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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]
      • >>   Task_gimbal_ctrl
      -

      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) - 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Thumb Code 392 bmi088.o(.text.BMI088_Init) - BMI088_ParseAccl 0x08001dbd Thumb Code 244 bmi088.o(.text.BMI088_ParseAccl) - BMI088_ParseGyro 0x08001eb1 Thumb Code 280 bmi088.o(.text.BMI088_ParseGyro) - BMI088_WaitNew 0x0800201d Thumb Code 16 bmi088.o(.text.BMI088_WaitNew) - BSP_CAN_GetHandle 0x080023b1 Thumb Code 78 can_1.o(.text.BSP_CAN_GetHandle) - BSP_CAN_GetMessage 0x08002401 Thumb Code 158 can_1.o(.text.BSP_CAN_GetMessage) - BSP_CAN_Init 0x080024a1 Thumb Code 372 can_1.o(.text.BSP_CAN_Init) - BSP_CAN_ParseId 0x08002615 Thumb Code 66 can_1.o(.text.BSP_CAN_ParseId) - BSP_CAN_RegisterCallback 0x08002659 Thumb Code 130 can_1.o(.text.BSP_CAN_RegisterCallback) - BSP_CAN_RegisterId 0x080026dd Thumb Code 66 can_1.o(.text.BSP_CAN_RegisterId) - BSP_CAN_Transmit 0x080028e9 Thumb Code 374 can_1.o(.text.BSP_CAN_Transmit) - BSP_CAN_TransmitStdDataFrame 0x08002a61 Thumb Code 62 can_1.o(.text.BSP_CAN_TransmitStdDataFrame) - BSP_Free 0x08002d0d Thumb Code 16 mm.o(.text.BSP_Free) - BSP_GPIO_DisableIRQ 0x08002d1d Thumb Code 88 gpio_1.o(.text.BSP_GPIO_DisableIRQ) - 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) - EXTI4_IRQHandler 0x08003815 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - 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 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__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) - 0x08000412 0x08000412 0x0000004e Code RO 3092 .text c_w.l(rt_memclr_w.o) - 0x08000460 0x08000460 0x00000006 Code RO 3096 .text c_w.l(heapauxi.o) - 0x08000466 0x08000466 0x00000016 Code RO 3161 .text c_w.l(_rserrno.o) - 0x0800047c 0x0800047c 0x00000064 Code RO 3256 .text c_w.l(rt_memcpy_w.o) - 0x080004e0 0x080004e0 0x00000008 Code RO 3358 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x080004e8 0x080004e8 0x00000008 Code RO 3386 .text c_w.l(libspace.o) - 0x080004f0 0x080004f0 0x0000004a Code RO 3389 .text c_w.l(sys_stackheap_outer.o) - 0x0800053a 0x0800053a 0x00000012 Code RO 3430 .text c_w.l(exit.o) - 0x0800054c 0x0800054c 0x0000000c Code RO 3504 .text c_w.l(sys_exit.o) - 0x08000558 0x08000558 0x00000002 Code RO 3529 .text c_w.l(use_no_semi.o) - 0x0800055a 0x0800055a 0x00000000 Code RO 3531 .text c_w.l(indicate_semi.o) - 0x0800055a 0x0800055a 0x00000002 PAD - 0x0800055c 0x0800055c 0x0000015c Code RO 2480 .text.AHRS_GetEulr ahrs.o - 0x080006b8 0x080006b8 0x00000284 Code RO 2474 .text.AHRS_Init ahrs.o - 0x0800093c 0x0800093c 0x00000012 Code RO 2484 .text.AHRS_ResetEulr ahrs.o - 0x0800094e 0x0800094e 0x00000002 PAD - 0x08000950 0x08000950 0x00000c1a Code RO 2476 .text.AHRS_Update ahrs.o - 0x0800156a 0x0800156a 0x00000002 PAD - 0x0800156c 0x0800156c 0x000005c8 Code RO 2478 .text.AHRS_UpdateIMU ahrs.o - 0x08001b34 0x08001b34 0x0000006a Code RO 2677 .text.AbsClip user_math.o - 0x08001b9e 0x08001b9e 0x00000002 PAD - 0x08001ba0 0x08001ba0 0x00000014 Code RO 2761 .text.BMI088_AcclIntCallback bmi088.o - 0x08001bb4 0x08001bb4 0x0000001e Code RO 2769 .text.BMI088_AcclStartDmaRecv bmi088.o - 0x08001bd2 0x08001bd2 0x00000002 PAD - 0x08001bd4 0x08001bd4 0x00000010 Code RO 2773 .text.BMI088_AcclWaitDmaCplt bmi088.o - 0x08001be4 0x08001be4 0x00000010 Code RO 2783 .text.BMI088_GetUpdateFreq bmi088.o - 0x08001bf4 0x08001bf4 0x00000014 Code RO 2763 .text.BMI088_GyroIntCallback bmi088.o - 0x08001c08 0x08001c08 0x0000001a Code RO 2775 .text.BMI088_GyroStartDmaRecv bmi088.o - 0x08001c22 0x08001c22 0x00000002 PAD - 0x08001c24 0x08001c24 0x00000010 Code RO 2777 .text.BMI088_GyroWaitDmaCplt bmi088.o - 0x08001c34 0x08001c34 0x00000188 Code RO 2753 .text.BMI088_Init bmi088.o - 0x08001dbc 0x08001dbc 0x000000f4 Code RO 2779 .text.BMI088_ParseAccl bmi088.o - 0x08001eb0 0x08001eb0 0x00000118 Code RO 2781 .text.BMI088_ParseGyro bmi088.o - 0x08001fc8 0x08001fc8 0x00000054 Code RO 2759 .text.BMI088_RxCpltCallback bmi088.o - 0x0800201c 0x0800201c 0x00000010 Code RO 2767 .text.BMI088_WaitNew bmi088.o - 0x0800202c 0x0800202c 0x00000076 Code RO 2771 .text.BMI_Read bmi088.o - 0x080020a2 0x080020a2 0x00000002 PAD - 0x080020a4 0x080020a4 0x000000b2 Code RO 2757 .text.BMI_ReadSingle bmi088.o - 0x08002156 0x08002156 0x00000002 PAD - 0x08002158 0x08002158 0x00000094 Code RO 2755 .text.BMI_WriteSingle bmi088.o - 0x080021ec 0x080021ec 0x00000124 Code RO 2242 .text.BSP_CAN_CreateIdQueue can_1.o - 0x08002310 0x08002310 0x0000000e Code RO 2218 .text.BSP_CAN_DefaultIdParser can_1.o - 0x0800231e 0x0800231e 0x00000002 PAD - 0x08002320 0x08002320 0x00000052 Code RO 2246 .text.BSP_CAN_FindQueue can_1.o - 0x08002372 0x08002372 0x00000002 PAD - 0x08002374 0x08002374 0x0000003a Code RO 2256 .text.BSP_CAN_GetFrameType can_1.o - 0x080023ae 0x080023ae 0x00000002 PAD - 0x080023b0 0x080023b0 0x0000004e Code RO 2228 .text.BSP_CAN_GetHandle can_1.o - 0x080023fe 0x080023fe 0x00000002 PAD - 0x08002400 0x08002400 0x0000009e Code RO 2244 .text.BSP_CAN_GetMessage can_1.o - 0x0800249e 0x0800249e 0x00000002 PAD - 0x080024a0 0x080024a0 0x00000174 Code RO 2214 .text.BSP_CAN_Init can_1.o - 0x08002614 0x08002614 0x00000042 Code RO 2254 .text.BSP_CAN_ParseId can_1.o - 0x08002656 0x08002656 0x00000002 PAD - 0x08002658 0x08002658 0x00000082 Code RO 2220 .text.BSP_CAN_RegisterCallback can_1.o - 0x080026da 0x080026da 0x00000002 PAD - 0x080026dc 0x080026dc 0x00000042 Code RO 2240 .text.BSP_CAN_RegisterId can_1.o - 0x0800271e 0x0800271e 0x00000002 PAD - 0x08002720 0x08002720 0x000000e4 Code RO 2222 .text.BSP_CAN_RxFifo0Callback can_1.o - 0x08002804 0x08002804 0x000000e4 Code RO 2226 .text.BSP_CAN_RxFifo1Callback can_1.o - 0x080028e8 0x080028e8 0x00000176 Code RO 2230 .text.BSP_CAN_Transmit can_1.o - 0x08002a5e 0x08002a5e 0x00000002 PAD - 0x08002a60 0x08002a60 0x0000003e Code RO 2234 .text.BSP_CAN_TransmitStdDataFrame can_1.o - 0x08002a9e 0x08002a9e 0x00000002 PAD - 0x08002aa0 0x08002aa0 0x00000078 Code RO 2224 .text.BSP_CAN_TxCompleteCallback can_1.o - 0x08002b18 0x08002b18 0x00000042 Code RO 2216 .text.BSP_CAN_TxQueueInit can_1.o - 0x08002b5a 0x08002b5a 0x00000002 PAD - 0x08002b5c 0x08002b5c 0x00000056 Code RO 2258 .text.BSP_CAN_TxQueueIsEmpty can_1.o - 0x08002bb2 0x08002bb2 0x00000002 PAD - 0x08002bb4 0x08002bb4 0x000000ac Code RO 2260 .text.BSP_CAN_TxQueuePop can_1.o - 0x08002c60 0x08002c60 0x000000ac Code RO 2232 .text.BSP_CAN_TxQueuePush can_1.o - 0x08002d0c 0x08002d0c 0x00000010 Code RO 2344 .text.BSP_Free mm.o - 0x08002d1c 0x08002d1c 0x00000058 Code RO 2281 .text.BSP_GPIO_DisableIRQ gpio_1.o - 0x08002d74 0x08002d74 0x00000058 Code RO 2279 .text.BSP_GPIO_EnableIRQ gpio_1.o - 0x08002dcc 0x08002dcc 0x0000004a Code RO 2287 .text.BSP_GPIO_ReadPin gpio_1.o - 0x08002e16 0x08002e16 0x00000002 PAD - 0x08002e18 0x08002e18 0x00000090 Code RO 2277 .text.BSP_GPIO_RegisterCallback gpio_1.o - 0x08002ea8 0x08002ea8 0x00000050 Code RO 2283 .text.BSP_GPIO_WritePin gpio_1.o - 0x08002ef8 0x08002ef8 0x00000010 Code RO 2342 .text.BSP_Malloc mm.o - 0x08002f08 0x08002f08 0x0000013e Code RO 2355 .text.BSP_PWM_SetComp pwm.o - 0x08003046 0x08003046 0x00000002 PAD - 0x08003048 0x08003048 0x00000044 Code RO 2353 .text.BSP_PWM_Start pwm.o - 0x0800308c 0x0800308c 0x00000026 Code RO 2397 .text.BSP_SPI_GetHandle spi_1.o - 0x080030b2 0x080030b2 0x00000002 PAD - 0x080030b4 0x080030b4 0x00000080 Code RO 2403 .text.BSP_SPI_Receive spi_1.o - 0x08003134 0x08003134 0x00000044 Code RO 2399 .text.BSP_SPI_RegisterCallback spi_1.o - 0x08003178 0x08003178 0x00000080 Code RO 2401 .text.BSP_SPI_Transmit spi_1.o - 0x080031f8 0x080031f8 0x0000008e Code RO 2427 .text.BSP_TIME_Delay_ms time.o - 0x08003286 0x08003286 0x00000002 PAD - 0x08003288 0x08003288 0x000000aa Code RO 2425 .text.BSP_TIME_Get_us time.o - 0x08003332 0x08003332 0x00000002 PAD - 0x08003334 0x08003334 0x0000006c Code RO 2456 .text.BSP_UART_IRQHandler uart.o - 0x080033a0 0x080033a0 0x00000004 Code RO 158 .text.BusFault_Handler stm32f4xx_it.o - 0x080033a4 0x080033a4 0x00000010 Code RO 176 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o - 0x080033b4 0x080033b4 0x00000010 Code RO 178 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o - 0x080033c4 0x080033c4 0x00000010 Code RO 174 .text.CAN1_TX_IRQHandler stm32f4xx_it.o - 0x080033d4 0x080033d4 0x00000010 Code RO 196 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o - 0x080033e4 0x080033e4 0x00000010 Code RO 198 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o - 0x080033f4 0x080033f4 0x00000010 Code RO 194 .text.CAN2_TX_IRQHandler stm32f4xx_it.o - 0x08003404 0x08003404 0x00000056 Code RO 2188 .text.CAN_Get can_1.o - 0x0800345a 0x0800345a 0x00000002 PAD - 0x0800345c 0x0800345c 0x00000084 Code RO 2689 .text.CircleAdd user_math.o - 0x080034e0 0x080034e0 0x0000009a Code RO 2687 .text.CircleError user_math.o - 0x0800357a 0x0800357a 0x00000002 PAD - 0x0800357c 0x0800357c 0x0000004c Code RO 2681 .text.Clip user_math.o - 0x080035c8 0x080035c8 0x0000000a Code RO 3062 .text.Config_GetRobotParam config.o - 0x080035d2 0x080035d2 0x00000002 PAD - 0x080035d4 0x080035d4 0x00000014 Code RO 172 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x080035e8 0x080035e8 0x00000056 Code RO 2921 .text.DMA1_Stream1_IRQHandler1 remote_control.o - 0x0800363e 0x0800363e 0x00000002 PAD - 0x08003640 0x08003640 0x00000010 Code RO 190 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08003650 0x08003650 0x00000010 Code RO 192 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08003660 0x08003660 0x00000056 Code RO 472 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x080036b6 0x080036b6 0x00000002 PAD - 0x080036b8 0x080036b8 0x000000f0 Code RO 470 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x080037a8 0x080037a8 0x00000050 Code RO 478 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x080037f8 0x080037f8 0x00000002 Code RO 162 .text.DebugMon_Handler stm32f4xx_it.o - 0x080037fa 0x080037fa 0x00000002 PAD - 0x080037fc 0x080037fc 0x0000000a Code RO 166 .text.EXTI0_IRQHandler stm32f4xx_it.o - 0x08003806 0x08003806 0x00000002 PAD - 0x08003808 0x08003808 0x0000000a Code RO 168 .text.EXTI3_IRQHandler stm32f4xx_it.o - 0x08003812 0x08003812 0x00000002 PAD - 0x08003814 0x08003814 0x0000000a Code RO 170 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x0800381e 0x0800381e 0x00000002 PAD - 0x08003820 0x08003820 0x0000000a Code RO 180 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x0800382a 0x0800382a 0x00000002 PAD - 0x0800382c 0x0800382c 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x080001c4 0x080001c4 0x0000005a Code RO 3585 !!dczerorl2 c_w.l(__dczerorl2.o) + 0x0800021e 0x0800021e 0x00000002 PAD + 0x08000220 0x08000220 0x0000001c Code RO 3589 !!handler_zi c_w.l(__scatter_zi.o) + 0x0800023c 0x0800023c 0x00000002 Code RO 3441 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x0800023e 0x0800023e 0x00000004 Code RO 3459 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3462 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3465 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3467 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000242 0x08000242 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0x08000480 0x08000480 0x00000006 Code RO 3096 .text c_w.l(heapauxi.o) + 0x08000486 0x08000486 0x00000016 Code RO 3161 .text c_w.l(_rserrno.o) + 0x0800049c 0x0800049c 0x00000064 Code RO 3256 .text c_w.l(rt_memcpy_w.o) + 0x08000500 0x08000500 0x00000008 Code RO 3358 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x08000508 0x08000508 0x00000008 Code RO 3386 .text c_w.l(libspace.o) + 0x08000510 0x08000510 0x0000004a Code RO 3389 .text c_w.l(sys_stackheap_outer.o) + 0x0800055a 0x0800055a 0x00000012 Code RO 3430 .text c_w.l(exit.o) + 0x0800056c 0x0800056c 0x0000000c Code RO 3504 .text c_w.l(sys_exit.o) + 0x08000578 0x08000578 0x00000002 Code RO 3529 .text c_w.l(use_no_semi.o) + 0x0800057a 0x0800057a 0x00000000 Code RO 3531 .text c_w.l(indicate_semi.o) + 0x0800057a 0x0800057a 0x00000002 PAD + 0x0800057c 0x0800057c 0x0000015c Code RO 2480 .text.AHRS_GetEulr ahrs.o + 0x080006d8 0x080006d8 0x00000284 Code RO 2474 .text.AHRS_Init ahrs.o + 0x0800095c 0x0800095c 0x00000012 Code RO 2484 .text.AHRS_ResetEulr ahrs.o + 0x0800096e 0x0800096e 0x00000002 PAD + 0x08000970 0x08000970 0x00000c1a Code RO 2476 .text.AHRS_Update ahrs.o + 0x0800158a 0x0800158a 0x00000002 PAD + 0x0800158c 0x0800158c 0x000005c8 Code RO 2478 .text.AHRS_UpdateIMU ahrs.o + 0x08001b54 0x08001b54 0x0000006a Code RO 2677 .text.AbsClip user_math.o + 0x08001bbe 0x08001bbe 0x00000002 PAD + 0x08001bc0 0x08001bc0 0x00000014 Code RO 2761 .text.BMI088_AcclIntCallback bmi088.o + 0x08001bd4 0x08001bd4 0x0000001e Code RO 2769 .text.BMI088_AcclStartDmaRecv bmi088.o + 0x08001bf2 0x08001bf2 0x00000002 PAD + 0x08001bf4 0x08001bf4 0x00000010 Code RO 2773 .text.BMI088_AcclWaitDmaCplt bmi088.o + 0x08001c04 0x08001c04 0x00000010 Code RO 2783 .text.BMI088_GetUpdateFreq bmi088.o + 0x08001c14 0x08001c14 0x00000014 Code RO 2763 .text.BMI088_GyroIntCallback bmi088.o + 0x08001c28 0x08001c28 0x0000001a Code RO 2775 .text.BMI088_GyroStartDmaRecv bmi088.o + 0x08001c42 0x08001c42 0x00000002 PAD + 0x08001c44 0x08001c44 0x00000010 Code RO 2777 .text.BMI088_GyroWaitDmaCplt bmi088.o + 0x08001c54 0x08001c54 0x00000188 Code RO 2753 .text.BMI088_Init bmi088.o + 0x08001ddc 0x08001ddc 0x000000f4 Code RO 2779 .text.BMI088_ParseAccl bmi088.o + 0x08001ed0 0x08001ed0 0x00000118 Code RO 2781 .text.BMI088_ParseGyro bmi088.o + 0x08001fe8 0x08001fe8 0x00000054 Code RO 2759 .text.BMI088_RxCpltCallback bmi088.o + 0x0800203c 0x0800203c 0x00000010 Code RO 2767 .text.BMI088_WaitNew bmi088.o + 0x0800204c 0x0800204c 0x00000076 Code RO 2771 .text.BMI_Read bmi088.o + 0x080020c2 0x080020c2 0x00000002 PAD + 0x080020c4 0x080020c4 0x000000b2 Code RO 2757 .text.BMI_ReadSingle bmi088.o + 0x08002176 0x08002176 0x00000002 PAD + 0x08002178 0x08002178 0x00000094 Code RO 2755 .text.BMI_WriteSingle bmi088.o + 0x0800220c 0x0800220c 0x00000124 Code RO 2242 .text.BSP_CAN_CreateIdQueue can_1.o + 0x08002330 0x08002330 0x0000000e Code RO 2218 .text.BSP_CAN_DefaultIdParser can_1.o + 0x0800233e 0x0800233e 0x00000002 PAD + 0x08002340 0x08002340 0x00000052 Code RO 2246 .text.BSP_CAN_FindQueue can_1.o + 0x08002392 0x08002392 0x00000002 PAD + 0x08002394 0x08002394 0x0000003a Code RO 2256 .text.BSP_CAN_GetFrameType can_1.o + 0x080023ce 0x080023ce 0x00000002 PAD + 0x080023d0 0x080023d0 0x0000004e Code RO 2228 .text.BSP_CAN_GetHandle can_1.o + 0x0800241e 0x0800241e 0x00000002 PAD + 0x08002420 0x08002420 0x0000009e Code RO 2244 .text.BSP_CAN_GetMessage can_1.o + 0x080024be 0x080024be 0x00000002 PAD + 0x080024c0 0x080024c0 0x00000174 Code RO 2214 .text.BSP_CAN_Init can_1.o + 0x08002634 0x08002634 0x00000042 Code RO 2254 .text.BSP_CAN_ParseId can_1.o + 0x08002676 0x08002676 0x00000002 PAD + 0x08002678 0x08002678 0x00000082 Code RO 2220 .text.BSP_CAN_RegisterCallback can_1.o + 0x080026fa 0x080026fa 0x00000002 PAD + 0x080026fc 0x080026fc 0x00000042 Code RO 2240 .text.BSP_CAN_RegisterId can_1.o + 0x0800273e 0x0800273e 0x00000002 PAD + 0x08002740 0x08002740 0x000000e4 Code RO 2222 .text.BSP_CAN_RxFifo0Callback can_1.o + 0x08002824 0x08002824 0x000000e4 Code RO 2226 .text.BSP_CAN_RxFifo1Callback can_1.o + 0x08002908 0x08002908 0x00000176 Code RO 2230 .text.BSP_CAN_Transmit can_1.o + 0x08002a7e 0x08002a7e 0x00000002 PAD + 0x08002a80 0x08002a80 0x0000003e Code RO 2234 .text.BSP_CAN_TransmitStdDataFrame can_1.o + 0x08002abe 0x08002abe 0x00000002 PAD + 0x08002ac0 0x08002ac0 0x00000078 Code RO 2224 .text.BSP_CAN_TxCompleteCallback can_1.o + 0x08002b38 0x08002b38 0x00000042 Code RO 2216 .text.BSP_CAN_TxQueueInit can_1.o + 0x08002b7a 0x08002b7a 0x00000002 PAD + 0x08002b7c 0x08002b7c 0x00000056 Code RO 2258 .text.BSP_CAN_TxQueueIsEmpty can_1.o + 0x08002bd2 0x08002bd2 0x00000002 PAD + 0x08002bd4 0x08002bd4 0x000000ac Code RO 2260 .text.BSP_CAN_TxQueuePop can_1.o + 0x08002c80 0x08002c80 0x000000ac Code RO 2232 .text.BSP_CAN_TxQueuePush can_1.o + 0x08002d2c 0x08002d2c 0x00000010 Code RO 2344 .text.BSP_Free mm.o + 0x08002d3c 0x08002d3c 0x00000058 Code RO 2281 .text.BSP_GPIO_DisableIRQ gpio_1.o + 0x08002d94 0x08002d94 0x00000058 Code RO 2279 .text.BSP_GPIO_EnableIRQ gpio_1.o + 0x08002dec 0x08002dec 0x0000004a Code RO 2287 .text.BSP_GPIO_ReadPin gpio_1.o + 0x08002e36 0x08002e36 0x00000002 PAD + 0x08002e38 0x08002e38 0x00000090 Code RO 2277 .text.BSP_GPIO_RegisterCallback gpio_1.o + 0x08002ec8 0x08002ec8 0x00000050 Code RO 2283 .text.BSP_GPIO_WritePin gpio_1.o + 0x08002f18 0x08002f18 0x00000010 Code RO 2342 .text.BSP_Malloc mm.o + 0x08002f28 0x08002f28 0x0000013e Code RO 2355 .text.BSP_PWM_SetComp pwm.o + 0x08003066 0x08003066 0x00000002 PAD + 0x08003068 0x08003068 0x00000044 Code RO 2353 .text.BSP_PWM_Start pwm.o + 0x080030ac 0x080030ac 0x00000026 Code RO 2397 .text.BSP_SPI_GetHandle spi_1.o + 0x080030d2 0x080030d2 0x00000002 PAD + 0x080030d4 0x080030d4 0x00000080 Code RO 2403 .text.BSP_SPI_Receive spi_1.o + 0x08003154 0x08003154 0x00000044 Code RO 2399 .text.BSP_SPI_RegisterCallback spi_1.o + 0x08003198 0x08003198 0x00000080 Code RO 2401 .text.BSP_SPI_Transmit spi_1.o + 0x08003218 0x08003218 0x0000008e Code RO 2427 .text.BSP_TIME_Delay_ms time.o + 0x080032a6 0x080032a6 0x00000002 PAD + 0x080032a8 0x080032a8 0x000000aa Code RO 2425 .text.BSP_TIME_Get_us time.o + 0x08003352 0x08003352 0x00000002 PAD + 0x08003354 0x08003354 0x0000006c Code RO 2456 .text.BSP_UART_IRQHandler uart.o + 0x080033c0 0x080033c0 0x00000004 Code RO 158 .text.BusFault_Handler stm32f4xx_it.o + 0x080033c4 0x080033c4 0x00000010 Code RO 176 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o + 0x080033d4 0x080033d4 0x00000010 Code RO 178 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o + 0x080033e4 0x080033e4 0x00000010 Code RO 174 .text.CAN1_TX_IRQHandler stm32f4xx_it.o + 0x080033f4 0x080033f4 0x00000010 Code RO 196 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o + 0x08003404 0x08003404 0x00000010 Code RO 198 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o + 0x08003414 0x08003414 0x00000010 Code RO 194 .text.CAN2_TX_IRQHandler stm32f4xx_it.o + 0x08003424 0x08003424 0x00000056 Code RO 2188 .text.CAN_Get can_1.o + 0x0800347a 0x0800347a 0x00000002 PAD + 0x0800347c 0x0800347c 0x00000084 Code RO 2689 .text.CircleAdd user_math.o + 0x08003500 0x08003500 0x0000009a Code RO 2687 .text.CircleError user_math.o + 0x0800359a 0x0800359a 0x00000002 PAD + 0x0800359c 0x0800359c 0x0000004c Code RO 2681 .text.Clip user_math.o + 0x080035e8 0x080035e8 0x0000000a Code RO 3062 .text.Config_GetRobotParam config.o + 0x080035f2 0x080035f2 0x00000002 PAD + 0x080035f4 0x080035f4 0x00000014 Code RO 172 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x08003608 0x08003608 0x00000056 Code RO 2921 .text.DMA1_Stream1_IRQHandler1 remote_control.o + 0x0800365e 0x0800365e 0x00000002 PAD + 0x08003660 0x08003660 0x00000010 Code RO 190 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x08003670 0x08003670 0x00000010 Code RO 192 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x08003680 0x08003680 0x00000056 Code RO 472 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x080036d6 0x080036d6 0x00000002 PAD + 0x080036d8 0x080036d8 0x000000f0 Code RO 470 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x080037c8 0x080037c8 0x00000050 Code RO 478 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x08003818 0x08003818 0x00000002 Code RO 162 .text.DebugMon_Handler stm32f4xx_it.o + 0x0800381a 0x0800381a 0x00000002 PAD + 0x0800381c 0x0800381c 0x0000000a Code RO 166 .text.EXTI0_IRQHandler stm32f4xx_it.o + 0x08003826 0x08003826 0x00000002 PAD + 0x08003828 0x08003828 0x0000000a Code RO 168 .text.EXTI3_IRQHandler stm32f4xx_it.o 0x08003832 0x08003832 0x00000002 PAD - 0x08003834 0x08003834 0x00000518 Code RO 3049 .text.Gimbal_Control gimbal.o - 0x08003d4c 0x08003d4c 0x000001d8 Code RO 3043 .text.Gimbal_Init gimbal.o - 0x08003f24 0x08003f24 0x00000112 Code RO 3053 .text.Gimbal_Output gimbal.o - 0x08004036 0x08004036 0x00000002 PAD - 0x08004038 0x08004038 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o - 0x080040ec 0x080040ec 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o - 0x08004254 0x08004254 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o - 0x0800429e 0x0800429e 0x00000002 PAD - 0x080042a0 0x080042a0 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x080042f2 0x080042f2 0x00000002 PAD - 0x080042f4 0x080042f4 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800444a 0x0800444a 0x00000002 PAD - 0x0800444c 0x0800444c 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x080045ea 0x080045ea 0x00000002 PAD - 0x080045ec 0x080045ec 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o - 0x0800463c 0x0800463c 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x0800468e 0x0800468e 0x00000002 PAD - 0x08004690 0x08004690 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x080048a2 0x080048a2 0x00000002 PAD - 0x080048a4 0x080048a4 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x08004914 0x08004914 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08004d06 0x08004d06 0x00000002 PAD - 0x08004d08 0x08004d08 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08004ee6 0x08004ee6 0x00000002 PAD - 0x08004ee8 0x08004ee8 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o - 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 - 0x080052d2 0x080052d2 0x00000002 PAD - 0x080052d4 0x080052d4 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08005324 0x08005324 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 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 - 0x08005410 0x08005410 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08005460 0x08005460 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x080054b0 0x080054b0 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x08005500 0x08005500 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x080055ec 0x080055ec 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x08005630 0x08005630 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o - 0x0800563e 0x0800563e 0x00000002 PAD - 0x08005640 0x08005640 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x0800595e 0x0800595e 0x00000002 PAD - 0x08005960 0x08005960 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x08005ace 0x08005ace 0x00000002 PAD - 0x08005ad0 0x08005ad0 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08005b92 0x08005b92 0x00000002 PAD - 0x08005b94 0x08005b94 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o - 0x08005bd6 0x08005bd6 0x00000002 PAD - 0x08005bd8 0x08005bd8 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x08005c3e 0x08005c3e 0x00000002 PAD - 0x08005c40 0x08005c40 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08005c78 0x08005c78 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x0800602e 0x0800602e 0x00000002 PAD - 0x08006030 0x08006030 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x0800605e 0x0800605e 0x00000002 PAD - 0x08006060 0x08006060 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x0800608e 0x0800608e 0x00000002 PAD - 0x08006090 0x08006090 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o - 0x0800609c 0x0800609c 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x080060f0 0x080060f0 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x08006100 0x08006100 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x0800627a 0x0800627a 0x00000002 PAD - 0x0800627c 0x0800627c 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x08006646 0x08006646 0x00000002 PAD - 0x08006648 0x08006648 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x0800669c 0x0800669c 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08006940 0x08006940 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x08006994 0x08006994 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x080069e8 0x080069e8 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x08006a38 0x08006a38 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x08006a8c 0x08006a8c 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x08006ae0 0x08006ae0 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x08006c14 0x08006c14 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x08006c68 0x08006c68 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x08006cbc 0x08006cbc 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o - 0x08006cd6 0x08006cd6 0x00000002 PAD - 0x08006cd8 0x08006cd8 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o - 0x08006d0e 0x08006d0e 0x00000002 PAD - 0x08006d10 0x08006d10 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o - 0x08006d80 0x08006d80 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08006dd8 0x08006dd8 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x08006dec 0x08006dec 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08006e00 0x08006e00 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08006e32 0x08006e32 0x00000002 PAD - 0x08006e34 0x08006e34 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08006e44 0x08006e44 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x080070a6 0x080070a6 0x00000002 PAD - 0x080070a8 0x080070a8 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x080070b4 0x080070b4 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x080070d6 0x080070d6 0x00000002 PAD - 0x080070d8 0x080070d8 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x080070fa 0x080070fa 0x00000002 PAD - 0x080070fc 0x080070fc 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080071e2 0x080071e2 0x00000002 PAD - 0x080071e4 0x080071e4 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x080078a2 0x080078a2 0x00000002 PAD - 0x080078a4 0x080078a4 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o - 0x080078f8 0x080078f8 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x080079f8 0x080079f8 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x08007c08 0x08007c08 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08007e56 0x08007e56 0x00000002 PAD - 0x08007e58 0x08007e58 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08007ff0 0x08007ff0 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x08008044 0x08008044 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08008098 0x08008098 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x0800833a 0x0800833a 0x00000002 PAD - 0x0800833c 0x0800833c 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x080086de 0x080086de 0x00000002 PAD - 0x080086e0 0x080086e0 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x080088f4 0x080088f4 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x08008a60 0x08008a60 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08008aa8 0x08008aa8 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x08008afc 0x08008afc 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x08008b50 0x08008b50 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08008ba4 0x08008ba4 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08008bb4 0x08008bb4 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x08008bbc 0x08008bbc 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08008bc4 0x08008bc4 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08008ce6 0x08008ce6 0x00000002 PAD - 0x08008ce8 0x08008ce8 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08008d84 0x08008d84 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x08008e0e 0x08008e0e 0x00000002 PAD - 0x08008e10 0x08008e10 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x08008e18 0x08008e18 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08009032 0x08009032 0x00000002 PAD - 0x08009034 0x08009034 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x080090a0 0x080090a0 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x080090a8 0x080090a8 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x080091ea 0x080091ea 0x00000002 PAD - 0x080091ec 0x080091ec 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x08009288 0x08009288 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009290 0x08009290 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x08009298 0x08009298 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x08009462 0x08009462 0x00000002 PAD - 0x08009464 0x08009464 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x0800946c 0x0800946c 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x08009474 0x08009474 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08009480 0x08009480 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o - 0x080094d4 0x080094d4 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x08009930 0x08009930 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x080099ce 0x080099ce 0x00000002 PAD - 0x080099d0 0x080099d0 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o - 0x08009b9c 0x08009b9c 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o - 0x08009bf0 0x08009bf0 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o - 0x08009c44 0x08009c44 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o - 0x08009c48 0x08009c48 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o - 0x08009c58 0x08009c58 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o - 0x08009c68 0x08009c68 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o - 0x08009c9c 0x08009c9c 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o - 0x08009df2 0x08009df2 0x00000002 PAD - 0x08009df4 0x08009df4 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o - 0x08009e18 0x08009e18 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o - 0x08009e60 0x08009e60 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o - 0x0800a0da 0x0800a0da 0x00000002 PAD - 0x0800a0dc 0x0800a0dc 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o - 0x0800a288 0x0800a288 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800a3f2 0x0800a3f2 0x00000002 PAD - 0x0800a3f4 0x0800a3f4 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800a4d2 0x0800a4d2 0x00000002 PAD - 0x0800a4d4 0x0800a4d4 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800a612 0x0800a612 0x00000002 PAD - 0x0800a614 0x0800a614 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o - 0x0800a65a 0x0800a65a 0x00000002 PAD - 0x0800a65c 0x0800a65c 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o - 0x0800a99a 0x0800a99a 0x00000002 PAD - 0x0800a99c 0x0800a99c 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o - 0x0800aa8c 0x0800aa8c 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o - 0x0800abb4 0x0800abb4 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o - 0x0800abe2 0x0800abe2 0x00000002 PAD - 0x0800abe4 0x0800abe4 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800ac52 0x0800ac52 0x00000002 PAD - 0x0800ac54 0x0800ac54 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800ac80 0x0800ac80 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800acec 0x0800acec 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o - 0x0800ad9a 0x0800ad9a 0x00000002 PAD - 0x0800ad9c 0x0800ad9c 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o - 0x0800ae80 0x0800ae80 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o - 0x0800b0ca 0x0800b0ca 0x00000002 PAD - 0x0800b0cc 0x0800b0cc 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o - 0x0800b144 0x0800b144 0x00000076 Code RO 2675 .text.InvSqrt user_math.o - 0x0800b1ba 0x0800b1ba 0x00000002 PAD - 0x0800b1bc 0x0800b1bc 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o - 0x0800b274 0x0800b274 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o - 0x0800b3b0 0x0800b3b0 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o - 0x0800b442 0x0800b442 0x00000002 PAD - 0x0800b444 0x0800b444 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x0800b4da 0x0800b4da 0x00000002 PAD - 0x0800b4dc 0x0800b4dc 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o - 0x0800b556 0x0800b556 0x00000002 PAD - 0x0800b558 0x0800b558 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x0800b588 0x0800b588 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o - 0x0800b60e 0x0800b60e 0x00000002 PAD - 0x0800b610 0x0800b610 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x0800b658 0x0800b658 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800b7b0 0x0800b7b0 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o - 0x0800b8dc 0x0800b8dc 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o - 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 - 0x0800bbc2 0x0800bbc2 0x00000002 PAD - 0x0800bbc4 0x0800bbc4 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o - 0x0800bd34 0x0800bd34 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800bd64 0x0800bd64 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800bdb6 0x0800bdb6 0x00000002 PAD - 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 - 0x0800c23e 0x0800c23e 0x00000002 PAD - 0x0800c240 0x0800c240 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800c28e 0x0800c28e 0x00000002 PAD - 0x0800c290 0x0800c290 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800c2de 0x0800c2de 0x00000002 PAD - 0x0800c2e0 0x0800c2e0 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o - 0x0800c366 0x0800c366 0x00000002 PAD - 0x0800c368 0x0800c368 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800c3a8 0x0800c3a8 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800c5d2 0x0800c5d2 0x00000002 PAD - 0x0800c5d4 0x0800c5d4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800c61c 0x0800c61c 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800c664 0x0800c664 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800c6b6 0x0800c6b6 0x00000002 PAD - 0x0800c6b8 0x0800c6b8 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800c70c 0x0800c70c 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800c79a 0x0800c79a 0x00000002 PAD - 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 - 0x0800caa4 0x0800caa4 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800cb10 0x0800cb10 0x000002f0 Code RO 2638 .text.PID_Calc pid.o - 0x0800ce00 0x0800ce00 0x00000196 Code RO 2630 .text.PID_Init pid.o - 0x0800cf96 0x0800cf96 0x00000002 PAD - 0x0800cf98 0x0800cf98 0x00000048 Code RO 2636 .text.PID_Reset pid.o - 0x0800cfe0 0x0800cfe0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o - 0x0800d044 0x0800d044 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o - 0x0800d0d8 0x0800d0d8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o - 0x0800d132 0x0800d132 0x00000002 PAD - 0x0800d134 0x0800d134 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800d168 0x0800d168 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800d17e 0x0800d17e 0x00000002 PAD - 0x0800d180 0x0800d180 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800d196 0x0800d196 0x00000002 PAD - 0x0800d198 0x0800d198 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d1ae 0x0800d1ae 0x00000002 PAD - 0x0800d1b0 0x0800d1b0 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800d252 0x0800d252 0x00000002 PAD - 0x0800d254 0x0800d254 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800d2fa 0x0800d2fa 0x00000002 PAD - 0x0800d2fc 0x0800d2fc 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d382 0x0800d382 0x00000002 PAD - 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 - 0x0800d562 0x0800d562 0x00000002 PAD - 0x0800d564 0x0800d564 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800d690 0x0800d690 0x00000024 Code RO 2154 .text.SVC_Handler port.o - 0x0800d6b4 0x0800d6b4 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o - 0x0800d6c2 0x0800d6c2 0x00000002 PAD - 0x0800d6c4 0x0800d6c4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800d6d6 0x0800d6d6 0x00000002 PAD - 0x0800d6d8 0x0800d6d8 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800d72a 0x0800d72a 0x00000002 PAD - 0x0800d72c 0x0800d72c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o - 0x0800d744 0x0800d744 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800d800 0x0800d800 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o - 0x0800d812 0x0800d812 0x00000002 PAD - 0x0800d814 0x0800d814 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800d824 0x0800d824 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800d9c8 0x0800d9c8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800d9fe 0x0800d9fe 0x00000002 PAD - 0x0800da00 0x0800da00 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800daea 0x0800daea 0x00000002 PAD - 0x0800daec 0x0800daec 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800dbe0 0x0800dbe0 0x000000f2 Code RO 1173 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800dcd2 0x0800dcd2 0x00000002 PAD - 0x0800dcd4 0x0800dcd4 0x000000a4 Code RO 1175 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x0800dd78 0x0800dd78 0x000000b8 Code RO 2986 .text.Task_Init init.o - 0x0800de30 0x0800de30 0x00000190 Code RO 2994 .text.Task_atti_esti atti_esti.o - 0x0800dfc0 0x0800dfc0 0x000000ec Code RO 3032 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x0800e0ac 0x0800e0ac 0x00000004 PAD - 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 - 0x0800e226 0x0800e226 0x00000002 PAD - 0x0800e228 0x0800e228 0x0000002e Code RO 2440 .text.UART_Get uart.o - 0x0800e256 0x0800e256 0x00000002 PAD - 0x0800e258 0x0800e258 0x00000168 Code RO 1443 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800e3c0 0x0800e3c0 0x0000013a Code RO 1361 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800e4fa 0x0800e4fa 0x00000002 PAD - 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 + 0x0800384c 0x0800384c 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x08003852 0x08003852 0x00000002 PAD + 0x08003854 0x08003854 0x00000520 Code RO 3049 .text.Gimbal_Control gimbal.o + 0x08003d74 0x08003d74 0x00000190 Code RO 3043 .text.Gimbal_Init gimbal.o + 0x08003f04 0x08003f04 0x00000112 Code RO 3053 .text.Gimbal_Output gimbal.o + 0x08004016 0x08004016 0x00000002 PAD + 0x08004018 0x08004018 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o + 0x080040cc 0x080040cc 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o + 0x08004234 0x08004234 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o + 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 + 0x08006974 0x08006974 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 0x080069c8 0x080069c8 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o + 0x08006a18 0x08006a18 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o + 0x08006a6c 0x08006a6c 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o + 0x08006ac0 0x08006ac0 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o + 0x08006bf4 0x08006bf4 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 0x08006c48 0x08006c48 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o + 0x08006c9c 0x08006c9c 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o + 0x08006cb6 0x08006cb6 0x00000002 PAD + 0x08006cb8 0x08006cb8 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o + 0x08006cee 0x08006cee 0x00000002 PAD + 0x08006cf0 0x08006cf0 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o + 0x08006d60 0x08006d60 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08006db8 0x08006db8 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x08006dcc 0x08006dcc 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08006de0 0x08006de0 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x08006e12 0x08006e12 0x00000002 PAD + 0x08006e14 0x08006e14 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08006e24 0x08006e24 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08007086 0x08007086 0x00000002 PAD + 0x08007088 0x08007088 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08007094 0x08007094 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x080070b6 0x080070b6 0x00000002 PAD + 0x080070b8 0x080070b8 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x080070da 0x080070da 0x00000002 PAD + 0x080070dc 0x080070dc 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080071c2 0x080071c2 0x00000002 PAD + 0x080071c4 0x080071c4 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08007882 0x08007882 0x00000002 PAD + 0x08007884 0x08007884 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o + 0x080078d8 0x080078d8 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x080079d8 0x080079d8 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o + 0x08007be8 0x08007be8 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x08007e36 0x08007e36 0x00000002 PAD + 0x08007e38 0x08007e38 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08007fd0 0x08007fd0 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08008024 0x08008024 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08008078 0x08008078 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x0800831a 0x0800831a 0x00000002 PAD + 0x0800831c 0x0800831c 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x080086be 0x080086be 0x00000002 PAD + 0x080086c0 0x080086c0 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x080088d4 0x080088d4 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x08008a40 0x08008a40 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08008a88 0x08008a88 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x08008adc 0x08008adc 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x08008b30 0x08008b30 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08008b84 0x08008b84 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08008b94 0x08008b94 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x08008b9c 0x08008b9c 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08008ba4 0x08008ba4 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08008cc6 0x08008cc6 0x00000002 PAD + 0x08008cc8 0x08008cc8 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08008d64 0x08008d64 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x08008dee 0x08008dee 0x00000002 PAD + 0x08008df0 0x08008df0 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x08008df8 0x08008df8 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x08009012 0x08009012 0x00000002 PAD + 0x08009014 0x08009014 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x08009080 0x08009080 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x08009088 0x08009088 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x080091ca 0x080091ca 0x00000002 PAD + 0x080091cc 0x080091cc 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08009268 0x08009268 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x08009270 0x08009270 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x08009278 0x08009278 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x08009442 0x08009442 0x00000002 PAD + 0x08009444 0x08009444 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x0800944c 0x0800944c 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08009454 0x08009454 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08009460 0x08009460 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o + 0x080094b4 0x080094b4 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x08009910 0x08009910 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x080099ae 0x080099ae 0x00000002 PAD + 0x080099b0 0x080099b0 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o + 0x08009b7c 0x08009b7c 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o + 0x08009bd0 0x08009bd0 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o + 0x08009c24 0x08009c24 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o + 0x08009c28 0x08009c28 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x08009c38 0x08009c38 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x08009c48 0x08009c48 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x08009c7c 0x08009c7c 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x08009dd2 0x08009dd2 0x00000002 PAD + 0x08009dd4 0x08009dd4 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x08009df8 0x08009df8 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o + 0x08009e40 0x08009e40 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800a0ba 0x0800a0ba 0x00000002 PAD + 0x0800a0bc 0x0800a0bc 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800a268 0x0800a268 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800a3d2 0x0800a3d2 0x00000002 PAD + 0x0800a3d4 0x0800a3d4 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800a4b2 0x0800a4b2 0x00000002 PAD + 0x0800a4b4 0x0800a4b4 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800a5f2 0x0800a5f2 0x00000002 PAD + 0x0800a5f4 0x0800a5f4 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800a63a 0x0800a63a 0x00000002 PAD + 0x0800a63c 0x0800a63c 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800a97a 0x0800a97a 0x00000002 PAD + 0x0800a97c 0x0800a97c 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800aa6c 0x0800aa6c 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800ab94 0x0800ab94 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800abc2 0x0800abc2 0x00000002 PAD + 0x0800abc4 0x0800abc4 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ac32 0x0800ac32 0x00000002 PAD + 0x0800ac34 0x0800ac34 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ac60 0x0800ac60 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800accc 0x0800accc 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800ad7a 0x0800ad7a 0x00000002 PAD + 0x0800ad7c 0x0800ad7c 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800ae60 0x0800ae60 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800b0aa 0x0800b0aa 0x00000002 PAD + 0x0800b0ac 0x0800b0ac 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800b124 0x0800b124 0x00000076 Code RO 2675 .text.InvSqrt user_math.o + 0x0800b19a 0x0800b19a 0x00000002 PAD + 0x0800b19c 0x0800b19c 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o + 0x0800b254 0x0800b254 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o + 0x0800b390 0x0800b390 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o + 0x0800b422 0x0800b422 0x00000002 PAD + 0x0800b424 0x0800b424 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800b4ba 0x0800b4ba 0x00000002 PAD + 0x0800b4bc 0x0800b4bc 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o + 0x0800b536 0x0800b536 0x00000002 PAD + 0x0800b538 0x0800b538 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800b568 0x0800b568 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800b5ee 0x0800b5ee 0x00000002 PAD + 0x0800b5f0 0x0800b5f0 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800b638 0x0800b638 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800b790 0x0800b790 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o + 0x0800b8bc 0x0800b8bc 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800ba00 0x0800ba00 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o + 0x0800bb0c 0x0800bb0c 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800bba2 0x0800bba2 0x00000002 PAD + 0x0800bba4 0x0800bba4 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800bd14 0x0800bd14 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800bd44 0x0800bd44 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800bd96 0x0800bd96 0x00000002 PAD + 0x0800bd98 0x0800bd98 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800be18 0x0800be18 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800be90 0x0800be90 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800bee0 0x0800bee0 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o + 0x0800c000 0x0800c000 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800c11a 0x0800c11a 0x00000002 PAD + 0x0800c11c 0x0800c11c 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o + 0x0800c21e 0x0800c21e 0x00000002 PAD + 0x0800c220 0x0800c220 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800c26e 0x0800c26e 0x00000002 PAD + 0x0800c270 0x0800c270 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800c2be 0x0800c2be 0x00000002 PAD + 0x0800c2c0 0x0800c2c0 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800c346 0x0800c346 0x00000002 PAD + 0x0800c348 0x0800c348 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800c388 0x0800c388 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800c5b2 0x0800c5b2 0x00000002 PAD + 0x0800c5b4 0x0800c5b4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800c5fc 0x0800c5fc 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800c644 0x0800c644 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800c696 0x0800c696 0x00000002 PAD + 0x0800c698 0x0800c698 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800c6ec 0x0800c6ec 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800c77a 0x0800c77a 0x00000002 PAD + 0x0800c77c 0x0800c77c 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800c7d4 0x0800c7d4 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800c814 0x0800c814 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o + 0x0800c860 0x0800c860 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o + 0x0800c864 0x0800c864 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o + 0x0800ca80 0x0800ca80 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o + 0x0800ca84 0x0800ca84 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800caf0 0x0800caf0 0x000002f0 Code RO 2638 .text.PID_Calc pid.o + 0x0800cde0 0x0800cde0 0x00000196 Code RO 2630 .text.PID_Init pid.o + 0x0800cf76 0x0800cf76 0x00000002 PAD + 0x0800cf78 0x0800cf78 0x00000048 Code RO 2636 .text.PID_Reset pid.o + 0x0800cfc0 0x0800cfc0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o + 0x0800d024 0x0800d024 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o + 0x0800d0b8 0x0800d0b8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o + 0x0800d112 0x0800d112 0x00000002 PAD + 0x0800d114 0x0800d114 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x0800d148 0x0800d148 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x0800d15e 0x0800d15e 0x00000002 PAD + 0x0800d160 0x0800d160 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800d176 0x0800d176 0x00000002 PAD + 0x0800d178 0x0800d178 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d18e 0x0800d18e 0x00000002 PAD + 0x0800d190 0x0800d190 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x0800d232 0x0800d232 0x00000002 PAD + 0x0800d234 0x0800d234 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x0800d2da 0x0800d2da 0x00000002 PAD + 0x0800d2dc 0x0800d2dc 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d362 0x0800d362 0x00000002 PAD + 0x0800d364 0x0800d364 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x0800d448 0x0800d448 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x0800d514 0x0800d514 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o + 0x0800d542 0x0800d542 0x00000002 PAD + 0x0800d544 0x0800d544 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x0800d670 0x0800d670 0x00000024 Code RO 2154 .text.SVC_Handler port.o + 0x0800d694 0x0800d694 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o + 0x0800d6a2 0x0800d6a2 0x00000002 PAD + 0x0800d6a4 0x0800d6a4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o + 0x0800d6b6 0x0800d6b6 0x00000002 PAD + 0x0800d6b8 0x0800d6b8 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x0800d70a 0x0800d70a 0x00000002 PAD + 0x0800d70c 0x0800d70c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o + 0x0800d724 0x0800d724 0x000000bc Code RO 13 .text.SystemClock_Config main.o + 0x0800d7e0 0x0800d7e0 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o + 0x0800d7f2 0x0800d7f2 0x00000002 PAD + 0x0800d7f4 0x0800d7f4 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o + 0x0800d804 0x0800d804 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800d9a8 0x0800d9a8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x0800d9de 0x0800d9de 0x00000002 PAD + 0x0800d9e0 0x0800d9e0 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x0800daca 0x0800daca 0x00000002 PAD + 0x0800dacc 0x0800dacc 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o + 0x0800dbc0 0x0800dbc0 0x000000f2 Code RO 1173 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o + 0x0800dcb2 0x0800dcb2 0x00000002 PAD + 0x0800dcb4 0x0800dcb4 0x000000a4 Code RO 1175 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o + 0x0800dd58 0x0800dd58 0x000000b8 Code RO 2986 .text.Task_Init init.o + 0x0800de10 0x0800de10 0x00000190 Code RO 2994 .text.Task_atti_esti atti_esti.o + 0x0800dfa0 0x0800dfa0 0x000000ec Code RO 3032 .text.Task_gimbal_ctrl gimbal_ctrl.o + 0x0800e08c 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Code RO 1804 .text.xTaskPriorityInherit tasks.o + 0x08012e56 0x08012e56 0x00000002 PAD + 0x08012e58 0x08012e58 0x000000ce Code RO 1776 .text.xTaskRemoveFromEventList tasks.o + 0x08012f26 0x08012f26 0x00000002 PAD + 0x08012f28 0x08012f28 0x00000186 Code RO 1722 .text.xTaskResumeAll tasks.o + 0x080130ae 0x080130ae 0x00000002 PAD + 0x080130b0 0x080130b0 0x00000094 Code RO 1869 .text.xTimerCreateTimerTask timers.o + 0x08013144 0x08013144 0x000000b0 Code RO 1881 .text.xTimerGenericCommand timers.o + 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 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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 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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 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z(1cDIZnnA2@Cz*l*;okK_!nx)SWJO<3M`9y36Bn=(mtUEsH2m)$oLgt0n&4@ZC1+uawzy zkDDUCgcbb()ry5=)dN0-pbBS>qVhvMa4B>UR)kK#N(yX3l=n6YwVFT$fIvdU135f} zb)7koOMKOEp3T<`=ezv7;e{UmnKI685uP?&80EhW$738q{!G#$6gY(!u7MzzVrHv& z)$E!?i&h)1w#jlackMdv0H$T%+-&dv-)#5WoceE!UU%ol$j6Hskl?yb(5IHk-CTg4 z?bNf}Lwp7e*`m2OrsDF|O!CXx-!qdu!+RrW&udVR>m<8yS#mp@^&DDN$ zD4JRWg~ID#Q{hKoJHyYw?g+mG+Y#=8Z4bW*yFGja_7;8)xvPO}&(rU}iobX=4I!8( zM3(IL&S!WUMMPx3`>pm0Z_If1ui7iV36HWp{RmruAkj~dMZJ3|o$Wns*$*YRZA@>= zniNh8sBLqrzcxFjG&gNcKb2h=5nKGOqE_*of1_xf*yT4CUlV=)^2F`p4?mem$l!c` mZ=y`B@`n=Tu#>O@z9=adYyHKr7yb3H8~irdLI2&7+u8 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 b142e47565171c4d719005390239a8dd4b3e4240..88fd4bd53941cb7c68e520a193bddbf45ac47fa7 100644 GIT binary patch delta 41 ucmaDO`$l$y2a`-Aiv(jGD=Q-d!z~5|2F7{@Rv93h4~Q8XHm5Lk@BjeDTnGsO delta 41 ucmaDO`$l$y2a`+-iv(jMD=Q-d!z~5|2F4}^Rv93h4~Q9?H>WUl@BjeEUI-Nc 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 {