..\User\module\config.c
- 12
- 32
- 49
+ 0
+ 13
+ 27
1
0
diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o
index 119f019..6b419ea 100644
Binary files a/MDK-ARM/gimbal/ai.o and b/MDK-ARM/gimbal/ai.o differ
diff --git a/MDK-ARM/gimbal/atti_esti.o b/MDK-ARM/gimbal/atti_esti.o
index cde8820..8eb804d 100644
Binary files a/MDK-ARM/gimbal/atti_esti.o and b/MDK-ARM/gimbal/atti_esti.o differ
diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o
index af5fdd3..6dc1639 100644
Binary files a/MDK-ARM/gimbal/config.o and b/MDK-ARM/gimbal/config.o differ
diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf
index d15e57e..71eb43a 100644
Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ
diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm
index 2256b26..3464c0f 100644
--- a/MDK-ARM/gimbal/gimbal.htm
+++ b/MDK-ARM/gimbal/gimbal.htm
@@ -3,7 +3,7 @@
Static Call Graph - [gimbal\gimbal.axf]
Static Call Graph for image gimbal\gimbal.axf
-
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Nov 12 21:26:23 2025
+
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Nov 12 22:13:05 2025
Maximum Stack Usage = 432 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)
Call chain for Maximum Stack Depth:
@@ -169,9 +169,9 @@ Global Symbols
__scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
-
__decompress (Thumb, 58 bytes, Stack size unknown bytes, __dczerorl.o(!!dczerorl), UNUSED)
+
__decompress (Thumb, 90 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED)
-
__decompress0 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl.o(!!dczerorl), UNUSED)
+
__decompress1 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED)
__scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)
@@ -1114,7 +1114,7 @@ Global Symbols
>> MX_CAN1_Init
-Gimbal_Control (Thumb, 1304 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
+
Gimbal_Control (Thumb, 1312 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
[Stack]
- Max Depth = 208
- Call Chain = Gimbal_Control ⇒ PID_Calc ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
[Calls]- >> Clip
@@ -1128,7 +1128,7 @@ Global Symbols
[Called By]
-Gimbal_Init (Thumb, 472 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))
+
Gimbal_Init (Thumb, 400 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))
[Stack]
- Max Depth = 372 + Unknown Stack Size
- Call Chain = Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map
index f726810..2be1143 100644
--- a/MDK-ARM/gimbal/gimbal.map
+++ b/MDK-ARM/gimbal/gimbal.map
@@ -6041,7 +6041,7 @@ Image Symbol Table
../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE
../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE
../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE
- ../clib/angel/dczerorl.s 0x00000000 Number 0 __dczerorl.o ABSOLUTE
+ ../clib/angel/dczerorl2.s 0x00000000 Number 0 __dczerorl2.o ABSOLUTE
../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE
../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE
../clib/angel/kernel.s 0x00000000 Number 0 __rtentry2.o ABSOLUTE
@@ -6304,719 +6304,719 @@ Image Symbol Table
RESET 0x08000000 Section 392 startup_stm32f407xx.o(RESET)
!!!main 0x08000188 Section 8 __main.o(!!!main)
!!!scatter 0x08000190 Section 52 __scatter.o(!!!scatter)
- !!dczerorl 0x080001c4 Section 58 __dczerorl.o(!!dczerorl)
- !!handler_zi 0x08000200 Section 28 __scatter_zi.o(!!handler_zi)
- .ARM.Collect$$libinit$$00000000 0x0800021c Section 2 libinit.o(.ARM.Collect$$libinit$$00000000)
- .ARM.Collect$$libinit$$00000001 0x0800021e Section 4 libinit2.o(.ARM.Collect$$libinit$$00000001)
- .ARM.Collect$$libinit$$00000004 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000004)
- .ARM.Collect$$libinit$$0000000A 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000A)
- .ARM.Collect$$libinit$$0000000C 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000C)
- .ARM.Collect$$libinit$$0000000E 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000E)
- .ARM.Collect$$libinit$$00000011 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000011)
- .ARM.Collect$$libinit$$00000013 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000013)
- .ARM.Collect$$libinit$$00000015 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000015)
- .ARM.Collect$$libinit$$00000017 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000017)
- .ARM.Collect$$libinit$$00000019 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000019)
- .ARM.Collect$$libinit$$0000001B 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001B)
- .ARM.Collect$$libinit$$0000001D 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001D)
- .ARM.Collect$$libinit$$0000001F 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001F)
- .ARM.Collect$$libinit$$00000021 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000021)
- .ARM.Collect$$libinit$$00000023 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000023)
- .ARM.Collect$$libinit$$00000025 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000025)
- .ARM.Collect$$libinit$$0000002C 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000002C)
- .ARM.Collect$$libinit$$0000002E 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000002E)
- .ARM.Collect$$libinit$$00000030 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000030)
- .ARM.Collect$$libinit$$00000032 0x08000222 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000032)
- .ARM.Collect$$libinit$$00000033 0x08000222 Section 2 libinit2.o(.ARM.Collect$$libinit$$00000033)
- .ARM.Collect$$libshutdown$$00000000 0x08000224 Section 2 libshutdown.o(.ARM.Collect$$libshutdown$$00000000)
- .ARM.Collect$$libshutdown$$00000002 0x08000226 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
- .ARM.Collect$$libshutdown$$00000004 0x08000226 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
- .ARM.Collect$$libshutdown$$00000007 0x08000226 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)
- .ARM.Collect$$libshutdown$$0000000A 0x08000226 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)
- .ARM.Collect$$libshutdown$$0000000C 0x08000226 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
- .ARM.Collect$$libshutdown$$0000000F 0x08000226 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)
- .ARM.Collect$$libshutdown$$00000010 0x08000226 Section 2 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)
- .ARM.Collect$$rtentry$$00000000 0x08000228 Section 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000)
- .ARM.Collect$$rtentry$$00000002 0x08000228 Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
- .ARM.Collect$$rtentry$$00000004 0x08000228 Section 6 __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
- .ARM.Collect$$rtentry$$00000009 0x0800022e Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009)
- .ARM.Collect$$rtentry$$0000000A 0x0800022e Section 4 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A)
- .ARM.Collect$$rtentry$$0000000C 0x08000232 Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C)
- .ARM.Collect$$rtentry$$0000000D 0x08000232 Section 8 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D)
- .ARM.Collect$$rtexit$$00000000 0x0800023a Section 2 rtexit.o(.ARM.Collect$$rtexit$$00000000)
- .ARM.Collect$$rtexit$$00000002 0x0800023c Section 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002)
- .ARM.Collect$$rtexit$$00000003 0x0800023c Section 4 rtexit2.o(.ARM.Collect$$rtexit$$00000003)
- .ARM.Collect$$rtexit$$00000004 0x08000240 Section 6 rtexit2.o(.ARM.Collect$$rtexit$$00000004)
- $v0 0x08000248 Number 0 startup_stm32f407xx.o(.text)
- .text 0x08000248 Section 64 startup_stm32f407xx.o(.text)
- .text 0x08000288 Section 240 lludivv7m.o(.text)
- .text 0x08000378 Section 138 rt_memcpy_v6.o(.text)
- .text 0x08000402 Section 16 aeabi_memset4.o(.text)
- .text 0x08000412 Section 78 rt_memclr_w.o(.text)
- .text 0x08000460 Section 0 heapauxi.o(.text)
- .text 0x08000466 Section 0 _rserrno.o(.text)
- .text 0x0800047c Section 100 rt_memcpy_w.o(.text)
- .text 0x080004e0 Section 8 rt_errno_addr_intlibspace.o(.text)
- .text 0x080004e8 Section 8 libspace.o(.text)
- .text 0x080004f0 Section 74 sys_stackheap_outer.o(.text)
- .text 0x0800053a Section 0 exit.o(.text)
- .text 0x0800054c Section 0 sys_exit.o(.text)
- .text 0x08000558 Section 2 use_no_semi.o(.text)
- .text 0x0800055a Section 0 indicate_semi.o(.text)
- [Anonymous Symbol] 0x0800055c Section 0 ahrs.o(.text.AHRS_GetEulr)
- [Anonymous Symbol] 0x080006b8 Section 0 ahrs.o(.text.AHRS_Init)
- [Anonymous Symbol] 0x0800093c Section 0 ahrs.o(.text.AHRS_ResetEulr)
- [Anonymous Symbol] 0x08000950 Section 0 ahrs.o(.text.AHRS_Update)
- AHRS_UpdateIMU 0x0800156d Thumb Code 1480 ahrs.o(.text.AHRS_UpdateIMU)
- [Anonymous Symbol] 0x0800156c Section 0 ahrs.o(.text.AHRS_UpdateIMU)
- [Anonymous Symbol] 0x08001b34 Section 0 user_math.o(.text.AbsClip)
- BMI088_AcclIntCallback 0x08001ba1 Thumb Code 20 bmi088.o(.text.BMI088_AcclIntCallback)
- [Anonymous Symbol] 0x08001ba0 Section 0 bmi088.o(.text.BMI088_AcclIntCallback)
- [Anonymous Symbol] 0x08001bb4 Section 0 bmi088.o(.text.BMI088_AcclStartDmaRecv)
- [Anonymous Symbol] 0x08001bd4 Section 0 bmi088.o(.text.BMI088_AcclWaitDmaCplt)
- [Anonymous Symbol] 0x08001be4 Section 0 bmi088.o(.text.BMI088_GetUpdateFreq)
- BMI088_GyroIntCallback 0x08001bf5 Thumb Code 20 bmi088.o(.text.BMI088_GyroIntCallback)
- [Anonymous Symbol] 0x08001bf4 Section 0 bmi088.o(.text.BMI088_GyroIntCallback)
- [Anonymous Symbol] 0x08001c08 Section 0 bmi088.o(.text.BMI088_GyroStartDmaRecv)
- [Anonymous Symbol] 0x08001c24 Section 0 bmi088.o(.text.BMI088_GyroWaitDmaCplt)
- [Anonymous Symbol] 0x08001c34 Section 0 bmi088.o(.text.BMI088_Init)
- [Anonymous Symbol] 0x08001dbc Section 0 bmi088.o(.text.BMI088_ParseAccl)
- [Anonymous Symbol] 0x08001eb0 Section 0 bmi088.o(.text.BMI088_ParseGyro)
- BMI088_RxCpltCallback 0x08001fc9 Thumb Code 84 bmi088.o(.text.BMI088_RxCpltCallback)
- [Anonymous Symbol] 0x08001fc8 Section 0 bmi088.o(.text.BMI088_RxCpltCallback)
- [Anonymous Symbol] 0x0800201c Section 0 bmi088.o(.text.BMI088_WaitNew)
- BMI_Read 0x0800202d Thumb Code 118 bmi088.o(.text.BMI_Read)
- [Anonymous Symbol] 0x0800202c Section 0 bmi088.o(.text.BMI_Read)
- BMI_ReadSingle 0x080020a5 Thumb Code 178 bmi088.o(.text.BMI_ReadSingle)
- [Anonymous Symbol] 0x080020a4 Section 0 bmi088.o(.text.BMI_ReadSingle)
- BMI_WriteSingle 0x08002159 Thumb Code 148 bmi088.o(.text.BMI_WriteSingle)
- [Anonymous Symbol] 0x08002158 Section 0 bmi088.o(.text.BMI_WriteSingle)
- BSP_CAN_CreateIdQueue 0x080021ed Thumb Code 292 can_1.o(.text.BSP_CAN_CreateIdQueue)
- [Anonymous Symbol] 0x080021ec Section 0 can_1.o(.text.BSP_CAN_CreateIdQueue)
- BSP_CAN_DefaultIdParser 0x08002311 Thumb Code 14 can_1.o(.text.BSP_CAN_DefaultIdParser)
- [Anonymous Symbol] 0x08002310 Section 0 can_1.o(.text.BSP_CAN_DefaultIdParser)
- BSP_CAN_FindQueue 0x08002321 Thumb Code 82 can_1.o(.text.BSP_CAN_FindQueue)
- [Anonymous Symbol] 0x08002320 Section 0 can_1.o(.text.BSP_CAN_FindQueue)
- BSP_CAN_GetFrameType 0x08002375 Thumb Code 58 can_1.o(.text.BSP_CAN_GetFrameType)
- [Anonymous Symbol] 0x08002374 Section 0 can_1.o(.text.BSP_CAN_GetFrameType)
- [Anonymous Symbol] 0x080023b0 Section 0 can_1.o(.text.BSP_CAN_GetHandle)
- [Anonymous Symbol] 0x08002400 Section 0 can_1.o(.text.BSP_CAN_GetMessage)
- [Anonymous Symbol] 0x080024a0 Section 0 can_1.o(.text.BSP_CAN_Init)
- [Anonymous Symbol] 0x08002614 Section 0 can_1.o(.text.BSP_CAN_ParseId)
- [Anonymous Symbol] 0x08002658 Section 0 can_1.o(.text.BSP_CAN_RegisterCallback)
- [Anonymous Symbol] 0x080026dc Section 0 can_1.o(.text.BSP_CAN_RegisterId)
- BSP_CAN_RxFifo0Callback 0x08002721 Thumb Code 228 can_1.o(.text.BSP_CAN_RxFifo0Callback)
- [Anonymous Symbol] 0x08002720 Section 0 can_1.o(.text.BSP_CAN_RxFifo0Callback)
- BSP_CAN_RxFifo1Callback 0x08002805 Thumb Code 228 can_1.o(.text.BSP_CAN_RxFifo1Callback)
- [Anonymous Symbol] 0x08002804 Section 0 can_1.o(.text.BSP_CAN_RxFifo1Callback)
- [Anonymous Symbol] 0x080028e8 Section 0 can_1.o(.text.BSP_CAN_Transmit)
- [Anonymous Symbol] 0x08002a60 Section 0 can_1.o(.text.BSP_CAN_TransmitStdDataFrame)
- BSP_CAN_TxCompleteCallback 0x08002aa1 Thumb Code 120 can_1.o(.text.BSP_CAN_TxCompleteCallback)
- [Anonymous Symbol] 0x08002aa0 Section 0 can_1.o(.text.BSP_CAN_TxCompleteCallback)
- BSP_CAN_TxQueueInit 0x08002b19 Thumb Code 66 can_1.o(.text.BSP_CAN_TxQueueInit)
- [Anonymous Symbol] 0x08002b18 Section 0 can_1.o(.text.BSP_CAN_TxQueueInit)
- BSP_CAN_TxQueueIsEmpty 0x08002b5d Thumb Code 86 can_1.o(.text.BSP_CAN_TxQueueIsEmpty)
- [Anonymous Symbol] 0x08002b5c Section 0 can_1.o(.text.BSP_CAN_TxQueueIsEmpty)
- BSP_CAN_TxQueuePop 0x08002bb5 Thumb Code 172 can_1.o(.text.BSP_CAN_TxQueuePop)
- [Anonymous Symbol] 0x08002bb4 Section 0 can_1.o(.text.BSP_CAN_TxQueuePop)
- BSP_CAN_TxQueuePush 0x08002c61 Thumb Code 172 can_1.o(.text.BSP_CAN_TxQueuePush)
- [Anonymous Symbol] 0x08002c60 Section 0 can_1.o(.text.BSP_CAN_TxQueuePush)
- [Anonymous Symbol] 0x08002d0c Section 0 mm.o(.text.BSP_Free)
- [Anonymous Symbol] 0x08002d1c Section 0 gpio_1.o(.text.BSP_GPIO_DisableIRQ)
- [Anonymous Symbol] 0x08002d74 Section 0 gpio_1.o(.text.BSP_GPIO_EnableIRQ)
- [Anonymous Symbol] 0x08002dcc Section 0 gpio_1.o(.text.BSP_GPIO_ReadPin)
- [Anonymous Symbol] 0x08002e18 Section 0 gpio_1.o(.text.BSP_GPIO_RegisterCallback)
- [Anonymous Symbol] 0x08002ea8 Section 0 gpio_1.o(.text.BSP_GPIO_WritePin)
- [Anonymous Symbol] 0x08002ef8 Section 0 mm.o(.text.BSP_Malloc)
- [Anonymous Symbol] 0x08002f08 Section 0 pwm.o(.text.BSP_PWM_SetComp)
- [Anonymous Symbol] 0x08003048 Section 0 pwm.o(.text.BSP_PWM_Start)
- [Anonymous Symbol] 0x0800308c Section 0 spi_1.o(.text.BSP_SPI_GetHandle)
- [Anonymous Symbol] 0x080030b4 Section 0 spi_1.o(.text.BSP_SPI_Receive)
- [Anonymous Symbol] 0x08003134 Section 0 spi_1.o(.text.BSP_SPI_RegisterCallback)
- [Anonymous Symbol] 0x08003178 Section 0 spi_1.o(.text.BSP_SPI_Transmit)
- [Anonymous Symbol] 0x080031f8 Section 0 time.o(.text.BSP_TIME_Delay_ms)
- [Anonymous Symbol] 0x08003288 Section 0 time.o(.text.BSP_TIME_Get_us)
- [Anonymous Symbol] 0x08003334 Section 0 uart.o(.text.BSP_UART_IRQHandler)
- [Anonymous Symbol] 0x080033a0 Section 0 stm32f4xx_it.o(.text.BusFault_Handler)
- [Anonymous Symbol] 0x080033a4 Section 0 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler)
- [Anonymous Symbol] 0x080033b4 Section 0 stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler)
- [Anonymous Symbol] 0x080033c4 Section 0 stm32f4xx_it.o(.text.CAN1_TX_IRQHandler)
- [Anonymous Symbol] 0x080033d4 Section 0 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler)
- [Anonymous Symbol] 0x080033e4 Section 0 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler)
- [Anonymous Symbol] 0x080033f4 Section 0 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler)
- CAN_Get 0x08003405 Thumb Code 86 can_1.o(.text.CAN_Get)
- [Anonymous Symbol] 0x08003404 Section 0 can_1.o(.text.CAN_Get)
- [Anonymous Symbol] 0x0800345c Section 0 user_math.o(.text.CircleAdd)
- [Anonymous Symbol] 0x080034e0 Section 0 user_math.o(.text.CircleError)
- [Anonymous Symbol] 0x0800357c Section 0 user_math.o(.text.Clip)
- [Anonymous Symbol] 0x080035c8 Section 0 config.o(.text.Config_GetRobotParam)
- [Anonymous Symbol] 0x080035d4 Section 0 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
- [Anonymous Symbol] 0x080035e8 Section 0 remote_control.o(.text.DMA1_Stream1_IRQHandler1)
- [Anonymous Symbol] 0x08003640 Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler)
- [Anonymous Symbol] 0x08003650 Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler)
- DMA_CalcBaseAndBitshift 0x08003661 Thumb Code 86 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- [Anonymous Symbol] 0x08003660 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift)
- DMA_CheckFifoParam 0x080036b9 Thumb Code 240 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
- [Anonymous Symbol] 0x080036b8 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam)
- DMA_SetConfig 0x080037a9 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
- [Anonymous Symbol] 0x080037a8 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig)
- [Anonymous Symbol] 0x080037f8 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler)
- [Anonymous Symbol] 0x080037fc Section 0 stm32f4xx_it.o(.text.EXTI0_IRQHandler)
- [Anonymous Symbol] 0x08003808 Section 0 stm32f4xx_it.o(.text.EXTI3_IRQHandler)
- [Anonymous Symbol] 0x08003814 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler)
- [Anonymous Symbol] 0x08003820 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
- [Anonymous Symbol] 0x0800382c Section 0 main.o(.text.Error_Handler)
- [Anonymous Symbol] 0x08003834 Section 0 gimbal.o(.text.Gimbal_Control)
- __arm_cp.3_6 0x08003bf8 Number 4 gimbal.o(.text.Gimbal_Control)
- __arm_cp.3_9 0x08003c04 Number 4 gimbal.o(.text.Gimbal_Control)
- [Anonymous Symbol] 0x08003d4c Section 0 gimbal.o(.text.Gimbal_Init)
- [Anonymous Symbol] 0x08003f24 Section 0 gimbal.o(.text.Gimbal_Output)
- Gimbal_SetMode 0x08004039 Thumb Code 180 gimbal.o(.text.Gimbal_SetMode)
- [Anonymous Symbol] 0x08004038 Section 0 gimbal.o(.text.Gimbal_SetMode)
- [Anonymous Symbol] 0x080040ec Section 0 gimbal.o(.text.Gimbal_UpdateFeedback)
- [Anonymous Symbol] 0x08004254 Section 0 gimbal.o(.text.Gimbal_UpdateIMU)
- [Anonymous Symbol] 0x080042a0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- [Anonymous Symbol] 0x080042f4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- [Anonymous Symbol] 0x0800444c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- [Anonymous Symbol] 0x080045ec Section 0 can_1.o(.text.HAL_CAN_ErrorCallback)
- [Anonymous Symbol] 0x0800463c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- [Anonymous Symbol] 0x08004690 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- [Anonymous Symbol] 0x080048a4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- [Anonymous Symbol] 0x08004914 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- [Anonymous Symbol] 0x08004d08 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- [Anonymous Symbol] 0x08004ee8 Section 0 can.o(.text.HAL_CAN_MspInit)
- [Anonymous Symbol] 0x080050b8 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- [Anonymous Symbol] 0x08005108 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- [Anonymous Symbol] 0x08005158 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- [Anonymous Symbol] 0x080051a8 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- [Anonymous Symbol] 0x080051f8 Section 0 can_1.o(.text.HAL_CAN_SleepCallback)
- [Anonymous Symbol] 0x08005248 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- [Anonymous Symbol] 0x080052d4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- [Anonymous Symbol] 0x08005324 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- [Anonymous Symbol] 0x08005370 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- [Anonymous Symbol] 0x080053c0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- [Anonymous Symbol] 0x08005410 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- [Anonymous Symbol] 0x08005460 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- [Anonymous Symbol] 0x080054b0 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- [Anonymous Symbol] 0x08005500 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
- [Anonymous Symbol] 0x080055ec Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
- [Anonymous Symbol] 0x08005630 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)
- [Anonymous Symbol] 0x08005640 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
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+ x$fpl$usenofp 0x08014c66 Section 0 usenofp.o(x$fpl$usenofp)
+ atanhi 0x08014c68 Data 32 atan.o(.constdata)
+ .constdata 0x08014c68 Section 152 atan.o(.constdata)
+ atanlo 0x08014c88 Data 32 atan.o(.constdata)
+ aTodd 0x08014ca8 Data 40 atan.o(.constdata)
+ aTeven 0x08014cd0 Data 48 atan.o(.constdata)
+ .constdata 0x08014d00 Section 8 qnan.o(.constdata)
+ twooverpi 0x08014d08 Data 32 rredf.o(.constdata)
+ .constdata 0x08014d08 Section 32 rredf.o(.constdata)
+ DMA_CalcBaseAndBitshift.flagBitshiftOffset 0x08014d40 Data 8 stm32f4xx_hal_dma.o(.rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset)
+ [Anonymous Symbol] 0x08014d40 Section 0 stm32f4xx_hal_dma.o(.rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset)
+ GPIO_Map 0x08014d48 Data 56 gpio_1.o(.rodata.GPIO_Map)
+ [Anonymous Symbol] 0x08014d48 Section 0 gpio_1.o(.rodata.GPIO_Map)
+ PWM_Map 0x08014d80 Data 8 pwm.o(.rodata.PWM_Map)
+ [Anonymous Symbol] 0x08014d80 Section 0 pwm.o(.rodata.PWM_Map)
+ imu_temp_ctrl_pid_param 0x08014e3c Data 32 atti_esti.o(.rodata.imu_temp_ctrl_pid_param)
+ [Anonymous Symbol] 0x08014e3c Section 0 atti_esti.o(.rodata.imu_temp_ctrl_pid_param)
+ [Anonymous Symbol] 0x08014e5c Section 0 freertos.o(.rodata.str1.1)
+ .L.str 0x08014e68 Data 5 tasks.o(.rodata.str1.1)
+ [Anonymous Symbol] 0x08014e68 Section 0 tasks.o(.rodata.str1.1)
+ .L.str.1 0x08014e6d Data 15 tasks.o(.rodata.str1.1)
+ .L.str.1 0x08014e6d Data 5 timers.o(.rodata.str1.1)
+ [Anonymous Symbol] 0x08014e6d Section 0 timers.o(.rodata.str1.1)
+ .L.str 0x08014e72 Data 8 timers.o(.rodata.str1.1)
+ [Anonymous Symbol] 0x08014e7a Section 0 user_task.o(.rodata.str1.1)
+ .L.str.2 0x08014e7c Data 12 tasks.o(.rodata.str1.1)
+ .L.str.3 0x08014e88 Data 12 tasks.o(.rodata.str1.1)
beta 0x20000004 Data 4 ahrs.o(.data.beta)
[Anonymous Symbol] 0x20000004 Section 0 ahrs.o(.data.beta)
uxCriticalNesting 0x200001a0 Data 4 port.o(.data.uxCriticalNesting)
@@ -7204,535 +7204,535 @@ Image Symbol Table
__scatterload_rt2 0x08000191 Thumb Code 44 __scatter.o(!!!scatter)
__scatterload_rt2_thumb_only 0x08000191 Thumb Code 0 __scatter.o(!!!scatter)
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- __rt_lib_init_fp_1 0x0800021f Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000001)
- __rt_lib_init_alloca_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002E)
- __rt_lib_init_argv_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002C)
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- __rt_lib_init_fp_trap_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001F)
- __rt_lib_init_getenv_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000023)
- __rt_lib_init_heap_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000A)
- __rt_lib_init_lc_collate_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000011)
- __rt_lib_init_lc_ctype_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000013)
- __rt_lib_init_lc_monetary_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000015)
- __rt_lib_init_lc_numeric_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000017)
- __rt_lib_init_lc_time_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000019)
- __rt_lib_init_preinit_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000004)
- __rt_lib_init_rand_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000E)
- __rt_lib_init_return 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000033)
- __rt_lib_init_signal_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001D)
- __rt_lib_init_stdio_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000025)
- __rt_lib_init_user_alloc_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000C)
- __rt_lib_shutdown 0x08000225 Thumb Code 0 libshutdown.o(.ARM.Collect$$libshutdown$$00000000)
- __rt_lib_shutdown_cpp_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
- __rt_lib_shutdown_fp_trap_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)
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- __rt_lib_shutdown_return 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)
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- __rt_lib_shutdown_stdio_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
- __rt_lib_shutdown_user_alloc_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
- __rt_entry 0x08000229 Thumb Code 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000)
- __rt_entry_presh_1 0x08000229 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
- __rt_entry_sh 0x08000229 Thumb Code 0 __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
- __rt_entry_li 0x0800022f Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A)
- __rt_entry_postsh_1 0x0800022f Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009)
- __rt_entry_main 0x08000233 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D)
- __rt_entry_postli_1 0x08000233 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C)
- __rt_exit 0x0800023b Thumb Code 0 rtexit.o(.ARM.Collect$$rtexit$$00000000)
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- __rt_exit_prels_1 0x0800023d Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002)
- __rt_exit_exit 0x08000241 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000004)
- Reset_Handler 0x08000249 Thumb Code 8 startup_stm32f407xx.o(.text)
- ADC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- CAN1_SCE_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- CAN2_SCE_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DCMI_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream0_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream3_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream6_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA1_Stream7_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA2_Stream0_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA2_Stream1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA2_Stream4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA2_Stream5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA2_Stream6_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- DMA2_Stream7_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- ETH_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- ETH_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- EXTI15_10_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- EXTI1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- EXTI2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- FLASH_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- FMC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- FPU_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- HASH_RNG_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- I2C2_ER_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- I2C2_EV_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- I2C3_ER_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- I2C3_EV_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- OTG_FS_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- OTG_FS_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- OTG_HS_EP1_IN_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- OTG_HS_EP1_OUT_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- OTG_HS_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- OTG_HS_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- PVD_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- RCC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- RTC_Alarm_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- RTC_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- SDIO_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- SPI1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- SPI2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- SPI3_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TAMP_STAMP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM1_BRK_TIM9_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM1_CC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM1_TRG_COM_TIM11_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM1_UP_TIM10_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM3_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- TIM5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
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- USART1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
- USART2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text)
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- BSP_Free 0x08002d0d Thumb Code 16 mm.o(.text.BSP_Free)
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- BSP_GPIO_EnableIRQ 0x08002d75 Thumb Code 88 gpio_1.o(.text.BSP_GPIO_EnableIRQ)
- BSP_GPIO_ReadPin 0x08002dcd Thumb Code 74 gpio_1.o(.text.BSP_GPIO_ReadPin)
- BSP_GPIO_RegisterCallback 0x08002e19 Thumb Code 144 gpio_1.o(.text.BSP_GPIO_RegisterCallback)
- BSP_GPIO_WritePin 0x08002ea9 Thumb Code 80 gpio_1.o(.text.BSP_GPIO_WritePin)
- BSP_Malloc 0x08002ef9 Thumb Code 16 mm.o(.text.BSP_Malloc)
- BSP_PWM_SetComp 0x08002f09 Thumb Code 318 pwm.o(.text.BSP_PWM_SetComp)
- BSP_PWM_Start 0x08003049 Thumb Code 68 pwm.o(.text.BSP_PWM_Start)
- BSP_SPI_GetHandle 0x0800308d Thumb Code 38 spi_1.o(.text.BSP_SPI_GetHandle)
- BSP_SPI_Receive 0x080030b5 Thumb Code 128 spi_1.o(.text.BSP_SPI_Receive)
- BSP_SPI_RegisterCallback 0x08003135 Thumb Code 68 spi_1.o(.text.BSP_SPI_RegisterCallback)
- BSP_SPI_Transmit 0x08003179 Thumb Code 128 spi_1.o(.text.BSP_SPI_Transmit)
- BSP_TIME_Delay 0x080031f9 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms)
- BSP_TIME_Delay_ms 0x080031f9 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms)
- BSP_TIME_Get 0x08003289 Thumb Code 170 time.o(.text.BSP_TIME_Get_us)
- BSP_TIME_Get_us 0x08003289 Thumb Code 170 time.o(.text.BSP_TIME_Get_us)
- BSP_UART_IRQHandler 0x08003335 Thumb Code 108 uart.o(.text.BSP_UART_IRQHandler)
- BusFault_Handler 0x080033a1 Thumb Code 4 stm32f4xx_it.o(.text.BusFault_Handler)
- CAN1_RX0_IRQHandler 0x080033a5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler)
- CAN1_RX1_IRQHandler 0x080033b5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler)
- CAN1_TX_IRQHandler 0x080033c5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_TX_IRQHandler)
- CAN2_RX0_IRQHandler 0x080033d5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler)
- CAN2_RX1_IRQHandler 0x080033e5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler)
- CAN2_TX_IRQHandler 0x080033f5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler)
- CircleAdd 0x0800345d Thumb Code 132 user_math.o(.text.CircleAdd)
- CircleError 0x080034e1 Thumb Code 154 user_math.o(.text.CircleError)
- Clip 0x0800357d Thumb Code 76 user_math.o(.text.Clip)
- Config_GetRobotParam 0x080035c9 Thumb Code 10 config.o(.text.Config_GetRobotParam)
- DMA1_Stream1_IRQHandler 0x080035d5 Thumb Code 20 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
- DMA1_Stream1_IRQHandler1 0x080035e9 Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1)
- DMA2_Stream2_IRQHandler 0x08003641 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler)
- DMA2_Stream3_IRQHandler 0x08003651 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler)
- DebugMon_Handler 0x080037f9 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
- EXTI0_IRQHandler 0x080037fd Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler)
- EXTI3_IRQHandler 0x08003809 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler)
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- EXTI9_5_IRQHandler 0x08003821 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
- Error_Handler 0x0800382d Thumb Code 6 main.o(.text.Error_Handler)
- Gimbal_Control 0x08003835 Thumb Code 1304 gimbal.o(.text.Gimbal_Control)
- Gimbal_Init 0x08003d4d Thumb Code 472 gimbal.o(.text.Gimbal_Init)
- Gimbal_Output 0x08003f25 Thumb Code 274 gimbal.o(.text.Gimbal_Output)
- Gimbal_UpdateFeedback 0x080040ed Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback)
- Gimbal_UpdateIMU 0x08004255 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU)
- HAL_CAN_ActivateNotification 0x080042a1 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- HAL_CAN_AddTxMessage 0x080042f5 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- HAL_CAN_ConfigFilter 0x0800444d Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- HAL_CAN_ErrorCallback 0x080045ed Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback)
- HAL_CAN_GetRxFifoFillLevel 0x0800463d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- HAL_CAN_GetRxMessage 0x08004691 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- HAL_CAN_GetTxMailboxesFreeLevel 0x080048a5 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- HAL_CAN_IRQHandler 0x08004915 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- HAL_CAN_Init 0x08004d09 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- HAL_CAN_MspInit 0x08004ee9 Thumb Code 464 can.o(.text.HAL_CAN_MspInit)
- HAL_CAN_RxFifo0FullCallback 0x080050b9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- HAL_CAN_RxFifo0MsgPendingCallback 0x08005109 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- HAL_CAN_RxFifo1FullCallback 0x08005159 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- HAL_CAN_RxFifo1MsgPendingCallback 0x080051a9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- HAL_CAN_SleepCallback 0x080051f9 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback)
- HAL_CAN_Start 0x08005249 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- HAL_CAN_TxMailbox0AbortCallback 0x080052d5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- HAL_CAN_TxMailbox0CompleteCallback 0x08005325 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- HAL_CAN_TxMailbox1AbortCallback 0x08005371 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- HAL_CAN_TxMailbox1CompleteCallback 0x080053c1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- HAL_CAN_TxMailbox2AbortCallback 0x08005411 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- HAL_CAN_TxMailbox2CompleteCallback 0x08005461 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- HAL_CAN_WakeUpFromRxMsgCallback 0x080054b1 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- HAL_DMA_Abort 0x08005501 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
- HAL_DMA_Abort_IT 0x080055ed Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
- HAL_DMA_GetState 0x08005631 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)
- HAL_DMA_IRQHandler 0x08005641 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- HAL_DMA_Init 0x08005961 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- HAL_DMA_Start_IT 0x08005ad1 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- HAL_Delay 0x08005b95 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay)
- HAL_GPIO_EXTI_Callback 0x08005bd9 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
- HAL_GPIO_EXTI_IRQHandler 0x08005c41 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
- HAL_GPIO_Init 0x08005c79 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- HAL_GPIO_ReadPin 0x08006031 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
- HAL_GPIO_WritePin 0x08006061 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
- HAL_GetTick 0x08006091 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
- HAL_I2C_AbortCpltCallback 0x0800609d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback)
- HAL_I2C_AddrCallback 0x080060f1 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback)
- HAL_I2C_ER_IRQHandler 0x08006101 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler)
- HAL_I2C_EV_IRQHandler 0x0800627d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler)
- HAL_I2C_ErrorCallback 0x08006649 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback)
- HAL_I2C_Init 0x0800669d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
- HAL_I2C_ListenCpltCallback 0x08006941 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback)
- HAL_I2C_MasterRxCpltCallback 0x08006995 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback)
- HAL_I2C_MasterTxCpltCallback 0x080069e9 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback)
- HAL_I2C_MemRxCpltCallback 0x08006a39 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback)
- HAL_I2C_MemTxCpltCallback 0x08006a8d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback)
- HAL_I2C_MspInit 0x08006ae1 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit)
- HAL_I2C_SlaveRxCpltCallback 0x08006c15 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback)
- HAL_I2C_SlaveTxCpltCallback 0x08006c69 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback)
- HAL_IncTick 0x08006cbd Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
- HAL_Init 0x08006cd9 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
- HAL_InitTick 0x08006d11 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick)
- HAL_MspInit 0x08006d81 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- HAL_NVIC_DisableIRQ 0x08006dd9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
- HAL_NVIC_EnableIRQ 0x08006ded Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- HAL_NVIC_SetPriority 0x08006e01 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- HAL_NVIC_SetPriorityGrouping 0x08006e35 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- HAL_RCC_ClockConfig 0x08006e45 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- HAL_RCC_GetHCLKFreq 0x080070a9 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- HAL_RCC_GetPCLK1Freq 0x080070b5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- HAL_RCC_GetPCLK2Freq 0x080070d9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- HAL_RCC_GetSysClockFreq 0x080070fd Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- HAL_RCC_OscConfig 0x080071e5 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- HAL_SPI_ErrorCallback 0x080078a5 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback)
- HAL_SPI_Init 0x080078f9 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
- HAL_SPI_MspInit 0x080079f9 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit)
- HAL_SPI_Receive 0x08007c09 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
- HAL_SPI_Receive_DMA 0x08007e59 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
- HAL_SPI_RxCpltCallback 0x08007ff1 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback)
- HAL_SPI_RxHalfCpltCallback 0x08008045 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
- HAL_SPI_Transmit 0x08008099 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
- HAL_SPI_TransmitReceive 0x0800833d Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
- HAL_SPI_TransmitReceive_DMA 0x080086e1 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
- HAL_SPI_Transmit_DMA 0x080088f5 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
- HAL_SPI_TxCpltCallback 0x08008a61 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback)
- HAL_SPI_TxHalfCpltCallback 0x08008aa9 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
- HAL_SPI_TxRxCpltCallback 0x08008afd Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
- HAL_SPI_TxRxHalfCpltCallback 0x08008b51 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
- HAL_SYSTICK_Config 0x08008ba5 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
- HAL_TIMEx_BreakCallback 0x08008bb5 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
- HAL_TIMEx_CommutCallback 0x08008bbd Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
- HAL_TIMEx_MasterConfigSynchronization 0x08008bc5 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
- HAL_TIM_Base_Init 0x08008ce9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
- HAL_TIM_Base_MspInit 0x08008d85 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit)
- HAL_TIM_IC_CaptureCallback 0x08008e11 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
- HAL_TIM_IRQHandler 0x08008e19 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
- HAL_TIM_MspPostInit 0x08009035 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit)
- HAL_TIM_OC_DelayElapsedCallback 0x080090a1 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
- HAL_TIM_PWM_ConfigChannel 0x080090a9 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
- HAL_TIM_PWM_Init 0x080091ed Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
- HAL_TIM_PWM_MspInit 0x08009289 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
- HAL_TIM_PWM_PulseFinishedCallback 0x08009291 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
- HAL_TIM_PWM_Start 0x08009299 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
- HAL_TIM_PeriodElapsedCallback 0x08009465 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
- HAL_TIM_TriggerCallback 0x0800946d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
- HAL_UARTEx_RxEventCallback 0x08009475 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
- HAL_UART_ErrorCallback 0x08009481 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback)
- HAL_UART_IRQHandler 0x080094d5 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
- HAL_UART_Init 0x08009931 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
- HAL_UART_MspInit 0x080099d1 Thumb Code 460 usart.o(.text.HAL_UART_MspInit)
- HAL_UART_RxCpltCallback 0x08009b9d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback)
- HAL_UART_TxCpltCallback 0x08009bf1 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback)
- HardFault_Handler 0x08009c45 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler)
- I2C1_ER_IRQHandler 0x08009c49 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler)
- I2C1_EV_IRQHandler 0x08009c59 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler)
- InvSqrt 0x0800b145 Thumb Code 118 user_math.o(.text.InvSqrt)
- LowPassFilter2p_Apply 0x0800b1bd Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply)
- LowPassFilter2p_Init 0x0800b275 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init)
- LowPassFilter2p_Reset 0x0800b3b1 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset)
- MOTOR_DM_Enable 0x0800b4dd Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable)
- MOTOR_DM_GetMotor 0x0800b589 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor)
- MOTOR_DM_MITCtrl 0x0800b611 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl)
- MOTOR_DM_Register 0x0800b7b1 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register)
- MOTOR_DM_Update 0x0800ba21 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update)
- MOTOR_RM_Ctrl 0x0800bbc5 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl)
- MOTOR_RM_GetMotor 0x0800be39 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor)
- MOTOR_RM_Register 0x0800bf01 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register)
- MOTOR_RM_SetOutput 0x0800c021 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput)
- MOTOR_RM_Update 0x0800c13d Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update)
- MX_CAN1_Init 0x0800c241 Thumb Code 78 can.o(.text.MX_CAN1_Init)
- MX_CAN2_Init 0x0800c291 Thumb Code 78 can.o(.text.MX_CAN2_Init)
- MX_DMA_Init 0x0800c2e1 Thumb Code 134 dma.o(.text.MX_DMA_Init)
- MX_FREERTOS_Init 0x0800c369 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init)
- MX_GPIO_Init 0x0800c3a9 Thumb Code 554 gpio.o(.text.MX_GPIO_Init)
- MX_I2C1_Init 0x0800c5d5 Thumb Code 72 i2c.o(.text.MX_I2C1_Init)
- MX_I2C2_Init 0x0800c61d Thumb Code 72 i2c.o(.text.MX_I2C2_Init)
- MX_SPI1_Init 0x0800c665 Thumb Code 82 spi.o(.text.MX_SPI1_Init)
- MX_SPI2_Init 0x0800c6b9 Thumb Code 84 spi.o(.text.MX_SPI2_Init)
- MX_TIM10_Init 0x0800c70d Thumb Code 142 tim.o(.text.MX_TIM10_Init)
- MX_TIM7_Init 0x0800c79d Thumb Code 88 tim.o(.text.MX_TIM7_Init)
- MX_USART1_UART_Init 0x0800c7f5 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init)
- MX_USART3_UART_Init 0x0800c835 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init)
- MemManage_Handler 0x0800c881 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler)
- NMI_Handler 0x0800caa1 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler)
- PID_Calc 0x0800cb11 Thumb Code 752 pid.o(.text.PID_Calc)
- PID_Init 0x0800ce01 Thumb Code 406 pid.o(.text.PID_Init)
- PID_Reset 0x0800cf99 Thumb Code 72 pid.o(.text.PID_Reset)
- PendSV_Handler 0x0800cfe1 Thumb Code 100 port.o(.text.PendSV_Handler)
- RC_Init 0x0800d045 Thumb Code 148 bsp_rc.o(.text.RC_Init)
- RC_restart 0x0800d0d9 Thumb Code 90 bsp_rc.o(.text.RC_restart)
- SVC_Handler 0x0800d691 Thumb Code 36 port.o(.text.SVC_Handler)
- StartDefaultTask 0x0800d6c5 Thumb Code 18 freertos.o(.text.StartDefaultTask)
- SysTick_Handler 0x0800d72d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler)
- SystemClock_Config 0x0800d745 Thumb Code 188 main.o(.text.SystemClock_Config)
- SystemInit 0x0800d801 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
- TIM7_IRQHandler 0x0800d815 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler)
- TIM_Base_SetConfig 0x0800d825 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
- TIM_CCxChannelCmd 0x0800d9c9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
- TIM_OC2_SetConfig 0x0800daed Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
- Task_Init 0x0800dd79 Thumb Code 184 init.o(.text.Task_Init)
- Task_atti_esti 0x0800de31 Thumb Code 400 atti_esti.o(.text.Task_atti_esti)
- Task_gimbal_ctrl 0x0800dfc1 Thumb Code 236 gimbal_ctrl.o(.text.Task_gimbal_ctrl)
- Task_remote 0x0800e0b1 Thumb Code 160 remote.o(.text.Task_remote)
- USART3_IRQHandler 0x0800e591 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler)
- USART3_IRQHandler1 0x0800e5b1 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1)
- UsageFault_Handler 0x0800e5d5 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler)
- configureTimerForRunTimeStats 0x0800e7d5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats)
- delay_init 0x0800e7f9 Thumb Code 62 bsp_delay.o(.text.delay_init)
- eTaskGetState 0x0800e839 Thumb Code 246 tasks.o(.text.eTaskGetState)
- getRunTimeCounterValue 0x0800e989 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue)
- main 0x0800e98d Thumb Code 80 main.o(.text.main)
- map 0x0800e9dd Thumb Code 42 calc_lib.o(.text.map)
- osDelay 0x0800ea09 Thumb Code 52 cmsis_os2.o(.text.osDelay)
- osDelayUntil 0x0800ea3d Thumb Code 88 cmsis_os2.o(.text.osDelayUntil)
- osKernelGetState 0x0800ea95 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState)
- osKernelGetTickCount 0x0800eae9 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount)
- osKernelGetTickFreq 0x0800eb11 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
- osKernelInitialize 0x0800eb19 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize)
- osKernelLock 0x0800eb61 Thumb Code 86 cmsis_os2.o(.text.osKernelLock)
- osKernelStart 0x0800ebb9 Thumb Code 82 cmsis_os2.o(.text.osKernelStart)
- osKernelUnlock 0x0800ec0d Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock)
- osMessageQueueGet 0x0800ec7d Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet)
- osMessageQueueNew 0x0800ed3d Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew)
- osMessageQueuePut 0x0800ee3d Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut)
- osMessageQueueReset 0x0800ef01 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset)
- osMutexAcquire 0x0800ef41 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire)
- osMutexNew 0x0800efe1 Thumb Code 296 cmsis_os2.o(.text.osMutexNew)
- osMutexRelease 0x0800f109 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease)
- osThreadFlagsSet 0x0800f189 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet)
- osThreadFlagsWait 0x0800f22d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait)
- osThreadGetId 0x0800f349 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId)
- osThreadNew 0x0800f359 Thumb Code 346 cmsis_os2.o(.text.osThreadNew)
- osThreadTerminate 0x0800f4b5 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate)
- pvPortMalloc 0x08010415 Thumb Code 492 heap_4.o(.text.pvPortMalloc)
- pvTaskIncrementMutexHeldCount 0x08010601 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount)
- pxPortInitialiseStack 0x0801062d Thumb Code 94 port.o(.text.pxPortInitialiseStack)
- remote_ParseHost 0x08010691 Thumb Code 176 ai.o(.text.remote_ParseHost)
- remote_control_init 0x08010741 Thumb Code 18 remote_control.o(.text.remote_control_init)
- user_delay_ms 0x08010a3d Thumb Code 46 calc_lib.o(.text.user_delay_ms)
- user_delay_us 0x08010a6d Thumb Code 68 calc_lib.o(.text.user_delay_us)
- uxListRemove 0x08010ab1 Thumb Code 72 list.o(.text.uxListRemove)
- vApplicationGetIdleTaskMemory 0x08010af9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
- vApplicationGetTimerTaskMemory 0x08010b25 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
- vApplicationStackOverflowHook 0x08010b51 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook)
- vListInitialise 0x08010b5d Thumb Code 46 list.o(.text.vListInitialise)
- vListInitialiseItem 0x08010b8d Thumb Code 14 list.o(.text.vListInitialiseItem)
- vListInsert 0x08010b9d Thumb Code 106 list.o(.text.vListInsert)
- vListInsertEnd 0x08010c09 Thumb Code 58 list.o(.text.vListInsertEnd)
- vPortEnterCritical 0x08010c59 Thumb Code 86 port.o(.text.vPortEnterCritical)
- vPortExitCritical 0x08010cb1 Thumb Code 74 port.o(.text.vPortExitCritical)
- vPortFree 0x08010cfd Thumb Code 206 heap_4.o(.text.vPortFree)
- vPortSetupTimerInterrupt 0x08010dcd Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt)
- vPortValidateInterruptPriority 0x08010e11 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority)
- vQueueAddToRegistry 0x08010e95 Thumb Code 82 queue.o(.text.vQueueAddToRegistry)
- vQueueWaitForMessageRestricted 0x08010ee9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted)
- vTaskDelay 0x08010f4d Thumb Code 110 tasks.o(.text.vTaskDelay)
- vTaskDelayUntil 0x08010fbd Thumb Code 276 tasks.o(.text.vTaskDelayUntil)
- vTaskDelete 0x080110d1 Thumb Code 270 tasks.o(.text.vTaskDelete)
- vTaskInternalSetTimeOutState 0x080111e1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState)
- vTaskMissedYield 0x08011205 Thumb Code 14 tasks.o(.text.vTaskMissedYield)
- vTaskPlaceOnEventList 0x08011215 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList)
- vTaskPlaceOnEventListRestricted 0x08011259 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted)
- vTaskPriorityDisinheritAfterTimeout 0x080112ad Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
- vTaskStartScheduler 0x080113e1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler)
- vTaskSuspendAll 0x080114c5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
- vTaskSwitchContext 0x080114d5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext)
- xPortStartScheduler 0x08011655 Thumb Code 342 port.o(.text.xPortStartScheduler)
- xPortSysTickHandler 0x080117ad Thumb Code 60 port.o(.text.xPortSysTickHandler)
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- xQueueCreateMutexStatic 0x08011811 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic)
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- xQueueGenericCreateStatic 0x080118b9 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic)
- xQueueGenericReset 0x080119c9 Thumb Code 186 queue.o(.text.xQueueGenericReset)
- xQueueGenericSend 0x08011a85 Thumb Code 556 queue.o(.text.xQueueGenericSend)
- xQueueGenericSendFromISR 0x08011cb1 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR)
- xQueueGiveMutexRecursive 0x08011dfd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive)
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- xQueueReceiveFromISR 0x08012045 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR)
- xQueueSemaphoreTake 0x0801214d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake)
- xQueueTakeMutexRecursive 0x08012379 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive)
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- xTaskCreateStatic 0x08012555 Thumb Code 206 tasks.o(.text.xTaskCreateStatic)
- xTaskGenericNotify 0x08012625 Thumb Code 376 tasks.o(.text.xTaskGenericNotify)
- xTaskGenericNotifyFromISR 0x0801279d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR)
- xTaskGetCurrentTaskHandle 0x08012961 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle)
- xTaskGetSchedulerState 0x08012975 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState)
- xTaskGetTickCount 0x080129ad Thumb Code 20 tasks.o(.text.xTaskGetTickCount)
- xTaskGetTickCountFromISR 0x080129c1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR)
- xTaskIncrementTick 0x080129e1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick)
- xTaskNotifyWait 0x08012ba5 Thumb Code 214 tasks.o(.text.xTaskNotifyWait)
- xTaskPriorityDisinherit 0x08012c7d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit)
- xTaskPriorityInherit 0x08012d69 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit)
- xTaskRemoveFromEventList 0x08012e79 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList)
- xTaskResumeAll 0x08012f49 Thumb Code 390 tasks.o(.text.xTaskResumeAll)
- xTimerCreateTimerTask 0x080130d1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask)
- xTimerGenericCommand 0x08013165 Thumb Code 176 timers.o(.text.xTimerGenericCommand)
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- __hardfp_asinf 0x0801326d Thumb Code 258 asinf.o(i.__hardfp_asinf)
- __hardfp_atan 0x08013399 Thumb Code 622 atan.o(i.__hardfp_atan)
- __hardfp_atan2 0x08013671 Thumb Code 448 atan2.o(i.__hardfp_atan2)
- __hardfp_atan2f 0x08013871 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
- __hardfp_cosf 0x08013b1d Thumb Code 280 cosf.o(i.__hardfp_cosf)
- __hardfp_tanf 0x08013c6d Thumb Code 322 tanf.o(i.__hardfp_tanf)
- __kernel_poly 0x08013de9 Thumb Code 248 poly.o(i.__kernel_poly)
- __mathlib_dbl_infnan 0x08013ee1 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
- __mathlib_dbl_infnan2 0x08013ef5 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
- __mathlib_dbl_underflow 0x08013f09 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
- __mathlib_flt_infnan 0x08013f29 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
- __mathlib_flt_infnan2 0x08013f2f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
- __mathlib_flt_invalid 0x08013f35 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
- __mathlib_flt_underflow 0x08013f45 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
- __mathlib_rredf2 0x08013f55 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
- atan 0x080140a9 Thumb Code 16 atan.o(i.atan)
- fabs 0x080140b9 Thumb Code 24 fabs.o(i.fabs)
- sqrtf 0x080140d1 Thumb Code 62 sqrtf.o(i.sqrtf)
- __aeabi_dneg 0x0801410f Thumb Code 0 basic.o(x$fpl$basic)
- _dneg 0x0801410f Thumb Code 6 basic.o(x$fpl$basic)
- __aeabi_fneg 0x08014115 Thumb Code 0 basic.o(x$fpl$basic)
- _fneg 0x08014115 Thumb Code 6 basic.o(x$fpl$basic)
- _dabs 0x0801411b Thumb Code 6 basic.o(x$fpl$basic)
- _fabs 0x08014121 Thumb Code 6 basic.o(x$fpl$basic)
- __aeabi_d2f 0x08014129 Thumb Code 0 d2f.o(x$fpl$d2f)
- _d2f 0x08014129 Thumb Code 98 d2f.o(x$fpl$d2f)
- __aeabi_dadd 0x0801418d Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
- _dadd 0x0801418d Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
- __fpl_dcmp_Inf 0x080142dd Thumb Code 24 dcmpi.o(x$fpl$dcmpinf)
- __aeabi_ddiv 0x080142f5 Thumb Code 0 ddiv.o(x$fpl$ddiv)
- _ddiv 0x080142f5 Thumb Code 556 ddiv.o(x$fpl$ddiv)
- __aeabi_cdcmpeq 0x080145a9 Thumb Code 0 deqf.o(x$fpl$deqf)
- _dcmpeq 0x080145a9 Thumb Code 120 deqf.o(x$fpl$deqf)
- __aeabi_d2iz 0x08014621 Thumb Code 0 dfix.o(x$fpl$dfix)
- _dfix 0x08014621 Thumb Code 94 dfix.o(x$fpl$dfix)
- __aeabi_d2uiz 0x08014681 Thumb Code 0 dfixu.o(x$fpl$dfixu)
- _dfixu 0x08014681 Thumb Code 90 dfixu.o(x$fpl$dfixu)
- __aeabi_i2d 0x080146db Thumb Code 0 dflt_clz.o(x$fpl$dflt)
- _dflt 0x080146db Thumb Code 46 dflt_clz.o(x$fpl$dflt)
- __aeabi_ui2d 0x08014709 Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
- _dfltu 0x08014709 Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
- __aeabi_dmul 0x08014731 Thumb Code 0 dmul.o(x$fpl$dmul)
- _dmul 0x08014731 Thumb Code 332 dmul.o(x$fpl$dmul)
- __fpl_dnaninf 0x08014885 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
- __fpl_dretinf 0x08014921 Thumb Code 12 dretinf.o(x$fpl$dretinf)
- __aeabi_drsub 0x0801492d Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
- _drsb 0x0801492d Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
- __aeabi_dsub 0x08014945 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
- _dsub 0x08014945 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
- __aeabi_f2d 0x08014b21 Thumb Code 0 f2d.o(x$fpl$f2d)
- _f2d 0x08014b21 Thumb Code 86 f2d.o(x$fpl$f2d)
- __aeabi_ul2f 0x08014b77 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
- _ll_uto_f 0x08014b77 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
- __aeabi_l2f 0x08014b7d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
- _ll_sto_f 0x08014b7d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
- __fpl_fnaninf 0x08014bd7 Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
- _fp_init 0x08014c63 Thumb Code 26 fpinit.o(x$fpl$fpinit)
- __fplib_config_fpu_vfp 0x08014c7b Thumb Code 0 fpinit.o(x$fpl$fpinit)
- __fplib_config_pureend_doubles 0x08014c7b Thumb Code 0 fpinit.o(x$fpl$fpinit)
- __fpl_fretinf 0x08014c7d Thumb Code 10 fretinf.o(x$fpl$fretinf)
- __I$use$fp 0x08014c86 Number 0 usenofp.o(x$fpl$usenofp)
- __mathlib_zero 0x08014d20 Data 8 qnan.o(.constdata)
- AHBPrescTable 0x08014d48 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
- APBPrescTable 0x08014d58 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
- attr_atti_esti 0x08014da8 Data 36 user_task.o(.rodata.attr_atti_esti)
- attr_gimbal_ctrl 0x08014dcc Data 36 user_task.o(.rodata.attr_gimbal_ctrl)
- attr_init 0x08014df0 Data 36 user_task.o(.rodata.attr_init)
- attr_remote 0x08014e14 Data 36 user_task.o(.rodata.attr_remote)
- defaultTask_attributes 0x08014e38 Data 36 freertos.o(.rodata.defaultTask_attributes)
- Region$$Table$$Base 0x08014ec4 Number 0 anon$$obj.o(Region$$Table)
- Region$$Table$$Limit 0x08014ee4 Number 0 anon$$obj.o(Region$$Table)
+ __decompress 0x080001c5 Thumb Code 90 __dczerorl2.o(!!dczerorl2)
+ __decompress1 0x080001c5 Thumb Code 0 __dczerorl2.o(!!dczerorl2)
+ __scatterload_zeroinit 0x08000221 Thumb Code 28 __scatter_zi.o(!!handler_zi)
+ __rt_lib_init 0x0800023d Thumb Code 0 libinit.o(.ARM.Collect$$libinit$$00000000)
+ __rt_lib_init_fp_1 0x0800023f Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000001)
+ __rt_lib_init_alloca_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002E)
+ __rt_lib_init_argv_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002C)
+ __rt_lib_init_atexit_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001B)
+ __rt_lib_init_clock_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000021)
+ __rt_lib_init_cpp_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000032)
+ __rt_lib_init_exceptions_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000030)
+ __rt_lib_init_fp_trap_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001F)
+ __rt_lib_init_getenv_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000023)
+ __rt_lib_init_heap_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000A)
+ __rt_lib_init_lc_collate_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000011)
+ __rt_lib_init_lc_ctype_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000013)
+ __rt_lib_init_lc_monetary_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000015)
+ __rt_lib_init_lc_numeric_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000017)
+ __rt_lib_init_lc_time_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000019)
+ __rt_lib_init_preinit_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000004)
+ __rt_lib_init_rand_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000E)
+ __rt_lib_init_return 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000033)
+ __rt_lib_init_signal_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001D)
+ __rt_lib_init_stdio_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000025)
+ __rt_lib_init_user_alloc_1 0x08000243 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000C)
+ __rt_lib_shutdown 0x08000245 Thumb Code 0 libshutdown.o(.ARM.Collect$$libshutdown$$00000000)
+ __rt_lib_shutdown_cpp_1 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
+ __rt_lib_shutdown_fp_trap_1 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)
+ __rt_lib_shutdown_heap_1 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)
+ __rt_lib_shutdown_return 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)
+ __rt_lib_shutdown_signal_1 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)
+ __rt_lib_shutdown_stdio_1 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
+ __rt_lib_shutdown_user_alloc_1 0x08000247 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
+ __rt_entry 0x08000249 Thumb Code 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000)
+ __rt_entry_presh_1 0x08000249 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
+ __rt_entry_sh 0x08000249 Thumb Code 0 __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
+ __rt_entry_li 0x0800024f Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A)
+ __rt_entry_postsh_1 0x0800024f Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009)
+ __rt_entry_main 0x08000253 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D)
+ __rt_entry_postli_1 0x08000253 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C)
+ __rt_exit 0x0800025b Thumb Code 0 rtexit.o(.ARM.Collect$$rtexit$$00000000)
+ __rt_exit_ls 0x0800025d Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000003)
+ __rt_exit_prels_1 0x0800025d Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002)
+ __rt_exit_exit 0x08000261 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000004)
+ Reset_Handler 0x08000269 Thumb Code 8 startup_stm32f407xx.o(.text)
+ ADC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ CAN1_SCE_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ CAN2_SCE_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DCMI_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream0_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA1_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA2_Stream0_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA2_Stream1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA2_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA2_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA2_Stream6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ DMA2_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ ETH_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ ETH_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ EXTI15_10_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ EXTI1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ EXTI2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ FLASH_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ FMC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ FPU_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ HASH_RNG_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ I2C2_ER_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ I2C2_EV_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ I2C3_ER_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ I2C3_EV_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ OTG_FS_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ OTG_FS_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ OTG_HS_EP1_IN_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ OTG_HS_EP1_OUT_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ OTG_HS_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ OTG_HS_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ PVD_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ RCC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ RTC_Alarm_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ RTC_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ SDIO_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ SPI1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ SPI2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ SPI3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TAMP_STAMP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM1_BRK_TIM9_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM1_CC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM1_TRG_COM_TIM11_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM1_UP_TIM10_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM6_DAC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM8_BRK_TIM12_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM8_CC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM8_TRG_COM_TIM14_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ TIM8_UP_TIM13_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ UART4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ UART5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ USART1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ USART2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ USART6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ WWDG_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text)
+ __user_initial_stackheap 0x08000285 Thumb Code 0 startup_stm32f407xx.o(.text)
+ __aeabi_uldivmod 0x080002a9 Thumb Code 0 lludivv7m.o(.text)
+ _ll_udiv 0x080002a9 Thumb Code 240 lludivv7m.o(.text)
+ __aeabi_memcpy 0x08000399 Thumb Code 0 rt_memcpy_v6.o(.text)
+ __rt_memcpy 0x08000399 Thumb Code 138 rt_memcpy_v6.o(.text)
+ _memcpy_lastbytes 0x080003ff Thumb Code 0 rt_memcpy_v6.o(.text)
+ __aeabi_memset4 0x08000423 Thumb Code 16 aeabi_memset4.o(.text)
+ __aeabi_memset8 0x08000423 Thumb Code 0 aeabi_memset4.o(.text)
+ __aeabi_memclr4 0x08000433 Thumb Code 0 rt_memclr_w.o(.text)
+ __aeabi_memclr8 0x08000433 Thumb Code 0 rt_memclr_w.o(.text)
+ __rt_memclr_w 0x08000433 Thumb Code 0 rt_memclr_w.o(.text)
+ _memset_w 0x08000437 Thumb Code 74 rt_memclr_w.o(.text)
+ __use_two_region_memory 0x08000481 Thumb Code 2 heapauxi.o(.text)
+ __rt_heap_escrow$2region 0x08000483 Thumb Code 2 heapauxi.o(.text)
+ __rt_heap_expand$2region 0x08000485 Thumb Code 2 heapauxi.o(.text)
+ __read_errno 0x08000487 Thumb Code 10 _rserrno.o(.text)
+ __set_errno 0x08000491 Thumb Code 12 _rserrno.o(.text)
+ __aeabi_memcpy4 0x0800049d Thumb Code 0 rt_memcpy_w.o(.text)
+ __aeabi_memcpy8 0x0800049d Thumb Code 0 rt_memcpy_w.o(.text)
+ __rt_memcpy_w 0x0800049d Thumb Code 100 rt_memcpy_w.o(.text)
+ _memcpy_lastbytes_aligned 0x080004e5 Thumb Code 0 rt_memcpy_w.o(.text)
+ __aeabi_errno_addr 0x08000501 Thumb Code 8 rt_errno_addr_intlibspace.o(.text)
+ __errno$intlibspace 0x08000501 Thumb Code 0 rt_errno_addr_intlibspace.o(.text)
+ __rt_errno_addr$intlibspace 0x08000501 Thumb Code 0 rt_errno_addr_intlibspace.o(.text)
+ __user_libspace 0x08000509 Thumb Code 8 libspace.o(.text)
+ __user_perproc_libspace 0x08000509 Thumb Code 0 libspace.o(.text)
+ __user_perthread_libspace 0x08000509 Thumb Code 0 libspace.o(.text)
+ __user_setup_stackheap 0x08000511 Thumb Code 74 sys_stackheap_outer.o(.text)
+ exit 0x0800055b Thumb Code 18 exit.o(.text)
+ _sys_exit 0x0800056d Thumb Code 8 sys_exit.o(.text)
+ __I$use$semihosting 0x08000579 Thumb Code 0 use_no_semi.o(.text)
+ __use_no_semihosting_swi 0x08000579 Thumb Code 2 use_no_semi.o(.text)
+ __semihosting_library_function 0x0800057b Thumb Code 0 indicate_semi.o(.text)
+ AHRS_GetEulr 0x0800057d Thumb Code 348 ahrs.o(.text.AHRS_GetEulr)
+ AHRS_Init 0x080006d9 Thumb Code 644 ahrs.o(.text.AHRS_Init)
+ AHRS_ResetEulr 0x0800095d Thumb Code 18 ahrs.o(.text.AHRS_ResetEulr)
+ AHRS_Update 0x08000971 Thumb Code 3098 ahrs.o(.text.AHRS_Update)
+ AbsClip 0x08001b55 Thumb Code 106 user_math.o(.text.AbsClip)
+ BMI088_AcclStartDmaRecv 0x08001bd5 Thumb Code 30 bmi088.o(.text.BMI088_AcclStartDmaRecv)
+ BMI088_AcclWaitDmaCplt 0x08001bf5 Thumb Code 16 bmi088.o(.text.BMI088_AcclWaitDmaCplt)
+ BMI088_GetUpdateFreq 0x08001c05 Thumb Code 16 bmi088.o(.text.BMI088_GetUpdateFreq)
+ BMI088_GyroStartDmaRecv 0x08001c29 Thumb Code 26 bmi088.o(.text.BMI088_GyroStartDmaRecv)
+ BMI088_GyroWaitDmaCplt 0x08001c45 Thumb Code 16 bmi088.o(.text.BMI088_GyroWaitDmaCplt)
+ BMI088_Init 0x08001c55 Thumb Code 392 bmi088.o(.text.BMI088_Init)
+ BMI088_ParseAccl 0x08001ddd Thumb Code 244 bmi088.o(.text.BMI088_ParseAccl)
+ BMI088_ParseGyro 0x08001ed1 Thumb Code 280 bmi088.o(.text.BMI088_ParseGyro)
+ BMI088_WaitNew 0x0800203d Thumb Code 16 bmi088.o(.text.BMI088_WaitNew)
+ BSP_CAN_GetHandle 0x080023d1 Thumb Code 78 can_1.o(.text.BSP_CAN_GetHandle)
+ BSP_CAN_GetMessage 0x08002421 Thumb Code 158 can_1.o(.text.BSP_CAN_GetMessage)
+ BSP_CAN_Init 0x080024c1 Thumb Code 372 can_1.o(.text.BSP_CAN_Init)
+ BSP_CAN_ParseId 0x08002635 Thumb Code 66 can_1.o(.text.BSP_CAN_ParseId)
+ BSP_CAN_RegisterCallback 0x08002679 Thumb Code 130 can_1.o(.text.BSP_CAN_RegisterCallback)
+ BSP_CAN_RegisterId 0x080026fd Thumb Code 66 can_1.o(.text.BSP_CAN_RegisterId)
+ BSP_CAN_Transmit 0x08002909 Thumb Code 374 can_1.o(.text.BSP_CAN_Transmit)
+ BSP_CAN_TransmitStdDataFrame 0x08002a81 Thumb Code 62 can_1.o(.text.BSP_CAN_TransmitStdDataFrame)
+ BSP_Free 0x08002d2d Thumb Code 16 mm.o(.text.BSP_Free)
+ BSP_GPIO_DisableIRQ 0x08002d3d Thumb Code 88 gpio_1.o(.text.BSP_GPIO_DisableIRQ)
+ BSP_GPIO_EnableIRQ 0x08002d95 Thumb Code 88 gpio_1.o(.text.BSP_GPIO_EnableIRQ)
+ BSP_GPIO_ReadPin 0x08002ded Thumb Code 74 gpio_1.o(.text.BSP_GPIO_ReadPin)
+ BSP_GPIO_RegisterCallback 0x08002e39 Thumb Code 144 gpio_1.o(.text.BSP_GPIO_RegisterCallback)
+ BSP_GPIO_WritePin 0x08002ec9 Thumb Code 80 gpio_1.o(.text.BSP_GPIO_WritePin)
+ BSP_Malloc 0x08002f19 Thumb Code 16 mm.o(.text.BSP_Malloc)
+ BSP_PWM_SetComp 0x08002f29 Thumb Code 318 pwm.o(.text.BSP_PWM_SetComp)
+ BSP_PWM_Start 0x08003069 Thumb Code 68 pwm.o(.text.BSP_PWM_Start)
+ BSP_SPI_GetHandle 0x080030ad Thumb Code 38 spi_1.o(.text.BSP_SPI_GetHandle)
+ BSP_SPI_Receive 0x080030d5 Thumb Code 128 spi_1.o(.text.BSP_SPI_Receive)
+ BSP_SPI_RegisterCallback 0x08003155 Thumb Code 68 spi_1.o(.text.BSP_SPI_RegisterCallback)
+ BSP_SPI_Transmit 0x08003199 Thumb Code 128 spi_1.o(.text.BSP_SPI_Transmit)
+ BSP_TIME_Delay 0x08003219 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms)
+ BSP_TIME_Delay_ms 0x08003219 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms)
+ BSP_TIME_Get 0x080032a9 Thumb Code 170 time.o(.text.BSP_TIME_Get_us)
+ BSP_TIME_Get_us 0x080032a9 Thumb Code 170 time.o(.text.BSP_TIME_Get_us)
+ BSP_UART_IRQHandler 0x08003355 Thumb Code 108 uart.o(.text.BSP_UART_IRQHandler)
+ BusFault_Handler 0x080033c1 Thumb Code 4 stm32f4xx_it.o(.text.BusFault_Handler)
+ CAN1_RX0_IRQHandler 0x080033c5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler)
+ CAN1_RX1_IRQHandler 0x080033d5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler)
+ CAN1_TX_IRQHandler 0x080033e5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_TX_IRQHandler)
+ CAN2_RX0_IRQHandler 0x080033f5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler)
+ CAN2_RX1_IRQHandler 0x08003405 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler)
+ CAN2_TX_IRQHandler 0x08003415 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler)
+ CircleAdd 0x0800347d Thumb Code 132 user_math.o(.text.CircleAdd)
+ CircleError 0x08003501 Thumb Code 154 user_math.o(.text.CircleError)
+ Clip 0x0800359d Thumb Code 76 user_math.o(.text.Clip)
+ Config_GetRobotParam 0x080035e9 Thumb Code 10 config.o(.text.Config_GetRobotParam)
+ DMA1_Stream1_IRQHandler 0x080035f5 Thumb Code 20 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler)
+ DMA1_Stream1_IRQHandler1 0x08003609 Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1)
+ DMA2_Stream2_IRQHandler 0x08003661 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler)
+ DMA2_Stream3_IRQHandler 0x08003671 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler)
+ DebugMon_Handler 0x08003819 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler)
+ EXTI0_IRQHandler 0x0800381d Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler)
+ EXTI3_IRQHandler 0x08003829 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler)
+ EXTI4_IRQHandler 0x08003835 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler)
+ EXTI9_5_IRQHandler 0x08003841 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
+ Error_Handler 0x0800384d Thumb Code 6 main.o(.text.Error_Handler)
+ Gimbal_Control 0x08003855 Thumb Code 1312 gimbal.o(.text.Gimbal_Control)
+ Gimbal_Init 0x08003d75 Thumb Code 400 gimbal.o(.text.Gimbal_Init)
+ Gimbal_Output 0x08003f05 Thumb Code 274 gimbal.o(.text.Gimbal_Output)
+ Gimbal_UpdateFeedback 0x080040cd Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback)
+ Gimbal_UpdateIMU 0x08004235 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU)
+ HAL_CAN_ActivateNotification 0x08004281 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
+ HAL_CAN_AddTxMessage 0x080042d5 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
+ HAL_CAN_ConfigFilter 0x0800442d Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
+ HAL_CAN_ErrorCallback 0x080045cd Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback)
+ HAL_CAN_GetRxFifoFillLevel 0x0800461d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
+ HAL_CAN_GetRxMessage 0x08004671 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
+ HAL_CAN_GetTxMailboxesFreeLevel 0x08004885 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
+ HAL_CAN_IRQHandler 0x080048f5 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
+ HAL_CAN_Init 0x08004ce9 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
+ HAL_CAN_MspInit 0x08004ec9 Thumb Code 464 can.o(.text.HAL_CAN_MspInit)
+ HAL_CAN_RxFifo0FullCallback 0x08005099 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
+ HAL_CAN_RxFifo0MsgPendingCallback 0x080050e9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
+ HAL_CAN_RxFifo1FullCallback 0x08005139 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
+ HAL_CAN_RxFifo1MsgPendingCallback 0x08005189 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
+ HAL_CAN_SleepCallback 0x080051d9 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback)
+ HAL_CAN_Start 0x08005229 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
+ HAL_CAN_TxMailbox0AbortCallback 0x080052b5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
+ HAL_CAN_TxMailbox0CompleteCallback 0x08005305 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
+ HAL_CAN_TxMailbox1AbortCallback 0x08005351 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
+ HAL_CAN_TxMailbox1CompleteCallback 0x080053a1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
+ HAL_CAN_TxMailbox2AbortCallback 0x080053f1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
+ HAL_CAN_TxMailbox2CompleteCallback 0x08005441 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
+ HAL_CAN_WakeUpFromRxMsgCallback 0x08005491 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
+ HAL_DMA_Abort 0x080054e1 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
+ HAL_DMA_Abort_IT 0x080055cd Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
+ HAL_DMA_GetState 0x08005611 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)
+ HAL_DMA_IRQHandler 0x08005621 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+ HAL_DMA_Init 0x08005941 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
+ HAL_DMA_Start_IT 0x08005ab1 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
+ HAL_Delay 0x08005b75 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay)
+ HAL_GPIO_EXTI_Callback 0x08005bb9 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
+ HAL_GPIO_EXTI_IRQHandler 0x08005c21 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
+ HAL_GPIO_Init 0x08005c59 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+ HAL_GPIO_ReadPin 0x08006011 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
+ HAL_GPIO_WritePin 0x08006041 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
+ HAL_GetTick 0x08006071 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
+ HAL_I2C_AbortCpltCallback 0x0800607d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback)
+ HAL_I2C_AddrCallback 0x080060d1 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback)
+ HAL_I2C_ER_IRQHandler 0x080060e1 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler)
+ HAL_I2C_EV_IRQHandler 0x0800625d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler)
+ HAL_I2C_ErrorCallback 0x08006629 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback)
+ HAL_I2C_Init 0x0800667d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
+ HAL_I2C_ListenCpltCallback 0x08006921 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback)
+ HAL_I2C_MasterRxCpltCallback 0x08006975 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback)
+ HAL_I2C_MasterTxCpltCallback 0x080069c9 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback)
+ HAL_I2C_MemRxCpltCallback 0x08006a19 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback)
+ HAL_I2C_MemTxCpltCallback 0x08006a6d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback)
+ HAL_I2C_MspInit 0x08006ac1 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit)
+ HAL_I2C_SlaveRxCpltCallback 0x08006bf5 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback)
+ HAL_I2C_SlaveTxCpltCallback 0x08006c49 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback)
+ HAL_IncTick 0x08006c9d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
+ HAL_Init 0x08006cb9 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
+ HAL_InitTick 0x08006cf1 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick)
+ HAL_MspInit 0x08006d61 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
+ HAL_NVIC_DisableIRQ 0x08006db9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
+ HAL_NVIC_EnableIRQ 0x08006dcd Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+ HAL_NVIC_SetPriority 0x08006de1 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+ HAL_NVIC_SetPriorityGrouping 0x08006e15 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+ HAL_RCC_ClockConfig 0x08006e25 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+ HAL_RCC_GetHCLKFreq 0x08007089 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
+ HAL_RCC_GetPCLK1Freq 0x08007095 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+ HAL_RCC_GetPCLK2Freq 0x080070b9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+ HAL_RCC_GetSysClockFreq 0x080070dd Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+ HAL_RCC_OscConfig 0x080071c5 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+ HAL_SPI_ErrorCallback 0x08007885 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback)
+ HAL_SPI_Init 0x080078d9 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
+ HAL_SPI_MspInit 0x080079d9 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit)
+ HAL_SPI_Receive 0x08007be9 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
+ HAL_SPI_Receive_DMA 0x08007e39 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
+ HAL_SPI_RxCpltCallback 0x08007fd1 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback)
+ HAL_SPI_RxHalfCpltCallback 0x08008025 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
+ HAL_SPI_Transmit 0x08008079 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
+ HAL_SPI_TransmitReceive 0x0800831d Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
+ HAL_SPI_TransmitReceive_DMA 0x080086c1 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
+ HAL_SPI_Transmit_DMA 0x080088d5 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
+ HAL_SPI_TxCpltCallback 0x08008a41 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback)
+ HAL_SPI_TxHalfCpltCallback 0x08008a89 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
+ HAL_SPI_TxRxCpltCallback 0x08008add Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
+ HAL_SPI_TxRxHalfCpltCallback 0x08008b31 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
+ HAL_SYSTICK_Config 0x08008b85 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+ HAL_TIMEx_BreakCallback 0x08008b95 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
+ HAL_TIMEx_CommutCallback 0x08008b9d Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
+ HAL_TIMEx_MasterConfigSynchronization 0x08008ba5 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
+ HAL_TIM_Base_Init 0x08008cc9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
+ HAL_TIM_Base_MspInit 0x08008d65 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit)
+ HAL_TIM_IC_CaptureCallback 0x08008df1 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
+ HAL_TIM_IRQHandler 0x08008df9 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
+ HAL_TIM_MspPostInit 0x08009015 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit)
+ HAL_TIM_OC_DelayElapsedCallback 0x08009081 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
+ HAL_TIM_PWM_ConfigChannel 0x08009089 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
+ HAL_TIM_PWM_Init 0x080091cd Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
+ HAL_TIM_PWM_MspInit 0x08009269 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
+ HAL_TIM_PWM_PulseFinishedCallback 0x08009271 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
+ HAL_TIM_PWM_Start 0x08009279 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
+ HAL_TIM_PeriodElapsedCallback 0x08009445 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
+ HAL_TIM_TriggerCallback 0x0800944d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
+ HAL_UARTEx_RxEventCallback 0x08009455 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
+ HAL_UART_ErrorCallback 0x08009461 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback)
+ HAL_UART_IRQHandler 0x080094b5 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
+ HAL_UART_Init 0x08009911 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
+ HAL_UART_MspInit 0x080099b1 Thumb Code 460 usart.o(.text.HAL_UART_MspInit)
+ HAL_UART_RxCpltCallback 0x08009b7d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback)
+ HAL_UART_TxCpltCallback 0x08009bd1 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback)
+ HardFault_Handler 0x08009c25 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler)
+ I2C1_ER_IRQHandler 0x08009c29 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler)
+ I2C1_EV_IRQHandler 0x08009c39 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler)
+ InvSqrt 0x0800b125 Thumb Code 118 user_math.o(.text.InvSqrt)
+ LowPassFilter2p_Apply 0x0800b19d Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply)
+ LowPassFilter2p_Init 0x0800b255 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init)
+ LowPassFilter2p_Reset 0x0800b391 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset)
+ MOTOR_DM_Enable 0x0800b4bd Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable)
+ MOTOR_DM_GetMotor 0x0800b569 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor)
+ MOTOR_DM_MITCtrl 0x0800b5f1 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl)
+ MOTOR_DM_Register 0x0800b791 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register)
+ MOTOR_DM_Update 0x0800ba01 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update)
+ MOTOR_RM_Ctrl 0x0800bba5 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl)
+ MOTOR_RM_GetMotor 0x0800be19 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor)
+ MOTOR_RM_Register 0x0800bee1 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register)
+ MOTOR_RM_SetOutput 0x0800c001 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput)
+ MOTOR_RM_Update 0x0800c11d Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update)
+ MX_CAN1_Init 0x0800c221 Thumb Code 78 can.o(.text.MX_CAN1_Init)
+ MX_CAN2_Init 0x0800c271 Thumb Code 78 can.o(.text.MX_CAN2_Init)
+ MX_DMA_Init 0x0800c2c1 Thumb Code 134 dma.o(.text.MX_DMA_Init)
+ MX_FREERTOS_Init 0x0800c349 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init)
+ MX_GPIO_Init 0x0800c389 Thumb Code 554 gpio.o(.text.MX_GPIO_Init)
+ MX_I2C1_Init 0x0800c5b5 Thumb Code 72 i2c.o(.text.MX_I2C1_Init)
+ MX_I2C2_Init 0x0800c5fd Thumb Code 72 i2c.o(.text.MX_I2C2_Init)
+ MX_SPI1_Init 0x0800c645 Thumb Code 82 spi.o(.text.MX_SPI1_Init)
+ MX_SPI2_Init 0x0800c699 Thumb Code 84 spi.o(.text.MX_SPI2_Init)
+ MX_TIM10_Init 0x0800c6ed Thumb Code 142 tim.o(.text.MX_TIM10_Init)
+ MX_TIM7_Init 0x0800c77d Thumb Code 88 tim.o(.text.MX_TIM7_Init)
+ MX_USART1_UART_Init 0x0800c7d5 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init)
+ MX_USART3_UART_Init 0x0800c815 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init)
+ MemManage_Handler 0x0800c861 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler)
+ NMI_Handler 0x0800ca81 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler)
+ PID_Calc 0x0800caf1 Thumb Code 752 pid.o(.text.PID_Calc)
+ PID_Init 0x0800cde1 Thumb Code 406 pid.o(.text.PID_Init)
+ PID_Reset 0x0800cf79 Thumb Code 72 pid.o(.text.PID_Reset)
+ PendSV_Handler 0x0800cfc1 Thumb Code 100 port.o(.text.PendSV_Handler)
+ RC_Init 0x0800d025 Thumb Code 148 bsp_rc.o(.text.RC_Init)
+ RC_restart 0x0800d0b9 Thumb Code 90 bsp_rc.o(.text.RC_restart)
+ SVC_Handler 0x0800d671 Thumb Code 36 port.o(.text.SVC_Handler)
+ StartDefaultTask 0x0800d6a5 Thumb Code 18 freertos.o(.text.StartDefaultTask)
+ SysTick_Handler 0x0800d70d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler)
+ SystemClock_Config 0x0800d725 Thumb Code 188 main.o(.text.SystemClock_Config)
+ SystemInit 0x0800d7e1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
+ TIM7_IRQHandler 0x0800d7f5 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler)
+ TIM_Base_SetConfig 0x0800d805 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+ TIM_CCxChannelCmd 0x0800d9a9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
+ TIM_OC2_SetConfig 0x0800dacd Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
+ Task_Init 0x0800dd59 Thumb Code 184 init.o(.text.Task_Init)
+ Task_atti_esti 0x0800de11 Thumb Code 400 atti_esti.o(.text.Task_atti_esti)
+ Task_gimbal_ctrl 0x0800dfa1 Thumb Code 236 gimbal_ctrl.o(.text.Task_gimbal_ctrl)
+ Task_remote 0x0800e091 Thumb Code 160 remote.o(.text.Task_remote)
+ USART3_IRQHandler 0x0800e571 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler)
+ USART3_IRQHandler1 0x0800e591 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1)
+ UsageFault_Handler 0x0800e5b5 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler)
+ configureTimerForRunTimeStats 0x0800e7b5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats)
+ delay_init 0x0800e7d9 Thumb Code 62 bsp_delay.o(.text.delay_init)
+ eTaskGetState 0x0800e819 Thumb Code 246 tasks.o(.text.eTaskGetState)
+ getRunTimeCounterValue 0x0800e969 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue)
+ main 0x0800e96d Thumb Code 80 main.o(.text.main)
+ map 0x0800e9bd Thumb Code 42 calc_lib.o(.text.map)
+ osDelay 0x0800e9e9 Thumb Code 52 cmsis_os2.o(.text.osDelay)
+ osDelayUntil 0x0800ea1d Thumb Code 88 cmsis_os2.o(.text.osDelayUntil)
+ osKernelGetState 0x0800ea75 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState)
+ osKernelGetTickCount 0x0800eac9 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount)
+ osKernelGetTickFreq 0x0800eaf1 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
+ osKernelInitialize 0x0800eaf9 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize)
+ osKernelLock 0x0800eb41 Thumb Code 86 cmsis_os2.o(.text.osKernelLock)
+ osKernelStart 0x0800eb99 Thumb Code 82 cmsis_os2.o(.text.osKernelStart)
+ osKernelUnlock 0x0800ebed Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock)
+ osMessageQueueGet 0x0800ec5d Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet)
+ osMessageQueueNew 0x0800ed1d Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew)
+ osMessageQueuePut 0x0800ee1d Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut)
+ osMessageQueueReset 0x0800eee1 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset)
+ osMutexAcquire 0x0800ef21 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire)
+ osMutexNew 0x0800efc1 Thumb Code 296 cmsis_os2.o(.text.osMutexNew)
+ osMutexRelease 0x0800f0e9 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease)
+ osThreadFlagsSet 0x0800f169 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet)
+ osThreadFlagsWait 0x0800f20d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait)
+ osThreadGetId 0x0800f329 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId)
+ osThreadNew 0x0800f339 Thumb Code 346 cmsis_os2.o(.text.osThreadNew)
+ osThreadTerminate 0x0800f495 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate)
+ pvPortMalloc 0x080103f5 Thumb Code 492 heap_4.o(.text.pvPortMalloc)
+ pvTaskIncrementMutexHeldCount 0x080105e1 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount)
+ pxPortInitialiseStack 0x0801060d Thumb Code 94 port.o(.text.pxPortInitialiseStack)
+ remote_ParseHost 0x08010671 Thumb Code 176 ai.o(.text.remote_ParseHost)
+ remote_control_init 0x08010721 Thumb Code 18 remote_control.o(.text.remote_control_init)
+ user_delay_ms 0x08010a1d Thumb Code 46 calc_lib.o(.text.user_delay_ms)
+ user_delay_us 0x08010a4d Thumb Code 68 calc_lib.o(.text.user_delay_us)
+ uxListRemove 0x08010a91 Thumb Code 72 list.o(.text.uxListRemove)
+ vApplicationGetIdleTaskMemory 0x08010ad9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+ vApplicationGetTimerTaskMemory 0x08010b05 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+ vApplicationStackOverflowHook 0x08010b31 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook)
+ vListInitialise 0x08010b3d Thumb Code 46 list.o(.text.vListInitialise)
+ vListInitialiseItem 0x08010b6d Thumb Code 14 list.o(.text.vListInitialiseItem)
+ vListInsert 0x08010b7d Thumb Code 106 list.o(.text.vListInsert)
+ vListInsertEnd 0x08010be9 Thumb Code 58 list.o(.text.vListInsertEnd)
+ vPortEnterCritical 0x08010c39 Thumb Code 86 port.o(.text.vPortEnterCritical)
+ vPortExitCritical 0x08010c91 Thumb Code 74 port.o(.text.vPortExitCritical)
+ vPortFree 0x08010cdd Thumb Code 206 heap_4.o(.text.vPortFree)
+ vPortSetupTimerInterrupt 0x08010dad Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt)
+ vPortValidateInterruptPriority 0x08010df1 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority)
+ vQueueAddToRegistry 0x08010e75 Thumb Code 82 queue.o(.text.vQueueAddToRegistry)
+ vQueueWaitForMessageRestricted 0x08010ec9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted)
+ vTaskDelay 0x08010f2d Thumb Code 110 tasks.o(.text.vTaskDelay)
+ vTaskDelayUntil 0x08010f9d Thumb Code 276 tasks.o(.text.vTaskDelayUntil)
+ vTaskDelete 0x080110b1 Thumb Code 270 tasks.o(.text.vTaskDelete)
+ vTaskInternalSetTimeOutState 0x080111c1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState)
+ vTaskMissedYield 0x080111e5 Thumb Code 14 tasks.o(.text.vTaskMissedYield)
+ vTaskPlaceOnEventList 0x080111f5 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList)
+ vTaskPlaceOnEventListRestricted 0x08011239 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted)
+ vTaskPriorityDisinheritAfterTimeout 0x0801128d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+ vTaskStartScheduler 0x080113c1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler)
+ vTaskSuspendAll 0x080114a5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
+ vTaskSwitchContext 0x080114b5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext)
+ xPortStartScheduler 0x08011635 Thumb Code 342 port.o(.text.xPortStartScheduler)
+ xPortSysTickHandler 0x0801178d Thumb Code 60 port.o(.text.xPortSysTickHandler)
+ xQueueCreateMutex 0x080117c9 Thumb Code 38 queue.o(.text.xQueueCreateMutex)
+ xQueueCreateMutexStatic 0x080117f1 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic)
+ xQueueGenericCreate 0x08011825 Thumb Code 116 queue.o(.text.xQueueGenericCreate)
+ xQueueGenericCreateStatic 0x08011899 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic)
+ xQueueGenericReset 0x080119a9 Thumb Code 186 queue.o(.text.xQueueGenericReset)
+ xQueueGenericSend 0x08011a65 Thumb Code 556 queue.o(.text.xQueueGenericSend)
+ xQueueGenericSendFromISR 0x08011c91 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR)
+ xQueueGiveMutexRecursive 0x08011ddd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive)
+ xQueueReceive 0x08011e49 Thumb Code 476 queue.o(.text.xQueueReceive)
+ xQueueReceiveFromISR 0x08012025 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR)
+ xQueueSemaphoreTake 0x0801212d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake)
+ xQueueTakeMutexRecursive 0x08012359 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive)
+ xTaskCheckForTimeOut 0x080123c9 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut)
+ xTaskCreate 0x08012495 Thumb Code 158 tasks.o(.text.xTaskCreate)
+ xTaskCreateStatic 0x08012535 Thumb Code 206 tasks.o(.text.xTaskCreateStatic)
+ xTaskGenericNotify 0x08012605 Thumb Code 376 tasks.o(.text.xTaskGenericNotify)
+ xTaskGenericNotifyFromISR 0x0801277d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR)
+ xTaskGetCurrentTaskHandle 0x08012941 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle)
+ xTaskGetSchedulerState 0x08012955 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState)
+ xTaskGetTickCount 0x0801298d Thumb Code 20 tasks.o(.text.xTaskGetTickCount)
+ xTaskGetTickCountFromISR 0x080129a1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR)
+ xTaskIncrementTick 0x080129c1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick)
+ xTaskNotifyWait 0x08012b85 Thumb Code 214 tasks.o(.text.xTaskNotifyWait)
+ xTaskPriorityDisinherit 0x08012c5d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit)
+ xTaskPriorityInherit 0x08012d49 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit)
+ xTaskRemoveFromEventList 0x08012e59 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList)
+ xTaskResumeAll 0x08012f29 Thumb Code 390 tasks.o(.text.xTaskResumeAll)
+ xTimerCreateTimerTask 0x080130b1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask)
+ xTimerGenericCommand 0x08013145 Thumb Code 176 timers.o(.text.xTimerGenericCommand)
+ __ARM_fpclassify 0x080131f5 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify)
+ __ARM_fpclassifyf 0x08013225 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
+ __hardfp_asinf 0x0801324d Thumb Code 258 asinf.o(i.__hardfp_asinf)
+ __hardfp_atan 0x08013379 Thumb Code 622 atan.o(i.__hardfp_atan)
+ __hardfp_atan2 0x08013651 Thumb Code 448 atan2.o(i.__hardfp_atan2)
+ __hardfp_atan2f 0x08013851 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
+ __hardfp_cosf 0x08013afd Thumb Code 280 cosf.o(i.__hardfp_cosf)
+ __hardfp_tanf 0x08013c4d Thumb Code 322 tanf.o(i.__hardfp_tanf)
+ __kernel_poly 0x08013dc9 Thumb Code 248 poly.o(i.__kernel_poly)
+ __mathlib_dbl_infnan 0x08013ec1 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
+ __mathlib_dbl_infnan2 0x08013ed5 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
+ __mathlib_dbl_underflow 0x08013ee9 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
+ __mathlib_flt_infnan 0x08013f09 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
+ __mathlib_flt_infnan2 0x08013f0f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
+ __mathlib_flt_invalid 0x08013f15 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
+ __mathlib_flt_underflow 0x08013f25 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
+ __mathlib_rredf2 0x08013f35 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
+ atan 0x08014089 Thumb Code 16 atan.o(i.atan)
+ fabs 0x08014099 Thumb Code 24 fabs.o(i.fabs)
+ sqrtf 0x080140b1 Thumb Code 62 sqrtf.o(i.sqrtf)
+ __aeabi_dneg 0x080140ef Thumb Code 0 basic.o(x$fpl$basic)
+ _dneg 0x080140ef Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_fneg 0x080140f5 Thumb Code 0 basic.o(x$fpl$basic)
+ _fneg 0x080140f5 Thumb Code 6 basic.o(x$fpl$basic)
+ _dabs 0x080140fb Thumb Code 6 basic.o(x$fpl$basic)
+ _fabs 0x08014101 Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_d2f 0x08014109 Thumb Code 0 d2f.o(x$fpl$d2f)
+ _d2f 0x08014109 Thumb Code 98 d2f.o(x$fpl$d2f)
+ __aeabi_dadd 0x0801416d Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
+ _dadd 0x0801416d Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
+ __fpl_dcmp_Inf 0x080142bd Thumb Code 24 dcmpi.o(x$fpl$dcmpinf)
+ __aeabi_ddiv 0x080142d5 Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ _ddiv 0x080142d5 Thumb Code 556 ddiv.o(x$fpl$ddiv)
+ __aeabi_cdcmpeq 0x08014589 Thumb Code 0 deqf.o(x$fpl$deqf)
+ _dcmpeq 0x08014589 Thumb Code 120 deqf.o(x$fpl$deqf)
+ __aeabi_d2iz 0x08014601 Thumb Code 0 dfix.o(x$fpl$dfix)
+ _dfix 0x08014601 Thumb Code 94 dfix.o(x$fpl$dfix)
+ __aeabi_d2uiz 0x08014661 Thumb Code 0 dfixu.o(x$fpl$dfixu)
+ _dfixu 0x08014661 Thumb Code 90 dfixu.o(x$fpl$dfixu)
+ __aeabi_i2d 0x080146bb Thumb Code 0 dflt_clz.o(x$fpl$dflt)
+ _dflt 0x080146bb Thumb Code 46 dflt_clz.o(x$fpl$dflt)
+ __aeabi_ui2d 0x080146e9 Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
+ _dfltu 0x080146e9 Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
+ __aeabi_dmul 0x08014711 Thumb Code 0 dmul.o(x$fpl$dmul)
+ _dmul 0x08014711 Thumb Code 332 dmul.o(x$fpl$dmul)
+ __fpl_dnaninf 0x08014865 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
+ __fpl_dretinf 0x08014901 Thumb Code 12 dretinf.o(x$fpl$dretinf)
+ __aeabi_drsub 0x0801490d Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
+ _drsb 0x0801490d Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
+ __aeabi_dsub 0x08014925 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
+ _dsub 0x08014925 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
+ __aeabi_f2d 0x08014b01 Thumb Code 0 f2d.o(x$fpl$f2d)
+ _f2d 0x08014b01 Thumb Code 86 f2d.o(x$fpl$f2d)
+ __aeabi_ul2f 0x08014b57 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_uto_f 0x08014b57 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
+ __aeabi_l2f 0x08014b5d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_sto_f 0x08014b5d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
+ __fpl_fnaninf 0x08014bb7 Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
+ _fp_init 0x08014c43 Thumb Code 26 fpinit.o(x$fpl$fpinit)
+ __fplib_config_fpu_vfp 0x08014c5b Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fplib_config_pureend_doubles 0x08014c5b Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fpl_fretinf 0x08014c5d Thumb Code 10 fretinf.o(x$fpl$fretinf)
+ __I$use$fp 0x08014c66 Number 0 usenofp.o(x$fpl$usenofp)
+ __mathlib_zero 0x08014d00 Data 8 qnan.o(.constdata)
+ AHBPrescTable 0x08014d28 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
+ APBPrescTable 0x08014d38 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
+ attr_atti_esti 0x08014d88 Data 36 user_task.o(.rodata.attr_atti_esti)
+ attr_gimbal_ctrl 0x08014dac Data 36 user_task.o(.rodata.attr_gimbal_ctrl)
+ attr_init 0x08014dd0 Data 36 user_task.o(.rodata.attr_init)
+ attr_remote 0x08014df4 Data 36 user_task.o(.rodata.attr_remote)
+ defaultTask_attributes 0x08014e18 Data 36 freertos.o(.rodata.defaultTask_attributes)
+ Region$$Table$$Base 0x08014ea4 Number 0 anon$$obj.o(Region$$Table)
+ Region$$Table$$Limit 0x08014ec4 Number 0 anon$$obj.o(Region$$Table)
SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock)
robot_config 0x20000008 Data 400 config.o(.data.robot_config)
uwTickFreq 0x20000198 Data 1 stm32f4xx_hal.o(.data.uwTickFreq)
@@ -7779,773 +7779,773 @@ Memory Map of the image
Image Entry point : 0x08000189
- Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00015090, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014f80])
+ Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00015070, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014f40])
- Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014ee4, Max: 0x00100000, ABSOLUTE)
+ Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014ec4, Max: 0x00100000, ABSOLUTE)
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o
0x08000188 0x08000188 0x00000008 Code RO 3098 * !!!main c_w.l(__main.o)
0x08000190 0x08000190 0x00000034 Code RO 3587 !!!scatter c_w.l(__scatter.o)
- 0x080001c4 0x080001c4 0x0000003a Code RO 3585 !!dczerorl c_w.l(__dczerorl.o)
- 0x080001fe 0x080001fe 0x00000002 PAD
- 0x08000200 0x08000200 0x0000001c Code RO 3589 !!handler_zi c_w.l(__scatter_zi.o)
- 0x0800021c 0x0800021c 0x00000002 Code RO 3441 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o)
- 0x0800021e 0x0800021e 0x00000004 Code RO 3459 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3462 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3465 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3467 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3469 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3472 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3474 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3476 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3478 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3480 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3482 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3484 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3486 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3488 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3490 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3492 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3496 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3498 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3500 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000000 Code RO 3502 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o)
- 0x08000222 0x08000222 0x00000002 Code RO 3503 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o)
- 0x08000224 0x08000224 0x00000002 Code RO 3540 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o)
- 0x08000226 0x08000226 0x00000000 Code RO 3568 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o)
- 0x08000226 0x08000226 0x00000000 Code RO 3570 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o)
- 0x08000226 0x08000226 0x00000000 Code RO 3573 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o)
- 0x08000226 0x08000226 0x00000000 Code RO 3576 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o)
- 0x08000226 0x08000226 0x00000000 Code RO 3578 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o)
- 0x08000226 0x08000226 0x00000000 Code RO 3581 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o)
- 0x08000226 0x08000226 0x00000002 Code RO 3582 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o)
- 0x08000228 0x08000228 0x00000000 Code RO 3156 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o)
- 0x08000228 0x08000228 0x00000000 Code RO 3339 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o)
- 0x08000228 0x08000228 0x00000006 Code RO 3351 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o)
- 0x0800022e 0x0800022e 0x00000000 Code RO 3341 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o)
- 0x0800022e 0x0800022e 0x00000004 Code RO 3342 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o)
- 0x08000232 0x08000232 0x00000000 Code RO 3344 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o)
- 0x08000232 0x08000232 0x00000008 Code RO 3345 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o)
- 0x0800023a 0x0800023a 0x00000002 Code RO 3444 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o)
- 0x0800023c 0x0800023c 0x00000000 Code RO 3509 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o)
- 0x0800023c 0x0800023c 0x00000004 Code RO 3510 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o)
- 0x08000240 0x08000240 0x00000006 Code RO 3511 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o)
- 0x08000246 0x08000246 0x00000002 PAD
- 0x08000248 0x08000248 0x00000040 Code RO 4 .text startup_stm32f407xx.o
- 0x08000288 0x08000288 0x000000f0 Code RO 3072 .text c_w.l(lludivv7m.o)
- 0x08000378 0x08000378 0x0000008a Code RO 3084 .text c_w.l(rt_memcpy_v6.o)
- 0x08000402 0x08000402 0x00000010 Code RO 3088 .text c_w.l(aeabi_memset4.o)
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- 0x08003332 0x08003332 0x00000002 PAD
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- 0x08003404 0x08003404 0x00000056 Code RO 2188 .text.CAN_Get can_1.o
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- 0x0800363e 0x0800363e 0x00000002 PAD
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- 0x08004914 0x08004914 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o
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- 0x080050b8 0x080050b8 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o
- 0x08005108 0x08005108 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o
- 0x08005158 0x08005158 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o
- 0x080051a8 0x080051a8 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o
- 0x080051f8 0x080051f8 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o
- 0x08005248 0x08005248 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o
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- 0x08005370 0x08005370 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o
- 0x080053c0 0x080053c0 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o
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- 0x08009bf0 0x08009bf0 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o
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- 0x0800b610 0x0800b610 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o
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- 0x0800ba20 0x0800ba20 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o
- 0x0800bb2c 0x0800bb2c 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o
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- 0x0800bd64 0x0800bd64 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o
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- 0x0800bdb8 0x0800bdb8 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o
- 0x0800be38 0x0800be38 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o
- 0x0800beb0 0x0800beb0 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o
- 0x0800bf00 0x0800bf00 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o
- 0x0800c020 0x0800c020 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o
- 0x0800c13a 0x0800c13a 0x00000002 PAD
- 0x0800c13c 0x0800c13c 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o
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- 0x0800c240 0x0800c240 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o
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- 0x0800c290 0x0800c290 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o
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- 0x0800c368 0x0800c368 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o
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- 0x0800c5d2 0x0800c5d2 0x00000002 PAD
- 0x0800c5d4 0x0800c5d4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o
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- 0x0800c664 0x0800c664 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o
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- 0x0800c6b8 0x0800c6b8 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o
- 0x0800c70c 0x0800c70c 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o
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- 0x0800c79c 0x0800c79c 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o
- 0x0800c7f4 0x0800c7f4 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o
- 0x0800c834 0x0800c834 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o
- 0x0800c880 0x0800c880 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o
- 0x0800c884 0x0800c884 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o
- 0x0800caa0 0x0800caa0 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o
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- 0x0800cf98 0x0800cf98 0x00000048 Code RO 2636 .text.PID_Reset pid.o
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- 0x0800d044 0x0800d044 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o
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- 0x0800d254 0x0800d254 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o
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- 0x0800d384 0x0800d384 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o
- 0x0800d468 0x0800d468 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o
- 0x0800d534 0x0800d534 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o
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- 0x0800d72c 0x0800d72c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o
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- 0x0800d814 0x0800d814 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o
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- 0x0800d9c8 0x0800d9c8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o
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- 0x0800da00 0x0800da00 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o
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- 0x0800daec 0x0800daec 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o
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- 0x0800e0b0 0x0800e0b0 0x000000a0 Code RO 3011 .text.Task_remote remote.o
- 0x0800e150 0x0800e150 0x0000001c Code RO 1445 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o
- 0x0800e16c 0x0800e16c 0x00000094 Code RO 1405 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o
- 0x0800e200 0x0800e200 0x00000026 Code RO 1453 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o
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- 0x0800e228 0x0800e228 0x0000002e Code RO 2440 .text.UART_Get uart.o
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- 0x0800e258 0x0800e258 0x00000168 Code RO 1443 .text.UART_Receive_IT stm32f4xx_hal_uart.o
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- 0x0800e4fc 0x0800e4fc 0x00000094 Code RO 1451 .text.UART_Transmit_IT stm32f4xx_hal_uart.o
- 0x0800e590 0x0800e590 0x00000020 Code RO 186 .text.USART3_IRQHandler stm32f4xx_it.o
- 0x0800e5b0 0x0800e5b0 0x00000022 Code RO 2919 .text.USART3_IRQHandler1 remote_control.o
- 0x0800e5d2 0x0800e5d2 0x00000002 PAD
- 0x0800e5d4 0x0800e5d4 0x00000004 Code RO 160 .text.UsageFault_Handler stm32f4xx_it.o
- 0x0800e5d8 0x0800e5d8 0x0000001e Code RO 2537 .text.__ARM_isfinite filter.o
+ 0x08003834 0x08003834 0x0000000a Code RO 170 .text.EXTI4_IRQHandler stm32f4xx_it.o
+ 0x0800383e 0x0800383e 0x00000002 PAD
+ 0x08003840 0x08003840 0x0000000a Code RO 180 .text.EXTI9_5_IRQHandler stm32f4xx_it.o
+ 0x0800384a 0x0800384a 0x00000002 PAD
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+ 0x08004018 0x08004018 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o
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+ 0x0800427e 0x0800427e 0x00000002 PAD
+ 0x08004280 0x08004280 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o
+ 0x080042d2 0x080042d2 0x00000002 PAD
+ 0x080042d4 0x080042d4 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o
+ 0x0800442a 0x0800442a 0x00000002 PAD
+ 0x0800442c 0x0800442c 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o
+ 0x080045ca 0x080045ca 0x00000002 PAD
+ 0x080045cc 0x080045cc 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o
+ 0x0800461c 0x0800461c 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o
+ 0x0800466e 0x0800466e 0x00000002 PAD
+ 0x08004670 0x08004670 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o
+ 0x08004882 0x08004882 0x00000002 PAD
+ 0x08004884 0x08004884 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o
+ 0x080048f4 0x080048f4 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o
+ 0x08004ce6 0x08004ce6 0x00000002 PAD
+ 0x08004ce8 0x08004ce8 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o
+ 0x08004ec6 0x08004ec6 0x00000002 PAD
+ 0x08004ec8 0x08004ec8 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o
+ 0x08005098 0x08005098 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o
+ 0x080050e8 0x080050e8 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o
+ 0x08005138 0x08005138 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o
+ 0x08005188 0x08005188 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o
+ 0x080051d8 0x080051d8 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o
+ 0x08005228 0x08005228 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o
+ 0x080052b2 0x080052b2 0x00000002 PAD
+ 0x080052b4 0x080052b4 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o
+ 0x08005304 0x08005304 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o
+ 0x08005350 0x08005350 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o
+ 0x080053a0 0x080053a0 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o
+ 0x080053f0 0x080053f0 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o
+ 0x08005440 0x08005440 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o
+ 0x08005490 0x08005490 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o
+ 0x080054e0 0x080054e0 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o
+ 0x080055cc 0x080055cc 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o
+ 0x08005610 0x08005610 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o
+ 0x0800561e 0x0800561e 0x00000002 PAD
+ 0x08005620 0x08005620 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o
+ 0x0800593e 0x0800593e 0x00000002 PAD
+ 0x08005940 0x08005940 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o
+ 0x08005aae 0x08005aae 0x00000002 PAD
+ 0x08005ab0 0x08005ab0 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o
+ 0x08005b72 0x08005b72 0x00000002 PAD
+ 0x08005b74 0x08005b74 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o
+ 0x08005bb6 0x08005bb6 0x00000002 PAD
+ 0x08005bb8 0x08005bb8 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o
+ 0x08005c1e 0x08005c1e 0x00000002 PAD
+ 0x08005c20 0x08005c20 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o
+ 0x08005c58 0x08005c58 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o
+ 0x0800600e 0x0800600e 0x00000002 PAD
+ 0x08006010 0x08006010 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o
+ 0x0800603e 0x0800603e 0x00000002 PAD
+ 0x08006040 0x08006040 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o
+ 0x0800606e 0x0800606e 0x00000002 PAD
+ 0x08006070 0x08006070 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o
+ 0x0800607c 0x0800607c 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o
+ 0x080060d0 0x080060d0 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o
+ 0x080060e0 0x080060e0 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o
+ 0x0800625a 0x0800625a 0x00000002 PAD
+ 0x0800625c 0x0800625c 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o
+ 0x08006626 0x08006626 0x00000002 PAD
+ 0x08006628 0x08006628 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o
+ 0x0800667c 0x0800667c 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o
+ 0x08006920 0x08006920 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o
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+ 0x080131f4 0x080131f4 0x00000030 Code RO 3382 i.__ARM_fpclassify m_wm.l(fpclassify.o)
+ 0x08013224 0x08013224 0x00000026 Code RO 3312 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o)
+ 0x0801324a 0x0801324a 0x00000002 PAD
+ 0x0801324c 0x0801324c 0x0000012c Code RO 3126 i.__hardfp_asinf m_wm.l(asinf.o)
+ 0x08013378 0x08013378 0x000002d8 Code RO 3285 i.__hardfp_atan m_wm.l(atan.o)
+ 0x08013650 0x08013650 0x00000200 Code RO 3132 i.__hardfp_atan2 m_wm.l(atan2.o)
+ 0x08013850 0x08013850 0x000002ac Code RO 3138 i.__hardfp_atan2f m_wm.l(atan2f.o)
+ 0x08013afc 0x08013afc 0x00000150 Code RO 3144 i.__hardfp_cosf m_wm.l(cosf.o)
+ 0x08013c4c 0x08013c4c 0x0000017c Code RO 3150 i.__hardfp_tanf m_wm.l(tanf.o)
+ 0x08013dc8 0x08013dc8 0x000000f8 Code RO 3384 i.__kernel_poly m_wm.l(poly.o)
+ 0x08013ec0 0x08013ec0 0x00000014 Code RO 3293 i.__mathlib_dbl_infnan m_wm.l(dunder.o)
+ 0x08013ed4 0x08013ed4 0x00000014 Code RO 3294 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o)
+ 0x08013ee8 0x08013ee8 0x00000020 Code RO 3298 i.__mathlib_dbl_underflow m_wm.l(dunder.o)
+ 0x08013f08 0x08013f08 0x00000006 Code RO 3315 i.__mathlib_flt_infnan m_wm.l(funder.o)
+ 0x08013f0e 0x08013f0e 0x00000006 Code RO 3316 i.__mathlib_flt_infnan2 m_wm.l(funder.o)
+ 0x08013f14 0x08013f14 0x00000010 Code RO 3317 i.__mathlib_flt_invalid m_wm.l(funder.o)
+ 0x08013f24 0x08013f24 0x00000010 Code RO 3320 i.__mathlib_flt_underflow m_wm.l(funder.o)
+ 0x08013f34 0x08013f34 0x00000154 Code RO 3329 i.__mathlib_rredf2 m_wm.l(rredf.o)
+ 0x08014088 0x08014088 0x00000010 Code RO 3287 i.atan m_wm.l(atan.o)
+ 0x08014098 0x08014098 0x00000018 Code RO 3308 i.fabs m_wm.l(fabs.o)
+ 0x080140b0 0x080140b0 0x0000003e Code RO 3334 i.sqrtf m_wm.l(sqrtf.o)
+ 0x080140ee 0x080140ee 0x00000018 Code RO 3258 x$fpl$basic fz_wm.l(basic.o)
+ 0x08014106 0x08014106 0x00000002 PAD
+ 0x08014108 0x08014108 0x00000062 Code RO 3100 x$fpl$d2f fz_wm.l(d2f.o)
+ 0x0801416a 0x0801416a 0x00000002 PAD
+ 0x0801416c 0x0801416c 0x00000150 Code RO 3260 x$fpl$dadd fz_wm.l(daddsub_clz.o)
+ 0x080142bc 0x080142bc 0x00000018 Code RO 3380 x$fpl$dcmpinf fz_wm.l(dcmpi.o)
+ 0x080142d4 0x080142d4 0x000002b4 Code RO 3103 x$fpl$ddiv fz_wm.l(ddiv.o)
+ 0x08014588 0x08014588 0x00000078 Code RO 3266 x$fpl$deqf fz_wm.l(deqf.o)
+ 0x08014600 0x08014600 0x0000005e Code RO 3106 x$fpl$dfix fz_wm.l(dfix.o)
+ 0x0801465e 0x0801465e 0x00000002 PAD
+ 0x08014660 0x08014660 0x0000005a Code RO 3110 x$fpl$dfixu fz_wm.l(dfixu.o)
+ 0x080146ba 0x080146ba 0x0000002e Code RO 3115 x$fpl$dflt fz_wm.l(dflt_clz.o)
+ 0x080146e8 0x080146e8 0x00000026 Code RO 3114 x$fpl$dfltu fz_wm.l(dflt_clz.o)
+ 0x0801470e 0x0801470e 0x00000002 PAD
+ 0x08014710 0x08014710 0x00000154 Code RO 3120 x$fpl$dmul fz_wm.l(dmul.o)
+ 0x08014864 0x08014864 0x0000009c Code RO 3268 x$fpl$dnaninf fz_wm.l(dnaninf.o)
+ 0x08014900 0x08014900 0x0000000c Code RO 3270 x$fpl$dretinf fz_wm.l(dretinf.o)
+ 0x0801490c 0x0801490c 0x00000016 Code RO 3261 x$fpl$drsb fz_wm.l(daddsub_clz.o)
+ 0x08014922 0x08014922 0x00000002 PAD
+ 0x08014924 0x08014924 0x000001dc Code RO 3262 x$fpl$dsub fz_wm.l(daddsub_clz.o)
+ 0x08014b00 0x08014b00 0x00000056 Code RO 3122 x$fpl$f2d fz_wm.l(f2d.o)
+ 0x08014b56 0x08014b56 0x00000060 Code RO 3124 x$fpl$ffltll fz_wm.l(ffltll_clz.o)
+ 0x08014bb6 0x08014bb6 0x0000008c Code RO 3272 x$fpl$fnaninf fz_wm.l(fnaninf.o)
+ 0x08014c42 0x08014c42 0x0000001a Code RO 3523 x$fpl$fpinit fz_wm.l(fpinit.o)
+ 0x08014c5c 0x08014c5c 0x0000000a Code RO 3274 x$fpl$fretinf fz_wm.l(fretinf.o)
+ 0x08014c66 0x08014c66 0x00000000 Code RO 3284 x$fpl$usenofp fz_wm.l(usenofp.o)
+ 0x08014c66 0x08014c66 0x00000002 PAD
+ 0x08014c68 0x08014c68 0x00000098 Data RO 3288 .constdata m_wm.l(atan.o)
+ 0x08014d00 0x08014d00 0x00000008 Data RO 3328 .constdata m_wm.l(qnan.o)
+ 0x08014d08 0x08014d08 0x00000020 Data RO 3330 .constdata m_wm.l(rredf.o)
+ 0x08014d28 0x08014d28 0x00000010 Data RO 1493 .rodata.AHBPrescTable system_stm32f4xx.o
+ 0x08014d38 0x08014d38 0x00000008 Data RO 1494 .rodata.APBPrescTable system_stm32f4xx.o
+ 0x08014d40 0x08014d40 0x00000008 Data RO 498 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o
+ 0x08014d48 0x08014d48 0x00000038 Data RO 2290 .rodata.GPIO_Map gpio_1.o
+ 0x08014d80 0x08014d80 0x00000008 Data RO 2371 .rodata.PWM_Map pwm.o
+ 0x08014d88 0x08014d88 0x00000024 Data RO 3023 .rodata.attr_atti_esti user_task.o
+ 0x08014dac 0x08014dac 0x00000024 Data RO 3024 .rodata.attr_gimbal_ctrl user_task.o
+ 0x08014dd0 0x08014dd0 0x00000024 Data RO 3022 .rodata.attr_init user_task.o
+ 0x08014df4 0x08014df4 0x00000024 Data RO 3025 .rodata.attr_remote user_task.o
+ 0x08014e18 0x08014e18 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o
+ 0x08014e3c 0x08014e3c 0x00000020 Data RO 3001 .rodata.imu_temp_ctrl_pid_param atti_esti.o
+ 0x08014e5c 0x08014e5c 0x0000000c Data RO 43 .rodata.str1.1 freertos.o
+ 0x08014e68 0x08014e68 0x00000005 Data RO 1852 .rodata.str1.1 tasks.o
+ 0x08014e6d 0x08014e6d 0x0000000d Data RO 1924 .rodata.str1.1 timers.o
+ 0x08014e7a 0x08014e7a 0x00000027 Data RO 3021 .rodata.str1.1 user_task.o
+ 0x08014ea1 0x08014ea1 0x00000003 PAD
+ 0x08014ea4 0x08014ea4 0x00000020 Data RO 3584 Region$$Table anon$$obj.o
- Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014ee8, Size: 0x00008788, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000098])
+ Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014ec8, Size: 0x00008788, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000078])
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
@@ -8666,7 +8666,7 @@ Memory Map of the image
0x20008388 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o
- Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014f80, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
+ Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014f40, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
**** No section assigned to this execution region ****
@@ -8688,12 +8688,12 @@ Image component sizes
620 0 0 0 84 6422 can.o
3946 4 0 0 2181 14234 can_1.o
2968 0 0 0 1740 35206 cmsis_os2.o
- 10 0 0 400 0 2789 config.o
+ 10 0 0 400 0 2785 config.o
134 0 0 0 0 3297 dma.o
780 8 0 0 0 3412 filter.o
98 0 48 0 4 3084 freertos.o
- 2664 40 0 0 0 8578 gimbal.o
- 236 12 0 0 780 5095 gimbal_ctrl.o
+ 2600 40 0 0 0 8456 gimbal.o
+ 236 12 0 0 780 5075 gimbal_ctrl.o
554 0 0 0 0 4164 gpio.o
576 12 56 0 64 4722 gpio_1.o
1084 0 0 0 24608 4434 heap_4.o
@@ -8738,7 +8738,7 @@ Image component sizes
0 0 183 0 80 3063 user_task.o
----------------------------------------------------------------------
- 77048 302 804 420 34180 454309 Object Totals
+ 76984 302 804 420 34180 454163 Object Totals
0 0 32 0 0 0 (incl. Generated)
390 4 3 3 30 0 (incl. Padding)
@@ -8746,7 +8746,7 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug Library Member Name
- 58 0 0 0 0 0 __dczerorl.o
+ 90 0 0 0 0 0 __dczerorl2.o
8 0 0 0 0 68 __main.o
0 0 0 0 0 0 __rtentry.o
12 0 0 0 0 0 __rtentry2.o
@@ -8808,19 +8808,19 @@ Image component sizes
380 58 0 0 0 200 tanf.o
----------------------------------------------------------------------
- 7688 676 192 0 96 6964 Library Totals
+ 7720 676 192 0 96 6964 Library Totals
20 0 0 0 0 0 (incl. Padding)
----------------------------------------------------------------------
Code (inc. data) RO Data RW Data ZI Data Debug Library Name
- 910 20 0 0 96 1148 c_w.l
+ 942 20 0 0 96 1148 c_w.l
2926 196 0 0 0 2888 fz_wm.l
3832 460 192 0 0 2928 m_wm.l
----------------------------------------------------------------------
- 7688 676 192 0 96 6964 Library Totals
+ 7720 676 192 0 96 6964 Library Totals
----------------------------------------------------------------------
@@ -8829,15 +8829,15 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 84736 978 996 420 34276 456073 Grand Totals
- 84736 978 996 152 34276 456073 ELF Image Totals (compressed)
- 84736 978 996 152 0 0 ROM Totals
+ 84704 978 996 420 34276 455927 Grand Totals
+ 84704 978 996 120 34276 455927 ELF Image Totals (compressed)
+ 84704 978 996 120 0 0 ROM Totals
==============================================================================
- Total RO Size (Code + RO Data) 85732 ( 83.72kB)
+ Total RO Size (Code + RO Data) 85700 ( 83.69kB)
Total RW Size (RW Data + ZI Data) 34696 ( 33.88kB)
- Total ROM Size (Code + RO Data + RW Data) 85884 ( 83.87kB)
+ Total ROM Size (Code + RO Data + RW Data) 85820 ( 83.81kB)
==============================================================================
diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o
index a4279e6..a7bddf1 100644
Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ
diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o
index d3a6778..92295b4 100644
Binary files a/MDK-ARM/gimbal/gimbal_ctrl.o and b/MDK-ARM/gimbal/gimbal_ctrl.o differ
diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep
index 2a61709..d27286a 100644
--- a/MDK-ARM/gimbal/gimbal_gimbal.dep
+++ b/MDK-ARM/gimbal/gimbal_gimbal.dep
@@ -2126,7 +2126,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x691489EC)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@@ -2264,7 +2264,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\gimbal.h)(0x691489EC)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2376,7 +2376,7 @@ I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\device\bmi088.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
-I (..\User\module\gimbal.h)(0x691489EC)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
@@ -2407,7 +2407,7 @@ I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x691489EC)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@@ -2481,7 +2481,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\gimbal.h)(0x691489EC)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2534,8 +2534,8 @@ I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\module\config.h)(0x68DD3463)
I (..\User\device\motor_lz.h)(0x68F22F87)
I (..\User\device\motor_lk.h)(0x68F22F87)
-F (..\User\module\gimbal.c)(0x69148AFD)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module
-I./RTE/_gimbal
-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 gimbal/gimbal.o -MD)
-I (..\User\module\gimbal.h)(0x691489EC)
+F (..\User\module\gimbal.c)(0x691495F0)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module
-I./RTE/_gimbal
-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 gimbal/gimbal.o -MD)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2598,7 +2598,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\bsp\time.h)(0x68F22FA9)
-F (..\User\module\config.c)(0x691488E2)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module
-I./RTE/_gimbal
-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 gimbal/config.o -MD)
+F (..\User\module\config.c)(0x691493B1)(-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 -O0 -ffunction-sections -w -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 ../User/bsp -I ../User/component -I ../User/device -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/task -I ../User -I ../User/module
-I./RTE/_gimbal
-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 gimbal/config.o -MD)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2658,7 +2658,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_lk.h)(0x68F22F87)
-I (..\User\module\gimbal.h)(0x691489EC)
+I (..\User\module\gimbal.h)(0x691491D4)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
diff --git a/MDK-ARM/gimbal/remote.o b/MDK-ARM/gimbal/remote.o
index b142e47..88fd4bd 100644
Binary files a/MDK-ARM/gimbal/remote.o and b/MDK-ARM/gimbal/remote.o differ
diff --git a/User/module/config.c b/User/module/config.c
index 5fe5f93..ea73f96 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -20,11 +20,11 @@ Config_RobotParam_t robot_config = {
.gimbal_param = {
/*欧拉角限位和电机角度限位*/
- .Set_Limit_t= {
+ .Limit_t= {
.pit_max=0.69,
.pit_min=-0.47,
-// .yaw_max= 1.0,//yaw的
-// .yaw_min=-1.0,
+ .yaw_max= 1.0,//yaw的
+ .yaw_min=-1.0,
},
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index b8abdfe..b9e77ce 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -106,29 +106,16 @@ int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param,
PID_Init(&(g->pid.pit_velocity), KPID_MODE_CALC_D, target_freq,
&(g->param->pid.pit_velocity));
-
+ g->limit.yaw.max = g->param->Limit_t.yaw_max;
+ g->limit.yaw.min = g->param->Limit_t.yaw_min;
+
LowPassFilter2p_Init(&g->filter_out.yaw, target_freq,
g->param->low_pass_cutoff_freq.out);
LowPassFilter2p_Init(&g->filter_out.pit, target_freq,
g->param->low_pass_cutoff_freq.out);
-// g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw;
-// g->limit.yaw.min = g->param->mech_zero.yaw;
-// g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit;
-// g->limit.pit.min = g->param->mech_zero.pit;
- /*输出限位*/
- g->limit.set_pit.max=g->param->Set_Limit_t.pit_max;
- g->limit.set_pit.min=g->param->Set_Limit_t.pit_min;
- g->limit.set_yaw.max=g->param->Set_Limit_t.yaw_max;
- g->limit.set_yaw.min=g->param->Set_Limit_t.yaw_min;
-
- g->zero.yaw=g->param->zero.yaw;
- g->zero.pit=g->param->zero.pit;
- g->zero.yaw_encoder=g->param->zero.yaw_encoder;
- g->zero.pit_encoder=g->param->zero.pit_encoder;
- g->zero.travel.yaw=g->param->zero.travel.yaw;
- g->zero.travel.pit=g->param->zero.travel.pit;
+
BSP_CAN_Init();
/*大疆电机注册*/
@@ -249,9 +236,9 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
/* 计算到限位边界的距离 （这个限位给yaw）*/
- float delta_max = CircleError(g->limit.set_yaw.max,
+ float delta_max = CircleError(g->limit.yaw.max,
(g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
- float delta_min = CircleError(g->limit.set_yaw.min,
+ float delta_min = CircleError(g->limit.yaw.min,
(g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
switch (g->mode) {
@@ -271,10 +258,9 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
/* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
g->setpoint.eulr.pit+=delta_pit;
-
- if (g->param->motor.limit_pit == true)
- /* 限制pit控制命令 */
- Clip(&(g->setpoint.eulr.pit),g->limit.set_pit.min,g->limit.set_pit.max);
+ /* 限制pit控制命令 */
+ if (g->param->motor.limit_pit == true)
+ Clip(&(g->setpoint.eulr.pit),g->param->Limit_t.pit_min,g->param->Limit_t.pit_max);
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
@@ -295,12 +281,12 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
break;
case GIMBAL_MODE_RELATIVE:
/*计算零点*/
- g->zero.yaw = g->zero.yaw_encoder - g->zero.travel.yaw;
- g->zero.pit = g->zero.pit_encoder - g->zero.travel.pit;
+ g->zero.yaw = g->param->zero.yaw_encoder - g->param->zero.travel.yaw;
+ g->zero.pit = g->param->zero.pit_encoder - g->param->zero.travel.pit;
/*基于零点的设定角度*/
/*加的相对角度应该限制在3.14~-3.14*/
CircleAdd(&(g->relative_angle.yaw),delta_yaw,M_2PI);
- if((g->relative_angle.yaw)>=M_2PI)g->relative_angle.yaw-=(M_2PI);
+ if((g->relative_angle.yaw)>=M_2PI)g->relative_angle.yaw-=M_2PI;
g->relative_angle.pit=+delta_pit;
@@ -309,14 +295,14 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
/*yaw的限位*/
if (g->param->motor.limit_yaw==true)
- Clip(&(g->setpoint.eulr.yaw),g->limit.set_yaw.min,g->limit.set_yaw.max);
+ Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
/*限制在-3.14~3.14*/
if(g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI;
}
/* pit限制控制命令 */
if (g->param->motor.limit_pit==true)
- Clip(&(g->setpoint.eulr.pit),g->limit.set_pit.min,g->limit.set_pit.max);
+ Clip(&(g->setpoint.eulr.pit),g->param->Limit_t.pit_min,g->param->Limit_t.pit_max);
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
g->feedback.imu.eulr.yaw, 0.0f, g->dt);
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 1b47995..ca78768 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -113,10 +113,7 @@ typedef struct {
float pit_min;
float yaw_max; /*yaw的限位*/
float yaw_min;
- }Set_Limit_t;
-
-
-
+ }Limit_t;
struct {
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
@@ -182,8 +179,8 @@ typedef struct {
} pid;
struct {
- Gimbal_Limit_t set_yaw;
- Gimbal_Limit_t set_pit;
+ Gimbal_Limit_t yaw;
+ Gimbal_Limit_t pit;
} limit;
struct {