0
JL2CM3
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.axf
index c1b56dc..35aa138 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 fc2bd5a..fa55532 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
@@ -36,13 +36,13 @@ Note: source file '..\User\task\dr16.c' - object file renamed from 'Steering Whe
Note: source file '..\User\task\ET16s.c' - object file renamed from 'Steering Wheel_Infatry\ET16s.o' to 'Steering Wheel_Infatry\et16s_1.o'.
Note: source file '..\User\task\vofa.c' - object file renamed from 'Steering Wheel_Infatry\vofa.o' to 'Steering Wheel_Infatry\vofa_1.o'.
Note: source file '..\User\module\cmd\cmd.c' - object file renamed from 'Steering Wheel_Infatry\cmd.o' to 'Steering Wheel_Infatry\cmd_1.o'.
-../User/module/chassis.c(227): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
+../User/module/chassis.c(179): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
PID_Reset(&c->pid.Telescope_omega);
^~~~~~~~~~~~~~~~~~~~~~~
../User\component/pid.h(99): note: passing argument to parameter 'pid' here
int8_t PID_Reset(KPID_t *pid);
^
-../User/module/chassis.c(228): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
+../User/module/chassis.c(180): warning: incompatible pointer types passing 'KPID_t (*)[2]' to parameter of type 'KPID_t *' [-Wincompatible-pointer-types]
PID_Reset(&c->pid.Telescope_angle);
^~~~~~~~~~~~~~~~~~~~~~~
../User\component/pid.h(99): note: passing argument to parameter 'pid' here
@@ -51,7 +51,7 @@ int8_t PID_Reset(KPID_t *pid);
2 warnings generated.
compiling chassis.c...
linking...
-Program Size: Code=67304 RO-data=1668 RW-data=1224 ZI-data=123044
+Program Size: Code=67416 RO-data=1668 RW-data=1224 ZI-data=123092
FromELF: creating hex file...
"Steering Wheel_Infatry\Steering Wheel_Infatry.axf" - 0 Error(s), 2 Warning(s).
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
index dd0c04d..0579754 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.hex
@@ -1,33 +1,33 @@
:020000040800F2
-:10000000B8F20120B50200082D900008D17D00084B
-:10001000CD8E0008A92A000889AB00080000000066
-:100020000000000000000000000000001197000820
-:10003000094000080000000091920008419B000860
+:10000000D0F20120B502000855900008F97D0008E3
+:10001000F58E0008A92A0008F9AB000800000000CE
+:100020000000000000000000000000003197000800
+:100030003140000800000000B1920008B59B0008A4
:10004000CF020008CF020008CF020008CF0200084C
-:10005000CF020008CF02000841430008CF02000889
-:10006000CF0200084D43000859430008CF020008A2
-:10007000A13E0008CF020008CF020008CF0200080E
+:10005000CF020008CF02000869430008CF02000861
+:10006000CF0200087543000881430008CF02000852
+:10007000C93E0008CF020008CF020008CF020008E6
:10008000CF020008CF020008CF020008CF0200080C
-:10009000AD2A0008BD2A0008CF0200086543000809
-:1000A0000D9C0008CF020008CF020008CF02000814
+:10009000AD2A0008BD2A0008CF0200088D430008E1
+:1000A000819C0008CF020008CF020008CF020008A0
:1000B000CF020008CF020008CF020008CF020008DC
:1000C000CF020008CF020008CF020008CF020008CC
-:1000D000CF02000841AB0008CF02000859AB00086E
+:1000D000CF020008B1AB0008CF020008C9AB00088E
:1000E000CF020008CF020008CF020008CF020008AC
:1000F000CF020008CF020008CF020008CF0200089C
:10010000CF020008CF020008CF020008CF0200088B
:10011000CF020008CF020008CF020008CF0200087B
-:10012000CF020008B13E0008C13E0008D13E0008E1
+:10012000CF020008D93E0008E93E0008F93E000869
:10013000CF020008CF020008CF020008CF0200085B
:10014000CD2A0008DD2A0008CF020008CF020008EF
-:10015000CF020008E13E0008CF02000871AB0008A2
+:10015000CF020008093F0008CF020008E1AB000809
:10016000CF020008CF020008CF020008CF0200082B
:10017000CF020008CF020008CF02000800000000F4
:10018000CF020008CF02000800F002F800F082F869
:100190000AA090E8000C82448344AAF10107DA45E2
:1001A00001D100F077F8AFF2090EBAE80F0013F0B2
-:1001B000010F18BFFB1A43F001031847540B01004D
-:1001C000940B01000A444FF0000C10F8013B13F0AF
+:1001B000010F18BFFB1A43F001031847C40B0100DD
+:1001C000040C01000A444FF0000C10F8013B13F03E
:1001D000070408BF10F8014B1D1108BF10F8015BA0
:1001E000641E05D010F8016B641E01F8016BF9D193
:1001F00013F0080F1EBF10F8014BAD1C0C1B09D1EA
@@ -36,17 +36,17 @@
:10022000103A24BF78C878C1FAD8520724BF30C822
:1002300030C144BF04680C607047000000230024F4
:1002400000250026103A28BF78C1FBD8520728BFE6
-:1002500030C148BF0B607047662910F006837529CE
+:1002500030C148BF0B607047662910F03E83752996
:1002600000F01C81632900F06485732900F0698522
-:10027000002070471FB510F0E6FA00F0E8F900F032
-:1002800065FD0400002000210FF050FBE0601FBD61
+:10027000002070471FB510F01EFB00F0E8F900F0F9
+:1002800065FD0400002000210FF088FBE0601FBD29
:1002900010B510BD00F05EFE1146FFF7EBFF0AF04F
-:1002A0005DFF00F07CFE03B4FFF7F2FF03BC00F03B
+:1002A00095FF00F07CFE03B4FFF7F2FF03BC00F003
:1002B000BDFE00000948804709480047FEE7FEE709
:1002C000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE706
-:1002D00004480549054A064B70470000F99B000891
-:1002E00089010008B8DD0120B8F20120B8E2012040
-:1002F000B8E2012053EA020C00F069802DE9F04BCE
+:1002D00004480549054A064B704700006D9C00081C
+:1002E00089010008D0DD0120D0F20120D0E20120F8
+:1002F000D0E2012053EA020C00F069802DE9F04BB6
:100300004FF00006002B1FBFB3FA83F503FA05F484
:1003100024FA05F65E4012BF1643B2FA82F502FADD
:1003200005F4C5F120051EBF22FA05FC44EA0C04C1
@@ -84,12 +84,12 @@
:10052000C0F820A02046E1688847002876D025281A
:1005300006D0D4E901219047206A401C2062F1E7EF
:10054000E168204600258847C4F81CA0064600271D
-:10055000C4F818A02A2E09D030460FF0ADF938B3F0
+:10055000C4F818A02A2E09D030460FF0E5F938B3B8
:1005600004EB8708303EC8F8186019E059F8041BFE
:10057000204604EB87029161E1688847012F064617
:1005800018D1E069002820DA25F020051DE0D8F810
:10059000180000EB800006EB40003038C8F8180067
-:1005A0002046E168884706460FF086F90028EED11C
+:1005A0002046E168884706460FF0BEF90028EED1E4
:1005B000012F0AD02E2E08D12046E16888477F1CE3
:1005C0000646022F45F02005C4DBA069002803DAA7
:1005D000404245F00105A061E80701D025F0100573
@@ -151,10 +151,10 @@
:100950000880C1E900200FB0BDE8F08FBD1B6D1C01
:10096000DEE74A4600DA694206A800F07DFA06ABE7
:1009700093E8070003AB83E8070050460A990DF09F
-:10098000F1FA8DE80700A0F500501F380090039899
+:1009800029FB8DE80700A0F500501F380090039860
:10099000002D0ADD42F21F014A460844002303A944
-:1009A000039068460DF05AFD09E0A0F500504A4654
-:1009B0001F38002303A9039068460DF064FD8DE8FD
+:1009A000039068460DF092FD09E0A0F500504A461C
+:1009B0001F38002303A9039068460DF09CFD8DE8C5
:1009C00007000004000C03D04FF0FF30410800E0A6
:1009D0001046B8F1000F03D00022009215461EE029
:1009E000751E05D400F0BAF9303262556D1EF9D586
@@ -167,7 +167,7 @@
:100A50000B000B98099AC0F80880C0E9002B7AE7D0
:100A600011264FF0000857E72DE9F04F884604465D
:100A7000D21D22F0070191B0D1E90001CDE90A01B0
-:100A80000DF038FE02460B98C00F01D02D2007E074
+:100A80000DF070FE02460B98C00F01D02D2007E03C
:100A90002068810701D52B2002E0202101EAC00057
:100AA000032A099001D0072A05DB03464146204668
:100AB00000F09AF90BE12078800601D5E06900E0AA
@@ -236,14 +236,14 @@
:100EA00012041B3C02D56442012000E00020DFF860
:100EB00098A080460027FA44AAF1BE0A0EE0E00797
:100EC0000AD03246684607EB470101230AEB81014D
-:100ED0000DF0D9FA8DE8070064107F1C002CEED1CC
+:100ED0000DF011FB8DE8070064107F1C002CEED193
:100EE000194F7F44AE3F19E0E80715D007EB041017
:100EF0000DF1180A90E80E008AE80E00C068F04272
:100F000001D1981908903246012306A903A80DF0D3
-:100F1000BAFA03AB83E807006D10641C002DE3D11F
+:100F1000F2FA03AB83E807006D10641C002DE3D1E7
:100F20004FF0010332466946B8F1000F03A802D022
-:100F30000DF094FA01E00DF0A6FAC9E90001C9F834
-:100F400008200AB0BDE8F08734FB00000048704775
+:100F30000DF0CCFA01E00DF0DEFAC9E90001C9F8C4
+:100F400008200AB0BDE8F087A4FB00000048704705
:100F5000940500207546FFF7F9FFAE460500694687
:100F6000534620F00700854618B020B5FFF7B0F9CA
:100F7000BDE820404FF000064FF000074FF000089A
@@ -263,22 +263,22 @@
:101050005ED095ED000A95ED011A95ED022A95ED09
:10106000033A20EE010A22EE033A21EE011A22EEA3
:10107000022A31EE021A30EE030A31EE011AB7EEFF
-:10108000008A30EE000A78EE410A0DF061FEB0EE03
+:10108000008A30EE000A78EE410A0DF099FEB0EECB
:10109000401A95ED000A95ED012A95ED023A95ED7D
:1010A000034A20EE030A24EE022A30EE420A30EE12
:1010B000000AB0EEC02AB4EE482AF1EE10FA84ED30
-:1010C000011A02DA0DF042FB01E009F0D5FF84EDD0
+:1010C000011A02DA0DF07AFB01E00AF00DF884ED66
:1010D000020A95ED000A95ED011A95ED032A95EDAA
:1010E000023A20EE020A21EE031A30EE010A23EE44
:1010F000031A22EE022A32EE011A31EE011A30EE04
-:10110000000A78EE410A0DF023FE002084ED000A6B
+:10110000000A78EE410A0DF05BFE002084ED000A33
:1011100040B2BDEC028BB0BD70B52DED028B002846
:101120004FD0B7EE001A81EE000A0D4604464FF08C
:101130007E51002D80ED040A4FF00000C4E900103C
-:10114000A060E06000F09F80D5E900600FF0B0FA89
-:1011500041EC180B30460FF0ABFA41EC110BB0EE3E
-:10116000480AF0EE680A0DF0F3FC51EC100B0EF09B
-:10117000FFFB95ED000AB5EE400AF1EE10FA22D120
+:10114000A060E06000F09F80D5E900600FF0E8FA51
+:1011500041EC180B30460FF0E3FA41EC110BB0EE06
+:10116000480AF0EE680A0DF02BFD51EC100B0EF062
+:1011700037FC95ED000AB5EE400AF1EE10FA22D1E7
:1011800095ED010AB5EE400AF1EE10FA1BD195ED8E
:10119000020AB5EE400AF1EE10FA14D140F2C56031
:1011A000C3F64D7044F62D214AF2564244F2AD7317
@@ -317,10 +317,10 @@
:1013B000F5EE409AF1EE10FA05D1F5EE40AAF1EE05
:1013C00010FA00F0EC812DEE0D0A29EEA91A30EE8C
:1013D000010A2AEEAA1A30EE010A8DED0D6A8DED92
-:1013E0000C7ACDED0B0A8DED0A5A06F0F3FC2DEECA
+:1013E0000C7ACDED0B0A8DED0A5A06F007FD2DEEB5
:1013F000001A8DED071A29EE801A2AEE800A8DED6B
:10140000081A8DED090A2EEE0E0A2FEE0F1A30EE95
-:10141000010A28EEA81A30EE010A06F0DBFC94ED72
+:10141000010A28EEA81A30EE010A06F0EFFC94ED5E
:10142000001A6EEE00DA6FEE00AA94ED034A31EE78
:1014300001EA68EE808A94ED012A94ED023A2AEEE0
:101440008E6A61EE01EA8DED026A28EE8E0A2DEEBB
@@ -338,7 +338,7 @@
:10150000035A21EE041A8DED051A22EE031A8DED11
:10151000031A23EE041A8DED041A34EE041A8DED2D
:10152000015A22EE04CA6EEE03CA8DED061A29EEA8
-:1015300084DA06F04FFC94ED013A94ED022A9DED19
+:1015300084DA06F063FC94ED013A94ED022A9DED05
:10154000021A29EE024A21EE031A31EE444A94EDC2
:10155000031A28EEAE5A35EE044A2AEE015A35EE49
:10156000044A28EEAB5AF7EE001A34EE454A2AEE4A
@@ -372,7 +372,7 @@
:10172000071A36EE400A32EE011A20EE200A30EE99
:10173000010A23EE261A31EE009A2CEE0C0A2DEE49
:101740000D1A30EE010A28EE081A31EE000A29EED1
-:10175000091A31EE000A06F03DFB95ED004A9DEDB9
+:10175000091A31EE000A06F051FB95ED004A9DEDA5
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:10177000011A9DED0C7A9DED0D6A20EE083A20EEDF
:10178000090A35EE415A24EE021A70EEC10A24EE1F
@@ -383,7 +383,7 @@
:1017D000000A84ED011A20EE000A21EE011A33EE10
:1017E000043A30EE010A22EE021A30EE010A23EE2C
:1017F000031A30EE010A84ED022A84ED033A06F062
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+:10180000FDFA94ED001A94ED012A94ED023A94ED5C
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:10182000040A002084ED001A84ED012A84ED023AB6
:1018300084ED030A43E50000B0B52DED108B04469E
@@ -401,7 +401,7 @@
:1018F000019AF1EE10FA20EE018A0AD1B5EE40DA33
:10190000F1EE10FA05D1B5EE40EAF1EE10FA00F072
:10191000BC802CEE0C0A2DEE0D1A30EE010A2EEED4
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@@ -420,7 +420,7 @@
:101A2000400A23EEA11A26EE011A30EE010A22EE38
:101A3000201A30EE41EA2CEE0C0A2FEE0F1A30EE8F
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:101A700041BA24EE021A3AEE41AA24EE031A24EEE9
:101A8000000A39EE419A38EE408A94ED043A94ED1A
@@ -429,25 +429,25 @@
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:101AD000010A22EE021A30EE010A23EE031A30EE5A
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:101AF000001A94ED012A94ED023A94ED034A20EE87
:101B0000011A20EE022A20EE033A20EE040A0020F9
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:101B700000F086F9002080BD80B5022001214FF0E1
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:101C30004DF90020002100F049F91E2865D101204E
@@ -464,7 +464,7 @@
:101CE000012200F029F901201521802200F024F9B9
:101CF0000A2000F01DFE0320347000F013FD0420C4
:101D000000F010FD04E0FE2702E0FC2700E0FC27C5
-:101D100078B201B0F0BD0000002841D04CF218119B
+:101D100078B201B0F0BD0000002841D04CF2E401DF
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:101D3000B8EEC00A80EE030AB1F90330B1F905C06C
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@@ -474,7 +474,7 @@
:101D800000EE102AB8EEC00AB4EE001A20EE010AE6
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+:101DB000E401C2F20101B1F90720B1F90930B1F92A
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:101DD000101AB8EEC00AB8EEC11AB8EEC33A80EED7
:101DE000020A81EE021A83EE022A9FED103AC16ABE
@@ -482,85 +482,85 @@
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-:101EE00004D102263046002100F072FC40F28866E0
+:101EE00004D102263046002100F072FC40F2B866B0
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:101F10000222002300F0C8FC34B1012C09D140F2A8
-:101F20008867C2F2000702252846012100F050FC14
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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 a678438..d002372 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 @@
Static Call Graph - [Steering Wheel_Infatry\Steering Wheel_Infatry.axf]
Static Call Graph for image Steering Wheel_Infatry\Steering Wheel_Infatry.axf
-
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Mar 8 00:29:02 2026
+
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Mar 8 01:19:52 2026
Maximum Stack Usage = 464 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)
Call chain for Maximum Stack Depth:
@@ -1411,7 +1411,7 @@ Global Symbols
[Called By]
-Chassis_Control (Thumb, 576 bytes, Stack size 48 bytes, chassis.o(.text.Chassis_Control))
+
Chassis_Control (Thumb, 580 bytes, Stack size 48 bytes, chassis.o(.text.Chassis_Control))
[Stack]
- Max Depth = 304
- Call Chain = Chassis_Control ⇒ Chassis_speed_calculate ⇒ __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
[Calls]- >> PID_Calc
@@ -1435,7 +1435,7 @@ Global Symbols
[Called By]
-Chassis_speed_calculate (Thumb, 1488 bytes, Stack size 88 bytes, chassis.o(.text.Chassis_speed_calculate))
+
Chassis_speed_calculate (Thumb, 1512 bytes, Stack size 88 bytes, chassis.o(.text.Chassis_speed_calculate))
[Stack]
- Max Depth = 256
- Call Chain = Chassis_speed_calculate ⇒ __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
[Calls]- >> __aeabi_f2d
@@ -1450,7 +1450,7 @@ Global Symbols
[Called By]
-Chassis_update (Thumb, 508 bytes, Stack size 88 bytes, chassis.o(.text.Chassis_update))
+
Chassis_update (Thumb, 516 bytes, Stack size 88 bytes, chassis.o(.text.Chassis_update))
[Stack]
- Max Depth = 336
- Call Chain = Chassis_update ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
[Calls]- >> __aeabi_f2d
@@ -5654,7 +5654,7 @@ Local Symbols
[Called By]
-Set_Chassis_Attitude (Thumb, 124 bytes, Stack size 24 bytes, chassis.o(.text.Set_Chassis_Attitude))
+
Set_Chassis_Attitude (Thumb, 208 bytes, Stack size 24 bytes, chassis.o(.text.Set_Chassis_Attitude))
[Stack]
- Max Depth = 120
- Call Chain = Set_Chassis_Attitude ⇒ PID_Calc ⇒ LowPassFilter2p_Apply
[Calls]- >> PID_Calc
diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
index 2827dc3..729fba0 100644
--- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
+++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map
@@ -7331,7 +7331,6 @@ Removing Unused input sections from the image.
Removing chassis.o(.ARM.exidx.text.Set_Chassis_Attitude), (8 bytes).
Removing chassis.o(.ARM.exidx.text.Chassis_CalcWz), (8 bytes).
Removing chassis.o(.ARM.exidx.text.Chassis_Setoutput), (8 bytes).
- Removing chassis.o(.bss.telescope_profile), (48 bytes).
Removing config.o(.text), (0 bytes).
Removing config.o(.ARM.exidx.text.Config_GetRobotParam), (8 bytes).
Removing gimbal.o(.text), (0 bytes).
@@ -7436,7 +7435,7 @@ Removing Unused input sections from the image.
Removing cmd_behavior.o(.ARM.exidx.text.CMD_Behavior_GetConfig), (8 bytes).
Removing cmd_example.o(.text), (0 bytes).
-2266 unused section(s) (total 86615 bytes) removed from the image.
+2265 unused section(s) (total 86567 bytes) removed from the image.
==============================================================================
@@ -7917,605 +7916,605 @@ Image Symbol Table
Chassis_CalcWz 0x08003271 Thumb Code 108 chassis.o(.text.Chassis_CalcWz)
[Anonymous Symbol] 0x08003270 Section 0 chassis.o(.text.Chassis_CalcWz)
[Anonymous Symbol] 0x080032dc Section 0 chassis.o(.text.Chassis_Control)
- Chassis_SetMode 0x0800351d Thumb Code 124 chassis.o(.text.Chassis_SetMode)
- [Anonymous Symbol] 0x0800351c Section 0 chassis.o(.text.Chassis_SetMode)
- [Anonymous Symbol] 0x08003598 Section 0 chassis.o(.text.Chassis_Setoutput)
- [Anonymous Symbol] 0x08003628 Section 0 chassis.o(.text.Chassis_speed_calculate)
- [Anonymous Symbol] 0x08003bf8 Section 0 chassis.o(.text.Chassis_update)
- [Anonymous Symbol] 0x08003df4 Section 0 user_math.o(.text.CircleAdd)
- [Anonymous Symbol] 0x08003e30 Section 0 user_math.o(.text.CircleError)
- [Anonymous Symbol] 0x08003e6c Section 0 user_math.o(.text.Clip)
- [Anonymous Symbol] 0x08003e94 Section 0 config.o(.text.Config_GetRobotParam)
- [Anonymous Symbol] 0x08003ea0 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
- [Anonymous Symbol] 0x08003eb0 Section 0 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler)
- [Anonymous Symbol] 0x08003ec0 Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler)
- [Anonymous Symbol] 0x08003ed0 Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler)
- [Anonymous Symbol] 0x08003ee0 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
- DMA_CalcBaseAndBitshift 0x08003ef1 Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- [Anonymous Symbol] 0x08003ef0 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x08003f24 Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- DMA_CheckFifoParam 0x08003f2d Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
- [Anonymous Symbol] 0x08003f2c Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
- DMA_SetConfig 0x08003f7d Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
- [Anonymous Symbol] 0x08003f7c Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
- [Anonymous Symbol] 0x08003fac Section 0 dr16.o(.text.DR16_Init)
- DR16_RxCpltCallback 0x08003ff5 Thumb Code 20 dr16.o(.text.DR16_RxCpltCallback)
- [Anonymous Symbol] 0x08003ff4 Section 0 dr16.o(.text.DR16_RxCpltCallback)
- [Anonymous Symbol] 0x08004008 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler)
- [Anonymous Symbol] 0x0800400c Section 0 et16s.o(.text.ET16S_ParseRC)
- [Anonymous Symbol] 0x080040a0 Section 0 et16s.o(.text.ET16s_HandleOffline)
- [Anonymous Symbol] 0x080040d8 Section 0 et16s.o(.text.ET16s_ParseRaw)
- [Anonymous Symbol] 0x08004340 Section 0 stm32f4xx_it.o(.text.EXTI0_IRQHandler)
- [Anonymous Symbol] 0x0800434c Section 0 stm32f4xx_it.o(.text.EXTI3_IRQHandler)
- [Anonymous Symbol] 0x08004358 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler)
- [Anonymous Symbol] 0x08004364 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
- [Anonymous Symbol] 0x08004370 Section 0 main.o(.text.Error_Handler)
- [Anonymous Symbol] 0x08004378 Section 0 chassis.o(.text.GetLogicalPosition)
- [Anonymous Symbol] 0x0800439c Section 0 gimbal.o(.text.Gimbal_Control)
- [Anonymous Symbol] 0x0800473c Section 0 gimbal.o(.text.Gimbal_Control_mode)
- Gimbal_Direction 0x08004795 Thumb Code 164 gimbal.o(.text.Gimbal_Direction)
- [Anonymous Symbol] 0x08004794 Section 0 gimbal.o(.text.Gimbal_Direction)
- [Anonymous Symbol] 0x08004838 Section 0 gimbal.o(.text.Gimbal_Init)
- [Anonymous Symbol] 0x08004990 Section 0 gimbal.o(.text.Gimbal_Output)
- Gimbal_SetMode 0x08004aa5 Thumb Code 136 gimbal.o(.text.Gimbal_SetMode)
- [Anonymous Symbol] 0x08004aa4 Section 0 gimbal.o(.text.Gimbal_SetMode)
- [Anonymous Symbol] 0x08004b2c Section 0 gimbal.o(.text.Gimbal_UpdateFeedback)
- [Anonymous Symbol] 0x08004c4c Section 0 gimbal.o(.text.Gimbal_UpdateIMU)
- [Anonymous Symbol] 0x08004c9c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- [Anonymous Symbol] 0x08004cc4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- [Anonymous Symbol] 0x08004d58 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- [Anonymous Symbol] 0x08004e38 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback)
- [Anonymous Symbol] 0x08004e5c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- [Anonymous Symbol] 0x08004e7c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- [Anonymous Symbol] 0x08004fa0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- [Anonymous Symbol] 0x08004fc8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- [Anonymous Symbol] 0x08005204 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- [Anonymous Symbol] 0x080052f8 Section 0 can.o(.text.HAL_CAN_MspInit)
- [Anonymous Symbol] 0x0800542c Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- [Anonymous Symbol] 0x08005450 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- [Anonymous Symbol] 0x08005474 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- [Anonymous Symbol] 0x08005498 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- [Anonymous Symbol] 0x080054bc Section 0 can_1.o(.text.HAL_CAN_SleepCallback)
- [Anonymous Symbol] 0x080054e0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- [Anonymous Symbol] 0x0800553c Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- [Anonymous Symbol] 0x08005560 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- [Anonymous Symbol] 0x08005584 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- [Anonymous Symbol] 0x080055a8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- [Anonymous Symbol] 0x080055cc Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- [Anonymous Symbol] 0x080055f0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- [Anonymous Symbol] 0x08005614 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- [Anonymous Symbol] 0x08005638 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
- [Anonymous Symbol] 0x080056b8 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
- [Anonymous Symbol] 0x080056dc Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- [Anonymous Symbol] 0x08005868 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- [Anonymous Symbol] 0x08005938 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- [Anonymous Symbol] 0x0800599c Section 0 stm32f4xx_hal.o(.text.HAL_Delay)
- [Anonymous Symbol] 0x080059c4 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
- [Anonymous Symbol] 0x080059f0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
- [Anonymous Symbol] 0x08005a0c Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- [Anonymous Symbol] 0x08005ba8 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
- [Anonymous Symbol] 0x08005bb4 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
- [Anonymous Symbol] 0x08005bc0 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick)
- [Anonymous Symbol] 0x08005bcc Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
- [Anonymous Symbol] 0x08005d64 Section 0 i2c.o(.text.HAL_I2C_MspInit)
- [Anonymous Symbol] 0x08005e3c Section 0 stm32f4xx_hal.o(.text.HAL_IncTick)
- [Anonymous Symbol] 0x08005e58 Section 0 stm32f4xx_hal.o(.text.HAL_Init)
- [Anonymous Symbol] 0x08005e90 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick)
- [Anonymous Symbol] 0x08005ee0 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- [Anonymous Symbol] 0x08005f28 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
- [Anonymous Symbol] 0x08005f30 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- [Anonymous Symbol] 0x08005f38 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- [Anonymous Symbol] 0x08005f58 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- [Anonymous Symbol] 0x08005f60 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- [Anonymous Symbol] 0x080060c0 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- [Anonymous Symbol] 0x080060cc Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- [Anonymous Symbol] 0x080060f0 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- [Anonymous Symbol] 0x08006114 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- [Anonymous Symbol] 0x0800617c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- [Anonymous Symbol] 0x080064c4 Section 0 spi_1.o(.text.HAL_SPI_ErrorCallback)
- [Anonymous Symbol] 0x080064e8 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
- [Anonymous Symbol] 0x0800659c Section 0 spi.o(.text.HAL_SPI_MspInit)
- [Anonymous Symbol] 0x080066cc Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
- [Anonymous Symbol] 0x08006840 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
- [Anonymous Symbol] 0x0800692c Section 0 spi_1.o(.text.HAL_SPI_RxCpltCallback)
- [Anonymous Symbol] 0x08006950 Section 0 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
- [Anonymous Symbol] 0x08006974 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
- [Anonymous Symbol] 0x08006b00 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
- [Anonymous Symbol] 0x08006cf8 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
- [Anonymous Symbol] 0x08006e1c Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
- [Anonymous Symbol] 0x08006ee8 Section 0 spi_1.o(.text.HAL_SPI_TxCpltCallback)
- [Anonymous Symbol] 0x08006f08 Section 0 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
- [Anonymous Symbol] 0x08006f2c Section 0 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
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- Heap_Mem 0x2001ddb8 Data 1280 startup_stm32f407xx.o(HEAP)
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- Stack_Mem 0x2001e2b8 Data 4096 startup_stm32f407xx.o(STACK)
- STACK 0x2001e2b8 Section 4096 startup_stm32f407xx.o(STACK)
- __initial_sp 0x2001f2b8 Data 0 startup_stm32f407xx.o(STACK)
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+ [Anonymous Symbol] 0x2001dc08 Section 0 cmsis_os2.o(.bss.vApplicationGetTimerTaskMemory.Timer_TCB)
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+ [Anonymous Symbol] 0x2001dc68 Section 0 vofa.o(.bss.vofa_tx_buf)
+ xActiveTimerList1 0x2001dd6c Data 20 timers.o(.bss.xActiveTimerList1)
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+ xDelayedTaskList1 0x2001dd84 Data 20 tasks.o(.bss.xDelayedTaskList1)
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+ xIdleTaskHandle 0x2001dd98 Data 4 tasks.o(.bss.xIdleTaskHandle)
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+ Stack_Mem 0x2001e2d0 Data 4096 startup_stm32f407xx.o(STACK)
+ STACK 0x2001e2d0 Section 4096 startup_stm32f407xx.o(STACK)
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Global Symbols
@@ -8959,401 +8958,401 @@ Image Symbol Table
CMD_Init 0x08002fc9 Thumb Code 40 cmd_1.o(.text.CMD_Init)
CMD_Update 0x080031ed Thumb Code 28 cmd_1.o(.text.CMD_Update)
CMD_UpdateInput 0x08003209 Thumb Code 104 cmd_1.o(.text.CMD_UpdateInput)
- Chassis_Control 0x080032dd Thumb Code 576 chassis.o(.text.Chassis_Control)
- Chassis_Setoutput 0x08003599 Thumb Code 144 chassis.o(.text.Chassis_Setoutput)
- Chassis_speed_calculate 0x08003629 Thumb Code 1488 chassis.o(.text.Chassis_speed_calculate)
- Chassis_update 0x08003bf9 Thumb Code 508 chassis.o(.text.Chassis_update)
- CircleAdd 0x08003df5 Thumb Code 58 user_math.o(.text.CircleAdd)
- CircleError 0x08003e31 Thumb Code 60 user_math.o(.text.CircleError)
- Clip 0x08003e6d Thumb Code 38 user_math.o(.text.Clip)
- Config_GetRobotParam 0x08003e95 Thumb Code 10 config.o(.text.Config_GetRobotParam)
- DMA1_Stream1_IRQHandler 0x08003ea1 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
- DMA2_Stream1_IRQHandler 0x08003eb1 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler)
- DMA2_Stream2_IRQHandler 0x08003ec1 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler)
- DMA2_Stream3_IRQHandler 0x08003ed1 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler)
- DMA2_Stream6_IRQHandler 0x08003ee1 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
- DR16_Init 0x08003fad Thumb Code 70 dr16.o(.text.DR16_Init)
- DebugMon_Handler 0x08004009 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
- ET16S_ParseRC 0x0800400d Thumb Code 146 et16s.o(.text.ET16S_ParseRC)
- ET16s_HandleOffline 0x080040a1 Thumb Code 54 et16s.o(.text.ET16s_HandleOffline)
- ET16s_ParseRaw 0x080040d9 Thumb Code 616 et16s.o(.text.ET16s_ParseRaw)
- EXTI0_IRQHandler 0x08004341 Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler)
- EXTI3_IRQHandler 0x0800434d Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler)
- EXTI4_IRQHandler 0x08004359 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler)
- EXTI9_5_IRQHandler 0x08004365 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
- Error_Handler 0x08004371 Thumb Code 6 main.o(.text.Error_Handler)
- GetLogicalPosition 0x08004379 Thumb Code 36 chassis.o(.text.GetLogicalPosition)
- Gimbal_Control 0x0800439d Thumb Code 928 gimbal.o(.text.Gimbal_Control)
- Gimbal_Control_mode 0x0800473d Thumb Code 88 gimbal.o(.text.Gimbal_Control_mode)
- Gimbal_Init 0x08004839 Thumb Code 342 gimbal.o(.text.Gimbal_Init)
- Gimbal_Output 0x08004991 Thumb Code 274 gimbal.o(.text.Gimbal_Output)
- Gimbal_UpdateFeedback 0x08004b2d Thumb Code 286 gimbal.o(.text.Gimbal_UpdateFeedback)
- Gimbal_UpdateIMU 0x08004c4d Thumb Code 78 gimbal.o(.text.Gimbal_UpdateIMU)
- HAL_CAN_ActivateNotification 0x08004c9d Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- HAL_CAN_AddTxMessage 0x08004cc5 Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- HAL_CAN_ConfigFilter 0x08004d59 Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- HAL_CAN_ErrorCallback 0x08004e39 Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback)
- HAL_CAN_GetRxFifoFillLevel 0x08004e5d Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- HAL_CAN_GetRxMessage 0x08004e7d Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- HAL_CAN_GetTxMailboxesFreeLevel 0x08004fa1 Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- HAL_CAN_IRQHandler 0x08004fc9 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- HAL_CAN_Init 0x08005205 Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- HAL_CAN_MspInit 0x080052f9 Thumb Code 308 can.o(.text.HAL_CAN_MspInit)
- HAL_CAN_RxFifo0FullCallback 0x0800542d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- HAL_CAN_RxFifo0MsgPendingCallback 0x08005451 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- HAL_CAN_RxFifo1FullCallback 0x08005475 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- HAL_CAN_RxFifo1MsgPendingCallback 0x08005499 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- HAL_CAN_SleepCallback 0x080054bd Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback)
- HAL_CAN_Start 0x080054e1 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- HAL_CAN_TxMailbox0AbortCallback 0x0800553d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- HAL_CAN_TxMailbox0CompleteCallback 0x08005561 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- HAL_CAN_TxMailbox1AbortCallback 0x08005585 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- HAL_CAN_TxMailbox1CompleteCallback 0x080055a9 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- HAL_CAN_TxMailbox2AbortCallback 0x080055cd Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- HAL_CAN_TxMailbox2CompleteCallback 0x080055f1 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- HAL_CAN_WakeUpFromRxMsgCallback 0x08005615 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- HAL_DMA_Abort 0x08005639 Thumb Code 128 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
- HAL_DMA_Abort_IT 0x080056b9 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
- HAL_DMA_IRQHandler 0x080056dd Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- HAL_DMA_Init 0x08005869 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- HAL_DMA_Start_IT 0x08005939 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- HAL_Delay 0x0800599d Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay)
- HAL_GPIO_EXTI_Callback 0x080059c5 Thumb Code 44 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
- HAL_GPIO_EXTI_IRQHandler 0x080059f1 Thumb Code 26 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
- HAL_GPIO_Init 0x08005a0d Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- HAL_GPIO_ReadPin 0x08005ba9 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
- HAL_GPIO_WritePin 0x08005bb5 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
- HAL_GetTick 0x08005bc1 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
- HAL_I2C_Init 0x08005bcd Thumb Code 408 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
- HAL_I2C_MspInit 0x08005d65 Thumb Code 216 i2c.o(.text.HAL_I2C_MspInit)
- HAL_IncTick 0x08005e3d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
- HAL_Init 0x08005e59 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
- HAL_InitTick 0x08005e91 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick)
- HAL_MspInit 0x08005ee1 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- HAL_NVIC_DisableIRQ 0x08005f29 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
- HAL_NVIC_EnableIRQ 0x08005f31 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- HAL_NVIC_SetPriority 0x08005f39 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- HAL_NVIC_SetPriorityGrouping 0x08005f59 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- HAL_RCC_ClockConfig 0x08005f61 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- HAL_RCC_GetHCLKFreq 0x080060c1 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- HAL_RCC_GetPCLK1Freq 0x080060cd Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- HAL_RCC_GetPCLK2Freq 0x080060f1 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- HAL_RCC_GetSysClockFreq 0x08006115 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- HAL_RCC_OscConfig 0x0800617d Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- HAL_SPI_ErrorCallback 0x080064c5 Thumb Code 34 spi_1.o(.text.HAL_SPI_ErrorCallback)
- HAL_SPI_Init 0x080064e9 Thumb Code 180 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
- HAL_SPI_MspInit 0x0800659d Thumb Code 302 spi.o(.text.HAL_SPI_MspInit)
- HAL_SPI_Receive 0x080066cd Thumb Code 370 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
- HAL_SPI_Receive_DMA 0x08006841 Thumb Code 236 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
- HAL_SPI_RxCpltCallback 0x0800692d Thumb Code 34 spi_1.o(.text.HAL_SPI_RxCpltCallback)
- HAL_SPI_RxHalfCpltCallback 0x08006951 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
- HAL_SPI_Transmit 0x08006975 Thumb Code 394 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
- HAL_SPI_TransmitReceive 0x08006b01 Thumb Code 504 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
- HAL_SPI_TransmitReceive_DMA 0x08006cf9 Thumb Code 292 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
- HAL_SPI_Transmit_DMA 0x08006e1d Thumb Code 204 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
- HAL_SPI_TxCpltCallback 0x08006ee9 Thumb Code 32 spi_1.o(.text.HAL_SPI_TxCpltCallback)
- HAL_SPI_TxHalfCpltCallback 0x08006f09 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
- HAL_SPI_TxRxCpltCallback 0x08006f2d Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
- HAL_SPI_TxRxHalfCpltCallback 0x08006f51 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
- HAL_SYSTICK_Config 0x08006f75 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
- HAL_TIMEx_BreakCallback 0x08006f7d Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
- HAL_TIMEx_CommutCallback 0x08006f81 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
- HAL_TIMEx_ConfigBreakDeadTime 0x08006f85 Thumb Code 76 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime)
- HAL_TIMEx_MasterConfigSynchronization 0x08006fd1 Thumb Code 184 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
- HAL_TIM_Base_Init 0x08007089 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
- HAL_TIM_Base_MspInit 0x080070e5 Thumb Code 180 tim.o(.text.HAL_TIM_Base_MspInit)
- HAL_TIM_ConfigClockSource 0x08007199 Thumb Code 222 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)
- HAL_TIM_IC_CaptureCallback 0x08007279 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
- HAL_TIM_IRQHandler 0x0800727d Thumb Code 308 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
- HAL_TIM_MspPostInit 0x080073b1 Thumb Code 164 tim.o(.text.HAL_TIM_MspPostInit)
- HAL_TIM_OC_DelayElapsedCallback 0x08007455 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
- HAL_TIM_PWM_ConfigChannel 0x08007459 Thumb Code 152 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
- HAL_TIM_PWM_Init 0x080074f1 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
- HAL_TIM_PWM_MspInit 0x0800754d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
- HAL_TIM_PWM_PulseFinishedCallback 0x08007551 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
- HAL_TIM_PWM_Start 0x08007555 Thumb Code 290 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
- HAL_TIM_PeriodElapsedCallback 0x08007679 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
- HAL_TIM_TriggerCallback 0x0800767d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
- HAL_UARTEx_RxEventCallback 0x08007681 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
- HAL_UART_ErrorCallback 0x08007685 Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback)
- HAL_UART_IRQHandler 0x080076ad Thumb Code 602 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
- HAL_UART_Init 0x08007909 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
- HAL_UART_MspInit 0x08007969 Thumb Code 730 usart.o(.text.HAL_UART_MspInit)
- HAL_UART_Receive_DMA 0x08007c45 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
- HAL_UART_RxCpltCallback 0x08007c71 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback)
- HAL_UART_RxHalfCpltCallback 0x08007c99 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback)
- HAL_UART_Transmit_DMA 0x08007cc1 Thumb Code 140 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA)
- HAL_UART_Transmit_IT 0x08007d4d Thumb Code 56 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT)
- HAL_UART_TxCpltCallback 0x08007d85 Thumb Code 38 uart.o(.text.HAL_UART_TxCpltCallback)
- HAL_UART_TxHalfCpltCallback 0x08007dad Thumb Code 36 uart.o(.text.HAL_UART_TxHalfCpltCallback)
- HardFault_Handler 0x08007dd1 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler)
- InvSqrt 0x08007dd5 Thumb Code 66 user_math.o(.text.InvSqrt)
- Keymap 0x08007e19 Thumb Code 36 et16s.o(.text.Keymap)
- LowPassFilter2p_Apply 0x08007e3d Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply)
- LowPassFilter2p_Init 0x08007eb9 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init)
- LowPassFilter2p_Reset 0x08007f5d Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset)
- MOTOR_DM_Enable 0x08007ff5 Thumb Code 70 motor_dm.o(.text.MOTOR_DM_Enable)
- MOTOR_DM_GetMotor 0x08008051 Thumb Code 88 motor_dm.o(.text.MOTOR_DM_GetMotor)
- MOTOR_DM_MITCtrl 0x080080a9 Thumb Code 46 motor_dm.o(.text.MOTOR_DM_MITCtrl)
- MOTOR_DM_Register 0x080081d1 Thumb Code 164 motor_dm.o(.text.MOTOR_DM_Register)
- MOTOR_DM_Update 0x0800838d Thumb Code 160 motor_dm.o(.text.MOTOR_DM_Update)
- MOTOR_RM_Ctrl 0x08008469 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl)
- MOTOR_RM_GetMotor 0x080085a5 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor)
- MOTOR_RM_Register 0x08008619 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register)
- MOTOR_RM_SetOutput 0x080086c1 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput)
- MOTOR_RM_Update 0x08008761 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update)
- MX_CAN1_Init 0x08008829 Thumb Code 68 can.o(.text.MX_CAN1_Init)
- MX_CAN2_Init 0x0800886d Thumb Code 68 can.o(.text.MX_CAN2_Init)
- MX_DMA_Init 0x080088b1 Thumb Code 138 dma.o(.text.MX_DMA_Init)
- MX_FREERTOS_Init 0x0800893d Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init)
- MX_GPIO_Init 0x08008979 Thumb Code 514 gpio.o(.text.MX_GPIO_Init)
- MX_I2C1_Init 0x08008b7d Thumb Code 62 i2c.o(.text.MX_I2C1_Init)
- MX_I2C2_Init 0x08008bbd Thumb Code 62 i2c.o(.text.MX_I2C2_Init)
- MX_SPI1_Init 0x08008bfd Thumb Code 78 spi.o(.text.MX_SPI1_Init)
- MX_TIM10_Init 0x08008c4d Thumb Code 136 tim.o(.text.MX_TIM10_Init)
- MX_TIM1_Init 0x08008cd5 Thumb Code 268 tim.o(.text.MX_TIM1_Init)
- MX_USART1_UART_Init 0x08008de1 Thumb Code 56 usart.o(.text.MX_USART1_UART_Init)
- MX_USART2_UART_Init 0x08008e19 Thumb Code 56 usart.o(.text.MX_USART2_UART_Init)
- MX_USART3_UART_Init 0x08008e51 Thumb Code 68 usart.o(.text.MX_USART3_UART_Init)
- MX_USART6_UART_Init 0x08008e95 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init)
- MemManage_Handler 0x08008ecd Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler)
- NMI_Handler 0x0800902d Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler)
- PID_Calc 0x0800905d Thumb Code 368 pid.o(.text.PID_Calc)
- PID_Init 0x080091cd Thumb Code 144 pid.o(.text.PID_Init)
- PID_Reset 0x0800925d Thumb Code 44 pid.o(.text.PID_Reset)
- PendSV_Handler 0x08009291 Thumb Code 100 port.o(.text.PendSV_Handler)
- REMOTE_Init 0x080092f5 Thumb Code 68 et16s.o(.text.REMOTE_Init)
- REMOTE_StartDmaRecv 0x0800934d Thumb Code 32 et16s.o(.text.REMOTE_StartDmaRecv)
- REMOTE_WaitDmaCplt 0x0800936d Thumb Code 22 et16s.o(.text.REMOTE_WaitDmaCplt)
- SVC_Handler 0x08009711 Thumb Code 36 port.o(.text.SVC_Handler)
- Shoot_Init 0x080097b9 Thumb Code 326 shoot.o(.text.Shoot_Init)
- Shoot_SetMode 0x08009901 Thumb Code 14 shoot.o(.text.Shoot_SetMode)
- Shoot_UpdateFeedback 0x08009911 Thumb Code 500 shoot.o(.text.Shoot_UpdateFeedback)
- StartDefaultTask 0x08009b05 Thumb Code 12 freertos.o(.text.StartDefaultTask)
- SysTick_Handler 0x08009b41 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler)
- SystemClock_Config 0x08009b55 Thumb Code 164 main.o(.text.SystemClock_Config)
- SystemInit 0x08009bf9 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
- TIM1_BRK_TIM9_IRQHandler 0x08009c0d Thumb Code 16 stm32f4xx_it.o(.text.TIM1_BRK_TIM9_IRQHandler)
- TIM_Base_SetConfig 0x08009c1d Thumb Code 300 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
- TIM_CCxChannelCmd 0x08009d49 Thumb Code 36 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
- TIM_ETR_SetConfig 0x08009d6d Thumb Code 22 stm32f4xx_hal_tim.o(.text.TIM_ETR_SetConfig)
- TIM_OC2_SetConfig 0x08009df9 Thumb Code 106 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
- Task_ET16s 0x08009f69 Thumb Code 128 et16s_1.o(.text.Task_ET16s)
- Task_Init 0x08009fe9 Thumb Code 340 init.o(.text.Task_Init)
- Task_ai 0x0800a141 Thumb Code 64 ai_1.o(.text.Task_ai)
- Task_atti_esti 0x0800a181 Thumb Code 376 atti_esti.o(.text.Task_atti_esti)
- Task_chassis_ctrl 0x0800a2f9 Thumb Code 148 chassis_ctrl.o(.text.Task_chassis_ctrl)
- Task_cmd 0x0800a391 Thumb Code 232 cmd.o(.text.Task_cmd)
- Task_dr16 0x0800a479 Thumb Code 104 dr16_1.o(.text.Task_dr16)
- Task_gimbal_ctrl 0x0800a4e1 Thumb Code 172 gimbal_ctrl.o(.text.Task_gimbal_ctrl)
- Task_shoot_ctrl 0x0800a591 Thumb Code 132 shoot_ctrl.o(.text.Task_shoot_ctrl)
- Task_vofa 0x0800a619 Thumb Code 96 vofa_1.o(.text.Task_vofa)
- UART_Start_Receive_DMA 0x0800aa41 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
- USART1_IRQHandler 0x0800ab41 Thumb Code 24 stm32f4xx_it.o(.text.USART1_IRQHandler)
- USART3_IRQHandler 0x0800ab59 Thumb Code 24 stm32f4xx_it.o(.text.USART3_IRQHandler)
- USART6_IRQHandler 0x0800ab71 Thumb Code 24 stm32f4xx_it.o(.text.USART6_IRQHandler)
- UsageFault_Handler 0x0800ab89 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler)
- VOFA_FireWater_Send 0x0800ab8d Thumb Code 156 vofa.o(.text.VOFA_FireWater_Send)
- VOFA_JustFloat_Send 0x0800ac35 Thumb Code 58 vofa.o(.text.VOFA_JustFloat_Send)
- VOFA_RawData_Send 0x0800ac71 Thumb Code 24 vofa.o(.text.VOFA_RawData_Send)
- VOFA_Send 0x0800ac89 Thumb Code 140 vofa.o(.text.VOFA_Send)
- VOFA_init 0x0800ad39 Thumb Code 16 vofa.o(.text.VOFA_init)
- chassis_init 0x0800ae25 Thumb Code 592 chassis.o(.text.chassis_init)
- configureTimerForRunTimeStats 0x0800b075 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats)
- eTaskGetState 0x0800b091 Thumb Code 156 tasks.o(.text.eTaskGetState)
- getRunTimeCounterValue 0x0800b159 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue)
- main 0x0800b15d Thumb Code 74 main.o(.text.main)
- major_yaw_Control 0x0800b1a9 Thumb Code 32 gimbal.o(.text.major_yaw_Control)
- map_fp32 0x0800b1c9 Thumb Code 26 calc_lib.o(.text.map_fp32)
- osDelay 0x0800b29d Thumb Code 32 cmsis_os2.o(.text.osDelay)
- osDelayUntil 0x0800b2bd Thumb Code 52 cmsis_os2.o(.text.osDelayUntil)
- osKernelGetState 0x0800b2f1 Thumb Code 38 cmsis_os2.o(.text.osKernelGetState)
- osKernelGetTickCount 0x0800b319 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount)
- osKernelGetTickFreq 0x0800b32d Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
- osKernelInitialize 0x0800b335 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize)
- osKernelLock 0x0800b35d Thumb Code 44 cmsis_os2.o(.text.osKernelLock)
- osKernelStart 0x0800b389 Thumb Code 52 cmsis_os2.o(.text.osKernelStart)
- osKernelUnlock 0x0800b3bd Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock)
- osMessageQueueGet 0x0800b401 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet)
- osMessageQueueNew 0x0800b489 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew)
- osMessageQueuePut 0x0800b529 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut)
- osMessageQueueReset 0x0800b5b9 Thumb Code 36 cmsis_os2.o(.text.osMessageQueueReset)
- osMutexAcquire 0x0800b5dd Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire)
- osMutexNew 0x0800b631 Thumb Code 150 cmsis_os2.o(.text.osMutexNew)
- osMutexRelease 0x0800b6c9 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease)
- osThreadFlagsSet 0x0800b709 Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet)
- osThreadFlagsWait 0x0800b789 Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait)
- osThreadGetId 0x0800b845 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId)
- osThreadNew 0x0800b84d Thumb Code 180 cmsis_os2.o(.text.osThreadNew)
- osThreadTerminate 0x0800b901 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate)
- pvPortMalloc 0x0800c2dd Thumb Code 330 heap_4.o(.text.pvPortMalloc)
- pvTaskIncrementMutexHeldCount 0x0800c429 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount)
- pxPortInitialiseStack 0x0800c441 Thumb Code 40 port.o(.text.pxPortInitialiseStack)
- uxListRemove 0x0800c495 Thumb Code 36 list.o(.text.uxListRemove)
- vApplicationGetIdleTaskMemory 0x0800c4b9 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
- vApplicationGetTimerTaskMemory 0x0800c4d5 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
- vApplicationStackOverflowHook 0x0800c4f1 Thumb Code 2 freertos.o(.text.vApplicationStackOverflowHook)
- vListInitialise 0x0800c4f5 Thumb Code 22 list.o(.text.vListInitialise)
- vListInitialiseItem 0x0800c50d Thumb Code 6 list.o(.text.vListInitialiseItem)
- vListInsert 0x0800c515 Thumb Code 58 list.o(.text.vListInsert)
- vListInsertEnd 0x0800c551 Thumb Code 28 list.o(.text.vListInsertEnd)
- vPortEnterCritical 0x0800c581 Thumb Code 70 port.o(.text.vPortEnterCritical)
- vPortExitCritical 0x0800c5c9 Thumb Code 46 port.o(.text.vPortExitCritical)
- vPortFree 0x0800c5f9 Thumb Code 138 heap_4.o(.text.vPortFree)
- vPortSetupTimerInterrupt 0x0800c685 Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt)
- vPortValidateInterruptPriority 0x0800c6b9 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority)
- vQueueAddToRegistry 0x0800c71d Thumb Code 40 queue.o(.text.vQueueAddToRegistry)
- vQueueWaitForMessageRestricted 0x0800c745 Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted)
- vTaskDelay 0x0800c789 Thumb Code 84 tasks.o(.text.vTaskDelay)
- vTaskDelayUntil 0x0800c7dd Thumb Code 168 tasks.o(.text.vTaskDelayUntil)
- vTaskDelete 0x0800c885 Thumb Code 194 tasks.o(.text.vTaskDelete)
- vTaskInternalSetTimeOutState 0x0800c949 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState)
- vTaskMissedYield 0x0800c965 Thumb Code 14 tasks.o(.text.vTaskMissedYield)
- vTaskPlaceOnEventList 0x0800c975 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList)
- vTaskPlaceOnEventListRestricted 0x0800c9a9 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted)
- vTaskPriorityDisinheritAfterTimeout 0x0800c9e9 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
- vTaskStartScheduler 0x0800ca8d Thumb Code 160 tasks.o(.text.vTaskStartScheduler)
- vTaskSuspendAll 0x0800cb35 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
- vTaskSwitchContext 0x0800cb45 Thumb Code 226 tasks.o(.text.vTaskSwitchContext)
- xPortStartScheduler 0x0800cc29 Thumb Code 274 port.o(.text.xPortStartScheduler)
- xPortSysTickHandler 0x0800cd3d Thumb Code 46 port.o(.text.xPortSysTickHandler)
- xQueueCreateMutex 0x0800cd6d Thumb Code 22 queue.o(.text.xQueueCreateMutex)
- xQueueCreateMutexStatic 0x0800cd85 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic)
- xQueueGenericCreate 0x0800cda9 Thumb Code 70 queue.o(.text.xQueueGenericCreate)
- xQueueGenericCreateStatic 0x0800cdf1 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic)
- xQueueGenericReset 0x0800ce89 Thumb Code 126 queue.o(.text.xQueueGenericReset)
- xQueueGenericSend 0x0800cf09 Thumb Code 418 queue.o(.text.xQueueGenericSend)
- xQueueGenericSendFromISR 0x0800d0ad Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR)
- xQueueGiveMutexRecursive 0x0800d17d Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive)
- xQueueReceive 0x0800d1c1 Thumb Code 388 queue.o(.text.xQueueReceive)
- xQueueReceiveFromISR 0x0800d345 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR)
- xQueueSemaphoreTake 0x0800d3f1 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake)
- xQueueTakeMutexRecursive 0x0800d5b9 Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive)
- xTaskCheckForTimeOut 0x0800d5f5 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut)
- xTaskCreate 0x0800d67d Thumb Code 102 tasks.o(.text.xTaskCreate)
- xTaskCreateStatic 0x0800d6e5 Thumb Code 118 tasks.o(.text.xTaskCreateStatic)
- xTaskGenericNotify 0x0800d75d Thumb Code 252 tasks.o(.text.xTaskGenericNotify)
- xTaskGenericNotifyFromISR 0x0800d859 Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR)
- xTaskGetCurrentTaskHandle 0x0800d985 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle)
- xTaskGetSchedulerState 0x0800d991 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState)
- xTaskGetTickCount 0x0800d9b9 Thumb Code 12 tasks.o(.text.xTaskGetTickCount)
- xTaskGetTickCountFromISR 0x0800d9c5 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR)
- xTaskIncrementTick 0x0800d9d9 Thumb Code 338 tasks.o(.text.xTaskIncrementTick)
- xTaskNotifyWait 0x0800db2d Thumb Code 144 tasks.o(.text.xTaskNotifyWait)
- xTaskPriorityDisinherit 0x0800dbbd Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit)
- xTaskPriorityInherit 0x0800dc51 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit)
- xTaskRemoveFromEventList 0x0800dce5 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList)
- xTaskResumeAll 0x0800dd75 Thumb Code 276 tasks.o(.text.xTaskResumeAll)
- xTimerCreateTimerTask 0x0800de89 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask)
- xTimerGenericCommand 0x0800defd Thumb Code 104 timers.o(.text.xTimerGenericCommand)
- _btod_d2e 0x0800df65 Thumb Code 62 btod.o(CL$$btod_d2e)
- _d2e_denorm_low 0x0800dfa3 Thumb Code 70 btod.o(CL$$btod_d2e_denorm_low)
- _d2e_norm_op1 0x0800dfe9 Thumb Code 96 btod.o(CL$$btod_d2e_norm_op1)
- __btod_div_common 0x0800e049 Thumb Code 696 btod.o(CL$$btod_div_common)
- _e2e 0x0800e381 Thumb Code 220 btod.o(CL$$btod_e2e)
- _btod_ediv 0x0800e45d Thumb Code 42 btod.o(CL$$btod_ediv)
- _btod_emul 0x0800e487 Thumb Code 42 btod.o(CL$$btod_emul)
- __btod_mult_common 0x0800e4b1 Thumb Code 580 btod.o(CL$$btod_mult_common)
- __ARM_fpclassify 0x0800e6f5 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify)
- __ARM_fpclassifyf 0x0800e725 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
- __hardfp_asinf 0x0800e74d Thumb Code 258 asinf.o(i.__hardfp_asinf)
- __hardfp_atan 0x0800e879 Thumb Code 622 atan.o(i.__hardfp_atan)
- __hardfp_atan2 0x0800eb51 Thumb Code 448 atan2.o(i.__hardfp_atan2)
- __hardfp_atan2f 0x0800ed51 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
- __hardfp_cosf 0x0800effd Thumb Code 280 cosf.o(i.__hardfp_cosf)
- __hardfp_fmod 0x0800f14d Thumb Code 254 fmod.o(i.__hardfp_fmod)
- __hardfp_sinf 0x0800f251 Thumb Code 344 sinf.o(i.__hardfp_sinf)
- __hardfp_sqrt 0x0800f3e1 Thumb Code 122 sqrt.o(i.__hardfp_sqrt)
- __hardfp_tanf 0x0800f45d Thumb Code 322 tanf.o(i.__hardfp_tanf)
- __kernel_poly 0x0800f5d9 Thumb Code 248 poly.o(i.__kernel_poly)
- __mathlib_dbl_infnan 0x0800f6d1 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
- __mathlib_dbl_infnan2 0x0800f6e5 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
- __mathlib_dbl_invalid 0x0800f6f9 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid)
- __mathlib_dbl_underflow 0x0800f719 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
- __mathlib_flt_infnan 0x0800f739 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
- __mathlib_flt_infnan2 0x0800f73f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
- __mathlib_flt_invalid 0x0800f745 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
- __mathlib_flt_underflow 0x0800f755 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
- __mathlib_rredf2 0x0800f765 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
- _is_digit 0x0800f8b9 Thumb Code 14 __printf_wp.o(i._is_digit)
- atan 0x0800f8c7 Thumb Code 16 atan.o(i.atan)
- fabs 0x0800f8d7 Thumb Code 24 fabs.o(i.fabs)
- sqrtf 0x0800f8ef Thumb Code 62 sqrtf.o(i.sqrtf)
- _get_lc_numeric 0x0800f92d Thumb Code 44 lc_numeric_c.o(locale$$code)
- __aeabi_dneg 0x0800f959 Thumb Code 0 basic.o(x$fpl$basic)
- _dneg 0x0800f959 Thumb Code 6 basic.o(x$fpl$basic)
- __aeabi_fneg 0x0800f95f Thumb Code 0 basic.o(x$fpl$basic)
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- _dabs 0x0800f965 Thumb Code 6 basic.o(x$fpl$basic)
- _fabs 0x0800f96b Thumb Code 6 basic.o(x$fpl$basic)
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- _d2f 0x0800f971 Thumb Code 98 d2f.o(x$fpl$d2f)
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- _dadd 0x0800f9d5 Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
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- __aeabi_ddiv 0x0800fb3d Thumb Code 0 ddiv.o(x$fpl$ddiv)
- _ddiv 0x0800fb3d Thumb Code 556 ddiv.o(x$fpl$ddiv)
- __aeabi_cdcmpeq 0x0800fdf1 Thumb Code 0 deqf.o(x$fpl$deqf)
- _dcmpeq 0x0800fdf1 Thumb Code 120 deqf.o(x$fpl$deqf)
- __aeabi_d2uiz 0x0800fe69 Thumb Code 0 dfixu.o(x$fpl$dfixu)
- _dfixu 0x0800fe69 Thumb Code 90 dfixu.o(x$fpl$dfixu)
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- _dfltu 0x0800fec3 Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
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- _dcmpge 0x0800fee9 Thumb Code 120 dgeqf.o(x$fpl$dgeqf)
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- _dcmple 0x0800ff61 Thumb Code 120 dleqf.o(x$fpl$dleqf)
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- __aeabi_dmul 0x0800ffd9 Thumb Code 0 dmul.o(x$fpl$dmul)
- _dmul 0x0800ffd9 Thumb Code 332 dmul.o(x$fpl$dmul)
- __fpl_dnaninf 0x0801012d Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
- _drem 0x080101c9 Thumb Code 328 drem_clz.o(x$fpl$drem)
- __fpl_dretinf 0x08010319 Thumb Code 12 dretinf.o(x$fpl$dretinf)
- __aeabi_drsub 0x08010325 Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
- _drsb 0x08010325 Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
- _dsqrt 0x0801033d Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt)
- __aeabi_dsub 0x080104d5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
- _dsub 0x080104d5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
- __aeabi_f2d 0x080106b1 Thumb Code 0 f2d.o(x$fpl$f2d)
- _f2d 0x080106b1 Thumb Code 86 f2d.o(x$fpl$f2d)
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- __fpl_fretinf 0x08010861 Thumb Code 10 fretinf.o(x$fpl$fretinf)
- _printf_fp_dec 0x0801086b Thumb Code 4 printf1.o(x$fpl$printf1)
- __I$use$fp 0x0801086e Number 0 usenofp.o(x$fpl$usenofp)
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- AHBPrescTable 0x080109c4 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
- APBPrescTable 0x080109d4 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
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- attr_ai 0x08010a68 Data 36 user_task.o(.rodata.attr_ai)
- attr_atti_esti 0x08010a8c Data 36 user_task.o(.rodata.attr_atti_esti)
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- attr_dr16 0x08010af8 Data 36 user_task.o(.rodata.attr_dr16)
- attr_gimbal_ctrl 0x08010b1c Data 36 user_task.o(.rodata.attr_gimbal_ctrl)
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- attr_vofa 0x08010b88 Data 36 user_task.o(.rodata.attr_vofa)
- defaultTask_attributes 0x08010bbc Data 36 freertos.o(.rodata.defaultTask_attributes)
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+ Chassis_Setoutput 0x0800359d Thumb Code 144 chassis.o(.text.Chassis_Setoutput)
+ Chassis_speed_calculate 0x08003631 Thumb Code 1512 chassis.o(.text.Chassis_speed_calculate)
+ Chassis_update 0x08003c19 Thumb Code 516 chassis.o(.text.Chassis_update)
+ CircleAdd 0x08003e1d Thumb Code 58 user_math.o(.text.CircleAdd)
+ CircleError 0x08003e59 Thumb Code 60 user_math.o(.text.CircleError)
+ Clip 0x08003e95 Thumb Code 38 user_math.o(.text.Clip)
+ Config_GetRobotParam 0x08003ebd Thumb Code 10 config.o(.text.Config_GetRobotParam)
+ DMA1_Stream1_IRQHandler 0x08003ec9 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
+ DMA2_Stream1_IRQHandler 0x08003ed9 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler)
+ DMA2_Stream2_IRQHandler 0x08003ee9 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler)
+ DMA2_Stream3_IRQHandler 0x08003ef9 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler)
+ DMA2_Stream6_IRQHandler 0x08003f09 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)
+ DR16_Init 0x08003fd5 Thumb Code 70 dr16.o(.text.DR16_Init)
+ DebugMon_Handler 0x08004031 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
+ ET16S_ParseRC 0x08004035 Thumb Code 146 et16s.o(.text.ET16S_ParseRC)
+ ET16s_HandleOffline 0x080040c9 Thumb Code 54 et16s.o(.text.ET16s_HandleOffline)
+ ET16s_ParseRaw 0x08004101 Thumb Code 616 et16s.o(.text.ET16s_ParseRaw)
+ EXTI0_IRQHandler 0x08004369 Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler)
+ EXTI3_IRQHandler 0x08004375 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler)
+ EXTI4_IRQHandler 0x08004381 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler)
+ EXTI9_5_IRQHandler 0x0800438d Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
+ Error_Handler 0x08004399 Thumb Code 6 main.o(.text.Error_Handler)
+ GetLogicalPosition 0x080043a1 Thumb Code 36 chassis.o(.text.GetLogicalPosition)
+ Gimbal_Control 0x080043c5 Thumb Code 928 gimbal.o(.text.Gimbal_Control)
+ Gimbal_Control_mode 0x08004765 Thumb Code 88 gimbal.o(.text.Gimbal_Control_mode)
+ Gimbal_Init 0x08004861 Thumb Code 342 gimbal.o(.text.Gimbal_Init)
+ Gimbal_Output 0x080049b9 Thumb Code 274 gimbal.o(.text.Gimbal_Output)
+ Gimbal_UpdateFeedback 0x08004b55 Thumb Code 286 gimbal.o(.text.Gimbal_UpdateFeedback)
+ Gimbal_UpdateIMU 0x08004c75 Thumb Code 78 gimbal.o(.text.Gimbal_UpdateIMU)
+ HAL_CAN_ActivateNotification 0x08004cc5 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
+ HAL_CAN_AddTxMessage 0x08004ced Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
+ HAL_CAN_ConfigFilter 0x08004d81 Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
+ HAL_CAN_ErrorCallback 0x08004e61 Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback)
+ HAL_CAN_GetRxFifoFillLevel 0x08004e85 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
+ HAL_CAN_GetRxMessage 0x08004ea5 Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
+ HAL_CAN_GetTxMailboxesFreeLevel 0x08004fc9 Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
+ HAL_CAN_IRQHandler 0x08004ff1 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
+ HAL_CAN_Init 0x0800522d Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
+ HAL_CAN_MspInit 0x08005321 Thumb Code 308 can.o(.text.HAL_CAN_MspInit)
+ HAL_CAN_RxFifo0FullCallback 0x08005455 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
+ HAL_CAN_RxFifo0MsgPendingCallback 0x08005479 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
+ HAL_CAN_RxFifo1FullCallback 0x0800549d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
+ HAL_CAN_RxFifo1MsgPendingCallback 0x080054c1 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
+ HAL_CAN_SleepCallback 0x080054e5 Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback)
+ HAL_CAN_Start 0x08005509 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
+ HAL_CAN_TxMailbox0AbortCallback 0x08005565 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
+ HAL_CAN_TxMailbox0CompleteCallback 0x08005589 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
+ HAL_CAN_TxMailbox1AbortCallback 0x080055ad Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
+ HAL_CAN_TxMailbox1CompleteCallback 0x080055d1 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
+ HAL_CAN_TxMailbox2AbortCallback 0x080055f5 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
+ HAL_CAN_TxMailbox2CompleteCallback 0x08005619 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
+ HAL_CAN_WakeUpFromRxMsgCallback 0x0800563d Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
+ HAL_DMA_Abort 0x08005661 Thumb Code 128 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
+ HAL_DMA_Abort_IT 0x080056e1 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
+ HAL_DMA_IRQHandler 0x08005705 Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+ HAL_DMA_Init 0x08005891 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
+ HAL_DMA_Start_IT 0x08005961 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
+ HAL_Delay 0x080059c5 Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay)
+ HAL_GPIO_EXTI_Callback 0x080059ed Thumb Code 44 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
+ HAL_GPIO_EXTI_IRQHandler 0x08005a19 Thumb Code 26 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
+ HAL_GPIO_Init 0x08005a35 Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+ HAL_GPIO_ReadPin 0x08005bd1 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
+ HAL_GPIO_WritePin 0x08005bdd Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
+ HAL_GetTick 0x08005be9 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
+ HAL_I2C_Init 0x08005bf5 Thumb Code 408 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
+ HAL_I2C_MspInit 0x08005d8d Thumb Code 216 i2c.o(.text.HAL_I2C_MspInit)
+ HAL_IncTick 0x08005e65 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
+ HAL_Init 0x08005e81 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
+ HAL_InitTick 0x08005eb9 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick)
+ HAL_MspInit 0x08005f09 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
+ HAL_NVIC_DisableIRQ 0x08005f51 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
+ HAL_NVIC_EnableIRQ 0x08005f59 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+ HAL_NVIC_SetPriority 0x08005f61 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+ HAL_NVIC_SetPriorityGrouping 0x08005f81 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+ HAL_RCC_ClockConfig 0x08005f89 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+ HAL_RCC_GetHCLKFreq 0x080060e9 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
+ HAL_RCC_GetPCLK1Freq 0x080060f5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+ HAL_RCC_GetPCLK2Freq 0x08006119 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+ HAL_RCC_GetSysClockFreq 0x0800613d Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+ HAL_RCC_OscConfig 0x080061a5 Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+ HAL_SPI_ErrorCallback 0x080064ed Thumb Code 34 spi_1.o(.text.HAL_SPI_ErrorCallback)
+ HAL_SPI_Init 0x08006511 Thumb Code 180 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
+ HAL_SPI_MspInit 0x080065c5 Thumb Code 302 spi.o(.text.HAL_SPI_MspInit)
+ HAL_SPI_Receive 0x080066f5 Thumb Code 370 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
+ HAL_SPI_Receive_DMA 0x08006869 Thumb Code 236 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
+ HAL_SPI_RxCpltCallback 0x08006955 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxCpltCallback)
+ HAL_SPI_RxHalfCpltCallback 0x08006979 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
+ HAL_SPI_Transmit 0x0800699d Thumb Code 394 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
+ HAL_SPI_TransmitReceive 0x08006b29 Thumb Code 504 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
+ HAL_SPI_TransmitReceive_DMA 0x08006d21 Thumb Code 292 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
+ HAL_SPI_Transmit_DMA 0x08006e45 Thumb Code 204 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
+ HAL_SPI_TxCpltCallback 0x08006f11 Thumb Code 32 spi_1.o(.text.HAL_SPI_TxCpltCallback)
+ HAL_SPI_TxHalfCpltCallback 0x08006f31 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
+ HAL_SPI_TxRxCpltCallback 0x08006f55 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
+ HAL_SPI_TxRxHalfCpltCallback 0x08006f79 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
+ HAL_SYSTICK_Config 0x08006f9d Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+ HAL_TIMEx_BreakCallback 0x08006fa5 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
+ HAL_TIMEx_CommutCallback 0x08006fa9 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
+ HAL_TIMEx_ConfigBreakDeadTime 0x08006fad Thumb Code 76 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_ConfigBreakDeadTime)
+ HAL_TIMEx_MasterConfigSynchronization 0x08006ff9 Thumb Code 184 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
+ HAL_TIM_Base_Init 0x080070b1 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
+ HAL_TIM_Base_MspInit 0x0800710d Thumb Code 180 tim.o(.text.HAL_TIM_Base_MspInit)
+ HAL_TIM_ConfigClockSource 0x080071c1 Thumb Code 222 stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource)
+ HAL_TIM_IC_CaptureCallback 0x080072a1 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
+ HAL_TIM_IRQHandler 0x080072a5 Thumb Code 308 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
+ HAL_TIM_MspPostInit 0x080073d9 Thumb Code 164 tim.o(.text.HAL_TIM_MspPostInit)
+ HAL_TIM_OC_DelayElapsedCallback 0x0800747d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
+ HAL_TIM_PWM_ConfigChannel 0x08007481 Thumb Code 152 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
+ HAL_TIM_PWM_Init 0x08007519 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
+ HAL_TIM_PWM_MspInit 0x08007575 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
+ HAL_TIM_PWM_PulseFinishedCallback 0x08007579 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
+ HAL_TIM_PWM_Start 0x0800757d Thumb Code 290 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
+ HAL_TIM_PeriodElapsedCallback 0x080076a1 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
+ HAL_TIM_TriggerCallback 0x080076a5 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
+ HAL_UARTEx_RxEventCallback 0x080076a9 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
+ HAL_UART_ErrorCallback 0x080076ad Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback)
+ HAL_UART_IRQHandler 0x080076d5 Thumb Code 602 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
+ HAL_UART_Init 0x08007931 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
+ HAL_UART_MspInit 0x08007991 Thumb Code 730 usart.o(.text.HAL_UART_MspInit)
+ HAL_UART_Receive_DMA 0x08007c6d Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
+ HAL_UART_RxCpltCallback 0x08007c99 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback)
+ HAL_UART_RxHalfCpltCallback 0x08007cc1 Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback)
+ HAL_UART_Transmit_DMA 0x08007ce9 Thumb Code 140 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA)
+ HAL_UART_Transmit_IT 0x08007d75 Thumb Code 56 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT)
+ HAL_UART_TxCpltCallback 0x08007dad Thumb Code 38 uart.o(.text.HAL_UART_TxCpltCallback)
+ HAL_UART_TxHalfCpltCallback 0x08007dd5 Thumb Code 36 uart.o(.text.HAL_UART_TxHalfCpltCallback)
+ HardFault_Handler 0x08007df9 Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler)
+ InvSqrt 0x08007dfd Thumb Code 66 user_math.o(.text.InvSqrt)
+ Keymap 0x08007e41 Thumb Code 36 et16s.o(.text.Keymap)
+ LowPassFilter2p_Apply 0x08007e65 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply)
+ LowPassFilter2p_Init 0x08007ee1 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init)
+ LowPassFilter2p_Reset 0x08007f85 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset)
+ MOTOR_DM_Enable 0x0800801d Thumb Code 70 motor_dm.o(.text.MOTOR_DM_Enable)
+ MOTOR_DM_GetMotor 0x08008079 Thumb Code 88 motor_dm.o(.text.MOTOR_DM_GetMotor)
+ MOTOR_DM_MITCtrl 0x080080d1 Thumb Code 46 motor_dm.o(.text.MOTOR_DM_MITCtrl)
+ MOTOR_DM_Register 0x080081f9 Thumb Code 164 motor_dm.o(.text.MOTOR_DM_Register)
+ MOTOR_DM_Update 0x080083b5 Thumb Code 160 motor_dm.o(.text.MOTOR_DM_Update)
+ MOTOR_RM_Ctrl 0x08008491 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl)
+ MOTOR_RM_GetMotor 0x080085cd Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor)
+ MOTOR_RM_Register 0x08008641 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register)
+ MOTOR_RM_SetOutput 0x080086e9 Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput)
+ MOTOR_RM_Update 0x08008789 Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update)
+ MX_CAN1_Init 0x08008851 Thumb Code 68 can.o(.text.MX_CAN1_Init)
+ MX_CAN2_Init 0x08008895 Thumb Code 68 can.o(.text.MX_CAN2_Init)
+ MX_DMA_Init 0x080088d9 Thumb Code 138 dma.o(.text.MX_DMA_Init)
+ MX_FREERTOS_Init 0x08008965 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init)
+ MX_GPIO_Init 0x080089a1 Thumb Code 514 gpio.o(.text.MX_GPIO_Init)
+ MX_I2C1_Init 0x08008ba5 Thumb Code 62 i2c.o(.text.MX_I2C1_Init)
+ MX_I2C2_Init 0x08008be5 Thumb Code 62 i2c.o(.text.MX_I2C2_Init)
+ MX_SPI1_Init 0x08008c25 Thumb Code 78 spi.o(.text.MX_SPI1_Init)
+ MX_TIM10_Init 0x08008c75 Thumb Code 136 tim.o(.text.MX_TIM10_Init)
+ MX_TIM1_Init 0x08008cfd Thumb Code 268 tim.o(.text.MX_TIM1_Init)
+ MX_USART1_UART_Init 0x08008e09 Thumb Code 56 usart.o(.text.MX_USART1_UART_Init)
+ MX_USART2_UART_Init 0x08008e41 Thumb Code 56 usart.o(.text.MX_USART2_UART_Init)
+ MX_USART3_UART_Init 0x08008e79 Thumb Code 68 usart.o(.text.MX_USART3_UART_Init)
+ MX_USART6_UART_Init 0x08008ebd Thumb Code 56 usart.o(.text.MX_USART6_UART_Init)
+ MemManage_Handler 0x08008ef5 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler)
+ NMI_Handler 0x08009055 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler)
+ PID_Calc 0x08009085 Thumb Code 368 pid.o(.text.PID_Calc)
+ PID_Init 0x080091f5 Thumb Code 144 pid.o(.text.PID_Init)
+ PID_Reset 0x08009285 Thumb Code 44 pid.o(.text.PID_Reset)
+ PendSV_Handler 0x080092b1 Thumb Code 100 port.o(.text.PendSV_Handler)
+ REMOTE_Init 0x08009315 Thumb Code 68 et16s.o(.text.REMOTE_Init)
+ REMOTE_StartDmaRecv 0x0800936d Thumb Code 32 et16s.o(.text.REMOTE_StartDmaRecv)
+ REMOTE_WaitDmaCplt 0x0800938d Thumb Code 22 et16s.o(.text.REMOTE_WaitDmaCplt)
+ SVC_Handler 0x08009731 Thumb Code 36 port.o(.text.SVC_Handler)
+ Shoot_Init 0x0800982d Thumb Code 326 shoot.o(.text.Shoot_Init)
+ Shoot_SetMode 0x08009975 Thumb Code 14 shoot.o(.text.Shoot_SetMode)
+ Shoot_UpdateFeedback 0x08009985 Thumb Code 500 shoot.o(.text.Shoot_UpdateFeedback)
+ StartDefaultTask 0x08009b79 Thumb Code 12 freertos.o(.text.StartDefaultTask)
+ SysTick_Handler 0x08009bb5 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler)
+ SystemClock_Config 0x08009bc9 Thumb Code 164 main.o(.text.SystemClock_Config)
+ SystemInit 0x08009c6d Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
+ TIM1_BRK_TIM9_IRQHandler 0x08009c81 Thumb Code 16 stm32f4xx_it.o(.text.TIM1_BRK_TIM9_IRQHandler)
+ TIM_Base_SetConfig 0x08009c91 Thumb Code 300 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+ TIM_CCxChannelCmd 0x08009dbd Thumb Code 36 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
+ TIM_ETR_SetConfig 0x08009de1 Thumb Code 22 stm32f4xx_hal_tim.o(.text.TIM_ETR_SetConfig)
+ TIM_OC2_SetConfig 0x08009e6d Thumb Code 106 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
+ Task_ET16s 0x08009fd9 Thumb Code 128 et16s_1.o(.text.Task_ET16s)
+ Task_Init 0x0800a059 Thumb Code 340 init.o(.text.Task_Init)
+ Task_ai 0x0800a1b1 Thumb Code 64 ai_1.o(.text.Task_ai)
+ Task_atti_esti 0x0800a1f1 Thumb Code 376 atti_esti.o(.text.Task_atti_esti)
+ Task_chassis_ctrl 0x0800a369 Thumb Code 148 chassis_ctrl.o(.text.Task_chassis_ctrl)
+ Task_cmd 0x0800a401 Thumb Code 232 cmd.o(.text.Task_cmd)
+ Task_dr16 0x0800a4e9 Thumb Code 104 dr16_1.o(.text.Task_dr16)
+ Task_gimbal_ctrl 0x0800a551 Thumb Code 172 gimbal_ctrl.o(.text.Task_gimbal_ctrl)
+ Task_shoot_ctrl 0x0800a601 Thumb Code 132 shoot_ctrl.o(.text.Task_shoot_ctrl)
+ Task_vofa 0x0800a689 Thumb Code 96 vofa_1.o(.text.Task_vofa)
+ UART_Start_Receive_DMA 0x0800aab1 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
+ USART1_IRQHandler 0x0800abb1 Thumb Code 24 stm32f4xx_it.o(.text.USART1_IRQHandler)
+ USART3_IRQHandler 0x0800abc9 Thumb Code 24 stm32f4xx_it.o(.text.USART3_IRQHandler)
+ USART6_IRQHandler 0x0800abe1 Thumb Code 24 stm32f4xx_it.o(.text.USART6_IRQHandler)
+ UsageFault_Handler 0x0800abf9 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler)
+ VOFA_FireWater_Send 0x0800abfd Thumb Code 156 vofa.o(.text.VOFA_FireWater_Send)
+ VOFA_JustFloat_Send 0x0800aca5 Thumb Code 58 vofa.o(.text.VOFA_JustFloat_Send)
+ VOFA_RawData_Send 0x0800ace1 Thumb Code 24 vofa.o(.text.VOFA_RawData_Send)
+ VOFA_Send 0x0800acf9 Thumb Code 140 vofa.o(.text.VOFA_Send)
+ VOFA_init 0x0800ada9 Thumb Code 16 vofa.o(.text.VOFA_init)
+ chassis_init 0x0800ae95 Thumb Code 592 chassis.o(.text.chassis_init)
+ configureTimerForRunTimeStats 0x0800b0e5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats)
+ eTaskGetState 0x0800b101 Thumb Code 156 tasks.o(.text.eTaskGetState)
+ getRunTimeCounterValue 0x0800b1c9 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue)
+ main 0x0800b1cd Thumb Code 74 main.o(.text.main)
+ major_yaw_Control 0x0800b219 Thumb Code 32 gimbal.o(.text.major_yaw_Control)
+ map_fp32 0x0800b239 Thumb Code 26 calc_lib.o(.text.map_fp32)
+ osDelay 0x0800b30d Thumb Code 32 cmsis_os2.o(.text.osDelay)
+ osDelayUntil 0x0800b32d Thumb Code 52 cmsis_os2.o(.text.osDelayUntil)
+ osKernelGetState 0x0800b361 Thumb Code 38 cmsis_os2.o(.text.osKernelGetState)
+ osKernelGetTickCount 0x0800b389 Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount)
+ osKernelGetTickFreq 0x0800b39d Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
+ osKernelInitialize 0x0800b3a5 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize)
+ osKernelLock 0x0800b3cd Thumb Code 44 cmsis_os2.o(.text.osKernelLock)
+ osKernelStart 0x0800b3f9 Thumb Code 52 cmsis_os2.o(.text.osKernelStart)
+ osKernelUnlock 0x0800b42d Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock)
+ osMessageQueueGet 0x0800b471 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet)
+ osMessageQueueNew 0x0800b4f9 Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew)
+ osMessageQueuePut 0x0800b599 Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut)
+ osMessageQueueReset 0x0800b629 Thumb Code 36 cmsis_os2.o(.text.osMessageQueueReset)
+ osMutexAcquire 0x0800b64d Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire)
+ osMutexNew 0x0800b6a1 Thumb Code 150 cmsis_os2.o(.text.osMutexNew)
+ osMutexRelease 0x0800b739 Thumb Code 62 cmsis_os2.o(.text.osMutexRelease)
+ osThreadFlagsSet 0x0800b779 Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet)
+ osThreadFlagsWait 0x0800b7f9 Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait)
+ osThreadGetId 0x0800b8b5 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId)
+ osThreadNew 0x0800b8bd Thumb Code 180 cmsis_os2.o(.text.osThreadNew)
+ osThreadTerminate 0x0800b971 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate)
+ pvPortMalloc 0x0800c34d Thumb Code 330 heap_4.o(.text.pvPortMalloc)
+ pvTaskIncrementMutexHeldCount 0x0800c499 Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount)
+ pxPortInitialiseStack 0x0800c4b1 Thumb Code 40 port.o(.text.pxPortInitialiseStack)
+ uxListRemove 0x0800c505 Thumb Code 36 list.o(.text.uxListRemove)
+ vApplicationGetIdleTaskMemory 0x0800c529 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+ vApplicationGetTimerTaskMemory 0x0800c545 Thumb Code 26 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+ vApplicationStackOverflowHook 0x0800c561 Thumb Code 2 freertos.o(.text.vApplicationStackOverflowHook)
+ vListInitialise 0x0800c565 Thumb Code 22 list.o(.text.vListInitialise)
+ vListInitialiseItem 0x0800c57d Thumb Code 6 list.o(.text.vListInitialiseItem)
+ vListInsert 0x0800c585 Thumb Code 58 list.o(.text.vListInsert)
+ vListInsertEnd 0x0800c5c1 Thumb Code 28 list.o(.text.vListInsertEnd)
+ vPortEnterCritical 0x0800c5f1 Thumb Code 70 port.o(.text.vPortEnterCritical)
+ vPortExitCritical 0x0800c639 Thumb Code 46 port.o(.text.vPortExitCritical)
+ vPortFree 0x0800c669 Thumb Code 138 heap_4.o(.text.vPortFree)
+ vPortSetupTimerInterrupt 0x0800c6f5 Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt)
+ vPortValidateInterruptPriority 0x0800c729 Thumb Code 98 port.o(.text.vPortValidateInterruptPriority)
+ vQueueAddToRegistry 0x0800c78d Thumb Code 40 queue.o(.text.vQueueAddToRegistry)
+ vQueueWaitForMessageRestricted 0x0800c7b5 Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted)
+ vTaskDelay 0x0800c7f9 Thumb Code 84 tasks.o(.text.vTaskDelay)
+ vTaskDelayUntil 0x0800c84d Thumb Code 168 tasks.o(.text.vTaskDelayUntil)
+ vTaskDelete 0x0800c8f5 Thumb Code 194 tasks.o(.text.vTaskDelete)
+ vTaskInternalSetTimeOutState 0x0800c9b9 Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState)
+ vTaskMissedYield 0x0800c9d5 Thumb Code 14 tasks.o(.text.vTaskMissedYield)
+ vTaskPlaceOnEventList 0x0800c9e5 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList)
+ vTaskPlaceOnEventListRestricted 0x0800ca19 Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted)
+ vTaskPriorityDisinheritAfterTimeout 0x0800ca59 Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+ vTaskStartScheduler 0x0800cafd Thumb Code 160 tasks.o(.text.vTaskStartScheduler)
+ vTaskSuspendAll 0x0800cba5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
+ vTaskSwitchContext 0x0800cbb5 Thumb Code 226 tasks.o(.text.vTaskSwitchContext)
+ xPortStartScheduler 0x0800cc99 Thumb Code 274 port.o(.text.xPortStartScheduler)
+ xPortSysTickHandler 0x0800cdad Thumb Code 46 port.o(.text.xPortSysTickHandler)
+ xQueueCreateMutex 0x0800cddd Thumb Code 22 queue.o(.text.xQueueCreateMutex)
+ xQueueCreateMutexStatic 0x0800cdf5 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic)
+ xQueueGenericCreate 0x0800ce19 Thumb Code 70 queue.o(.text.xQueueGenericCreate)
+ xQueueGenericCreateStatic 0x0800ce61 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic)
+ xQueueGenericReset 0x0800cef9 Thumb Code 126 queue.o(.text.xQueueGenericReset)
+ xQueueGenericSend 0x0800cf79 Thumb Code 418 queue.o(.text.xQueueGenericSend)
+ xQueueGenericSendFromISR 0x0800d11d Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR)
+ xQueueGiveMutexRecursive 0x0800d1ed Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive)
+ xQueueReceive 0x0800d231 Thumb Code 388 queue.o(.text.xQueueReceive)
+ xQueueReceiveFromISR 0x0800d3b5 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR)
+ xQueueSemaphoreTake 0x0800d461 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake)
+ xQueueTakeMutexRecursive 0x0800d629 Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive)
+ xTaskCheckForTimeOut 0x0800d665 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut)
+ xTaskCreate 0x0800d6ed Thumb Code 102 tasks.o(.text.xTaskCreate)
+ xTaskCreateStatic 0x0800d755 Thumb Code 118 tasks.o(.text.xTaskCreateStatic)
+ xTaskGenericNotify 0x0800d7cd Thumb Code 252 tasks.o(.text.xTaskGenericNotify)
+ xTaskGenericNotifyFromISR 0x0800d8c9 Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR)
+ xTaskGetCurrentTaskHandle 0x0800d9f5 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle)
+ xTaskGetSchedulerState 0x0800da01 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState)
+ xTaskGetTickCount 0x0800da29 Thumb Code 12 tasks.o(.text.xTaskGetTickCount)
+ xTaskGetTickCountFromISR 0x0800da35 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR)
+ xTaskIncrementTick 0x0800da49 Thumb Code 338 tasks.o(.text.xTaskIncrementTick)
+ xTaskNotifyWait 0x0800db9d Thumb Code 144 tasks.o(.text.xTaskNotifyWait)
+ xTaskPriorityDisinherit 0x0800dc2d Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit)
+ xTaskPriorityInherit 0x0800dcc1 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit)
+ xTaskRemoveFromEventList 0x0800dd55 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList)
+ xTaskResumeAll 0x0800dde5 Thumb Code 276 tasks.o(.text.xTaskResumeAll)
+ xTimerCreateTimerTask 0x0800def9 Thumb Code 108 timers.o(.text.xTimerCreateTimerTask)
+ xTimerGenericCommand 0x0800df6d Thumb Code 104 timers.o(.text.xTimerGenericCommand)
+ _btod_d2e 0x0800dfd5 Thumb Code 62 btod.o(CL$$btod_d2e)
+ _d2e_denorm_low 0x0800e013 Thumb Code 70 btod.o(CL$$btod_d2e_denorm_low)
+ _d2e_norm_op1 0x0800e059 Thumb Code 96 btod.o(CL$$btod_d2e_norm_op1)
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+ _e2e 0x0800e3f1 Thumb Code 220 btod.o(CL$$btod_e2e)
+ _btod_ediv 0x0800e4cd Thumb Code 42 btod.o(CL$$btod_ediv)
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+ __btod_mult_common 0x0800e521 Thumb Code 580 btod.o(CL$$btod_mult_common)
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+ __ARM_fpclassifyf 0x0800e795 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
+ __hardfp_asinf 0x0800e7bd Thumb Code 258 asinf.o(i.__hardfp_asinf)
+ __hardfp_atan 0x0800e8e9 Thumb Code 622 atan.o(i.__hardfp_atan)
+ __hardfp_atan2 0x0800ebc1 Thumb Code 448 atan2.o(i.__hardfp_atan2)
+ __hardfp_atan2f 0x0800edc1 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
+ __hardfp_cosf 0x0800f06d Thumb Code 280 cosf.o(i.__hardfp_cosf)
+ __hardfp_fmod 0x0800f1bd Thumb Code 254 fmod.o(i.__hardfp_fmod)
+ __hardfp_sinf 0x0800f2c1 Thumb Code 344 sinf.o(i.__hardfp_sinf)
+ __hardfp_sqrt 0x0800f451 Thumb Code 122 sqrt.o(i.__hardfp_sqrt)
+ __hardfp_tanf 0x0800f4cd Thumb Code 322 tanf.o(i.__hardfp_tanf)
+ __kernel_poly 0x0800f649 Thumb Code 248 poly.o(i.__kernel_poly)
+ __mathlib_dbl_infnan 0x0800f741 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
+ __mathlib_dbl_infnan2 0x0800f755 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
+ __mathlib_dbl_invalid 0x0800f769 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid)
+ __mathlib_dbl_underflow 0x0800f789 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
+ __mathlib_flt_infnan 0x0800f7a9 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
+ __mathlib_flt_infnan2 0x0800f7af Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
+ __mathlib_flt_invalid 0x0800f7b5 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
+ __mathlib_flt_underflow 0x0800f7c5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
+ __mathlib_rredf2 0x0800f7d5 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
+ _is_digit 0x0800f929 Thumb Code 14 __printf_wp.o(i._is_digit)
+ atan 0x0800f937 Thumb Code 16 atan.o(i.atan)
+ fabs 0x0800f947 Thumb Code 24 fabs.o(i.fabs)
+ sqrtf 0x0800f95f Thumb Code 62 sqrtf.o(i.sqrtf)
+ _get_lc_numeric 0x0800f99d Thumb Code 44 lc_numeric_c.o(locale$$code)
+ __aeabi_dneg 0x0800f9c9 Thumb Code 0 basic.o(x$fpl$basic)
+ _dneg 0x0800f9c9 Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_fneg 0x0800f9cf Thumb Code 0 basic.o(x$fpl$basic)
+ _fneg 0x0800f9cf Thumb Code 6 basic.o(x$fpl$basic)
+ _dabs 0x0800f9d5 Thumb Code 6 basic.o(x$fpl$basic)
+ _fabs 0x0800f9db Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_d2f 0x0800f9e1 Thumb Code 0 d2f.o(x$fpl$d2f)
+ _d2f 0x0800f9e1 Thumb Code 98 d2f.o(x$fpl$d2f)
+ __aeabi_dadd 0x0800fa45 Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
+ _dadd 0x0800fa45 Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
+ __fpl_dcmp_Inf 0x0800fb95 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf)
+ __aeabi_ddiv 0x0800fbad Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ _ddiv 0x0800fbad Thumb Code 556 ddiv.o(x$fpl$ddiv)
+ __aeabi_cdcmpeq 0x0800fe61 Thumb Code 0 deqf.o(x$fpl$deqf)
+ _dcmpeq 0x0800fe61 Thumb Code 120 deqf.o(x$fpl$deqf)
+ __aeabi_d2uiz 0x0800fed9 Thumb Code 0 dfixu.o(x$fpl$dfixu)
+ _dfixu 0x0800fed9 Thumb Code 90 dfixu.o(x$fpl$dfixu)
+ __aeabi_ui2d 0x0800ff33 Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
+ _dfltu 0x0800ff33 Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
+ __aeabi_cdcmpge 0x0800ff59 Thumb Code 0 dgeqf.o(x$fpl$dgeqf)
+ _dcmpge 0x0800ff59 Thumb Code 120 dgeqf.o(x$fpl$dgeqf)
+ __aeabi_cdcmple 0x0800ffd1 Thumb Code 0 dleqf.o(x$fpl$dleqf)
+ _dcmple 0x0800ffd1 Thumb Code 120 dleqf.o(x$fpl$dleqf)
+ __fpl_dcmple_InfNaN 0x08010033 Thumb Code 0 dleqf.o(x$fpl$dleqf)
+ __aeabi_dmul 0x08010049 Thumb Code 0 dmul.o(x$fpl$dmul)
+ _dmul 0x08010049 Thumb Code 332 dmul.o(x$fpl$dmul)
+ __fpl_dnaninf 0x0801019d Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
+ _drem 0x08010239 Thumb Code 328 drem_clz.o(x$fpl$drem)
+ __fpl_dretinf 0x08010389 Thumb Code 12 dretinf.o(x$fpl$dretinf)
+ __aeabi_drsub 0x08010395 Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
+ _drsb 0x08010395 Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
+ _dsqrt 0x080103ad Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt)
+ __aeabi_dsub 0x08010545 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
+ _dsub 0x08010545 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
+ __aeabi_f2d 0x08010721 Thumb Code 0 f2d.o(x$fpl$f2d)
+ _f2d 0x08010721 Thumb Code 86 f2d.o(x$fpl$f2d)
+ __aeabi_dcmpeq 0x08010777 Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _deq 0x08010777 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ _dneq 0x08010785 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmpgt 0x08010793 Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dgr 0x08010793 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmpge 0x080107a1 Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dgeq 0x080107a1 Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmple 0x080107af Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dleq 0x080107af Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_dcmplt 0x080107bd Thumb Code 0 dcmp.o(x$fpl$fcmp)
+ _dls 0x080107bd Thumb Code 14 dcmp.o(x$fpl$fcmp)
+ __aeabi_ul2f 0x080107cb Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_uto_f 0x080107cb Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
+ __aeabi_l2f 0x080107d1 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_sto_f 0x080107d1 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
+ __fpl_fnaninf 0x0801082b Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
+ _fp_init 0x080108b7 Thumb Code 26 fpinit.o(x$fpl$fpinit)
+ __fplib_config_fpu_vfp 0x080108cf Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fplib_config_pureend_doubles 0x080108cf Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fpl_fretinf 0x080108d1 Thumb Code 10 fretinf.o(x$fpl$fretinf)
+ _printf_fp_dec 0x080108db Thumb Code 4 printf1.o(x$fpl$printf1)
+ __I$use$fp 0x080108de Number 0 usenofp.o(x$fpl$usenofp)
+ __mathlib_zero 0x08010978 Data 8 qnan.o(.constdata)
+ AHBPrescTable 0x08010a34 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
+ APBPrescTable 0x08010a44 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
+ attr_ET16s 0x08010ab4 Data 36 user_task.o(.rodata.attr_ET16s)
+ attr_ai 0x08010ad8 Data 36 user_task.o(.rodata.attr_ai)
+ attr_atti_esti 0x08010afc Data 36 user_task.o(.rodata.attr_atti_esti)
+ attr_chassis_ctrl 0x08010b20 Data 36 user_task.o(.rodata.attr_chassis_ctrl)
+ attr_cmd 0x08010b44 Data 36 user_task.o(.rodata.attr_cmd)
+ attr_dr16 0x08010b68 Data 36 user_task.o(.rodata.attr_dr16)
+ attr_gimbal_ctrl 0x08010b8c Data 36 user_task.o(.rodata.attr_gimbal_ctrl)
+ attr_init 0x08010bb0 Data 36 user_task.o(.rodata.attr_init)
+ attr_shoot_ctrl 0x08010bd4 Data 36 user_task.o(.rodata.attr_shoot_ctrl)
+ attr_vofa 0x08010bf8 Data 36 user_task.o(.rodata.attr_vofa)
+ defaultTask_attributes 0x08010c2c Data 36 freertos.o(.rodata.defaultTask_attributes)
+ Region$$Table$$Base 0x08010d80 Number 0 anon$$obj.o(Region$$Table)
+ Region$$Table$$Limit 0x08010dc0 Number 0 anon$$obj.o(Region$$Table)
SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock)
robot_config 0x20000020 Data 1100 config.o(.data.robot_config)
sourceHandlers 0x2000046c Data 64 cmd_1.o(.data.sourceHandlers)
@@ -9361,52 +9360,52 @@ Image Symbol Table
_random_number_data 0x200004b0 Data 228 rand.o(.bss)
__libspace_start 0x20000594 Data 96 libspace.o(.bss)
__temporary_stack_top$libspace 0x200005f4 Data 0 libspace.o(.bss)
- cmd_chassis 0x20000694 Data 32 chassis_ctrl.o(.bss.cmd_chassis)
- cmd_et16s 0x200006b4 Data 77 cmd.o(.bss.cmd_et16s)
- cmd_for_gimbal 0x20000704 Data 4 cmd.o(.bss.cmd_for_gimbal)
- defaultTaskHandle 0x20000708 Data 4 freertos.o(.bss.defaultTaskHandle)
- dr16 0x20000710 Data 88 dr16_1.o(.bss.dr16)
- g_adapters 0x20000768 Data 16 cmd_adapter.o(.bss.g_adapters)
- gimbal_cmd 0x20000778 Data 20 gimbal_ctrl.o(.bss.gimbal_cmd)
- gimbal_imu 0x2000078c Data 52 gimbal_ctrl.o(.bss.gimbal_imu)
- gimbal_to_send 0x200007c0 Data 52 atti_esti.o(.bss.gimbal_to_send)
- hcan2 0x200007f4 Data 40 can.o(.bss.hcan2)
- hdma_spi1_tx 0x2000081c Data 96 spi.o(.bss.hdma_spi1_tx)
- hdma_usart6_rx 0x2000087c Data 96 usart.o(.bss.hdma_usart6_rx)
- hi2c2 0x200008dc Data 84 i2c.o(.bss.hi2c2)
- htim1 0x20000930 Data 72 tim.o(.bss.htim1)
- htim10 0x20000978 Data 72 tim.o(.bss.htim10)
- huart2 0x200009c0 Data 72 usart.o(.bss.huart2)
- huart6 0x20000a08 Data 72 usart.o(.bss.huart6)
- magn 0x20000a58 Data 12 atti_esti.o(.bss.magn)
- shoot 0x20000f78 Data 1712 shoot_ctrl.o(.bss.shoot)
- shoot_cmd 0x20001628 Data 3 shoot_ctrl.o(.bss.shoot_cmd)
+ bmi088 0x20000688 Data 48 atti_esti.o(.bss.bmi088)
+ cmd 0x200006c4 Data 196 cmd.o(.bss.cmd)
+ cmd_chassis 0x20000788 Data 32 chassis_ctrl.o(.bss.cmd_chassis)
+ cmd_et16s 0x200007a8 Data 77 cmd.o(.bss.cmd_et16s)
+ cmd_for_gimbal 0x200007f8 Data 4 cmd.o(.bss.cmd_for_gimbal)
+ defaultTaskHandle 0x200007fc Data 4 freertos.o(.bss.defaultTaskHandle)
+ dr16 0x20000800 Data 88 dr16_1.o(.bss.dr16)
+ g_adapters 0x20000858 Data 16 cmd_adapter.o(.bss.g_adapters)
+ gimbal_cmd 0x20000868 Data 20 gimbal_ctrl.o(.bss.gimbal_cmd)
+ gimbal_to_send 0x2000087c Data 52 atti_esti.o(.bss.gimbal_to_send)
+ hcan2 0x200008b0 Data 40 can.o(.bss.hcan2)
+ hdma_spi1_tx 0x200008d8 Data 96 spi.o(.bss.hdma_spi1_tx)
+ hdma_usart6_rx 0x20000938 Data 96 usart.o(.bss.hdma_usart6_rx)
+ hi2c2 0x20000998 Data 84 i2c.o(.bss.hi2c2)
+ htim1 0x200009ec Data 72 tim.o(.bss.htim1)
+ huart1 0x20000a34 Data 72 usart.o(.bss.huart1)
+ huart3 0x20000a7c Data 72 usart.o(.bss.huart3)
+ magn 0x20000acc Data 12 atti_esti.o(.bss.magn)
+ shoot 0x20000f50 Data 1712 shoot_ctrl.o(.bss.shoot)
+ shoot_cmd 0x20001600 Data 3 shoot_ctrl.o(.bss.shoot_cmd)
+ xQueueRegistry 0x2001b26c Data 64 queue.o(.bss.xQueueRegistry)
cali_bmi088 0x2001c004 Data 12 atti_esti.o(.data.cali_bmi088)
uwTickFreq 0x2001c010 Data 1 stm32f4xx_hal.o(.data.uwTickFreq)
- bmi088 0x2001c0e8 Data 48 atti_esti.o(.bss.bmi088)
- cbuf 0x2001c134 Data 25 et16s.o(.bss.cbuf)
- channel 0x2001c150 Data 16 vofa_1.o(.bss.channel)
- chassis 0x2001c160 Data 2028 chassis_ctrl.o(.bss.chassis)
- cmd 0x2001c94c Data 196 cmd.o(.bss.cmd)
- cmd_for_chassis 0x2001ca10 Data 4 cmd.o(.bss.cmd_for_chassis)
- cmd_for_shoot 0x2001ca14 Data 4 cmd.o(.bss.cmd_for_shoot)
- et16s 0x2001ca18 Data 77 et16s_1.o(.bss.et16s)
- eulr_to_send 0x2001ca68 Data 12 atti_esti.o(.bss.eulr_to_send)
- gimbal 0x2001ca78 Data 760 gimbal_ctrl.o(.bss.gimbal)
- gimbal_ahrs 0x2001cd70 Data 20 atti_esti.o(.bss.gimbal_ahrs)
- hcan1 0x2001cd84 Data 40 can.o(.bss.hcan1)
- hdma_spi1_rx 0x2001cdac Data 96 spi.o(.bss.hdma_spi1_rx)
- hdma_usart3_rx 0x2001ce0c Data 96 usart.o(.bss.hdma_usart3_rx)
- hdma_usart6_tx 0x2001ce6c Data 96 usart.o(.bss.hdma_usart6_tx)
- hi2c1 0x2001cecc Data 84 i2c.o(.bss.hi2c1)
- hspi1 0x2001cf20 Data 88 spi.o(.bss.hspi1)
- huart1 0x2001cf78 Data 72 usart.o(.bss.huart1)
- huart3 0x2001cfc0 Data 72 usart.o(.bss.huart3)
- imu_temp_ctrl_pid 0x2001d008 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid)
- pxCurrentTCB 0x2001d0a4 Data 4 tasks.o(.bss.pxCurrentTCB)
- task_runtime 0x2001d0b8 Data 224 user_task.o(.bss.task_runtime)
- uwTick 0x2001d9ac Data 4 stm32f4xx_hal.o(.bss.uwTick)
- xQueueRegistry 0x2001dd54 Data 64 queue.o(.bss.xQueueRegistry)
+ cbuf 0x2001c100 Data 25 et16s.o(.bss.cbuf)
+ channel 0x2001c11c Data 16 vofa_1.o(.bss.channel)
+ chassis 0x2001c12c Data 2076 chassis_ctrl.o(.bss.chassis)
+ cmd_for_chassis 0x2001c948 Data 4 cmd.o(.bss.cmd_for_chassis)
+ cmd_for_shoot 0x2001c94c Data 4 cmd.o(.bss.cmd_for_shoot)
+ et16s 0x2001c950 Data 77 et16s_1.o(.bss.et16s)
+ eulr_to_send 0x2001c9a0 Data 12 atti_esti.o(.bss.eulr_to_send)
+ gimbal 0x2001c9b0 Data 760 gimbal_ctrl.o(.bss.gimbal)
+ gimbal_ahrs 0x2001cca8 Data 20 atti_esti.o(.bss.gimbal_ahrs)
+ gimbal_imu 0x2001ccbc Data 52 gimbal_ctrl.o(.bss.gimbal_imu)
+ hcan1 0x2001ccf0 Data 40 can.o(.bss.hcan1)
+ hdma_spi1_rx 0x2001cd18 Data 96 spi.o(.bss.hdma_spi1_rx)
+ hdma_usart3_rx 0x2001cd78 Data 96 usart.o(.bss.hdma_usart3_rx)
+ hdma_usart6_tx 0x2001cdd8 Data 96 usart.o(.bss.hdma_usart6_tx)
+ hi2c1 0x2001ce38 Data 84 i2c.o(.bss.hi2c1)
+ hspi1 0x2001ce8c Data 88 spi.o(.bss.hspi1)
+ htim10 0x2001cee4 Data 72 tim.o(.bss.htim10)
+ huart2 0x2001cf2c Data 72 usart.o(.bss.huart2)
+ huart6 0x2001cf74 Data 72 usart.o(.bss.huart6)
+ imu_temp_ctrl_pid 0x2001cfbc Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid)
+ pxCurrentTCB 0x2001d0f8 Data 4 tasks.o(.bss.pxCurrentTCB)
+ task_runtime 0x2001d10c Data 224 user_task.o(.bss.task_runtime)
+ uwTick 0x2001da00 Data 4 stm32f4xx_hal.o(.bss.uwTick)
@@ -9416,108 +9415,108 @@ Memory Map of the image
Image Entry point : 0x08000189
- Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00011238, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00010f30])
+ Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000112a8, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00010fa0])
- Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00010d6c, Max: 0x00100000, ABSOLUTE)
+ Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00010ddc, Max: 0x00100000, ABSOLUTE)
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o
- 0x08000188 0x08000188 0x00000008 Code RO 3592 * !!!main c_w.l(__main.o)
- 0x08000190 0x08000190 0x00000034 Code RO 3998 !!!scatter c_w.l(__scatter.o)
- 0x080001c4 0x080001c4 0x0000005a Code RO 3996 !!dczerorl2 c_w.l(__dczerorl2.o)
+ 0x08000188 0x08000188 0x00000008 Code RO 3591 * !!!main c_w.l(__main.o)
+ 0x08000190 0x08000190 0x00000034 Code RO 3997 !!!scatter c_w.l(__scatter.o)
+ 0x080001c4 0x080001c4 0x0000005a Code RO 3995 !!dczerorl2 c_w.l(__dczerorl2.o)
0x0800021e 0x0800021e 0x00000002 PAD
- 0x08000220 0x08000220 0x0000001a Code RO 4000 !!handler_copy c_w.l(__scatter_copy.o)
+ 0x08000220 0x08000220 0x0000001a Code RO 3999 !!handler_copy c_w.l(__scatter_copy.o)
0x0800023a 0x0800023a 0x00000002 PAD
- 0x0800023c 0x0800023c 0x0000001c Code RO 4002 !!handler_zi c_w.l(__scatter_zi.o)
- 0x08000258 0x08000258 0x00000000 Code RO 3564 .ARM.Collect$$_printf_percent$$00000000 c_w.l(_printf_percent.o)
- 0x08000258 0x08000258 0x00000006 Code RO 3563 .ARM.Collect$$_printf_percent$$00000003 c_w.l(_printf_f.o)
- 0x0800025e 0x0800025e 0x00000006 Code RO 3562 .ARM.Collect$$_printf_percent$$0000000A c_w.l(_printf_u.o)
- 0x08000264 0x08000264 0x00000006 Code RO 3560 .ARM.Collect$$_printf_percent$$00000013 c_w.l(_printf_c.o)
- 0x0800026a 0x0800026a 0x00000006 Code RO 3561 .ARM.Collect$$_printf_percent$$00000014 c_w.l(_printf_s.o)
- 0x08000270 0x08000270 0x00000004 Code RO 3701 .ARM.Collect$$_printf_percent$$00000017 c_w.l(_printf_percent_end.o)
- 0x08000274 0x08000274 0x00000002 Code RO 3914 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o)
- 0x08000276 0x08000276 0x00000004 Code RO 3702 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o)
- 0x0800027a 0x0800027a 0x00000000 Code RO 3705 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o)
- 0x0800027a 0x0800027a 0x00000000 Code RO 3708 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o)
- 0x0800027a 0x0800027a 0x00000000 Code RO 3710 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o)
- 0x0800027a 0x0800027a 0x00000004 Code RO 3711 .ARM.Collect$$libinit$$0000000D c_w.l(libinit2.o)
- 0x0800027e 0x0800027e 0x00000000 Code RO 3712 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o)
- 0x0800027e 0x0800027e 0x00000006 Code RO 3713 .ARM.Collect$$libinit$$0000000F c_w.l(libinit2.o)
- 0x08000284 0x08000284 0x00000000 Code RO 3715 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o)
- 0x08000284 0x08000284 0x00000000 Code RO 3717 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o)
- 0x08000284 0x08000284 0x00000000 Code RO 3719 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o)
- 0x08000284 0x08000284 0x0000000a Code RO 3720 .ARM.Collect$$libinit$$00000016 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3721 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3723 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3725 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3727 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3729 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3731 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3733 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3735 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3739 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3741 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3743 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000000 Code RO 3745 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o)
- 0x0800028e 0x0800028e 0x00000002 Code RO 3746 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o)
- 0x08000290 0x08000290 0x00000002 Code RO 3963 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o)
- 0x08000292 0x08000292 0x00000000 Code RO 3979 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o)
- 0x08000292 0x08000292 0x00000000 Code RO 3981 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o)
- 0x08000292 0x08000292 0x00000000 Code RO 3984 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o)
- 0x08000292 0x08000292 0x00000000 Code RO 3987 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o)
- 0x08000292 0x08000292 0x00000000 Code RO 3989 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o)
- 0x08000292 0x08000292 0x00000000 Code RO 3992 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o)
- 0x08000292 0x08000292 0x00000002 Code RO 3993 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o)
- 0x08000294 0x08000294 0x00000000 Code RO 3680 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o)
- 0x08000294 0x08000294 0x00000000 Code RO 3816 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o)
- 0x08000294 0x08000294 0x00000006 Code RO 3828 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o)
- 0x0800029a 0x0800029a 0x00000000 Code RO 3818 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o)
- 0x0800029a 0x0800029a 0x00000004 Code RO 3819 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o)
- 0x0800029e 0x0800029e 0x00000000 Code RO 3821 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o)
- 0x0800029e 0x0800029e 0x00000008 Code RO 3822 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o)
- 0x080002a6 0x080002a6 0x00000002 Code RO 3919 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o)
- 0x080002a8 0x080002a8 0x00000000 Code RO 3943 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o)
- 0x080002a8 0x080002a8 0x00000004 Code RO 3944 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o)
- 0x080002ac 0x080002ac 0x00000006 Code RO 3945 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o)
+ 0x0800023c 0x0800023c 0x0000001c Code RO 4001 !!handler_zi c_w.l(__scatter_zi.o)
+ 0x08000258 0x08000258 0x00000000 Code RO 3563 .ARM.Collect$$_printf_percent$$00000000 c_w.l(_printf_percent.o)
+ 0x08000258 0x08000258 0x00000006 Code RO 3562 .ARM.Collect$$_printf_percent$$00000003 c_w.l(_printf_f.o)
+ 0x0800025e 0x0800025e 0x00000006 Code RO 3561 .ARM.Collect$$_printf_percent$$0000000A c_w.l(_printf_u.o)
+ 0x08000264 0x08000264 0x00000006 Code RO 3559 .ARM.Collect$$_printf_percent$$00000013 c_w.l(_printf_c.o)
+ 0x0800026a 0x0800026a 0x00000006 Code RO 3560 .ARM.Collect$$_printf_percent$$00000014 c_w.l(_printf_s.o)
+ 0x08000270 0x08000270 0x00000004 Code RO 3700 .ARM.Collect$$_printf_percent$$00000017 c_w.l(_printf_percent_end.o)
+ 0x08000274 0x08000274 0x00000002 Code RO 3913 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o)
+ 0x08000276 0x08000276 0x00000004 Code RO 3701 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o)
+ 0x0800027a 0x0800027a 0x00000000 Code RO 3704 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o)
+ 0x0800027a 0x0800027a 0x00000000 Code RO 3707 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o)
+ 0x0800027a 0x0800027a 0x00000000 Code RO 3709 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o)
+ 0x0800027a 0x0800027a 0x00000004 Code RO 3710 .ARM.Collect$$libinit$$0000000D c_w.l(libinit2.o)
+ 0x0800027e 0x0800027e 0x00000000 Code RO 3711 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o)
+ 0x0800027e 0x0800027e 0x00000006 Code RO 3712 .ARM.Collect$$libinit$$0000000F c_w.l(libinit2.o)
+ 0x08000284 0x08000284 0x00000000 Code RO 3714 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o)
+ 0x08000284 0x08000284 0x00000000 Code RO 3716 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o)
+ 0x08000284 0x08000284 0x00000000 Code RO 3718 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o)
+ 0x08000284 0x08000284 0x0000000a Code RO 3719 .ARM.Collect$$libinit$$00000016 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3720 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3722 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3724 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3726 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3728 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3730 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3732 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3734 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3738 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3740 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3742 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000000 Code RO 3744 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o)
+ 0x0800028e 0x0800028e 0x00000002 Code RO 3745 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o)
+ 0x08000290 0x08000290 0x00000002 Code RO 3962 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o)
+ 0x08000292 0x08000292 0x00000000 Code RO 3978 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o)
+ 0x08000292 0x08000292 0x00000000 Code RO 3980 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o)
+ 0x08000292 0x08000292 0x00000000 Code RO 3983 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o)
+ 0x08000292 0x08000292 0x00000000 Code RO 3986 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o)
+ 0x08000292 0x08000292 0x00000000 Code RO 3988 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o)
+ 0x08000292 0x08000292 0x00000000 Code RO 3991 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o)
+ 0x08000292 0x08000292 0x00000002 Code RO 3992 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o)
+ 0x08000294 0x08000294 0x00000000 Code RO 3679 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o)
+ 0x08000294 0x08000294 0x00000000 Code RO 3815 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o)
+ 0x08000294 0x08000294 0x00000006 Code RO 3827 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o)
+ 0x0800029a 0x0800029a 0x00000000 Code RO 3817 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o)
+ 0x0800029a 0x0800029a 0x00000004 Code RO 3818 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o)
+ 0x0800029e 0x0800029e 0x00000000 Code RO 3820 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o)
+ 0x0800029e 0x0800029e 0x00000008 Code RO 3821 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o)
+ 0x080002a6 0x080002a6 0x00000002 Code RO 3918 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o)
+ 0x080002a8 0x080002a8 0x00000000 Code RO 3942 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o)
+ 0x080002a8 0x080002a8 0x00000004 Code RO 3943 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o)
+ 0x080002ac 0x080002ac 0x00000006 Code RO 3944 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o)
0x080002b2 0x080002b2 0x00000002 PAD
0x080002b4 0x080002b4 0x00000040 Code RO 4 .text startup_stm32f407xx.o
- 0x080002f4 0x080002f4 0x000000f0 Code RO 3524 .text c_w.l(lludivv7m.o)
- 0x080003e4 0x080003e4 0x0000002c Code RO 3526 .text c_w.l(__2sprintf.o)
- 0x08000410 0x08000410 0x00000038 Code RO 3528 .text c_w.l(__2snprintf.o)
- 0x08000448 0x08000448 0x00000052 Code RO 3536 .text c_w.l(_printf_str.o)
+ 0x080002f4 0x080002f4 0x000000f0 Code RO 3523 .text c_w.l(lludivv7m.o)
+ 0x080003e4 0x080003e4 0x0000002c Code RO 3525 .text c_w.l(__2sprintf.o)
+ 0x08000410 0x08000410 0x00000038 Code RO 3527 .text c_w.l(__2snprintf.o)
+ 0x08000448 0x08000448 0x00000052 Code RO 3535 .text c_w.l(_printf_str.o)
0x0800049a 0x0800049a 0x00000002 PAD
- 0x0800049c 0x0800049c 0x00000078 Code RO 3538 .text c_w.l(_printf_dec.o)
- 0x08000514 0x08000514 0x0000010e Code RO 3548 .text c_w.l(__printf_wp.o)
+ 0x0800049c 0x0800049c 0x00000078 Code RO 3537 .text c_w.l(_printf_dec.o)
+ 0x08000514 0x08000514 0x0000010e Code RO 3547 .text c_w.l(__printf_wp.o)
0x08000622 0x08000622 0x00000002 PAD
- 0x08000624 0x08000624 0x0000003c Code RO 3566 .text c_w.l(rand.o)
- 0x08000660 0x08000660 0x0000003e Code RO 3572 .text c_w.l(strlen.o)
- 0x0800069e 0x0800069e 0x0000008a Code RO 3576 .text c_w.l(rt_memcpy_v6.o)
- 0x08000728 0x08000728 0x00000064 Code RO 3578 .text c_w.l(rt_memcpy_w.o)
- 0x0800078c 0x0800078c 0x00000010 Code RO 3582 .text c_w.l(aeabi_memset4.o)
- 0x0800079c 0x0800079c 0x0000004e Code RO 3586 .text c_w.l(rt_memclr_w.o)
- 0x080007ea 0x080007ea 0x00000006 Code RO 3590 .text c_w.l(heapauxi.o)
- 0x080007f0 0x080007f0 0x00000016 Code RO 3685 .text c_w.l(_rserrno.o)
- 0x08000806 0x08000806 0x000000b2 Code RO 3687 .text c_w.l(_printf_intcommon.o)
- 0x080008b8 0x080008b8 0x0000041c Code RO 3689 .text c_w.l(_printf_fp_dec.o)
- 0x08000cd4 0x08000cd4 0x00000030 Code RO 3693 .text c_w.l(_printf_char_common.o)
- 0x08000d04 0x08000d04 0x0000000a Code RO 3695 .text c_w.l(_sputc.o)
- 0x08000d0e 0x08000d0e 0x00000010 Code RO 3697 .text c_w.l(_snputc.o)
- 0x08000d1e 0x08000d1e 0x0000002c Code RO 3699 .text c_w.l(_printf_char.o)
+ 0x08000624 0x08000624 0x0000003c Code RO 3565 .text c_w.l(rand.o)
+ 0x08000660 0x08000660 0x0000003e Code RO 3571 .text c_w.l(strlen.o)
+ 0x0800069e 0x0800069e 0x0000008a Code RO 3575 .text c_w.l(rt_memcpy_v6.o)
+ 0x08000728 0x08000728 0x00000064 Code RO 3577 .text c_w.l(rt_memcpy_w.o)
+ 0x0800078c 0x0800078c 0x00000010 Code RO 3581 .text c_w.l(aeabi_memset4.o)
+ 0x0800079c 0x0800079c 0x0000004e Code RO 3585 .text c_w.l(rt_memclr_w.o)
+ 0x080007ea 0x080007ea 0x00000006 Code RO 3589 .text c_w.l(heapauxi.o)
+ 0x080007f0 0x080007f0 0x00000016 Code RO 3684 .text c_w.l(_rserrno.o)
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0x08000d4a 0x08000d4a 0x00000002 PAD
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0x08000de6 0x08000de6 0x00000002 PAD
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0x0800103a 0x0800103a 0x00000002 PAD
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@@ -9609,851 +9608,850 @@ Memory Map of the image
0x08002acc 0x08002acc 0x00000010 Code RO 204 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o
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0x08002aec 0x08002aec 0x00000024 Code RO 2219 .text.CAN_Get can_1.o
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0x08002b7e 0x08002b7e 0x00000002 PAD
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0x08002d06 0x08002d06 0x00000002 PAD
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0x08002e2a 0x08002e2a 0x00000002 PAD
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- 0x08002f28 0x08002f28 0x00000006 Code RO 3462 .text.CMD_ET16s_IsOnline cmd_adapter.o
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0x08002f2e 0x08002f2e 0x00000002 PAD
- 0x08002f30 0x08002f30 0x00000098 Code RO 3443 .text.CMD_GenerateCommands cmd_1.o
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- 0x08002ff0 0x08002ff0 0x0000002a Code RO 3435 .text.CMD_PC_BuildChassisCmd cmd_1.o
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0x0800301a 0x0800301a 0x00000002 PAD
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- 0x080030b0 0x080030b0 0x00000052 Code RO 3429 .text.CMD_RC_BuildChassisCmd cmd_1.o
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0x08003102 0x08003102 0x00000002 PAD
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0x080031d6 0x080031d6 0x00000002 PAD
- 0x080031d8 0x080031d8 0x00000012 Code RO 3445 .text.CMD_SetOfflineMode cmd_1.o
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0x080031ea 0x080031ea 0x00000002 PAD
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0x08003270 0x08003270 0x0000006c Code RO 3203 .text.Chassis_CalcWz chassis.o
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- 0x0800409e 0x0800409e 0x00000002 PAD
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- 0x080040d6 0x080040d6 0x00000002 PAD
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- 0x08004340 0x08004340 0x0000000a Code RO 178 .text.EXTI0_IRQHandler stm32f4xx_it.o
- 0x0800434a 0x0800434a 0x00000002 PAD
- 0x0800434c 0x0800434c 0x0000000a Code RO 180 .text.EXTI3_IRQHandler stm32f4xx_it.o
- 0x08004356 0x08004356 0x00000002 PAD
- 0x08004358 0x08004358 0x0000000a Code RO 182 .text.EXTI4_IRQHandler stm32f4xx_it.o
- 0x08004362 0x08004362 0x00000002 PAD
- 0x08004364 0x08004364 0x0000000a Code RO 190 .text.EXTI9_5_IRQHandler stm32f4xx_it.o
- 0x0800436e 0x0800436e 0x00000002 PAD
- 0x08004370 0x08004370 0x00000006 Code RO 15 .text.Error_Handler main.o
- 0x08004376 0x08004376 0x00000002 PAD
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- 0x0800439c 0x0800439c 0x000003a0 Code RO 3240 .text.Gimbal_Control gimbal.o
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- 0x08004838 0x08004838 0x00000156 Code RO 3228 .text.Gimbal_Init gimbal.o
- 0x0800498e 0x0800498e 0x00000002 PAD
- 0x08004990 0x08004990 0x00000112 Code RO 3246 .text.Gimbal_Output gimbal.o
- 0x08004aa2 0x08004aa2 0x00000002 PAD
- 0x08004aa4 0x08004aa4 0x00000088 Code RO 3242 .text.Gimbal_SetMode gimbal.o
- 0x08004b2c 0x08004b2c 0x0000011e Code RO 3230 .text.Gimbal_UpdateFeedback gimbal.o
- 0x08004c4a 0x08004c4a 0x00000002 PAD
- 0x08004c4c 0x08004c4c 0x0000004e Code RO 3232 .text.Gimbal_UpdateIMU gimbal.o
- 0x08004c9a 0x08004c9a 0x00000002 PAD
- 0x08004c9c 0x08004c9c 0x00000026 Code RO 262 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o
+ 0x080032dc 0x080032dc 0x00000244 Code RO 3197 .text.Chassis_Control chassis.o
+ 0x08003520 0x08003520 0x0000007c Code RO 3199 .text.Chassis_SetMode chassis.o
+ 0x0800359c 0x0800359c 0x00000090 Code RO 3205 .text.Chassis_Setoutput chassis.o
+ 0x0800362c 0x0800362c 0x00000004 PAD
+ 0x08003630 0x08003630 0x000005e8 Code RO 3189 .text.Chassis_speed_calculate chassis.o
+ 0x08003c18 0x08003c18 0x00000204 Code RO 3191 .text.Chassis_update chassis.o
+ 0x08003e1c 0x08003e1c 0x0000003a Code RO 2753 .text.CircleAdd user_math.o
+ 0x08003e56 0x08003e56 0x00000002 PAD
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+ 0x08003e94 0x08003e94 0x00000026 Code RO 2745 .text.Clip user_math.o
+ 0x08003eba 0x08003eba 0x00000002 PAD
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+ 0x08003ec6 0x08003ec6 0x00000002 PAD
+ 0x08003ec8 0x08003ec8 0x00000010 Code RO 184 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o
+ 0x08003ed8 0x08003ed8 0x00000010 Code RO 198 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o
+ 0x08003ee8 0x08003ee8 0x00000010 Code RO 200 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o
+ 0x08003ef8 0x08003ef8 0x00000010 Code RO 202 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o
+ 0x08003f08 0x08003f08 0x00000010 Code RO 208 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o
+ 0x08003f18 0x08003f18 0x0000003c Code RO 492 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o
+ 0x08003f54 0x08003f54 0x00000050 Code RO 490 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o
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+ 0x08003fd4 0x08003fd4 0x00000046 Code RO 3100 .text.DR16_Init dr16.o
+ 0x0800401a 0x0800401a 0x00000002 PAD
+ 0x0800401c 0x0800401c 0x00000014 Code RO 3102 .text.DR16_RxCpltCallback dr16.o
+ 0x08004030 0x08004030 0x00000002 Code RO 174 .text.DebugMon_Handler stm32f4xx_it.o
+ 0x08004032 0x08004032 0x00000002 PAD
+ 0x08004034 0x08004034 0x00000092 Code RO 3086 .text.ET16S_ParseRC et16s.o
+ 0x080040c6 0x080040c6 0x00000002 PAD
+ 0x080040c8 0x080040c8 0x00000036 Code RO 3088 .text.ET16s_HandleOffline et16s.o
+ 0x080040fe 0x080040fe 0x00000002 PAD
+ 0x08004100 0x08004100 0x00000268 Code RO 3084 .text.ET16s_ParseRaw et16s.o
+ 0x08004368 0x08004368 0x0000000a Code RO 178 .text.EXTI0_IRQHandler stm32f4xx_it.o
+ 0x08004372 0x08004372 0x00000002 PAD
+ 0x08004374 0x08004374 0x0000000a Code RO 180 .text.EXTI3_IRQHandler stm32f4xx_it.o
+ 0x0800437e 0x0800437e 0x00000002 PAD
+ 0x08004380 0x08004380 0x0000000a Code RO 182 .text.EXTI4_IRQHandler stm32f4xx_it.o
+ 0x0800438a 0x0800438a 0x00000002 PAD
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+ 0x0800439e 0x0800439e 0x00000002 PAD
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+ 0x08004764 0x08004764 0x00000058 Code RO 3237 .text.Gimbal_Control_mode gimbal.o
+ 0x080047bc 0x080047bc 0x000000a4 Code RO 3233 .text.Gimbal_Direction gimbal.o
+ 0x08004860 0x08004860 0x00000156 Code RO 3227 .text.Gimbal_Init gimbal.o
+ 0x080049b6 0x080049b6 0x00000002 PAD
+ 0x080049b8 0x080049b8 0x00000112 Code RO 3245 .text.Gimbal_Output gimbal.o
+ 0x08004aca 0x08004aca 0x00000002 PAD
+ 0x08004acc 0x08004acc 0x00000088 Code RO 3241 .text.Gimbal_SetMode gimbal.o
+ 0x08004b54 0x08004b54 0x0000011e Code RO 3229 .text.Gimbal_UpdateFeedback gimbal.o
+ 0x08004c72 0x08004c72 0x00000002 PAD
+ 0x08004c74 0x08004c74 0x0000004e Code RO 3231 .text.Gimbal_UpdateIMU gimbal.o
0x08004cc2 0x08004cc2 0x00000002 PAD
- 0x08004cc4 0x08004cc4 0x00000092 Code RO 248 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o
- 0x08004d56 0x08004d56 0x00000002 PAD
- 0x08004d58 0x08004d58 0x000000de Code RO 238 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o
- 0x08004e36 0x08004e36 0x00000002 PAD
- 0x08004e38 0x08004e38 0x00000024 Code RO 2243 .text.HAL_CAN_ErrorCallback can_1.o
- 0x08004e5c 0x08004e5c 0x00000020 Code RO 260 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o
- 0x08004e7c 0x08004e7c 0x00000124 Code RO 258 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o
- 0x08004fa0 0x08004fa0 0x00000028 Code RO 252 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o
- 0x08004fc8 0x08004fc8 0x0000023a Code RO 266 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o
- 0x08005202 0x08005202 0x00000002 PAD
- 0x08005204 0x08005204 0x000000f4 Code RO 228 .text.HAL_CAN_Init stm32f4xx_hal_can.o
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+ 0x080108da 0x080108da 0x00000004 Code RO 3623 x$fpl$printf1 fz_wm.l(printf1.o)
+ 0x080108de 0x080108de 0x00000000 Code RO 3766 x$fpl$usenofp fz_wm.l(usenofp.o)
+ 0x080108de 0x080108de 0x00000002 PAD
+ 0x080108e0 0x080108e0 0x00000098 Data RO 3770 .constdata m_wm.l(atan.o)
+ 0x08010978 0x08010978 0x00000008 Data RO 3810 .constdata m_wm.l(qnan.o)
+ 0x08010980 0x08010980 0x00000020 Data RO 3812 .constdata m_wm.l(rredf.o)
+ 0x080109a0 0x080109a0 0x00000094 Data RO 3848 .constdata c_w.l(bigflt0.o)
+ 0x08010a34 0x08010a34 0x00000010 Data RO 1523 .rodata.AHBPrescTable system_stm32f4xx.o
+ 0x08010a44 0x08010a44 0x00000008 Data RO 1524 .rodata.APBPrescTable system_stm32f4xx.o
+ 0x08010a4c 0x08010a4c 0x00000058 Data RO 2355 .rodata.GPIO_Map gpio_1.o
+ 0x08010aa4 0x08010aa4 0x00000010 Data RO 2537 .rodata.PWM_Map pwm.o
+ 0x08010ab4 0x08010ab4 0x00000024 Data RO 3381 .rodata.attr_ET16s user_task.o
+ 0x08010ad8 0x08010ad8 0x00000024 Data RO 3373 .rodata.attr_ai user_task.o
+ 0x08010afc 0x08010afc 0x00000024 Data RO 3377 .rodata.attr_atti_esti user_task.o
+ 0x08010b20 0x08010b20 0x00000024 Data RO 3375 .rodata.attr_chassis_ctrl user_task.o
+ 0x08010b44 0x08010b44 0x00000024 Data RO 3379 .rodata.attr_cmd user_task.o
+ 0x08010b68 0x08010b68 0x00000024 Data RO 3378 .rodata.attr_dr16 user_task.o
+ 0x08010b8c 0x08010b8c 0x00000024 Data RO 3374 .rodata.attr_gimbal_ctrl user_task.o
+ 0x08010bb0 0x08010bb0 0x00000024 Data RO 3372 .rodata.attr_init user_task.o
+ 0x08010bd4 0x08010bd4 0x00000024 Data RO 3376 .rodata.attr_shoot_ctrl user_task.o
+ 0x08010bf8 0x08010bf8 0x00000024 Data RO 3382 .rodata.attr_vofa user_task.o
+ 0x08010c1c 0x08010c1c 0x00000010 Data RO 3207 .rodata.cst16 chassis.o
+ 0x08010c2c 0x08010c2c 0x00000024 Data RO 45 .rodata.defaultTask_attributes freertos.o
+ 0x08010c50 0x08010c50 0x000000b0 Data RO 3512 .rodata.g_behavior_configs cmd_behavior.o
+ 0x08010d00 0x08010d00 0x00000020 Data RO 3329 .rodata.imu_temp_ctrl_pid_param atti_esti.o
+ 0x08010d20 0x08010d20 0x0000000c Data RO 44 .rodata.str1.1 freertos.o
+ 0x08010d2c 0x08010d2c 0x00000002 Data RO 3175 .rodata.str1.1 vofa.o
+ 0x08010d2e 0x08010d2e 0x0000004f Data RO 3371 .rodata.str1.1 user_task.o
+ 0x08010d7d 0x08010d7d 0x00000003 PAD
+ 0x08010d80 0x08010d80 0x00000040 Data RO 3994 Region$$Table anon$$obj.o
+ 0x08010dc0 0x08010dc0 0x0000001c Data RO 3874 locale$$data c_w.l(lc_numeric_c.o)
- Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08010d70, Size: 0x0001b2b4, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x000001a8])
+ Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08010de0, Size: 0x0001b2cc, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x000001a8])
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
0x20000000 COMPRESSED 0x00000004 Data RW 1522 .data.SystemCoreClock system_stm32f4xx.o
0x20000004 COMPRESSED 0x00000001 Data RW 3176 .data.current_protocol vofa.o
0x20000005 COMPRESSED 0x00000003 PAD
- 0x20000008 COMPRESSED 0x00000018 Data RW 3473 .data.g_adapter_ET16s cmd_adapter.o
- 0x20000020 COMPRESSED 0x0000044c Data RW 3221 .data.robot_config config.o
- 0x2000046c COMPRESSED 0x00000040 Data RW 3449 .data.sourceHandlers cmd_1.o
+ 0x20000008 COMPRESSED 0x00000018 Data RW 3472 .data.g_adapter_ET16s cmd_adapter.o
+ 0x20000020 COMPRESSED 0x0000044c Data RW 3220 .data.robot_config config.o
+ 0x2000046c COMPRESSED 0x00000040 Data RW 3448 .data.sourceHandlers cmd_1.o
0x200004ac COMPRESSED 0x00000004 Data RW 720 .data.uwTickPrio stm32f4xx_hal.o
- 0x200004b0 - 0x000000e4 Zero RW 3567 .bss c_w.l(rand.o)
- 0x20000594 - 0x00000060 Zero RW 3891 .bss c_w.l(libspace.o)
+ 0x200004b0 - 0x000000e4 Zero RW 3566 .bss c_w.l(rand.o)
+ 0x20000594 - 0x00000060 Zero RW 3890 .bss c_w.l(libspace.o)
0x200005f4 - 0x00000004 Zero RW 2134 .bss.KernelState cmsis_os2.o
0x200005f8 - 0x00000090 Zero RW 2510 .bss.UART_Callback uart.o
- 0x20000688 - 0x00000002 Zero RW 2867 .bss.buffer bmi088.o
- 0x2000068a COMPRESSED 0x00000002 PAD
- 0x2000068c - 0x00000008 Zero RW 2950 .bss.can_managers motor_rm.o
- 0x20000694 - 0x00000020 Zero RW 3393 .bss.cmd_chassis chassis_ctrl.o
- 0x200006b4 - 0x0000004d Zero RW 3302 .bss.cmd_et16s cmd.o
- 0x20000701 COMPRESSED 0x00000003 PAD
- 0x20000704 - 0x00000004 Zero RW 3304 .bss.cmd_for_gimbal cmd.o
- 0x20000708 - 0x00000004 Zero RW 46 .bss.defaultTaskHandle freertos.o
- 0x2000070c COMPRESSED 0x00000004 PAD
- 0x20000710 - 0x00000058 Zero RW 3315 .bss.dr16 dr16_1.o
- 0x20000768 - 0x00000010 Zero RW 3472 .bss.g_adapters cmd_adapter.o
- 0x20000778 - 0x00000014 Zero RW 3405 .bss.gimbal_cmd gimbal_ctrl.o
- 0x2000078c - 0x00000034 Zero RW 3404 .bss.gimbal_imu gimbal_ctrl.o
- 0x200007c0 - 0x00000034 Zero RW 3332 .bss.gimbal_to_send atti_esti.o
- 0x200007f4 - 0x00000028 Zero RW 63 .bss.hcan2 can.o
- 0x2000081c - 0x00000060 Zero RW 108 .bss.hdma_spi1_tx spi.o
- 0x2000087c - 0x00000060 Zero RW 154 .bss.hdma_usart6_rx usart.o
- 0x200008dc - 0x00000054 Zero RW 91 .bss.hi2c2 i2c.o
- 0x20000930 - 0x00000048 Zero RW 127 .bss.htim1 tim.o
- 0x20000978 - 0x00000048 Zero RW 128 .bss.htim10 tim.o
- 0x200009c0 - 0x00000048 Zero RW 150 .bss.huart2 usart.o
- 0x20000a08 - 0x00000048 Zero RW 152 .bss.huart6 usart.o
- 0x20000a50 - 0x00000004 Zero RW 2295 .bss.id_parser can_1.o
- 0x20000a54 - 0x00000001 Zero RW 2864 .bss.inited bmi088.o
- 0x20000a55 COMPRESSED 0x00000003 PAD
- 0x20000a58 - 0x0000000c Zero RW 3328 .bss.magn atti_esti.o
- 0x20000a64 - 0x00000008 Zero RW 3209 .bss.motor_add_angle.circle chassis.o
- 0x20000a6c - 0x000000a0 Zero RW 1959 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o
- 0x20000b0c - 0x00000004 Zero RW 1875 .bss.pxDelayedTaskList tasks.o
- 0x20000b10 - 0x00000004 Zero RW 1954 .bss.pxOverflowTimerList timers.o
- 0x20000b14 - 0x00000460 Zero RW 1878 .bss.pxReadyTasksLists tasks.o
- 0x20000f74 - 0x00000004 Zero RW 2298 .bss.queue_list can_1.o
- 0x20000f78 - 0x000006b0 Zero RW 3415 .bss.shoot shoot_ctrl.o
- 0x20001628 - 0x00000003 Zero RW 3416 .bss.shoot_cmd shoot_ctrl.o
- 0x2000162b COMPRESSED 0x00000001 PAD
- 0x2000162c - 0x00000004 Zero RW 2865 .bss.thread_alert bmi088.o
- 0x20001630 - 0x00000004 Zero RW 3117 .bss.thread_alert dr16.o
- 0x20001634 - 0x00019999 Zero RW 2171 .bss.ucHeap heap_4.o
- 0x2001afcd - 0x00000001 Zero RW 2206 .bss.ucMaxSysCallPriority port.o
- 0x2001afce COMPRESSED 0x00000002 PAD
- 0x2001afd0 - 0x00000004 Zero RW 2207 .bss.ulMaxPRIGROUPValue port.o
- 0x2001afd4 - 0x00000004 Zero RW 1886 .bss.ulTaskSwitchedInTime tasks.o
- 0x2001afd8 - 0x00000004 Zero RW 1871 .bss.uxCurrentNumberOfTasks tasks.o
- 0x2001afdc - 0x00000004 Zero RW 1873 .bss.uxSchedulerSuspended tasks.o
- 0x2001afe0 - 0x00000004 Zero RW 1868 .bss.uxTaskNumber tasks.o
- 0x2001afe4 - 0x00000004 Zero RW 1879 .bss.uxTopReadyPriority tasks.o
- 0x2001afe8 - 0x00000060 Zero RW 2136 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o
- 0x2001b048 - 0x00000200 Zero RW 2139 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o
- 0x2001b248 - 0x00000014 Zero RW 1957 .bss.xActiveTimerList2 timers.o
- 0x2001b25c - 0x00000014 Zero RW 1888 .bss.xDelayedTaskList2 tasks.o
- 0x2001b270 - 0x00000004 Zero RW 2166 .bss.xFreeBytesRemaining heap_4.o
- 0x2001b274 - 0x00000004 Zero RW 1882 .bss.xNextTaskUnblockTime tasks.o
- 0x2001b278 - 0x00000004 Zero RW 2169 .bss.xNumberOfSuccessfulAllocations heap_4.o
- 0x2001b27c - 0x00000004 Zero RW 1884 .bss.xPendedTicks tasks.o
- 0x2001b280 - 0x00000014 Zero RW 1880 .bss.xPendingReadyList tasks.o
- 0x2001b294 - 0x00000008 Zero RW 2167 .bss.xStart heap_4.o
- 0x2001b29c - 0x00000014 Zero RW 1869 .bss.xTasksWaitingTermination tasks.o
- 0x2001b2b0 - 0x00000004 Zero RW 1952 .bss.xTimerTaskHandle timers.o
+ 0x20000688 - 0x00000030 Zero RW 3325 .bss.bmi088 atti_esti.o
+ 0x200006b8 - 0x00000002 Zero RW 2867 .bss.buffer bmi088.o
+ 0x200006ba COMPRESSED 0x00000002 PAD
+ 0x200006bc - 0x00000008 Zero RW 2950 .bss.can_managers motor_rm.o
+ 0x200006c4 - 0x000000c4 Zero RW 3300 .bss.cmd cmd.o
+ 0x20000788 - 0x00000020 Zero RW 3392 .bss.cmd_chassis chassis_ctrl.o
+ 0x200007a8 - 0x0000004d Zero RW 3301 .bss.cmd_et16s cmd.o
+ 0x200007f5 COMPRESSED 0x00000003 PAD
+ 0x200007f8 - 0x00000004 Zero RW 3303 .bss.cmd_for_gimbal cmd.o
+ 0x200007fc - 0x00000004 Zero RW 46 .bss.defaultTaskHandle freertos.o
+ 0x20000800 - 0x00000058 Zero RW 3314 .bss.dr16 dr16_1.o
+ 0x20000858 - 0x00000010 Zero RW 3471 .bss.g_adapters cmd_adapter.o
+ 0x20000868 - 0x00000014 Zero RW 3404 .bss.gimbal_cmd gimbal_ctrl.o
+ 0x2000087c - 0x00000034 Zero RW 3331 .bss.gimbal_to_send atti_esti.o
+ 0x200008b0 - 0x00000028 Zero RW 63 .bss.hcan2 can.o
+ 0x200008d8 - 0x00000060 Zero RW 108 .bss.hdma_spi1_tx spi.o
+ 0x20000938 - 0x00000060 Zero RW 154 .bss.hdma_usart6_rx usart.o
+ 0x20000998 - 0x00000054 Zero RW 91 .bss.hi2c2 i2c.o
+ 0x200009ec - 0x00000048 Zero RW 127 .bss.htim1 tim.o
+ 0x20000a34 - 0x00000048 Zero RW 149 .bss.huart1 usart.o
+ 0x20000a7c - 0x00000048 Zero RW 151 .bss.huart3 usart.o
+ 0x20000ac4 - 0x00000004 Zero RW 2295 .bss.id_parser can_1.o
+ 0x20000ac8 - 0x00000001 Zero RW 2864 .bss.inited bmi088.o
+ 0x20000ac9 COMPRESSED 0x00000003 PAD
+ 0x20000acc - 0x0000000c Zero RW 3327 .bss.magn atti_esti.o
+ 0x20000ad8 - 0x00000008 Zero RW 3208 .bss.motor_add_angle.circle chassis.o
+ 0x20000ae0 - 0x00000004 Zero RW 1875 .bss.pxDelayedTaskList tasks.o
+ 0x20000ae4 - 0x00000004 Zero RW 1954 .bss.pxOverflowTimerList timers.o
+ 0x20000ae8 - 0x00000460 Zero RW 1878 .bss.pxReadyTasksLists tasks.o
+ 0x20000f48 - 0x00000004 Zero RW 2298 .bss.queue_list can_1.o
+ 0x20000f4c COMPRESSED 0x00000004 PAD
+ 0x20000f50 - 0x000006b0 Zero RW 3414 .bss.shoot shoot_ctrl.o
+ 0x20001600 - 0x00000003 Zero RW 3415 .bss.shoot_cmd shoot_ctrl.o
+ 0x20001603 COMPRESSED 0x00000001 PAD
+ 0x20001604 - 0x00000004 Zero RW 2865 .bss.thread_alert bmi088.o
+ 0x20001608 - 0x00000004 Zero RW 3117 .bss.thread_alert dr16.o
+ 0x2000160c - 0x00019999 Zero RW 2171 .bss.ucHeap heap_4.o
+ 0x2001afa5 - 0x00000001 Zero RW 2206 .bss.ucMaxSysCallPriority port.o
+ 0x2001afa6 COMPRESSED 0x00000002 PAD
+ 0x2001afa8 - 0x00000004 Zero RW 2207 .bss.ulMaxPRIGROUPValue port.o
+ 0x2001afac - 0x00000004 Zero RW 1886 .bss.ulTaskSwitchedInTime tasks.o
+ 0x2001afb0 - 0x00000004 Zero RW 1871 .bss.uxCurrentNumberOfTasks tasks.o
+ 0x2001afb4 - 0x00000004 Zero RW 1873 .bss.uxSchedulerSuspended tasks.o
+ 0x2001afb8 - 0x00000004 Zero RW 1868 .bss.uxTaskNumber tasks.o
+ 0x2001afbc - 0x00000004 Zero RW 1879 .bss.uxTopReadyPriority tasks.o
+ 0x2001afc0 - 0x00000060 Zero RW 2136 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o
+ 0x2001b020 - 0x00000200 Zero RW 2139 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o
+ 0x2001b220 - 0x00000014 Zero RW 1957 .bss.xActiveTimerList2 timers.o
+ 0x2001b234 - 0x00000014 Zero RW 1888 .bss.xDelayedTaskList2 tasks.o
+ 0x2001b248 - 0x00000004 Zero RW 2166 .bss.xFreeBytesRemaining heap_4.o
+ 0x2001b24c - 0x00000004 Zero RW 1882 .bss.xNextTaskUnblockTime tasks.o
+ 0x2001b250 - 0x00000004 Zero RW 2169 .bss.xNumberOfSuccessfulAllocations heap_4.o
+ 0x2001b254 - 0x00000004 Zero RW 1884 .bss.xPendedTicks tasks.o
+ 0x2001b258 - 0x00000014 Zero RW 1880 .bss.xPendingReadyList tasks.o
+ 0x2001b26c - 0x00000040 Zero RW 1670 .bss.xQueueRegistry queue.o
+ 0x2001b2ac - 0x00000008 Zero RW 2167 .bss.xStart heap_4.o
+ 0x2001b2b4 - 0x00000014 Zero RW 1869 .bss.xTasksWaitingTermination tasks.o
+ 0x2001b2c8 - 0x00000004 Zero RW 1952 .bss.xTimerTaskHandle timers.o
- Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08010f18, Size: 0x000032b8, Max: 0x00004000, ABSOLUTE)
+ Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08010f88, Size: 0x000032d0, Max: 0x00004000, ABSOLUTE)
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
- 0x2001c000 0x08010f18 0x00000004 Data RW 2558 .data.beta ahrs.o
- 0x2001c004 0x08010f1c 0x0000000c Data RW 3325 .data.cali_bmi088 atti_esti.o
- 0x2001c010 0x08010f28 0x00000001 Data RW 721 .data.uwTickFreq stm32f4xx_hal.o
- 0x2001c011 0x08010f29 0x00000003 PAD
- 0x2001c014 0x08010f2c 0x00000004 Data RW 2208 .data.uxCriticalNesting port.o
+ 0x2001c000 0x08010f88 0x00000004 Data RW 2558 .data.beta ahrs.o
+ 0x2001c004 0x08010f8c 0x0000000c Data RW 3324 .data.cali_bmi088 atti_esti.o
+ 0x2001c010 0x08010f98 0x00000001 Data RW 721 .data.uwTickFreq stm32f4xx_hal.o
+ 0x2001c011 0x08010f99 0x00000003 PAD
+ 0x2001c014 0x08010f9c 0x00000004 Data RW 2208 .data.uxCriticalNesting port.o
0x2001c018 - 0x00000068 Zero RW 2293 .bss.CAN_Callback can_1.o
0x2001c080 - 0x00000040 Zero RW 2354 .bss.GPIO_Callback gpio_1.o
0x2001c0c0 - 0x00000004 Zero RW 64 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o
0x2001c0c4 - 0x00000020 Zero RW 2457 .bss.SPI_Callback spi_1.o
- 0x2001c0e4 0x08010f30 0x00000004 PAD
- 0x2001c0e8 - 0x00000030 Zero RW 3326 .bss.bmi088 atti_esti.o
- 0x2001c118 - 0x00000013 Zero RW 2866 .bss.bmi088_rxbuf bmi088.o
- 0x2001c12b 0x08010f30 0x00000001 PAD
- 0x2001c12c - 0x00000008 Zero RW 2995 .bss.can_managers motor_dm.o
- 0x2001c134 - 0x00000019 Zero RW 3091 .bss.cbuf et16s.o
- 0x2001c14d 0x08010f30 0x00000003 PAD
- 0x2001c150 - 0x00000010 Zero RW 3364 .bss.channel vofa_1.o
- 0x2001c160 - 0x000007ec Zero RW 3392 .bss.chassis chassis_ctrl.o
- 0x2001c94c - 0x000000c4 Zero RW 3301 .bss.cmd cmd.o
- 0x2001ca10 - 0x00000004 Zero RW 3303 .bss.cmd_for_chassis cmd.o
- 0x2001ca14 - 0x00000004 Zero RW 3305 .bss.cmd_for_shoot cmd.o
- 0x2001ca18 - 0x0000004d Zero RW 3345 .bss.et16s et16s_1.o
- 0x2001ca65 0x08010f30 0x00000003 PAD
- 0x2001ca68 - 0x0000000c Zero RW 3331 .bss.eulr_to_send atti_esti.o
- 0x2001ca74 0x08010f30 0x00000004 PAD
- 0x2001ca78 - 0x000002f8 Zero RW 3403 .bss.gimbal gimbal_ctrl.o
- 0x2001cd70 - 0x00000014 Zero RW 3327 .bss.gimbal_ahrs atti_esti.o
- 0x2001cd84 - 0x00000028 Zero RW 62 .bss.hcan1 can.o
- 0x2001cdac - 0x00000060 Zero RW 107 .bss.hdma_spi1_rx spi.o
- 0x2001ce0c - 0x00000060 Zero RW 153 .bss.hdma_usart3_rx usart.o
- 0x2001ce6c - 0x00000060 Zero RW 155 .bss.hdma_usart6_tx usart.o
- 0x2001cecc - 0x00000054 Zero RW 90 .bss.hi2c1 i2c.o
- 0x2001cf20 - 0x00000058 Zero RW 106 .bss.hspi1 spi.o
- 0x2001cf78 - 0x00000048 Zero RW 149 .bss.huart1 usart.o
- 0x2001cfc0 - 0x00000048 Zero RW 151 .bss.huart3 usart.o
- 0x2001d008 - 0x0000003c Zero RW 3329 .bss.imu_temp_ctrl_pid atti_esti.o
- 0x2001d044 - 0x00000001 Zero RW 2294 .bss.inited can_1.o
- 0x2001d045 - 0x00000001 Zero RW 3116 .bss.inited dr16.o
- 0x2001d046 0x08010f30 0x00000002 PAD
- 0x2001d048 - 0x00000008 Zero RW 3210 .bss.motor_add_angle.prev_angle chassis.o
- 0x2001d050 - 0x00000050 Zero RW 1958 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o
- 0x2001d0a0 - 0x00000004 Zero RW 1955 .bss.prvSampleTimeNow.xLastTime timers.o
- 0x2001d0a4 - 0x00000004 Zero RW 1867 .bss.pxCurrentTCB tasks.o
- 0x2001d0a8 - 0x00000004 Zero RW 1953 .bss.pxCurrentTimerList timers.o
- 0x2001d0ac - 0x00000004 Zero RW 2164 .bss.pxEnd heap_4.o
- 0x2001d0b0 - 0x00000004 Zero RW 1876 .bss.pxOverflowDelayedTaskList tasks.o
- 0x2001d0b4 - 0x00000004 Zero RW 2296 .bss.queue_mutex can_1.o
- 0x2001d0b8 - 0x000000e0 Zero RW 3384 .bss.task_runtime user_task.o
- 0x2001d198 - 0x00000004 Zero RW 3090 .bss.thread_alert et16s.o
- 0x2001d19c - 0x00000810 Zero RW 2297 .bss.tx_queues can_1.o
- 0x2001d9ac - 0x00000004 Zero RW 722 .bss.uwTick stm32f4xx_hal.o
- 0x2001d9b0 - 0x00000004 Zero RW 1870 .bss.uxDeletedTasksWaitingCleanUp tasks.o
- 0x2001d9b4 - 0x00000200 Zero RW 2137 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o
- 0x2001dbb4 - 0x00000060 Zero RW 2138 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o
- 0x2001dc14 - 0x00000104 Zero RW 3174 .bss.vofa_tx_buf vofa.o
- 0x2001dd18 - 0x00000014 Zero RW 1956 .bss.xActiveTimerList1 timers.o
- 0x2001dd2c - 0x00000001 Zero RW 2165 .bss.xBlockAllocatedBit heap_4.o
- 0x2001dd2d 0x08010f30 0x00000003 PAD
- 0x2001dd30 - 0x00000014 Zero RW 1887 .bss.xDelayedTaskList1 tasks.o
- 0x2001dd44 - 0x00000004 Zero RW 1881 .bss.xIdleTaskHandle tasks.o
- 0x2001dd48 - 0x00000004 Zero RW 2168 .bss.xMinimumEverFreeBytesRemaining heap_4.o
- 0x2001dd4c - 0x00000004 Zero RW 1885 .bss.xNumOfOverflows tasks.o
- 0x2001dd50 - 0x00000004 Zero RW 2170 .bss.xNumberOfSuccessfulFrees heap_4.o
- 0x2001dd54 - 0x00000040 Zero RW 1670 .bss.xQueueRegistry queue.o
- 0x2001dd94 - 0x00000004 Zero RW 1872 .bss.xSchedulerRunning tasks.o
- 0x2001dd98 - 0x00000014 Zero RW 1877 .bss.xSuspendedTaskList tasks.o
- 0x2001ddac - 0x00000004 Zero RW 1874 .bss.xTickCount tasks.o
- 0x2001ddb0 - 0x00000004 Zero RW 1951 .bss.xTimerQueue timers.o
- 0x2001ddb4 - 0x00000004 Zero RW 1883 .bss.xYieldPending tasks.o
- 0x2001ddb8 - 0x00000500 Zero RW 2 HEAP startup_stm32f407xx.o
- 0x2001e2b8 - 0x00001000 Zero RW 1 STACK startup_stm32f407xx.o
+ 0x2001c0e4 - 0x00000013 Zero RW 2866 .bss.bmi088_rxbuf bmi088.o
+ 0x2001c0f7 0x08010fa0 0x00000001 PAD
+ 0x2001c0f8 - 0x00000008 Zero RW 2995 .bss.can_managers motor_dm.o
+ 0x2001c100 - 0x00000019 Zero RW 3091 .bss.cbuf et16s.o
+ 0x2001c119 0x08010fa0 0x00000003 PAD
+ 0x2001c11c - 0x00000010 Zero RW 3363 .bss.channel vofa_1.o
+ 0x2001c12c - 0x0000081c Zero RW 3391 .bss.chassis chassis_ctrl.o
+ 0x2001c948 - 0x00000004 Zero RW 3302 .bss.cmd_for_chassis cmd.o
+ 0x2001c94c - 0x00000004 Zero RW 3304 .bss.cmd_for_shoot cmd.o
+ 0x2001c950 - 0x0000004d Zero RW 3344 .bss.et16s et16s_1.o
+ 0x2001c99d 0x08010fa0 0x00000003 PAD
+ 0x2001c9a0 - 0x0000000c Zero RW 3330 .bss.eulr_to_send atti_esti.o
+ 0x2001c9ac 0x08010fa0 0x00000004 PAD
+ 0x2001c9b0 - 0x000002f8 Zero RW 3402 .bss.gimbal gimbal_ctrl.o
+ 0x2001cca8 - 0x00000014 Zero RW 3326 .bss.gimbal_ahrs atti_esti.o
+ 0x2001ccbc - 0x00000034 Zero RW 3403 .bss.gimbal_imu gimbal_ctrl.o
+ 0x2001ccf0 - 0x00000028 Zero RW 62 .bss.hcan1 can.o
+ 0x2001cd18 - 0x00000060 Zero RW 107 .bss.hdma_spi1_rx spi.o
+ 0x2001cd78 - 0x00000060 Zero RW 153 .bss.hdma_usart3_rx usart.o
+ 0x2001cdd8 - 0x00000060 Zero RW 155 .bss.hdma_usart6_tx usart.o
+ 0x2001ce38 - 0x00000054 Zero RW 90 .bss.hi2c1 i2c.o
+ 0x2001ce8c - 0x00000058 Zero RW 106 .bss.hspi1 spi.o
+ 0x2001cee4 - 0x00000048 Zero RW 128 .bss.htim10 tim.o
+ 0x2001cf2c - 0x00000048 Zero RW 150 .bss.huart2 usart.o
+ 0x2001cf74 - 0x00000048 Zero RW 152 .bss.huart6 usart.o
+ 0x2001cfbc - 0x0000003c Zero RW 3328 .bss.imu_temp_ctrl_pid atti_esti.o
+ 0x2001cff8 - 0x00000001 Zero RW 2294 .bss.inited can_1.o
+ 0x2001cff9 - 0x00000001 Zero RW 3116 .bss.inited dr16.o
+ 0x2001cffa 0x08010fa0 0x00000002 PAD
+ 0x2001cffc - 0x00000008 Zero RW 3209 .bss.motor_add_angle.prev_angle chassis.o
+ 0x2001d004 - 0x000000a0 Zero RW 1959 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o
+ 0x2001d0a4 - 0x00000050 Zero RW 1958 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o
+ 0x2001d0f4 - 0x00000004 Zero RW 1955 .bss.prvSampleTimeNow.xLastTime timers.o
+ 0x2001d0f8 - 0x00000004 Zero RW 1867 .bss.pxCurrentTCB tasks.o
+ 0x2001d0fc - 0x00000004 Zero RW 1953 .bss.pxCurrentTimerList timers.o
+ 0x2001d100 - 0x00000004 Zero RW 2164 .bss.pxEnd heap_4.o
+ 0x2001d104 - 0x00000004 Zero RW 1876 .bss.pxOverflowDelayedTaskList tasks.o
+ 0x2001d108 - 0x00000004 Zero RW 2296 .bss.queue_mutex can_1.o
+ 0x2001d10c - 0x000000e0 Zero RW 3383 .bss.task_runtime user_task.o
+ 0x2001d1ec - 0x00000004 Zero RW 3090 .bss.thread_alert et16s.o
+ 0x2001d1f0 - 0x00000810 Zero RW 2297 .bss.tx_queues can_1.o
+ 0x2001da00 - 0x00000004 Zero RW 722 .bss.uwTick stm32f4xx_hal.o
+ 0x2001da04 - 0x00000004 Zero RW 1870 .bss.uxDeletedTasksWaitingCleanUp tasks.o
+ 0x2001da08 - 0x00000200 Zero RW 2137 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o
+ 0x2001dc08 - 0x00000060 Zero RW 2138 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o
+ 0x2001dc68 - 0x00000104 Zero RW 3174 .bss.vofa_tx_buf vofa.o
+ 0x2001dd6c - 0x00000014 Zero RW 1956 .bss.xActiveTimerList1 timers.o
+ 0x2001dd80 - 0x00000001 Zero RW 2165 .bss.xBlockAllocatedBit heap_4.o
+ 0x2001dd81 0x08010fa0 0x00000003 PAD
+ 0x2001dd84 - 0x00000014 Zero RW 1887 .bss.xDelayedTaskList1 tasks.o
+ 0x2001dd98 - 0x00000004 Zero RW 1881 .bss.xIdleTaskHandle tasks.o
+ 0x2001dd9c - 0x00000004 Zero RW 2168 .bss.xMinimumEverFreeBytesRemaining heap_4.o
+ 0x2001dda0 - 0x00000004 Zero RW 1885 .bss.xNumOfOverflows tasks.o
+ 0x2001dda4 - 0x00000004 Zero RW 2170 .bss.xNumberOfSuccessfulFrees heap_4.o
+ 0x2001dda8 - 0x00000004 Zero RW 1872 .bss.xSchedulerRunning tasks.o
+ 0x2001ddac - 0x00000014 Zero RW 1877 .bss.xSuspendedTaskList tasks.o
+ 0x2001ddc0 - 0x00000004 Zero RW 1874 .bss.xTickCount tasks.o
+ 0x2001ddc4 - 0x00000004 Zero RW 1951 .bss.xTimerQueue timers.o
+ 0x2001ddc8 - 0x00000004 Zero RW 1883 .bss.xYieldPending tasks.o
+ 0x2001ddcc 0x08010fa0 0x00000004 PAD
+ 0x2001ddd0 - 0x00000500 Zero RW 2 HEAP startup_stm32f407xx.o
+ 0x2001e2d0 - 0x00001000 Zero RW 1 STACK startup_stm32f407xx.o
==============================================================================
@@ -10470,8 +10468,8 @@ Image component sizes
26 0 0 0 0 2417 calc_lib.o
444 0 0 0 84 6436 can.o
2364 4 0 0 2181 17085 can_1.o
- 3816 162 16 0 16 11822 chassis.o
- 148 12 0 0 2060 5464 chassis_ctrl.o
+ 3936 162 16 0 16 11826 chassis.o
+ 148 12 0 0 2108 5809 chassis_ctrl.o
232 8 0 0 285 5192 cmd.o
924 8 0 64 0 7427 cmd_1.o
400 0 0 24 16 4765 cmd_adapter.o
@@ -10532,9 +10530,9 @@ Image component sizes
96 8 0 0 16 988 vofa_1.o
----------------------------------------------------------------------
- 53096 688 1300 1224 122720 582845 Object Totals
+ 53208 680 1300 1224 122768 583194 Object Totals
0 0 64 0 0 0 (incl. Generated)
- 436 20 3 6 35 0 (incl. Padding)
+ 428 12 3 6 35 0 (incl. Padding)
----------------------------------------------------------------------
@@ -10658,15 +10656,15 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 67304 1716 1668 1224 123044 585997 Grand Totals
- 67304 1716 1668 448 123044 585997 ELF Image Totals (compressed)
- 67304 1716 1668 448 0 0 ROM Totals
+ 67416 1708 1668 1224 123092 586346 Grand Totals
+ 67416 1708 1668 448 123092 586346 ELF Image Totals (compressed)
+ 67416 1708 1668 448 0 0 ROM Totals
==============================================================================
- Total RO Size (Code + RO Data) 68972 ( 67.36kB)
- Total RW Size (RW Data + ZI Data) 124268 ( 121.36kB)
- Total ROM Size (Code + RO Data + RW Data) 69420 ( 67.79kB)
+ Total RO Size (Code + RO Data) 69084 ( 67.46kB)
+ Total RW Size (RW Data + ZI Data) 124316 ( 121.40kB)
+ Total ROM Size (Code + RO Data + RW Data) 69532 ( 67.90kB)
==============================================================================
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 b6f16cc..88f2b2f 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
@@ -2414,8 +2414,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (..\User\bsp\bsp.h)(0x6982F1BF)
I (..\User\device\device.h)(0x6982F1BF)
-F (..\User\module\chassis.c)(0x69AC524D)(-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/chassis.o" -MD)
-I (..\User\module\chassis.h)(0x69AC421E)
+F (..\User\module\chassis.c)(0x69AC5E35)(-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/chassis.o" -MD)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x6982F1BF)
I (..\User\component\user_math.h)(0x6982F1BF)
@@ -2481,7 +2481,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
I (..\User\bsp\time.h)(0x6982F1BF)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdlib.h)(0x6035A4A8)
-F (..\User\module\config.c)(0x69AC5146)(-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/config.o" -MD)
+F (..\User\module\config.c)(0x69AC5D31)(-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/config.o" -MD)
I (..\User\component\user_math.h)(0x6982F1BF)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2546,7 +2546,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x6982F1BF)
I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x6982F1BF)
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
@@ -2687,7 +2687,7 @@ I (..\User\module\cmd\cmd_types.h)(0x69710063)
I (..\User\module\cmd\cmd_adapter.h)(0x697249FA)
I (..\User\device\ET16s.h)(0x69735766)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\ahrs.h)(0x6982F1BF)
I (..\User\device\bmi088.h)(0x6982F1BF)
@@ -2776,7 +2776,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x6982F1BF)
I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x6982F1BF)
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
@@ -2953,7 +2953,7 @@ I (..\User\bsp\bsp.h)(0x6982F1BF)
I (..\User\bsp\mm.h)(0x6982F1BF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x6982F1BF)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x6982F1BF)
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
@@ -3041,7 +3041,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x6982F1BF)
I (..\User\component\user_math.h)(0x6982F1BF)
@@ -3168,7 +3168,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055
I (..\User\device\motor_rm.h)(0x6982F1BF)
I (..\User\module\config.h)(0x696E2066)
I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\device\bmi088.h)(0x6982F1BF)
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
@@ -3246,7 +3246,7 @@ I (..\User\bsp\mm.h)(0x6982F1BF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x6982F1BF)
I (..\User\module\shoot.h)(0x6968CB81)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\device\bmi088.h)(0x6982F1BF)
I (..\User\component\trapezoidal_profile.h)(0x69AC1BA9)
I (..\User\module\cmd\cmd.h)(0x6986AEE1)
@@ -3265,7 +3265,7 @@ I (..\User\device\device.h)(0x6982F1BF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x6982F1BF)
I (..\User\component\user_math.h)(0x6982F1BF)
@@ -3350,7 +3350,7 @@ I (..\User\device\ET16s.h)(0x69735766)
I (..\User\device\device.h)(0x6982F1BF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x6982F1BF)
I (..\User\component\user_math.h)(0x6982F1BF)
@@ -3424,7 +3424,7 @@ I (..\User\device\device.h)(0x6982F1BF)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
I (..\User\module\cmd\cmd_behavior.h)(0x695FA70F)
-I (..\User\module\chassis.h)(0x69AC421E)
+I (..\User\module\chassis.h)(0x69AC5AFF)
I (..\User\module\struct_typedef.h)(0x68DBD148)
I (..\User\component\filter.h)(0x6982F1BF)
I (..\User\component\user_math.h)(0x6982F1BF)
diff --git a/MDK-ARM/Steering Wheel_Infatry/chassis.o b/MDK-ARM/Steering Wheel_Infatry/chassis.o
index 925e841..e6d8326 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/chassis.o and b/MDK-ARM/Steering Wheel_Infatry/chassis.o differ
diff --git a/MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o b/MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o
index ee3d50d..cc8de67 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o and b/MDK-ARM/Steering Wheel_Infatry/chassis_ctrl.o differ
diff --git a/MDK-ARM/Steering Wheel_Infatry/config.o b/MDK-ARM/Steering Wheel_Infatry/config.o
index 9da1275..ca4f04c 100644
Binary files a/MDK-ARM/Steering Wheel_Infatry/config.o and b/MDK-ARM/Steering Wheel_Infatry/config.o differ
diff --git a/User/module/chassis.c b/User/module/chassis.c
index e1fbaba..2251e7c 100644
--- a/User/module/chassis.c
+++ b/User/module/chassis.c
@@ -95,7 +95,7 @@ static float motor_add_angle(float current_angle, int motor_id){
*/
float GetLogicalPosition(float raw, float offset, float range) {
float logic_pos = raw - offset;
-
+
// 如果差值为负,说明跨越了 0 点,加上 range 补回循环
if (logic_pos < 0.0f) {
logic_pos += range;
@@ -108,67 +108,18 @@ float GetLogicalPosition(float raw, float offset, float range) {
return logic_pos;
}
- TrapezoidalProfile telescope_profile;
-// float last_target_angle ;
+
static int8_t Set_Chassis_Attitude(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
float Telescope_omega_set_point[2];
-// c->Set_TelescopeAngle=c->param->Set_TelescopeAngle;
-// c->feedfrward=c->param->feedfrward;
-
-
- //【关键参数】这里的最大速度和加速度需要你根据实际伸缩机构的物理极限来调试!
- // 你的位置单位似乎是弧度(rad),速度是 rad/s。请根据实际情况微调这两个值。
-// const float V_MAX = 5.0f; // 最大角速度 (rad/s)
-// const float ACCEL = 10.0f; // 最大角加速度 (rad/s^2)
-//
-// // 1. 如果检测到目标角度发生改变,重新初始化规划器
-// if (c->Set_TelescopeAngle != c->Last_Set_TelescopeAngle) {
-// // 以电机0当前的实际位置作为规划起点
-// Profile_Init(&telescope_profile,
-// c->feedback.motor_transformation.Telescope_SuperiorAngle[0],
-// c->Set_TelescopeAngle,
-// V_MAX, ACCEL);
-// c->Last_Set_TelescopeAngle = c->Set_TelescopeAngle;
-// }
-// // 2. 更新规划器状态,计算出当前 dt 周期下应该达到的 瞬时位置 和 瞬时速度
-// Profile_Update(&telescope_profile, c->accl_time.dt);
-
-// // 计算两电机真实位置差值,用于监控或其它补偿(保留你的原代码变量)
-// c->Telescope_err = (c->feedback.motor_transformation.Telescope_SuperiorAngle[0] -
-// c->feedback.motor_transformation.Telescope_SuperiorAngle[1]);
-//
-
-// c->Follow_TelescopeAngle=c->feedback.motor_transformation.Telescope_SuperiorAngle[0];
-//
-//// A. 位置环计算:追踪瞬时位置 profile.current_pos
-// for(int i = 0; i < 2; i++){
-// float angle_pid_out = PID_Calc(&(c->pid.Telescope_angle[i]),
-// telescope_profile.current_pos,
-// c->feedback.motor_transformation.Telescope_SuperiorAngle[i],
-// 0.0f, c->dt);
-//
-// // B. 【消除滞后的核心:速度前馈】
-// // 目标速度 = 位置环的补偿量 + 规划器输出的瞬时速度
-// // (如果你的位置单位是rad,速度单位是rad/s,前馈系数直接乘1.0f即可)
-// float target_omega = angle_pid_out + telescope_profile.current_vel * 1.0f;
-
-// // C. 速度环计算
-// c->out.Telescope[i] = PID_Calc(&(c->pid.Telescope_omega[i]),
-// target_omega,
-// c->feedback.motor_transformation.Telescope_Omega[i],
-// 0.0f, c->dt);
-// }
- /* 前馈添加 */
-// c->out.Telescope[1]+=c->feedfrward*c->Telescope_err;
-
-// c->out.Telescope[0]=1;
-// switch(mode)
-// {
-// case STOP_MODE:
-// for(int i = 0; i < 2; i++)
-// c->out.Telescope[i] = 0.0f;
-// break;
-// case EXPAND_MODE:
+ c->Set_TelescopeAngle=c->param->Set_TelescopeAngle;
+ c->feedfrward=c->param->feedfrward;
+ switch(mode)
+ {
+ case STOP_MODE:
+ for(int i = 0; i < 2; i++)
+ c->out.Telescope[i] = 0.0f;
+ break;
+ case EXPAND_MODE:
Telescope_omega_set_point[0] = PID_Calc(&(c->pid.Telescope_angle[0]), c->Set_TelescopeAngle,
c->feedback.motor_transformation.Telescope_SuperiorAngle[0], 0.0f, c->dt);
c->out.Telescope[0] = PID_Calc(&(c->pid.Telescope_omega[0]), Telescope_omega_set_point[0],
@@ -177,30 +128,31 @@ float GetLogicalPosition(float raw, float offset, float range) {
c->feedback.motor_transformation.Telescope_SuperiorAngle[1], 0.0f, c->dt);
c->out.Telescope[1] = PID_Calc(&(c->pid.Telescope_omega[1]), Telescope_omega_set_point[1],
c->feedback.motor_transformation.Telescope_Omega[1], 0.f, c->dt);
-// break;
-// case REDUCE_MODE:
-//
-// // Telescope_omega_set_point = PID_Calc(&(c->pid.Telescope_angle), 0,
-// // c->feedback.motor.Telescope_SuperiorAngle, 0.0f, c->dt);
-// // c->out.Telescope = PID_Calc(&(c->pid.Telescope_omega), Telescope_omega_set_point,
-// // c->feedback.motor.Telescope_Omega, 0.f, c->dt);
-// break;
-// default:
-// for(int i = 0; i < 2; i++)
-// c->out.Telescope[i] = 0.0f;
-// break;
-// }
- return CHASSIS_OK;
-}
-
-
-static int8_t TelescopeChassis_Control(Chassis_t *c,CHASSIS_ATTITUDE_MODE_t mode){
-
-
-
+ c->Follow_TelescopeAngle=c->feedback.motor_transformation.Telescope_SuperiorAngle[0];
+ /* 前馈添加 */
+ c->out.Telescope[0]+=c->feedfrward*c->Telescope_err;
+ break;
+ case REDUCE_MODE:
+ Telescope_omega_set_point[0] = PID_Calc(&(c->pid.Telescope_angle[0]), 0,
+ c->feedback.motor_transformation.Telescope_SuperiorAngle[0], 0.0f, c->dt);
+ c->out.Telescope[0] = PID_Calc(&(c->pid.Telescope_omega[0]), Telescope_omega_set_point[0],
+ c->feedback.motor_transformation.Telescope_Omega[0], 0.f, c->dt);
+ Telescope_omega_set_point[1] = PID_Calc(&(c->pid.Telescope_angle[1]), c->Set_TelescopeAngle,
+ c->feedback.motor_transformation.Telescope_SuperiorAngle[1], 0.0f, c->dt);
+ c->out.Telescope[1] = PID_Calc(&(c->pid.Telescope_omega[1]), Telescope_omega_set_point[1],
+ c->feedback.motor_transformation.Telescope_Omega[1], 0.f, c->dt);
+ c->Follow_TelescopeAngle=c->feedback.motor_transformation.Telescope_SuperiorAngle[0];
+ /* 前馈添加 */
+ c->out.Telescope[0]+=c->feedfrward*c->Telescope_err;
+ break;
+ default:
+ for(int i = 0; i < 2; i++)
+ c->out.Telescope[i] = 0.0f;
+ break;
+ }
return CHASSIS_OK;
}
diff --git a/User/module/chassis.h b/User/module/chassis.h
index 0c388f3..df0674f 100644
--- a/User/module/chassis.h
+++ b/User/module/chassis.h
@@ -145,6 +145,7 @@ typedef struct
float chassis6020_detangle[4];
Chassis_Mode_t mode;
ChassisMove_Vec move_vec; // 最终输入速度
+ TrapezoidalProfile telescope_profile;
/* 设立角度和跟随角度 */
float Set_TelescopeAngle;
float Last_Set_TelescopeAngle;
diff --git a/User/module/config.c b/User/module/config.c
index e0ea3b5..bf1d54e 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -44,7 +44,7 @@ Config_RobotParam_t robot_config = {
.Telescope_Omega[1]={
.k=0.4f,
- .p=0.5f,
+ .p=0.4f,
.i=0.2f,
.d=0.0f,
.i_limit=1.0f,