReceiveCplt)
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+    [Anonymous Symbol]                       0x080084a0   Section        0  stm32f4xx_hal_spi.o(.text.SPI_EndRxTransaction)
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+    [Anonymous Symbol]                       0x0800c1e0   Section        0  queue.o(.text.xQueueCreateMutex)
+    [Anonymous Symbol]                       0x0800c1f8   Section        0  queue.o(.text.xQueueCreateMutexStatic)
+    [Anonymous Symbol]                       0x0800c21c   Section        0  queue.o(.text.xQueueGenericCreate)
+    [Anonymous Symbol]                       0x0800c264   Section        0  queue.o(.text.xQueueGenericCreateStatic)
+    [Anonymous Symbol]                       0x0800c2fc   Section        0  queue.o(.text.xQueueGenericReset)
+    [Anonymous Symbol]                       0x0800c37c   Section        0  queue.o(.text.xQueueGenericSend)
+    [Anonymous Symbol]                       0x0800c520   Section        0  queue.o(.text.xQueueGenericSendFromISR)
+    [Anonymous Symbol]                       0x0800c5f0   Section        0  queue.o(.text.xQueueGiveMutexRecursive)
+    [Anonymous Symbol]                       0x0800c634   Section        0  queue.o(.text.xQueueReceive)
+    [Anonymous Symbol]                       0x0800c7b8   Section        0  queue.o(.text.xQueueReceiveFromISR)
+    [Anonymous Symbol]                       0x0800c864   Section        0  queue.o(.text.xQueueSemaphoreTake)
+    [Anonymous Symbol]                       0x0800ca2c   Section        0  queue.o(.text.xQueueTakeMutexRecursive)
+    [Anonymous Symbol]                       0x0800ca68   Section        0  tasks.o(.text.xTaskCheckForTimeOut)
+    [Anonymous Symbol]                       0x0800caf0   Section        0  tasks.o(.text.xTaskCreate)
+    [Anonymous Symbol]                       0x0800cb58   Section        0  tasks.o(.text.xTaskCreateStatic)
+    [Anonymous Symbol]                       0x0800cbd0   Section        0  tasks.o(.text.xTaskGenericNotify)
+    [Anonymous Symbol]                       0x0800cccc   Section        0  tasks.o(.text.xTaskGenericNotifyFromISR)
+    [Anonymous Symbol]                       0x0800cdf8   Section        0  tasks.o(.text.xTaskGetCurrentTaskHandle)
+    [Anonymous Symbol]                       0x0800ce04   Section        0  tasks.o(.text.xTaskGetSchedulerState)
+    [Anonymous Symbol]                       0x0800ce2c   Section        0  tasks.o(.text.xTaskGetTickCount)
+    [Anonymous Symbol]                       0x0800ce38   Section        0  tasks.o(.text.xTaskGetTickCountFromISR)
+    [Anonymous Symbol]                       0x0800ce4c   Section        0  tasks.o(.text.xTaskIncrementTick)
+    [Anonymous Symbol]                       0x0800cfa0   Section        0  tasks.o(.text.xTaskNotifyWait)
+    [Anonymous Symbol]                       0x0800d030   Section        0  tasks.o(.text.xTaskPriorityDisinherit)
+    [Anonymous Symbol]                       0x0800d0c4   Section        0  tasks.o(.text.xTaskPriorityInherit)
+    [Anonymous Symbol]                       0x0800d158   Section        0  tasks.o(.text.xTaskRemoveFromEventList)
+    [Anonymous Symbol]                       0x0800d1e8   Section        0  tasks.o(.text.xTaskResumeAll)
+    [Anonymous Symbol]                       0x0800d2fc   Section        0  timers.o(.text.xTimerCreateTimerTask)
+    [Anonymous Symbol]                       0x0800d370   Section        0  timers.o(.text.xTimerGenericCommand)
+    i.__ARM_fpclassify                       0x0800d3d8   Section        0  fpclassify.o(i.__ARM_fpclassify)
+    i.__ARM_fpclassifyf                      0x0800d408   Section        0  fpclassifyf.o(i.__ARM_fpclassifyf)
+    i.__hardfp_asinf                         0x0800d430   Section        0  asinf.o(i.__hardfp_asinf)
+    i.__hardfp_atan                          0x0800d560   Section        0  atan.o(i.__hardfp_atan)
+    i.__hardfp_atan2                         0x0800d838   Section        0  atan2.o(i.__hardfp_atan2)
+    i.__hardfp_atan2f                        0x0800da38   Section        0  atan2f.o(i.__hardfp_atan2f)
+    i.__hardfp_sinf                          0x0800dce4   Section        0  sinf.o(i.__hardfp_sinf)
+    i.__hardfp_sqrt                          0x0800de74   Section        0  sqrt.o(i.__hardfp_sqrt)
+    i.__hardfp_tanf                          0x0800def0   Section        0  tanf.o(i.__hardfp_tanf)
+    i.__kernel_poly                          0x0800e06c   Section        0  poly.o(i.__kernel_poly)
+    i.__mathlib_dbl_infnan                   0x0800e164   Section        0  dunder.o(i.__mathlib_dbl_infnan)
+    i.__mathlib_dbl_infnan2                  0x0800e178   Section        0  dunder.o(i.__mathlib_dbl_infnan2)
+    i.__mathlib_dbl_underflow                0x0800e190   Section        0  dunder.o(i.__mathlib_dbl_underflow)
+    i.__mathlib_flt_infnan                   0x0800e1b0   Section        0  funder.o(i.__mathlib_flt_infnan)
+    i.__mathlib_flt_infnan2                  0x0800e1b6   Section        0  funder.o(i.__mathlib_flt_infnan2)
+    i.__mathlib_flt_invalid                  0x0800e1bc   Section        0  funder.o(i.__mathlib_flt_invalid)
+    i.__mathlib_flt_underflow                0x0800e1cc   Section        0  funder.o(i.__mathlib_flt_underflow)
+    i.__mathlib_rredf2                       0x0800e1dc   Section        0  rredf.o(i.__mathlib_rredf2)
+    i.atan                                   0x0800e330   Section        0  atan.o(i.atan)
+    i.fabs                                   0x0800e340   Section        0  fabs.o(i.fabs)
+    i.sqrtf                                  0x0800e358   Section        0  sqrtf.o(i.sqrtf)
+    $v0                                      0x0800e396   Number         0  basic.o(x$fpl$basic)
+    x$fpl$basic                              0x0800e396   Section       24  basic.o(x$fpl$basic)
+    $v0                                      0x0800e3b0   Number         0  d2f.o(x$fpl$d2f)
+    x$fpl$d2f                                0x0800e3b0   Section       98  d2f.o(x$fpl$d2f)
+    $v0                                      0x0800e414   Number         0  daddsub_clz.o(x$fpl$dadd)
+    x$fpl$dadd                               0x0800e414   Section      336  daddsub_clz.o(x$fpl$dadd)
+    _dadd1                                   0x0800e425   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    $v0                                      0x0800e564   Number         0  dcmpi.o(x$fpl$dcmpinf)
+    x$fpl$dcmpinf                            0x0800e564   Section       24  dcmpi.o(x$fpl$dcmpinf)
+    $v0                                      0x0800e57c   Number         0  ddiv.o(x$fpl$ddiv)
+    x$fpl$ddiv                               0x0800e57c   Section      692  ddiv.o(x$fpl$ddiv)
+    ddiv_entry                               0x0800e583   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    $v0                                      0x0800e830   Number         0  deqf.o(x$fpl$deqf)
+    x$fpl$deqf                               0x0800e830   Section      120  deqf.o(x$fpl$deqf)
+    $v0                                      0x0800e8a8   Number         0  dfixu.o(x$fpl$dfixu)
+    x$fpl$dfixu                              0x0800e8a8   Section       90  dfixu.o(x$fpl$dfixu)
+    $v0                                      0x0800e902   Number         0  dflt_clz.o(x$fpl$dfltu)
+    x$fpl$dfltu                              0x0800e902   Section       38  dflt_clz.o(x$fpl$dfltu)
+    $v0                                      0x0800e928   Number         0  dgeqf.o(x$fpl$dgeqf)
+    x$fpl$dgeqf                              0x0800e928   Section      120  dgeqf.o(x$fpl$dgeqf)
+    $v0                                      0x0800e9a0   Number         0  dleqf.o(x$fpl$dleqf)
+    x$fpl$dleqf                              0x0800e9a0   Section      120  dleqf.o(x$fpl$dleqf)
+    $v0                                      0x0800ea18   Number         0  dmul.o(x$fpl$dmul)
+    x$fpl$dmul                               0x0800ea18   Section      340  dmul.o(x$fpl$dmul)
+    $v0                                      0x0800eb6c   Number         0  dnaninf.o(x$fpl$dnaninf)
+    x$fpl$dnaninf                            0x0800eb6c   Section      156  dnaninf.o(x$fpl$dnaninf)
+    $v0                                      0x0800ec08   Number         0  dretinf.o(x$fpl$dretinf)
+    x$fpl$dretinf                            0x0800ec08   Section       12  dretinf.o(x$fpl$dretinf)
+    $v0                                      0x0800ec14   Number         0  daddsub_clz.o(x$fpl$drsb)
+    x$fpl$drsb                               0x0800ec14   Section       22  daddsub_clz.o(x$fpl$drsb)
+    $v0                                      0x0800ec2c   Number         0  dsqrt_umaal.o(x$fpl$dsqrt)
+    x$fpl$dsqrt                              0x0800ec2c   Section      408  dsqrt_umaal.o(x$fpl$dsqrt)
+    $v0                                      0x0800edc4   Number         0  daddsub_clz.o(x$fpl$dsub)
+    x$fpl$dsub                               0x0800edc4   Section      476  daddsub_clz.o(x$fpl$dsub)
+    _dsub1                                   0x0800edd5   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    $v0                                      0x0800efa0   Number         0  f2d.o(x$fpl$f2d)
+    x$fpl$f2d                                0x0800efa0   Section       86  f2d.o(x$fpl$f2d)
+    $v0                                      0x0800eff6   Number         0  dcmp.o(x$fpl$fcmp)
+    x$fpl$fcmp                               0x0800eff6   Section       84  dcmp.o(x$fpl$fcmp)
+    $v0                                      0x0800f04a   Number         0  ffltll_clz.o(x$fpl$ffltll)
+    x$fpl$ffltll                             0x0800f04a   Section       96  ffltll_clz.o(x$fpl$ffltll)
+    $v0                                      0x0800f0aa   Number         0  fnaninf.o(x$fpl$fnaninf)
+    x$fpl$fnaninf                            0x0800f0aa   Section      140  fnaninf.o(x$fpl$fnaninf)
+    $v0                                      0x0800f136   Number         0  fpinit.o(x$fpl$fpinit)
+    x$fpl$fpinit                             0x0800f136   Section       26  fpinit.o(x$fpl$fpinit)
+    $v0                                      0x0800f150   Number         0  fretinf.o(x$fpl$fretinf)
+    x$fpl$fretinf                            0x0800f150   Section       10  fretinf.o(x$fpl$fretinf)
+    x$fpl$usenofp                            0x0800f15a   Section        0  usenofp.o(x$fpl$usenofp)
+    atanhi                                   0x0800f160   Data          32  atan.o(.constdata)
+    .constdata                               0x0800f160   Section      152  atan.o(.constdata)
+    atanlo                                   0x0800f180   Data          32  atan.o(.constdata)
+    aTodd                                    0x0800f1a0   Data          40  atan.o(.constdata)
+    aTeven                                   0x0800f1c8   Data          48  atan.o(.constdata)
+    .constdata                               0x0800f1f8   Section        8  qnan.o(.constdata)
+    twooverpi                                0x0800f200   Data          32  rredf.o(.constdata)
+    .constdata                               0x0800f200   Section       32  rredf.o(.constdata)
+    GPIO_Map                                 0x0800f238   Data          72  gpio_1.o(.rodata.GPIO_Map)
+    [Anonymous Symbol]                       0x0800f238   Section        0  gpio_1.o(.rodata.GPIO_Map)
+    .L__const.chassis_init.motor_offset      0x0800f3e8   Data          16  chassis.o(.rodata.cst16)
+    g_behavior_configs                       0x0800f41c   Data         176  cmd_behavior.o(.rodata.g_behavior_configs)
+    [Anonymous Symbol]                       0x0800f41c   Section        0  cmd_behavior.o(.rodata.g_behavior_configs)
+    imu_temp_ctrl_pid_param                  0x0800f4cc   Data          32  atti_esti.o(.rodata.imu_temp_ctrl_pid_param)
+    [Anonymous Symbol]                       0x0800f4cc   Section        0  atti_esti.o(.rodata.imu_temp_ctrl_pid_param)
+    [Anonymous Symbol]                       0x0800f4ec   Section        0  freertos.o(.rodata.str1.1)
+    [Anonymous Symbol]                       0x0800f4f8   Section        0  user_task.o(.rodata.str1.1)
     beta                                     0x20000000   Data           4  ahrs.o(.data.beta)
     [Anonymous Symbol]                       0x20000000   Section        0  ahrs.o(.data.beta)
     g_adapter_ET16s                          0x20000010   Data          24  cmd_adapter.o(.data.g_adapter_ET16s)
@@ -8772,367 +8771,367 @@ Image Symbol Table
     DMA2_Stream6_IRQHandler                  0x0800334d   Thumb Code    16  stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
     DR16_Init                                0x08003419   Thumb Code    70  dr16.o(.text.DR16_Init)
     DebugMon_Handler                         0x08003475   Thumb Code     2  stm32f4xx_it.o(.text.DebugMon_Handler)
-    ET16S_ParseRC                            0x08003479   Thumb Code   174  et16s.o(.text.ET16S_ParseRC)
-    ET16s_HandleOffline                      0x08003529   Thumb Code    54  et16s.o(.text.ET16s_HandleOffline)
-    ET16s_ParseRaw                           0x08003561   Thumb Code   616  et16s.o(.text.ET16s_ParseRaw)
-    EXTI0_IRQHandler                         0x080037c9   Thumb Code    10  stm32f4xx_it.o(.text.EXTI0_IRQHandler)
-    EXTI3_IRQHandler                         0x080037d5   Thumb Code    10  stm32f4xx_it.o(.text.EXTI3_IRQHandler)
-    EXTI4_IRQHandler                         0x080037e1   Thumb Code    10  stm32f4xx_it.o(.text.EXTI4_IRQHandler)
-    EXTI9_5_IRQHandler                       0x080037ed   Thumb Code    10  stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
-    Error_Handler                            0x080037f9   Thumb Code     6  main.o(.text.Error_Handler)
-    Gimbal_Control                           0x08003801   Thumb Code   928  gimbal.o(.text.Gimbal_Control)
-    Gimbal_Control_mode                      0x08003ba1   Thumb Code    88  gimbal.o(.text.Gimbal_Control_mode)
-    Gimbal_Init                              0x08003c9d   Thumb Code   336  gimbal.o(.text.Gimbal_Init)
-    Gimbal_Output                            0x08003ded   Thumb Code   280  gimbal.o(.text.Gimbal_Output)
-    Gimbal_UpdateFeedback                    0x08003f8d   Thumb Code   280  gimbal.o(.text.Gimbal_UpdateFeedback)
-    Gimbal_UpdateIMU                         0x080040a5   Thumb Code    78  gimbal.o(.text.Gimbal_UpdateIMU)
-    HAL_CAN_ActivateNotification             0x080040f5   Thumb Code    38  stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
-    HAL_CAN_AddTxMessage                     0x0800411d   Thumb Code   146  stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
-    HAL_CAN_ConfigFilter                     0x080041b1   Thumb Code   222  stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
-    HAL_CAN_ErrorCallback                    0x08004291   Thumb Code    36  can_1.o(.text.HAL_CAN_ErrorCallback)
-    HAL_CAN_GetRxFifoFillLevel               0x080042b5   Thumb Code    32  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
-    HAL_CAN_GetRxMessage                     0x080042d5   Thumb Code   292  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
-    HAL_CAN_GetTxMailboxesFreeLevel          0x080043f9   Thumb Code    40  stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
-    HAL_CAN_IRQHandler                       0x08004421   Thumb Code   570  stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
-    HAL_CAN_Init                             0x0800465d   Thumb Code   244  stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
-    HAL_CAN_MspInit                          0x08004751   Thumb Code   330  can.o(.text.HAL_CAN_MspInit)
-    HAL_CAN_RxFifo0FullCallback              0x0800489d   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
-    HAL_CAN_RxFifo0MsgPendingCallback        0x080048c1   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
-    HAL_CAN_RxFifo1FullCallback              0x080048e5   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
-    HAL_CAN_RxFifo1MsgPendingCallback        0x08004909   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
-    HAL_CAN_SleepCallback                    0x0800492d   Thumb Code    36  can_1.o(.text.HAL_CAN_SleepCallback)
-    HAL_CAN_Start                            0x08004951   Thumb Code    90  stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
-    HAL_CAN_TxMailbox0AbortCallback          0x080049ad   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
-    HAL_CAN_TxMailbox0CompleteCallback       0x080049d1   Thumb Code    34  can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
-    HAL_CAN_TxMailbox1AbortCallback          0x080049f5   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
-    HAL_CAN_TxMailbox1CompleteCallback       0x08004a19   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
-    HAL_CAN_TxMailbox2AbortCallback          0x08004a3d   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
-    HAL_CAN_TxMailbox2CompleteCallback       0x08004a61   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
-    HAL_CAN_WakeUpFromRxMsgCallback          0x08004a85   Thumb Code    36  can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
-    HAL_DMA_Abort                            0x08004aa9   Thumb Code   128  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
-    HAL_DMA_Abort_IT                         0x08004b29   Thumb Code    36  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
-    HAL_DMA_IRQHandler                       0x08004b4d   Thumb Code   396  stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
-    HAL_DMA_Init                             0x08004cd9   Thumb Code   206  stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
-    HAL_DMA_Start_IT                         0x08004da9   Thumb Code    98  stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
-    HAL_Delay                                0x08004e0d   Thumb Code    40  stm32f4xx_hal.o(.text.HAL_Delay)
-    HAL_GPIO_EXTI_Callback                   0x08004e35   Thumb Code    44  gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
-    HAL_GPIO_EXTI_IRQHandler                 0x08004e61   Thumb Code    26  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
-    HAL_GPIO_Init                            0x08004e7d   Thumb Code   410  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
-    HAL_GPIO_ReadPin                         0x08005019   Thumb Code    10  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
-    HAL_GPIO_WritePin                        0x08005025   Thumb Code    10  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
-    HAL_GetTick                              0x08005031   Thumb Code    12  stm32f4xx_hal.o(.text.HAL_GetTick)
-    HAL_I2C_Init                             0x0800503d   Thumb Code   408  stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
-    HAL_I2C_MspInit                          0x080051d5   Thumb Code   216  i2c.o(.text.HAL_I2C_MspInit)
-    HAL_IncTick                              0x080052ad   Thumb Code    26  stm32f4xx_hal.o(.text.HAL_IncTick)
-    HAL_Init                                 0x080052c9   Thumb Code    54  stm32f4xx_hal.o(.text.HAL_Init)
-    HAL_InitTick                             0x08005301   Thumb Code    80  stm32f4xx_hal.o(.text.HAL_InitTick)
-    HAL_MspInit                              0x08005351   Thumb Code    70  stm32f4xx_hal_msp.o(.text.HAL_MspInit)
-    HAL_NVIC_DisableIRQ                      0x08005399   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
-    HAL_NVIC_EnableIRQ                       0x080053a1   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
-    HAL_NVIC_SetPriority                     0x080053a9   Thumb Code    30  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
-    HAL_NVIC_SetPriorityGrouping             0x080053c9   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
-    HAL_RCC_ClockConfig                      0x080053d1   Thumb Code   352  stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
-    HAL_RCC_GetHCLKFreq                      0x08005531   Thumb Code    12  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
-    HAL_RCC_GetPCLK1Freq                     0x0800553d   Thumb Code    34  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
-    HAL_RCC_GetPCLK2Freq                     0x08005561   Thumb Code    34  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
-    HAL_RCC_GetSysClockFreq                  0x08005585   Thumb Code   104  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
-    HAL_RCC_OscConfig                        0x080055ed   Thumb Code   840  stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
-    HAL_SPI_ErrorCallback                    0x08005935   Thumb Code    34  spi_1.o(.text.HAL_SPI_ErrorCallback)
-    HAL_SPI_Init                             0x08005959   Thumb Code   180  stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
-    HAL_SPI_MspInit                          0x08005a0d   Thumb Code   302  spi.o(.text.HAL_SPI_MspInit)
-    HAL_SPI_Receive                          0x08005b3d   Thumb Code   370  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
-    HAL_SPI_Receive_DMA                      0x08005cb1   Thumb Code   236  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
-    HAL_SPI_RxCpltCallback                   0x08005d9d   Thumb Code    34  spi_1.o(.text.HAL_SPI_RxCpltCallback)
-    HAL_SPI_RxHalfCpltCallback               0x08005dc1   Thumb Code    34  spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
-    HAL_SPI_Transmit                         0x08005de5   Thumb Code   394  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
-    HAL_SPI_TransmitReceive                  0x08005f71   Thumb Code   504  stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
-    HAL_SPI_TransmitReceive_DMA              0x08006169   Thumb Code   292  stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
-    HAL_SPI_Transmit_DMA                     0x0800628d   Thumb Code   204  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
-    HAL_SPI_TxCpltCallback                   0x08006359   Thumb Code    32  spi_1.o(.text.HAL_SPI_TxCpltCallback)
-    HAL_SPI_TxHalfCpltCallback               0x08006379   Thumb Code    34  spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
-    HAL_SPI_TxRxCpltCallback                 0x0800639d   Thumb Code    34  spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
-    HAL_SPI_TxRxHalfCpltCallback             0x080063c1   Thumb Code    34  spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
-    HAL_SYSTICK_Config                       0x080063e5   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
-    HAL_TIMEx_BreakCallback                  0x080063ed   Thumb Code     2  stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
-    HAL_TIMEx_CommutCallback                 0x080063f1   Thumb Code     2  stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
-    HAL_TIM_Base_Init                        0x080063f5   Thumb Code    90  stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
-    HAL_TIM_Base_MspInit                     0x08006451   Thumb Code    72  tim.o(.text.HAL_TIM_Base_MspInit)
-    HAL_TIM_IC_CaptureCallback               0x08006499   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
-    HAL_TIM_IRQHandler                       0x0800649d   Thumb Code   308  stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
-    HAL_TIM_MspPostInit                      0x080065d1   Thumb Code    92  tim.o(.text.HAL_TIM_MspPostInit)
-    HAL_TIM_OC_DelayElapsedCallback          0x0800662d   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
-    HAL_TIM_PWM_ConfigChannel                0x08006631   Thumb Code   152  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
-    HAL_TIM_PWM_Init                         0x080066c9   Thumb Code    90  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
-    HAL_TIM_PWM_MspInit                      0x08006725   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
-    HAL_TIM_PWM_PulseFinishedCallback        0x08006729   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
-    HAL_TIM_PWM_Start                        0x0800672d   Thumb Code   290  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
-    HAL_TIM_PeriodElapsedCallback            0x08006851   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
-    HAL_TIM_TriggerCallback                  0x08006855   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
-    HAL_UARTEx_RxEventCallback               0x08006859   Thumb Code     2  stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
-    HAL_UART_ErrorCallback                   0x0800685d   Thumb Code    38  uart.o(.text.HAL_UART_ErrorCallback)
-    HAL_UART_IRQHandler                      0x08006885   Thumb Code   602  stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
-    HAL_UART_Init                            0x08006ae1   Thumb Code    96  stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
-    HAL_UART_MspInit                         0x08006b41   Thumb Code   712  usart.o(.text.HAL_UART_MspInit)
-    HAL_UART_Receive_DMA                     0x08006e09   Thumb Code    44  stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
-    HAL_UART_RxCpltCallback                  0x08006e35   Thumb Code    38  uart.o(.text.HAL_UART_RxCpltCallback)
-    HAL_UART_RxHalfCpltCallback              0x08006e5d   Thumb Code    38  uart.o(.text.HAL_UART_RxHalfCpltCallback)
-    HAL_UART_TxCpltCallback                  0x08006e85   Thumb Code    38  uart.o(.text.HAL_UART_TxCpltCallback)
-    HardFault_Handler                        0x08006ead   Thumb Code     2  stm32f4xx_it.o(.text.HardFault_Handler)
-    InvSqrt                                  0x08006eb1   Thumb Code    66  user_math.o(.text.InvSqrt)
-    Keymap                                   0x08006ef5   Thumb Code    36  et16s.o(.text.Keymap)
-    LowPassFilter2p_Apply                    0x08006f19   Thumb Code   124  filter.o(.text.LowPassFilter2p_Apply)
-    LowPassFilter2p_Init                     0x08006f95   Thumb Code   164  filter.o(.text.LowPassFilter2p_Init)
-    LowPassFilter2p_Reset                    0x08007039   Thumb Code    92  filter.o(.text.LowPassFilter2p_Reset)
-    MOTOR_DM_Enable                          0x080070d1   Thumb Code    70  motor_dm.o(.text.MOTOR_DM_Enable)
-    MOTOR_DM_GetMotor                        0x0800712d   Thumb Code    88  motor_dm.o(.text.MOTOR_DM_GetMotor)
-    MOTOR_DM_MITCtrl                         0x08007185   Thumb Code    46  motor_dm.o(.text.MOTOR_DM_MITCtrl)
-    MOTOR_DM_Register                        0x080072ad   Thumb Code   164  motor_dm.o(.text.MOTOR_DM_Register)
-    MOTOR_DM_Update                          0x08007469   Thumb Code   160  motor_dm.o(.text.MOTOR_DM_Update)
-    MOTOR_RM_Ctrl                            0x08007545   Thumb Code   216  motor_rm.o(.text.MOTOR_RM_Ctrl)
-    MOTOR_RM_GetMotor                        0x08007681   Thumb Code    80  motor_rm.o(.text.MOTOR_RM_GetMotor)
-    MOTOR_RM_Register                        0x080076f5   Thumb Code   166  motor_rm.o(.text.MOTOR_RM_Register)
-    MOTOR_RM_Relax                           0x0800779d   Thumb Code    16  motor_rm.o(.text.MOTOR_RM_Relax)
-    MOTOR_RM_SetOutput                       0x080077ad   Thumb Code   158  motor_rm.o(.text.MOTOR_RM_SetOutput)
-    MOTOR_RM_Update                          0x0800784d   Thumb Code   198  motor_rm.o(.text.MOTOR_RM_Update)
-    MX_CAN1_Init                             0x08007915   Thumb Code    64  can.o(.text.MX_CAN1_Init)
-    MX_CAN2_Init                             0x08007955   Thumb Code    64  can.o(.text.MX_CAN2_Init)
-    MX_DMA_Init                              0x08007995   Thumb Code   138  dma.o(.text.MX_DMA_Init)
-    MX_FREERTOS_Init                         0x08007a21   Thumb Code    58  freertos.o(.text.MX_FREERTOS_Init)
-    MX_GPIO_Init                             0x08007a5d   Thumb Code   464  gpio.o(.text.MX_GPIO_Init)
-    MX_I2C1_Init                             0x08007c2d   Thumb Code    62  i2c.o(.text.MX_I2C1_Init)
-    MX_I2C2_Init                             0x08007c6d   Thumb Code    62  i2c.o(.text.MX_I2C2_Init)
-    MX_SPI1_Init                             0x08007cad   Thumb Code    78  spi.o(.text.MX_SPI1_Init)
-    MX_TIM10_Init                            0x08007cfd   Thumb Code   136  tim.o(.text.MX_TIM10_Init)
-    MX_USART1_UART_Init                      0x08007d85   Thumb Code    56  usart.o(.text.MX_USART1_UART_Init)
-    MX_USART2_UART_Init                      0x08007dbd   Thumb Code    56  usart.o(.text.MX_USART2_UART_Init)
-    MX_USART3_UART_Init                      0x08007df5   Thumb Code    68  usart.o(.text.MX_USART3_UART_Init)
-    MX_USART6_UART_Init                      0x08007e39   Thumb Code    56  usart.o(.text.MX_USART6_UART_Init)
-    MemManage_Handler                        0x08007e71   Thumb Code     2  stm32f4xx_it.o(.text.MemManage_Handler)
-    NMI_Handler                              0x08007fd1   Thumb Code     2  stm32f4xx_it.o(.text.NMI_Handler)
-    PID_Calc                                 0x08008001   Thumb Code   368  pid.o(.text.PID_Calc)
-    PID_Init                                 0x08008171   Thumb Code   144  pid.o(.text.PID_Init)
-    PID_Reset                                0x08008201   Thumb Code    44  pid.o(.text.PID_Reset)
-    PID_ResetIntegral                        0x0800822d   Thumb Code    14  pid.o(.text.PID_ResetIntegral)
-    PendSV_Handler                           0x08008241   Thumb Code   100  port.o(.text.PendSV_Handler)
-    REMOTE_Init                              0x080082a5   Thumb Code    68  et16s.o(.text.REMOTE_Init)
-    REMOTE_StartDmaRecv                      0x080082fd   Thumb Code    32  et16s.o(.text.REMOTE_StartDmaRecv)
-    REMOTE_WaitDmaCplt                       0x0800831d   Thumb Code    22  et16s.o(.text.REMOTE_WaitDmaCplt)
-    SVC_Handler                              0x080086c1   Thumb Code    36  port.o(.text.SVC_Handler)
-    ScaleSumTo1                              0x080086ed   Thumb Code    54  user_math.o(.text.ScaleSumTo1)
-    Shoot_CaluTargetAngle                    0x080087a1   Thumb Code   160  shoot.o(.text.Shoot_CaluTargetAngle)
-    Shoot_CaluTargetRPM                      0x08008841   Thumb Code    44  shoot.o(.text.Shoot_CaluTargetRPM)
-    Shoot_Control                            0x0800886d   Thumb Code   108  shoot.o(.text.Shoot_Control)
-    Shoot_Init                               0x080088d9   Thumb Code   326  shoot.o(.text.Shoot_Init)
-    Shoot_JamDetectionFSM                    0x08008a21   Thumb Code   304  shoot.o(.text.Shoot_JamDetectionFSM)
-    Shoot_ResetCalu                          0x08008b51   Thumb Code   152  shoot.o(.text.Shoot_ResetCalu)
-    Shoot_ResetIntegral                      0x08008be9   Thumb Code    70  shoot.o(.text.Shoot_ResetIntegral)
-    Shoot_ResetOutput                        0x08008c31   Thumb Code    50  shoot.o(.text.Shoot_ResetOutput)
-    Shoot_RunningFSM                         0x08008c65   Thumb Code  1264  shoot.o(.text.Shoot_RunningFSM)
-    Shoot_SetMode                            0x08009155   Thumb Code    14  shoot.o(.text.Shoot_SetMode)
-    Shoot_UpdateFeedback                     0x08009165   Thumb Code   500  shoot.o(.text.Shoot_UpdateFeedback)
-    StartDefaultTask                         0x08009359   Thumb Code    12  freertos.o(.text.StartDefaultTask)
-    SysTick_Handler                          0x08009395   Thumb Code    20  stm32f4xx_it.o(.text.SysTick_Handler)
-    SystemClock_Config                       0x080093a9   Thumb Code   164  main.o(.text.SystemClock_Config)
-    SystemInit                               0x0800944d   Thumb Code    18  system_stm32f4xx.o(.text.SystemInit)
-    TIM1_UP_TIM10_IRQHandler                 0x08009461   Thumb Code    16  stm32f4xx_it.o(.text.TIM1_UP_TIM10_IRQHandler)
-    TIM_Base_SetConfig                       0x08009471   Thumb Code   300  stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
-    TIM_CCxChannelCmd                        0x0800959d   Thumb Code    36  stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
-    TIM_OC2_SetConfig                        0x08009625   Thumb Code   106  stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
-    Task_ET16s                               0x08009749   Thumb Code   128  et16s_1.o(.text.Task_ET16s)
-    Task_Init                                0x080097c9   Thumb Code   330  init.o(.text.Task_Init)
-    Task_ai                                  0x08009919   Thumb Code    64  ai_1.o(.text.Task_ai)
-    Task_atti_esti                           0x08009959   Thumb Code   376  atti_esti.o(.text.Task_atti_esti)
-    Task_chassis_ctrl                        0x08009ad1   Thumb Code   124  chassis_ctrl.o(.text.Task_chassis_ctrl)
-    Task_cmd                                 0x08009b51   Thumb Code   232  cmd.o(.text.Task_cmd)
-    Task_dr16                                0x08009c39   Thumb Code   104  dr16_1.o(.text.Task_dr16)
-    Task_gimbal_ctrl                         0x08009ca1   Thumb Code   180  gimbal_ctrl.o(.text.Task_gimbal_ctrl)
-    Task_shoot_ctrl                          0x08009d59   Thumb Code   156  shoot_ctrl.o(.text.Task_shoot_ctrl)
-    Task_step_motor                          0x08009df9   Thumb Code    64  step_motor_1.o(.text.Task_step_motor)
-    UART_Start_Receive_DMA                   0x0800a1b5   Thumb Code   170  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
-    USART3_IRQHandler                        0x0800a2b5   Thumb Code    24  stm32f4xx_it.o(.text.USART3_IRQHandler)
-    USART6_IRQHandler                        0x0800a2cd   Thumb Code    24  stm32f4xx_it.o(.text.USART6_IRQHandler)
-    UsageFault_Handler                       0x0800a2e5   Thumb Code     2  stm32f4xx_it.o(.text.UsageFault_Handler)
-    chassis_init                             0x0800a3c5   Thumb Code   426  chassis.o(.text.chassis_init)
-    configureTimerForRunTimeStats            0x0800a571   Thumb Code     2  freertos.o(.text.configureTimerForRunTimeStats)
-    eTaskGetState                            0x0800a58d   Thumb Code   156  tasks.o(.text.eTaskGetState)
-    getRunTimeCounterValue                   0x0800a655   Thumb Code     4  freertos.o(.text.getRunTimeCounterValue)
-    main                                     0x0800a659   Thumb Code    70  main.o(.text.main)
-    major_yaw_Control                        0x0800a6a1   Thumb Code    32  gimbal.o(.text.major_yaw_Control)
-    map_fp32                                 0x0800a6c1   Thumb Code    26  calc_lib.o(.text.map_fp32)
-    osDelay                                  0x0800a721   Thumb Code    32  cmsis_os2.o(.text.osDelay)
-    osDelayUntil                             0x0800a741   Thumb Code    52  cmsis_os2.o(.text.osDelayUntil)
-    osKernelGetState                         0x0800a775   Thumb Code    38  cmsis_os2.o(.text.osKernelGetState)
-    osKernelGetTickCount                     0x0800a79d   Thumb Code    20  cmsis_os2.o(.text.osKernelGetTickCount)
-    osKernelGetTickFreq                      0x0800a7b1   Thumb Code     6  cmsis_os2.o(.text.osKernelGetTickFreq)
-    osKernelInitialize                       0x0800a7b9   Thumb Code    40  cmsis_os2.o(.text.osKernelInitialize)
-    osKernelLock                             0x0800a7e1   Thumb Code    44  cmsis_os2.o(.text.osKernelLock)
-    osKernelStart                            0x0800a80d   Thumb Code    52  cmsis_os2.o(.text.osKernelStart)
-    osKernelUnlock                           0x0800a841   Thumb Code    68  cmsis_os2.o(.text.osKernelUnlock)
-    osMessageQueueGet                        0x0800a885   Thumb Code   134  cmsis_os2.o(.text.osMessageQueueGet)
-    osMessageQueueNew                        0x0800a90d   Thumb Code   160  cmsis_os2.o(.text.osMessageQueueNew)
-    osMessageQueuePut                        0x0800a9ad   Thumb Code   142  cmsis_os2.o(.text.osMessageQueuePut)
-    osMessageQueueReset                      0x0800aa3d   Thumb Code    36  cmsis_os2.o(.text.osMessageQueueReset)
-    osMutexAcquire                           0x0800aa61   Thumb Code    82  cmsis_os2.o(.text.osMutexAcquire)
-    osMutexNew                               0x0800aab5   Thumb Code   150  cmsis_os2.o(.text.osMutexNew)
-    osMutexRelease                           0x0800ab4d   Thumb Code    62  cmsis_os2.o(.text.osMutexRelease)
-    osThreadFlagsSet                         0x0800ab8d   Thumb Code   126  cmsis_os2.o(.text.osThreadFlagsSet)
-    osThreadFlagsWait                        0x0800ac0d   Thumb Code   186  cmsis_os2.o(.text.osThreadFlagsWait)
-    osThreadGetId                            0x0800acc9   Thumb Code     8  cmsis_os2.o(.text.osThreadGetId)
-    osThreadNew                              0x0800acd1   Thumb Code   180  cmsis_os2.o(.text.osThreadNew)
-    osThreadTerminate                        0x0800ad85   Thumb Code    52  cmsis_os2.o(.text.osThreadTerminate)
-    pvPortMalloc                             0x0800b761   Thumb Code   330  heap_4.o(.text.pvPortMalloc)
-    pvTaskIncrementMutexHeldCount            0x0800b8ad   Thumb Code    24  tasks.o(.text.pvTaskIncrementMutexHeldCount)
-    pxPortInitialiseStack                    0x0800b8c5   Thumb Code    40  port.o(.text.pxPortInitialiseStack)
-    uxListRemove                             0x0800b919   Thumb Code    36  list.o(.text.uxListRemove)
-    vApplicationGetIdleTaskMemory            0x0800b93d   Thumb Code    26  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
-    vApplicationGetTimerTaskMemory           0x0800b959   Thumb Code    28  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
-    vApplicationStackOverflowHook            0x0800b975   Thumb Code     2  freertos.o(.text.vApplicationStackOverflowHook)
-    vListInitialise                          0x0800b979   Thumb Code    22  list.o(.text.vListInitialise)
-    vListInitialiseItem                      0x0800b991   Thumb Code     6  list.o(.text.vListInitialiseItem)
-    vListInsert                              0x0800b999   Thumb Code    58  list.o(.text.vListInsert)
-    vListInsertEnd                           0x0800b9d5   Thumb Code    28  list.o(.text.vListInsertEnd)
-    vPortEnterCritical                       0x0800ba05   Thumb Code    70  port.o(.text.vPortEnterCritical)
-    vPortExitCritical                        0x0800ba4d   Thumb Code    46  port.o(.text.vPortExitCritical)
-    vPortFree                                0x0800ba7d   Thumb Code   138  heap_4.o(.text.vPortFree)
-    vPortSetupTimerInterrupt                 0x0800bb09   Thumb Code    52  port.o(.text.vPortSetupTimerInterrupt)
-    vPortValidateInterruptPriority           0x0800bb3d   Thumb Code    98  port.o(.text.vPortValidateInterruptPriority)
-    vQueueAddToRegistry                      0x0800bba1   Thumb Code    40  queue.o(.text.vQueueAddToRegistry)
-    vQueueWaitForMessageRestricted           0x0800bbc9   Thumb Code    68  queue.o(.text.vQueueWaitForMessageRestricted)
-    vTaskDelay                               0x0800bc0d   Thumb Code    84  tasks.o(.text.vTaskDelay)
-    vTaskDelayUntil                          0x0800bc61   Thumb Code   168  tasks.o(.text.vTaskDelayUntil)
-    vTaskDelete                              0x0800bd09   Thumb Code   194  tasks.o(.text.vTaskDelete)
-    vTaskInternalSetTimeOutState             0x0800bdcd   Thumb Code    26  tasks.o(.text.vTaskInternalSetTimeOutState)
-    vTaskMissedYield                         0x0800bde9   Thumb Code    14  tasks.o(.text.vTaskMissedYield)
-    vTaskPlaceOnEventList                    0x0800bdf9   Thumb Code    50  tasks.o(.text.vTaskPlaceOnEventList)
-    vTaskPlaceOnEventListRestricted          0x0800be2d   Thumb Code    62  tasks.o(.text.vTaskPlaceOnEventListRestricted)
-    vTaskPriorityDisinheritAfterTimeout      0x0800be6d   Thumb Code   164  tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
-    vTaskStartScheduler                      0x0800bf11   Thumb Code   160  tasks.o(.text.vTaskStartScheduler)
-    vTaskSuspendAll                          0x0800bfb9   Thumb Code    16  tasks.o(.text.vTaskSuspendAll)
-    vTaskSwitchContext                       0x0800bfc9   Thumb Code   226  tasks.o(.text.vTaskSwitchContext)
-    xPortStartScheduler                      0x0800c0ad   Thumb Code   274  port.o(.text.xPortStartScheduler)
-    xPortSysTickHandler                      0x0800c1c1   Thumb Code    46  port.o(.text.xPortSysTickHandler)
-    xQueueCreateMutex                        0x0800c1f1   Thumb Code    22  queue.o(.text.xQueueCreateMutex)
-    xQueueCreateMutexStatic                  0x0800c209   Thumb Code    34  queue.o(.text.xQueueCreateMutexStatic)
-    xQueueGenericCreate                      0x0800c22d   Thumb Code    70  queue.o(.text.xQueueGenericCreate)
-    xQueueGenericCreateStatic                0x0800c275   Thumb Code   150  queue.o(.text.xQueueGenericCreateStatic)
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-    xQueueGenericSend                        0x0800c38d   Thumb Code   418  queue.o(.text.xQueueGenericSend)
-    xQueueGenericSendFromISR                 0x0800c531   Thumb Code   206  queue.o(.text.xQueueGenericSendFromISR)
-    xQueueGiveMutexRecursive                 0x0800c601   Thumb Code    66  queue.o(.text.xQueueGiveMutexRecursive)
-    xQueueReceive                            0x0800c645   Thumb Code   388  queue.o(.text.xQueueReceive)
-    xQueueReceiveFromISR                     0x0800c7c9   Thumb Code   170  queue.o(.text.xQueueReceiveFromISR)
-    xQueueSemaphoreTake                      0x0800c875   Thumb Code   454  queue.o(.text.xQueueSemaphoreTake)
-    xQueueTakeMutexRecursive                 0x0800ca3d   Thumb Code    60  queue.o(.text.xQueueTakeMutexRecursive)
-    xTaskCheckForTimeOut                     0x0800ca79   Thumb Code   136  tasks.o(.text.xTaskCheckForTimeOut)
-    xTaskCreate                              0x0800cb01   Thumb Code   102  tasks.o(.text.xTaskCreate)
-    xTaskCreateStatic                        0x0800cb69   Thumb Code   118  tasks.o(.text.xTaskCreateStatic)
-    xTaskGenericNotify                       0x0800cbe1   Thumb Code   252  tasks.o(.text.xTaskGenericNotify)
-    xTaskGenericNotifyFromISR                0x0800ccdd   Thumb Code   298  tasks.o(.text.xTaskGenericNotifyFromISR)
-    xTaskGetCurrentTaskHandle                0x0800ce09   Thumb Code    12  tasks.o(.text.xTaskGetCurrentTaskHandle)
-    xTaskGetSchedulerState                   0x0800ce15   Thumb Code    38  tasks.o(.text.xTaskGetSchedulerState)
-    xTaskGetTickCount                        0x0800ce3d   Thumb Code    12  tasks.o(.text.xTaskGetTickCount)
-    xTaskGetTickCountFromISR                 0x0800ce49   Thumb Code    18  tasks.o(.text.xTaskGetTickCountFromISR)
-    xTaskIncrementTick                       0x0800ce5d   Thumb Code   338  tasks.o(.text.xTaskIncrementTick)
-    xTaskNotifyWait                          0x0800cfb1   Thumb Code   144  tasks.o(.text.xTaskNotifyWait)
-    xTaskPriorityDisinherit                  0x0800d041   Thumb Code   146  tasks.o(.text.xTaskPriorityDisinherit)
-    xTaskPriorityInherit                     0x0800d0d5   Thumb Code   146  tasks.o(.text.xTaskPriorityInherit)
-    xTaskRemoveFromEventList                 0x0800d169   Thumb Code   142  tasks.o(.text.xTaskRemoveFromEventList)
-    xTaskResumeAll                           0x0800d1f9   Thumb Code   276  tasks.o(.text.xTaskResumeAll)
-    xTimerCreateTimerTask                    0x0800d30d   Thumb Code   108  timers.o(.text.xTimerCreateTimerTask)
-    xTimerGenericCommand                     0x0800d381   Thumb Code   104  timers.o(.text.xTimerGenericCommand)
-    __ARM_fpclassify                         0x0800d3e9   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
-    __ARM_fpclassifyf                        0x0800d419   Thumb Code    38  fpclassifyf.o(i.__ARM_fpclassifyf)
-    __hardfp_asinf                           0x0800d441   Thumb Code   258  asinf.o(i.__hardfp_asinf)
-    __hardfp_atan                            0x0800d571   Thumb Code   622  atan.o(i.__hardfp_atan)
-    __hardfp_atan2                           0x0800d849   Thumb Code   448  atan2.o(i.__hardfp_atan2)
-    __hardfp_atan2f                          0x0800da49   Thumb Code   594  atan2f.o(i.__hardfp_atan2f)
-    __hardfp_sinf                            0x0800dcf5   Thumb Code   344  sinf.o(i.__hardfp_sinf)
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-    _f2d                                     0x0800efb1   Thumb Code    86  f2d.o(x$fpl$f2d)
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-    __aeabi_dcmpgt                           0x0800f023   Thumb Code     0  dcmp.o(x$fpl$fcmp)
-    _dgr                                     0x0800f023   Thumb Code    14  dcmp.o(x$fpl$fcmp)
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-    _dleq                                    0x0800f03f   Thumb Code    14  dcmp.o(x$fpl$fcmp)
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-    _dls                                     0x0800f04d   Thumb Code    14  dcmp.o(x$fpl$fcmp)
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-    _ll_uto_f                                0x0800f05b   Thumb Code     6  ffltll_clz.o(x$fpl$ffltll)
-    __aeabi_l2f                              0x0800f061   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
-    _ll_sto_f                                0x0800f061   Thumb Code    90  ffltll_clz.o(x$fpl$ffltll)
-    __fpl_fnaninf                            0x0800f0bb   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
-    _fp_init                                 0x0800f147   Thumb Code    26  fpinit.o(x$fpl$fpinit)
-    __fplib_config_fpu_vfp                   0x0800f15f   Thumb Code     0  fpinit.o(x$fpl$fpinit)
-    __fplib_config_pureend_doubles           0x0800f15f   Thumb Code     0  fpinit.o(x$fpl$fpinit)
-    __fpl_fretinf                            0x0800f161   Thumb Code    10  fretinf.o(x$fpl$fretinf)
-    __I$use$fp                               0x0800f16a   Number         0  usenofp.o(x$fpl$usenofp)
-    __mathlib_zero                           0x0800f208   Data           8  qnan.o(.constdata)
-    AHBPrescTable                            0x0800f230   Data          16  system_stm32f4xx.o(.rodata.AHBPrescTable)
-    APBPrescTable                            0x0800f240   Data           8  system_stm32f4xx.o(.rodata.APBPrescTable)
-    attr_ET16s                               0x0800f290   Data          36  user_task.o(.rodata.attr_ET16s)
-    attr_ai                                  0x0800f2b4   Data          36  user_task.o(.rodata.attr_ai)
-    attr_atti_esti                           0x0800f2d8   Data          36  user_task.o(.rodata.attr_atti_esti)
-    attr_chassis_ctrl                        0x0800f2fc   Data          36  user_task.o(.rodata.attr_chassis_ctrl)
-    attr_cmd                                 0x0800f320   Data          36  user_task.o(.rodata.attr_cmd)
-    attr_dr16                                0x0800f344   Data          36  user_task.o(.rodata.attr_dr16)
-    attr_gimbal_ctrl                         0x0800f368   Data          36  user_task.o(.rodata.attr_gimbal_ctrl)
-    attr_init                                0x0800f38c   Data          36  user_task.o(.rodata.attr_init)
-    attr_shoot_ctrl                          0x0800f3b0   Data          36  user_task.o(.rodata.attr_shoot_ctrl)
-    attr_step_motor                          0x0800f3d4   Data          36  user_task.o(.rodata.attr_step_motor)
-    defaultTask_attributes                   0x0800f408   Data          36  freertos.o(.rodata.defaultTask_attributes)
-    Region$$Table$$Base                      0x0800f560   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x0800f5a0   Number         0  anon$$obj.o(Region$$Table)
+    ET16S_ParseRC                            0x08003479   Thumb Code   146  et16s.o(.text.ET16S_ParseRC)
+    ET16s_HandleOffline                      0x0800350d   Thumb Code    54  et16s.o(.text.ET16s_HandleOffline)
+    ET16s_ParseRaw                           0x08003549   Thumb Code   616  et16s.o(.text.ET16s_ParseRaw)
+    EXTI0_IRQHandler                         0x080037b1   Thumb Code    10  stm32f4xx_it.o(.text.EXTI0_IRQHandler)
+    EXTI3_IRQHandler                         0x080037bd   Thumb Code    10  stm32f4xx_it.o(.text.EXTI3_IRQHandler)
+    EXTI4_IRQHandler                         0x080037c9   Thumb Code    10  stm32f4xx_it.o(.text.EXTI4_IRQHandler)
+    EXTI9_5_IRQHandler                       0x080037d5   Thumb Code    10  stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
+    Error_Handler                            0x080037e1   Thumb Code     6  main.o(.text.Error_Handler)
+    Gimbal_Control                           0x080037e9   Thumb Code   928  gimbal.o(.text.Gimbal_Control)
+    Gimbal_Control_mode                      0x08003b89   Thumb Code    88  gimbal.o(.text.Gimbal_Control_mode)
+    Gimbal_Init                              0x08003c85   Thumb Code   336  gimbal.o(.text.Gimbal_Init)
+    Gimbal_Output                            0x08003dd5   Thumb Code   280  gimbal.o(.text.Gimbal_Output)
+    Gimbal_UpdateFeedback                    0x08003f75   Thumb Code   280  gimbal.o(.text.Gimbal_UpdateFeedback)
+    Gimbal_UpdateIMU                         0x0800408d   Thumb Code    78  gimbal.o(.text.Gimbal_UpdateIMU)
+    HAL_CAN_ActivateNotification             0x080040dd   Thumb Code    38  stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
+    HAL_CAN_AddTxMessage                     0x08004105   Thumb Code   146  stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
+    HAL_CAN_ConfigFilter                     0x08004199   Thumb Code   222  stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
+    HAL_CAN_ErrorCallback                    0x08004279   Thumb Code    36  can_1.o(.text.HAL_CAN_ErrorCallback)
+    HAL_CAN_GetRxFifoFillLevel               0x0800429d   Thumb Code    32  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
+    HAL_CAN_GetRxMessage                     0x080042bd   Thumb Code   292  stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
+    HAL_CAN_GetTxMailboxesFreeLevel          0x080043e1   Thumb Code    40  stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
+    HAL_CAN_IRQHandler                       0x08004409   Thumb Code   570  stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
+    HAL_CAN_Init                             0x08004645   Thumb Code   244  stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
+    HAL_CAN_MspInit                          0x08004739   Thumb Code   330  can.o(.text.HAL_CAN_MspInit)
+    HAL_CAN_RxFifo0FullCallback              0x08004885   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
+    HAL_CAN_RxFifo0MsgPendingCallback        0x080048a9   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
+    HAL_CAN_RxFifo1FullCallback              0x080048cd   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
+    HAL_CAN_RxFifo1MsgPendingCallback        0x080048f1   Thumb Code    36  can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
+    HAL_CAN_SleepCallback                    0x08004915   Thumb Code    36  can_1.o(.text.HAL_CAN_SleepCallback)
+    HAL_CAN_Start                            0x08004939   Thumb Code    90  stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
+    HAL_CAN_TxMailbox0AbortCallback          0x08004995   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
+    HAL_CAN_TxMailbox0CompleteCallback       0x080049b9   Thumb Code    34  can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
+    HAL_CAN_TxMailbox1AbortCallback          0x080049dd   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
+    HAL_CAN_TxMailbox1CompleteCallback       0x08004a01   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
+    HAL_CAN_TxMailbox2AbortCallback          0x08004a25   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
+    HAL_CAN_TxMailbox2CompleteCallback       0x08004a49   Thumb Code    36  can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
+    HAL_CAN_WakeUpFromRxMsgCallback          0x08004a6d   Thumb Code    36  can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
+    HAL_DMA_Abort                            0x08004a91   Thumb Code   128  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
+    HAL_DMA_Abort_IT                         0x08004b11   Thumb Code    36  stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
+    HAL_DMA_IRQHandler                       0x08004b35   Thumb Code   396  stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+    HAL_DMA_Init                             0x08004cc1   Thumb Code   206  stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
+    HAL_DMA_Start_IT                         0x08004d91   Thumb Code    98  stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
+    HAL_Delay                                0x08004df5   Thumb Code    40  stm32f4xx_hal.o(.text.HAL_Delay)
+    HAL_GPIO_EXTI_Callback                   0x08004e1d   Thumb Code    44  gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
+    HAL_GPIO_EXTI_IRQHandler                 0x08004e49   Thumb Code    26  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
+    HAL_GPIO_Init                            0x08004e65   Thumb Code   410  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+    HAL_GPIO_ReadPin                         0x08005001   Thumb Code    10  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
+    HAL_GPIO_WritePin                        0x0800500d   Thumb Code    10  stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
+    HAL_GetTick                              0x08005019   Thumb Code    12  stm32f4xx_hal.o(.text.HAL_GetTick)
+    HAL_I2C_Init                             0x08005025   Thumb Code   408  stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
+    HAL_I2C_MspInit                          0x080051bd   Thumb Code   216  i2c.o(.text.HAL_I2C_MspInit)
+    HAL_IncTick                              0x08005295   Thumb Code    26  stm32f4xx_hal.o(.text.HAL_IncTick)
+    HAL_Init                                 0x080052b1   Thumb Code    54  stm32f4xx_hal.o(.text.HAL_Init)
+    HAL_InitTick                             0x080052e9   Thumb Code    80  stm32f4xx_hal.o(.text.HAL_InitTick)
+    HAL_MspInit                              0x08005339   Thumb Code    70  stm32f4xx_hal_msp.o(.text.HAL_MspInit)
+    HAL_NVIC_DisableIRQ                      0x08005381   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
+    HAL_NVIC_EnableIRQ                       0x08005389   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+    HAL_NVIC_SetPriority                     0x08005391   Thumb Code    30  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+    HAL_NVIC_SetPriorityGrouping             0x080053b1   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+    HAL_RCC_ClockConfig                      0x080053b9   Thumb Code   352  stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+    HAL_RCC_GetHCLKFreq                      0x08005519   Thumb Code    12  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
+    HAL_RCC_GetPCLK1Freq                     0x08005525   Thumb Code    34  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+    HAL_RCC_GetPCLK2Freq                     0x08005549   Thumb Code    34  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+    HAL_RCC_GetSysClockFreq                  0x0800556d   Thumb Code   104  stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+    HAL_RCC_OscConfig                        0x080055d5   Thumb Code   840  stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+    HAL_SPI_ErrorCallback                    0x0800591d   Thumb Code    34  spi_1.o(.text.HAL_SPI_ErrorCallback)
+    HAL_SPI_Init                             0x08005941   Thumb Code   180  stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
+    HAL_SPI_MspInit                          0x080059f5   Thumb Code   302  spi.o(.text.HAL_SPI_MspInit)
+    HAL_SPI_Receive                          0x08005b25   Thumb Code   370  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
+    HAL_SPI_Receive_DMA                      0x08005c99   Thumb Code   236  stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
+    HAL_SPI_RxCpltCallback                   0x08005d85   Thumb Code    34  spi_1.o(.text.HAL_SPI_RxCpltCallback)
+    HAL_SPI_RxHalfCpltCallback               0x08005da9   Thumb Code    34  spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
+    HAL_SPI_Transmit                         0x08005dcd   Thumb Code   394  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
+    HAL_SPI_TransmitReceive                  0x08005f59   Thumb Code   504  stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
+    HAL_SPI_TransmitReceive_DMA              0x08006151   Thumb Code   292  stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
+    HAL_SPI_Transmit_DMA                     0x08006275   Thumb Code   204  stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
+    HAL_SPI_TxCpltCallback                   0x08006341   Thumb Code    32  spi_1.o(.text.HAL_SPI_TxCpltCallback)
+    HAL_SPI_TxHalfCpltCallback               0x08006361   Thumb Code    34  spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
+    HAL_SPI_TxRxCpltCallback                 0x08006385   Thumb Code    34  spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
+    HAL_SPI_TxRxHalfCpltCallback             0x080063a9   Thumb Code    34  spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
+    HAL_SYSTICK_Config                       0x080063cd   Thumb Code     8  stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+    HAL_TIMEx_BreakCallback                  0x080063d5   Thumb Code     2  stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
+    HAL_TIMEx_CommutCallback                 0x080063d9   Thumb Code     2  stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
+    HAL_TIM_Base_Init                        0x080063dd   Thumb Code    90  stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
+    HAL_TIM_Base_MspInit                     0x08006439   Thumb Code    72  tim.o(.text.HAL_TIM_Base_MspInit)
+    HAL_TIM_IC_CaptureCallback               0x08006481   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
+    HAL_TIM_IRQHandler                       0x08006485   Thumb Code   308  stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
+    HAL_TIM_MspPostInit                      0x080065b9   Thumb Code    92  tim.o(.text.HAL_TIM_MspPostInit)
+    HAL_TIM_OC_DelayElapsedCallback          0x08006615   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
+    HAL_TIM_PWM_ConfigChannel                0x08006619   Thumb Code   152  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
+    HAL_TIM_PWM_Init                         0x080066b1   Thumb Code    90  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
+    HAL_TIM_PWM_MspInit                      0x0800670d   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
+    HAL_TIM_PWM_PulseFinishedCallback        0x08006711   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
+    HAL_TIM_PWM_Start                        0x08006715   Thumb Code   290  stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
+    HAL_TIM_PeriodElapsedCallback            0x08006839   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
+    HAL_TIM_TriggerCallback                  0x0800683d   Thumb Code     2  stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
+    HAL_UARTEx_RxEventCallback               0x08006841   Thumb Code     2  stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
+    HAL_UART_ErrorCallback                   0x08006845   Thumb Code    38  uart.o(.text.HAL_UART_ErrorCallback)
+    HAL_UART_IRQHandler                      0x0800686d   Thumb Code   602  stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
+    HAL_UART_Init                            0x08006ac9   Thumb Code    96  stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
+    HAL_UART_MspInit                         0x08006b29   Thumb Code   712  usart.o(.text.HAL_UART_MspInit)
+    HAL_UART_Receive_DMA                     0x08006df1   Thumb Code    44  stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
+    HAL_UART_RxCpltCallback                  0x08006e1d   Thumb Code    38  uart.o(.text.HAL_UART_RxCpltCallback)
+    HAL_UART_RxHalfCpltCallback              0x08006e45   Thumb Code    38  uart.o(.text.HAL_UART_RxHalfCpltCallback)
+    HAL_UART_TxCpltCallback                  0x08006e6d   Thumb Code    38  uart.o(.text.HAL_UART_TxCpltCallback)
+    HardFault_Handler                        0x08006e95   Thumb Code     2  stm32f4xx_it.o(.text.HardFault_Handler)
+    InvSqrt                                  0x08006e99   Thumb Code    66  user_math.o(.text.InvSqrt)
+    Keymap                                   0x08006edd   Thumb Code    36  et16s.o(.text.Keymap)
+    LowPassFilter2p_Apply                    0x08006f01   Thumb Code   124  filter.o(.text.LowPassFilter2p_Apply)
+    LowPassFilter2p_Init                     0x08006f7d   Thumb Code   164  filter.o(.text.LowPassFilter2p_Init)
+    LowPassFilter2p_Reset                    0x08007021   Thumb Code    92  filter.o(.text.LowPassFilter2p_Reset)
+    MOTOR_DM_Enable                          0x080070b9   Thumb Code    70  motor_dm.o(.text.MOTOR_DM_Enable)
+    MOTOR_DM_GetMotor                        0x08007115   Thumb Code    88  motor_dm.o(.text.MOTOR_DM_GetMotor)
+    MOTOR_DM_MITCtrl                         0x0800716d   Thumb Code    46  motor_dm.o(.text.MOTOR_DM_MITCtrl)
+    MOTOR_DM_Register                        0x08007295   Thumb Code   164  motor_dm.o(.text.MOTOR_DM_Register)
+    MOTOR_DM_Update                          0x08007451   Thumb Code   160  motor_dm.o(.text.MOTOR_DM_Update)
+    MOTOR_RM_Ctrl                            0x0800752d   Thumb Code   216  motor_rm.o(.text.MOTOR_RM_Ctrl)
+    MOTOR_RM_GetMotor                        0x08007669   Thumb Code    80  motor_rm.o(.text.MOTOR_RM_GetMotor)
+    MOTOR_RM_Register                        0x080076dd   Thumb Code   166  motor_rm.o(.text.MOTOR_RM_Register)
+    MOTOR_RM_Relax                           0x08007785   Thumb Code    16  motor_rm.o(.text.MOTOR_RM_Relax)
+    MOTOR_RM_SetOutput                       0x08007795   Thumb Code   158  motor_rm.o(.text.MOTOR_RM_SetOutput)
+    MOTOR_RM_Update                          0x08007835   Thumb Code   198  motor_rm.o(.text.MOTOR_RM_Update)
+    MX_CAN1_Init                             0x080078fd   Thumb Code    64  can.o(.text.MX_CAN1_Init)
+    MX_CAN2_Init                             0x0800793d   Thumb Code    64  can.o(.text.MX_CAN2_Init)
+    MX_DMA_Init                              0x0800797d   Thumb Code   138  dma.o(.text.MX_DMA_Init)
+    MX_FREERTOS_Init                         0x08007a09   Thumb Code    58  freertos.o(.text.MX_FREERTOS_Init)
+    MX_GPIO_Init                             0x08007a45   Thumb Code   464  gpio.o(.text.MX_GPIO_Init)
+    MX_I2C1_Init                             0x08007c15   Thumb Code    62  i2c.o(.text.MX_I2C1_Init)
+    MX_I2C2_Init                             0x08007c55   Thumb Code    62  i2c.o(.text.MX_I2C2_Init)
+    MX_SPI1_Init                             0x08007c95   Thumb Code    78  spi.o(.text.MX_SPI1_Init)
+    MX_TIM10_Init                            0x08007ce5   Thumb Code   136  tim.o(.text.MX_TIM10_Init)
+    MX_USART1_UART_Init                      0x08007d6d   Thumb Code    56  usart.o(.text.MX_USART1_UART_Init)
+    MX_USART2_UART_Init                      0x08007da5   Thumb Code    56  usart.o(.text.MX_USART2_UART_Init)
+    MX_USART3_UART_Init                      0x08007ddd   Thumb Code    68  usart.o(.text.MX_USART3_UART_Init)
+    MX_USART6_UART_Init                      0x08007e21   Thumb Code    56  usart.o(.text.MX_USART6_UART_Init)
+    MemManage_Handler                        0x08007e59   Thumb Code     2  stm32f4xx_it.o(.text.MemManage_Handler)
+    NMI_Handler                              0x08007fb9   Thumb Code     2  stm32f4xx_it.o(.text.NMI_Handler)
+    PID_Calc                                 0x08007fe9   Thumb Code   368  pid.o(.text.PID_Calc)
+    PID_Init                                 0x08008159   Thumb Code   144  pid.o(.text.PID_Init)
+    PID_Reset                                0x080081e9   Thumb Code    44  pid.o(.text.PID_Reset)
+    PID_ResetIntegral                        0x08008215   Thumb Code    14  pid.o(.text.PID_ResetIntegral)
+    PendSV_Handler                           0x08008231   Thumb Code   100  port.o(.text.PendSV_Handler)
+    REMOTE_Init                              0x08008295   Thumb Code    68  et16s.o(.text.REMOTE_Init)
+    REMOTE_StartDmaRecv                      0x080082ed   Thumb Code    32  et16s.o(.text.REMOTE_StartDmaRecv)
+    REMOTE_WaitDmaCplt                       0x0800830d   Thumb Code    22  et16s.o(.text.REMOTE_WaitDmaCplt)
+    SVC_Handler                              0x080086b1   Thumb Code    36  port.o(.text.SVC_Handler)
+    ScaleSumTo1                              0x080086dd   Thumb Code    54  user_math.o(.text.ScaleSumTo1)
+    Shoot_CaluTargetAngle                    0x08008791   Thumb Code   160  shoot.o(.text.Shoot_CaluTargetAngle)
+    Shoot_CaluTargetRPM                      0x08008831   Thumb Code    44  shoot.o(.text.Shoot_CaluTargetRPM)
+    Shoot_Control                            0x0800885d   Thumb Code   108  shoot.o(.text.Shoot_Control)
+    Shoot_Init                               0x080088c9   Thumb Code   326  shoot.o(.text.Shoot_Init)
+    Shoot_JamDetectionFSM                    0x08008a11   Thumb Code   304  shoot.o(.text.Shoot_JamDetectionFSM)
+    Shoot_ResetCalu                          0x08008b41   Thumb Code   152  shoot.o(.text.Shoot_ResetCalu)
+    Shoot_ResetIntegral                      0x08008bd9   Thumb Code    70  shoot.o(.text.Shoot_ResetIntegral)
+    Shoot_ResetOutput                        0x08008c21   Thumb Code    50  shoot.o(.text.Shoot_ResetOutput)
+    Shoot_RunningFSM                         0x08008c55   Thumb Code  1264  shoot.o(.text.Shoot_RunningFSM)
+    Shoot_SetMode                            0x08009145   Thumb Code    14  shoot.o(.text.Shoot_SetMode)
+    Shoot_UpdateFeedback                     0x08009155   Thumb Code   500  shoot.o(.text.Shoot_UpdateFeedback)
+    StartDefaultTask                         0x08009349   Thumb Code    12  freertos.o(.text.StartDefaultTask)
+    SysTick_Handler                          0x08009385   Thumb Code    20  stm32f4xx_it.o(.text.SysTick_Handler)
+    SystemClock_Config                       0x08009399   Thumb Code   164  main.o(.text.SystemClock_Config)
+    SystemInit                               0x0800943d   Thumb Code    18  system_stm32f4xx.o(.text.SystemInit)
+    TIM1_UP_TIM10_IRQHandler                 0x08009451   Thumb Code    16  stm32f4xx_it.o(.text.TIM1_UP_TIM10_IRQHandler)
+    TIM_Base_SetConfig                       0x08009461   Thumb Code   300  stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+    TIM_CCxChannelCmd                        0x0800958d   Thumb Code    36  stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
+    TIM_OC2_SetConfig                        0x08009615   Thumb Code   106  stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
+    Task_ET16s                               0x08009739   Thumb Code   128  et16s_1.o(.text.Task_ET16s)
+    Task_Init                                0x080097b9   Thumb Code   330  init.o(.text.Task_Init)
+    Task_ai                                  0x08009909   Thumb Code    64  ai_1.o(.text.Task_ai)
+    Task_atti_esti                           0x08009949   Thumb Code   376  atti_esti.o(.text.Task_atti_esti)
+    Task_chassis_ctrl                        0x08009ac1   Thumb Code   124  chassis_ctrl.o(.text.Task_chassis_ctrl)
+    Task_cmd                                 0x08009b41   Thumb Code   232  cmd.o(.text.Task_cmd)
+    Task_dr16                                0x08009c29   Thumb Code   104  dr16_1.o(.text.Task_dr16)
+    Task_gimbal_ctrl                         0x08009c91   Thumb Code   180  gimbal_ctrl.o(.text.Task_gimbal_ctrl)
+    Task_shoot_ctrl                          0x08009d49   Thumb Code   156  shoot_ctrl.o(.text.Task_shoot_ctrl)
+    Task_step_motor                          0x08009de9   Thumb Code    64  step_motor_1.o(.text.Task_step_motor)
+    UART_Start_Receive_DMA                   0x0800a1a5   Thumb Code   170  stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
+    USART3_IRQHandler                        0x0800a2a5   Thumb Code    24  stm32f4xx_it.o(.text.USART3_IRQHandler)
+    USART6_IRQHandler                        0x0800a2bd   Thumb Code    24  stm32f4xx_it.o(.text.USART6_IRQHandler)
+    UsageFault_Handler                       0x0800a2d5   Thumb Code     2  stm32f4xx_it.o(.text.UsageFault_Handler)
+    chassis_init                             0x0800a3b5   Thumb Code   426  chassis.o(.text.chassis_init)
+    configureTimerForRunTimeStats            0x0800a561   Thumb Code     2  freertos.o(.text.configureTimerForRunTimeStats)
+    eTaskGetState                            0x0800a57d   Thumb Code   156  tasks.o(.text.eTaskGetState)
+    getRunTimeCounterValue                   0x0800a645   Thumb Code     4  freertos.o(.text.getRunTimeCounterValue)
+    main                                     0x0800a649   Thumb Code    70  main.o(.text.main)
+    major_yaw_Control                        0x0800a691   Thumb Code    32  gimbal.o(.text.major_yaw_Control)
+    map_fp32                                 0x0800a6b1   Thumb Code    26  calc_lib.o(.text.map_fp32)
+    osDelay                                  0x0800a711   Thumb Code    32  cmsis_os2.o(.text.osDelay)
+    osDelayUntil                             0x0800a731   Thumb Code    52  cmsis_os2.o(.text.osDelayUntil)
+    osKernelGetState                         0x0800a765   Thumb Code    38  cmsis_os2.o(.text.osKernelGetState)
+    osKernelGetTickCount                     0x0800a78d   Thumb Code    20  cmsis_os2.o(.text.osKernelGetTickCount)
+    osKernelGetTickFreq                      0x0800a7a1   Thumb Code     6  cmsis_os2.o(.text.osKernelGetTickFreq)
+    osKernelInitialize                       0x0800a7a9   Thumb Code    40  cmsis_os2.o(.text.osKernelInitialize)
+    osKernelLock                             0x0800a7d1   Thumb Code    44  cmsis_os2.o(.text.osKernelLock)
+    osKernelStart                            0x0800a7fd   Thumb Code    52  cmsis_os2.o(.text.osKernelStart)
+    osKernelUnlock                           0x0800a831   Thumb Code    68  cmsis_os2.o(.text.osKernelUnlock)
+    osMessageQueueGet                        0x0800a875   Thumb Code   134  cmsis_os2.o(.text.osMessageQueueGet)
+    osMessageQueueNew                        0x0800a8fd   Thumb Code   160  cmsis_os2.o(.text.osMessageQueueNew)
+    osMessageQueuePut                        0x0800a99d   Thumb Code   142  cmsis_os2.o(.text.osMessageQueuePut)
+    osMessageQueueReset                      0x0800aa2d   Thumb Code    36  cmsis_os2.o(.text.osMessageQueueReset)
+    osMutexAcquire                           0x0800aa51   Thumb Code    82  cmsis_os2.o(.text.osMutexAcquire)
+    osMutexNew                               0x0800aaa5   Thumb Code   150  cmsis_os2.o(.text.osMutexNew)
+    osMutexRelease                           0x0800ab3d   Thumb Code    62  cmsis_os2.o(.text.osMutexRelease)
+    osThreadFlagsSet                         0x0800ab7d   Thumb Code   126  cmsis_os2.o(.text.osThreadFlagsSet)
+    osThreadFlagsWait                        0x0800abfd   Thumb Code   186  cmsis_os2.o(.text.osThreadFlagsWait)
+    osThreadGetId                            0x0800acb9   Thumb Code     8  cmsis_os2.o(.text.osThreadGetId)
+    osThreadNew                              0x0800acc1   Thumb Code   180  cmsis_os2.o(.text.osThreadNew)
+    osThreadTerminate                        0x0800ad75   Thumb Code    52  cmsis_os2.o(.text.osThreadTerminate)
+    pvPortMalloc                             0x0800b751   Thumb Code   330  heap_4.o(.text.pvPortMalloc)
+    pvTaskIncrementMutexHeldCount            0x0800b89d   Thumb Code    24  tasks.o(.text.pvTaskIncrementMutexHeldCount)
+    pxPortInitialiseStack                    0x0800b8b5   Thumb Code    40  port.o(.text.pxPortInitialiseStack)
+    uxListRemove                             0x0800b909   Thumb Code    36  list.o(.text.uxListRemove)
+    vApplicationGetIdleTaskMemory            0x0800b92d   Thumb Code    26  cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+    vApplicationGetTimerTaskMemory           0x0800b949   Thumb Code    28  cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+    vApplicationStackOverflowHook            0x0800b965   Thumb Code     2  freertos.o(.text.vApplicationStackOverflowHook)
+    vListInitialise                          0x0800b969   Thumb Code    22  list.o(.text.vListInitialise)
+    vListInitialiseItem                      0x0800b981   Thumb Code     6  list.o(.text.vListInitialiseItem)
+    vListInsert                              0x0800b989   Thumb Code    58  list.o(.text.vListInsert)
+    vListInsertEnd                           0x0800b9c5   Thumb Code    28  list.o(.text.vListInsertEnd)
+    vPortEnterCritical                       0x0800b9f5   Thumb Code    70  port.o(.text.vPortEnterCritical)
+    vPortExitCritical                        0x0800ba3d   Thumb Code    46  port.o(.text.vPortExitCritical)
+    vPortFree                                0x0800ba6d   Thumb Code   138  heap_4.o(.text.vPortFree)
+    vPortSetupTimerInterrupt                 0x0800baf9   Thumb Code    52  port.o(.text.vPortSetupTimerInterrupt)
+    vPortValidateInterruptPriority           0x0800bb2d   Thumb Code    98  port.o(.text.vPortValidateInterruptPriority)
+    vQueueAddToRegistry                      0x0800bb91   Thumb Code    40  queue.o(.text.vQueueAddToRegistry)
+    vQueueWaitForMessageRestricted           0x0800bbb9   Thumb Code    68  queue.o(.text.vQueueWaitForMessageRestricted)
+    vTaskDelay                               0x0800bbfd   Thumb Code    84  tasks.o(.text.vTaskDelay)
+    vTaskDelayUntil                          0x0800bc51   Thumb Code   168  tasks.o(.text.vTaskDelayUntil)
+    vTaskDelete                              0x0800bcf9   Thumb Code   194  tasks.o(.text.vTaskDelete)
+    vTaskInternalSetTimeOutState             0x0800bdbd   Thumb Code    26  tasks.o(.text.vTaskInternalSetTimeOutState)
+    vTaskMissedYield                         0x0800bdd9   Thumb Code    14  tasks.o(.text.vTaskMissedYield)
+    vTaskPlaceOnEventList                    0x0800bde9   Thumb Code    50  tasks.o(.text.vTaskPlaceOnEventList)
+    vTaskPlaceOnEventListRestricted          0x0800be1d   Thumb Code    62  tasks.o(.text.vTaskPlaceOnEventListRestricted)
+    vTaskPriorityDisinheritAfterTimeout      0x0800be5d   Thumb Code   164  tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+    vTaskStartScheduler                      0x0800bf01   Thumb Code   160  tasks.o(.text.vTaskStartScheduler)
+    vTaskSuspendAll                          0x0800bfa9   Thumb Code    16  tasks.o(.text.vTaskSuspendAll)
+    vTaskSwitchContext                       0x0800bfb9   Thumb Code   226  tasks.o(.text.vTaskSwitchContext)
+    xPortStartScheduler                      0x0800c09d   Thumb Code   274  port.o(.text.xPortStartScheduler)
+    xPortSysTickHandler                      0x0800c1b1   Thumb Code    46  port.o(.text.xPortSysTickHandler)
+    xQueueCreateMutex                        0x0800c1e1   Thumb Code    22  queue.o(.text.xQueueCreateMutex)
+    xQueueCreateMutexStatic                  0x0800c1f9   Thumb Code    34  queue.o(.text.xQueueCreateMutexStatic)
+    xQueueGenericCreate                      0x0800c21d   Thumb Code    70  queue.o(.text.xQueueGenericCreate)
+    xQueueGenericCreateStatic                0x0800c265   Thumb Code   150  queue.o(.text.xQueueGenericCreateStatic)
+    xQueueGenericReset                       0x0800c2fd   Thumb Code   126  queue.o(.text.xQueueGenericReset)
+    xQueueGenericSend                        0x0800c37d   Thumb Code   418  queue.o(.text.xQueueGenericSend)
+    xQueueGenericSendFromISR                 0x0800c521   Thumb Code   206  queue.o(.text.xQueueGenericSendFromISR)
+    xQueueGiveMutexRecursive                 0x0800c5f1   Thumb Code    66  queue.o(.text.xQueueGiveMutexRecursive)
+    xQueueReceive                            0x0800c635   Thumb Code   388  queue.o(.text.xQueueReceive)
+    xQueueReceiveFromISR                     0x0800c7b9   Thumb Code   170  queue.o(.text.xQueueReceiveFromISR)
+    xQueueSemaphoreTake                      0x0800c865   Thumb Code   454  queue.o(.text.xQueueSemaphoreTake)
+    xQueueTakeMutexRecursive                 0x0800ca2d   Thumb Code    60  queue.o(.text.xQueueTakeMutexRecursive)
+    xTaskCheckForTimeOut                     0x0800ca69   Thumb Code   136  tasks.o(.text.xTaskCheckForTimeOut)
+    xTaskCreate                              0x0800caf1   Thumb Code   102  tasks.o(.text.xTaskCreate)
+    xTaskCreateStatic                        0x0800cb59   Thumb Code   118  tasks.o(.text.xTaskCreateStatic)
+    xTaskGenericNotify                       0x0800cbd1   Thumb Code   252  tasks.o(.text.xTaskGenericNotify)
+    xTaskGenericNotifyFromISR                0x0800cccd   Thumb Code   298  tasks.o(.text.xTaskGenericNotifyFromISR)
+    xTaskGetCurrentTaskHandle                0x0800cdf9   Thumb Code    12  tasks.o(.text.xTaskGetCurrentTaskHandle)
+    xTaskGetSchedulerState                   0x0800ce05   Thumb Code    38  tasks.o(.text.xTaskGetSchedulerState)
+    xTaskGetTickCount                        0x0800ce2d   Thumb Code    12  tasks.o(.text.xTaskGetTickCount)
+    xTaskGetTickCountFromISR                 0x0800ce39   Thumb Code    18  tasks.o(.text.xTaskGetTickCountFromISR)
+    xTaskIncrementTick                       0x0800ce4d   Thumb Code   338  tasks.o(.text.xTaskIncrementTick)
+    xTaskNotifyWait                          0x0800cfa1   Thumb Code   144  tasks.o(.text.xTaskNotifyWait)
+    xTaskPriorityDisinherit                  0x0800d031   Thumb Code   146  tasks.o(.text.xTaskPriorityDisinherit)
+    xTaskPriorityInherit                     0x0800d0c5   Thumb Code   146  tasks.o(.text.xTaskPriorityInherit)
+    xTaskRemoveFromEventList                 0x0800d159   Thumb Code   142  tasks.o(.text.xTaskRemoveFromEventList)
+    xTaskResumeAll                           0x0800d1e9   Thumb Code   276  tasks.o(.text.xTaskResumeAll)
+    xTimerCreateTimerTask                    0x0800d2fd   Thumb Code   108  timers.o(.text.xTimerCreateTimerTask)
+    xTimerGenericCommand                     0x0800d371   Thumb Code   104  timers.o(.text.xTimerGenericCommand)
+    __ARM_fpclassify                         0x0800d3d9   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
+    __ARM_fpclassifyf                        0x0800d409   Thumb Code    38  fpclassifyf.o(i.__ARM_fpclassifyf)
+    __hardfp_asinf                           0x0800d431   Thumb Code   258  asinf.o(i.__hardfp_asinf)
+    __hardfp_atan                            0x0800d561   Thumb Code   622  atan.o(i.__hardfp_atan)
+    __hardfp_atan2                           0x0800d839   Thumb Code   448  atan2.o(i.__hardfp_atan2)
+    __hardfp_atan2f                          0x0800da39   Thumb Code   594  atan2f.o(i.__hardfp_atan2f)
+    __hardfp_sinf                            0x0800dce5   Thumb Code   344  sinf.o(i.__hardfp_sinf)
+    __hardfp_sqrt                            0x0800de75   Thumb Code   122  sqrt.o(i.__hardfp_sqrt)
+    __hardfp_tanf                            0x0800def1   Thumb Code   322  tanf.o(i.__hardfp_tanf)
+    __kernel_poly                            0x0800e06d   Thumb Code   248  poly.o(i.__kernel_poly)
+    __mathlib_dbl_infnan                     0x0800e165   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_infnan2                    0x0800e179   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan2)
+    __mathlib_dbl_underflow                  0x0800e191   Thumb Code    24  dunder.o(i.__mathlib_dbl_underflow)
+    __mathlib_flt_infnan                     0x0800e1b1   Thumb Code     6  funder.o(i.__mathlib_flt_infnan)
+    __mathlib_flt_infnan2                    0x0800e1b7   Thumb Code     6  funder.o(i.__mathlib_flt_infnan2)
+    __mathlib_flt_invalid                    0x0800e1bd   Thumb Code    10  funder.o(i.__mathlib_flt_invalid)
+    __mathlib_flt_underflow                  0x0800e1cd   Thumb Code    10  funder.o(i.__mathlib_flt_underflow)
+    __mathlib_rredf2                         0x0800e1dd   Thumb Code   316  rredf.o(i.__mathlib_rredf2)
+    atan                                     0x0800e331   Thumb Code    16  atan.o(i.atan)
+    fabs                                     0x0800e341   Thumb Code    24  fabs.o(i.fabs)
+    sqrtf                                    0x0800e359   Thumb Code    62  sqrtf.o(i.sqrtf)
+    __aeabi_dneg                             0x0800e397   Thumb Code     0  basic.o(x$fpl$basic)
+    _dneg                                    0x0800e397   Thumb Code     6  basic.o(x$fpl$basic)
+    __aeabi_fneg                             0x0800e39d   Thumb Code     0  basic.o(x$fpl$basic)
+    _fneg                                    0x0800e39d   Thumb Code     6  basic.o(x$fpl$basic)
+    _dabs                                    0x0800e3a3   Thumb Code     6  basic.o(x$fpl$basic)
+    _fabs                                    0x0800e3a9   Thumb Code     6  basic.o(x$fpl$basic)
+    __aeabi_d2f                              0x0800e3b1   Thumb Code     0  d2f.o(x$fpl$d2f)
+    _d2f                                     0x0800e3b1   Thumb Code    98  d2f.o(x$fpl$d2f)
+    __aeabi_dadd                             0x0800e415   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    _dadd                                    0x0800e415   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
+    __fpl_dcmp_Inf                           0x0800e565   Thumb Code    24  dcmpi.o(x$fpl$dcmpinf)
+    __aeabi_ddiv                             0x0800e57d   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    _ddiv                                    0x0800e57d   Thumb Code   556  ddiv.o(x$fpl$ddiv)
+    __aeabi_cdcmpeq                          0x0800e831   Thumb Code     0  deqf.o(x$fpl$deqf)
+    _dcmpeq                                  0x0800e831   Thumb Code   120  deqf.o(x$fpl$deqf)
+    __aeabi_d2uiz                            0x0800e8a9   Thumb Code     0  dfixu.o(x$fpl$dfixu)
+    _dfixu                                   0x0800e8a9   Thumb Code    90  dfixu.o(x$fpl$dfixu)
+    __aeabi_ui2d                             0x0800e903   Thumb Code     0  dflt_clz.o(x$fpl$dfltu)
+    _dfltu                                   0x0800e903   Thumb Code    38  dflt_clz.o(x$fpl$dfltu)
+    __aeabi_cdcmpge                          0x0800e929   Thumb Code     0  dgeqf.o(x$fpl$dgeqf)
+    _dcmpge                                  0x0800e929   Thumb Code   120  dgeqf.o(x$fpl$dgeqf)
+    __aeabi_cdcmple                          0x0800e9a1   Thumb Code     0  dleqf.o(x$fpl$dleqf)
+    _dcmple                                  0x0800e9a1   Thumb Code   120  dleqf.o(x$fpl$dleqf)
+    __fpl_dcmple_InfNaN                      0x0800ea03   Thumb Code     0  dleqf.o(x$fpl$dleqf)
+    __aeabi_dmul                             0x0800ea19   Thumb Code     0  dmul.o(x$fpl$dmul)
+    _dmul                                    0x0800ea19   Thumb Code   332  dmul.o(x$fpl$dmul)
+    __fpl_dnaninf                            0x0800eb6d   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
+    __fpl_dretinf                            0x0800ec09   Thumb Code    12  dretinf.o(x$fpl$dretinf)
+    __aeabi_drsub                            0x0800ec15   Thumb Code     0  daddsub_clz.o(x$fpl$drsb)
+    _drsb                                    0x0800ec15   Thumb Code    22  daddsub_clz.o(x$fpl$drsb)
+    _dsqrt                                   0x0800ec2d   Thumb Code   404  dsqrt_umaal.o(x$fpl$dsqrt)
+    __aeabi_dsub                             0x0800edc5   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    _dsub                                    0x0800edc5   Thumb Code   472  daddsub_clz.o(x$fpl$dsub)
+    __aeabi_f2d                              0x0800efa1   Thumb Code     0  f2d.o(x$fpl$f2d)
+    _f2d                                     0x0800efa1   Thumb Code    86  f2d.o(x$fpl$f2d)
+    __aeabi_dcmpeq                           0x0800eff7   Thumb Code     0  dcmp.o(x$fpl$fcmp)
+    _deq                                     0x0800eff7   Thumb Code    14  dcmp.o(x$fpl$fcmp)
+    _dneq                                    0x0800f005   Thumb Code    14  dcmp.o(x$fpl$fcmp)
+    __aeabi_dcmpgt                           0x0800f013   Thumb Code     0  dcmp.o(x$fpl$fcmp)
+    _dgr                                     0x0800f013   Thumb Code    14  dcmp.o(x$fpl$fcmp)
+    __aeabi_dcmpge                           0x0800f021   Thumb Code     0  dcmp.o(x$fpl$fcmp)
+    _dgeq                                    0x0800f021   Thumb Code    14  dcmp.o(x$fpl$fcmp)
+    __aeabi_dcmple                           0x0800f02f   Thumb Code     0  dcmp.o(x$fpl$fcmp)
+    _dleq                                    0x0800f02f   Thumb Code    14  dcmp.o(x$fpl$fcmp)
+    __aeabi_dcmplt                           0x0800f03d   Thumb Code     0  dcmp.o(x$fpl$fcmp)
+    _dls                                     0x0800f03d   Thumb Code    14  dcmp.o(x$fpl$fcmp)
+    __aeabi_ul2f                             0x0800f04b   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
+    _ll_uto_f                                0x0800f04b   Thumb Code     6  ffltll_clz.o(x$fpl$ffltll)
+    __aeabi_l2f                              0x0800f051   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
+    _ll_sto_f                                0x0800f051   Thumb Code    90  ffltll_clz.o(x$fpl$ffltll)
+    __fpl_fnaninf                            0x0800f0ab   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
+    _fp_init                                 0x0800f137   Thumb Code    26  fpinit.o(x$fpl$fpinit)
+    __fplib_config_fpu_vfp                   0x0800f14f   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fplib_config_pureend_doubles           0x0800f14f   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fpl_fretinf                            0x0800f151   Thumb Code    10  fretinf.o(x$fpl$fretinf)
+    __I$use$fp                               0x0800f15a   Number         0  usenofp.o(x$fpl$usenofp)
+    __mathlib_zero                           0x0800f1f8   Data           8  qnan.o(.constdata)
+    AHBPrescTable                            0x0800f220   Data          16  system_stm32f4xx.o(.rodata.AHBPrescTable)
+    APBPrescTable                            0x0800f230   Data           8  system_stm32f4xx.o(.rodata.APBPrescTable)
+    attr_ET16s                               0x0800f280   Data          36  user_task.o(.rodata.attr_ET16s)
+    attr_ai                                  0x0800f2a4   Data          36  user_task.o(.rodata.attr_ai)
+    attr_atti_esti                           0x0800f2c8   Data          36  user_task.o(.rodata.attr_atti_esti)
+    attr_chassis_ctrl                        0x0800f2ec   Data          36  user_task.o(.rodata.attr_chassis_ctrl)
+    attr_cmd                                 0x0800f310   Data          36  user_task.o(.rodata.attr_cmd)
+    attr_dr16                                0x0800f334   Data          36  user_task.o(.rodata.attr_dr16)
+    attr_gimbal_ctrl                         0x0800f358   Data          36  user_task.o(.rodata.attr_gimbal_ctrl)
+    attr_init                                0x0800f37c   Data          36  user_task.o(.rodata.attr_init)
+    attr_shoot_ctrl                          0x0800f3a0   Data          36  user_task.o(.rodata.attr_shoot_ctrl)
+    attr_step_motor                          0x0800f3c4   Data          36  user_task.o(.rodata.attr_step_motor)
+    defaultTask_attributes                   0x0800f3f8   Data          36  freertos.o(.rodata.defaultTask_attributes)
+    Region$$Table$$Base                      0x0800f550   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x0800f590   Number         0  anon$$obj.o(Region$$Table)
     cali_bmi088                              0x20000004   Data          12  atti_esti.o(.data.cali_bmi088)
     uwTickFreq                               0x20000028   Data           1  stm32f4xx_hal.o(.data.uwTickFreq)
     _random_number_data                      0x20000030   Data         228  rand.o(.bss)
@@ -9193,9 +9192,9 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000f9c8, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000f740])
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000f9b8, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000f730])
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000f5a0, Max: 0x00100000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000f590, Max: 0x00100000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -9436,626 +9435,626 @@ Memory Map of the image
     0x08003460   0x08003460   0x00000014   Code   RO         3088    .text.DR16_RxCpltCallback  dr16.o
     0x08003474   0x08003474   0x00000002   Code   RO          171    .text.DebugMon_Handler  stm32f4xx_it.o
     0x08003476   0x08003476   0x00000002   PAD
-    0x08003478   0x08003478   0x000000ae   Code   RO         3072    .text.ET16S_ParseRC  et16s.o
-    0x08003526   0x08003526   0x00000002   PAD
-    0x08003528   0x08003528   0x00000036   Code   RO         3074    .text.ET16s_HandleOffline  et16s.o
-    0x0800355e   0x0800355e   0x00000002   PAD
-    0x08003560   0x08003560   0x00000268   Code   RO         3070    .text.ET16s_ParseRaw  et16s.o
-    0x080037c8   0x080037c8   0x0000000a   Code   RO          175    .text.EXTI0_IRQHandler  stm32f4xx_it.o
+    0x08003478   0x08003478   0x00000092   Code   RO         3072    .text.ET16S_ParseRC  et16s.o
+    0x0800350a   0x0800350a   0x00000002   PAD
+    0x0800350c   0x0800350c   0x00000036   Code   RO         3074    .text.ET16s_HandleOffline  et16s.o
+    0x08003542   0x08003542   0x00000006   PAD
+    0x08003548   0x08003548   0x00000268   Code   RO         3070    .text.ET16s_ParseRaw  et16s.o
+    0x080037b0   0x080037b0   0x0000000a   Code   RO          175    .text.EXTI0_IRQHandler  stm32f4xx_it.o
+    0x080037ba   0x080037ba   0x00000002   PAD
+    0x080037bc   0x080037bc   0x0000000a   Code   RO          177    .text.EXTI3_IRQHandler  stm32f4xx_it.o
+    0x080037c6   0x080037c6   0x00000002   PAD
+    0x080037c8   0x080037c8   0x0000000a   Code   RO          179    .text.EXTI4_IRQHandler  stm32f4xx_it.o
     0x080037d2   0x080037d2   0x00000002   PAD
-    0x080037d4   0x080037d4   0x0000000a   Code   RO          177    .text.EXTI3_IRQHandler  stm32f4xx_it.o
+    0x080037d4   0x080037d4   0x0000000a   Code   RO          189    .text.EXTI9_5_IRQHandler  stm32f4xx_it.o
     0x080037de   0x080037de   0x00000002   PAD
-    0x080037e0   0x080037e0   0x0000000a   Code   RO          179    .text.EXTI4_IRQHandler  stm32f4xx_it.o
-    0x080037ea   0x080037ea   0x00000002   PAD
-    0x080037ec   0x080037ec   0x0000000a   Code   RO          189    .text.EXTI9_5_IRQHandler  stm32f4xx_it.o
-    0x080037f6   0x080037f6   0x00000002   PAD
-    0x080037f8   0x080037f8   0x00000006   Code   RO           15    .text.Error_Handler  main.o
-    0x080037fe   0x080037fe   0x00000002   PAD
-    0x08003800   0x08003800   0x000003a0   Code   RO         3220    .text.Gimbal_Control  gimbal.o
-    0x08003ba0   0x08003ba0   0x00000058   Code   RO         3218    .text.Gimbal_Control_mode  gimbal.o
-    0x08003bf8   0x08003bf8   0x000000a4   Code   RO         3214    .text.Gimbal_Direction  gimbal.o
-    0x08003c9c   0x08003c9c   0x00000150   Code   RO         3208    .text.Gimbal_Init   gimbal.o
-    0x08003dec   0x08003dec   0x00000118   Code   RO         3226    .text.Gimbal_Output  gimbal.o
-    0x08003f04   0x08003f04   0x00000088   Code   RO         3222    .text.Gimbal_SetMode  gimbal.o
-    0x08003f8c   0x08003f8c   0x00000118   Code   RO         3210    .text.Gimbal_UpdateFeedback  gimbal.o
-    0x080040a4   0x080040a4   0x0000004e   Code   RO         3212    .text.Gimbal_UpdateIMU  gimbal.o
-    0x080040f2   0x080040f2   0x00000002   PAD
-    0x080040f4   0x080040f4   0x00000026   Code   RO          261    .text.HAL_CAN_ActivateNotification  stm32f4xx_hal_can.o
-    0x0800411a   0x0800411a   0x00000002   PAD
-    0x0800411c   0x0800411c   0x00000092   Code   RO          247    .text.HAL_CAN_AddTxMessage  stm32f4xx_hal_can.o
-    0x080041ae   0x080041ae   0x00000002   PAD
-    0x080041b0   0x080041b0   0x000000de   Code   RO          237    .text.HAL_CAN_ConfigFilter  stm32f4xx_hal_can.o
-    0x0800428e   0x0800428e   0x00000002   PAD
-    0x08004290   0x08004290   0x00000024   Code   RO         2242    .text.HAL_CAN_ErrorCallback  can_1.o
-    0x080042b4   0x080042b4   0x00000020   Code   RO          259    .text.HAL_CAN_GetRxFifoFillLevel  stm32f4xx_hal_can.o
-    0x080042d4   0x080042d4   0x00000124   Code   RO          257    .text.HAL_CAN_GetRxMessage  stm32f4xx_hal_can.o
-    0x080043f8   0x080043f8   0x00000028   Code   RO          251    .text.HAL_CAN_GetTxMailboxesFreeLevel  stm32f4xx_hal_can.o
-    0x08004420   0x08004420   0x0000023a   Code   RO          265    .text.HAL_CAN_IRQHandler  stm32f4xx_hal_can.o
-    0x0800465a   0x0800465a   0x00000002   PAD
-    0x0800465c   0x0800465c   0x000000f4   Code   RO          227    .text.HAL_CAN_Init  stm32f4xx_hal_can.o
-    0x08004750   0x08004750   0x0000014a   Code   RO           58    .text.HAL_CAN_MspInit  can.o
-    0x0800489a   0x0800489a   0x00000002   PAD
-    0x0800489c   0x0800489c   0x00000024   Code   RO         2232    .text.HAL_CAN_RxFifo0FullCallback  can_1.o
-    0x080048c0   0x080048c0   0x00000024   Code   RO         2230    .text.HAL_CAN_RxFifo0MsgPendingCallback  can_1.o
-    0x080048e4   0x080048e4   0x00000024   Code   RO         2236    .text.HAL_CAN_RxFifo1FullCallback  can_1.o
-    0x08004908   0x08004908   0x00000024   Code   RO         2234    .text.HAL_CAN_RxFifo1MsgPendingCallback  can_1.o
-    0x0800492c   0x0800492c   0x00000024   Code   RO         2238    .text.HAL_CAN_SleepCallback  can_1.o
-    0x08004950   0x08004950   0x0000005a   Code   RO          239    .text.HAL_CAN_Start  stm32f4xx_hal_can.o
-    0x080049aa   0x080049aa   0x00000002   PAD
-    0x080049ac   0x080049ac   0x00000024   Code   RO         2224    .text.HAL_CAN_TxMailbox0AbortCallback  can_1.o
-    0x080049d0   0x080049d0   0x00000022   Code   RO         2216    .text.HAL_CAN_TxMailbox0CompleteCallback  can_1.o
-    0x080049f2   0x080049f2   0x00000002   PAD
-    0x080049f4   0x080049f4   0x00000024   Code   RO         2226    .text.HAL_CAN_TxMailbox1AbortCallback  can_1.o
-    0x08004a18   0x08004a18   0x00000024   Code   RO         2220    .text.HAL_CAN_TxMailbox1CompleteCallback  can_1.o
-    0x08004a3c   0x08004a3c   0x00000024   Code   RO         2228    .text.HAL_CAN_TxMailbox2AbortCallback  can_1.o
-    0x08004a60   0x08004a60   0x00000024   Code   RO         2222    .text.HAL_CAN_TxMailbox2CompleteCallback  can_1.o
-    0x08004a84   0x08004a84   0x00000024   Code   RO         2240    .text.HAL_CAN_WakeUpFromRxMsgCallback  can_1.o
-    0x08004aa8   0x08004aa8   0x00000080   Code   RO          501    .text.HAL_DMA_Abort  stm32f4xx_hal_dma.o
-    0x08004b28   0x08004b28   0x00000024   Code   RO          503    .text.HAL_DMA_Abort_IT  stm32f4xx_hal_dma.o
-    0x08004b4c   0x08004b4c   0x0000018c   Code   RO          507    .text.HAL_DMA_IRQHandler  stm32f4xx_hal_dma.o
-    0x08004cd8   0x08004cd8   0x000000ce   Code   RO          487    .text.HAL_DMA_Init  stm32f4xx_hal_dma.o
-    0x08004da6   0x08004da6   0x00000002   PAD
-    0x08004da8   0x08004da8   0x00000062   Code   RO          499    .text.HAL_DMA_Start_IT  stm32f4xx_hal_dma.o
-    0x08004e0a   0x08004e0a   0x00000002   PAD
-    0x08004e0c   0x08004e0c   0x00000028   Code   RO          685    .text.HAL_Delay     stm32f4xx_hal.o
-    0x08004e34   0x08004e34   0x0000002c   Code   RO         2339    .text.HAL_GPIO_EXTI_Callback  gpio_1.o
-    0x08004e60   0x08004e60   0x0000001a   Code   RO          459    .text.HAL_GPIO_EXTI_IRQHandler  stm32f4xx_hal_gpio.o
-    0x08004e7a   0x08004e7a   0x00000002   PAD
-    0x08004e7c   0x08004e7c   0x0000019a   Code   RO          447    .text.HAL_GPIO_Init  stm32f4xx_hal_gpio.o
+    0x080037e0   0x080037e0   0x00000006   Code   RO           15    .text.Error_Handler  main.o
+    0x080037e6   0x080037e6   0x00000002   PAD
+    0x080037e8   0x080037e8   0x000003a0   Code   RO         3220    .text.Gimbal_Control  gimbal.o
+    0x08003b88   0x08003b88   0x00000058   Code   RO         3218    .text.Gimbal_Control_mode  gimbal.o
+    0x08003be0   0x08003be0   0x000000a4   Code   RO         3214    .text.Gimbal_Direction  gimbal.o
+    0x08003c84   0x08003c84   0x00000150   Code   RO         3208    .text.Gimbal_Init   gimbal.o
+    0x08003dd4   0x08003dd4   0x00000118   Code   RO         3226    .text.Gimbal_Output  gimbal.o
+    0x08003eec   0x08003eec   0x00000088   Code   RO         3222    .text.Gimbal_SetMode  gimbal.o
+    0x08003f74   0x08003f74   0x00000118   Code   RO         3210    .text.Gimbal_UpdateFeedback  gimbal.o
+    0x0800408c   0x0800408c   0x0000004e   Code   RO         3212    .text.Gimbal_UpdateIMU  gimbal.o
+    0x080040da   0x080040da   0x00000002   PAD
+    0x080040dc   0x080040dc   0x00000026   Code   RO          261    .text.HAL_CAN_ActivateNotification  stm32f4xx_hal_can.o
+    0x08004102   0x08004102   0x00000002   PAD
+    0x08004104   0x08004104   0x00000092   Code   RO          247    .text.HAL_CAN_AddTxMessage  stm32f4xx_hal_can.o
+    0x08004196   0x08004196   0x00000002   PAD
+    0x08004198   0x08004198   0x000000de   Code   RO          237    .text.HAL_CAN_ConfigFilter  stm32f4xx_hal_can.o
+    0x08004276   0x08004276   0x00000002   PAD
+    0x08004278   0x08004278   0x00000024   Code   RO         2242    .text.HAL_CAN_ErrorCallback  can_1.o
+    0x0800429c   0x0800429c   0x00000020   Code   RO          259    .text.HAL_CAN_GetRxFifoFillLevel  stm32f4xx_hal_can.o
+    0x080042bc   0x080042bc   0x00000124   Code   RO          257    .text.HAL_CAN_GetRxMessage  stm32f4xx_hal_can.o
+    0x080043e0   0x080043e0   0x00000028   Code   RO          251    .text.HAL_CAN_GetTxMailboxesFreeLevel  stm32f4xx_hal_can.o
+    0x08004408   0x08004408   0x0000023a   Code   RO          265    .text.HAL_CAN_IRQHandler  stm32f4xx_hal_can.o
+    0x08004642   0x08004642   0x00000002   PAD
+    0x08004644   0x08004644   0x000000f4   Code   RO          227    .text.HAL_CAN_Init  stm32f4xx_hal_can.o
+    0x08004738   0x08004738   0x0000014a   Code   RO           58    .text.HAL_CAN_MspInit  can.o
+    0x08004882   0x08004882   0x00000002   PAD
+    0x08004884   0x08004884   0x00000024   Code   RO         2232    .text.HAL_CAN_RxFifo0FullCallback  can_1.o
+    0x080048a8   0x080048a8   0x00000024   Code   RO         2230    .text.HAL_CAN_RxFifo0MsgPendingCallback  can_1.o
+    0x080048cc   0x080048cc   0x00000024   Code   RO         2236    .text.HAL_CAN_RxFifo1FullCallback  can_1.o
+    0x080048f0   0x080048f0   0x00000024   Code   RO         2234    .text.HAL_CAN_RxFifo1MsgPendingCallback  can_1.o
+    0x08004914   0x08004914   0x00000024   Code   RO         2238    .text.HAL_CAN_SleepCallback  can_1.o
+    0x08004938   0x08004938   0x0000005a   Code   RO          239    .text.HAL_CAN_Start  stm32f4xx_hal_can.o
+    0x08004992   0x08004992   0x00000002   PAD
+    0x08004994   0x08004994   0x00000024   Code   RO         2224    .text.HAL_CAN_TxMailbox0AbortCallback  can_1.o
+    0x080049b8   0x080049b8   0x00000022   Code   RO         2216    .text.HAL_CAN_TxMailbox0CompleteCallback  can_1.o
+    0x080049da   0x080049da   0x00000002   PAD
+    0x080049dc   0x080049dc   0x00000024   Code   RO         2226    .text.HAL_CAN_TxMailbox1AbortCallback  can_1.o
+    0x08004a00   0x08004a00   0x00000024   Code   RO         2220    .text.HAL_CAN_TxMailbox1CompleteCallback  can_1.o
+    0x08004a24   0x08004a24   0x00000024   Code   RO         2228    .text.HAL_CAN_TxMailbox2AbortCallback  can_1.o
+    0x08004a48   0x08004a48   0x00000024   Code   RO         2222    .text.HAL_CAN_TxMailbox2CompleteCallback  can_1.o
+    0x08004a6c   0x08004a6c   0x00000024   Code   RO         2240    .text.HAL_CAN_WakeUpFromRxMsgCallback  can_1.o
+    0x08004a90   0x08004a90   0x00000080   Code   RO          501    .text.HAL_DMA_Abort  stm32f4xx_hal_dma.o
+    0x08004b10   0x08004b10   0x00000024   Code   RO          503    .text.HAL_DMA_Abort_IT  stm32f4xx_hal_dma.o
+    0x08004b34   0x08004b34   0x0000018c   Code   RO          507    .text.HAL_DMA_IRQHandler  stm32f4xx_hal_dma.o
+    0x08004cc0   0x08004cc0   0x000000ce   Code   RO          487    .text.HAL_DMA_Init  stm32f4xx_hal_dma.o
+    0x08004d8e   0x08004d8e   0x00000002   PAD
+    0x08004d90   0x08004d90   0x00000062   Code   RO          499    .text.HAL_DMA_Start_IT  stm32f4xx_hal_dma.o
+    0x08004df2   0x08004df2   0x00000002   PAD
+    0x08004df4   0x08004df4   0x00000028   Code   RO          685    .text.HAL_Delay     stm32f4xx_hal.o
+    0x08004e1c   0x08004e1c   0x0000002c   Code   RO         2339    .text.HAL_GPIO_EXTI_Callback  gpio_1.o
+    0x08004e48   0x08004e48   0x0000001a   Code   RO          459    .text.HAL_GPIO_EXTI_IRQHandler  stm32f4xx_hal_gpio.o
+    0x08004e62   0x08004e62   0x00000002   PAD
+    0x08004e64   0x08004e64   0x0000019a   Code   RO          447    .text.HAL_GPIO_Init  stm32f4xx_hal_gpio.o
+    0x08004ffe   0x08004ffe   0x00000002   PAD
+    0x08005000   0x08005000   0x0000000a   Code   RO          451    .text.HAL_GPIO_ReadPin  stm32f4xx_hal_gpio.o
+    0x0800500a   0x0800500a   0x00000002   PAD
+    0x0800500c   0x0800500c   0x0000000a   Code   RO          453    .text.HAL_GPIO_WritePin  stm32f4xx_hal_gpio.o
     0x08005016   0x08005016   0x00000002   PAD
-    0x08005018   0x08005018   0x0000000a   Code   RO          451    .text.HAL_GPIO_ReadPin  stm32f4xx_hal_gpio.o
-    0x08005022   0x08005022   0x00000002   PAD
-    0x08005024   0x08005024   0x0000000a   Code   RO          453    .text.HAL_GPIO_WritePin  stm32f4xx_hal_gpio.o
-    0x0800502e   0x0800502e   0x00000002   PAD
-    0x08005030   0x08005030   0x0000000c   Code   RO          677    .text.HAL_GetTick   stm32f4xx_hal.o
-    0x0800503c   0x0800503c   0x00000198   Code   RO          756    .text.HAL_I2C_Init  stm32f4xx_hal_i2c.o
-    0x080051d4   0x080051d4   0x000000d8   Code   RO           86    .text.HAL_I2C_MspInit  i2c.o
-    0x080052ac   0x080052ac   0x0000001a   Code   RO          675    .text.HAL_IncTick   stm32f4xx_hal.o
-    0x080052c6   0x080052c6   0x00000002   PAD
-    0x080052c8   0x080052c8   0x00000036   Code   RO          665    .text.HAL_Init      stm32f4xx_hal.o
-    0x080052fe   0x080052fe   0x00000002   PAD
-    0x08005300   0x08005300   0x00000050   Code   RO          667    .text.HAL_InitTick  stm32f4xx_hal.o
-    0x08005350   0x08005350   0x00000046   Code   RO          218    .text.HAL_MspInit   stm32f4xx_hal_msp.o
-    0x08005396   0x08005396   0x00000002   PAD
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+    0x0800e902   0x0800e902   0x00000026   Code   RO         3623    x$fpl$dfltu         fz_wm.l(dflt_clz.o)
+    0x0800e928   0x0800e928   0x00000078   Code   RO         3750    x$fpl$dgeqf         fz_wm.l(dgeqf.o)
+    0x0800e9a0   0x0800e9a0   0x00000078   Code   RO         3752    x$fpl$dleqf         fz_wm.l(dleqf.o)
+    0x0800ea18   0x0800ea18   0x00000154   Code   RO         3629    x$fpl$dmul          fz_wm.l(dmul.o)
+    0x0800eb6c   0x0800eb6c   0x0000009c   Code   RO         3754    x$fpl$dnaninf       fz_wm.l(dnaninf.o)
+    0x0800ec08   0x0800ec08   0x0000000c   Code   RO         3758    x$fpl$dretinf       fz_wm.l(dretinf.o)
+    0x0800ec14   0x0800ec14   0x00000016   Code   RO         3608    x$fpl$drsb          fz_wm.l(daddsub_clz.o)
+    0x0800ec2a   0x0800ec2a   0x00000002   PAD
+    0x0800ec2c   0x0800ec2c   0x00000198   Code   RO         3760    x$fpl$dsqrt         fz_wm.l(dsqrt_umaal.o)
+    0x0800edc4   0x0800edc4   0x000001dc   Code   RO         3609    x$fpl$dsub          fz_wm.l(daddsub_clz.o)
+    0x0800efa0   0x0800efa0   0x00000056   Code   RO         3631    x$fpl$f2d           fz_wm.l(f2d.o)
+    0x0800eff6   0x0800eff6   0x00000054   Code   RO         3613    x$fpl$fcmp          fz_wm.l(dcmp.o)
+    0x0800f04a   0x0800f04a   0x00000060   Code   RO         3633    x$fpl$ffltll        fz_wm.l(ffltll_clz.o)
+    0x0800f0aa   0x0800f0aa   0x0000008c   Code   RO         3762    x$fpl$fnaninf       fz_wm.l(fnaninf.o)
+    0x0800f136   0x0800f136   0x0000001a   Code   RO         3848    x$fpl$fpinit        fz_wm.l(fpinit.o)
+    0x0800f150   0x0800f150   0x0000000a   Code   RO         3764    x$fpl$fretinf       fz_wm.l(fretinf.o)
+    0x0800f15a   0x0800f15a   0x00000000   Code   RO         3766    x$fpl$usenofp       fz_wm.l(usenofp.o)
+    0x0800f15a   0x0800f15a   0x00000006   PAD
+    0x0800f160   0x0800f160   0x00000098   Data   RO         3770    .constdata          m_wm.l(atan.o)
+    0x0800f1f8   0x0800f1f8   0x00000008   Data   RO         3810    .constdata          m_wm.l(qnan.o)
+    0x0800f200   0x0800f200   0x00000020   Data   RO         3812    .constdata          m_wm.l(rredf.o)
+    0x0800f220   0x0800f220   0x00000010   Data   RO         1522    .rodata.AHBPrescTable  system_stm32f4xx.o
+    0x0800f230   0x0800f230   0x00000008   Data   RO         1523    .rodata.APBPrescTable  system_stm32f4xx.o
+    0x0800f238   0x0800f238   0x00000048   Data   RO         2354    .rodata.GPIO_Map    gpio_1.o
+    0x0800f280   0x0800f280   0x00000024   Data   RO         3430    .rodata.attr_ET16s  user_task.o
+    0x0800f2a4   0x0800f2a4   0x00000024   Data   RO         3422    .rodata.attr_ai     user_task.o
+    0x0800f2c8   0x0800f2c8   0x00000024   Data   RO         3426    .rodata.attr_atti_esti  user_task.o
+    0x0800f2ec   0x0800f2ec   0x00000024   Data   RO         3424    .rodata.attr_chassis_ctrl  user_task.o
+    0x0800f310   0x0800f310   0x00000024   Data   RO         3428    .rodata.attr_cmd    user_task.o
+    0x0800f334   0x0800f334   0x00000024   Data   RO         3427    .rodata.attr_dr16   user_task.o
+    0x0800f358   0x0800f358   0x00000024   Data   RO         3423    .rodata.attr_gimbal_ctrl  user_task.o
+    0x0800f37c   0x0800f37c   0x00000024   Data   RO         3421    .rodata.attr_init   user_task.o
+    0x0800f3a0   0x0800f3a0   0x00000024   Data   RO         3425    .rodata.attr_shoot_ctrl  user_task.o
+    0x0800f3c4   0x0800f3c4   0x00000024   Data   RO         3429    .rodata.attr_step_motor  user_task.o
+    0x0800f3e8   0x0800f3e8   0x00000010   Data   RO         3286    .rodata.cst16       chassis.o
+    0x0800f3f8   0x0800f3f8   0x00000024   Data   RO           45    .rodata.defaultTask_attributes  freertos.o
+    0x0800f41c   0x0800f41c   0x000000b0   Data   RO         3525    .rodata.g_behavior_configs  cmd_behavior.o
+    0x0800f4cc   0x0800f4cc   0x00000020   Data   RO         3354    .rodata.imu_temp_ctrl_pid_param  atti_esti.o
+    0x0800f4ec   0x0800f4ec   0x0000000c   Data   RO           44    .rodata.str1.1      freertos.o
+    0x0800f4f8   0x0800f4f8   0x00000055   Data   RO         3420    .rodata.str1.1      user_task.o
+    0x0800f54d   0x0800f54d   0x00000003   PAD
+    0x0800f550   0x0800f550   0x00000040   Data   RO         3953    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f5a0, Size: 0x0001aa50, Max: 0x0001c000, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f590, Size: 0x0001aa50, Max: 0x0001c000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x0800f5a0   0x00000004   Data   RW         2556    .data.beta          ahrs.o
-    0x20000004   0x0800f5a4   0x0000000c   Data   RW         3349    .data.cali_bmi088   atti_esti.o
-    0x20000010   0x0800f5b0   0x00000018   Data   RW         3485    .data.g_adapter_ET16s  cmd_adapter.o
-    0x20000028   0x0800f5c8   0x00000001   Data   RW          720    .data.uwTickFreq    stm32f4xx_hal.o
-    0x20000029   0x0800f5c9   0x00000003   PAD
-    0x2000002c   0x0800f5cc   0x00000004   Data   RW         2207    .data.uxCriticalNesting  port.o
+    0x20000000   0x0800f590   0x00000004   Data   RW         2556    .data.beta          ahrs.o
+    0x20000004   0x0800f594   0x0000000c   Data   RW         3349    .data.cali_bmi088   atti_esti.o
+    0x20000010   0x0800f5a0   0x00000018   Data   RW         3485    .data.g_adapter_ET16s  cmd_adapter.o
+    0x20000028   0x0800f5b8   0x00000001   Data   RW          720    .data.uwTickFreq    stm32f4xx_hal.o
+    0x20000029   0x0800f5b9   0x00000003   PAD
+    0x2000002c   0x0800f5bc   0x00000004   Data   RW         2207    .data.uxCriticalNesting  port.o
     0x20000030        -       0x000000e4   Zero   RW         3578    .bss                c_w.l(rand.o)
     0x20000114        -       0x00000040   Zero   RW         2353    .bss.GPIO_Callback  gpio_1.o
     0x20000154        -       0x00000004   Zero   RW           64    .bss.HAL_RCC_CAN1_CLK_ENABLED  can.o
     0x20000158        -       0x00000004   Zero   RW         3260    .bss.Shoot_RunningFSM.pos  shoot.o
     0x2000015c        -       0x00000090   Zero   RW         2509    .bss.UART_Callback  uart.o
-    0x200001ec   0x0800f5d0   0x00000004   PAD
+    0x200001ec   0x0800f5c0   0x00000004   PAD
     0x200001f0        -       0x00000030   Zero   RW         3350    .bss.bmi088         atti_esti.o
     0x20000220        -       0x00000008   Zero   RW         2981    .bss.can_managers   motor_dm.o
     0x20000228        -       0x00000019   Zero   RW         3077    .bss.cbuf           et16s.o
-    0x20000241   0x0800f5d0   0x00000003   PAD
+    0x20000241   0x0800f5c0   0x00000003   PAD
     0x20000244        -       0x000000c4   Zero   RW         3315    .bss.cmd            cmd.o
     0x20000308        -       0x00000004   Zero   RW         3318    .bss.cmd_for_gimbal  cmd.o
     0x2000030c        -       0x0000004d   Zero   RW         3329    .bss.et16s          et16s_1.o
-    0x20000359   0x0800f5d0   0x00000003   PAD
+    0x20000359   0x0800f5c0   0x00000003   PAD
     0x2000035c        -       0x0000000c   Zero   RW         3355    .bss.eulr_to_send   atti_esti.o
     0x20000368        -       0x00000010   Zero   RW         3484    .bss.g_adapters     cmd_adapter.o
     0x20000378        -       0x000002f8   Zero   RW         3369    .bss.gimbal         gimbal_ctrl.o
@@ -10071,7 +10070,7 @@ Memory Map of the image
     0x20000914        -       0x0000003c   Zero   RW         3353    .bss.imu_temp_ctrl_pid  atti_esti.o
     0x20000950        -       0x00000001   Zero   RW         2887    .bss.inited         bmi088.o
     0x20000951        -       0x00000001   Zero   RW         3261    .bss.last_firecmd   shoot.o
-    0x20000952   0x0800f5d0   0x00000002   PAD
+    0x20000952   0x0800f5c0   0x00000002   PAD
     0x20000954        -       0x00000050   Zero   RW         1957    .bss.prvCheckForValidListAndQueue.xStaticTimerQueue  timers.o
     0x200009a4        -       0x00000004   Zero   RW         1954    .bss.prvSampleTimeNow.xLastTime  timers.o
     0x200009a8        -       0x00000004   Zero   RW         1866    .bss.pxCurrentTCB   tasks.o
@@ -10080,12 +10079,12 @@ Memory Map of the image
     0x200009b4        -       0x00000004   Zero   RW         1875    .bss.pxOverflowDelayedTaskList  tasks.o
     0x200009b8        -       0x00000004   Zero   RW         2295    .bss.queue_mutex    can_1.o
     0x200009bc        -       0x00000003   Zero   RW         3394    .bss.shoot_cmd      shoot_ctrl.o
-    0x200009bf   0x0800f5d0   0x00000001   PAD
+    0x200009bf   0x0800f5c0   0x00000001   PAD
     0x200009c0        -       0x00000028   Zero   RW         3393    .bss.shoot_ctrl_cmd_rc  shoot_ctrl.o
     0x200009e8        -       0x00000004   Zero   RW         3076    .bss.thread_alert   et16s.o
     0x200009ec        -       0x00019999   Zero   RW         2170    .bss.ucHeap         heap_4.o
     0x2001a385        -       0x00000001   Zero   RW         2205    .bss.ucMaxSysCallPriority  port.o
-    0x2001a386   0x0800f5d0   0x00000002   PAD
+    0x2001a386   0x0800f5c0   0x00000002   PAD
     0x2001a388        -       0x00000004   Zero   RW          721    .bss.uwTick         stm32f4xx_hal.o
     0x2001a38c        -       0x00000004   Zero   RW         1869    .bss.uxDeletedTasksWaitingCleanUp  tasks.o
     0x2001a390        -       0x00000400   Zero   RW         2138    .bss.vApplicationGetTimerTaskMemory.Timer_Stack  cmsis_os2.o
@@ -10101,11 +10100,11 @@ Memory Map of the image
     0x2001a840        -       0x00000004   Zero   RW         1873    .bss.xTickCount     tasks.o
     0x2001a844        -       0x00000004   Zero   RW         1950    .bss.xTimerQueue    timers.o
     0x2001a848        -       0x00000004   Zero   RW         1882    .bss.xYieldPending  tasks.o
-    0x2001a84c   0x0800f5d0   0x00000004   PAD
+    0x2001a84c   0x0800f5c0   0x00000004   PAD
     0x2001a850        -       0x00000200   Zero   RW            2    HEAP                startup_stm32f407xx.o
 
 
-    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800f5d0, Size: 0x00002a50, Max: 0x00004000, ABSOLUTE, COMPRESSED[0x00000170])
+    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800f5c0, Size: 0x00002a50, Max: 0x00004000, ABSOLUTE, COMPRESSED[0x00000170])
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -10205,7 +10204,7 @@ Image component sizes
        138          0          0          0          0       3328   dma.o
         90          0          0          0          5       4581   dr16.o
        104          8          0          0         88       2007   dr16_1.o
-      1022         24          0          0         29       4192   et16s.o
+       994         24          0          0         29       4199   et16s.o
        128          8          0          0         77       1793   et16s_1.o
        410         20          0          0          0       4129   filter.o
         78          0         48          0          4       3090   freertos.o
@@ -10255,9 +10254,9 @@ Image component sizes
          0          0        445          0        216       3790   user_task.o
 
     ----------------------------------------------------------------------
-     52320        620       1272       1064     118580     574483   Object Totals
+     52304        620       1272       1064     118580     574490   Object Totals
          0          0         64          0          0          0   (incl. Generated)
-       428         12          3          3         42          0   (incl. Padding)
+       440         12          3          3         42          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
@@ -10360,15 +10359,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     61416       1394       1464       1064     118904     576763   Grand Totals
-     61416       1394       1464        416     118904     576763   ELF Image Totals (compressed)
-     61416       1394       1464        416          0          0   ROM Totals
+     61400       1394       1464       1064     118904     576770   Grand Totals
+     61400       1394       1464        416     118904     576770   ELF Image Totals (compressed)
+     61400       1394       1464        416          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                62880 (  61.41kB)
+    Total RO  Size (Code + RO Data)                62864 (  61.39kB)
     Total RW  Size (RW Data + ZI Data)            119968 ( 117.16kB)
-    Total ROM Size (Code + RO Data + RW Data)      63296 (  61.81kB)
+    Total ROM Size (Code + RO Data + RW Data)      63280 (  61.80kB)
 
 ==============================================================================
 
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep
index 1a0608a..1a1a0f9 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep	
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep	
@@ -2205,7 +2205,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
 I (..\User\device\motor_rm.h)(0x69707226)
 I (..\User\bsp\uart.h)(0x69707226)
 I (..\Core\Inc\usart.h)(0x69455093)
-F (..\User\device\ET16s.c)(0x6971A12F)(-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 ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/et16s.o" -MD)
+F (..\User\device\ET16s.c)(0x6971DD50)(-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 ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd

-I./RTE/_Steering_Wheel_Infatry

-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o "steering wheel_infatry/et16s.o" -MD)
 I (..\User\device\ET16s.h)(0x6970FB62)
 I (..\User\device\device.h)(0x69707226)
 I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
diff --git a/MDK-ARM/Steering Wheel_Infatry/et16s.o b/MDK-ARM/Steering Wheel_Infatry/et16s.o
index c836b08..fae6cd4 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/et16s.o and b/MDK-ARM/Steering Wheel_Infatry/et16s.o differ
diff --git a/User/device/ET16s.c b/User/device/ET16s.c
index 38f3db5..d598f7c 100644
--- a/User/device/ET16s.c
+++ b/User/device/ET16s.c
@@ -102,10 +102,19 @@ int8_t ET16s_ParseRaw( ET16s_t *et16s){
 	et16s->raw_data.sw[1] = ((int16_t)cbuf[14] >> 6 | ((int16_t)cbuf[15] << 2 ) | (int16_t)cbuf[16] << 10 ) & 0x07FF;	//Channel 11
 	et16s->raw_data.sw[7] = ((int16_t)cbuf[16] >> 1 | ((int16_t)cbuf[17] << 7 )) & 0x07FF;  
 	
+	et16s->raw_data.sw[6] = ((int16_t)cbuf[6] >> 4 | ((int16_t)cbuf[7] << 4 )) & 0x07FF;                   								//Channel 5
+  et16s->raw_data.sw[0] = ((int16_t)cbuf[7] >> 7 | ((int16_t)cbuf[8] << 1 ) | (int16_t)cbuf[9] << 9 ) & 0x07FF;    	//Channel 6
+  et16s->raw_data.sw[5] = ((int16_t)cbuf[9] >> 2 | ((int16_t)cbuf[10] << 6 )) & 0x07FF;;                    							//Channel 7
+  et16s->raw_data.sw[4] = ((int16_t)cbuf[10] >> 5 | ((int16_t)cbuf[11] << 3 )) & 0x07FF;                    							//Channel 8
+  et16s->raw_data.sw[3] = ((int16_t)cbuf[12] << 0 | ((int16_t)cbuf[13] << 8 )) & 0x07FF;                  								//Channel 9
+  et16s->raw_data.sw[2] = ((int16_t)cbuf[13] >> 3 | ((int16_t)cbuf[14] << 5 )) & 0x07FF;                               	//Channel 10
+  et16s->raw_data.sw[1] = ((int16_t)cbuf[14] >> 6 | ((int16_t)cbuf[15] << 2 ) | (int16_t)cbuf[16] << 10 ) & 0x07FF;	//Channel 11
+  et16s->raw_data.sw[7] = ((int16_t)cbuf[16] >> 1 | ((int16_t)cbuf[17] << 7 )) & 0x07FF;
+	
 	et16s->raw_data.ch[1] = map_fp32(	et16s->raw_data.ch[1],353,1695,-1,1);		//lx
 	et16s->raw_data.ch[0] = map_fp32(	et16s->raw_data.ch[0],353,1695,-1,1);		//ly
 	et16s->raw_data.ch[2] = map_fp32(	et16s->raw_data.ch[2],353,1695,-1,1);		//rx
-	et16s->raw_data.ch[3] = map_fp32(	et16s->raw_data.ch[3],353,1695,-1,1);     //ry
+	et16s->raw_data.ch[3] = map_fp32(	et16s->raw_data.ch[3],353,1695,-1,1);     //ry	
 	
 	if(	et16s->raw_data.ch[0]>-0.01&&et16s->raw_data.ch[0]<=0.01) et16s->raw_data.ch[0]=0;              
 	if(	et16s->raw_data.ch[1]>-0.01&&et16s->raw_data.ch[1]<=0.01) et16s->raw_data.ch[1]=0;                
@@ -162,11 +171,11 @@ int8_t ET16S_ParseRC(ET16s_t *et16s) {
   et16s->ET16s.key_H = Keymap(et16s->raw_data.sw[7]);
   // rc->ET16s.knob_left = ET16s->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800
 
-//  /*离线处理，和dr16位置不同*/
+  /*离线处理，和dr16位置不同*/
 	if(et16s->raw_data.sw[6]==1695)
 	{
 //		ET16s_HandleOffline(et16s);
-    memset(cbuf, 0, sizeof(cbuf));	//有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信	
+//    memset(cbuf, 0, sizeof(cbuf));	//有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信	
 	}
 #endif
   return DEVICE_OK;