From 7dc0a28994cc8dcefc7865175fc802de7d562409 Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Thu, 22 Jan 2026 12:08:39 +0800 Subject: [PATCH] =?UTF-8?q?=E5=90=84=E6=A8=A1=E5=9D=97cmd=E9=80=9A?= =?UTF-8?q?=E4=BA=86=EF=BC=8C=E9=81=A5=E6=8E=A7=E5=99=A8=E9=80=9A=E9=81=93?= =?UTF-8?q?5=E6=9C=89=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/Steering Wheel_Infatry.uvguix.yunha | 139 +- MDK-ARM/Steering Wheel_Infatry.uvoptx | 8 +- .../Steering Wheel_Infatry.axf | Bin 687268 -> 687380 bytes .../Steering Wheel_Infatry.hex | 6877 +++++++++-------- .../Steering Wheel_Infatry.htm | 28 +- .../Steering Wheel_Infatry.map | 3239 ++++---- ...g Wheel_Infatry_Steering Wheel_Infatry.dep | 10 +- MDK-ARM/Steering Wheel_Infatry/cmd.o | Bin 9508 -> 9384 bytes MDK-ARM/Steering Wheel_Infatry/cmd_1.o | Bin 15612 -> 15688 bytes MDK-ARM/Steering Wheel_Infatry/cmd_adapter.o | Bin 10552 -> 10548 bytes MDK-ARM/Steering Wheel_Infatry/config.o | Bin 10016 -> 10016 bytes MDK-ARM/Steering Wheel_Infatry/et16s.o | Bin 11164 -> 11244 bytes User/device/ET16s.c | 8 +- User/module/cmd/cmd.c | 10 +- User/module/cmd/cmd_adapter.c | 11 +- User/module/config.c | 8 +- User/task/cmd.c | 4 +- 17 files changed, 5114 insertions(+), 5228 deletions(-) diff --git a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha index 327499a..0bf0578 100644 --- a/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha +++ b/MDK-ARM/Steering Wheel_Infatry.uvguix.yunha @@ -25,7 +25,7 @@ 204 Performance Analyzer - 410 130 130 156 + 466 130 130 100 @@ -110,8 +110,8 @@ 0 - 1357 - 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    Static Call Graph for image Steering Wheel_Infatry\Steering Wheel_Infatry.axf

    -

    #<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Jan 22 01:29:42 2026 +

    #<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Jan 22 12:03:07 2026

    Maximum Stack Usage = 328 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

    Call chain for Maximum Stack Depth:

    @@ -1161,8 +1161,7 @@ Global Symbols
    [Calls]
    • >>   CMD_Behavior_ProcessAll
    -
    [Called By]
    • >>   Task_cmd -
    • >>   CMD_Update +
      [Called By]
      • >>   CMD_Update

      CMD_Behavior_Handle_ACCELERATE (Thumb, 36 bytes, Stack size 0 bytes, cmd_behavior.o(.text.CMD_Behavior_Handle_ACCELERATE)) @@ -1213,13 +1212,13 @@ Global Symbols


    [Calls]
    • >>   CMD_Behavior_IsTriggered
    -
    [Called By]
    • >>   CMD_PC_BuildShootCmd +
      [Called By]
      • >>   CMD_Arbitrate +
      • >>   CMD_PC_BuildShootCmd
      • >>   CMD_PC_BuildGimbalCmd
      • >>   CMD_PC_BuildChassisCmd -
      • >>   CMD_Arbitrate
      -

      CMD_ET16s_GetInput (Thumb, 244 bytes, Stack size 24 bytes, cmd_adapter.o(.text.CMD_ET16s_GetInput)) +

      CMD_ET16s_GetInput (Thumb, 236 bytes, Stack size 24 bytes, cmd_adapter.o(.text.CMD_ET16s_GetInput))

      [Stack]

      • Max Depth = 24
      • Call Chain = CMD_ET16s_GetInput

      [Address Reference Count : 1]
      • cmd_adapter.o(.data.g_adapter_ET16s) @@ -1241,8 +1240,7 @@ Global Symbols
      • >>   __aeabi_ul2f
      • >>   CMD_SetOfflineMode
      -
      [Called By]
      • >>   Task_cmd -
      • >>   CMD_Update +
        [Called By]
        • >>   CMD_Update

        CMD_Init (Thumb, 40 bytes, Stack size 16 bytes, cmd_1.o(.text.CMD_Init)) @@ -1271,8 +1269,7 @@ Global Symbols


      [Calls]
      • >>   CMD_Adapter_GetInput
      -
      [Called By]
      • >>   Task_cmd -
      • >>   CMD_Update +
        [Called By]
        • >>   CMD_Update

        Chassis_Control (Thumb, 480 bytes, Stack size 40 bytes, chassis.o(.text.Chassis_Control)) @@ -1382,7 +1379,7 @@ Global Symbols

        DebugMon_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DebugMon_Handler))
        [Address Reference Count : 1]

        • startup_stm32f407xx.o(RESET)
        -

        ET16S_ParseRC (Thumb, 146 bytes, Stack size 16 bytes, et16s.o(.text.ET16S_ParseRC)) +

        ET16S_ParseRC (Thumb, 174 bytes, Stack size 16 bytes, et16s.o(.text.ET16S_ParseRC))

        [Stack]

        • Max Depth = 96
        • Call Chain = ET16S_ParseRC ⇒ ET16s_ParseRaw ⇒ __aeabi_f2d

        [Calls]
        • >>   Keymap @@ -1395,7 +1392,7 @@ Global Symbols

          [Called By]
          • >>   Task_ET16s
          -

          ET16s_ParseRaw (Thumb, 584 bytes, Stack size 64 bytes, et16s.o(.text.ET16s_ParseRaw)) +

          ET16s_ParseRaw (Thumb, 616 bytes, Stack size 64 bytes, et16s.o(.text.ET16s_ParseRaw))

          [Stack]

          • Max Depth = 80
          • Call Chain = ET16s_ParseRaw ⇒ __aeabi_f2d

          [Calls]
          • >>   map_fp32 @@ -2932,7 +2929,7 @@ Global Symbols

          [Address Reference Count : 1]
          • init.o(.text.Task_Init)
          -

          Task_cmd (Thumb, 248 bytes, Stack size 8 bytes, cmd.o(.text.Task_cmd)) +

          Task_cmd (Thumb, 232 bytes, Stack size 8 bytes, cmd.o(.text.Task_cmd))

          [Stack]

          • Max Depth = 160 + Unknown Stack Size
          • Call Chain = Task_cmd ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
          @@ -2946,11 +2943,8 @@ Global Symbols
        • >>   __aeabi_ui2d
        • >>   __aeabi_d2uiz
        • >>   __aeabi_ddiv -
        • >>   CMD_UpdateInput
        • >>   CMD_Update
        • >>   CMD_Init -
        • >>   CMD_GenerateCommands -
        • >>   CMD_Arbitrate
        • >>   Config_GetRobotParam

        [Address Reference Count : 1]
        • init.o(.text.Task_Init) @@ -5364,7 +5358,7 @@ Local Symbols

          CMD_RC_BuildGimbalCmd (Thumb, 72 bytes, Stack size 0 bytes, cmd_1.o(.text.CMD_RC_BuildGimbalCmd))
          [Address Reference Count : 1]

          • cmd_1.o(.data.sourceHandlers)
          -

          CMD_RC_BuildShootCmd (Thumb, 44 bytes, Stack size 0 bytes, cmd_1.o(.text.CMD_RC_BuildShootCmd)) +

          CMD_RC_BuildShootCmd (Thumb, 56 bytes, Stack size 0 bytes, cmd_1.o(.text.CMD_RC_BuildShootCmd))
          [Address Reference Count : 1]

          • cmd_1.o(.data.sourceHandlers)

          CMD_SetOfflineMode (Thumb, 18 bytes, Stack size 0 bytes, cmd_1.o(.text.CMD_SetOfflineMode)) diff --git a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map index d091e67..f2bba27 100644 --- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map +++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry.map @@ -4181,6 +4181,7 @@ Section Cross References et16s.o(.ARM.exidx.text.ET16s_ParseRaw) refers to et16s.o(.text.ET16s_ParseRaw) for [Anonymous Symbol] et16s.o(.text.ET16S_ParseRC) refers to et16s.o(.text.ET16s_ParseRaw) for ET16s_ParseRaw et16s.o(.text.ET16S_ParseRC) refers to et16s.o(.text.Keymap) for Keymap + et16s.o(.text.ET16S_ParseRC) refers to et16s.o(.bss.cbuf) for cbuf et16s.o(.ARM.exidx.text.ET16S_ParseRC) refers to et16s.o(.text.ET16S_ParseRC) for [Anonymous Symbol] et16s.o(.ARM.exidx.text.ET16s_HandleOffline) refers to et16s.o(.text.ET16s_HandleOffline) for [Anonymous Symbol] dr16.o(.text.DR16_Init) refers to dr16.o(.bss.inited) for inited @@ -4449,9 +4450,6 @@ Section Cross References cmd.o(.text.Task_cmd) refers to cmd.o(.bss.cmd_for_shoot) for cmd_for_shoot cmd.o(.text.Task_cmd) refers to cmd.o(.bss.cmd_et16s) for cmd_et16s cmd.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueueGet) for osMessageQueueGet - cmd.o(.text.Task_cmd) refers to cmd_1.o(.text.CMD_UpdateInput) for CMD_UpdateInput - cmd.o(.text.Task_cmd) refers to cmd_1.o(.text.CMD_Arbitrate) for CMD_Arbitrate - cmd.o(.text.Task_cmd) refers to cmd_1.o(.text.CMD_GenerateCommands) for CMD_GenerateCommands cmd.o(.text.Task_cmd) refers to cmd_1.o(.text.CMD_Update) for CMD_Update cmd.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueueReset) for osMessageQueueReset cmd.o(.text.Task_cmd) refers to cmsis_os2.o(.text.osMessageQueuePut) for osMessageQueuePut @@ -7766,579 +7764,579 @@ Image Symbol Table [Anonymous Symbol] 0x08002468 Section 0 cmd_behavior.o(.text.CMD_Behavior_IsTriggered) [Anonymous Symbol] 0x08002534 Section 0 cmd_behavior.o(.text.CMD_Behavior_ProcessAll) [Anonymous Symbol] 0x08002588 Section 0 cmd_adapter.o(.text.CMD_ET16s_GetInput) - [Anonymous Symbol] 0x0800267c Section 0 cmd_adapter.o(.text.CMD_ET16s_Init) - [Anonymous Symbol] 0x08002684 Section 0 cmd_adapter.o(.text.CMD_ET16s_IsOnline) - [Anonymous Symbol] 0x0800268c Section 0 cmd_1.o(.text.CMD_GenerateCommands) - [Anonymous Symbol] 0x08002724 Section 0 cmd_1.o(.text.CMD_Init) - CMD_PC_BuildChassisCmd 0x0800274d Thumb Code 42 cmd_1.o(.text.CMD_PC_BuildChassisCmd) - [Anonymous Symbol] 0x0800274c Section 0 cmd_1.o(.text.CMD_PC_BuildChassisCmd) - CMD_PC_BuildGimbalCmd 0x08002779 Thumb Code 104 cmd_1.o(.text.CMD_PC_BuildGimbalCmd) - [Anonymous Symbol] 0x08002778 Section 0 cmd_1.o(.text.CMD_PC_BuildGimbalCmd) - CMD_PC_BuildShootCmd 0x080027e1 Thumb Code 44 cmd_1.o(.text.CMD_PC_BuildShootCmd) - [Anonymous Symbol] 0x080027e0 Section 0 cmd_1.o(.text.CMD_PC_BuildShootCmd) - CMD_RC_BuildChassisCmd 0x0800280d Thumb Code 48 cmd_1.o(.text.CMD_RC_BuildChassisCmd) - [Anonymous Symbol] 0x0800280c Section 0 cmd_1.o(.text.CMD_RC_BuildChassisCmd) - CMD_RC_BuildGimbalCmd 0x0800283d Thumb Code 72 cmd_1.o(.text.CMD_RC_BuildGimbalCmd) - [Anonymous Symbol] 0x0800283c Section 0 cmd_1.o(.text.CMD_RC_BuildGimbalCmd) - CMD_RC_BuildShootCmd 0x08002885 Thumb Code 44 cmd_1.o(.text.CMD_RC_BuildShootCmd) - [Anonymous Symbol] 0x08002884 Section 0 cmd_1.o(.text.CMD_RC_BuildShootCmd) - CMD_SetOfflineMode 0x080028b1 Thumb Code 18 cmd_1.o(.text.CMD_SetOfflineMode) - [Anonymous Symbol] 0x080028b0 Section 0 cmd_1.o(.text.CMD_SetOfflineMode) - [Anonymous Symbol] 0x080028c4 Section 0 cmd_1.o(.text.CMD_Update) - [Anonymous Symbol] 0x080028e0 Section 0 cmd_1.o(.text.CMD_UpdateInput) - Chassis_CalcWz 0x08002949 Thumb Code 108 chassis.o(.text.Chassis_CalcWz) - [Anonymous Symbol] 0x08002948 Section 0 chassis.o(.text.Chassis_CalcWz) - [Anonymous Symbol] 0x080029b4 Section 0 chassis.o(.text.Chassis_Control) - Chassis_SetMode 0x08002b95 Thumb Code 114 chassis.o(.text.Chassis_SetMode) - [Anonymous Symbol] 0x08002b94 Section 0 chassis.o(.text.Chassis_SetMode) - [Anonymous Symbol] 0x08002c08 Section 0 chassis.o(.text.Chassis_Setoutput) - [Anonymous Symbol] 0x08002c58 Section 0 chassis.o(.text.Chassis_speed_calculate) - [Anonymous Symbol] 0x08003258 Section 0 user_math.o(.text.CircleAdd) - [Anonymous Symbol] 0x08003294 Section 0 user_math.o(.text.CircleError) - [Anonymous Symbol] 0x080032d0 Section 0 user_math.o(.text.Clip) - [Anonymous Symbol] 0x080032f8 Section 0 config.o(.text.Config_GetRobotParam) - [Anonymous Symbol] 0x08003304 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - [Anonymous Symbol] 0x08003314 Section 0 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) - [Anonymous Symbol] 0x08003324 Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - [Anonymous Symbol] 0x08003334 Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - [Anonymous Symbol] 0x08003344 Section 0 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DMA_CalcBaseAndBitshift 0x08003355 Thumb Code 52 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - [Anonymous Symbol] 0x08003354 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x08003388 Number 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CheckFifoParam 0x08003391 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - [Anonymous Symbol] 0x08003390 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - DMA_SetConfig 0x080033e1 Thumb Code 48 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x080033e0 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08003410 Section 0 dr16.o(.text.DR16_Init) - DR16_RxCpltCallback 0x08003459 Thumb Code 20 dr16.o(.text.DR16_RxCpltCallback) - [Anonymous Symbol] 0x08003458 Section 0 dr16.o(.text.DR16_RxCpltCallback) - [Anonymous Symbol] 0x0800346c Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x08003470 Section 0 et16s.o(.text.ET16S_ParseRC) - [Anonymous Symbol] 0x08003504 Section 0 et16s.o(.text.ET16s_HandleOffline) - [Anonymous Symbol] 0x08003540 Section 0 et16s.o(.text.ET16s_ParseRaw) - [Anonymous Symbol] 0x08003788 Section 0 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - [Anonymous Symbol] 0x08003794 Section 0 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - [Anonymous Symbol] 0x080037a0 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - [Anonymous Symbol] 0x080037ac Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - [Anonymous Symbol] 0x080037b8 Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x080037c0 Section 0 gimbal.o(.text.Gimbal_Control) - [Anonymous Symbol] 0x08003b60 Section 0 gimbal.o(.text.Gimbal_Control_mode) - Gimbal_Direction 0x08003bb9 Thumb Code 164 gimbal.o(.text.Gimbal_Direction) - [Anonymous Symbol] 0x08003bb8 Section 0 gimbal.o(.text.Gimbal_Direction) - [Anonymous Symbol] 0x08003c5c Section 0 gimbal.o(.text.Gimbal_Init) - [Anonymous Symbol] 0x08003dac Section 0 gimbal.o(.text.Gimbal_Output) - Gimbal_SetMode 0x08003ec5 Thumb Code 136 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08003ec4 Section 0 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08003f4c Section 0 gimbal.o(.text.Gimbal_UpdateFeedback) - [Anonymous Symbol] 0x08004064 Section 0 gimbal.o(.text.Gimbal_UpdateIMU) - [Anonymous Symbol] 0x080040b4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x080040dc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x08004170 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x08004250 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x08004274 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08004294 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x080043b8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x080043e0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x0800461c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08004710 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x0800485c Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08004880 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x080048a4 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x080048c8 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x080048ec Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x08004910 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x0800496c Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08004990 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x080049b4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x080049d8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x080049fc Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08004a20 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08004a44 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x08004a68 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x08004ae8 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x08004b0c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x08004c98 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x08004d68 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08004dcc Section 0 stm32f4xx_hal.o(.text.HAL_Delay) - [Anonymous Symbol] 0x08004df4 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - [Anonymous Symbol] 0x08004e20 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - [Anonymous Symbol] 0x08004e3c Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x08004fd8 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - [Anonymous Symbol] 0x08004fe4 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - [Anonymous Symbol] 0x08004ff0 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x08004ffc Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - [Anonymous Symbol] 0x08005194 Section 0 i2c.o(.text.HAL_I2C_MspInit) - [Anonymous Symbol] 0x0800526c Section 0 stm32f4xx_hal.o(.text.HAL_IncTick) - [Anonymous Symbol] 0x08005288 Section 0 stm32f4xx_hal.o(.text.HAL_Init) - [Anonymous Symbol] 0x080052c0 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick) - [Anonymous Symbol] 0x08005310 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - [Anonymous Symbol] 0x08005358 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - [Anonymous Symbol] 0x08005360 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - [Anonymous Symbol] 0x08005368 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - [Anonymous Symbol] 0x08005388 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - [Anonymous Symbol] 0x08005390 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - [Anonymous Symbol] 0x080054f0 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - [Anonymous Symbol] 0x080054fc Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - [Anonymous Symbol] 0x08005520 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - [Anonymous Symbol] 0x08005544 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - [Anonymous Symbol] 0x080055ac Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - [Anonymous Symbol] 0x080058f4 Section 0 spi_1.o(.text.HAL_SPI_ErrorCallback) - [Anonymous Symbol] 0x08005918 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - [Anonymous Symbol] 0x080059cc Section 0 spi.o(.text.HAL_SPI_MspInit) - [Anonymous Symbol] 0x08005afc Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - [Anonymous Symbol] 0x08005c70 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - [Anonymous Symbol] 0x08005d5c Section 0 spi_1.o(.text.HAL_SPI_RxCpltCallback) - [Anonymous Symbol] 0x08005d80 Section 0 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - [Anonymous Symbol] 0x08005da4 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - [Anonymous Symbol] 0x08005f30 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - [Anonymous Symbol] 0x08006128 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - [Anonymous Symbol] 0x0800624c Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - [Anonymous Symbol] 0x08006318 Section 0 spi_1.o(.text.HAL_SPI_TxCpltCallback) - [Anonymous Symbol] 0x08006338 Section 0 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - [Anonymous Symbol] 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0x08003345 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) - DR16_Init 0x08003411 Thumb Code 70 dr16.o(.text.DR16_Init) - DebugMon_Handler 0x0800346d Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - ET16S_ParseRC 0x08003471 Thumb Code 146 et16s.o(.text.ET16S_ParseRC) - ET16s_HandleOffline 0x08003505 Thumb Code 54 et16s.o(.text.ET16s_HandleOffline) - ET16s_ParseRaw 0x08003541 Thumb Code 584 et16s.o(.text.ET16s_ParseRaw) - EXTI0_IRQHandler 0x08003789 Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - EXTI3_IRQHandler 0x08003795 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - EXTI4_IRQHandler 0x080037a1 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x080037ad Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x080037b9 Thumb Code 6 main.o(.text.Error_Handler) - Gimbal_Control 0x080037c1 Thumb Code 928 gimbal.o(.text.Gimbal_Control) - Gimbal_Control_mode 0x08003b61 Thumb Code 88 gimbal.o(.text.Gimbal_Control_mode) 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stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x080043e1 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x0800461d Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08004711 Thumb Code 330 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x0800485d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08004881 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x080048a5 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x080048c9 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x080048ed Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x08004911 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x0800496d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x08004991 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x080049b5 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x080049d9 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x080049fd Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08004a21 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08004a45 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x08004a69 Thumb Code 128 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x08004ae9 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_IRQHandler 0x08004b0d Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x08004c99 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08004d69 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08004dcd Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08004df5 Thumb Code 44 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x08004e21 Thumb Code 26 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08004e3d Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x08004fd9 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x08004fe5 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08004ff1 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_Init 0x08004ffd Thumb Code 408 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_MspInit 0x08005195 Thumb Code 216 i2c.o(.text.HAL_I2C_MspInit) - HAL_IncTick 0x0800526d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08005289 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x080052c1 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08005311 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08005359 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x08005361 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08005369 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x08005389 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x08005391 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x080054f1 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x080054fd Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08005521 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08005545 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x080055ad Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x080058f5 Thumb Code 34 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x08005919 Thumb Code 180 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x080059cd Thumb Code 302 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x08005afd Thumb Code 370 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x08005c71 Thumb Code 236 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08005d5d Thumb Code 34 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x08005d81 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x08005da5 Thumb Code 394 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x08005f31 Thumb Code 504 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x08006129 Thumb Code 292 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x0800624d Thumb Code 204 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x08006319 Thumb Code 32 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x08006339 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x0800635d Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x08006381 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x080063a5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x080063ad Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x080063b1 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIM_Base_Init 0x080063b5 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08006411 Thumb Code 72 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_IC_CaptureCallback 0x08006459 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x0800645d Thumb Code 308 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_MspPostInit 0x08006591 Thumb Code 92 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_OC_DelayElapsedCallback 0x080065ed Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x080065f1 Thumb Code 152 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x08006689 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x080066e5 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x080066e9 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PWM_Start 0x080066ed Thumb Code 290 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PeriodElapsedCallback 0x08006811 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x08006815 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x08006819 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x0800681d Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x08006845 Thumb Code 602 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x08006aa1 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x08006b01 Thumb Code 712 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x08006dc9 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_RxCpltCallback 0x08006df5 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x08006e1d Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HAL_UART_TxCpltCallback 0x08006e45 Thumb Code 38 uart.o(.text.HAL_UART_TxCpltCallback) - HardFault_Handler 0x08006e6d Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) - InvSqrt 0x08006e71 Thumb Code 66 user_math.o(.text.InvSqrt) - Keymap 0x08006eb5 Thumb Code 36 et16s.o(.text.Keymap) - LowPassFilter2p_Apply 0x08006ed9 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x08006f55 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x08006ff9 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_DM_Enable 0x08007091 Thumb Code 70 motor_dm.o(.text.MOTOR_DM_Enable) - MOTOR_DM_GetMotor 0x080070ed Thumb Code 88 motor_dm.o(.text.MOTOR_DM_GetMotor) - MOTOR_DM_MITCtrl 0x08007145 Thumb Code 46 motor_dm.o(.text.MOTOR_DM_MITCtrl) - MOTOR_DM_Register 0x0800726d Thumb Code 164 motor_dm.o(.text.MOTOR_DM_Register) - MOTOR_DM_Update 0x08007429 Thumb Code 160 motor_dm.o(.text.MOTOR_DM_Update) - MOTOR_RM_Ctrl 0x08007505 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x08007641 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x080076b5 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_Relax 0x0800775d Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax) - MOTOR_RM_SetOutput 0x0800776d Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x0800780d Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x080078d5 Thumb Code 64 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x08007915 Thumb Code 64 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x08007955 Thumb Code 138 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x080079e1 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x08007a1d Thumb Code 464 gpio.o(.text.MX_GPIO_Init) - MX_I2C1_Init 0x08007bed Thumb Code 62 i2c.o(.text.MX_I2C1_Init) - MX_I2C2_Init 0x08007c2d Thumb Code 62 i2c.o(.text.MX_I2C2_Init) - MX_SPI1_Init 0x08007c6d Thumb Code 78 spi.o(.text.MX_SPI1_Init) - MX_TIM10_Init 0x08007cbd Thumb Code 136 tim.o(.text.MX_TIM10_Init) - MX_USART1_UART_Init 0x08007d45 Thumb Code 56 usart.o(.text.MX_USART1_UART_Init) - MX_USART2_UART_Init 0x08007d7d Thumb Code 56 usart.o(.text.MX_USART2_UART_Init) - MX_USART3_UART_Init 0x08007db5 Thumb Code 68 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x08007df9 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x08007e31 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x08007f91 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x08007fc1 Thumb Code 368 pid.o(.text.PID_Calc) - PID_Init 0x08008131 Thumb Code 144 pid.o(.text.PID_Init) - PID_Reset 0x080081c1 Thumb Code 44 pid.o(.text.PID_Reset) - PID_ResetIntegral 0x080081ed Thumb Code 14 pid.o(.text.PID_ResetIntegral) - PendSV_Handler 0x08008201 Thumb Code 100 port.o(.text.PendSV_Handler) - REMOTE_Init 0x08008265 Thumb Code 68 et16s.o(.text.REMOTE_Init) - REMOTE_StartDmaRecv 0x080082bd Thumb Code 32 et16s.o(.text.REMOTE_StartDmaRecv) - REMOTE_WaitDmaCplt 0x080082dd Thumb Code 22 et16s.o(.text.REMOTE_WaitDmaCplt) - SVC_Handler 0x08008681 Thumb Code 36 port.o(.text.SVC_Handler) - ScaleSumTo1 0x080086ad Thumb Code 54 user_math.o(.text.ScaleSumTo1) - Shoot_CaluTargetAngle 0x08008761 Thumb Code 160 shoot.o(.text.Shoot_CaluTargetAngle) - Shoot_CaluTargetRPM 0x08008801 Thumb Code 44 shoot.o(.text.Shoot_CaluTargetRPM) - Shoot_Control 0x0800882d Thumb Code 108 shoot.o(.text.Shoot_Control) - Shoot_Init 0x08008899 Thumb Code 326 shoot.o(.text.Shoot_Init) - Shoot_JamDetectionFSM 0x080089e1 Thumb Code 304 shoot.o(.text.Shoot_JamDetectionFSM) - Shoot_ResetCalu 0x08008b11 Thumb Code 152 shoot.o(.text.Shoot_ResetCalu) - Shoot_ResetIntegral 0x08008ba9 Thumb Code 70 shoot.o(.text.Shoot_ResetIntegral) - Shoot_ResetOutput 0x08008bf1 Thumb Code 50 shoot.o(.text.Shoot_ResetOutput) - Shoot_RunningFSM 0x08008c25 Thumb Code 1264 shoot.o(.text.Shoot_RunningFSM) - Shoot_SetMode 0x08009115 Thumb Code 14 shoot.o(.text.Shoot_SetMode) - Shoot_UpdateFeedback 0x08009125 Thumb Code 500 shoot.o(.text.Shoot_UpdateFeedback) - StartDefaultTask 0x08009319 Thumb Code 12 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x08009355 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x08009369 Thumb Code 164 main.o(.text.SystemClock_Config) - SystemInit 0x0800940d Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM1_UP_TIM10_IRQHandler 0x08009421 Thumb Code 16 stm32f4xx_it.o(.text.TIM1_UP_TIM10_IRQHandler) - TIM_Base_SetConfig 0x08009431 Thumb Code 300 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x0800955d Thumb Code 36 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x080095e5 Thumb Code 106 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) - Task_ET16s 0x08009709 Thumb Code 128 et16s_1.o(.text.Task_ET16s) - Task_Init 0x08009789 Thumb Code 330 init.o(.text.Task_Init) - Task_ai 0x080098d9 Thumb Code 64 ai_1.o(.text.Task_ai) - Task_atti_esti 0x08009919 Thumb Code 376 atti_esti.o(.text.Task_atti_esti) - Task_chassis_ctrl 0x08009a91 Thumb Code 124 chassis_ctrl.o(.text.Task_chassis_ctrl) - Task_cmd 0x08009b11 Thumb Code 248 cmd.o(.text.Task_cmd) - Task_dr16 0x08009c09 Thumb Code 104 dr16_1.o(.text.Task_dr16) - Task_gimbal_ctrl 0x08009c71 Thumb Code 180 gimbal_ctrl.o(.text.Task_gimbal_ctrl) - Task_shoot_ctrl 0x08009d29 Thumb Code 156 shoot_ctrl.o(.text.Task_shoot_ctrl) - Task_step_motor 0x08009dc9 Thumb Code 64 step_motor_1.o(.text.Task_step_motor) - UART_Start_Receive_DMA 0x0800a185 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) - USART3_IRQHandler 0x0800a285 Thumb Code 24 stm32f4xx_it.o(.text.USART3_IRQHandler) - USART6_IRQHandler 0x0800a29d Thumb Code 24 stm32f4xx_it.o(.text.USART6_IRQHandler) - UsageFault_Handler 0x0800a2b5 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) - chassis_init 0x0800a395 Thumb Code 426 chassis.o(.text.chassis_init) - configureTimerForRunTimeStats 0x0800a541 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) - eTaskGetState 0x0800a55d Thumb Code 156 tasks.o(.text.eTaskGetState) - getRunTimeCounterValue 0x0800a625 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) - main 0x0800a629 Thumb Code 70 main.o(.text.main) - major_yaw_Control 0x0800a671 Thumb Code 32 gimbal.o(.text.major_yaw_Control) - map_fp32 0x0800a691 Thumb Code 26 calc_lib.o(.text.map_fp32) - osDelay 0x0800a6f1 Thumb Code 32 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x0800a711 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) - osKernelGetState 0x0800a745 Thumb Code 38 cmsis_os2.o(.text.osKernelGetState) - osKernelGetTickCount 0x0800a76d Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x0800a781 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x0800a789 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x0800a7b1 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x0800a7dd Thumb Code 52 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x0800a811 Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x0800a855 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x0800a8dd Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x0800a97d Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) - osMessageQueueReset 0x0800aa0d Thumb Code 36 cmsis_os2.o(.text.osMessageQueueReset) - osMutexAcquire 0x0800aa31 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) - osMutexNew 0x0800aa85 Thumb Code 150 cmsis_os2.o(.text.osMutexNew) - osMutexRelease 0x0800ab1d Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsSet 0x0800ab5d Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) - osThreadFlagsWait 0x0800abdd Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x0800ac99 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x0800aca1 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x0800ad55 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 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Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x0800f210 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_ET16s 0x0800f260 Data 36 user_task.o(.rodata.attr_ET16s) - attr_ai 0x0800f284 Data 36 user_task.o(.rodata.attr_ai) - attr_atti_esti 0x0800f2a8 Data 36 user_task.o(.rodata.attr_atti_esti) - attr_chassis_ctrl 0x0800f2cc Data 36 user_task.o(.rodata.attr_chassis_ctrl) - attr_cmd 0x0800f2f0 Data 36 user_task.o(.rodata.attr_cmd) - attr_dr16 0x0800f314 Data 36 user_task.o(.rodata.attr_dr16) - attr_gimbal_ctrl 0x0800f338 Data 36 user_task.o(.rodata.attr_gimbal_ctrl) - attr_init 0x0800f35c Data 36 user_task.o(.rodata.attr_init) - attr_shoot_ctrl 0x0800f380 Data 36 user_task.o(.rodata.attr_shoot_ctrl) - attr_step_motor 0x0800f3a4 Data 36 user_task.o(.rodata.attr_step_motor) - defaultTask_attributes 0x0800f3d8 Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x0800f530 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x0800f570 Number 0 anon$$obj.o(Region$$Table) + CMD_ET16s_GetInput 0x08002589 Thumb Code 236 cmd_adapter.o(.text.CMD_ET16s_GetInput) + CMD_ET16s_Init 0x08002675 Thumb Code 8 cmd_adapter.o(.text.CMD_ET16s_Init) + CMD_ET16s_IsOnline 0x0800267d Thumb Code 6 cmd_adapter.o(.text.CMD_ET16s_IsOnline) + CMD_GenerateCommands 0x08002685 Thumb Code 152 cmd_1.o(.text.CMD_GenerateCommands) + CMD_Init 0x0800271d Thumb Code 40 cmd_1.o(.text.CMD_Init) + CMD_Update 0x080028c9 Thumb Code 28 cmd_1.o(.text.CMD_Update) + CMD_UpdateInput 0x080028e5 Thumb Code 104 cmd_1.o(.text.CMD_UpdateInput) + Chassis_Control 0x080029bd Thumb Code 480 chassis.o(.text.Chassis_Control) + Chassis_Setoutput 0x08002c11 Thumb Code 76 chassis.o(.text.Chassis_Setoutput) + Chassis_speed_calculate 0x08002c61 Thumb Code 1536 chassis.o(.text.Chassis_speed_calculate) + CircleAdd 0x08003261 Thumb Code 58 user_math.o(.text.CircleAdd) + CircleError 0x0800329d Thumb Code 60 user_math.o(.text.CircleError) + Clip 0x080032d9 Thumb Code 38 user_math.o(.text.Clip) + Config_GetRobotParam 0x08003301 Thumb Code 10 config.o(.text.Config_GetRobotParam) + DMA1_Stream1_IRQHandler 0x0800330d Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA2_Stream1_IRQHandler 0x0800331d Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) + DMA2_Stream2_IRQHandler 0x0800332d Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x0800333d Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DMA2_Stream6_IRQHandler 0x0800334d Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DR16_Init 0x08003419 Thumb Code 70 dr16.o(.text.DR16_Init) + DebugMon_Handler 0x08003475 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + ET16S_ParseRC 0x08003479 Thumb Code 174 et16s.o(.text.ET16S_ParseRC) + ET16s_HandleOffline 0x08003529 Thumb Code 54 et16s.o(.text.ET16s_HandleOffline) + ET16s_ParseRaw 0x08003561 Thumb Code 616 et16s.o(.text.ET16s_ParseRaw) + EXTI0_IRQHandler 0x080037c9 Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) + EXTI3_IRQHandler 0x080037d5 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) + EXTI4_IRQHandler 0x080037e1 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x080037ed Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x080037f9 Thumb Code 6 main.o(.text.Error_Handler) + Gimbal_Control 0x08003801 Thumb Code 928 gimbal.o(.text.Gimbal_Control) + Gimbal_Control_mode 0x08003ba1 Thumb Code 88 gimbal.o(.text.Gimbal_Control_mode) + Gimbal_Init 0x08003c9d Thumb Code 336 gimbal.o(.text.Gimbal_Init) + Gimbal_Output 0x08003ded Thumb Code 280 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x08003f8d Thumb Code 280 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x080040a5 Thumb Code 78 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x080040f5 Thumb Code 38 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x0800411d Thumb Code 146 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x080041b1 Thumb Code 222 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x08004291 Thumb Code 36 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x080042b5 Thumb Code 32 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x080042d5 Thumb Code 292 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x080043f9 Thumb Code 40 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x08004421 Thumb Code 570 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x0800465d Thumb Code 244 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08004751 Thumb Code 330 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x0800489d Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x080048c1 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x080048e5 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x08004909 Thumb Code 36 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x0800492d Thumb Code 36 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08004951 Thumb Code 90 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x080049ad Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x080049d1 Thumb Code 34 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x080049f5 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x08004a19 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08004a3d Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08004a61 Thumb Code 36 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08004a85 Thumb Code 36 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x08004aa9 Thumb Code 128 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x08004b29 Thumb Code 36 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_IRQHandler 0x08004b4d Thumb Code 396 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08004cd9 Thumb Code 206 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08004da9 Thumb Code 98 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08004e0d Thumb Code 40 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08004e35 Thumb Code 44 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08004e61 Thumb Code 26 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08004e7d Thumb Code 410 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x08005019 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x08005025 Thumb Code 10 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08005031 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_Init 0x0800503d Thumb Code 408 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_MspInit 0x080051d5 Thumb Code 216 i2c.o(.text.HAL_I2C_MspInit) + HAL_IncTick 0x080052ad Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x080052c9 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08005301 Thumb Code 80 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08005351 Thumb Code 70 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x08005399 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x080053a1 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x080053a9 Thumb Code 30 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x080053c9 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x080053d1 Thumb Code 352 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x08005531 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x0800553d Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x08005561 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x08005585 Thumb Code 104 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080055ed Thumb Code 840 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x08005935 Thumb Code 34 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x08005959 Thumb Code 180 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x08005a0d Thumb Code 302 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08005b3d Thumb Code 370 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x08005cb1 Thumb Code 236 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x08005d9d Thumb Code 34 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x08005dc1 Thumb Code 34 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08005de5 Thumb Code 394 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x08005f71 Thumb Code 504 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x08006169 Thumb Code 292 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x0800628d Thumb Code 204 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x08006359 Thumb Code 32 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x08006379 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x0800639d Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x080063c1 Thumb Code 34 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x080063e5 Thumb Code 8 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x080063ed Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x080063f1 Thumb Code 2 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIM_Base_Init 0x080063f5 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08006451 Thumb Code 72 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x08006499 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x0800649d Thumb Code 308 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x080065d1 Thumb Code 92 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x0800662d Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x08006631 Thumb Code 152 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x080066c9 Thumb Code 90 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08006725 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x08006729 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x0800672d Thumb Code 290 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x08006851 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08006855 Thumb Code 2 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x08006859 Thumb Code 2 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x0800685d Thumb Code 38 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x08006885 Thumb Code 602 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x08006ae1 Thumb Code 96 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x08006b41 Thumb Code 712 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x08006e09 Thumb Code 44 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_RxCpltCallback 0x08006e35 Thumb Code 38 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x08006e5d Thumb Code 38 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HAL_UART_TxCpltCallback 0x08006e85 Thumb Code 38 uart.o(.text.HAL_UART_TxCpltCallback) + HardFault_Handler 0x08006ead Thumb Code 2 stm32f4xx_it.o(.text.HardFault_Handler) + InvSqrt 0x08006eb1 Thumb Code 66 user_math.o(.text.InvSqrt) + Keymap 0x08006ef5 Thumb Code 36 et16s.o(.text.Keymap) + LowPassFilter2p_Apply 0x08006f19 Thumb Code 124 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x08006f95 Thumb Code 164 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x08007039 Thumb Code 92 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x080070d1 Thumb Code 70 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800712d Thumb Code 88 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x08007185 Thumb Code 46 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x080072ad Thumb Code 164 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x08007469 Thumb Code 160 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x08007545 Thumb Code 216 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x08007681 Thumb Code 80 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x080076f5 Thumb Code 166 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_Relax 0x0800779d Thumb Code 16 motor_rm.o(.text.MOTOR_RM_Relax) + MOTOR_RM_SetOutput 0x080077ad Thumb Code 158 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800784d Thumb Code 198 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x08007915 Thumb Code 64 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x08007955 Thumb Code 64 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x08007995 Thumb Code 138 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x08007a21 Thumb Code 58 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x08007a5d Thumb Code 464 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x08007c2d Thumb Code 62 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x08007c6d Thumb Code 62 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x08007cad Thumb Code 78 spi.o(.text.MX_SPI1_Init) + MX_TIM10_Init 0x08007cfd Thumb Code 136 tim.o(.text.MX_TIM10_Init) + MX_USART1_UART_Init 0x08007d85 Thumb Code 56 usart.o(.text.MX_USART1_UART_Init) + MX_USART2_UART_Init 0x08007dbd Thumb Code 56 usart.o(.text.MX_USART2_UART_Init) + MX_USART3_UART_Init 0x08007df5 Thumb Code 68 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x08007e39 Thumb Code 56 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x08007e71 Thumb Code 2 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x08007fd1 Thumb Code 2 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x08008001 Thumb Code 368 pid.o(.text.PID_Calc) + PID_Init 0x08008171 Thumb Code 144 pid.o(.text.PID_Init) + PID_Reset 0x08008201 Thumb Code 44 pid.o(.text.PID_Reset) + PID_ResetIntegral 0x0800822d Thumb Code 14 pid.o(.text.PID_ResetIntegral) + PendSV_Handler 0x08008241 Thumb Code 100 port.o(.text.PendSV_Handler) + REMOTE_Init 0x080082a5 Thumb Code 68 et16s.o(.text.REMOTE_Init) + REMOTE_StartDmaRecv 0x080082fd Thumb Code 32 et16s.o(.text.REMOTE_StartDmaRecv) + REMOTE_WaitDmaCplt 0x0800831d Thumb Code 22 et16s.o(.text.REMOTE_WaitDmaCplt) + SVC_Handler 0x080086c1 Thumb Code 36 port.o(.text.SVC_Handler) + ScaleSumTo1 0x080086ed Thumb Code 54 user_math.o(.text.ScaleSumTo1) + Shoot_CaluTargetAngle 0x080087a1 Thumb Code 160 shoot.o(.text.Shoot_CaluTargetAngle) + Shoot_CaluTargetRPM 0x08008841 Thumb Code 44 shoot.o(.text.Shoot_CaluTargetRPM) + Shoot_Control 0x0800886d Thumb Code 108 shoot.o(.text.Shoot_Control) + Shoot_Init 0x080088d9 Thumb Code 326 shoot.o(.text.Shoot_Init) + Shoot_JamDetectionFSM 0x08008a21 Thumb Code 304 shoot.o(.text.Shoot_JamDetectionFSM) + Shoot_ResetCalu 0x08008b51 Thumb Code 152 shoot.o(.text.Shoot_ResetCalu) + Shoot_ResetIntegral 0x08008be9 Thumb Code 70 shoot.o(.text.Shoot_ResetIntegral) + Shoot_ResetOutput 0x08008c31 Thumb Code 50 shoot.o(.text.Shoot_ResetOutput) + Shoot_RunningFSM 0x08008c65 Thumb Code 1264 shoot.o(.text.Shoot_RunningFSM) + Shoot_SetMode 0x08009155 Thumb Code 14 shoot.o(.text.Shoot_SetMode) + Shoot_UpdateFeedback 0x08009165 Thumb Code 500 shoot.o(.text.Shoot_UpdateFeedback) + StartDefaultTask 0x08009359 Thumb Code 12 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x08009395 Thumb Code 20 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x080093a9 Thumb Code 164 main.o(.text.SystemClock_Config) + SystemInit 0x0800944d Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM1_UP_TIM10_IRQHandler 0x08009461 Thumb Code 16 stm32f4xx_it.o(.text.TIM1_UP_TIM10_IRQHandler) + TIM_Base_SetConfig 0x08009471 Thumb Code 300 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x0800959d Thumb Code 36 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x08009625 Thumb Code 106 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_ET16s 0x08009749 Thumb Code 128 et16s_1.o(.text.Task_ET16s) + Task_Init 0x080097c9 Thumb Code 330 init.o(.text.Task_Init) + Task_ai 0x08009919 Thumb Code 64 ai_1.o(.text.Task_ai) + Task_atti_esti 0x08009959 Thumb Code 376 atti_esti.o(.text.Task_atti_esti) + Task_chassis_ctrl 0x08009ad1 Thumb Code 124 chassis_ctrl.o(.text.Task_chassis_ctrl) + Task_cmd 0x08009b51 Thumb Code 232 cmd.o(.text.Task_cmd) + Task_dr16 0x08009c39 Thumb Code 104 dr16_1.o(.text.Task_dr16) + Task_gimbal_ctrl 0x08009ca1 Thumb Code 180 gimbal_ctrl.o(.text.Task_gimbal_ctrl) + Task_shoot_ctrl 0x08009d59 Thumb Code 156 shoot_ctrl.o(.text.Task_shoot_ctrl) + Task_step_motor 0x08009df9 Thumb Code 64 step_motor_1.o(.text.Task_step_motor) + UART_Start_Receive_DMA 0x0800a1b5 Thumb Code 170 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + USART3_IRQHandler 0x0800a2b5 Thumb Code 24 stm32f4xx_it.o(.text.USART3_IRQHandler) + USART6_IRQHandler 0x0800a2cd Thumb Code 24 stm32f4xx_it.o(.text.USART6_IRQHandler) + UsageFault_Handler 0x0800a2e5 Thumb Code 2 stm32f4xx_it.o(.text.UsageFault_Handler) + chassis_init 0x0800a3c5 Thumb Code 426 chassis.o(.text.chassis_init) + configureTimerForRunTimeStats 0x0800a571 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) + eTaskGetState 0x0800a58d Thumb Code 156 tasks.o(.text.eTaskGetState) + getRunTimeCounterValue 0x0800a655 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) + main 0x0800a659 Thumb Code 70 main.o(.text.main) + major_yaw_Control 0x0800a6a1 Thumb Code 32 gimbal.o(.text.major_yaw_Control) + map_fp32 0x0800a6c1 Thumb Code 26 calc_lib.o(.text.map_fp32) + osDelay 0x0800a721 Thumb Code 32 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x0800a741 Thumb Code 52 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x0800a775 Thumb Code 38 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x0800a79d Thumb Code 20 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x0800a7b1 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x0800a7b9 Thumb Code 40 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x0800a7e1 Thumb Code 44 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0800a80d Thumb Code 52 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x0800a841 Thumb Code 68 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x0800a885 Thumb Code 134 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x0800a90d Thumb Code 160 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x0800a9ad Thumb Code 142 cmsis_os2.o(.text.osMessageQueuePut) + osMessageQueueReset 0x0800aa3d Thumb Code 36 cmsis_os2.o(.text.osMessageQueueReset) + osMutexAcquire 0x0800aa61 Thumb Code 82 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x0800aab5 Thumb Code 150 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x0800ab4d Thumb Code 62 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x0800ab8d Thumb Code 126 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x0800ac0d Thumb Code 186 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x0800acc9 Thumb Code 8 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x0800acd1 Thumb Code 180 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x0800ad85 Thumb Code 52 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x0800b761 Thumb Code 330 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x0800b8ad Thumb Code 24 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x0800b8c5 Thumb Code 40 port.o(.text.pxPortInitialiseStack) + uxListRemove 0x0800b919 Thumb Code 36 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x0800b93d Thumb Code 26 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x0800b959 Thumb Code 28 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x0800b975 Thumb Code 2 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x0800b979 Thumb Code 22 list.o(.text.vListInitialise) + vListInitialiseItem 0x0800b991 Thumb Code 6 list.o(.text.vListInitialiseItem) + vListInsert 0x0800b999 Thumb Code 58 list.o(.text.vListInsert) + vListInsertEnd 0x0800b9d5 Thumb Code 28 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x0800ba05 Thumb Code 70 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x0800ba4d Thumb Code 46 port.o(.text.vPortExitCritical) + vPortFree 0x0800ba7d Thumb Code 138 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x0800bb09 Thumb Code 52 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x0800bb3d Thumb Code 98 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x0800bba1 Thumb Code 40 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x0800bbc9 Thumb Code 68 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x0800bc0d Thumb Code 84 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x0800bc61 Thumb Code 168 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x0800bd09 Thumb Code 194 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x0800bdcd Thumb Code 26 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x0800bde9 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x0800bdf9 Thumb Code 50 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x0800be2d Thumb Code 62 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x0800be6d Thumb Code 164 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x0800bf11 Thumb Code 160 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x0800bfb9 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x0800bfc9 Thumb Code 226 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x0800c0ad Thumb Code 274 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x0800c1c1 Thumb Code 46 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x0800c1f1 Thumb Code 22 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x0800c209 Thumb Code 34 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x0800c22d Thumb Code 70 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x0800c275 Thumb Code 150 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x0800c30d Thumb Code 126 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x0800c38d Thumb Code 418 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x0800c531 Thumb Code 206 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x0800c601 Thumb Code 66 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x0800c645 Thumb Code 388 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x0800c7c9 Thumb Code 170 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x0800c875 Thumb Code 454 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x0800ca3d Thumb Code 60 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x0800ca79 Thumb Code 136 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x0800cb01 Thumb Code 102 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x0800cb69 Thumb Code 118 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x0800cbe1 Thumb Code 252 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x0800ccdd Thumb Code 298 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x0800ce09 Thumb Code 12 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x0800ce15 Thumb Code 38 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x0800ce3d Thumb Code 12 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x0800ce49 Thumb Code 18 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x0800ce5d Thumb Code 338 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x0800cfb1 Thumb Code 144 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x0800d041 Thumb Code 146 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x0800d0d5 Thumb Code 146 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x0800d169 Thumb Code 142 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x0800d1f9 Thumb Code 276 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x0800d30d Thumb Code 108 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x0800d381 Thumb Code 104 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x0800d3e9 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x0800d419 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x0800d441 Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x0800d571 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x0800d849 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x0800da49 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_sinf 0x0800dcf5 Thumb Code 344 sinf.o(i.__hardfp_sinf) + __hardfp_sqrt 0x0800de85 Thumb Code 122 sqrt.o(i.__hardfp_sqrt) + __hardfp_tanf 0x0800df01 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x0800e07d Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_infnan 0x0800e175 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x0800e189 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_underflow 0x0800e1a1 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x0800e1c1 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x0800e1c7 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x0800e1cd Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x0800e1dd Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x0800e1ed Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x0800e341 Thumb Code 16 atan.o(i.atan) + fabs 0x0800e351 Thumb Code 24 fabs.o(i.fabs) + sqrtf 0x0800e369 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x0800e3a7 Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x0800e3a7 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x0800e3ad Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x0800e3ad Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x0800e3b3 Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x0800e3b9 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x0800e3c1 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x0800e3c1 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x0800e425 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x0800e425 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcmp_Inf 0x0800e575 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x0800e58d Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x0800e58d Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x0800e841 Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x0800e841 Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2uiz 0x0800e8b9 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x0800e8b9 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_ui2d 0x0800e913 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x0800e913 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_cdcmpge 0x0800e939 Thumb Code 0 dgeqf.o(x$fpl$dgeqf) + _dcmpge 0x0800e939 Thumb Code 120 dgeqf.o(x$fpl$dgeqf) + __aeabi_cdcmple 0x0800e9b1 Thumb Code 0 dleqf.o(x$fpl$dleqf) + _dcmple 0x0800e9b1 Thumb Code 120 dleqf.o(x$fpl$dleqf) + __fpl_dcmple_InfNaN 0x0800ea13 Thumb Code 0 dleqf.o(x$fpl$dleqf) + __aeabi_dmul 0x0800ea29 Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x0800ea29 Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x0800eb7d Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x0800ec19 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_drsub 0x0800ec25 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x0800ec25 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + _dsqrt 0x0800ec3d Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) + __aeabi_dsub 0x0800edd5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x0800edd5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x0800efb1 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x0800efb1 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_dcmpeq 0x0800f007 Thumb Code 0 dcmp.o(x$fpl$fcmp) + _deq 0x0800f007 Thumb Code 14 dcmp.o(x$fpl$fcmp) + _dneq 0x0800f015 Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmpgt 0x0800f023 Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dgr 0x0800f023 Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmpge 0x0800f031 Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dgeq 0x0800f031 Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmple 0x0800f03f Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dleq 0x0800f03f Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmplt 0x0800f04d Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dls 0x0800f04d Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_ul2f 0x0800f05b Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x0800f05b Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x0800f061 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x0800f061 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x0800f0bb Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x0800f147 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x0800f15f Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x0800f15f Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x0800f161 Thumb Code 10 fretinf.o(x$fpl$fretinf) + __I$use$fp 0x0800f16a Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x0800f208 Data 8 qnan.o(.constdata) + AHBPrescTable 0x0800f230 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x0800f240 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_ET16s 0x0800f290 Data 36 user_task.o(.rodata.attr_ET16s) + attr_ai 0x0800f2b4 Data 36 user_task.o(.rodata.attr_ai) + attr_atti_esti 0x0800f2d8 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_chassis_ctrl 0x0800f2fc Data 36 user_task.o(.rodata.attr_chassis_ctrl) + attr_cmd 0x0800f320 Data 36 user_task.o(.rodata.attr_cmd) + attr_dr16 0x0800f344 Data 36 user_task.o(.rodata.attr_dr16) + attr_gimbal_ctrl 0x0800f368 Data 36 user_task.o(.rodata.attr_gimbal_ctrl) + attr_init 0x0800f38c Data 36 user_task.o(.rodata.attr_init) + attr_shoot_ctrl 0x0800f3b0 Data 36 user_task.o(.rodata.attr_shoot_ctrl) + attr_step_motor 0x0800f3d4 Data 36 user_task.o(.rodata.attr_step_motor) + defaultTask_attributes 0x0800f408 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x0800f560 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x0800f5a0 Number 0 anon$$obj.o(Region$$Table) cali_bmi088 0x20000004 Data 12 atti_esti.o(.data.cali_bmi088) uwTickFreq 0x20000028 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) _random_number_data 0x20000030 Data 228 rand.o(.bss) @@ -9195,9 +9193,9 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000f998, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000f710]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000f9c8, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000f740]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000f570, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000f5a0, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -9393,670 +9391,671 @@ Memory Map of the image 0x08002468 0x08002468 0x000000cc Code RO 3519 .text.CMD_Behavior_IsTriggered cmd_behavior.o 0x08002534 0x08002534 0x00000052 Code RO 3521 .text.CMD_Behavior_ProcessAll cmd_behavior.o 0x08002586 0x08002586 0x00000002 PAD - 0x08002588 0x08002588 0x000000f4 Code RO 3472 .text.CMD_ET16s_GetInput cmd_adapter.o - 0x0800267c 0x0800267c 0x00000008 Code RO 3470 .text.CMD_ET16s_Init cmd_adapter.o - 0x08002684 0x08002684 0x00000006 Code RO 3474 .text.CMD_ET16s_IsOnline cmd_adapter.o - 0x0800268a 0x0800268a 0x00000002 PAD - 0x0800268c 0x0800268c 0x00000098 Code RO 3455 .text.CMD_GenerateCommands cmd_1.o - 0x08002724 0x08002724 0x00000028 Code RO 3437 .text.CMD_Init cmd_1.o - 0x0800274c 0x0800274c 0x0000002a Code RO 3447 .text.CMD_PC_BuildChassisCmd cmd_1.o - 0x08002776 0x08002776 0x00000002 PAD - 0x08002778 0x08002778 0x00000068 Code RO 3449 .text.CMD_PC_BuildGimbalCmd cmd_1.o - 0x080027e0 0x080027e0 0x0000002c Code RO 3451 .text.CMD_PC_BuildShootCmd cmd_1.o - 0x0800280c 0x0800280c 0x00000030 Code RO 3441 .text.CMD_RC_BuildChassisCmd cmd_1.o - 0x0800283c 0x0800283c 0x00000048 Code RO 3443 .text.CMD_RC_BuildGimbalCmd cmd_1.o - 0x08002884 0x08002884 0x0000002c Code RO 3445 .text.CMD_RC_BuildShootCmd cmd_1.o - 0x080028b0 0x080028b0 0x00000012 Code RO 3457 .text.CMD_SetOfflineMode cmd_1.o - 0x080028c2 0x080028c2 0x00000002 PAD - 0x080028c4 0x080028c4 0x0000001c Code RO 3459 .text.CMD_Update cmd_1.o - 0x080028e0 0x080028e0 0x00000068 Code RO 3439 .text.CMD_UpdateInput cmd_1.o - 0x08002948 0x08002948 0x0000006c Code RO 3282 .text.Chassis_CalcWz chassis.o - 0x080029b4 0x080029b4 0x000001e0 Code RO 3278 .text.Chassis_Control chassis.o - 0x08002b94 0x08002b94 0x00000072 Code RO 3280 .text.Chassis_SetMode chassis.o - 0x08002c06 0x08002c06 0x00000002 PAD - 0x08002c08 0x08002c08 0x0000004c Code RO 3284 .text.Chassis_Setoutput chassis.o - 0x08002c54 0x08002c54 0x00000004 PAD - 0x08002c58 0x08002c58 0x00000600 Code RO 3272 .text.Chassis_speed_calculate chassis.o - 0x08003258 0x08003258 0x0000003a Code RO 2751 .text.CircleAdd user_math.o - 0x08003292 0x08003292 0x00000002 PAD - 0x08003294 0x08003294 0x0000003c Code RO 2749 .text.CircleError user_math.o - 0x080032d0 0x080032d0 0x00000026 Code RO 2743 .text.Clip user_math.o - 0x080032f6 0x080032f6 0x00000002 PAD - 0x080032f8 0x080032f8 0x0000000a Code RO 3199 .text.Config_GetRobotParam config.o - 0x08003302 0x08003302 0x00000002 PAD - 0x08003304 0x08003304 0x00000010 Code RO 181 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x08003314 0x08003314 0x00000010 Code RO 195 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o - 0x08003324 0x08003324 0x00000010 Code RO 197 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08003334 0x08003334 0x00000010 Code RO 199 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08003344 0x08003344 0x00000010 Code RO 207 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o - 0x08003354 0x08003354 0x0000003c Code RO 491 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x08003390 0x08003390 0x00000050 Code RO 489 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x080033e0 0x080033e0 0x00000030 Code RO 497 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x08003410 0x08003410 0x00000046 Code RO 3086 .text.DR16_Init dr16.o - 0x08003456 0x08003456 0x00000002 PAD - 0x08003458 0x08003458 0x00000014 Code RO 3088 .text.DR16_RxCpltCallback dr16.o - 0x0800346c 0x0800346c 0x00000002 Code RO 171 .text.DebugMon_Handler stm32f4xx_it.o - 0x0800346e 0x0800346e 0x00000002 PAD - 0x08003470 0x08003470 0x00000092 Code RO 3072 .text.ET16S_ParseRC et16s.o - 0x08003502 0x08003502 0x00000002 PAD - 0x08003504 0x08003504 0x00000036 Code RO 3074 .text.ET16s_HandleOffline et16s.o - 0x0800353a 0x0800353a 0x00000006 PAD - 0x08003540 0x08003540 0x00000248 Code RO 3070 .text.ET16s_ParseRaw et16s.o - 0x08003788 0x08003788 0x0000000a Code RO 175 .text.EXTI0_IRQHandler stm32f4xx_it.o - 0x08003792 0x08003792 0x00000002 PAD - 0x08003794 0x08003794 0x0000000a Code RO 177 .text.EXTI3_IRQHandler stm32f4xx_it.o - 0x0800379e 0x0800379e 0x00000002 PAD - 0x080037a0 0x080037a0 0x0000000a Code RO 179 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x080037aa 0x080037aa 0x00000002 PAD - 0x080037ac 0x080037ac 0x0000000a Code RO 189 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x080037b6 0x080037b6 0x00000002 PAD - 0x080037b8 0x080037b8 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x080037be 0x080037be 0x00000002 PAD - 0x080037c0 0x080037c0 0x000003a0 Code RO 3220 .text.Gimbal_Control gimbal.o - 0x08003b60 0x08003b60 0x00000058 Code RO 3218 .text.Gimbal_Control_mode gimbal.o - 0x08003bb8 0x08003bb8 0x000000a4 Code RO 3214 .text.Gimbal_Direction gimbal.o - 0x08003c5c 0x08003c5c 0x00000150 Code RO 3208 .text.Gimbal_Init gimbal.o - 0x08003dac 0x08003dac 0x00000118 Code RO 3226 .text.Gimbal_Output gimbal.o - 0x08003ec4 0x08003ec4 0x00000088 Code RO 3222 .text.Gimbal_SetMode gimbal.o - 0x08003f4c 0x08003f4c 0x00000118 Code RO 3210 .text.Gimbal_UpdateFeedback gimbal.o - 0x08004064 0x08004064 0x0000004e Code RO 3212 .text.Gimbal_UpdateIMU gimbal.o - 0x080040b2 0x080040b2 0x00000002 PAD - 0x080040b4 0x080040b4 0x00000026 Code RO 261 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x080040da 0x080040da 0x00000002 PAD - 0x080040dc 0x080040dc 0x00000092 Code RO 247 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800416e 0x0800416e 0x00000002 PAD - 0x08004170 0x08004170 0x000000de Code RO 237 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x0800424e 0x0800424e 0x00000002 PAD - 0x08004250 0x08004250 0x00000024 Code RO 2242 .text.HAL_CAN_ErrorCallback can_1.o - 0x08004274 0x08004274 0x00000020 Code RO 259 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x08004294 0x08004294 0x00000124 Code RO 257 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x080043b8 0x080043b8 0x00000028 Code RO 251 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x080043e0 0x080043e0 0x0000023a Code RO 265 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x0800461a 0x0800461a 0x00000002 PAD - 0x0800461c 0x0800461c 0x000000f4 Code RO 227 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08004710 0x08004710 0x0000014a Code RO 58 .text.HAL_CAN_MspInit can.o - 0x0800485a 0x0800485a 0x00000002 PAD - 0x0800485c 0x0800485c 0x00000024 Code RO 2232 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08004880 0x08004880 0x00000024 Code RO 2230 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x080048a4 0x080048a4 0x00000024 Code RO 2236 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x080048c8 0x080048c8 0x00000024 Code RO 2234 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x080048ec 0x080048ec 0x00000024 Code RO 2238 .text.HAL_CAN_SleepCallback can_1.o - 0x08004910 0x08004910 0x0000005a Code RO 239 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x0800496a 0x0800496a 0x00000002 PAD - 0x0800496c 0x0800496c 0x00000024 Code RO 2224 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08004990 0x08004990 0x00000022 Code RO 2216 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x080049b2 0x080049b2 0x00000002 PAD - 0x080049b4 0x080049b4 0x00000024 Code RO 2226 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x080049d8 0x080049d8 0x00000024 Code RO 2220 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x080049fc 0x080049fc 0x00000024 Code RO 2228 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08004a20 0x08004a20 0x00000024 Code RO 2222 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08004a44 0x08004a44 0x00000024 Code RO 2240 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x08004a68 0x08004a68 0x00000080 Code RO 501 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x08004ae8 0x08004ae8 0x00000024 Code RO 503 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x08004b0c 0x08004b0c 0x0000018c Code RO 507 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x08004c98 0x08004c98 0x000000ce Code RO 487 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x08004d66 0x08004d66 0x00000002 PAD - 0x08004d68 0x08004d68 0x00000062 Code RO 499 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08004dca 0x08004dca 0x00000002 PAD - 0x08004dcc 0x08004dcc 0x00000028 Code RO 685 .text.HAL_Delay stm32f4xx_hal.o - 0x08004df4 0x08004df4 0x0000002c Code RO 2339 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x08004e20 0x08004e20 0x0000001a Code RO 459 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08004e3a 0x08004e3a 0x00000002 PAD - 0x08004e3c 0x08004e3c 0x0000019a Code RO 447 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x08004fd6 0x08004fd6 0x00000002 PAD - 0x08004fd8 0x08004fd8 0x0000000a Code RO 451 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x08004fe2 0x08004fe2 0x00000002 PAD - 0x08004fe4 0x08004fe4 0x0000000a Code RO 453 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x08004fee 0x08004fee 0x00000002 PAD - 0x08004ff0 0x08004ff0 0x0000000c Code RO 677 .text.HAL_GetTick stm32f4xx_hal.o - 0x08004ffc 0x08004ffc 0x00000198 Code RO 756 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08005194 0x08005194 0x000000d8 Code RO 86 .text.HAL_I2C_MspInit i2c.o - 0x0800526c 0x0800526c 0x0000001a Code RO 675 .text.HAL_IncTick stm32f4xx_hal.o - 0x08005286 0x08005286 0x00000002 PAD - 0x08005288 0x08005288 0x00000036 Code RO 665 .text.HAL_Init stm32f4xx_hal.o - 0x080052be 0x080052be 0x00000002 PAD - 0x080052c0 0x080052c0 0x00000050 Code RO 667 .text.HAL_InitTick stm32f4xx_hal.o - 0x08005310 0x08005310 0x00000046 Code RO 218 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08005356 0x08005356 0x00000002 PAD - 0x08005358 0x08005358 0x00000008 Code RO 603 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x08005360 0x08005360 0x00000008 Code RO 599 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08005368 0x08005368 0x0000001e Code RO 591 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08005386 0x08005386 0x00000002 PAD - 0x08005388 0x08005388 0x00000008 Code RO 587 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08005390 0x08005390 0x00000160 Code RO 311 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x080054f0 0x080054f0 0x0000000c Code RO 321 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x080054fc 0x080054fc 0x00000022 Code RO 323 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x0800551e 0x0800551e 0x00000002 PAD - 0x08005520 0x08005520 0x00000022 Code RO 325 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x08005542 0x08005542 0x00000002 PAD - 0x08005544 0x08005544 0x00000068 Code RO 313 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080055ac 0x080055ac 0x00000348 Code RO 309 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x080058f4 0x080058f4 0x00000022 Code RO 2434 .text.HAL_SPI_ErrorCallback spi_1.o - 0x08005916 0x08005916 0x00000002 PAD - 0x08005918 0x08005918 0x000000b4 Code RO 929 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x080059cc 0x080059cc 0x0000012e Code RO 102 .text.HAL_SPI_MspInit spi.o - 0x08005afa 0x08005afa 0x00000002 PAD - 0x08005afc 0x08005afc 0x00000172 Code RO 941 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08005c6e 0x08005c6e 0x00000002 PAD - 0x08005c70 0x08005c70 0x000000ec Code RO 977 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08005d5c 0x08005d5c 0x00000022 Code RO 2424 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x08005d7e 0x08005d7e 0x00000002 PAD - 0x08005d80 0x08005d80 0x00000022 Code RO 2430 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08005da2 0x08005da2 0x00000002 PAD - 0x08005da4 0x08005da4 0x0000018a Code RO 937 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x08005f2e 0x08005f2e 0x00000002 PAD - 0x08005f30 0x08005f30 0x000001f8 Code RO 943 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x08006128 0x08006128 0x00000124 Code RO 979 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x0800624c 0x0800624c 0x000000cc Code RO 969 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x08006318 0x08006318 0x00000020 Code RO 2420 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08006338 0x08006338 0x00000022 Code RO 2428 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x0800635a 0x0800635a 0x00000002 PAD - 0x0800635c 0x0800635c 0x00000022 Code RO 2426 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x0800637e 0x0800637e 0x00000002 PAD - 0x08006380 0x08006380 0x00000022 Code RO 2432 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x080063a2 0x080063a2 0x00000002 PAD - 0x080063a4 0x080063a4 0x00000008 Code RO 611 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x080063ac 0x080063ac 0x00000002 Code RO 1371 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x080063ae 0x080063ae 0x00000002 PAD - 0x080063b0 0x080063b0 0x00000002 Code RO 1367 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x080063b2 0x080063b2 0x00000002 PAD - 0x080063b4 0x080063b4 0x0000005a Code RO 1047 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x0800640e 0x0800640e 0x00000002 PAD - 0x08006410 0x08006410 0x00000048 Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x08006458 0x08006458 0x00000002 Code RO 1183 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x0800645a 0x0800645a 0x00000002 PAD - 0x0800645c 0x0800645c 0x00000134 Code RO 1181 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08006590 0x08006590 0x0000005c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x080065ec 0x080065ec 0x00000002 Code RO 1185 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x080065ee 0x080065ee 0x00000002 PAD - 0x080065f0 0x080065f0 0x00000098 Code RO 1213 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x08006688 0x08006688 0x0000005a Code RO 1101 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x080066e2 0x080066e2 0x00000002 PAD - 0x080066e4 0x080066e4 0x00000002 Code RO 1103 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x080066e6 0x080066e6 0x00000002 PAD - 0x080066e8 0x080066e8 0x00000002 Code RO 1187 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x080066ea 0x080066ea 0x00000002 PAD - 0x080066ec 0x080066ec 0x00000122 Code RO 1109 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x0800680e 0x0800680e 0x00000002 PAD - 0x08006810 0x08006810 0x00000002 Code RO 1189 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x08006812 0x08006812 0x00000002 PAD - 0x08006814 0x08006814 0x00000002 Code RO 1191 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x08006816 0x08006816 0x00000002 PAD - 0x08006818 0x08006818 0x00000002 Code RO 1477 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x0800681a 0x0800681a 0x00000002 PAD - 0x0800681c 0x0800681c 0x00000026 Code RO 2491 .text.HAL_UART_ErrorCallback uart.o - 0x08006842 0x08006842 0x00000002 PAD - 0x08006844 0x08006844 0x0000025a Code RO 1469 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x08006a9e 0x08006a9e 0x00000002 PAD - 0x08006aa0 0x08006aa0 0x00000060 Code RO 1385 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x08006b00 0x08006b00 0x000002c8 Code RO 142 .text.HAL_UART_MspInit usart.o - 0x08006dc8 0x08006dc8 0x0000002c Code RO 1421 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x08006df4 0x08006df4 0x00000026 Code RO 2487 .text.HAL_UART_RxCpltCallback uart.o - 0x08006e1a 0x08006e1a 0x00000002 PAD - 0x08006e1c 0x08006e1c 0x00000026 Code RO 2489 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x08006e42 0x08006e42 0x00000002 PAD - 0x08006e44 0x08006e44 0x00000026 Code RO 2481 .text.HAL_UART_TxCpltCallback uart.o - 0x08006e6a 0x08006e6a 0x00000002 PAD - 0x08006e6c 0x08006e6c 0x00000002 Code RO 163 .text.HardFault_Handler stm32f4xx_it.o - 0x08006e6e 0x08006e6e 0x00000002 PAD - 0x08006e70 0x08006e70 0x00000042 Code RO 2737 .text.InvSqrt user_math.o - 0x08006eb2 0x08006eb2 0x00000002 PAD - 0x08006eb4 0x08006eb4 0x00000024 Code RO 3068 .text.Keymap et16s.o - 0x08006ed8 0x08006ed8 0x0000007c Code RO 2615 .text.LowPassFilter2p_Apply filter.o - 0x08006f54 0x08006f54 0x000000a4 Code RO 2613 .text.LowPassFilter2p_Init filter.o - 0x08006ff8 0x08006ff8 0x0000005c Code RO 2619 .text.LowPassFilter2p_Reset filter.o - 0x08007054 0x08007054 0x0000003c Code RO 2947 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x08007090 0x08007090 0x00000046 Code RO 2971 .text.MOTOR_DM_Enable motor_dm.o - 0x080070d6 0x080070d6 0x00000002 PAD - 0x080070d8 0x080070d8 0x00000014 Code RO 2949 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x080070ec 0x080070ec 0x00000058 Code RO 2959 .text.MOTOR_DM_GetMotor motor_dm.o - 0x08007144 0x08007144 0x0000002e Code RO 2957 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x08007172 0x08007172 0x00000002 PAD - 0x08007174 0x08007174 0x000000f8 Code RO 2953 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800726c 0x0800726c 0x000000a4 Code RO 2945 .text.MOTOR_DM_Register motor_dm.o - 0x08007310 0x08007310 0x00000118 Code RO 2961 .text.MOTOR_DM_SendMITCmd motor_dm.o - 0x08007428 0x08007428 0x000000a0 Code RO 2951 .text.MOTOR_DM_Update motor_dm.o - 0x080074c8 0x080074c8 0x0000003c Code RO 2820 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x08007504 0x08007504 0x000000d8 Code RO 2838 .text.MOTOR_RM_Ctrl motor_rm.o - 0x080075dc 0x080075dc 0x00000014 Code RO 2822 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x080075f0 0x080075f0 0x00000026 Code RO 2836 .text.MOTOR_RM_GetLSB motor_rm.o - 0x08007616 0x08007616 0x00000002 PAD - 0x08007618 0x08007618 0x00000028 Code RO 2834 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x08007640 0x08007640 0x00000050 Code RO 2832 .text.MOTOR_RM_GetMotor motor_rm.o - 0x08007690 0x08007690 0x00000024 Code RO 2844 .text.MOTOR_RM_GetRatio motor_rm.o - 0x080076b4 0x080076b4 0x000000a6 Code RO 2818 .text.MOTOR_RM_Register motor_rm.o - 0x0800775a 0x0800775a 0x00000002 PAD - 0x0800775c 0x0800775c 0x00000010 Code RO 2840 .text.MOTOR_RM_Relax motor_rm.o - 0x0800776c 0x0800776c 0x0000009e Code RO 2830 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800780a 0x0800780a 0x00000002 PAD - 0x0800780c 0x0800780c 0x000000c6 Code RO 2824 .text.MOTOR_RM_Update motor_rm.o - 0x080078d2 0x080078d2 0x00000002 PAD - 0x080078d4 0x080078d4 0x00000040 Code RO 54 .text.MX_CAN1_Init can.o - 0x08007914 0x08007914 0x00000040 Code RO 56 .text.MX_CAN2_Init can.o - 0x08007954 0x08007954 0x0000008a Code RO 73 .text.MX_DMA_Init dma.o - 0x080079de 0x080079de 0x00000002 PAD - 0x080079e0 0x080079e0 0x0000003a Code RO 40 .text.MX_FREERTOS_Init freertos.o - 0x08007a1a 0x08007a1a 0x00000002 PAD - 0x08007a1c 0x08007a1c 0x000001d0 Code RO 25 .text.MX_GPIO_Init gpio.o - 0x08007bec 0x08007bec 0x0000003e Code RO 82 .text.MX_I2C1_Init i2c.o - 0x08007c2a 0x08007c2a 0x00000002 PAD - 0x08007c2c 0x08007c2c 0x0000003e Code RO 84 .text.MX_I2C2_Init i2c.o + 0x08002588 0x08002588 0x000000ec Code RO 3472 .text.CMD_ET16s_GetInput cmd_adapter.o + 0x08002674 0x08002674 0x00000008 Code RO 3470 .text.CMD_ET16s_Init cmd_adapter.o + 0x0800267c 0x0800267c 0x00000006 Code RO 3474 .text.CMD_ET16s_IsOnline cmd_adapter.o + 0x08002682 0x08002682 0x00000002 PAD + 0x08002684 0x08002684 0x00000098 Code RO 3455 .text.CMD_GenerateCommands cmd_1.o + 0x0800271c 0x0800271c 0x00000028 Code RO 3437 .text.CMD_Init cmd_1.o + 0x08002744 0x08002744 0x0000002a Code RO 3447 .text.CMD_PC_BuildChassisCmd cmd_1.o + 0x0800276e 0x0800276e 0x00000002 PAD + 0x08002770 0x08002770 0x00000068 Code RO 3449 .text.CMD_PC_BuildGimbalCmd cmd_1.o + 0x080027d8 0x080027d8 0x0000002c Code RO 3451 .text.CMD_PC_BuildShootCmd cmd_1.o + 0x08002804 0x08002804 0x00000030 Code RO 3441 .text.CMD_RC_BuildChassisCmd cmd_1.o + 0x08002834 0x08002834 0x00000048 Code RO 3443 .text.CMD_RC_BuildGimbalCmd cmd_1.o + 0x0800287c 0x0800287c 0x00000038 Code RO 3445 .text.CMD_RC_BuildShootCmd cmd_1.o + 0x080028b4 0x080028b4 0x00000012 Code RO 3457 .text.CMD_SetOfflineMode cmd_1.o + 0x080028c6 0x080028c6 0x00000002 PAD + 0x080028c8 0x080028c8 0x0000001c Code RO 3459 .text.CMD_Update cmd_1.o + 0x080028e4 0x080028e4 0x00000068 Code RO 3439 .text.CMD_UpdateInput cmd_1.o + 0x0800294c 0x0800294c 0x00000004 PAD + 0x08002950 0x08002950 0x0000006c Code RO 3282 .text.Chassis_CalcWz chassis.o + 0x080029bc 0x080029bc 0x000001e0 Code RO 3278 .text.Chassis_Control chassis.o + 0x08002b9c 0x08002b9c 0x00000072 Code RO 3280 .text.Chassis_SetMode chassis.o + 0x08002c0e 0x08002c0e 0x00000002 PAD + 0x08002c10 0x08002c10 0x0000004c Code RO 3284 .text.Chassis_Setoutput chassis.o + 0x08002c5c 0x08002c5c 0x00000004 PAD + 0x08002c60 0x08002c60 0x00000600 Code RO 3272 .text.Chassis_speed_calculate chassis.o + 0x08003260 0x08003260 0x0000003a Code RO 2751 .text.CircleAdd user_math.o + 0x0800329a 0x0800329a 0x00000002 PAD + 0x0800329c 0x0800329c 0x0000003c Code RO 2749 .text.CircleError user_math.o + 0x080032d8 0x080032d8 0x00000026 Code RO 2743 .text.Clip user_math.o + 0x080032fe 0x080032fe 0x00000002 PAD + 0x08003300 0x08003300 0x0000000a Code RO 3199 .text.Config_GetRobotParam config.o + 0x0800330a 0x0800330a 0x00000002 PAD + 0x0800330c 0x0800330c 0x00000010 Code RO 181 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x0800331c 0x0800331c 0x00000010 Code RO 195 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o + 0x0800332c 0x0800332c 0x00000010 Code RO 197 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x0800333c 0x0800333c 0x00000010 Code RO 199 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x0800334c 0x0800334c 0x00000010 Code RO 207 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x0800335c 0x0800335c 0x0000003c Code RO 491 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x08003398 0x08003398 0x00000050 Code RO 489 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x080033e8 0x080033e8 0x00000030 Code RO 497 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x08003418 0x08003418 0x00000046 Code RO 3086 .text.DR16_Init dr16.o + 0x0800345e 0x0800345e 0x00000002 PAD + 0x08003460 0x08003460 0x00000014 Code RO 3088 .text.DR16_RxCpltCallback dr16.o + 0x08003474 0x08003474 0x00000002 Code RO 171 .text.DebugMon_Handler stm32f4xx_it.o + 0x08003476 0x08003476 0x00000002 PAD + 0x08003478 0x08003478 0x000000ae Code RO 3072 .text.ET16S_ParseRC et16s.o + 0x08003526 0x08003526 0x00000002 PAD + 0x08003528 0x08003528 0x00000036 Code RO 3074 .text.ET16s_HandleOffline et16s.o + 0x0800355e 0x0800355e 0x00000002 PAD + 0x08003560 0x08003560 0x00000268 Code RO 3070 .text.ET16s_ParseRaw et16s.o + 0x080037c8 0x080037c8 0x0000000a Code RO 175 .text.EXTI0_IRQHandler stm32f4xx_it.o + 0x080037d2 0x080037d2 0x00000002 PAD + 0x080037d4 0x080037d4 0x0000000a Code RO 177 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x080037de 0x080037de 0x00000002 PAD + 0x080037e0 0x080037e0 0x0000000a Code RO 179 .text.EXTI4_IRQHandler stm32f4xx_it.o + 0x080037ea 0x080037ea 0x00000002 PAD + 0x080037ec 0x080037ec 0x0000000a Code RO 189 .text.EXTI9_5_IRQHandler stm32f4xx_it.o + 0x080037f6 0x080037f6 0x00000002 PAD + 0x080037f8 0x080037f8 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x080037fe 0x080037fe 0x00000002 PAD + 0x08003800 0x08003800 0x000003a0 Code RO 3220 .text.Gimbal_Control gimbal.o + 0x08003ba0 0x08003ba0 0x00000058 Code RO 3218 .text.Gimbal_Control_mode gimbal.o + 0x08003bf8 0x08003bf8 0x000000a4 Code RO 3214 .text.Gimbal_Direction gimbal.o + 0x08003c9c 0x08003c9c 0x00000150 Code RO 3208 .text.Gimbal_Init gimbal.o + 0x08003dec 0x08003dec 0x00000118 Code RO 3226 .text.Gimbal_Output gimbal.o + 0x08003f04 0x08003f04 0x00000088 Code RO 3222 .text.Gimbal_SetMode gimbal.o + 0x08003f8c 0x08003f8c 0x00000118 Code RO 3210 .text.Gimbal_UpdateFeedback gimbal.o + 0x080040a4 0x080040a4 0x0000004e Code RO 3212 .text.Gimbal_UpdateIMU gimbal.o + 0x080040f2 0x080040f2 0x00000002 PAD + 0x080040f4 0x080040f4 0x00000026 Code RO 261 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x0800411a 0x0800411a 0x00000002 PAD + 0x0800411c 0x0800411c 0x00000092 Code RO 247 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x080041ae 0x080041ae 0x00000002 PAD + 0x080041b0 0x080041b0 0x000000de Code RO 237 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x0800428e 0x0800428e 0x00000002 PAD + 0x08004290 0x08004290 0x00000024 Code RO 2242 .text.HAL_CAN_ErrorCallback can_1.o + 0x080042b4 0x080042b4 0x00000020 Code RO 259 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x080042d4 0x080042d4 0x00000124 Code RO 257 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x080043f8 0x080043f8 0x00000028 Code RO 251 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x08004420 0x08004420 0x0000023a Code RO 265 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x0800465a 0x0800465a 0x00000002 PAD + 0x0800465c 0x0800465c 0x000000f4 Code RO 227 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08004750 0x08004750 0x0000014a Code RO 58 .text.HAL_CAN_MspInit can.o + 0x0800489a 0x0800489a 0x00000002 PAD + 0x0800489c 0x0800489c 0x00000024 Code RO 2232 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x080048c0 0x080048c0 0x00000024 Code RO 2230 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x080048e4 0x080048e4 0x00000024 Code RO 2236 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08004908 0x08004908 0x00000024 Code RO 2234 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x0800492c 0x0800492c 0x00000024 Code RO 2238 .text.HAL_CAN_SleepCallback can_1.o + 0x08004950 0x08004950 0x0000005a Code RO 239 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080049aa 0x080049aa 0x00000002 PAD + 0x080049ac 0x080049ac 0x00000024 Code RO 2224 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x080049d0 0x080049d0 0x00000022 Code RO 2216 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x080049f2 0x080049f2 0x00000002 PAD + 0x080049f4 0x080049f4 0x00000024 Code RO 2226 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x08004a18 0x08004a18 0x00000024 Code RO 2220 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08004a3c 0x08004a3c 0x00000024 Code RO 2228 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08004a60 0x08004a60 0x00000024 Code RO 2222 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x08004a84 0x08004a84 0x00000024 Code RO 2240 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08004aa8 0x08004aa8 0x00000080 Code RO 501 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x08004b28 0x08004b28 0x00000024 Code RO 503 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08004b4c 0x08004b4c 0x0000018c Code RO 507 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x08004cd8 0x08004cd8 0x000000ce Code RO 487 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08004da6 0x08004da6 0x00000002 PAD + 0x08004da8 0x08004da8 0x00000062 Code RO 499 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08004e0a 0x08004e0a 0x00000002 PAD + 0x08004e0c 0x08004e0c 0x00000028 Code RO 685 .text.HAL_Delay stm32f4xx_hal.o + 0x08004e34 0x08004e34 0x0000002c Code RO 2339 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08004e60 0x08004e60 0x0000001a Code RO 459 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08004e7a 0x08004e7a 0x00000002 PAD + 0x08004e7c 0x08004e7c 0x0000019a Code RO 447 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x08005016 0x08005016 0x00000002 PAD + 0x08005018 0x08005018 0x0000000a Code RO 451 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x08005022 0x08005022 0x00000002 PAD + 0x08005024 0x08005024 0x0000000a Code RO 453 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x0800502e 0x0800502e 0x00000002 PAD + 0x08005030 0x08005030 0x0000000c Code RO 677 .text.HAL_GetTick stm32f4xx_hal.o + 0x0800503c 0x0800503c 0x00000198 Code RO 756 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x080051d4 0x080051d4 0x000000d8 Code RO 86 .text.HAL_I2C_MspInit i2c.o + 0x080052ac 0x080052ac 0x0000001a Code RO 675 .text.HAL_IncTick stm32f4xx_hal.o + 0x080052c6 0x080052c6 0x00000002 PAD + 0x080052c8 0x080052c8 0x00000036 Code RO 665 .text.HAL_Init stm32f4xx_hal.o + 0x080052fe 0x080052fe 0x00000002 PAD + 0x08005300 0x08005300 0x00000050 Code RO 667 .text.HAL_InitTick stm32f4xx_hal.o + 0x08005350 0x08005350 0x00000046 Code RO 218 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08005396 0x08005396 0x00000002 PAD + 0x08005398 0x08005398 0x00000008 Code RO 603 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x080053a0 0x080053a0 0x00000008 Code RO 599 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x080053a8 0x080053a8 0x0000001e Code RO 591 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080053c6 0x080053c6 0x00000002 PAD + 0x080053c8 0x080053c8 0x00000008 Code RO 587 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x080053d0 0x080053d0 0x00000160 Code RO 311 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08005530 0x08005530 0x0000000c Code RO 321 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x0800553c 0x0800553c 0x00000022 Code RO 323 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x0800555e 0x0800555e 0x00000002 PAD + 0x08005560 0x08005560 0x00000022 Code RO 325 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x08005582 0x08005582 0x00000002 PAD + 0x08005584 0x08005584 0x00000068 Code RO 313 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080055ec 0x080055ec 0x00000348 Code RO 309 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08005934 0x08005934 0x00000022 Code RO 2434 .text.HAL_SPI_ErrorCallback spi_1.o + 0x08005956 0x08005956 0x00000002 PAD + 0x08005958 0x08005958 0x000000b4 Code RO 929 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x08005a0c 0x08005a0c 0x0000012e Code RO 102 .text.HAL_SPI_MspInit spi.o + 0x08005b3a 0x08005b3a 0x00000002 PAD + 0x08005b3c 0x08005b3c 0x00000172 Code RO 941 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x08005cae 0x08005cae 0x00000002 PAD + 0x08005cb0 0x08005cb0 0x000000ec Code RO 977 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08005d9c 0x08005d9c 0x00000022 Code RO 2424 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08005dbe 0x08005dbe 0x00000002 PAD + 0x08005dc0 0x08005dc0 0x00000022 Code RO 2430 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08005de2 0x08005de2 0x00000002 PAD + 0x08005de4 0x08005de4 0x0000018a Code RO 937 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x08005f6e 0x08005f6e 0x00000002 PAD + 0x08005f70 0x08005f70 0x000001f8 Code RO 943 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x08006168 0x08006168 0x00000124 Code RO 979 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x0800628c 0x0800628c 0x000000cc Code RO 969 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x08006358 0x08006358 0x00000020 Code RO 2420 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08006378 0x08006378 0x00000022 Code RO 2428 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x0800639a 0x0800639a 0x00000002 PAD + 0x0800639c 0x0800639c 0x00000022 Code RO 2426 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x080063be 0x080063be 0x00000002 PAD + 0x080063c0 0x080063c0 0x00000022 Code RO 2432 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x080063e2 0x080063e2 0x00000002 PAD + 0x080063e4 0x080063e4 0x00000008 Code RO 611 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x080063ec 0x080063ec 0x00000002 Code RO 1371 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x080063ee 0x080063ee 0x00000002 PAD + 0x080063f0 0x080063f0 0x00000002 Code RO 1367 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x080063f2 0x080063f2 0x00000002 PAD + 0x080063f4 0x080063f4 0x0000005a Code RO 1047 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x0800644e 0x0800644e 0x00000002 PAD + 0x08006450 0x08006450 0x00000048 Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x08006498 0x08006498 0x00000002 Code RO 1183 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x0800649a 0x0800649a 0x00000002 PAD + 0x0800649c 0x0800649c 0x00000134 Code RO 1181 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x080065d0 0x080065d0 0x0000005c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x0800662c 0x0800662c 0x00000002 Code RO 1185 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x0800662e 0x0800662e 0x00000002 PAD + 0x08006630 0x08006630 0x00000098 Code RO 1213 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x080066c8 0x080066c8 0x0000005a Code RO 1101 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08006722 0x08006722 0x00000002 PAD + 0x08006724 0x08006724 0x00000002 Code RO 1103 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x08006726 0x08006726 0x00000002 PAD + 0x08006728 0x08006728 0x00000002 Code RO 1187 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x0800672a 0x0800672a 0x00000002 PAD + 0x0800672c 0x0800672c 0x00000122 Code RO 1109 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x0800684e 0x0800684e 0x00000002 PAD + 0x08006850 0x08006850 0x00000002 Code RO 1189 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x08006852 0x08006852 0x00000002 PAD + 0x08006854 0x08006854 0x00000002 Code RO 1191 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08006856 0x08006856 0x00000002 PAD + 0x08006858 0x08006858 0x00000002 Code RO 1477 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x0800685a 0x0800685a 0x00000002 PAD + 0x0800685c 0x0800685c 0x00000026 Code RO 2491 .text.HAL_UART_ErrorCallback uart.o + 0x08006882 0x08006882 0x00000002 PAD + 0x08006884 0x08006884 0x0000025a Code RO 1469 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x08006ade 0x08006ade 0x00000002 PAD + 0x08006ae0 0x08006ae0 0x00000060 Code RO 1385 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x08006b40 0x08006b40 0x000002c8 Code RO 142 .text.HAL_UART_MspInit usart.o + 0x08006e08 0x08006e08 0x0000002c Code RO 1421 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x08006e34 0x08006e34 0x00000026 Code RO 2487 .text.HAL_UART_RxCpltCallback uart.o + 0x08006e5a 0x08006e5a 0x00000002 PAD + 0x08006e5c 0x08006e5c 0x00000026 Code RO 2489 .text.HAL_UART_RxHalfCpltCallback uart.o + 0x08006e82 0x08006e82 0x00000002 PAD + 0x08006e84 0x08006e84 0x00000026 Code RO 2481 .text.HAL_UART_TxCpltCallback uart.o + 0x08006eaa 0x08006eaa 0x00000002 PAD + 0x08006eac 0x08006eac 0x00000002 Code RO 163 .text.HardFault_Handler stm32f4xx_it.o + 0x08006eae 0x08006eae 0x00000002 PAD + 0x08006eb0 0x08006eb0 0x00000042 Code RO 2737 .text.InvSqrt user_math.o + 0x08006ef2 0x08006ef2 0x00000002 PAD + 0x08006ef4 0x08006ef4 0x00000024 Code RO 3068 .text.Keymap et16s.o + 0x08006f18 0x08006f18 0x0000007c Code RO 2615 .text.LowPassFilter2p_Apply filter.o + 0x08006f94 0x08006f94 0x000000a4 Code RO 2613 .text.LowPassFilter2p_Init filter.o + 0x08007038 0x08007038 0x0000005c Code RO 2619 .text.LowPassFilter2p_Reset filter.o + 0x08007094 0x08007094 0x0000003c Code RO 2947 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x080070d0 0x080070d0 0x00000046 Code RO 2971 .text.MOTOR_DM_Enable motor_dm.o + 0x08007116 0x08007116 0x00000002 PAD + 0x08007118 0x08007118 0x00000014 Code RO 2949 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800712c 0x0800712c 0x00000058 Code RO 2959 .text.MOTOR_DM_GetMotor motor_dm.o + 0x08007184 0x08007184 0x0000002e Code RO 2957 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x080071b2 0x080071b2 0x00000002 PAD + 0x080071b4 0x080071b4 0x000000f8 Code RO 2953 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x080072ac 0x080072ac 0x000000a4 Code RO 2945 .text.MOTOR_DM_Register motor_dm.o + 0x08007350 0x08007350 0x00000118 Code RO 2961 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x08007468 0x08007468 0x000000a0 Code RO 2951 .text.MOTOR_DM_Update motor_dm.o + 0x08007508 0x08007508 0x0000003c Code RO 2820 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x08007544 0x08007544 0x000000d8 Code RO 2838 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800761c 0x0800761c 0x00000014 Code RO 2822 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x08007630 0x08007630 0x00000026 Code RO 2836 .text.MOTOR_RM_GetLSB motor_rm.o + 0x08007656 0x08007656 0x00000002 PAD + 0x08007658 0x08007658 0x00000028 Code RO 2834 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x08007680 0x08007680 0x00000050 Code RO 2832 .text.MOTOR_RM_GetMotor motor_rm.o + 0x080076d0 0x080076d0 0x00000024 Code RO 2844 .text.MOTOR_RM_GetRatio motor_rm.o + 0x080076f4 0x080076f4 0x000000a6 Code RO 2818 .text.MOTOR_RM_Register motor_rm.o + 0x0800779a 0x0800779a 0x00000002 PAD + 0x0800779c 0x0800779c 0x00000010 Code RO 2840 .text.MOTOR_RM_Relax motor_rm.o + 0x080077ac 0x080077ac 0x0000009e Code RO 2830 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800784a 0x0800784a 0x00000002 PAD + 0x0800784c 0x0800784c 0x000000c6 Code RO 2824 .text.MOTOR_RM_Update motor_rm.o + 0x08007912 0x08007912 0x00000002 PAD + 0x08007914 0x08007914 0x00000040 Code RO 54 .text.MX_CAN1_Init can.o + 0x08007954 0x08007954 0x00000040 Code RO 56 .text.MX_CAN2_Init can.o + 0x08007994 0x08007994 0x0000008a Code RO 73 .text.MX_DMA_Init dma.o + 0x08007a1e 0x08007a1e 0x00000002 PAD + 0x08007a20 0x08007a20 0x0000003a Code RO 40 .text.MX_FREERTOS_Init freertos.o + 0x08007a5a 0x08007a5a 0x00000002 PAD + 0x08007a5c 0x08007a5c 0x000001d0 Code RO 25 .text.MX_GPIO_Init gpio.o + 0x08007c2c 0x08007c2c 0x0000003e Code RO 82 .text.MX_I2C1_Init i2c.o 0x08007c6a 0x08007c6a 0x00000002 PAD - 0x08007c6c 0x08007c6c 0x0000004e Code RO 100 .text.MX_SPI1_Init spi.o - 0x08007cba 0x08007cba 0x00000002 PAD - 0x08007cbc 0x08007cbc 0x00000088 Code RO 117 .text.MX_TIM10_Init tim.o - 0x08007d44 0x08007d44 0x00000038 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x08007d7c 0x08007d7c 0x00000038 Code RO 136 .text.MX_USART2_UART_Init usart.o - 0x08007db4 0x08007db4 0x00000044 Code RO 138 .text.MX_USART3_UART_Init usart.o - 0x08007df8 0x08007df8 0x00000038 Code RO 140 .text.MX_USART6_UART_Init usart.o - 0x08007e30 0x08007e30 0x00000002 Code RO 165 .text.MemManage_Handler stm32f4xx_it.o - 0x08007e32 0x08007e32 0x00000002 PAD - 0x08007e34 0x08007e34 0x0000015c Code RO 2826 .text.Motor_RM_Decode motor_rm.o - 0x08007f90 0x08007f90 0x00000002 Code RO 161 .text.NMI_Handler stm32f4xx_it.o - 0x08007f92 0x08007f92 0x00000002 PAD - 0x08007f94 0x08007f94 0x0000002c Code RO 597 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x08007fc0 0x08007fc0 0x00000170 Code RO 2698 .text.PID_Calc pid.o - 0x08008130 0x08008130 0x00000090 Code RO 2692 .text.PID_Init pid.o - 0x080081c0 0x080081c0 0x0000002c Code RO 2696 .text.PID_Reset pid.o - 0x080081ec 0x080081ec 0x0000000e Code RO 2700 .text.PID_ResetIntegral pid.o - 0x080081fa 0x080081fa 0x00000006 PAD - 0x08008200 0x08008200 0x00000064 Code RO 2199 .text.PendSV_Handler port.o - 0x08008264 0x08008264 0x00000044 Code RO 3060 .text.REMOTE_Init et16s.o - 0x080082a8 0x080082a8 0x00000014 Code RO 3062 .text.REMOTE_RxCpltCallback et16s.o - 0x080082bc 0x080082bc 0x00000020 Code RO 3064 .text.REMOTE_StartDmaRecv et16s.o - 0x080082dc 0x080082dc 0x00000016 Code RO 3066 .text.REMOTE_WaitDmaCplt et16s.o - 0x080082f2 0x080082f2 0x00000002 PAD - 0x080082f4 0x080082f4 0x00000022 Code RO 975 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x08008316 0x08008316 0x00000002 PAD - 0x08008318 0x08008318 0x0000000a Code RO 981 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x08008322 0x08008322 0x00000002 PAD - 0x08008324 0x08008324 0x0000000a Code RO 971 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800832e 0x0800832e 0x00000002 PAD - 0x08008330 0x08008330 0x0000000a Code RO 985 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800833a 0x0800833a 0x00000002 PAD - 0x0800833c 0x0800833c 0x00000068 Code RO 983 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x080083a4 0x080083a4 0x00000070 Code RO 973 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x08008414 0x08008414 0x0000005a Code RO 987 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800846e 0x0800846e 0x00000002 PAD - 0x08008470 0x08008470 0x00000090 Code RO 945 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x08008500 0x08008500 0x0000008a Code RO 939 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800858a 0x0800858a 0x00000002 PAD - 0x0800858c 0x0800858c 0x00000014 Code RO 2422 .text.SPI_Get spi_1.o - 0x080085a0 0x080085a0 0x000000e0 Code RO 1037 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x08008680 0x08008680 0x00000024 Code RO 2183 .text.SVC_Handler port.o - 0x080086a4 0x080086a4 0x00000008 Code RO 1975 .text.SVC_Setup cmsis_os2.o - 0x080086ac 0x080086ac 0x00000036 Code RO 2757 .text.ScaleSumTo1 user_math.o - 0x080086e2 0x080086e2 0x00000002 PAD - 0x080086e4 0x080086e4 0x0000007c Code RO 3252 .text.Shoot_CaluCoupledWeight shoot.o - 0x08008760 0x08008760 0x000000a0 Code RO 3246 .text.Shoot_CaluTargetAngle shoot.o - 0x08008800 0x08008800 0x0000002c Code RO 3244 .text.Shoot_CaluTargetRPM shoot.o - 0x0800882c 0x0800882c 0x0000006c Code RO 3258 .text.Shoot_Control shoot.o - 0x08008898 0x08008898 0x00000146 Code RO 3256 .text.Shoot_Init shoot.o - 0x080089de 0x080089de 0x00000002 PAD - 0x080089e0 0x080089e0 0x00000130 Code RO 3254 .text.Shoot_JamDetectionFSM shoot.o - 0x08008b10 0x08008b10 0x00000098 Code RO 3240 .text.Shoot_ResetCalu shoot.o - 0x08008ba8 0x08008ba8 0x00000046 Code RO 3238 .text.Shoot_ResetIntegral shoot.o - 0x08008bee 0x08008bee 0x00000002 PAD - 0x08008bf0 0x08008bf0 0x00000032 Code RO 3242 .text.Shoot_ResetOutput shoot.o - 0x08008c22 0x08008c22 0x00000002 PAD - 0x08008c24 0x08008c24 0x000004f0 Code RO 3250 .text.Shoot_RunningFSM shoot.o - 0x08009114 0x08009114 0x0000000e Code RO 3236 .text.Shoot_SetMode shoot.o - 0x08009122 0x08009122 0x00000002 PAD - 0x08009124 0x08009124 0x000001f4 Code RO 3248 .text.Shoot_UpdateFeedback shoot.o - 0x08009318 0x08009318 0x0000000c Code RO 42 .text.StartDefaultTask freertos.o - 0x08009324 0x08009324 0x0000002e Code RO 613 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x08009352 0x08009352 0x00000002 PAD - 0x08009354 0x08009354 0x00000014 Code RO 173 .text.SysTick_Handler stm32f4xx_it.o - 0x08009368 0x08009368 0x000000a4 Code RO 13 .text.SystemClock_Config main.o - 0x0800940c 0x0800940c 0x00000012 Code RO 1517 .text.SystemInit system_stm32f4xx.o - 0x0800941e 0x0800941e 0x00000002 PAD - 0x08009420 0x08009420 0x00000010 Code RO 191 .text.TIM1_UP_TIM10_IRQHandler stm32f4xx_it.o - 0x08009430 0x08009430 0x0000012c Code RO 1051 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800955c 0x0800955c 0x00000024 Code RO 1085 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x08009580 0x08009580 0x00000064 Code RO 1195 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x080095e4 0x080095e4 0x0000006a Code RO 1197 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800964e 0x0800964e 0x00000002 PAD - 0x08009650 0x08009650 0x00000068 Code RO 1199 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x080096b8 0x080096b8 0x0000004e Code RO 1201 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x08009706 0x08009706 0x00000002 PAD - 0x08009708 0x08009708 0x00000080 Code RO 3327 .text.Task_ET16s et16s_1.o - 0x08009788 0x08009788 0x0000014a Code RO 3411 .text.Task_Init init.o - 0x080098d2 0x080098d2 0x00000006 PAD - 0x080098d8 0x080098d8 0x00000040 Code RO 3304 .text.Task_ai ai_1.o - 0x08009918 0x08009918 0x00000178 Code RO 3347 .text.Task_atti_esti atti_esti.o - 0x08009a90 0x08009a90 0x0000007c Code RO 3379 .text.Task_chassis_ctrl chassis_ctrl.o - 0x08009b0c 0x08009b0c 0x00000004 PAD - 0x08009b10 0x08009b10 0x000000f8 Code RO 3313 .text.Task_cmd cmd.o - 0x08009c08 0x08009c08 0x00000068 Code RO 3337 .text.Task_dr16 dr16_1.o - 0x08009c70 0x08009c70 0x000000b4 Code RO 3367 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x08009d24 0x08009d24 0x00000004 PAD - 0x08009d28 0x08009d28 0x0000009c Code RO 3390 .text.Task_shoot_ctrl shoot_ctrl.o - 0x08009dc4 0x08009dc4 0x00000004 PAD - 0x08009dc8 0x08009dc8 0x00000040 Code RO 3402 .text.Task_step_motor step_motor_1.o - 0x08009e08 0x08009e08 0x0000000e Code RO 1473 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x08009e16 0x08009e16 0x00000002 PAD - 0x08009e18 0x08009e18 0x0000004c Code RO 1419 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x08009e64 0x08009e64 0x00000084 Code RO 1505 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o - 0x08009ee8 0x08009ee8 0x0000001e Code RO 1507 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o - 0x08009f06 0x08009f06 0x00000002 PAD - 0x08009f08 0x08009f08 0x00000050 Code RO 1433 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x08009f58 0x08009f58 0x00000018 Code RO 1481 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x08009f70 0x08009f70 0x0000001c Code RO 1431 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o - 0x08009f8c 0x08009f8c 0x00000054 Code RO 2483 .text.UART_Get uart.o - 0x08009fe0 0x08009fe0 0x000000c8 Code RO 1471 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800a0a8 0x0800a0a8 0x000000dc Code RO 1389 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800a184 0x0800a184 0x000000aa Code RO 1423 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o - 0x0800a22e 0x0800a22e 0x00000002 PAD - 0x0800a230 0x0800a230 0x00000052 Code RO 1479 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800a282 0x0800a282 0x00000002 PAD - 0x0800a284 0x0800a284 0x00000018 Code RO 193 .text.USART3_IRQHandler stm32f4xx_it.o - 0x0800a29c 0x0800a29c 0x00000018 Code RO 209 .text.USART6_IRQHandler stm32f4xx_it.o - 0x0800a2b4 0x0800a2b4 0x00000002 Code RO 169 .text.UsageFault_Handler stm32f4xx_it.o - 0x0800a2b6 0x0800a2b6 0x00000002 PAD - 0x0800a2b8 0x0800a2b8 0x0000000e Code RO 2621 .text.__ARM_isfinitef filter.o - 0x0800a2c6 0x0800a2c6 0x00000002 PAD - 0x0800a2c8 0x0800a2c8 0x0000000e Code RO 2694 .text.__ARM_isfinitef pid.o - 0x0800a2d6 0x0800a2d6 0x00000002 PAD - 0x0800a2d8 0x0800a2d8 0x00000010 Code RO 2617 .text.__ARM_isinff filter.o - 0x0800a2e8 0x0800a2e8 0x00000028 Code RO 605 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800a310 0x0800a310 0x00000020 Code RO 601 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800a330 0x0800a330 0x00000010 Code RO 593 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800a340 0x0800a340 0x00000022 Code RO 595 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800a362 0x0800a362 0x00000002 PAD - 0x0800a364 0x0800a364 0x0000000e Code RO 2131 .text.__NVIC_SetPriority cmsis_os2.o - 0x0800a372 0x0800a372 0x00000002 PAD - 0x0800a374 0x0800a374 0x00000020 Code RO 589 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800a394 0x0800a394 0x000001aa Code RO 3270 .text.chassis_init chassis.o - 0x0800a53e 0x0800a53e 0x00000002 PAD - 0x0800a540 0x0800a540 0x00000002 Code RO 34 .text.configureTimerForRunTimeStats freertos.o - 0x0800a542 0x0800a542 0x00000002 PAD - 0x0800a544 0x0800a544 0x00000016 Code RO 2552 .text.copysignf ahrs.o - 0x0800a55a 0x0800a55a 0x00000002 PAD - 0x0800a55c 0x0800a55c 0x0000009c Code RO 1760 .text.eTaskGetState tasks.o - 0x0800a5f8 0x0800a5f8 0x0000002c Code RO 2979 .text.float_to_uint motor_dm.o - 0x0800a624 0x0800a624 0x00000004 Code RO 36 .text.getRunTimeCounterValue freertos.o - 0x0800a628 0x0800a628 0x00000046 Code RO 11 .text.main main.o - 0x0800a66e 0x0800a66e 0x00000002 PAD - 0x0800a670 0x0800a670 0x00000020 Code RO 3216 .text.major_yaw_Control gimbal.o - 0x0800a690 0x0800a690 0x0000001a Code RO 2795 .text.map_fp32 calc_lib.o - 0x0800a6aa 0x0800a6aa 0x00000002 PAD - 0x0800a6ac 0x0800a6ac 0x00000044 Code RO 3224 .text.motor_imu_offset gimbal.o - 0x0800a6f0 0x0800a6f0 0x00000020 Code RO 2033 .text.osDelay cmsis_os2.o - 0x0800a710 0x0800a710 0x00000034 Code RO 2035 .text.osDelayUntil cmsis_os2.o - 0x0800a744 0x0800a744 0x00000026 Code RO 1971 .text.osKernelGetState cmsis_os2.o - 0x0800a76a 0x0800a76a 0x00000002 PAD - 0x0800a76c 0x0800a76c 0x00000014 Code RO 1983 .text.osKernelGetTickCount cmsis_os2.o - 0x0800a780 0x0800a780 0x00000006 Code RO 1985 .text.osKernelGetTickFreq cmsis_os2.o - 0x0800a786 0x0800a786 0x00000002 PAD - 0x0800a788 0x0800a788 0x00000028 Code RO 1967 .text.osKernelInitialize cmsis_os2.o - 0x0800a7b0 0x0800a7b0 0x0000002c Code RO 1977 .text.osKernelLock cmsis_os2.o - 0x0800a7dc 0x0800a7dc 0x00000034 Code RO 1973 .text.osKernelStart cmsis_os2.o - 0x0800a810 0x0800a810 0x00000044 Code RO 1979 .text.osKernelUnlock cmsis_os2.o - 0x0800a854 0x0800a854 0x00000086 Code RO 2087 .text.osMessageQueueGet cmsis_os2.o - 0x0800a8da 0x0800a8da 0x00000002 PAD - 0x0800a8dc 0x0800a8dc 0x000000a0 Code RO 2083 .text.osMessageQueueNew cmsis_os2.o - 0x0800a97c 0x0800a97c 0x0000008e Code RO 2085 .text.osMessageQueuePut cmsis_os2.o - 0x0800aa0a 0x0800aa0a 0x00000002 PAD - 0x0800aa0c 0x0800aa0c 0x00000024 Code RO 2097 .text.osMessageQueueReset cmsis_os2.o - 0x0800aa30 0x0800aa30 0x00000052 Code RO 2065 .text.osMutexAcquire cmsis_os2.o - 0x0800aa82 0x0800aa82 0x00000002 PAD - 0x0800aa84 0x0800aa84 0x00000096 Code RO 2063 .text.osMutexNew cmsis_os2.o - 0x0800ab1a 0x0800ab1a 0x00000002 PAD - 0x0800ab1c 0x0800ab1c 0x0000003e Code RO 2067 .text.osMutexRelease cmsis_os2.o - 0x0800ab5a 0x0800ab5a 0x00000002 PAD - 0x0800ab5c 0x0800ab5c 0x0000007e Code RO 2025 .text.osThreadFlagsSet cmsis_os2.o - 0x0800abda 0x0800abda 0x00000002 PAD - 0x0800abdc 0x0800abdc 0x000000ba Code RO 2031 .text.osThreadFlagsWait cmsis_os2.o - 0x0800ac96 0x0800ac96 0x00000002 PAD - 0x0800ac98 0x0800ac98 0x00000008 Code RO 2001 .text.osThreadGetId cmsis_os2.o - 0x0800aca0 0x0800aca0 0x000000b4 Code RO 1997 .text.osThreadNew cmsis_os2.o - 0x0800ad54 0x0800ad54 0x00000034 Code RO 2019 .text.osThreadTerminate cmsis_os2.o - 0x0800ad88 0x0800ad88 0x00000080 Code RO 1754 .text.prvAddCurrentTaskToDelayedList tasks.o - 0x0800ae08 0x0800ae08 0x000000ac Code RO 1740 .text.prvAddNewTaskToReadyList tasks.o - 0x0800aeb4 0x0800aeb4 0x0000007c Code RO 1898 .text.prvCheckForValidListAndQueue timers.o - 0x0800af30 0x0800af30 0x0000004e Code RO 1864 .text.prvCheckTasksWaitingTermination tasks.o - 0x0800af7e 0x0800af7e 0x00000002 PAD - 0x0800af80 0x0800af80 0x00000026 Code RO 1631 .text.prvCopyDataFromQueue queue.o - 0x0800afa6 0x0800afa6 0x00000002 PAD - 0x0800afa8 0x0800afa8 0x0000007a Code RO 1619 .text.prvCopyDataToQueue queue.o - 0x0800b022 0x0800b022 0x00000002 PAD - 0x0800b024 0x0800b024 0x00000036 Code RO 1746 .text.prvDeleteTCB tasks.o - 0x0800b05a 0x0800b05a 0x00000002 PAD - 0x0800b05c 0x0800b05c 0x00000012 Code RO 1635 .text.prvGetDisinheritPriorityAfterTimeout queue.o - 0x0800b06e 0x0800b06e 0x00000002 PAD - 0x0800b070 0x0800b070 0x00000020 Code RO 1936 .text.prvGetNextExpireTime timers.o - 0x0800b090 0x0800b090 0x00000078 Code RO 2149 .text.prvHeapInit heap_4.o - 0x0800b108 0x0800b108 0x0000002a Code RO 1780 .text.prvIdleTask tasks.o - 0x0800b132 0x0800b132 0x00000002 PAD - 0x0800b134 0x0800b134 0x00000020 Code RO 1599 .text.prvInitialiseMutex queue.o - 0x0800b154 0x0800b154 0x00000020 Code RO 1593 .text.prvInitialiseNewQueue queue.o - 0x0800b174 0x0800b174 0x0000009a Code RO 1738 .text.prvInitialiseNewTask tasks.o - 0x0800b20e 0x0800b20e 0x00000002 PAD - 0x0800b210 0x0800b210 0x00000070 Code RO 1862 .text.prvInitialiseTaskLists tasks.o - 0x0800b280 0x0800b280 0x0000005a Code RO 2151 .text.prvInsertBlockIntoFreeList heap_4.o - 0x0800b2da 0x0800b2da 0x00000002 PAD - 0x0800b2dc 0x0800b2dc 0x00000040 Code RO 1948 .text.prvInsertTimerInActiveList timers.o - 0x0800b31c 0x0800b31c 0x00000018 Code RO 1633 .text.prvIsQueueEmpty queue.o - 0x0800b334 0x0800b334 0x0000001c Code RO 1621 .text.prvIsQueueFull queue.o - 0x0800b350 0x0800b350 0x00000028 Code RO 2191 .text.prvPortStartFirstTask port.o - 0x0800b378 0x0800b378 0x0000006e Code RO 1944 .text.prvProcessExpiredTimer timers.o - 0x0800b3e6 0x0800b3e6 0x00000002 PAD - 0x0800b3e8 0x0800b3e8 0x00000122 Code RO 1940 .text.prvProcessReceivedCommands timers.o - 0x0800b50a 0x0800b50a 0x00000002 PAD - 0x0800b50c 0x0800b50c 0x00000080 Code RO 1938 .text.prvProcessTimerOrBlockTask timers.o - 0x0800b58c 0x0800b58c 0x00000028 Code RO 1748 .text.prvResetNextTaskUnblockTime tasks.o - 0x0800b5b4 0x0800b5b4 0x0000002a Code RO 1942 .text.prvSampleTimeNow timers.o - 0x0800b5de 0x0800b5de 0x00000002 PAD - 0x0800b5e0 0x0800b5e0 0x0000008e Code RO 1946 .text.prvSwitchTimerLists timers.o - 0x0800b66e 0x0800b66e 0x00000002 PAD - 0x0800b670 0x0800b670 0x00000032 Code RO 2181 .text.prvTaskExitError port.o - 0x0800b6a2 0x0800b6a2 0x00000002 PAD - 0x0800b6a4 0x0800b6a4 0x00000016 Code RO 1900 .text.prvTimerTask timers.o - 0x0800b6ba 0x0800b6ba 0x00000002 PAD - 0x0800b6bc 0x0800b6bc 0x00000072 Code RO 1623 .text.prvUnlockQueue queue.o - 0x0800b72e 0x0800b72e 0x00000002 PAD - 0x0800b730 0x0800b730 0x0000014a Code RO 2147 .text.pvPortMalloc heap_4.o - 0x0800b87a 0x0800b87a 0x00000002 PAD - 0x0800b87c 0x0800b87c 0x00000018 Code RO 1846 .text.pvTaskIncrementMutexHeldCount tasks.o - 0x0800b894 0x0800b894 0x00000028 Code RO 2179 .text.pxPortInitialiseStack port.o - 0x0800b8bc 0x0800b8bc 0x0000002a Code RO 2977 .text.uint_to_float motor_dm.o - 0x0800b8e6 0x0800b8e6 0x00000002 PAD - 0x0800b8e8 0x0800b8e8 0x00000024 Code RO 1579 .text.uxListRemove list.o - 0x0800b90c 0x0800b90c 0x0000001a Code RO 2127 .text.vApplicationGetIdleTaskMemory cmsis_os2.o - 0x0800b926 0x0800b926 0x00000002 PAD - 0x0800b928 0x0800b928 0x0000001c Code RO 2129 .text.vApplicationGetTimerTaskMemory cmsis_os2.o - 0x0800b944 0x0800b944 0x00000002 Code RO 38 .text.vApplicationStackOverflowHook freertos.o - 0x0800b946 0x0800b946 0x00000002 PAD - 0x0800b948 0x0800b948 0x00000016 Code RO 1571 .text.vListInitialise list.o - 0x0800b95e 0x0800b95e 0x00000002 PAD - 0x0800b960 0x0800b960 0x00000006 Code RO 1573 .text.vListInitialiseItem list.o - 0x0800b966 0x0800b966 0x00000002 PAD - 0x0800b968 0x0800b968 0x0000003a Code RO 1577 .text.vListInsert list.o - 0x0800b9a2 0x0800b9a2 0x00000002 PAD - 0x0800b9a4 0x0800b9a4 0x0000001c Code RO 1575 .text.vListInsertEnd list.o - 0x0800b9c0 0x0800b9c0 0x00000014 Code RO 2189 .text.vPortEnableVFP port.o - 0x0800b9d4 0x0800b9d4 0x00000046 Code RO 2195 .text.vPortEnterCritical port.o - 0x0800ba1a 0x0800ba1a 0x00000002 PAD - 0x0800ba1c 0x0800ba1c 0x0000002e Code RO 2197 .text.vPortExitCritical port.o + 0x08007c6c 0x08007c6c 0x0000003e Code RO 84 .text.MX_I2C2_Init i2c.o + 0x08007caa 0x08007caa 0x00000002 PAD + 0x08007cac 0x08007cac 0x0000004e Code RO 100 .text.MX_SPI1_Init spi.o + 0x08007cfa 0x08007cfa 0x00000002 PAD + 0x08007cfc 0x08007cfc 0x00000088 Code RO 117 .text.MX_TIM10_Init tim.o + 0x08007d84 0x08007d84 0x00000038 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x08007dbc 0x08007dbc 0x00000038 Code RO 136 .text.MX_USART2_UART_Init usart.o + 0x08007df4 0x08007df4 0x00000044 Code RO 138 .text.MX_USART3_UART_Init usart.o + 0x08007e38 0x08007e38 0x00000038 Code RO 140 .text.MX_USART6_UART_Init usart.o + 0x08007e70 0x08007e70 0x00000002 Code RO 165 .text.MemManage_Handler stm32f4xx_it.o + 0x08007e72 0x08007e72 0x00000002 PAD + 0x08007e74 0x08007e74 0x0000015c Code RO 2826 .text.Motor_RM_Decode motor_rm.o + 0x08007fd0 0x08007fd0 0x00000002 Code RO 161 .text.NMI_Handler stm32f4xx_it.o + 0x08007fd2 0x08007fd2 0x00000002 PAD + 0x08007fd4 0x08007fd4 0x0000002c Code RO 597 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x08008000 0x08008000 0x00000170 Code RO 2698 .text.PID_Calc pid.o + 0x08008170 0x08008170 0x00000090 Code RO 2692 .text.PID_Init pid.o + 0x08008200 0x08008200 0x0000002c Code RO 2696 .text.PID_Reset pid.o + 0x0800822c 0x0800822c 0x0000000e Code RO 2700 .text.PID_ResetIntegral pid.o + 0x0800823a 0x0800823a 0x00000006 PAD + 0x08008240 0x08008240 0x00000064 Code RO 2199 .text.PendSV_Handler port.o + 0x080082a4 0x080082a4 0x00000044 Code RO 3060 .text.REMOTE_Init et16s.o + 0x080082e8 0x080082e8 0x00000014 Code RO 3062 .text.REMOTE_RxCpltCallback et16s.o + 0x080082fc 0x080082fc 0x00000020 Code RO 3064 .text.REMOTE_StartDmaRecv et16s.o + 0x0800831c 0x0800831c 0x00000016 Code RO 3066 .text.REMOTE_WaitDmaCplt et16s.o + 0x08008332 0x08008332 0x00000002 PAD + 0x08008334 0x08008334 0x00000022 Code RO 975 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x08008356 0x08008356 0x00000002 PAD + 0x08008358 0x08008358 0x0000000a Code RO 981 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x08008362 0x08008362 0x00000002 PAD + 0x08008364 0x08008364 0x0000000a Code RO 971 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800836e 0x0800836e 0x00000002 PAD + 0x08008370 0x08008370 0x0000000a Code RO 985 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800837a 0x0800837a 0x00000002 PAD + 0x0800837c 0x0800837c 0x00000068 Code RO 983 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x080083e4 0x080083e4 0x00000070 Code RO 973 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x08008454 0x08008454 0x0000005a Code RO 987 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x080084ae 0x080084ae 0x00000002 PAD + 0x080084b0 0x080084b0 0x00000090 Code RO 945 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x08008540 0x08008540 0x0000008a Code RO 939 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x080085ca 0x080085ca 0x00000002 PAD + 0x080085cc 0x080085cc 0x00000014 Code RO 2422 .text.SPI_Get spi_1.o + 0x080085e0 0x080085e0 0x000000e0 Code RO 1037 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x080086c0 0x080086c0 0x00000024 Code RO 2183 .text.SVC_Handler port.o + 0x080086e4 0x080086e4 0x00000008 Code RO 1975 .text.SVC_Setup cmsis_os2.o + 0x080086ec 0x080086ec 0x00000036 Code RO 2757 .text.ScaleSumTo1 user_math.o + 0x08008722 0x08008722 0x00000002 PAD + 0x08008724 0x08008724 0x0000007c Code RO 3252 .text.Shoot_CaluCoupledWeight shoot.o + 0x080087a0 0x080087a0 0x000000a0 Code RO 3246 .text.Shoot_CaluTargetAngle shoot.o + 0x08008840 0x08008840 0x0000002c Code RO 3244 .text.Shoot_CaluTargetRPM shoot.o + 0x0800886c 0x0800886c 0x0000006c Code RO 3258 .text.Shoot_Control shoot.o + 0x080088d8 0x080088d8 0x00000146 Code RO 3256 .text.Shoot_Init shoot.o + 0x08008a1e 0x08008a1e 0x00000002 PAD + 0x08008a20 0x08008a20 0x00000130 Code RO 3254 .text.Shoot_JamDetectionFSM shoot.o + 0x08008b50 0x08008b50 0x00000098 Code RO 3240 .text.Shoot_ResetCalu shoot.o + 0x08008be8 0x08008be8 0x00000046 Code RO 3238 .text.Shoot_ResetIntegral shoot.o + 0x08008c2e 0x08008c2e 0x00000002 PAD + 0x08008c30 0x08008c30 0x00000032 Code RO 3242 .text.Shoot_ResetOutput shoot.o + 0x08008c62 0x08008c62 0x00000002 PAD + 0x08008c64 0x08008c64 0x000004f0 Code RO 3250 .text.Shoot_RunningFSM shoot.o + 0x08009154 0x08009154 0x0000000e Code RO 3236 .text.Shoot_SetMode shoot.o + 0x08009162 0x08009162 0x00000002 PAD + 0x08009164 0x08009164 0x000001f4 Code RO 3248 .text.Shoot_UpdateFeedback shoot.o + 0x08009358 0x08009358 0x0000000c Code RO 42 .text.StartDefaultTask freertos.o + 0x08009364 0x08009364 0x0000002e Code RO 613 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x08009392 0x08009392 0x00000002 PAD + 0x08009394 0x08009394 0x00000014 Code RO 173 .text.SysTick_Handler stm32f4xx_it.o + 0x080093a8 0x080093a8 0x000000a4 Code RO 13 .text.SystemClock_Config main.o + 0x0800944c 0x0800944c 0x00000012 Code RO 1517 .text.SystemInit system_stm32f4xx.o + 0x0800945e 0x0800945e 0x00000002 PAD + 0x08009460 0x08009460 0x00000010 Code RO 191 .text.TIM1_UP_TIM10_IRQHandler stm32f4xx_it.o + 0x08009470 0x08009470 0x0000012c Code RO 1051 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800959c 0x0800959c 0x00000024 Code RO 1085 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x080095c0 0x080095c0 0x00000064 Code RO 1195 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x08009624 0x08009624 0x0000006a Code RO 1197 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o + 0x0800968e 0x0800968e 0x00000002 PAD + 0x08009690 0x08009690 0x00000068 Code RO 1199 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o + 0x080096f8 0x080096f8 0x0000004e Code RO 1201 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o + 0x08009746 0x08009746 0x00000002 PAD + 0x08009748 0x08009748 0x00000080 Code RO 3327 .text.Task_ET16s et16s_1.o + 0x080097c8 0x080097c8 0x0000014a Code RO 3411 .text.Task_Init init.o + 0x08009912 0x08009912 0x00000006 PAD + 0x08009918 0x08009918 0x00000040 Code RO 3304 .text.Task_ai ai_1.o + 0x08009958 0x08009958 0x00000178 Code RO 3347 .text.Task_atti_esti atti_esti.o + 0x08009ad0 0x08009ad0 0x0000007c Code RO 3379 .text.Task_chassis_ctrl chassis_ctrl.o + 0x08009b4c 0x08009b4c 0x00000004 PAD + 0x08009b50 0x08009b50 0x000000e8 Code RO 3313 .text.Task_cmd cmd.o + 0x08009c38 0x08009c38 0x00000068 Code RO 3337 .text.Task_dr16 dr16_1.o + 0x08009ca0 0x08009ca0 0x000000b4 Code RO 3367 .text.Task_gimbal_ctrl gimbal_ctrl.o + 0x08009d54 0x08009d54 0x00000004 PAD + 0x08009d58 0x08009d58 0x0000009c Code RO 3390 .text.Task_shoot_ctrl shoot_ctrl.o + 0x08009df4 0x08009df4 0x00000004 PAD + 0x08009df8 0x08009df8 0x00000040 Code RO 3402 .text.Task_step_motor step_motor_1.o + 0x08009e38 0x08009e38 0x0000000e Code RO 1473 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o + 0x08009e46 0x08009e46 0x00000002 PAD + 0x08009e48 0x08009e48 0x0000004c Code RO 1419 .text.UART_DMAError stm32f4xx_hal_uart.o + 0x08009e94 0x08009e94 0x00000084 Code RO 1505 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o + 0x08009f18 0x08009f18 0x0000001e Code RO 1507 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o + 0x08009f36 0x08009f36 0x00000002 PAD + 0x08009f38 0x08009f38 0x00000050 Code RO 1433 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o + 0x08009f88 0x08009f88 0x00000018 Code RO 1481 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o + 0x08009fa0 0x08009fa0 0x0000001c Code RO 1431 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o + 0x08009fbc 0x08009fbc 0x00000054 Code RO 2483 .text.UART_Get uart.o + 0x0800a010 0x0800a010 0x000000c8 Code RO 1471 .text.UART_Receive_IT stm32f4xx_hal_uart.o + 0x0800a0d8 0x0800a0d8 0x000000dc Code RO 1389 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x0800a1b4 0x0800a1b4 0x000000aa Code RO 1423 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o + 0x0800a25e 0x0800a25e 0x00000002 PAD + 0x0800a260 0x0800a260 0x00000052 Code RO 1479 .text.UART_Transmit_IT stm32f4xx_hal_uart.o + 0x0800a2b2 0x0800a2b2 0x00000002 PAD + 0x0800a2b4 0x0800a2b4 0x00000018 Code RO 193 .text.USART3_IRQHandler stm32f4xx_it.o + 0x0800a2cc 0x0800a2cc 0x00000018 Code RO 209 .text.USART6_IRQHandler stm32f4xx_it.o + 0x0800a2e4 0x0800a2e4 0x00000002 Code RO 169 .text.UsageFault_Handler stm32f4xx_it.o + 0x0800a2e6 0x0800a2e6 0x00000002 PAD + 0x0800a2e8 0x0800a2e8 0x0000000e Code RO 2621 .text.__ARM_isfinitef filter.o + 0x0800a2f6 0x0800a2f6 0x00000002 PAD + 0x0800a2f8 0x0800a2f8 0x0000000e Code RO 2694 .text.__ARM_isfinitef pid.o + 0x0800a306 0x0800a306 0x00000002 PAD + 0x0800a308 0x0800a308 0x00000010 Code RO 2617 .text.__ARM_isinff filter.o + 0x0800a318 0x0800a318 0x00000028 Code RO 605 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x0800a340 0x0800a340 0x00000020 Code RO 601 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x0800a360 0x0800a360 0x00000010 Code RO 593 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800a370 0x0800a370 0x00000022 Code RO 595 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x0800a392 0x0800a392 0x00000002 PAD + 0x0800a394 0x0800a394 0x0000000e Code RO 2131 .text.__NVIC_SetPriority cmsis_os2.o + 0x0800a3a2 0x0800a3a2 0x00000002 PAD + 0x0800a3a4 0x0800a3a4 0x00000020 Code RO 589 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800a3c4 0x0800a3c4 0x000001aa Code RO 3270 .text.chassis_init chassis.o + 0x0800a56e 0x0800a56e 0x00000002 PAD + 0x0800a570 0x0800a570 0x00000002 Code RO 34 .text.configureTimerForRunTimeStats freertos.o + 0x0800a572 0x0800a572 0x00000002 PAD + 0x0800a574 0x0800a574 0x00000016 Code RO 2552 .text.copysignf ahrs.o + 0x0800a58a 0x0800a58a 0x00000002 PAD + 0x0800a58c 0x0800a58c 0x0000009c Code RO 1760 .text.eTaskGetState tasks.o + 0x0800a628 0x0800a628 0x0000002c Code RO 2979 .text.float_to_uint motor_dm.o + 0x0800a654 0x0800a654 0x00000004 Code RO 36 .text.getRunTimeCounterValue freertos.o + 0x0800a658 0x0800a658 0x00000046 Code RO 11 .text.main main.o + 0x0800a69e 0x0800a69e 0x00000002 PAD + 0x0800a6a0 0x0800a6a0 0x00000020 Code RO 3216 .text.major_yaw_Control gimbal.o + 0x0800a6c0 0x0800a6c0 0x0000001a Code RO 2795 .text.map_fp32 calc_lib.o + 0x0800a6da 0x0800a6da 0x00000002 PAD + 0x0800a6dc 0x0800a6dc 0x00000044 Code RO 3224 .text.motor_imu_offset gimbal.o + 0x0800a720 0x0800a720 0x00000020 Code RO 2033 .text.osDelay cmsis_os2.o + 0x0800a740 0x0800a740 0x00000034 Code RO 2035 .text.osDelayUntil cmsis_os2.o + 0x0800a774 0x0800a774 0x00000026 Code RO 1971 .text.osKernelGetState cmsis_os2.o + 0x0800a79a 0x0800a79a 0x00000002 PAD + 0x0800a79c 0x0800a79c 0x00000014 Code RO 1983 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0x0800f13a 0x0800f13a 0x00000000 Code RO 3766 x$fpl$usenofp fz_wm.l(usenofp.o) - 0x0800f13a 0x0800f13a 0x00000006 PAD - 0x0800f140 0x0800f140 0x00000098 Data RO 3770 .constdata m_wm.l(atan.o) - 0x0800f1d8 0x0800f1d8 0x00000008 Data RO 3810 .constdata m_wm.l(qnan.o) - 0x0800f1e0 0x0800f1e0 0x00000020 Data RO 3812 .constdata m_wm.l(rredf.o) - 0x0800f200 0x0800f200 0x00000010 Data RO 1522 .rodata.AHBPrescTable system_stm32f4xx.o - 0x0800f210 0x0800f210 0x00000008 Data RO 1523 .rodata.APBPrescTable system_stm32f4xx.o - 0x0800f218 0x0800f218 0x00000048 Data RO 2354 .rodata.GPIO_Map gpio_1.o - 0x0800f260 0x0800f260 0x00000024 Data RO 3430 .rodata.attr_ET16s user_task.o - 0x0800f284 0x0800f284 0x00000024 Data RO 3422 .rodata.attr_ai user_task.o - 0x0800f2a8 0x0800f2a8 0x00000024 Data RO 3426 .rodata.attr_atti_esti user_task.o - 0x0800f2cc 0x0800f2cc 0x00000024 Data RO 3424 .rodata.attr_chassis_ctrl user_task.o - 0x0800f2f0 0x0800f2f0 0x00000024 Data RO 3428 .rodata.attr_cmd user_task.o - 0x0800f314 0x0800f314 0x00000024 Data RO 3427 .rodata.attr_dr16 user_task.o - 0x0800f338 0x0800f338 0x00000024 Data RO 3423 .rodata.attr_gimbal_ctrl user_task.o - 0x0800f35c 0x0800f35c 0x00000024 Data RO 3421 .rodata.attr_init user_task.o - 0x0800f380 0x0800f380 0x00000024 Data RO 3425 .rodata.attr_shoot_ctrl user_task.o - 0x0800f3a4 0x0800f3a4 0x00000024 Data RO 3429 .rodata.attr_step_motor user_task.o - 0x0800f3c8 0x0800f3c8 0x00000010 Data RO 3286 .rodata.cst16 chassis.o - 0x0800f3d8 0x0800f3d8 0x00000024 Data RO 45 .rodata.defaultTask_attributes freertos.o - 0x0800f3fc 0x0800f3fc 0x000000b0 Data RO 3525 .rodata.g_behavior_configs cmd_behavior.o - 0x0800f4ac 0x0800f4ac 0x00000020 Data RO 3354 .rodata.imu_temp_ctrl_pid_param atti_esti.o - 0x0800f4cc 0x0800f4cc 0x0000000c Data RO 44 .rodata.str1.1 freertos.o - 0x0800f4d8 0x0800f4d8 0x00000055 Data RO 3420 .rodata.str1.1 user_task.o - 0x0800f52d 0x0800f52d 0x00000003 PAD - 0x0800f530 0x0800f530 0x00000040 Data RO 3953 Region$$Table anon$$obj.o + 0x0800c1c0 0x0800c1c0 0x0000002e Code RO 2201 .text.xPortSysTickHandler port.o + 0x0800c1ee 0x0800c1ee 0x00000002 PAD + 0x0800c1f0 0x0800c1f0 0x00000016 Code RO 1597 .text.xQueueCreateMutex queue.o + 0x0800c206 0x0800c206 0x00000002 PAD + 0x0800c208 0x0800c208 0x00000022 Code RO 1601 .text.xQueueCreateMutexStatic queue.o + 0x0800c22a 0x0800c22a 0x00000002 PAD + 0x0800c22c 0x0800c22c 0x00000046 Code RO 1595 .text.xQueueGenericCreate queue.o + 0x0800c272 0x0800c272 0x00000002 PAD + 0x0800c274 0x0800c274 0x00000096 Code RO 1591 .text.xQueueGenericCreateStatic queue.o + 0x0800c30a 0x0800c30a 0x00000002 PAD + 0x0800c30c 0x0800c30c 0x0000007e Code RO 1589 .text.xQueueGenericReset queue.o + 0x0800c38a 0x0800c38a 0x00000002 PAD + 0x0800c38c 0x0800c38c 0x000001a2 Code RO 1609 .text.xQueueGenericSend queue.o + 0x0800c52e 0x0800c52e 0x00000002 PAD + 0x0800c530 0x0800c530 0x000000ce Code RO 1625 .text.xQueueGenericSendFromISR queue.o + 0x0800c5fe 0x0800c5fe 0x00000002 PAD + 0x0800c600 0x0800c600 0x00000042 Code RO 1607 .text.xQueueGiveMutexRecursive queue.o + 0x0800c642 0x0800c642 0x00000002 PAD + 0x0800c644 0x0800c644 0x00000184 Code RO 1629 .text.xQueueReceive queue.o + 0x0800c7c8 0x0800c7c8 0x000000aa Code RO 1639 .text.xQueueReceiveFromISR queue.o + 0x0800c872 0x0800c872 0x00000002 PAD + 0x0800c874 0x0800c874 0x000001c6 Code RO 1613 .text.xQueueSemaphoreTake queue.o + 0x0800ca3a 0x0800ca3a 0x00000002 PAD + 0x0800ca3c 0x0800ca3c 0x0000003c Code RO 1611 .text.xQueueTakeMutexRecursive queue.o + 0x0800ca78 0x0800ca78 0x00000088 Code RO 1814 .text.xTaskCheckForTimeOut tasks.o + 0x0800cb00 0x0800cb00 0x00000066 Code RO 1742 .text.xTaskCreate tasks.o + 0x0800cb66 0x0800cb66 0x00000002 PAD + 0x0800cb68 0x0800cb68 0x00000076 Code RO 1736 .text.xTaskCreateStatic tasks.o + 0x0800cbde 0x0800cbde 0x00000002 PAD + 0x0800cbe0 0x0800cbe0 0x000000fc Code RO 1852 .text.xTaskGenericNotify tasks.o + 0x0800ccdc 0x0800ccdc 0x0000012a Code RO 1854 .text.xTaskGenericNotifyFromISR tasks.o + 0x0800ce06 0x0800ce06 0x00000002 PAD + 0x0800ce08 0x0800ce08 0x0000000c Code RO 1828 .text.xTaskGetCurrentTaskHandle tasks.o + 0x0800ce14 0x0800ce14 0x00000026 Code RO 1830 .text.xTaskGetSchedulerState tasks.o + 0x0800ce3a 0x0800ce3a 0x00000002 PAD + 0x0800ce3c 0x0800ce3c 0x0000000c Code RO 1786 .text.xTaskGetTickCount tasks.o + 0x0800ce48 0x0800ce48 0x00000012 Code RO 1788 .text.xTaskGetTickCountFromISR tasks.o + 0x0800ce5a 0x0800ce5a 0x00000002 PAD + 0x0800ce5c 0x0800ce5c 0x00000152 Code RO 1784 .text.xTaskIncrementTick tasks.o + 0x0800cfae 0x0800cfae 0x00000002 PAD + 0x0800cfb0 0x0800cfb0 0x00000090 Code RO 1850 .text.xTaskNotifyWait tasks.o + 0x0800d040 0x0800d040 0x00000092 Code RO 1834 .text.xTaskPriorityDisinherit tasks.o + 0x0800d0d2 0x0800d0d2 0x00000002 PAD + 0x0800d0d4 0x0800d0d4 0x00000092 Code RO 1832 .text.xTaskPriorityInherit tasks.o + 0x0800d166 0x0800d166 0x00000002 PAD + 0x0800d168 0x0800d168 0x0000008e Code RO 1806 .text.xTaskRemoveFromEventList tasks.o + 0x0800d1f6 0x0800d1f6 0x00000002 PAD + 0x0800d1f8 0x0800d1f8 0x00000114 Code RO 1756 .text.xTaskResumeAll tasks.o + 0x0800d30c 0x0800d30c 0x00000074 Code RO 1896 .text.xTimerCreateTimerTask timers.o + 0x0800d380 0x0800d380 0x00000068 Code RO 1908 .text.xTimerGenericCommand timers.o + 0x0800d3e8 0x0800d3e8 0x00000030 Code RO 3850 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x0800d418 0x0800d418 0x00000026 Code RO 3794 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x0800d43e 0x0800d43e 0x00000002 PAD + 0x0800d440 0x0800d440 0x0000012c Code RO 3635 i.__hardfp_asinf m_wm.l(asinf.o) + 0x0800d56c 0x0800d56c 0x00000004 PAD + 0x0800d570 0x0800d570 0x000002d8 Code RO 3767 i.__hardfp_atan m_wm.l(atan.o) + 0x0800d848 0x0800d848 0x00000200 Code RO 3641 i.__hardfp_atan2 m_wm.l(atan2.o) + 0x0800da48 0x0800da48 0x000002ac Code RO 3647 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x0800dcf4 0x0800dcf4 0x00000190 Code RO 3665 i.__hardfp_sinf m_wm.l(sinf.o) + 0x0800de84 0x0800de84 0x0000007a Code RO 3671 i.__hardfp_sqrt m_wm.l(sqrt.o) + 0x0800defe 0x0800defe 0x00000002 PAD + 0x0800df00 0x0800df00 0x0000017c Code RO 3677 i.__hardfp_tanf m_wm.l(tanf.o) + 0x0800e07c 0x0800e07c 0x000000f8 Code RO 3852 i.__kernel_poly m_wm.l(poly.o) + 0x0800e174 0x0800e174 0x00000014 Code RO 3775 i.__mathlib_dbl_infnan m_wm.l(dunder.o) + 0x0800e188 0x0800e188 0x00000014 Code RO 3776 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o) + 0x0800e19c 0x0800e19c 0x00000004 PAD + 0x0800e1a0 0x0800e1a0 0x00000020 Code RO 3780 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x0800e1c0 0x0800e1c0 0x00000006 Code RO 3797 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x0800e1c6 0x0800e1c6 0x00000006 Code RO 3798 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x0800e1cc 0x0800e1cc 0x00000010 Code RO 3799 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x0800e1dc 0x0800e1dc 0x00000010 Code RO 3802 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x0800e1ec 0x0800e1ec 0x00000154 Code RO 3811 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x0800e340 0x0800e340 0x00000010 Code RO 3769 i.atan m_wm.l(atan.o) + 0x0800e350 0x0800e350 0x00000018 Code RO 3790 i.fabs m_wm.l(fabs.o) + 0x0800e368 0x0800e368 0x0000003e Code RO 3816 i.sqrtf m_wm.l(sqrtf.o) + 0x0800e3a6 0x0800e3a6 0x00000018 Code RO 3746 x$fpl$basic fz_wm.l(basic.o) + 0x0800e3be 0x0800e3be 0x00000002 PAD + 0x0800e3c0 0x0800e3c0 0x00000062 Code RO 3605 x$fpl$d2f fz_wm.l(d2f.o) + 0x0800e422 0x0800e422 0x00000002 PAD + 0x0800e424 0x0800e424 0x00000150 Code RO 3607 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x0800e574 0x0800e574 0x00000018 Code RO 3846 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x0800e58c 0x0800e58c 0x000002b4 Code RO 3616 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x0800e840 0x0800e840 0x00000078 Code RO 3748 x$fpl$deqf fz_wm.l(deqf.o) + 0x0800e8b8 0x0800e8b8 0x0000005a Code RO 3619 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x0800e912 0x0800e912 0x00000026 Code RO 3623 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x0800e938 0x0800e938 0x00000078 Code RO 3750 x$fpl$dgeqf fz_wm.l(dgeqf.o) + 0x0800e9b0 0x0800e9b0 0x00000078 Code RO 3752 x$fpl$dleqf fz_wm.l(dleqf.o) + 0x0800ea28 0x0800ea28 0x00000154 Code RO 3629 x$fpl$dmul fz_wm.l(dmul.o) + 0x0800eb7c 0x0800eb7c 0x0000009c Code RO 3754 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x0800ec18 0x0800ec18 0x0000000c Code RO 3758 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x0800ec24 0x0800ec24 0x00000016 Code RO 3608 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x0800ec3a 0x0800ec3a 0x00000002 PAD + 0x0800ec3c 0x0800ec3c 0x00000198 Code RO 3760 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) + 0x0800edd4 0x0800edd4 0x000001dc Code RO 3609 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x0800efb0 0x0800efb0 0x00000056 Code RO 3631 x$fpl$f2d fz_wm.l(f2d.o) + 0x0800f006 0x0800f006 0x00000054 Code RO 3613 x$fpl$fcmp fz_wm.l(dcmp.o) + 0x0800f05a 0x0800f05a 0x00000060 Code RO 3633 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x0800f0ba 0x0800f0ba 0x0000008c Code RO 3762 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x0800f146 0x0800f146 0x0000001a Code RO 3848 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x0800f160 0x0800f160 0x0000000a Code RO 3764 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x0800f16a 0x0800f16a 0x00000000 Code RO 3766 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x0800f16a 0x0800f16a 0x00000006 PAD + 0x0800f170 0x0800f170 0x00000098 Data RO 3770 .constdata m_wm.l(atan.o) + 0x0800f208 0x0800f208 0x00000008 Data RO 3810 .constdata m_wm.l(qnan.o) + 0x0800f210 0x0800f210 0x00000020 Data RO 3812 .constdata m_wm.l(rredf.o) + 0x0800f230 0x0800f230 0x00000010 Data RO 1522 .rodata.AHBPrescTable system_stm32f4xx.o + 0x0800f240 0x0800f240 0x00000008 Data RO 1523 .rodata.APBPrescTable system_stm32f4xx.o + 0x0800f248 0x0800f248 0x00000048 Data RO 2354 .rodata.GPIO_Map gpio_1.o + 0x0800f290 0x0800f290 0x00000024 Data RO 3430 .rodata.attr_ET16s user_task.o + 0x0800f2b4 0x0800f2b4 0x00000024 Data RO 3422 .rodata.attr_ai user_task.o + 0x0800f2d8 0x0800f2d8 0x00000024 Data RO 3426 .rodata.attr_atti_esti user_task.o + 0x0800f2fc 0x0800f2fc 0x00000024 Data RO 3424 .rodata.attr_chassis_ctrl user_task.o + 0x0800f320 0x0800f320 0x00000024 Data RO 3428 .rodata.attr_cmd user_task.o + 0x0800f344 0x0800f344 0x00000024 Data RO 3427 .rodata.attr_dr16 user_task.o + 0x0800f368 0x0800f368 0x00000024 Data RO 3423 .rodata.attr_gimbal_ctrl user_task.o + 0x0800f38c 0x0800f38c 0x00000024 Data RO 3421 .rodata.attr_init user_task.o + 0x0800f3b0 0x0800f3b0 0x00000024 Data RO 3425 .rodata.attr_shoot_ctrl user_task.o + 0x0800f3d4 0x0800f3d4 0x00000024 Data RO 3429 .rodata.attr_step_motor user_task.o + 0x0800f3f8 0x0800f3f8 0x00000010 Data RO 3286 .rodata.cst16 chassis.o + 0x0800f408 0x0800f408 0x00000024 Data RO 45 .rodata.defaultTask_attributes freertos.o + 0x0800f42c 0x0800f42c 0x000000b0 Data RO 3525 .rodata.g_behavior_configs cmd_behavior.o + 0x0800f4dc 0x0800f4dc 0x00000020 Data RO 3354 .rodata.imu_temp_ctrl_pid_param atti_esti.o + 0x0800f4fc 0x0800f4fc 0x0000000c Data RO 44 .rodata.str1.1 freertos.o + 0x0800f508 0x0800f508 0x00000055 Data RO 3420 .rodata.str1.1 user_task.o + 0x0800f55d 0x0800f55d 0x00000003 PAD + 0x0800f560 0x0800f560 0x00000040 Data RO 3953 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f570, Size: 0x0001aa50, Max: 0x0001c000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f5a0, Size: 0x0001aa50, Max: 0x0001c000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x0800f570 0x00000004 Data RW 2556 .data.beta ahrs.o - 0x20000004 0x0800f574 0x0000000c Data RW 3349 .data.cali_bmi088 atti_esti.o - 0x20000010 0x0800f580 0x00000018 Data RW 3485 .data.g_adapter_ET16s cmd_adapter.o - 0x20000028 0x0800f598 0x00000001 Data RW 720 .data.uwTickFreq stm32f4xx_hal.o - 0x20000029 0x0800f599 0x00000003 PAD - 0x2000002c 0x0800f59c 0x00000004 Data RW 2207 .data.uxCriticalNesting port.o + 0x20000000 0x0800f5a0 0x00000004 Data RW 2556 .data.beta ahrs.o + 0x20000004 0x0800f5a4 0x0000000c Data RW 3349 .data.cali_bmi088 atti_esti.o + 0x20000010 0x0800f5b0 0x00000018 Data RW 3485 .data.g_adapter_ET16s cmd_adapter.o + 0x20000028 0x0800f5c8 0x00000001 Data RW 720 .data.uwTickFreq stm32f4xx_hal.o + 0x20000029 0x0800f5c9 0x00000003 PAD + 0x2000002c 0x0800f5cc 0x00000004 Data RW 2207 .data.uxCriticalNesting port.o 0x20000030 - 0x000000e4 Zero RW 3578 .bss c_w.l(rand.o) 0x20000114 - 0x00000040 Zero RW 2353 .bss.GPIO_Callback gpio_1.o 0x20000154 - 0x00000004 Zero RW 64 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o 0x20000158 - 0x00000004 Zero RW 3260 .bss.Shoot_RunningFSM.pos shoot.o 0x2000015c - 0x00000090 Zero RW 2509 .bss.UART_Callback uart.o - 0x200001ec 0x0800f5a0 0x00000004 PAD + 0x200001ec 0x0800f5d0 0x00000004 PAD 0x200001f0 - 0x00000030 Zero RW 3350 .bss.bmi088 atti_esti.o 0x20000220 - 0x00000008 Zero RW 2981 .bss.can_managers motor_dm.o 0x20000228 - 0x00000019 Zero RW 3077 .bss.cbuf et16s.o - 0x20000241 0x0800f5a0 0x00000003 PAD + 0x20000241 0x0800f5d0 0x00000003 PAD 0x20000244 - 0x000000c4 Zero RW 3315 .bss.cmd cmd.o 0x20000308 - 0x00000004 Zero RW 3318 .bss.cmd_for_gimbal cmd.o 0x2000030c - 0x0000004d Zero RW 3329 .bss.et16s et16s_1.o - 0x20000359 0x0800f5a0 0x00000003 PAD + 0x20000359 0x0800f5d0 0x00000003 PAD 0x2000035c - 0x0000000c Zero RW 3355 .bss.eulr_to_send atti_esti.o 0x20000368 - 0x00000010 Zero RW 3484 .bss.g_adapters cmd_adapter.o 0x20000378 - 0x000002f8 Zero RW 3369 .bss.gimbal gimbal_ctrl.o @@ -10072,7 +10071,7 @@ Memory Map of the image 0x20000914 - 0x0000003c Zero RW 3353 .bss.imu_temp_ctrl_pid atti_esti.o 0x20000950 - 0x00000001 Zero RW 2887 .bss.inited bmi088.o 0x20000951 - 0x00000001 Zero RW 3261 .bss.last_firecmd shoot.o - 0x20000952 0x0800f5a0 0x00000002 PAD + 0x20000952 0x0800f5d0 0x00000002 PAD 0x20000954 - 0x00000050 Zero RW 1957 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o 0x200009a4 - 0x00000004 Zero RW 1954 .bss.prvSampleTimeNow.xLastTime timers.o 0x200009a8 - 0x00000004 Zero RW 1866 .bss.pxCurrentTCB tasks.o @@ -10081,12 +10080,12 @@ Memory Map of the image 0x200009b4 - 0x00000004 Zero RW 1875 .bss.pxOverflowDelayedTaskList tasks.o 0x200009b8 - 0x00000004 Zero RW 2295 .bss.queue_mutex can_1.o 0x200009bc - 0x00000003 Zero RW 3394 .bss.shoot_cmd shoot_ctrl.o - 0x200009bf 0x0800f5a0 0x00000001 PAD + 0x200009bf 0x0800f5d0 0x00000001 PAD 0x200009c0 - 0x00000028 Zero RW 3393 .bss.shoot_ctrl_cmd_rc shoot_ctrl.o 0x200009e8 - 0x00000004 Zero RW 3076 .bss.thread_alert et16s.o 0x200009ec - 0x00019999 Zero RW 2170 .bss.ucHeap heap_4.o 0x2001a385 - 0x00000001 Zero RW 2205 .bss.ucMaxSysCallPriority port.o - 0x2001a386 0x0800f5a0 0x00000002 PAD + 0x2001a386 0x0800f5d0 0x00000002 PAD 0x2001a388 - 0x00000004 Zero RW 721 .bss.uwTick stm32f4xx_hal.o 0x2001a38c - 0x00000004 Zero RW 1869 .bss.uxDeletedTasksWaitingCleanUp tasks.o 0x2001a390 - 0x00000400 Zero RW 2138 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o @@ -10102,11 +10101,11 @@ Memory Map of the image 0x2001a840 - 0x00000004 Zero RW 1873 .bss.xTickCount tasks.o 0x2001a844 - 0x00000004 Zero RW 1950 .bss.xTimerQueue timers.o 0x2001a848 - 0x00000004 Zero RW 1882 .bss.xYieldPending tasks.o - 0x2001a84c 0x0800f5a0 0x00000004 PAD + 0x2001a84c 0x0800f5d0 0x00000004 PAD 0x2001a850 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800f5a0, Size: 0x00002a50, Max: 0x00004000, ABSOLUTE, COMPRESSED[0x00000170]) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800f5d0, Size: 0x00002a50, Max: 0x00004000, ABSOLUTE, COMPRESSED[0x00000170]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -10197,16 +10196,16 @@ Image component sizes 2364 4 0 0 2181 17085 can_1.o 2740 90 16 0 0 8880 chassis.o 124 12 0 0 1568 4855 chassis_ctrl.o - 248 8 0 0 285 5057 cmd.o - 796 8 0 64 0 7088 cmd_1.o - 400 0 0 24 16 4754 cmd_adapter.o + 232 8 0 0 285 5051 cmd.o + 808 8 0 64 0 7151 cmd_1.o + 392 0 0 24 16 4760 cmd_adapter.o 548 8 176 0 0 8151 cmd_behavior.o 1746 0 0 0 1732 42904 cmsis_os2.o 10 0 0 944 0 5778 config.o 138 0 0 0 0 3328 dma.o 90 0 0 0 5 4581 dr16.o 104 8 0 0 88 2007 dr16_1.o - 962 24 0 0 29 4189 et16s.o + 1022 24 0 0 29 4192 et16s.o 128 8 0 0 77 1793 et16s_1.o 410 20 0 0 0 4129 filter.o 78 0 48 0 4 3090 freertos.o @@ -10256,7 +10255,7 @@ Image component sizes 0 0 445 0 216 3790 user_task.o ---------------------------------------------------------------------- - 52272 620 1272 1064 118580 574417 Object Totals + 52320 620 1272 1064 118580 574483 Object Totals 0 0 64 0 0 0 (incl. Generated) 428 12 3 3 42 0 (incl. Padding) @@ -10361,15 +10360,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 61368 1394 1464 1064 118904 576697 Grand Totals - 61368 1394 1464 416 118904 576697 ELF Image Totals (compressed) - 61368 1394 1464 416 0 0 ROM Totals + 61416 1394 1464 1064 118904 576763 Grand Totals + 61416 1394 1464 416 118904 576763 ELF Image Totals (compressed) + 61416 1394 1464 416 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 62832 ( 61.36kB) + Total RO Size (Code + RO Data) 62880 ( 61.41kB) Total RW Size (RW Data + ZI Data) 119968 ( 117.16kB) - Total ROM Size (Code + RO Data + RW Data) 63248 ( 61.77kB) + Total ROM Size (Code + RO Data + RW Data) 63296 ( 61.81kB) ============================================================================== 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 a150aac..1a0608a 100644 --- a/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep +++ b/MDK-ARM/Steering Wheel_Infatry/Steering Wheel_Infatry_Steering Wheel_Infatry.dep @@ -2205,7 +2205,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B05 I (..\User\device\motor_rm.h)(0x69707226) I (..\User\bsp\uart.h)(0x69707226) I (..\Core\Inc\usart.h)(0x69455093) -F (..\User\device\ET16s.c)(0x69710BD2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/et16s.o" -MD) +F (..\User\device\ET16s.c)(0x6971A12F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/et16s.o" -MD) I (..\User\device\ET16s.h)(0x6970FB62) I (..\User\device\device.h)(0x69707226) I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) @@ -2417,7 +2417,7 @@ I (..\User\bsp\time.h)(0x69707226) I (..\User\component\user_math.h)(0x69707226) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) -F (..\User\module\config.c)(0x69710365)(-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)(0x6971A12F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/config.o" -MD) I (..\User\component\user_math.h)(0x69707226) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) @@ -2748,7 +2748,7 @@ 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) -F (..\User\task\cmd.c)(0x69710B51)(-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/cmd.o" -MD) +F (..\User\task\cmd.c)(0x697114BF)(-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/cmd.o" -MD) I (..\User\task\user_task.h)(0x6970D2DA) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -3249,7 +3249,7 @@ 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) -F (..\User\module\cmd\cmd.c)(0x69710529)(-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/cmd_1.o" -MD) +F (..\User\module\cmd\cmd.c)(0x6971A12F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User -I ../User/bsp -I ../User/component -I ../User/device -I ../User/module -I ../User/task -I ../User/module/cmd -I./RTE/_Steering_Wheel_Infatry -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o "steering wheel_infatry/cmd_1.o" -MD) I (..\User\module\cmd\cmd.h)(0x69710302) I (..\User\module\cmd\cmd_types.h)(0x69710063) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -3323,7 +3323,7 @@ I (..\User\device\motor_dm.h)(0x69707226) I (..\User\module\shoot.h)(0x6968CB81) I (..\User\bsp\time.h)(0x69707226) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) -F (..\User\module\cmd\cmd_adapter.c)(0x69710D04)(-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/cmd_adapter.o" -MD) +F (..\User\module\cmd\cmd_adapter.c)(0x6971A179)(-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 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100644 --- a/User/device/ET16s.c +++ b/User/device/ET16s.c @@ -85,6 +85,8 @@ ET16S_SwitchPos_t Keymap(int16_t value) { int8_t ET16s_ParseRaw( ET16s_t *et16s){ //ET16s + if(et16s==NULL)return ET16s_ERR_NULL; + et16s->header.online = true; et16s->raw_data.ch[0] = (cbuf[1] | (cbuf[2] << 8)) & 0x07ff; //Channel 1 et16s->raw_data.ch[3] = ((cbuf[2] >> 3) | (cbuf[3] << 5)) & 0x07ff; //Channel 2 et16s->raw_data.ch[1] = ((cbuf[3] >> 6) | (cbuf[4] << 2) | //Channel 3 @@ -109,7 +111,7 @@ int8_t ET16s_ParseRaw( ET16s_t *et16s){ if( et16s->raw_data.ch[1]>-0.01&&et16s->raw_data.ch[1]<=0.01) et16s->raw_data.ch[1]=0; if( et16s->raw_data.ch[2]>-0.01&&et16s->raw_data.ch[2]<=0.01) et16s->raw_data.ch[2]=0; if( et16s->raw_data.ch[3]>-0.01&&et16s->raw_data.ch[3]<=0.01) et16s->raw_data.ch[3]=0; - return 1; + return ET16s_OK; } @@ -164,7 +166,7 @@ int8_t ET16S_ParseRC(ET16s_t *et16s) { if(et16s->raw_data.sw[6]==1695) { // ET16s_HandleOffline(et16s); -// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信 + memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信 } #endif return DEVICE_OK; @@ -173,8 +175,8 @@ int8_t ET16S_ParseRC(ET16s_t *et16s) { int8_t ET16s_HandleOffline(ET16s_t *rc) { + if (rc == NULL) return DEVICE_ERR_NULL; - rc->rc_type =Control_loss ; rc->header.online = false; memset(&rc->ET16s , 0, sizeof(ET16s_raw_t)); diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c index 5ad2248..94f68b3 100644 --- a/User/module/cmd/cmd.c +++ b/User/module/cmd/cmd.c @@ -1,7 +1,7 @@ /* * CMD 模块 V2 - 主控制模块实现 */ -#include "cmd.h" +#include "module/cmd/cmd.h" #include "bsp/time.h" #include #include @@ -69,7 +69,7 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) { } /* 根据D拨杆控制射击 */ - switch (ctx->input.rc.sw[4]) { + switch (ctx->input.rc.sw[3]) { case CMD_SW_DOWN: ctx->output.shoot.cmd.ready = true; ctx->output.shoot.cmd.firecmd = true; @@ -79,9 +79,11 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) { ctx->output.shoot.cmd.firecmd = false; break; case CMD_SW_UP: - default: - ctx->output.shoot.cmd.ready = false; + ctx->output.shoot.cmd.ready = false; ctx->output.shoot.cmd.firecmd = false; +// default: +// ctx->output.shoot.cmd.ready = false; +// ctx->output.shoot.cmd.firecmd = false; break; } } diff --git a/User/module/cmd/cmd_adapter.c b/User/module/cmd/cmd_adapter.c index ac4b617..7041ccd 100644 --- a/User/module/cmd/cmd_adapter.c +++ b/User/module/cmd/cmd_adapter.c @@ -9,6 +9,7 @@ /* ========================================================================== */ // static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0}; + /* ========================================================================== */ /* DR16 适配器实现 */ /* ========================================================================== */ @@ -145,19 +146,19 @@ int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) { case ET16S_SW_UP: output->rc.sw[0] = CMD_SW_UP; break; case ET16S_SW_MID: output->rc.sw[0] = CMD_SW_MID; break; case ET16S_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break; - default: output->rc.sw[0] = CMD_SW_ERR; break; + default: output->rc.sw[0] = CMD_SW_ERR; break; } switch (et16s->ET16s.key_B) { case ET16S_SW_UP: output->rc.sw[1] = CMD_SW_UP; break; case ET16S_SW_MID: output->rc.sw[1] = CMD_SW_MID; break; case ET16S_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break; - default: output->rc.sw[1] = CMD_SW_ERR; break; + default: output->rc.sw[1] = CMD_SW_ERR; break; } switch (et16s->ET16s.key_C) { case ET16S_SW_UP: output->rc.sw[2] = CMD_SW_UP; break; case ET16S_SW_MID: output->rc.sw[2] = CMD_SW_MID; break; case ET16S_SW_DOWN: output->rc.sw[2] = CMD_SW_DOWN; break; - default: output->rc.sw[2] = CMD_SW_ERR; break; + default: output->rc.sw[2] = CMD_SW_ERR; break; } switch (et16s->ET16s.key_D) { case ET16S_SW_UP: output->rc.sw[3] = CMD_SW_UP; break; @@ -169,13 +170,13 @@ int8_t CMD_ET16s_GetInput(void *data, CMD_RawInput_t *output) { case ET16S_SW_UP: output->rc.sw[4] = CMD_SW_UP; break; case ET16S_SW_MID: output->rc.sw[4] = CMD_SW_MID; break; case ET16S_SW_DOWN: output->rc.sw[4] = CMD_SW_DOWN; break; - default: output->rc.sw[4] = CMD_SW_ERR; break; +// default: output->rc.sw[4] = CMD_SW_ERR; break; } switch (et16s->ET16s.key_F) { case ET16S_SW_UP: output->rc.sw[5] = CMD_SW_UP; break; case ET16S_SW_MID: output->rc.sw[5] = CMD_SW_MID; break; case ET16S_SW_DOWN: output->rc.sw[5] = CMD_SW_DOWN; break; - default: output->rc.sw[5] = CMD_SW_ERR; break; + default: output->rc.sw[5] = CMD_SW_ERR; break; } switch (et16s->ET16s.key_G) { case ET16S_SW_UP: output->rc.sw[6] = CMD_SW_UP; break; diff --git a/User/module/config.c b/User/module/config.c index c675dbe..d709e85 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -340,11 +340,11 @@ Config_RobotParam_t robot_config = { .rc_mode_map = { .sw_left_up = CHASSIS_MODE_RELAX, .sw_left_mid = CHASSIS_MODE_FOLLOW_GIMBAL, - .sw_left_down = CHASSIS_MODE_RELAX, + .sw_left_down = CHASSIS_MODE_ROTOR, - .gimbal_sw_up = GIMBAL_MODE_ABSOLUTE, - .gimbal_sw_mid = GIMBAL_MODE_RELATIVE, - .gimbal_sw_down = GIMBAL_MODE_ABSOLUTE, + .gimbal_sw_up = GIMBAL_MODE_RELAX, + .gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE, + .gimbal_sw_down = GIMBAL_MODE_RELATIVE, .shoot_sw_up = SHOOT_MODE_SAFE, .shoot_sw_mid = SHOOT_MODE_SINGLE, diff --git a/User/task/cmd.c b/User/task/cmd.c index 8678cb4..f87fbd2 100644 --- a/User/task/cmd.c +++ b/User/task/cmd.c @@ -64,9 +64,7 @@ void Task_cmd(void *argument) { osMessageQueueGet(task_runtime.msgq.rc.et16s, &cmd_et16s, NULL, 0); #endif - CMD_UpdateInput(&cmd); - CMD_Arbitrate(&cmd); - CMD_GenerateCommands(&cmd); + CMD_Update(&cmd); /* 获取命令发送到各模块 */ cmd_for_chassis = CMD_GetChassisCmd(&cmd);