diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 64e473c..dbf04b3 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -6,7 +6,7 @@
### uVision Project, (C) Keil Software
- D:\yunha\云台\大疆电机\gimbal\User\device + D:\yunha\gimbal\motor\gimbal\MDK-ARM @@ -91,10 +91,10 @@ 44 2 - 3 + 2 - -1 - -1 + -32000 + -32000 -1 @@ -110,8 +110,8 @@ 0 - 553 - 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ser\module\gimbal.c - 63 - 346 - 362 + 17 + 311 + 324 1 0 ..\User\module\gimbal.h - 0 - 219 - 242 + 17 + 158 + 168 1 0 ..\User\module\config.c - 29 - 58 - 62 + 21 + 41 + 46 1 0 @@ -3634,7 +3634,7 @@ ..\User\task\remote.c 0 - 22 + 1 1 1 @@ -3642,13 +3642,139 @@ ..\User\task\gimbal_ctrl.c + 18 + 28 + 46 + 1 + + 0 + + + ..\User\device\bmi088.c 0 - 31 + 1 1 1 0 + + ..\User\device\motor.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\device\ist8310.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\component\user_math.c + 21 + 64 + 79 + 1 + + 0 + + + ..\User\task\init.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\task\user_task.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\device\remote_control.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\device\motor_dm.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\component\pid.c + 31 + 45 + 67 + 1 + + 0 + + + ..\User\task\atti_esti.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\component\cmd.c + 13 + 1 + 5 + 1 + + 0 + + + ..\User\component\cmd.h + 20 + 31 + 39 + 1 + + 0 + + + ..\User\device\ai.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\component\user_math.h + 9 + 66 + 77 + 1 + + 0 + diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o index 39c89a8..f4161b8 100644 Binary files a/MDK-ARM/gimbal/ai.o and b/MDK-ARM/gimbal/ai.o differ diff --git a/MDK-ARM/gimbal/atti_esti.o b/MDK-ARM/gimbal/atti_esti.o index de5ac50..4cb2dda 100644 Binary files a/MDK-ARM/gimbal/atti_esti.o and b/MDK-ARM/gimbal/atti_esti.o differ diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o index a4a5db9..0814469 100644 Binary files a/MDK-ARM/gimbal/config.o and b/MDK-ARM/gimbal/config.o differ diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index 6465221..fb770fd 100644 Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ diff --git a/MDK-ARM/gimbal/gimbal.build_log.htm b/MDK-ARM/gimbal/gimbal.build_log.htm index 6939acc..f8e93a6 100644 --- a/MDK-ARM/gimbal/gimbal.build_log.htm +++ b/MDK-ARM/gimbal/gimbal.build_log.htm @@ -31,9 +31,6 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'. Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'. -compiling config.c... -linking... -Program Size: Code=84448 RO-data=996 RW-data=424 ZI-data=34272 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -58,7 +55,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index fa82f9a..fc51237 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Nov 1 22:06:33 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Nov 12 20:41:26 2025

Maximum Stack Usage = 432 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -658,7 +658,7 @@ Global Symbols

AbsClip (Thumb, 106 bytes, Stack size 16 bytes, user_math.o(.text.AbsClip))

[Stack]

  • Max Depth = 16
  • Call Chain = AbsClip
-
[Called By]
  • >>   PID_Calc +
    [Called By]
    • >>   PID_Calc

    BMI088_AcclStartDmaRecv (Thumb, 30 bytes, Stack size 16 bytes, bmi088.o(.text.BMI088_AcclStartDmaRecv)) @@ -1013,7 +1013,7 @@ Global Symbols


[Address Reference Count : 1]
  • startup_stm32f407xx.o(RESET)
-

CircleAdd (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd)) +

CircleAdd (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))

[Stack]

  • Max Depth = 16
  • Call Chain = CircleAdd

[Called By]
  • >>   Gimbal_Control @@ -1022,7 +1022,7 @@ Global Symbols

    CircleError (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))

    [Stack]

    • Max Depth = 20
    • Call Chain = CircleError
    -
    [Called By]
    • >>   PID_Calc +
      [Called By]
      • >>   PID_Calc
      • >>   Gimbal_Control
      @@ -1114,12 +1114,12 @@ Global Symbols
    • >>   MX_CAN1_Init
    -

    Gimbal_Control (Thumb, 1000 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 -
    • >>   CircleAdd -
    • >>   PID_Calc +
    • >>   CircleAdd +
    • >>   PID_Calc
    • >>   CircleError
    • >>   BSP_TIME_Get_us
    • >>   __aeabi_ul2f @@ -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, 424 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
      @@ -2115,7 +2115,7 @@ Global Symbols
    • >>   __ARM_isinf
    • >>   __aeabi_f2d
    -
    [Called By]
    • >>   PID_Calc +
      [Called By]
      • >>   PID_Calc
      • >>   LowPassFilter2p_Reset
      @@ -2376,7 +2376,7 @@ Global Symbols

      NMI_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.NMI_Handler))
      [Address Reference Count : 1]

      • startup_stm32f407xx.o(RESET)
      -

      PID_Calc (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc)) +

      PID_Calc (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc))

      [Stack]

      • Max Depth = 120
      • Call Chain = PID_Calc ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf

      [Calls]
      • >>   CircleError @@ -2519,7 +2519,7 @@ Global Symbols
      • >>   BMI088_AcclWaitDmaCplt
      • >>   BMI088_AcclStartDmaRecv
      • >>   PID_Init -
      • >>   PID_Calc +
      • >>   PID_Calc
      • >>   AHRS_Update
      • >>   AHRS_Init
      • >>   AHRS_GetEulr @@ -2539,8 +2539,8 @@ Global Symbols

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

      Task_gimbal_ctrl (Thumb, 220 bytes, Stack size 32 bytes, gimbal_ctrl.o(.text.Task_gimbal_ctrl)) -

      [Stack]

      • Max Depth = 404 + Unknown Stack Size +

        Task_gimbal_ctrl (Thumb, 236 bytes, Stack size 24 bytes, gimbal_ctrl.o(.text.Task_gimbal_ctrl)) +

        [Stack]

        • Max Depth = 396 + Unknown Stack Size
        • Call Chain = Task_gimbal_ctrl ⇒ Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

        [Calls]
        • >>   osMessageQueueGet @@ -3899,7 +3899,7 @@ Global Symbols

          [Stack]
          • Max Depth = 16
          • Call Chain = __aeabi_f2d

          [Called By]
          • >>   PID_Init -
          • >>   PID_Calc +
          • >>   PID_Calc
          • >>   LowPassFilter2p_Reset
          • >>   LowPassFilter2p_Apply
          • >>   AHRS_Init @@ -4803,14 +4803,14 @@ Local Symbols

            [Stack]
            • Max Depth = 8
            • Call Chain = __ARM_isfinite

            [Called By]
            • >>   PID_Init -
            • >>   PID_Calc +
            • >>   PID_Calc

            __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, pid.o(.text.__ARM_isfinitef))

            [Stack]

            • Max Depth = 4
            • Call Chain = __ARM_isfinitef

            [Called By]
            • >>   PID_Init -
            • >>   PID_Calc +
            • >>   PID_Calc

            BMI088_AcclIntCallback (Thumb, 20 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_AcclIntCallback)) diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 4e5eef2..a81cdba 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -3443,8 +3443,8 @@ Section Cross References gimbal.o(.text.Gimbal_Control) refers to gimbal.o(.text.Gimbal_SetMode) for Gimbal_SetMode gimbal.o(.text.Gimbal_Control) refers to user_math.o(.text.CircleError) for CircleError gimbal.o(.text.Gimbal_Control) refers to user_math.o(.text.Clip) for Clip - gimbal.o(.text.Gimbal_Control) refers to user_math.o(.text.CircleAdd) for CircleAdd gimbal.o(.text.Gimbal_Control) refers to pid.o(.text.PID_Calc) for PID_Calc + gimbal.o(.text.Gimbal_Control) refers to user_math.o(.text.CircleAdd) for CircleAdd gimbal.o(.ARM.exidx.text.Gimbal_Control) refers to gimbal.o(.text.Gimbal_Control) for [Anonymous Symbol] gimbal.o(.text.Gimbal_SetMode) refers to pid.o(.text.PID_Reset) for PID_Reset gimbal.o(.text.Gimbal_SetMode) refers to filter.o(.text.LowPassFilter2p_Reset) for LowPassFilter2p_Reset @@ -6467,558 +6467,560 @@ Image Symbol Table [Anonymous Symbol] 0x08003840 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) [Anonymous Symbol] 0x0800384c Section 0 main.o(.text.Error_Handler) [Anonymous Symbol] 0x08003854 Section 0 gimbal.o(.text.Gimbal_Control) - [Anonymous Symbol] 0x08003c3c Section 0 gimbal.o(.text.Gimbal_Init) - [Anonymous Symbol] 0x08003e14 Section 0 gimbal.o(.text.Gimbal_Output) - Gimbal_SetMode 0x08003f29 Thumb Code 180 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08003f28 Section 0 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08003fdc Section 0 gimbal.o(.text.Gimbal_UpdateFeedback) - [Anonymous Symbol] 0x08004144 Section 0 gimbal.o(.text.Gimbal_UpdateIMU) - [Anonymous Symbol] 0x08004190 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x080041e4 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x0800433c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x080044dc Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x0800452c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08004580 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x08004794 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x08004804 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x08004bf8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08004dd8 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x08004fa8 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08004ff8 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x08005048 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08005098 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x080050e8 Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x08005138 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x080051c4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08005214 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x08005260 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x080052b0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08005300 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08005350 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x080053a0 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x080053f0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x080054dc Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x08005520 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - [Anonymous Symbol] 0x08005530 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x08005850 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x080059c0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08005a84 Section 0 stm32f4xx_hal.o(.text.HAL_Delay) - [Anonymous Symbol] 0x08005ac8 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - [Anonymous Symbol] 0x08005b30 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - [Anonymous Symbol] 0x08005b68 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x08005f20 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - [Anonymous Symbol] 0x08005f50 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - [Anonymous Symbol] 0x08005f80 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x08005f8c Section 0 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - [Anonymous Symbol] 0x08005fe0 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - [Anonymous Symbol] 0x08005ff0 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - [Anonymous Symbol] 0x0800616c Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - [Anonymous Symbol] 0x08006538 Section 0 i2c_1.o(.text.HAL_I2C_ErrorCallback) - [Anonymous Symbol] 0x0800658c Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - [Anonymous Symbol] 0x08006830 Section 0 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - [Anonymous Symbol] 0x08006884 Section 0 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - [Anonymous Symbol] 0x080068d8 Section 0 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - [Anonymous Symbol] 0x08006928 Section 0 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - [Anonymous Symbol] 0x0800697c Section 0 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - 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tasks.o(.bss.xTasksWaitingTermination) + xTickCount 0x2000815c Data 4 tasks.o(.bss.xTickCount) + [Anonymous Symbol] 0x2000815c Section 0 tasks.o(.bss.xTickCount) + xTimerQueue 0x20008160 Data 4 timers.o(.bss.xTimerQueue) + [Anonymous Symbol] 0x20008160 Section 0 timers.o(.bss.xTimerQueue) + xTimerTaskHandle 0x20008164 Data 4 timers.o(.bss.xTimerTaskHandle) + [Anonymous Symbol] 0x20008164 Section 0 timers.o(.bss.xTimerTaskHandle) + xYieldPending 0x20008168 Data 4 tasks.o(.bss.xYieldPending) + [Anonymous Symbol] 0x20008168 Section 0 tasks.o(.bss.xYieldPending) + Heap_Mem 0x20008170 Data 512 startup_stm32f407xx.o(HEAP) + HEAP 0x20008170 Section 512 startup_stm32f407xx.o(HEAP) + Stack_Mem 0x20008370 Data 1024 startup_stm32f407xx.o(STACK) + STACK 0x20008370 Section 1024 startup_stm32f407xx.o(STACK) + __initial_sp 0x20008770 Data 0 startup_stm32f407xx.o(STACK) Global Symbols @@ -7405,369 +7407,369 @@ Image Symbol Table 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 1000 gimbal.o(.text.Gimbal_Control) - Gimbal_Init 0x08003c3d Thumb Code 472 gimbal.o(.text.Gimbal_Init) - Gimbal_Output 0x08003e15 Thumb Code 274 gimbal.o(.text.Gimbal_Output) - Gimbal_UpdateFeedback 0x08003fdd Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback) - Gimbal_UpdateIMU 0x08004145 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU) - HAL_CAN_ActivateNotification 0x08004191 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - HAL_CAN_AddTxMessage 0x080041e5 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - HAL_CAN_ConfigFilter 0x0800433d Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - HAL_CAN_ErrorCallback 0x080044dd Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetRxFifoFillLevel 0x0800452d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - HAL_CAN_GetRxMessage 0x08004581 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - HAL_CAN_GetTxMailboxesFreeLevel 0x08004795 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x08004805 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x08004bf9 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08004dd9 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x08004fa9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08004ff9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x08005049 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08005099 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x080050e9 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x08005139 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x080051c5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x08005215 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x08005261 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x080052b1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08005301 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08005351 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x080053a1 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x080053f1 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x080054dd Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_GetState 0x08005521 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - HAL_DMA_IRQHandler 0x08005531 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x08005851 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x080059c1 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08005a85 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08005ac9 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x08005b31 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08005b69 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x08005f21 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x08005f51 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08005f81 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_AbortCpltCallback 0x08005f8d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - HAL_I2C_AddrCallback 0x08005fe1 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - HAL_I2C_ER_IRQHandler 0x08005ff1 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - HAL_I2C_EV_IRQHandler 0x0800616d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - HAL_I2C_ErrorCallback 0x08006539 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) - HAL_I2C_Init 0x0800658d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_ListenCpltCallback 0x08006831 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - HAL_I2C_MasterRxCpltCallback 0x08006885 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - HAL_I2C_MasterTxCpltCallback 0x080068d9 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - HAL_I2C_MemRxCpltCallback 0x08006929 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - HAL_I2C_MemTxCpltCallback 0x0800697d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - HAL_I2C_MspInit 0x080069d1 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) - HAL_I2C_SlaveRxCpltCallback 0x08006b05 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - HAL_I2C_SlaveTxCpltCallback 0x08006b59 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - HAL_IncTick 0x08006bad Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08006bc9 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08006c01 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08006c71 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08006cc9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x08006cdd Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08006cf1 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x08006d25 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x08006d35 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x08006f99 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x08006fa5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08006fc9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x08006fed Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x080070d5 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x08007795 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x080077e9 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x080078e9 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x08007af9 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x08007d49 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08007ee1 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x08007f35 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x08007f89 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x0800822d Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x080085d1 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x080087e5 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x08008951 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x08008999 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x080089ed Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x08008a41 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x08008a95 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x08008aa5 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x08008aad Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x08008ab5 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08008bd9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08008c75 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_IC_CaptureCallback 0x08008d01 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x08008d09 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_MspPostInit 0x08008f25 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_OC_DelayElapsedCallback 0x08008f91 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x08008f99 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x080090dd Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x08009179 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x08009181 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PWM_Start 0x08009189 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PeriodElapsedCallback 0x08009355 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x0800935d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x08009365 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08009371 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x080093c5 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x08009821 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x080098c1 Thumb Code 460 usart.o(.text.HAL_UART_MspInit) - HAL_UART_RxCpltCallback 0x08009a8d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_TxCpltCallback 0x08009ae1 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) - HardFault_Handler 0x08009b35 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) - I2C1_ER_IRQHandler 0x08009b39 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) - I2C1_EV_IRQHandler 0x08009b49 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) - InvSqrt 0x0800b035 Thumb Code 118 user_math.o(.text.InvSqrt) - LowPassFilter2p_Apply 0x0800b0ad Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x0800b165 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x0800b2a1 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_DM_Enable 0x0800b3cd Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) - MOTOR_DM_GetMotor 0x0800b479 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) - MOTOR_DM_MITCtrl 0x0800b501 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) - MOTOR_DM_Register 0x0800b6a1 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) - MOTOR_DM_Update 0x0800b911 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) - MOTOR_RM_Ctrl 0x0800bab5 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x0800bd29 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800bdf1 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_SetOutput 0x0800bf11 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x0800c02d Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x0800c131 Thumb Code 78 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x0800c181 Thumb Code 78 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x0800c1d1 Thumb Code 134 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800c259 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x0800c299 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) - MX_I2C1_Init 0x0800c4c5 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) - MX_I2C2_Init 0x0800c50d Thumb Code 72 i2c.o(.text.MX_I2C2_Init) - MX_SPI1_Init 0x0800c555 Thumb Code 82 spi.o(.text.MX_SPI1_Init) - MX_SPI2_Init 0x0800c5a9 Thumb Code 84 spi.o(.text.MX_SPI2_Init) - MX_TIM10_Init 0x0800c5fd Thumb Code 142 tim.o(.text.MX_TIM10_Init) - MX_TIM7_Init 0x0800c68d Thumb Code 88 tim.o(.text.MX_TIM7_Init) - MX_USART1_UART_Init 0x0800c6e5 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) - MX_USART3_UART_Init 0x0800c725 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) - MemManage_Handler 0x0800c771 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x0800c991 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x0800ca01 Thumb Code 752 pid.o(.text.PID_Calc) - PID_Init 0x0800ccf1 Thumb Code 406 pid.o(.text.PID_Init) - PID_Reset 0x0800ce89 Thumb Code 72 pid.o(.text.PID_Reset) - PendSV_Handler 0x0800ced1 Thumb Code 100 port.o(.text.PendSV_Handler) - RC_Init 0x0800cf35 Thumb Code 148 bsp_rc.o(.text.RC_Init) - RC_restart 0x0800cfc9 Thumb Code 90 bsp_rc.o(.text.RC_restart) - SVC_Handler 0x0800d581 Thumb Code 36 port.o(.text.SVC_Handler) - StartDefaultTask 0x0800d5b5 Thumb Code 18 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x0800d61d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x0800d635 Thumb Code 188 main.o(.text.SystemClock_Config) - SystemInit 0x0800d6f1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM7_IRQHandler 0x0800d705 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) - TIM_Base_SetConfig 0x0800d715 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x0800d8b9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x0800d9dd Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) - Task_Init 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Thumb Code 52 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x0800e91d Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) - osKernelGetState 0x0800e975 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) - osKernelGetTickCount 0x0800e9c9 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x0800e9f1 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x0800e9f9 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x0800ea41 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x0800ea99 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x0800eaed Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x0800eb5d Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x0800ec1d Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x0800ed1d Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) - osMessageQueueReset 0x0800ede1 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) - osMutexAcquire 0x0800ee21 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) - osMutexNew 0x0800eec1 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) - osMutexRelease 0x0800efe9 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsSet 0x0800f069 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) - osThreadFlagsWait 0x0800f10d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x0800f229 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x0800f239 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x0800f395 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 0x080102f5 Thumb Code 492 heap_4.o(.text.pvPortMalloc) - pvTaskIncrementMutexHeldCount 0x080104e1 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) - pxPortInitialiseStack 0x0801050d Thumb Code 94 port.o(.text.pxPortInitialiseStack) - remote_ParseHost 0x08010571 Thumb Code 176 ai.o(.text.remote_ParseHost) - remote_control_init 0x08010621 Thumb Code 18 remote_control.o(.text.remote_control_init) - user_delay_ms 0x0801091d Thumb Code 46 calc_lib.o(.text.user_delay_ms) - user_delay_us 0x0801094d Thumb Code 68 calc_lib.o(.text.user_delay_us) - uxListRemove 0x08010991 Thumb Code 72 list.o(.text.uxListRemove) - vApplicationGetIdleTaskMemory 0x080109d9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) - vApplicationGetTimerTaskMemory 0x08010a05 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) - vApplicationStackOverflowHook 0x08010a31 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) - vListInitialise 0x08010a3d Thumb Code 46 list.o(.text.vListInitialise) - vListInitialiseItem 0x08010a6d Thumb Code 14 list.o(.text.vListInitialiseItem) - vListInsert 0x08010a7d Thumb Code 106 list.o(.text.vListInsert) - vListInsertEnd 0x08010ae9 Thumb Code 58 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x08010b39 Thumb Code 86 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08010b91 Thumb Code 74 port.o(.text.vPortExitCritical) - vPortFree 0x08010bdd Thumb Code 206 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08010cad Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08010cf1 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08010d75 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08010dc9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08010e2d Thumb Code 110 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x08010e9d Thumb Code 276 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08010fb1 Thumb Code 270 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x080110c1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x080110e5 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x080110f5 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08011139 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x0801118d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x080112c1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x080113a5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x080113b5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08011535 Thumb Code 342 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x0801168d Thumb Code 60 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x080116c9 Thumb Code 38 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x080116f1 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x08011725 Thumb Code 116 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08011799 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x080118a9 Thumb Code 186 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x08011965 Thumb Code 556 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x08011b91 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x08011cdd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x08011d49 Thumb Code 476 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x08011f25 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x0801202d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x08012259 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x080122c9 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08012395 Thumb Code 158 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x08012435 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x08012505 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x0801267d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x08012841 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08012855 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x0801288d Thumb Code 20 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x080128a1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x080128c1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08012a85 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08012b5d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08012c49 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08012d59 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x08012e29 Thumb Code 390 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x08012fb1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) - 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274 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x080040e5 Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x0800424d Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x08004299 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x080042ed Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x08004445 Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x080045e5 Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08004635 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x08004689 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x0800489d Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x0800490d Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x08004d01 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08004ee1 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x080050b1 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x08005101 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x08005151 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x080051a1 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x080051f1 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08005241 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x080052cd Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x0800531d Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08005369 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x080053b9 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08005409 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08005459 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x080054a9 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x080054f9 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x080055e5 Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_GetState 0x08005629 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) + HAL_DMA_IRQHandler 0x08005639 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08005959 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08005ac9 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08005b8d Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08005bd1 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08005c39 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08005c71 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x08006029 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x08006059 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08006089 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_AbortCpltCallback 0x08006095 Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) + HAL_I2C_AddrCallback 0x080060e9 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) + HAL_I2C_ER_IRQHandler 0x080060f9 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) + HAL_I2C_EV_IRQHandler 0x08006275 Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) + HAL_I2C_ErrorCallback 0x08006641 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) + HAL_I2C_Init 0x08006695 Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_ListenCpltCallback 0x08006939 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) + HAL_I2C_MasterRxCpltCallback 0x0800698d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) + HAL_I2C_MasterTxCpltCallback 0x080069e1 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) + HAL_I2C_MemRxCpltCallback 0x08006a31 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) + HAL_I2C_MemTxCpltCallback 0x08006a85 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) + HAL_I2C_MspInit 0x08006ad9 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) + HAL_I2C_SlaveRxCpltCallback 0x08006c0d Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) + HAL_I2C_SlaveTxCpltCallback 0x08006c61 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) + HAL_IncTick 0x08006cb5 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x08006cd1 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08006d09 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08006d79 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x08006dd1 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x08006de5 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x08006df9 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x08006e2d Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08006e3d Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x080070a1 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x080070ad Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x080070d1 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x080070f5 Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080071dd Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x0800789d Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x080078f1 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x080079f1 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08007c01 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x08007e51 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x08007fe9 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x0800803d Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08008091 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x08008335 Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x080086d9 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x080088ed Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x08008a59 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x08008aa1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x08008af5 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x08008b49 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08008b9d Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08008bad Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x08008bb5 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08008bbd Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08008ce1 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08008d7d Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x08008e09 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x08008e11 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x0800902d Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x08009099 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x080090a1 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x080091e5 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08009281 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x08009289 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x08009291 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x0800945d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08009465 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x0800946d Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x08009479 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x080094cd Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x08009929 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x080099c9 Thumb Code 460 usart.o(.text.HAL_UART_MspInit) + HAL_UART_RxCpltCallback 0x08009b95 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_TxCpltCallback 0x08009be9 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) + HardFault_Handler 0x08009c3d Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) + I2C1_ER_IRQHandler 0x08009c41 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) + I2C1_EV_IRQHandler 0x08009c51 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) + InvSqrt 0x0800b13d Thumb Code 118 user_math.o(.text.InvSqrt) + LowPassFilter2p_Apply 0x0800b1b5 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x0800b26d Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x0800b3a9 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x0800b4d5 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800b581 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x0800b609 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x0800b7a9 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x0800ba19 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x0800bbbd Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x0800be31 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x0800bef9 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_SetOutput 0x0800c019 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800c135 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x0800c239 Thumb Code 78 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x0800c289 Thumb Code 78 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x0800c2d9 Thumb Code 134 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800c361 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800c3a1 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x0800c5cd Thumb Code 72 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x0800c615 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x0800c65d Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_SPI2_Init 0x0800c6b1 Thumb Code 84 spi.o(.text.MX_SPI2_Init) + MX_TIM10_Init 0x0800c705 Thumb Code 142 tim.o(.text.MX_TIM10_Init) + MX_TIM7_Init 0x0800c795 Thumb Code 88 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x0800c7ed Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) + MX_USART3_UART_Init 0x0800c82d Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) + MemManage_Handler 0x0800c879 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800ca99 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800cb09 Thumb Code 752 pid.o(.text.PID_Calc) + PID_Init 0x0800cdf9 Thumb Code 406 pid.o(.text.PID_Init) + PID_Reset 0x0800cf91 Thumb Code 72 pid.o(.text.PID_Reset) + PendSV_Handler 0x0800cfe1 Thumb Code 100 port.o(.text.PendSV_Handler) + RC_Init 0x0800d045 Thumb Code 148 bsp_rc.o(.text.RC_Init) + RC_restart 0x0800d0d9 Thumb Code 90 bsp_rc.o(.text.RC_restart) + SVC_Handler 0x0800d691 Thumb Code 36 port.o(.text.SVC_Handler) + StartDefaultTask 0x0800d6c5 Thumb Code 18 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x0800d72d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x0800d745 Thumb Code 188 main.o(.text.SystemClock_Config) + SystemInit 0x0800d801 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM7_IRQHandler 0x0800d815 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) + TIM_Base_SetConfig 0x0800d825 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x0800d9c9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x0800daed Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_Init 0x0800dd79 Thumb Code 184 init.o(.text.Task_Init) + Task_atti_esti 0x0800de31 Thumb Code 400 atti_esti.o(.text.Task_atti_esti) + Task_gimbal_ctrl 0x0800dfc1 Thumb Code 236 gimbal_ctrl.o(.text.Task_gimbal_ctrl) + Task_remote 0x0800e0b1 Thumb Code 160 remote.o(.text.Task_remote) + USART3_IRQHandler 0x0800e591 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) + USART3_IRQHandler1 0x0800e5b1 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) + UsageFault_Handler 0x0800e5d5 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) + configureTimerForRunTimeStats 0x0800e7d5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) + delay_init 0x0800e7f9 Thumb Code 62 bsp_delay.o(.text.delay_init) + eTaskGetState 0x0800e839 Thumb Code 246 tasks.o(.text.eTaskGetState) + getRunTimeCounterValue 0x0800e989 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) + main 0x0800e98d Thumb Code 80 main.o(.text.main) + map 0x0800e9dd Thumb Code 42 calc_lib.o(.text.map) + osDelay 0x0800ea09 Thumb Code 52 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x0800ea3d Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x0800ea95 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x0800eae9 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x0800eb11 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x0800eb19 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x0800eb61 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0800ebb9 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x0800ec0d Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x0800ec7d Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x0800ed3d Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x0800ee3d Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) + osMessageQueueReset 0x0800ef01 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) + osMutexAcquire 0x0800ef41 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x0800efe1 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x0800f109 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x0800f189 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x0800f22d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x0800f349 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x0800f359 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x0800f4b5 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x08010415 Thumb Code 492 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x08010601 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x0801062d Thumb Code 94 port.o(.text.pxPortInitialiseStack) + remote_ParseHost 0x08010691 Thumb Code 176 ai.o(.text.remote_ParseHost) + remote_control_init 0x08010741 Thumb Code 18 remote_control.o(.text.remote_control_init) + user_delay_ms 0x08010a3d Thumb Code 46 calc_lib.o(.text.user_delay_ms) + user_delay_us 0x08010a6d Thumb Code 68 calc_lib.o(.text.user_delay_us) + uxListRemove 0x08010ab1 Thumb Code 72 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x08010af9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08010b25 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x08010b51 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x08010b5d Thumb Code 46 list.o(.text.vListInitialise) + vListInitialiseItem 0x08010b8d Thumb Code 14 list.o(.text.vListInitialiseItem) + vListInsert 0x08010b9d Thumb Code 106 list.o(.text.vListInsert) + vListInsertEnd 0x08010c09 Thumb Code 58 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08010c59 Thumb Code 86 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08010cb1 Thumb Code 74 port.o(.text.vPortExitCritical) + vPortFree 0x08010cfd Thumb Code 206 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08010dcd Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08010e11 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08010e95 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08010ee9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08010f4d Thumb Code 110 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x08010fbd Thumb Code 276 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x080110d1 Thumb Code 270 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x080111e1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08011205 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08011215 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08011259 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x080112ad Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x080113e1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x080114c5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x080114d5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08011655 Thumb Code 342 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x080117ad Thumb Code 60 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x080117e9 Thumb Code 38 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x08011811 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x08011845 Thumb Code 116 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x080118b9 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x080119c9 Thumb Code 186 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x08011a85 Thumb Code 556 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x08011cb1 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x08011dfd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08011e69 Thumb Code 476 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08012045 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x0801214d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x08012379 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x080123e9 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x080124b5 Thumb Code 158 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08012555 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08012625 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x0801279d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08012961 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08012975 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x080129ad Thumb Code 20 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x080129c1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x080129e1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x08012ba5 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08012c7d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08012d69 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08012e79 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x08012f49 Thumb Code 390 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x080130d1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x08013165 Thumb Code 176 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x08013215 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x08013245 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x0801326d Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x08013399 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x08013671 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x08013871 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_cosf 0x08013b1d Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_tanf 0x08013c6d Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x08013de9 Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_infnan 0x08013ee1 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x08013ef5 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_underflow 0x08013f09 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x08013f29 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x08013f2f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x08013f35 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x08013f45 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x08013f55 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x080140a9 Thumb Code 16 atan.o(i.atan) + fabs 0x080140b9 Thumb Code 24 fabs.o(i.fabs) + sqrtf 0x080140d1 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x0801410f Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x0801410f Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x08014115 Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x08014115 Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x0801411b Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x08014121 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x08014129 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x08014129 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x0801418d Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x0801418d Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcmp_Inf 0x080142dd Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x080142f5 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x080142f5 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x080145a9 Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x080145a9 Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2iz 0x08014621 Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x08014621 Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x08014681 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08014681 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x080146db Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x080146db Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_ui2d 0x08014709 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08014709 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_dmul 0x08014731 Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x08014731 Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x08014885 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x08014921 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_drsub 0x0801492d Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x0801492d Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + __aeabi_dsub 0x08014945 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x08014945 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x08014b21 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x08014b21 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x08014b77 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08014b77 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x08014b7d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x08014b7d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x08014bd7 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x08014c63 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x08014c7b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x08014c7b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x08014c7d Thumb Code 10 fretinf.o(x$fpl$fretinf) + __I$use$fp 0x08014c86 Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x08014d20 Data 8 qnan.o(.constdata) + AHBPrescTable 0x08014d48 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08014d58 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_atti_esti 0x08014da8 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_gimbal_ctrl 0x08014dcc Data 36 user_task.o(.rodata.attr_gimbal_ctrl) + attr_init 0x08014df0 Data 36 user_task.o(.rodata.attr_init) + attr_remote 0x08014e14 Data 36 user_task.o(.rodata.attr_remote) + defaultTask_attributes 0x08014e38 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08014ec4 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08014ee4 Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) - robot_config 0x20000008 Data 404 config.o(.data.robot_config) - uwTickFreq 0x2000019c Data 1 stm32f4xx_hal.o(.data.uwTickFreq) - uwTickPrio 0x200001a0 Data 4 stm32f4xx_hal.o(.data.uwTickPrio) + robot_config 0x20000008 Data 400 config.o(.data.robot_config) + uwTickFreq 0x20000198 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) + uwTickPrio 0x2000019c Data 4 stm32f4xx_hal.o(.data.uwTickPrio) __libspace_start 0x200001a8 Data 96 libspace.o(.bss) __temporary_stack_top$libspace 0x20000208 Data 0 libspace.o(.bss) bmi088 0x20000368 Data 48 atti_esti.o(.bss.bmi088) cali_bmi088 0x200003b0 Data 12 atti_esti.o(.bss.cali_bmi088) defaultTaskHandle 0x200003cc Data 4 freertos.o(.bss.defaultTaskHandle) eulr_to_send 0x200003d0 Data 12 atti_esti.o(.bss.eulr_to_send) - gimbal 0x200003e8 Data 744 gimbal_ctrl.o(.bss.gimbal) - gimbal_ahrs 0x200006d0 Data 20 atti_esti.o(.bss.gimbal_ahrs) - gimbal_cmd 0x200006e4 Data 12 gimbal_ctrl.o(.bss.gimbal_cmd) - gimbal_imu 0x200006f0 Data 24 gimbal_ctrl.o(.bss.gimbal_imu) - gimbal_to_send 0x20000708 Data 24 atti_esti.o(.bss.gimbal_to_send) - hcan1 0x20000720 Data 40 can.o(.bss.hcan1) - hcan2 0x20000748 Data 40 can.o(.bss.hcan2) - hdma_spi1_rx 0x20000770 Data 96 spi.o(.bss.hdma_spi1_rx) - hdma_spi1_tx 0x200007d0 Data 96 spi.o(.bss.hdma_spi1_tx) - hdma_usart3_rx 0x20000830 Data 96 usart.o(.bss.hdma_usart3_rx) - hi2c1 0x20000890 Data 84 i2c.o(.bss.hi2c1) - hi2c2 0x200008e4 Data 84 i2c.o(.bss.hi2c2) - hspi1 0x20000938 Data 88 spi.o(.bss.hspi1) - hspi2 0x20000990 Data 88 spi.o(.bss.hspi2) - htim10 0x200009e8 Data 72 tim.o(.bss.htim10) - htim7 0x20000a30 Data 72 tim.o(.bss.htim7) - huart1 0x20000a78 Data 72 usart.o(.bss.huart1) - huart3 0x20000ac0 Data 72 usart.o(.bss.huart3) - imu 0x20000b0c Data 24 remote.o(.bss.imu) - imu_temp_ctrl_pid 0x20000b24 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) - magn 0x20000b64 Data 12 atti_esti.o(.bss.magn) - pxCurrentTCB 0x20000c64 Data 4 tasks.o(.bss.pxCurrentTCB) - rc_ctrl 0x200010e4 Data 24 remote_control.o(.bss.rc_ctrl) - remote_cmd 0x200010fc Data 12 remote.o(.bss.remote_cmd) - task_runtime 0x20001124 Data 80 user_task.o(.bss.task_runtime) - uwTick 0x20007998 Data 4 stm32f4xx_hal.o(.bss.uwTick) - xQueueRegistry 0x20008100 Data 64 queue.o(.bss.xQueueRegistry) + gimbal 0x200003e8 Data 720 gimbal_ctrl.o(.bss.gimbal) + gimbal_ahrs 0x200006b8 Data 20 atti_esti.o(.bss.gimbal_ahrs) + gimbal_cmd 0x200006cc Data 12 gimbal_ctrl.o(.bss.gimbal_cmd) + gimbal_imu 0x200006d8 Data 24 gimbal_ctrl.o(.bss.gimbal_imu) + gimbal_to_send 0x200006f0 Data 24 atti_esti.o(.bss.gimbal_to_send) + hcan1 0x20000708 Data 40 can.o(.bss.hcan1) + hcan2 0x20000730 Data 40 can.o(.bss.hcan2) + hdma_spi1_rx 0x20000758 Data 96 spi.o(.bss.hdma_spi1_rx) + hdma_spi1_tx 0x200007b8 Data 96 spi.o(.bss.hdma_spi1_tx) + hdma_usart3_rx 0x20000818 Data 96 usart.o(.bss.hdma_usart3_rx) + hi2c1 0x20000878 Data 84 i2c.o(.bss.hi2c1) + hi2c2 0x200008cc Data 84 i2c.o(.bss.hi2c2) + hspi1 0x20000920 Data 88 spi.o(.bss.hspi1) + hspi2 0x20000978 Data 88 spi.o(.bss.hspi2) + htim10 0x200009d0 Data 72 tim.o(.bss.htim10) + htim7 0x20000a18 Data 72 tim.o(.bss.htim7) + huart1 0x20000a60 Data 72 usart.o(.bss.huart1) + huart3 0x20000aa8 Data 72 usart.o(.bss.huart3) + imu 0x20000af4 Data 24 remote.o(.bss.imu) + imu_temp_ctrl_pid 0x20000b0c Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) + magn 0x20000b4c Data 12 atti_esti.o(.bss.magn) + pxCurrentTCB 0x20000c4c Data 4 tasks.o(.bss.pxCurrentTCB) + rc_ctrl 0x200010cc Data 24 remote_control.o(.bss.rc_ctrl) + remote_cmd 0x200010e4 Data 12 remote.o(.bss.remote_cmd) + task_runtime 0x2000110c Data 80 user_task.o(.bss.task_runtime) + uwTick 0x20007980 Data 4 stm32f4xx_hal.o(.bss.uwTick) + xQueueRegistry 0x200080e8 Data 64 queue.o(.bss.xQueueRegistry) @@ -7777,9 +7779,9 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00014f70, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014e50]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00015090, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014f60]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014dc4, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014ee4, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -7963,597 +7965,599 @@ Memory Map of the image 0x0800384a 0x0800384a 0x00000002 PAD 0x0800384c 0x0800384c 0x00000006 Code RO 15 .text.Error_Handler main.o 0x08003852 0x08003852 0x00000002 PAD - 0x08003854 0x08003854 0x000003e8 Code RO 3049 .text.Gimbal_Control gimbal.o - 0x08003c3c 0x08003c3c 0x000001d8 Code RO 3043 .text.Gimbal_Init gimbal.o - 0x08003e14 0x08003e14 0x00000112 Code RO 3053 .text.Gimbal_Output gimbal.o - 0x08003f26 0x08003f26 0x00000002 PAD - 0x08003f28 0x08003f28 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o - 0x08003fdc 0x08003fdc 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o - 0x08004144 0x08004144 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o - 0x0800418e 0x0800418e 0x00000002 PAD - 0x08004190 0x08004190 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x080041e2 0x080041e2 0x00000002 PAD - 0x080041e4 0x080041e4 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800433a 0x0800433a 0x00000002 PAD - 0x0800433c 0x0800433c 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x080044da 0x080044da 0x00000002 PAD - 0x080044dc 0x080044dc 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o - 0x0800452c 0x0800452c 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x0800457e 0x0800457e 0x00000002 PAD - 0x08004580 0x08004580 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x08004792 0x08004792 0x00000002 PAD - 0x08004794 0x08004794 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x08004804 0x08004804 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08004bf6 0x08004bf6 0x00000002 PAD - 0x08004bf8 0x08004bf8 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08004dd6 0x08004dd6 0x00000002 PAD - 0x08004dd8 0x08004dd8 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o - 0x08004fa8 0x08004fa8 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08004ff8 0x08004ff8 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x08005048 0x08005048 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x08005098 0x08005098 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x080050e8 0x080050e8 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o - 0x08005138 0x08005138 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x080051c2 0x080051c2 0x00000002 PAD - 0x080051c4 0x080051c4 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08005214 0x08005214 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x08005260 0x08005260 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x080052b0 0x080052b0 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08005300 0x08005300 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08005350 0x08005350 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x080053a0 0x080053a0 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x080053f0 0x080053f0 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x080054dc 0x080054dc 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x08005520 0x08005520 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o - 0x0800552e 0x0800552e 0x00000002 PAD - 0x08005530 0x08005530 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x0800584e 0x0800584e 0x00000002 PAD - 0x08005850 0x08005850 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x080059be 0x080059be 0x00000002 PAD - 0x080059c0 0x080059c0 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08005a82 0x08005a82 0x00000002 PAD - 0x08005a84 0x08005a84 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o + 0x08003854 0x08003854 0x00000520 Code RO 3049 .text.Gimbal_Control gimbal.o + 0x08003d74 0x08003d74 0x000001a8 Code RO 3043 .text.Gimbal_Init gimbal.o + 0x08003f1c 0x08003f1c 0x00000112 Code RO 3053 .text.Gimbal_Output gimbal.o + 0x0800402e 0x0800402e 0x00000002 PAD + 0x08004030 0x08004030 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o + 0x080040e4 0x080040e4 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o + 0x0800424c 0x0800424c 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o + 0x08004296 0x08004296 0x00000002 PAD + 0x08004298 0x08004298 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080042ea 0x080042ea 0x00000002 PAD + 0x080042ec 0x080042ec 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08004442 0x08004442 0x00000002 PAD + 0x08004444 0x08004444 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x080045e2 0x080045e2 0x00000002 PAD + 0x080045e4 0x080045e4 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o + 0x08004634 0x08004634 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x08004686 0x08004686 0x00000002 PAD + 0x08004688 0x08004688 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x0800489a 0x0800489a 0x00000002 PAD + 0x0800489c 0x0800489c 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x0800490c 0x0800490c 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08004cfe 0x08004cfe 0x00000002 PAD + 0x08004d00 0x08004d00 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08004ede 0x08004ede 0x00000002 PAD + 0x08004ee0 0x08004ee0 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x080050b0 0x080050b0 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x08005100 0x08005100 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08005150 0x08005150 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x080051a0 0x080051a0 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x080051f0 0x080051f0 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o + 0x08005240 0x08005240 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080052ca 0x080052ca 0x00000002 PAD + 0x080052cc 0x080052cc 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x0800531c 0x0800531c 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08005368 0x08005368 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x080053b8 0x080053b8 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08005408 0x08005408 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08005458 0x08005458 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x080054a8 0x080054a8 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x080054f8 0x080054f8 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x080055e4 0x080055e4 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08005628 0x08005628 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x08005636 0x08005636 0x00000002 PAD + 0x08005638 0x08005638 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x08005956 0x08005956 0x00000002 PAD + 0x08005958 0x08005958 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o 0x08005ac6 0x08005ac6 0x00000002 PAD - 0x08005ac8 0x08005ac8 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x08005b2e 0x08005b2e 0x00000002 PAD - 0x08005b30 0x08005b30 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08005b68 0x08005b68 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x08005f1e 0x08005f1e 0x00000002 PAD - 0x08005f20 0x08005f20 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x08005f4e 0x08005f4e 0x00000002 PAD - 0x08005f50 0x08005f50 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x08005f7e 0x08005f7e 0x00000002 PAD - 0x08005f80 0x08005f80 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o - 0x08005f8c 0x08005f8c 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x08005fe0 0x08005fe0 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x08005ff0 0x08005ff0 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x0800616a 0x0800616a 0x00000002 PAD - 0x0800616c 0x0800616c 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x08006536 0x08006536 0x00000002 PAD - 0x08006538 0x08006538 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x0800658c 0x0800658c 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08006830 0x08006830 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x08006884 0x08006884 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x080068d8 0x080068d8 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x08006928 0x08006928 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x0800697c 0x0800697c 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x080069d0 0x080069d0 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x08006b04 0x08006b04 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x08006b58 0x08006b58 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x08006bac 0x08006bac 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o - 0x08006bc6 0x08006bc6 0x00000002 PAD - 0x08006bc8 0x08006bc8 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o - 0x08006bfe 0x08006bfe 0x00000002 PAD - 0x08006c00 0x08006c00 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o - 0x08006c70 0x08006c70 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08006cc8 0x08006cc8 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x08006cdc 0x08006cdc 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08006cf0 0x08006cf0 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08006d22 0x08006d22 0x00000002 PAD - 0x08006d24 0x08006d24 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08006d34 0x08006d34 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08006f96 0x08006f96 0x00000002 PAD - 0x08006f98 0x08006f98 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x08006fa4 0x08006fa4 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x08006fc6 0x08006fc6 0x00000002 PAD - 0x08006fc8 0x08006fc8 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x08006fea 0x08006fea 0x00000002 PAD - 0x08006fec 0x08006fec 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080070d2 0x080070d2 0x00000002 PAD - 0x080070d4 0x080070d4 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08007792 0x08007792 0x00000002 PAD - 0x08007794 0x08007794 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o - 0x080077e8 0x080077e8 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x080078e8 0x080078e8 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x08007af8 0x08007af8 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08007d46 0x08007d46 0x00000002 PAD - 0x08007d48 0x08007d48 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08007ee0 0x08007ee0 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x08007f34 0x08007f34 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08007f88 0x08007f88 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x0800822a 0x0800822a 0x00000002 PAD - 0x0800822c 0x0800822c 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x080085ce 0x080085ce 0x00000002 PAD - 0x080085d0 0x080085d0 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x080087e4 0x080087e4 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x08008950 0x08008950 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08008998 0x08008998 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x080089ec 0x080089ec 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x08008a40 0x08008a40 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08008a94 0x08008a94 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08008aa4 0x08008aa4 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x08008aac 0x08008aac 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08008ab4 0x08008ab4 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08008bd6 0x08008bd6 0x00000002 PAD - 0x08008bd8 0x08008bd8 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08008c74 0x08008c74 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x08008cfe 0x08008cfe 0x00000002 PAD - 0x08008d00 0x08008d00 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x08008d08 0x08008d08 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08008f22 0x08008f22 0x00000002 PAD - 0x08008f24 0x08008f24 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x08008f90 0x08008f90 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x08008f98 0x08008f98 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x080090da 0x080090da 0x00000002 PAD - 0x080090dc 0x080090dc 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x08009178 0x08009178 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009180 0x08009180 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x08009188 0x08009188 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x08009352 0x08009352 0x00000002 PAD - 0x08009354 0x08009354 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x0800935c 0x0800935c 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x08009364 0x08009364 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08009370 0x08009370 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o - 0x080093c4 0x080093c4 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x08009820 0x08009820 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x080098be 0x080098be 0x00000002 PAD - 0x080098c0 0x080098c0 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o - 0x08009a8c 0x08009a8c 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o - 0x08009ae0 0x08009ae0 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o - 0x08009b34 0x08009b34 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o - 0x08009b38 0x08009b38 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o - 0x08009b48 0x08009b48 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o - 0x08009b58 0x08009b58 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o - 0x08009b8c 0x08009b8c 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o - 0x08009ce2 0x08009ce2 0x00000002 PAD - 0x08009ce4 0x08009ce4 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o - 0x08009d08 0x08009d08 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o - 0x08009d50 0x08009d50 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o - 0x08009fca 0x08009fca 0x00000002 PAD - 0x08009fcc 0x08009fcc 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o - 0x0800a178 0x0800a178 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800a2e2 0x0800a2e2 0x00000002 PAD - 0x0800a2e4 0x0800a2e4 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800a3c2 0x0800a3c2 0x00000002 PAD - 0x0800a3c4 0x0800a3c4 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800a502 0x0800a502 0x00000002 PAD - 0x0800a504 0x0800a504 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o - 0x0800a54a 0x0800a54a 0x00000002 PAD - 0x0800a54c 0x0800a54c 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o - 0x0800a88a 0x0800a88a 0x00000002 PAD - 0x0800a88c 0x0800a88c 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o - 0x0800a97c 0x0800a97c 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o - 0x0800aaa4 0x0800aaa4 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o - 0x0800aad2 0x0800aad2 0x00000002 PAD - 0x0800aad4 0x0800aad4 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800ab42 0x0800ab42 0x00000002 PAD - 0x0800ab44 0x0800ab44 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800ab70 0x0800ab70 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800abdc 0x0800abdc 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o - 0x0800ac8a 0x0800ac8a 0x00000002 PAD - 0x0800ac8c 0x0800ac8c 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o - 0x0800ad70 0x0800ad70 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o - 0x0800afba 0x0800afba 0x00000002 PAD - 0x0800afbc 0x0800afbc 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o - 0x0800b034 0x0800b034 0x00000076 Code RO 2675 .text.InvSqrt user_math.o - 0x0800b0aa 0x0800b0aa 0x00000002 PAD - 0x0800b0ac 0x0800b0ac 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o - 0x0800b164 0x0800b164 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o - 0x0800b2a0 0x0800b2a0 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o - 0x0800b332 0x0800b332 0x00000002 PAD - 0x0800b334 0x0800b334 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x0800b3ca 0x0800b3ca 0x00000002 PAD - 0x0800b3cc 0x0800b3cc 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o - 0x0800b446 0x0800b446 0x00000002 PAD - 0x0800b448 0x0800b448 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x0800b478 0x0800b478 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o - 0x0800b4fe 0x0800b4fe 0x00000002 PAD - 0x0800b500 0x0800b500 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x0800b548 0x0800b548 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800b6a0 0x0800b6a0 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o - 0x0800b7cc 0x0800b7cc 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o - 0x0800b910 0x0800b910 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o - 0x0800ba1c 0x0800ba1c 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x0800bab2 0x0800bab2 0x00000002 PAD - 0x0800bab4 0x0800bab4 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o - 0x0800bc24 0x0800bc24 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800bc54 0x0800bc54 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800bca6 0x0800bca6 0x00000002 PAD - 0x0800bca8 0x0800bca8 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x0800bd28 0x0800bd28 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800bda0 0x0800bda0 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800bdf0 0x0800bdf0 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o - 0x0800bf10 0x0800bf10 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800c02a 0x0800c02a 0x00000002 PAD - 0x0800c02c 0x0800c02c 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o - 0x0800c12e 0x0800c12e 0x00000002 PAD - 0x0800c130 0x0800c130 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800c17e 0x0800c17e 0x00000002 PAD - 0x0800c180 0x0800c180 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800c1ce 0x0800c1ce 0x00000002 PAD - 0x0800c1d0 0x0800c1d0 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o - 0x0800c256 0x0800c256 0x00000002 PAD - 0x0800c258 0x0800c258 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800c298 0x0800c298 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800c4c2 0x0800c4c2 0x00000002 PAD - 0x0800c4c4 0x0800c4c4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800c50c 0x0800c50c 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800c554 0x0800c554 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800c5a6 0x0800c5a6 0x00000002 PAD - 0x0800c5a8 0x0800c5a8 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800c5fc 0x0800c5fc 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800c68a 0x0800c68a 0x00000002 PAD - 0x0800c68c 0x0800c68c 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o - 0x0800c6e4 0x0800c6e4 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x0800c724 0x0800c724 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o - 0x0800c770 0x0800c770 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o - 0x0800c774 0x0800c774 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o - 0x0800c990 0x0800c990 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o - 0x0800c994 0x0800c994 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800ca00 0x0800ca00 0x000002f0 Code RO 2638 .text.PID_Calc pid.o - 0x0800ccf0 0x0800ccf0 0x00000196 Code RO 2630 .text.PID_Init pid.o - 0x0800ce86 0x0800ce86 0x00000002 PAD - 0x0800ce88 0x0800ce88 0x00000048 Code RO 2636 .text.PID_Reset pid.o - 0x0800ced0 0x0800ced0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o - 0x0800cf34 0x0800cf34 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o - 0x0800cfc8 0x0800cfc8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o - 0x0800d022 0x0800d022 0x00000002 PAD - 0x0800d024 0x0800d024 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800d058 0x0800d058 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800d06e 0x0800d06e 0x00000002 PAD - 0x0800d070 0x0800d070 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800d086 0x0800d086 0x00000002 PAD - 0x0800d088 0x0800d088 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d09e 0x0800d09e 0x00000002 PAD - 0x0800d0a0 0x0800d0a0 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800d142 0x0800d142 0x00000002 PAD - 0x0800d144 0x0800d144 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800d1ea 0x0800d1ea 0x00000002 PAD - 0x0800d1ec 0x0800d1ec 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d272 0x0800d272 0x00000002 PAD - 0x0800d274 0x0800d274 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x0800d358 0x0800d358 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800d424 0x0800d424 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o - 0x0800d452 0x0800d452 0x00000002 PAD - 0x0800d454 0x0800d454 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800d580 0x0800d580 0x00000024 Code RO 2154 .text.SVC_Handler port.o - 0x0800d5a4 0x0800d5a4 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o - 0x0800d5b2 0x0800d5b2 0x00000002 PAD - 0x0800d5b4 0x0800d5b4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800d5c6 0x0800d5c6 0x00000002 PAD - 0x0800d5c8 0x0800d5c8 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800d61a 0x0800d61a 0x00000002 PAD - 0x0800d61c 0x0800d61c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o - 0x0800d634 0x0800d634 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800d6f0 0x0800d6f0 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o - 0x0800d702 0x0800d702 0x00000002 PAD - 0x0800d704 0x0800d704 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800d714 0x0800d714 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800d8b8 0x0800d8b8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800d8ee 0x0800d8ee 0x00000002 PAD - 0x0800d8f0 0x0800d8f0 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800d9da 0x0800d9da 0x00000002 PAD - 0x0800d9dc 0x0800d9dc 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800dad0 0x0800dad0 0x000000f2 Code RO 1173 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800dbc2 0x0800dbc2 0x00000002 PAD - 0x0800dbc4 0x0800dbc4 0x000000a4 Code RO 1175 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x0800dc68 0x0800dc68 0x000000b8 Code RO 2986 .text.Task_Init init.o - 0x0800dd20 0x0800dd20 0x00000190 Code RO 2994 .text.Task_atti_esti atti_esti.o - 0x0800deb0 0x0800deb0 0x000000dc Code RO 3032 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x0800df8c 0x0800df8c 0x00000004 PAD - 0x0800df90 0x0800df90 0x000000a0 Code RO 3011 .text.Task_remote remote.o - 0x0800e030 0x0800e030 0x0000001c Code RO 1445 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x0800e04c 0x0800e04c 0x00000094 Code RO 1405 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x0800e0e0 0x0800e0e0 0x00000026 Code RO 1453 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x0800e106 0x0800e106 0x00000002 PAD - 0x0800e108 0x0800e108 0x0000002e Code RO 2440 .text.UART_Get uart.o - 0x0800e136 0x0800e136 0x00000002 PAD - 0x0800e138 0x0800e138 0x00000168 Code RO 1443 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800e2a0 0x0800e2a0 0x0000013a Code RO 1361 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800e3da 0x0800e3da 0x00000002 PAD - 0x0800e3dc 0x0800e3dc 0x00000094 Code RO 1451 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800e470 0x0800e470 0x00000020 Code RO 186 .text.USART3_IRQHandler stm32f4xx_it.o - 0x0800e490 0x0800e490 0x00000022 Code RO 2919 .text.USART3_IRQHandler1 remote_control.o - 0x0800e4b2 0x0800e4b2 0x00000002 PAD - 0x0800e4b4 0x0800e4b4 0x00000004 Code RO 160 .text.UsageFault_Handler stm32f4xx_it.o - 0x0800e4b8 0x0800e4b8 0x0000001e Code RO 2537 .text.__ARM_isfinite filter.o - 0x0800e4d6 0x0800e4d6 0x00000002 PAD - 0x0800e4d8 0x0800e4d8 0x0000001e Code RO 2634 .text.__ARM_isfinite pid.o - 0x0800e4f6 0x0800e4f6 0x00000002 PAD - 0x0800e4f8 0x0800e4f8 0x00000018 Code RO 2535 .text.__ARM_isfinitef filter.o - 0x0800e510 0x0800e510 0x00000018 Code RO 2632 .text.__ARM_isfinitef pid.o - 0x0800e528 0x0800e528 0x00000034 Code RO 2531 .text.__ARM_isinf filter.o - 0x0800e55c 0x0800e55c 0x0000001c Code RO 2529 .text.__ARM_isinff filter.o - 0x0800e578 0x0800e578 0x00000038 Code RO 584 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800e5b0 0x0800e5b0 0x00000030 Code RO 580 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800e5e0 0x0800e5e0 0x00000010 Code RO 572 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800e5f0 0x0800e5f0 0x00000042 Code RO 574 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800e632 0x0800e632 0x00000002 PAD - 0x0800e634 0x0800e634 0x00000042 Code RO 2104 .text.__NVIC_SetPriority cmsis_os2.o - 0x0800e676 0x0800e676 0x00000002 PAD - 0x0800e678 0x0800e678 0x0000003c Code RO 568 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800e6b4 0x0800e6b4 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o - 0x0800e6b6 0x0800e6b6 0x00000002 PAD - 0x0800e6b8 0x0800e6b8 0x0000001e Code RO 2482 .text.copysignf ahrs.o - 0x0800e6d6 0x0800e6d6 0x00000002 PAD - 0x0800e6d8 0x0800e6d8 0x0000003e Code RO 2702 .text.delay_init bsp_delay.o - 0x0800e716 0x0800e716 0x00000002 PAD - 0x0800e718 0x0800e718 0x000000f6 Code RO 1726 .text.eTaskGetState tasks.o - 0x0800e80e 0x0800e80e 0x00000002 PAD - 0x0800e810 0x0800e810 0x00000058 Code RO 2976 .text.float_to_uint motor_dm.o - 0x0800e868 0x0800e868 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o - 0x0800e86c 0x0800e86c 0x00000050 Code RO 11 .text.main main.o - 0x0800e8bc 0x0800e8bc 0x0000002a Code RO 2742 .text.map calc_lib.o - 0x0800e8e6 0x0800e8e6 0x00000002 PAD - 0x0800e8e8 0x0800e8e8 0x00000034 Code RO 2006 .text.osDelay cmsis_os2.o - 0x0800e91c 0x0800e91c 0x00000058 Code RO 2008 .text.osDelayUntil cmsis_os2.o - 0x0800e974 0x0800e974 0x00000052 Code RO 1944 .text.osKernelGetState cmsis_os2.o - 0x0800e9c6 0x0800e9c6 0x00000002 PAD - 0x0800e9c8 0x0800e9c8 0x00000026 Code RO 1956 .text.osKernelGetTickCount cmsis_os2.o - 0x0800e9ee 0x0800e9ee 0x00000002 PAD - 0x0800e9f0 0x0800e9f0 0x00000006 Code RO 1958 .text.osKernelGetTickFreq cmsis_os2.o - 0x0800e9f6 0x0800e9f6 0x00000002 PAD - 0x0800e9f8 0x0800e9f8 0x00000046 Code RO 1940 .text.osKernelInitialize cmsis_os2.o - 0x0800ea3e 0x0800ea3e 0x00000002 PAD - 0x0800ea40 0x0800ea40 0x00000056 Code RO 1950 .text.osKernelLock cmsis_os2.o - 0x0800ea96 0x0800ea96 0x00000002 PAD - 0x0800ea98 0x0800ea98 0x00000052 Code RO 1946 .text.osKernelStart cmsis_os2.o - 0x0800eaea 0x0800eaea 0x00000002 PAD - 0x0800eaec 0x0800eaec 0x0000006e Code RO 1952 .text.osKernelUnlock cmsis_os2.o - 0x0800eb5a 0x0800eb5a 0x00000002 PAD - 0x0800eb5c 0x0800eb5c 0x000000c0 Code RO 2060 .text.osMessageQueueGet cmsis_os2.o - 0x0800ec1c 0x0800ec1c 0x000000fe Code RO 2056 .text.osMessageQueueNew cmsis_os2.o - 0x0800ed1a 0x0800ed1a 0x00000002 PAD - 0x0800ed1c 0x0800ed1c 0x000000c4 Code RO 2058 .text.osMessageQueuePut cmsis_os2.o - 0x0800ede0 0x0800ede0 0x00000040 Code RO 2070 .text.osMessageQueueReset cmsis_os2.o - 0x0800ee20 0x0800ee20 0x0000009e Code RO 2038 .text.osMutexAcquire cmsis_os2.o - 0x0800eebe 0x0800eebe 0x00000002 PAD - 0x0800eec0 0x0800eec0 0x00000128 Code RO 2036 .text.osMutexNew 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.text.vApplicationStackOverflowHook freertos.o + 0x08005ac8 0x08005ac8 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08005b8a 0x08005b8a 0x00000002 PAD + 0x08005b8c 0x08005b8c 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o + 0x08005bce 0x08005bce 0x00000002 PAD + 0x08005bd0 0x08005bd0 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08005c36 0x08005c36 0x00000002 PAD + 0x08005c38 0x08005c38 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08005c70 0x08005c70 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x08006026 0x08006026 0x00000002 PAD + 0x08006028 0x08006028 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x08006056 0x08006056 0x00000002 PAD + 0x08006058 0x08006058 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x08006086 0x08006086 0x00000002 PAD + 0x08006088 0x08006088 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o + 0x08006094 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0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x08009c50 0x08009c50 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x08009c60 0x08009c60 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x08009c94 0x08009c94 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x08009dea 0x08009dea 0x00000002 PAD + 0x08009dec 0x08009dec 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x08009e10 0x08009e10 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o + 0x08009e58 0x08009e58 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800a0d2 0x0800a0d2 0x00000002 PAD + 0x0800a0d4 0x0800a0d4 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800a280 0x0800a280 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800a3ea 0x0800a3ea 0x00000002 PAD + 0x0800a3ec 0x0800a3ec 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800a4ca 0x0800a4ca 0x00000002 PAD + 0x0800a4cc 0x0800a4cc 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800a60a 0x0800a60a 0x00000002 PAD + 0x0800a60c 0x0800a60c 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800a652 0x0800a652 0x00000002 PAD + 0x0800a654 0x0800a654 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800a992 0x0800a992 0x00000002 PAD + 0x0800a994 0x0800a994 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800aa84 0x0800aa84 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800abac 0x0800abac 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800abda 0x0800abda 0x00000002 PAD + 0x0800abdc 0x0800abdc 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ac4a 0x0800ac4a 0x00000002 PAD + 0x0800ac4c 0x0800ac4c 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ac78 0x0800ac78 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800ace4 0x0800ace4 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800ad92 0x0800ad92 0x00000002 PAD + 0x0800ad94 0x0800ad94 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800ae78 0x0800ae78 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800b0c2 0x0800b0c2 0x00000002 PAD + 0x0800b0c4 0x0800b0c4 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800b13c 0x0800b13c 0x00000076 Code RO 2675 .text.InvSqrt user_math.o + 0x0800b1b2 0x0800b1b2 0x00000002 PAD + 0x0800b1b4 0x0800b1b4 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o + 0x0800b26c 0x0800b26c 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o + 0x0800b3a8 0x0800b3a8 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o + 0x0800b43a 0x0800b43a 0x00000002 PAD + 0x0800b43c 0x0800b43c 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800b4d2 0x0800b4d2 0x00000002 PAD + 0x0800b4d4 0x0800b4d4 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o + 0x0800b54e 0x0800b54e 0x00000002 PAD + 0x0800b550 0x0800b550 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800b580 0x0800b580 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800b606 0x0800b606 0x00000002 PAD + 0x0800b608 0x0800b608 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800b650 0x0800b650 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800b7a8 0x0800b7a8 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o + 0x0800b8d4 0x0800b8d4 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800ba18 0x0800ba18 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o + 0x0800bb24 0x0800bb24 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800bbba 0x0800bbba 0x00000002 PAD + 0x0800bbbc 0x0800bbbc 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800bd2c 0x0800bd2c 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800bd5c 0x0800bd5c 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800bdae 0x0800bdae 0x00000002 PAD + 0x0800bdb0 0x0800bdb0 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800be30 0x0800be30 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800bea8 0x0800bea8 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800bef8 0x0800bef8 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o + 0x0800c018 0x0800c018 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800c132 0x0800c132 0x00000002 PAD + 0x0800c134 0x0800c134 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o + 0x0800c236 0x0800c236 0x00000002 PAD + 0x0800c238 0x0800c238 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800c286 0x0800c286 0x00000002 PAD + 0x0800c288 0x0800c288 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800c2d6 0x0800c2d6 0x00000002 PAD + 0x0800c2d8 0x0800c2d8 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800c35e 0x0800c35e 0x00000002 PAD + 0x0800c360 0x0800c360 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800c3a0 0x0800c3a0 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800c5ca 0x0800c5ca 0x00000002 PAD + 0x0800c5cc 0x0800c5cc 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800c614 0x0800c614 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800c65c 0x0800c65c 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800c6ae 0x0800c6ae 0x00000002 PAD + 0x0800c6b0 0x0800c6b0 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800c704 0x0800c704 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800c792 0x0800c792 0x00000002 PAD + 0x0800c794 0x0800c794 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800c7ec 0x0800c7ec 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800c82c 0x0800c82c 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o + 0x0800c878 0x0800c878 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o + 0x0800c87c 0x0800c87c 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o + 0x0800ca98 0x0800ca98 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o + 0x0800ca9c 0x0800ca9c 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800cb08 0x0800cb08 0x000002f0 Code RO 2638 .text.PID_Calc pid.o + 0x0800cdf8 0x0800cdf8 0x00000196 Code RO 2630 .text.PID_Init pid.o + 0x0800cf8e 0x0800cf8e 0x00000002 PAD + 0x0800cf90 0x0800cf90 0x00000048 Code RO 2636 .text.PID_Reset pid.o + 0x0800cfd8 0x0800cfd8 0x00000008 PAD + 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 + 0x0800e5f6 0x0800e5f6 0x00000002 PAD + 0x0800e5f8 0x0800e5f8 0x0000001e Code RO 2634 .text.__ARM_isfinite pid.o + 0x0800e616 0x0800e616 0x00000002 PAD + 0x0800e618 0x0800e618 0x00000018 Code RO 2535 .text.__ARM_isfinitef filter.o + 0x0800e630 0x0800e630 0x00000018 Code RO 2632 .text.__ARM_isfinitef pid.o + 0x0800e648 0x0800e648 0x00000034 Code RO 2531 .text.__ARM_isinf filter.o + 0x0800e67c 0x0800e67c 0x0000001c Code RO 2529 .text.__ARM_isinff filter.o + 0x0800e698 0x0800e698 0x00000038 Code RO 584 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x0800e6d0 0x0800e6d0 0x00000030 Code RO 580 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x0800e700 0x0800e700 0x00000010 Code RO 572 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800e710 0x0800e710 0x00000042 Code RO 574 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x0800e752 0x0800e752 0x00000002 PAD + 0x0800e754 0x0800e754 0x00000042 Code RO 2104 .text.__NVIC_SetPriority cmsis_os2.o + 0x0800e796 0x0800e796 0x00000002 PAD + 0x0800e798 0x0800e798 0x0000003c Code RO 568 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800e7d4 0x0800e7d4 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o + 0x0800e7d6 0x0800e7d6 0x00000002 PAD + 0x0800e7d8 0x0800e7d8 0x0000001e Code RO 2482 .text.copysignf ahrs.o + 0x0800e7f6 0x0800e7f6 0x00000002 PAD + 0x0800e7f8 0x0800e7f8 0x0000003e Code RO 2702 .text.delay_init bsp_delay.o + 0x0800e836 0x0800e836 0x00000002 PAD + 0x0800e838 0x0800e838 0x000000f6 Code RO 1726 .text.eTaskGetState tasks.o + 0x0800e92e 0x0800e92e 0x00000002 PAD + 0x0800e930 0x0800e930 0x00000058 Code RO 2976 .text.float_to_uint motor_dm.o + 0x0800e988 0x0800e988 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o + 0x0800e98c 0x0800e98c 0x00000050 Code RO 11 .text.main main.o + 0x0800e9dc 0x0800e9dc 0x0000002a Code RO 2742 .text.map calc_lib.o + 0x0800ea06 0x0800ea06 0x00000002 PAD + 0x0800ea08 0x0800ea08 0x00000034 Code RO 2006 .text.osDelay cmsis_os2.o + 0x0800ea3c 0x0800ea3c 0x00000058 Code RO 2008 .text.osDelayUntil cmsis_os2.o + 0x0800ea94 0x0800ea94 0x00000052 Code RO 1944 .text.osKernelGetState cmsis_os2.o + 0x0800eae6 0x0800eae6 0x00000002 PAD + 0x0800eae8 0x0800eae8 0x00000026 Code RO 1956 .text.osKernelGetTickCount cmsis_os2.o + 0x0800eb0e 0x0800eb0e 0x00000002 PAD + 0x0800eb10 0x0800eb10 0x00000006 Code RO 1958 .text.osKernelGetTickFreq cmsis_os2.o + 0x0800eb16 0x0800eb16 0x00000002 PAD + 0x0800eb18 0x0800eb18 0x00000046 Code RO 1940 .text.osKernelInitialize cmsis_os2.o + 0x0800eb5e 0x0800eb5e 0x00000002 PAD + 0x0800eb60 0x0800eb60 0x00000056 Code RO 1950 .text.osKernelLock cmsis_os2.o + 0x0800ebb6 0x0800ebb6 0x00000002 PAD + 0x0800ebb8 0x0800ebb8 0x00000052 Code RO 1946 .text.osKernelStart cmsis_os2.o + 0x0800ec0a 0x0800ec0a 0x00000002 PAD + 0x0800ec0c 0x0800ec0c 0x0000006e Code RO 1952 .text.osKernelUnlock cmsis_os2.o + 0x0800ec7a 0x0800ec7a 0x00000002 PAD + 0x0800ec7c 0x0800ec7c 0x000000c0 Code RO 2060 .text.osMessageQueueGet cmsis_os2.o + 0x0800ed3c 0x0800ed3c 0x000000fe Code RO 2056 .text.osMessageQueueNew cmsis_os2.o + 0x0800ee3a 0x0800ee3a 0x00000002 PAD + 0x0800ee3c 0x0800ee3c 0x000000c4 Code RO 2058 .text.osMessageQueuePut cmsis_os2.o + 0x0800ef00 0x0800ef00 0x00000040 Code RO 2070 .text.osMessageQueueReset cmsis_os2.o + 0x0800ef40 0x0800ef40 0x0000009e Code RO 2038 .text.osMutexAcquire cmsis_os2.o + 0x0800efde 0x0800efde 0x00000002 PAD + 0x0800efe0 0x0800efe0 0x00000128 Code RO 2036 .text.osMutexNew cmsis_os2.o + 0x0800f108 0x0800f108 0x0000007e Code RO 2040 .text.osMutexRelease cmsis_os2.o + 0x0800f186 0x0800f186 0x00000002 PAD + 0x0800f188 0x0800f188 0x000000a4 Code RO 1998 .text.osThreadFlagsSet cmsis_os2.o + 0x0800f22c 0x0800f22c 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port.o + 0x080117e8 0x080117e8 0x00000026 Code RO 1565 .text.xQueueCreateMutex queue.o + 0x0801180e 0x0801180e 0x00000002 PAD + 0x08011810 0x08011810 0x00000032 Code RO 1569 .text.xQueueCreateMutexStatic queue.o + 0x08011842 0x08011842 0x00000002 PAD + 0x08011844 0x08011844 0x00000074 Code RO 1563 .text.xQueueGenericCreate queue.o + 0x080118b8 0x080118b8 0x0000010e Code RO 1559 .text.xQueueGenericCreateStatic queue.o + 0x080119c6 0x080119c6 0x00000002 PAD + 0x080119c8 0x080119c8 0x000000ba Code RO 1557 .text.xQueueGenericReset queue.o + 0x08011a82 0x08011a82 0x00000002 PAD + 0x08011a84 0x08011a84 0x0000022c Code RO 1577 .text.xQueueGenericSend queue.o + 0x08011cb0 0x08011cb0 0x0000014c Code RO 1593 .text.xQueueGenericSendFromISR queue.o + 0x08011dfc 0x08011dfc 0x0000006c Code RO 1575 .text.xQueueGiveMutexRecursive queue.o + 0x08011e68 0x08011e68 0x000001dc Code RO 1597 .text.xQueueReceive queue.o + 0x08012044 0x08012044 0x00000108 Code RO 1607 .text.xQueueReceiveFromISR queue.o + 0x0801214c 0x0801214c 0x0000022c Code RO 1581 .text.xQueueSemaphoreTake queue.o + 0x08012378 0x08012378 0x0000006e Code RO 1579 .text.xQueueTakeMutexRecursive queue.o + 0x080123e6 0x080123e6 0x00000002 PAD + 0x080123e8 0x080123e8 0x000000cc Code RO 1784 .text.xTaskCheckForTimeOut tasks.o + 0x080124b4 0x080124b4 0x0000009e Code RO 1708 .text.xTaskCreate tasks.o + 0x08012552 0x08012552 0x00000002 PAD + 0x08012554 0x08012554 0x000000ce Code RO 1702 .text.xTaskCreateStatic tasks.o + 0x08012622 0x08012622 0x00000002 PAD + 0x08012624 0x08012624 0x00000178 Code RO 1824 .text.xTaskGenericNotify tasks.o + 0x0801279c 0x0801279c 0x000001c4 Code RO 1826 .text.xTaskGenericNotifyFromISR tasks.o + 0x08012960 0x08012960 0x00000014 Code RO 1800 .text.xTaskGetCurrentTaskHandle tasks.o + 0x08012974 0x08012974 0x00000038 Code RO 1802 .text.xTaskGetSchedulerState tasks.o + 0x080129ac 0x080129ac 0x00000014 Code RO 1752 .text.xTaskGetTickCount tasks.o + 0x080129c0 0x080129c0 0x0000001e Code RO 1754 .text.xTaskGetTickCountFromISR tasks.o + 0x080129de 0x080129de 0x00000002 PAD + 0x080129e0 0x080129e0 0x000001c4 Code RO 1750 .text.xTaskIncrementTick tasks.o + 0x08012ba4 0x08012ba4 0x000000d6 Code RO 1822 .text.xTaskNotifyWait tasks.o + 0x08012c7a 0x08012c7a 0x00000002 PAD + 0x08012c7c 0x08012c7c 0x000000ec Code RO 1806 .text.xTaskPriorityDisinherit tasks.o + 0x08012d68 0x08012d68 0x0000010e Code RO 1804 .text.xTaskPriorityInherit tasks.o + 0x08012e76 0x08012e76 0x00000002 PAD + 0x08012e78 0x08012e78 0x000000ce Code RO 1776 .text.xTaskRemoveFromEventList tasks.o + 0x08012f46 0x08012f46 0x00000002 PAD + 0x08012f48 0x08012f48 0x00000186 Code RO 1722 .text.xTaskResumeAll tasks.o + 0x080130ce 0x080130ce 0x00000002 PAD + 0x080130d0 0x080130d0 0x00000094 Code RO 1869 .text.xTimerCreateTimerTask timers.o + 0x08013164 0x08013164 0x000000b0 Code RO 1881 .text.xTimerGenericCommand timers.o + 0x08013214 0x08013214 0x00000030 Code RO 3382 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x08013244 0x08013244 0x00000026 Code RO 3312 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x0801326a 0x0801326a 0x00000002 PAD + 0x0801326c 0x0801326c 0x0000012c Code RO 3126 i.__hardfp_asinf m_wm.l(asinf.o) + 0x08013398 0x08013398 0x000002d8 Code RO 3285 i.__hardfp_atan m_wm.l(atan.o) + 0x08013670 0x08013670 0x00000200 Code RO 3132 i.__hardfp_atan2 m_wm.l(atan2.o) + 0x08013870 0x08013870 0x000002ac Code RO 3138 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x08013b1c 0x08013b1c 0x00000150 Code RO 3144 i.__hardfp_cosf m_wm.l(cosf.o) + 0x08013c6c 0x08013c6c 0x0000017c Code RO 3150 i.__hardfp_tanf m_wm.l(tanf.o) + 0x08013de8 0x08013de8 0x000000f8 Code RO 3384 i.__kernel_poly m_wm.l(poly.o) + 0x08013ee0 0x08013ee0 0x00000014 Code RO 3293 i.__mathlib_dbl_infnan m_wm.l(dunder.o) + 0x08013ef4 0x08013ef4 0x00000014 Code RO 3294 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o) + 0x08013f08 0x08013f08 0x00000020 Code RO 3298 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x08013f28 0x08013f28 0x00000006 Code RO 3315 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x08013f2e 0x08013f2e 0x00000006 Code RO 3316 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x08013f34 0x08013f34 0x00000010 Code RO 3317 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x08013f44 0x08013f44 0x00000010 Code RO 3320 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x08013f54 0x08013f54 0x00000154 Code RO 3329 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x080140a8 0x080140a8 0x00000010 Code RO 3287 i.atan m_wm.l(atan.o) + 0x080140b8 0x080140b8 0x00000018 Code RO 3308 i.fabs m_wm.l(fabs.o) + 0x080140d0 0x080140d0 0x0000003e Code RO 3334 i.sqrtf m_wm.l(sqrtf.o) + 0x0801410e 0x0801410e 0x00000018 Code RO 3258 x$fpl$basic fz_wm.l(basic.o) + 0x08014126 0x08014126 0x00000002 PAD + 0x08014128 0x08014128 0x00000062 Code RO 3100 x$fpl$d2f fz_wm.l(d2f.o) + 0x0801418a 0x0801418a 0x00000002 PAD + 0x0801418c 0x0801418c 0x00000150 Code RO 3260 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x080142dc 0x080142dc 0x00000018 Code RO 3380 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x080142f4 0x080142f4 0x000002b4 Code RO 3103 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x080145a8 0x080145a8 0x00000078 Code RO 3266 x$fpl$deqf fz_wm.l(deqf.o) + 0x08014620 0x08014620 0x0000005e Code RO 3106 x$fpl$dfix fz_wm.l(dfix.o) + 0x0801467e 0x0801467e 0x00000002 PAD + 0x08014680 0x08014680 0x0000005a Code RO 3110 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x080146da 0x080146da 0x0000002e Code RO 3115 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x08014708 0x08014708 0x00000026 Code RO 3114 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x0801472e 0x0801472e 0x00000002 PAD + 0x08014730 0x08014730 0x00000154 Code RO 3120 x$fpl$dmul fz_wm.l(dmul.o) + 0x08014884 0x08014884 0x0000009c Code RO 3268 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x08014920 0x08014920 0x0000000c Code RO 3270 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x0801492c 0x0801492c 0x00000016 Code RO 3261 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x08014942 0x08014942 0x00000002 PAD + 0x08014944 0x08014944 0x000001dc Code RO 3262 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x08014b20 0x08014b20 0x00000056 Code RO 3122 x$fpl$f2d fz_wm.l(f2d.o) + 0x08014b76 0x08014b76 0x00000060 Code RO 3124 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x08014bd6 0x08014bd6 0x0000008c Code RO 3272 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x08014c62 0x08014c62 0x0000001a Code RO 3523 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x08014c7c 0x08014c7c 0x0000000a Code RO 3274 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x08014c86 0x08014c86 0x00000000 Code RO 3284 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x08014c86 0x08014c86 0x00000002 PAD + 0x08014c88 0x08014c88 0x00000098 Data RO 3288 .constdata m_wm.l(atan.o) + 0x08014d20 0x08014d20 0x00000008 Data RO 3328 .constdata m_wm.l(qnan.o) + 0x08014d28 0x08014d28 0x00000020 Data RO 3330 .constdata m_wm.l(rredf.o) + 0x08014d48 0x08014d48 0x00000010 Data RO 1493 .rodata.AHBPrescTable system_stm32f4xx.o + 0x08014d58 0x08014d58 0x00000008 Data RO 1494 .rodata.APBPrescTable system_stm32f4xx.o + 0x08014d60 0x08014d60 0x00000008 Data RO 498 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o + 0x08014d68 0x08014d68 0x00000038 Data RO 2290 .rodata.GPIO_Map gpio_1.o + 0x08014da0 0x08014da0 0x00000008 Data RO 2371 .rodata.PWM_Map pwm.o + 0x08014da8 0x08014da8 0x00000024 Data RO 3023 .rodata.attr_atti_esti user_task.o + 0x08014dcc 0x08014dcc 0x00000024 Data RO 3024 .rodata.attr_gimbal_ctrl user_task.o + 0x08014df0 0x08014df0 0x00000024 Data RO 3022 .rodata.attr_init user_task.o + 0x08014e14 0x08014e14 0x00000024 Data RO 3025 .rodata.attr_remote user_task.o + 0x08014e38 0x08014e38 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o + 0x08014e5c 0x08014e5c 0x00000020 Data RO 3001 .rodata.imu_temp_ctrl_pid_param atti_esti.o + 0x08014e7c 0x08014e7c 0x0000000c Data RO 43 .rodata.str1.1 freertos.o + 0x08014e88 0x08014e88 0x00000005 Data RO 1852 .rodata.str1.1 tasks.o + 0x08014e8d 0x08014e8d 0x0000000d Data RO 1924 .rodata.str1.1 timers.o + 0x08014e9a 0x08014e9a 0x00000027 Data RO 3021 .rodata.str1.1 user_task.o + 0x08014ec1 0x08014ec1 0x00000003 PAD + 0x08014ec4 0x08014ec4 0x00000020 Data RO 3584 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014dc8, Size: 0x00008788, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000088]) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014ee8, Size: 0x00008770, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000078]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x20000000 COMPRESSED 0x00000004 Data RW 1492 .data.SystemCoreClock system_stm32f4xx.o 0x20000004 COMPRESSED 0x00000004 Data RW 2486 .data.beta ahrs.o - 0x20000008 COMPRESSED 0x00000194 Data RW 3064 .data.robot_config config.o - 0x2000019c COMPRESSED 0x00000001 Data RW 698 .data.uwTickFreq stm32f4xx_hal.o - 0x2000019d COMPRESSED 0x00000003 PAD - 0x200001a0 COMPRESSED 0x00000004 Data RW 697 .data.uwTickPrio stm32f4xx_hal.o - 0x200001a4 COMPRESSED 0x00000004 Data RW 2178 .data.uxCriticalNesting port.o + 0x20000008 COMPRESSED 0x00000190 Data RW 3064 .data.robot_config config.o + 0x20000198 COMPRESSED 0x00000001 Data RW 698 .data.uwTickFreq stm32f4xx_hal.o + 0x20000199 COMPRESSED 0x00000003 PAD + 0x2000019c COMPRESSED 0x00000004 Data RW 697 .data.uwTickPrio stm32f4xx_hal.o + 0x200001a0 COMPRESSED 0x00000004 Data RW 2178 .data.uxCriticalNesting port.o + 0x200001a4 COMPRESSED 0x00000004 PAD 0x200001a8 - 0x00000060 Zero RW 3387 .bss c_w.l(libspace.o) 0x20000208 - 0x00000068 Zero RW 2262 .bss.CAN_Callback can_1.o 0x20000270 - 0x00000040 Zero RW 2289 .bss.GPIO_Callback gpio_1.o @@ -8575,95 +8579,95 @@ Memory Map of the image 0x200003dc - 0x00000004 Zero RW 2709 .bss.fac_ms bsp_delay.o 0x200003e0 - 0x00000001 Zero RW 2708 .bss.fac_us bsp_delay.o 0x200003e1 COMPRESSED 0x00000007 PAD - 0x200003e8 - 0x000002e8 Zero RW 3034 .bss.gimbal gimbal_ctrl.o - 0x200006d0 - 0x00000014 Zero RW 2998 .bss.gimbal_ahrs atti_esti.o - 0x200006e4 - 0x0000000c Zero RW 3036 .bss.gimbal_cmd gimbal_ctrl.o - 0x200006f0 - 0x00000018 Zero RW 3035 .bss.gimbal_imu gimbal_ctrl.o - 0x20000708 - 0x00000018 Zero RW 3003 .bss.gimbal_to_send atti_esti.o - 0x20000720 - 0x00000028 Zero RW 61 .bss.hcan1 can.o - 0x20000748 - 0x00000028 Zero RW 62 .bss.hcan2 can.o - 0x20000770 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o - 0x200007d0 - 0x00000060 Zero RW 107 .bss.hdma_spi1_tx spi.o - 0x20000830 - 0x00000060 Zero RW 144 .bss.hdma_usart3_rx usart.o - 0x20000890 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o - 0x200008e4 - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o - 0x20000938 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o - 0x20000990 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o - 0x200009e8 - 0x00000048 Zero RW 126 .bss.htim10 tim.o - 0x20000a30 - 0x00000048 Zero RW 125 .bss.htim7 tim.o - 0x20000a78 - 0x00000048 Zero RW 142 .bss.huart1 usart.o - 0x20000ac0 - 0x00000048 Zero RW 143 .bss.huart3 usart.o - 0x20000b08 - 0x00000004 Zero RW 2264 .bss.id_parser can_1.o - 0x20000b0c - 0x00000018 Zero RW 3014 .bss.imu remote.o - 0x20000b24 - 0x0000003c Zero RW 3000 .bss.imu_temp_ctrl_pid atti_esti.o - 0x20000b60 - 0x00000001 Zero RW 2263 .bss.inited can_1.o - 0x20000b61 - 0x00000001 Zero RW 2785 .bss.inited bmi088.o - 0x20000b62 COMPRESSED 0x00000002 PAD - 0x20000b64 - 0x0000000c Zero RW 2999 .bss.magn atti_esti.o - 0x20000b70 - 0x000000a0 Zero RW 1932 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x20000c10 - 0x00000050 Zero RW 1931 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x20000c60 - 0x00000004 Zero RW 1928 .bss.prvSampleTimeNow.xLastTime timers.o - 0x20000c64 - 0x00000004 Zero RW 1838 .bss.pxCurrentTCB tasks.o - 0x20000c68 - 0x00000004 Zero RW 1926 .bss.pxCurrentTimerList timers.o - 0x20000c6c - 0x00000004 Zero RW 1846 .bss.pxDelayedTaskList tasks.o - 0x20000c70 - 0x00000004 Zero RW 2135 .bss.pxEnd heap_4.o - 0x20000c74 - 0x00000004 Zero RW 1847 .bss.pxOverflowDelayedTaskList tasks.o - 0x20000c78 - 0x00000004 Zero RW 1927 .bss.pxOverflowTimerList timers.o - 0x20000c7c - 0x00000460 Zero RW 1849 .bss.pxReadyTasksLists tasks.o - 0x200010dc - 0x00000004 Zero RW 2267 .bss.queue_list can_1.o - 0x200010e0 - 0x00000004 Zero RW 2265 .bss.queue_mutex can_1.o - 0x200010e4 - 0x00000018 Zero RW 2926 .bss.rc_ctrl remote_control.o - 0x200010fc - 0x0000000c Zero RW 3013 .bss.remote_cmd remote.o - 0x20001108 - 0x00000019 Zero RW 2925 .bss.sbus_rx_buf remote_control.o - 0x20001121 COMPRESSED 0x00000003 PAD - 0x20001124 - 0x00000050 Zero RW 3026 .bss.task_runtime user_task.o - 0x20001174 - 0x00000004 Zero RW 2786 .bss.thread_alert bmi088.o - 0x20001178 - 0x00000810 Zero RW 2266 .bss.tx_queues can_1.o - 0x20001988 - 0x00006000 Zero RW 2142 .bss.ucHeap heap_4.o - 0x20007988 - 0x00000001 Zero RW 2176 .bss.ucMaxSysCallPriority port.o - 0x20007989 COMPRESSED 0x00000003 PAD - 0x2000798c - 0x00000004 Zero RW 2177 .bss.ulMaxPRIGROUPValue port.o - 0x20007990 - 0x00000004 Zero RW 1859 .bss.ulTaskSwitchedInTime tasks.o - 0x20007994 - 0x00000004 Zero RW 1858 .bss.ulTotalRunTime tasks.o - 0x20007998 - 0x00000004 Zero RW 699 .bss.uwTick stm32f4xx_hal.o - 0x2000799c - 0x00000004 Zero RW 1842 .bss.uxCurrentNumberOfTasks tasks.o - 0x200079a0 - 0x00000004 Zero RW 1841 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x200079a4 - 0x00000004 Zero RW 1844 .bss.uxSchedulerSuspended tasks.o - 0x200079a8 - 0x00000004 Zero RW 1839 .bss.uxTaskNumber tasks.o - 0x200079ac - 0x00000004 Zero RW 1850 .bss.uxTopReadyPriority tasks.o - 0x200079b0 - 0x00000200 Zero RW 2109 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x20007bb0 - 0x00000064 Zero RW 2108 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x20007c14 - 0x00000400 Zero RW 2111 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x20008014 - 0x00000064 Zero RW 2110 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x20008078 - 0x00000014 Zero RW 1929 .bss.xActiveTimerList1 timers.o - 0x2000808c - 0x00000014 Zero RW 1930 .bss.xActiveTimerList2 timers.o - 0x200080a0 - 0x00000004 Zero RW 2136 .bss.xBlockAllocatedBit heap_4.o - 0x200080a4 - 0x00000014 Zero RW 1860 .bss.xDelayedTaskList1 tasks.o - 0x200080b8 - 0x00000014 Zero RW 1861 .bss.xDelayedTaskList2 tasks.o - 0x200080cc - 0x00000004 Zero RW 2137 .bss.xFreeBytesRemaining heap_4.o - 0x200080d0 - 0x00000004 Zero RW 1853 .bss.xIdleTaskHandle tasks.o - 0x200080d4 - 0x00000004 Zero RW 2139 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x200080d8 - 0x00000004 Zero RW 1854 .bss.xNextTaskUnblockTime tasks.o - 0x200080dc - 0x00000004 Zero RW 1857 .bss.xNumOfOverflows tasks.o - 0x200080e0 - 0x00000004 Zero RW 2140 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x200080e4 - 0x00000004 Zero RW 2141 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x200080e8 - 0x00000004 Zero RW 1856 .bss.xPendedTicks tasks.o - 0x200080ec - 0x00000014 Zero RW 1851 .bss.xPendingReadyList tasks.o - 0x20008100 - 0x00000040 Zero RW 1637 .bss.xQueueRegistry queue.o - 0x20008140 - 0x00000004 Zero RW 1843 .bss.xSchedulerRunning tasks.o - 0x20008144 - 0x00000008 Zero RW 2138 .bss.xStart heap_4.o - 0x2000814c - 0x00000014 Zero RW 1848 .bss.xSuspendedTaskList tasks.o - 0x20008160 - 0x00000014 Zero RW 1840 .bss.xTasksWaitingTermination tasks.o - 0x20008174 - 0x00000004 Zero RW 1845 .bss.xTickCount tasks.o - 0x20008178 - 0x00000004 Zero RW 1923 .bss.xTimerQueue timers.o - 0x2000817c - 0x00000004 Zero RW 1925 .bss.xTimerTaskHandle timers.o - 0x20008180 - 0x00000004 Zero RW 1855 .bss.xYieldPending tasks.o - 0x20008184 COMPRESSED 0x00000004 PAD - 0x20008188 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x20008388 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x200003e8 - 0x000002d0 Zero RW 3034 .bss.gimbal gimbal_ctrl.o + 0x200006b8 - 0x00000014 Zero RW 2998 .bss.gimbal_ahrs atti_esti.o + 0x200006cc - 0x0000000c Zero RW 3036 .bss.gimbal_cmd gimbal_ctrl.o + 0x200006d8 - 0x00000018 Zero RW 3035 .bss.gimbal_imu gimbal_ctrl.o + 0x200006f0 - 0x00000018 Zero RW 3003 .bss.gimbal_to_send atti_esti.o + 0x20000708 - 0x00000028 Zero RW 61 .bss.hcan1 can.o + 0x20000730 - 0x00000028 Zero RW 62 .bss.hcan2 can.o + 0x20000758 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o + 0x200007b8 - 0x00000060 Zero RW 107 .bss.hdma_spi1_tx spi.o + 0x20000818 - 0x00000060 Zero RW 144 .bss.hdma_usart3_rx usart.o + 0x20000878 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o + 0x200008cc - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o + 0x20000920 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o + 0x20000978 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o + 0x200009d0 - 0x00000048 Zero RW 126 .bss.htim10 tim.o + 0x20000a18 - 0x00000048 Zero RW 125 .bss.htim7 tim.o + 0x20000a60 - 0x00000048 Zero RW 142 .bss.huart1 usart.o + 0x20000aa8 - 0x00000048 Zero RW 143 .bss.huart3 usart.o + 0x20000af0 - 0x00000004 Zero RW 2264 .bss.id_parser can_1.o + 0x20000af4 - 0x00000018 Zero RW 3014 .bss.imu remote.o + 0x20000b0c - 0x0000003c Zero RW 3000 .bss.imu_temp_ctrl_pid atti_esti.o + 0x20000b48 - 0x00000001 Zero RW 2263 .bss.inited can_1.o + 0x20000b49 - 0x00000001 Zero RW 2785 .bss.inited bmi088.o + 0x20000b4a COMPRESSED 0x00000002 PAD + 0x20000b4c - 0x0000000c Zero RW 2999 .bss.magn atti_esti.o + 0x20000b58 - 0x000000a0 Zero RW 1932 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x20000bf8 - 0x00000050 Zero RW 1931 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x20000c48 - 0x00000004 Zero RW 1928 .bss.prvSampleTimeNow.xLastTime timers.o + 0x20000c4c - 0x00000004 Zero RW 1838 .bss.pxCurrentTCB tasks.o + 0x20000c50 - 0x00000004 Zero RW 1926 .bss.pxCurrentTimerList timers.o + 0x20000c54 - 0x00000004 Zero RW 1846 .bss.pxDelayedTaskList tasks.o + 0x20000c58 - 0x00000004 Zero RW 2135 .bss.pxEnd heap_4.o + 0x20000c5c - 0x00000004 Zero RW 1847 .bss.pxOverflowDelayedTaskList tasks.o + 0x20000c60 - 0x00000004 Zero RW 1927 .bss.pxOverflowTimerList timers.o + 0x20000c64 - 0x00000460 Zero RW 1849 .bss.pxReadyTasksLists tasks.o + 0x200010c4 - 0x00000004 Zero RW 2267 .bss.queue_list can_1.o + 0x200010c8 - 0x00000004 Zero RW 2265 .bss.queue_mutex can_1.o + 0x200010cc - 0x00000018 Zero RW 2926 .bss.rc_ctrl remote_control.o + 0x200010e4 - 0x0000000c Zero RW 3013 .bss.remote_cmd remote.o + 0x200010f0 - 0x00000019 Zero RW 2925 .bss.sbus_rx_buf remote_control.o + 0x20001109 COMPRESSED 0x00000003 PAD + 0x2000110c - 0x00000050 Zero RW 3026 .bss.task_runtime user_task.o + 0x2000115c - 0x00000004 Zero RW 2786 .bss.thread_alert bmi088.o + 0x20001160 - 0x00000810 Zero RW 2266 .bss.tx_queues can_1.o + 0x20001970 - 0x00006000 Zero RW 2142 .bss.ucHeap heap_4.o + 0x20007970 - 0x00000001 Zero RW 2176 .bss.ucMaxSysCallPriority port.o + 0x20007971 COMPRESSED 0x00000003 PAD + 0x20007974 - 0x00000004 Zero RW 2177 .bss.ulMaxPRIGROUPValue port.o + 0x20007978 - 0x00000004 Zero RW 1859 .bss.ulTaskSwitchedInTime tasks.o + 0x2000797c - 0x00000004 Zero RW 1858 .bss.ulTotalRunTime tasks.o + 0x20007980 - 0x00000004 Zero RW 699 .bss.uwTick stm32f4xx_hal.o + 0x20007984 - 0x00000004 Zero RW 1842 .bss.uxCurrentNumberOfTasks tasks.o + 0x20007988 - 0x00000004 Zero RW 1841 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x2000798c - 0x00000004 Zero RW 1844 .bss.uxSchedulerSuspended tasks.o + 0x20007990 - 0x00000004 Zero RW 1839 .bss.uxTaskNumber tasks.o + 0x20007994 - 0x00000004 Zero RW 1850 .bss.uxTopReadyPriority tasks.o + 0x20007998 - 0x00000200 Zero RW 2109 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x20007b98 - 0x00000064 Zero RW 2108 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20007bfc - 0x00000400 Zero RW 2111 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20007ffc - 0x00000064 Zero RW 2110 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x20008060 - 0x00000014 Zero RW 1929 .bss.xActiveTimerList1 timers.o + 0x20008074 - 0x00000014 Zero RW 1930 .bss.xActiveTimerList2 timers.o + 0x20008088 - 0x00000004 Zero RW 2136 .bss.xBlockAllocatedBit heap_4.o + 0x2000808c - 0x00000014 Zero RW 1860 .bss.xDelayedTaskList1 tasks.o + 0x200080a0 - 0x00000014 Zero RW 1861 .bss.xDelayedTaskList2 tasks.o + 0x200080b4 - 0x00000004 Zero RW 2137 .bss.xFreeBytesRemaining heap_4.o + 0x200080b8 - 0x00000004 Zero RW 1853 .bss.xIdleTaskHandle tasks.o + 0x200080bc - 0x00000004 Zero RW 2139 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x200080c0 - 0x00000004 Zero RW 1854 .bss.xNextTaskUnblockTime tasks.o + 0x200080c4 - 0x00000004 Zero RW 1857 .bss.xNumOfOverflows tasks.o + 0x200080c8 - 0x00000004 Zero RW 2140 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x200080cc - 0x00000004 Zero RW 2141 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x200080d0 - 0x00000004 Zero RW 1856 .bss.xPendedTicks tasks.o + 0x200080d4 - 0x00000014 Zero RW 1851 .bss.xPendingReadyList tasks.o + 0x200080e8 - 0x00000040 Zero RW 1637 .bss.xQueueRegistry queue.o + 0x20008128 - 0x00000004 Zero RW 1843 .bss.xSchedulerRunning tasks.o + 0x2000812c - 0x00000008 Zero RW 2138 .bss.xStart heap_4.o + 0x20008134 - 0x00000014 Zero RW 1848 .bss.xSuspendedTaskList tasks.o + 0x20008148 - 0x00000014 Zero RW 1840 .bss.xTasksWaitingTermination tasks.o + 0x2000815c - 0x00000004 Zero RW 1845 .bss.xTickCount tasks.o + 0x20008160 - 0x00000004 Zero RW 1923 .bss.xTimerQueue timers.o + 0x20008164 - 0x00000004 Zero RW 1925 .bss.xTimerTaskHandle timers.o + 0x20008168 - 0x00000004 Zero RW 1855 .bss.xYieldPending tasks.o + 0x2000816c COMPRESSED 0x00000004 PAD + 0x20008170 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x20008370 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014e50, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014f60, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -8685,12 +8689,12 @@ 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 0 404 0 2684 config.o + 10 0 0 400 0 2772 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 - 2360 28 0 0 0 8229 gimbal.o - 220 12 0 0 780 4989 gimbal_ctrl.o + 2624 40 0 0 0 8481 gimbal.o + 236 12 0 0 756 5066 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 @@ -8735,9 +8739,9 @@ Image component sizes 0 0 183 0 80 3063 user_task.o ---------------------------------------------------------------------- - 76728 290 804 424 34176 453749 Object Totals + 77016 310 804 420 34156 454166 Object Totals 0 0 32 0 0 0 (incl. Generated) - 390 4 3 3 26 0 (incl. Padding) + 398 12 3 3 30 0 (incl. Padding) ---------------------------------------------------------------------- @@ -8826,15 +8830,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 84448 966 996 424 34272 455513 Grand Totals - 84448 966 996 136 34272 455513 ELF Image Totals (compressed) - 84448 966 996 136 0 0 ROM Totals + 84736 986 996 420 34252 455930 Grand Totals + 84736 986 996 120 34252 455930 ELF Image Totals (compressed) + 84736 986 996 120 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 85444 ( 83.44kB) - Total RW Size (RW Data + ZI Data) 34696 ( 33.88kB) - Total ROM Size (Code + RO Data + RW Data) 85580 ( 83.57kB) + Total RO Size (Code + RO Data) 85732 ( 83.72kB) + Total RW Size (RW Data + ZI Data) 34672 ( 33.86kB) + Total ROM Size (Code + RO Data + RW Data) 85852 ( 83.84kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index 238a75d..19b48dd 100644 Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o index cca7eab..642a068 100644 Binary files a/MDK-ARM/gimbal/gimbal_ctrl.o and b/MDK-ARM/gimbal/gimbal_ctrl.o differ diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index a6d35eb..3da5962 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)(0x690613C5) +I (..\User\module\gimbal.h)(0x69147C6E) 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)(0x690613C5) +I (..\User\module\gimbal.h)(0x69147C6E) 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)(0x690613C5) +I (..\User\module\gimbal.h)(0x69147C6E) 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)(0x690613C5) +I (..\User\module\gimbal.h)(0x69147C6E) I (..\User\component\ahrs.h)(0x68F3410E) I (..\User\component\filter.h)(0x68F22FA9) I (..\User\component\pid.h)(0x68F22FA9) @@ -2467,7 +2467,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) -F (..\User\task\gimbal_ctrl.c)(0x68F23895)(-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_ctrl.o -MD) +F (..\User\task\gimbal_ctrl.c)(0x6908B058)(-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_ctrl.o -MD) I (..\User\task\user_task.h)(0x68DCD971) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -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)(0x690613C5) +I (..\User\module\gimbal.h)(0x69147C6E) 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)(0x690613C5)(-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)(0x690613C5) +F (..\User\module\gimbal.c)(0x69148074)(-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)(0x69147C6E) 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)(0x690613E7)(-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)(0x69143650)(-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)(0x690613C5) +I (..\User\module\gimbal.h)(0x69147C6E) 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 ced6e3b..661bf25 100644 Binary files a/MDK-ARM/gimbal/remote.o and b/MDK-ARM/gimbal/remote.o differ diff --git a/User/module/config.c b/User/module/config.c index 6adc2a4..2f56bb1 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -23,34 +23,39 @@ Config_RobotParam_t robot_config = { .Set_Limit_t= { .pit_max=0.69, .pit_min=-0.47, - .yaw_max= 1.0,//yaw的限位作用于小yaw + .yaw_max= 1.0,//yaw的 .yaw_min=-1.0, - .pit_ecd_max=0, - .pit_ecd_min=0, - .yaw_ecd_max=0, - .yaw_ecd_min=0, }, -// .mech_zero = { -// .yaw = 0.0f, -// .pit = -0.69f, -// }, - - /*是否启动限位,1启动，-1不启动 - 小yaw默认限位 - 一般pit统一限位*/ - .travel = { - .yaw = -1.0f, - .pit = 1.0f, - .ecd_yaw=-1.0f, - .ecd_pit=1.0f, - }, - + + .feedforward={ + .imu = { + .yaw=false, + .pit=false, + .coefficient_yaw=0, + .coefficient_pit=0, + }, + + }, + + /*零点参数*/ + .gimbal_zero={ + .pit_encoder=0, + .yaw_encoder=0, + /*零点行程*/ + .travel={ + .yaw=0, + .pit=0, + }, + }, .motor={ /*按自己需求选择电机*/ - .pit=RM, + .pit=DM, .yaw=RM, + /*是否开启限位*/ + .limit_yaw=false, + .limit_pit=true, .pit_rm_motor={BSP_CAN_2,0x20A,MOTOR_GM6020,false,false}, .yaw_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false}, /*达妙电机参数自己配*/ @@ -110,48 +115,7 @@ Config_RobotParam_t robot_config = { .out_limit = 10.0f, .d_cutoff_freq = -1.0f, .range = M_2PI, - }, - /*电机控制参数*/ - .yaw_velocity = { - .k = 1.0f, - .p = 1.0f, - .i = 0.0f, - .d = 0.000f,//0 - .i_limit = 1.0f, - .out_limit = 1.0f, - .d_cutoff_freq = -1.0f, - .range = -1.0f, - }, - .yaw_ecd_angle = { - .k = 1.0f, - .p = 1.0f , - .i = 0.0f, - .d = 0.0f, - .i_limit = 0.0f, - .out_limit = 10.0f, - .d_cutoff_freq = -1.0f, - .range = M_2PI, - }, - .pit_velocity = { - .k = 0.0f, - .p = 0.0f, - .i = 0.0f, - .d = 0.0f, - .i_limit = 1.0f, - .out_limit = 1.0f, - .d_cutoff_freq = -1.0f, - .range = -1.0f, - }, - .pit_ecd_angle = { - .k = 1.0f, - .p = 0.0f, - .i = 0.0f, - .d = 0.0f, - .i_limit = 0.0f, - .out_limit = 10.0f, - .d_cutoff_freq = -1.0f, - .range = M_2PI, - }, + }, } }, }; diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 4fcdd93..2426a8c 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -122,10 +122,7 @@ int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param, 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->limit.set_ecd_pit.max=g->param->Set_Limit_t.pit_ecd_max; - g->limit.set_ecd_pit.min=g->param->Set_Limit_t.pit_ecd_min; - g->limit.set_ecd_yaw.max=g->param->Set_Limit_t.yaw_ecd_max; - g->limit.set_ecd_yaw.min=g->param->Set_Limit_t.yaw_ecd_min; + @@ -230,8 +227,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { float yaw_omega_set_point, pit_omega_set_point; /* 电机角度控制相关逻辑 */ float yaw_velocity_set_point, pit_velocity_set_point; - - float small_yaw_omega_setpoint; + + float delta_ecd_yaw = g_cmd->delta_yaw*g->dt; float delta_ecd_pit = g_cmd->delta_pit*g->dt; @@ -241,11 +238,13 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { +// if((g->feedback.motor.yaw.rotor_abs_angle)>M_PI)g->feedback.motor.yaw.rotor_abs_angle-M_2PI; + float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw; /* 处理跨越±π的情况 */ 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 （这个限位给双yaw）*/ + /* 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, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI); float delta_min = CircleError(g->limit.set_yaw.min, @@ -259,10 +258,9 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/ g->setpoint.eulr.yaw+=delta_yaw; - if (g->param->travel.yaw > 0) + if (g->param->motor.limit_yaw==true) Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max); else{ - CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI); /*限制在-3.14~3.14*/ if (g->setpoint.eulr.yaw > M_PI) g->setpoint.eulr.yaw -= M_2PI; } @@ -270,7 +268,7 @@ 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->travel.pit > 0) + 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); @@ -283,37 +281,54 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { g->feedback.imu.eulr.pit, 0.0f, g->dt); g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point, g->feedback.imu.gyro.x, 0.f, g->dt); - - + + /*前馈添加*/ + if(g->param->feedforward.imu.yaw==true) + g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z); + if(g->param->feedforward.imu.pit==true) + g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x); + break; case GIMBAL_MODE_RELATIVE: - /*跟据电机角度控制,遥控器不给值不会动*/ - g->setpoint.ecd.yaw+=delta_ecd_yaw; - /*yaw的限位*/ - if(g->param->travel.yaw > 0) - Clip(&(g->setpoint.ecd.yaw),g->limit.set_ecd_yaw.min,g->limit.set_ecd_yaw.max); - else{ - /*限制yaw在0~6.28*/ - CircleAdd(&(g->setpoint.ecd.yaw), delta_ecd_yaw, M_2PI); - } + /*计算零点*/ + g->param->gimbal_zero.yaw = g->param->gimbal_zero.yaw_encoder - g->param->gimbal_zero.travel.yaw; + g->param->gimbal_zero.pit = g->param->gimbal_zero.pit_encoder - g->param->gimbal_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); - /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */ - g->setpoint.ecd.pit+=delta_ecd_pit; - /* 限制控制命令 */ - if (g->param->travel.pit > 0) - Clip(&(g->setpoint.ecd.pit),g->limit.set_ecd_pit.min,g->limit.set_ecd_pit.max); - - - yaw_velocity_set_point = PID_Calc(&(g->pid.yaw_ecd_angle), g->setpoint.ecd.yaw, - g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt); - g->out.yaw = PID_Calc(&(g->pid.yaw_velocity), yaw_velocity_set_point, - g->feedback.motor.yaw.rotor_speed, 0.f, g->dt); + g->relative_angle.pit=+delta_pit; + + g->setpoint.eulr.yaw=g->param->gimbal_zero.yaw + g->relative_angle.yaw; + g->setpoint.eulr.pit=g->param->gimbal_zero.pit + g->relative_angle.pit; - pit_velocity_set_point = PID_Calc(&(g->pid.pit_ecd_angle), g->setpoint.ecd.pit, - g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt); - g->out.pit = PID_Calc(&(g->pid.pit_velocity), pit_velocity_set_point, - g->feedback.motor.pit.rotor_speed, 0.f, g->dt); - + /*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); + 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); + + yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw, + g->feedback.imu.eulr.yaw, 0.0f, g->dt); + g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point, + g->feedback.imu.gyro.z, 0.f, g->dt); + + pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit, + g->feedback.imu.eulr.pit, 0.0f, g->dt); + g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point, + g->feedback.imu.gyro.x, 0.f, g->dt); + + /*前馈添加*/ + if(g->param->feedforward.imu.yaw==true) + g->out.yaw+=g->param->feedforward.imu.coefficient_yaw*(yaw_omega_set_point - g->feedback.imu.gyro.z); + if(g->param->feedforward.imu.pit==true) + g->out.pit+=g->param->feedforward.imu.coefficient_pit*(pit_omega_set_point - g->feedback.imu.gyro.x); break; /* 输出滤波 */ diff --git a/User/module/gimbal.h b/User/module/gimbal.h index 569e0a9..4099337 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -49,7 +49,8 @@ typedef struct { typedef struct { - + bool limit_yaw;/*是否开启限位*/ + bool limit_pit; Gimbal_MOTOR pit; Gimbal_MOTOR yaw; MOTOR_DM_Param_t pit_dm_motor; /* pitch轴电机参数 */ @@ -57,6 +58,7 @@ typedef struct { MOTOR_RM_Param_t pit_rm_motor; /* pitch轴电机参数 */ MOTOR_RM_Param_t yaw_rm_motor; /* yaw轴电机参数 */ + } Gimbal_MOTOR_Param_t; /* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/ @@ -78,35 +80,48 @@ typedef struct { } pid; + /* 前馈系数 */ + struct { + struct{ + bool yaw; + bool pit; + float coefficient_yaw; + float coefficient_pit; + }imu; + + }feedforward; + /* 低通滤波器截止频率 */ struct { float out; /* 电机输出 */ float gyro; /* 陀螺仪数据 */ } low_pass_cutoff_freq; - struct { - float yaw; /* yaw轴机械限位 */ - float pit; /* pitch轴机械限位 */ - } mech_zero; - - struct { - float yaw; /* yaw轴机械限位行程 -1表示无限位 */ - float pit; /* pitch轴机械限位行程 -1表示无限位*/ - float ecd_yaw; /* yaw轴机械限位行程 -1表示无限位 */ - float ecd_pit; /* pitch轴机械限位行程 -1表示无限位*/ - } travel; struct { float pit_max; /*pit的限位*/ float pit_min; float yaw_max; /*yaw的限位*/ float yaw_min; - float pit_ecd_max; /*pit的限位*/ - float pit_ecd_min; - float yaw_ecd_max; /*yaw的限位*/ - float yaw_ecd_min; + }Set_Limit_t; + struct { + + struct{ + float yaw; /* 零点行程 */ + float pit; + }travel; + + float pit; /*零点*/ + float yaw; + + float pit_encoder; /*零点*/ + float yaw_encoder; + }gimbal_zero; + + + struct { MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/ MOTOR_MIT_Output_t pit_dm; @@ -170,16 +185,15 @@ typedef struct { } pid; struct { - Gimbal_Limit_t yaw; - Gimbal_Limit_t pit; + Gimbal_Limit_t set_yaw; Gimbal_Limit_t set_pit; - Gimbal_Limit_t set_ecd_yaw; - Gimbal_Limit_t set_ecd_pit; } limit; - - + struct { + float yaw; + float pit; + } relative_angle; struct { LowPassFilter2p_t yaw; diff --git a/User/task/gimbal_ctrl.c b/User/task/gimbal_ctrl.c index b280d6a..d8a0d1f 100644 --- a/User/task/gimbal_ctrl.c +++ b/User/task/gimbal_ctrl.c @@ -39,11 +39,9 @@ void Task_gimbal_ctrl(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK) - Gimbal_UpdateIMU(&gimbal, &gimbal_imu); - - - osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0); + if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK){ + Gimbal_UpdateIMU(&gimbal, &gimbal_imu);} + if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0)==osOK) Gimbal_UpdateFeedback(&gimbal); Gimbal_Control(&gimbal,&gimbal_cmd); Gimbal_Output(&gimbal);