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898 @@ -3607,170 +3607,35 @@ ..\User\module\gimbal.c 17 - 311 - 324 + 318 + 300 1 0 ..\User\module\gimbal.h - 17 - 158 - 168 + 9 + 55 + 78 1 0 ..\User\module\config.c - 21 - 41 - 46 - 1 - - 0 - - - ..\User\task\remote.c - 0 - 1 - 1 + 12 + 32 + 49 1 0 ..\User\task\gimbal_ctrl.c - 18 + 12 28 - 46 - 1 - - 0 - - - ..\User\device\bmi088.c - 0 - 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 + 36 1 0 diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o index f4161b8..119f019 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 4cb2dda..cde8820 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 0814469..af5fdd3 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 fb770fd..d15e57e 100644 Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index fc51237..2256b26 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

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

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Nov 12 21:26:23 2025

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

Call chain for Maximum Stack Depth:

@@ -169,9 +169,9 @@ Global Symbols

__scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED) -

__decompress (Thumb, 90 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED) +

__decompress (Thumb, 58 bytes, Stack size unknown bytes, __dczerorl.o(!!dczerorl), UNUSED) -

__decompress1 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED) +

__decompress0 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl.o(!!dczerorl), UNUSED)

__scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED) @@ -1114,7 +1114,7 @@ Global Symbols

  • >>   MX_CAN1_Init -

    Gimbal_Control (Thumb, 1312 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control)) +

    Gimbal_Control (Thumb, 1304 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))

    [Stack]

    • Max Depth = 208
    • Call Chain = Gimbal_Control ⇒ PID_Calc ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf

    [Calls]
    • >>   Clip @@ -1128,7 +1128,7 @@ Global Symbols
      [Called By]
      • >>   Task_gimbal_ctrl
      -

      Gimbal_Init (Thumb, 424 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init)) +

      Gimbal_Init (Thumb, 472 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))

      [Stack]

      • Max Depth = 372 + Unknown Stack Size
      • Call Chain = Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
      diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index a81cdba..f726810 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -6041,7 +6041,7 @@ Image Symbol Table ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE ../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE - ../clib/angel/dczerorl2.s 0x00000000 Number 0 __dczerorl2.o ABSOLUTE + ../clib/angel/dczerorl.s 0x00000000 Number 0 __dczerorl.o ABSOLUTE ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry2.o ABSOLUTE @@ -6304,379 +6304,379 @@ Image Symbol Table RESET 0x08000000 Section 392 startup_stm32f407xx.o(RESET) !!!main 0x08000188 Section 8 __main.o(!!!main) !!!scatter 0x08000190 Section 52 __scatter.o(!!!scatter) - !!dczerorl2 0x080001c4 Section 90 __dczerorl2.o(!!dczerorl2) - !!handler_zi 0x08000220 Section 28 __scatter_zi.o(!!handler_zi) - .ARM.Collect$$libinit$$00000000 0x0800023c Section 2 libinit.o(.ARM.Collect$$libinit$$00000000) - .ARM.Collect$$libinit$$00000001 0x0800023e Section 4 libinit2.o(.ARM.Collect$$libinit$$00000001) - .ARM.Collect$$libinit$$00000004 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000004) - .ARM.Collect$$libinit$$0000000A 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000A) - .ARM.Collect$$libinit$$0000000C 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000C) - .ARM.Collect$$libinit$$0000000E 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000000E) - .ARM.Collect$$libinit$$00000011 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000011) - .ARM.Collect$$libinit$$00000013 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000013) - .ARM.Collect$$libinit$$00000015 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000015) - .ARM.Collect$$libinit$$00000017 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000017) - .ARM.Collect$$libinit$$00000019 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000019) - .ARM.Collect$$libinit$$0000001B 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001B) - .ARM.Collect$$libinit$$0000001D 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001D) - .ARM.Collect$$libinit$$0000001F 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000001F) - .ARM.Collect$$libinit$$00000021 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000021) - .ARM.Collect$$libinit$$00000023 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000023) - .ARM.Collect$$libinit$$00000025 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000025) - .ARM.Collect$$libinit$$0000002C 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000002C) - .ARM.Collect$$libinit$$0000002E 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$0000002E) - .ARM.Collect$$libinit$$00000030 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000030) - .ARM.Collect$$libinit$$00000032 0x08000242 Section 0 libinit2.o(.ARM.Collect$$libinit$$00000032) - .ARM.Collect$$libinit$$00000033 0x08000242 Section 2 libinit2.o(.ARM.Collect$$libinit$$00000033) - .ARM.Collect$$libshutdown$$00000000 0x08000244 Section 2 libshutdown.o(.ARM.Collect$$libshutdown$$00000000) - .ARM.Collect$$libshutdown$$00000002 0x08000246 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) - .ARM.Collect$$libshutdown$$00000004 0x08000246 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) - .ARM.Collect$$libshutdown$$00000007 0x08000246 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) - .ARM.Collect$$libshutdown$$0000000A 0x08000246 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) - .ARM.Collect$$libshutdown$$0000000C 0x08000246 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) - .ARM.Collect$$libshutdown$$0000000F 0x08000246 Section 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) - .ARM.Collect$$libshutdown$$00000010 0x08000246 Section 2 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) - .ARM.Collect$$rtentry$$00000000 0x08000248 Section 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000) - .ARM.Collect$$rtentry$$00000002 0x08000248 Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002) - .ARM.Collect$$rtentry$$00000004 0x08000248 Section 6 __rtentry4.o(.ARM.Collect$$rtentry$$00000004) - .ARM.Collect$$rtentry$$00000009 0x0800024e Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009) - .ARM.Collect$$rtentry$$0000000A 0x0800024e Section 4 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) - .ARM.Collect$$rtentry$$0000000C 0x08000252 Section 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) - .ARM.Collect$$rtentry$$0000000D 0x08000252 Section 8 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) - .ARM.Collect$$rtexit$$00000000 0x0800025a Section 2 rtexit.o(.ARM.Collect$$rtexit$$00000000) - .ARM.Collect$$rtexit$$00000002 0x0800025c Section 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002) - .ARM.Collect$$rtexit$$00000003 0x0800025c Section 4 rtexit2.o(.ARM.Collect$$rtexit$$00000003) - .ARM.Collect$$rtexit$$00000004 0x08000260 Section 6 rtexit2.o(.ARM.Collect$$rtexit$$00000004) - $v0 0x08000268 Number 0 startup_stm32f407xx.o(.text) - .text 0x08000268 Section 64 startup_stm32f407xx.o(.text) - .text 0x080002a8 Section 240 lludivv7m.o(.text) - .text 0x08000398 Section 138 rt_memcpy_v6.o(.text) - .text 0x08000422 Section 16 aeabi_memset4.o(.text) - .text 0x08000432 Section 78 rt_memclr_w.o(.text) - .text 0x08000480 Section 0 heapauxi.o(.text) - .text 0x08000486 Section 0 _rserrno.o(.text) - .text 0x0800049c Section 100 rt_memcpy_w.o(.text) - .text 0x08000500 Section 8 rt_errno_addr_intlibspace.o(.text) - .text 0x08000508 Section 8 libspace.o(.text) - .text 0x08000510 Section 74 sys_stackheap_outer.o(.text) - .text 0x0800055a Section 0 exit.o(.text) - .text 0x0800056c Section 0 sys_exit.o(.text) - .text 0x08000578 Section 2 use_no_semi.o(.text) - .text 0x0800057a Section 0 indicate_semi.o(.text) - [Anonymous Symbol] 0x0800057c Section 0 ahrs.o(.text.AHRS_GetEulr) - [Anonymous Symbol] 0x080006d8 Section 0 ahrs.o(.text.AHRS_Init) - [Anonymous Symbol] 0x0800095c Section 0 ahrs.o(.text.AHRS_ResetEulr) - [Anonymous Symbol] 0x08000970 Section 0 ahrs.o(.text.AHRS_Update) - AHRS_UpdateIMU 0x0800158d Thumb Code 1480 ahrs.o(.text.AHRS_UpdateIMU) - [Anonymous Symbol] 0x0800158c Section 0 ahrs.o(.text.AHRS_UpdateIMU) - [Anonymous Symbol] 0x08001b54 Section 0 user_math.o(.text.AbsClip) - BMI088_AcclIntCallback 0x08001bc1 Thumb Code 20 bmi088.o(.text.BMI088_AcclIntCallback) - [Anonymous Symbol] 0x08001bc0 Section 0 bmi088.o(.text.BMI088_AcclIntCallback) - [Anonymous Symbol] 0x08001bd4 Section 0 bmi088.o(.text.BMI088_AcclStartDmaRecv) - [Anonymous Symbol] 0x08001bf4 Section 0 bmi088.o(.text.BMI088_AcclWaitDmaCplt) - [Anonymous Symbol] 0x08001c04 Section 0 bmi088.o(.text.BMI088_GetUpdateFreq) - BMI088_GyroIntCallback 0x08001c15 Thumb Code 20 bmi088.o(.text.BMI088_GyroIntCallback) - [Anonymous Symbol] 0x08001c14 Section 0 bmi088.o(.text.BMI088_GyroIntCallback) - [Anonymous Symbol] 0x08001c28 Section 0 bmi088.o(.text.BMI088_GyroStartDmaRecv) - [Anonymous Symbol] 0x08001c44 Section 0 bmi088.o(.text.BMI088_GyroWaitDmaCplt) - [Anonymous Symbol] 0x08001c54 Section 0 bmi088.o(.text.BMI088_Init) - [Anonymous Symbol] 0x08001ddc Section 0 bmi088.o(.text.BMI088_ParseAccl) - [Anonymous Symbol] 0x08001ed0 Section 0 bmi088.o(.text.BMI088_ParseGyro) - BMI088_RxCpltCallback 0x08001fe9 Thumb Code 84 bmi088.o(.text.BMI088_RxCpltCallback) - [Anonymous Symbol] 0x08001fe8 Section 0 bmi088.o(.text.BMI088_RxCpltCallback) - [Anonymous Symbol] 0x0800203c Section 0 bmi088.o(.text.BMI088_WaitNew) - BMI_Read 0x0800204d Thumb Code 118 bmi088.o(.text.BMI_Read) - [Anonymous Symbol] 0x0800204c Section 0 bmi088.o(.text.BMI_Read) - BMI_ReadSingle 0x080020c5 Thumb Code 178 bmi088.o(.text.BMI_ReadSingle) - [Anonymous Symbol] 0x080020c4 Section 0 bmi088.o(.text.BMI_ReadSingle) - BMI_WriteSingle 0x08002179 Thumb Code 148 bmi088.o(.text.BMI_WriteSingle) - [Anonymous Symbol] 0x08002178 Section 0 bmi088.o(.text.BMI_WriteSingle) - BSP_CAN_CreateIdQueue 0x0800220d Thumb Code 292 can_1.o(.text.BSP_CAN_CreateIdQueue) - [Anonymous Symbol] 0x0800220c Section 0 can_1.o(.text.BSP_CAN_CreateIdQueue) - BSP_CAN_DefaultIdParser 0x08002331 Thumb Code 14 can_1.o(.text.BSP_CAN_DefaultIdParser) - [Anonymous Symbol] 0x08002330 Section 0 can_1.o(.text.BSP_CAN_DefaultIdParser) - BSP_CAN_FindQueue 0x08002341 Thumb Code 82 can_1.o(.text.BSP_CAN_FindQueue) - [Anonymous Symbol] 0x08002340 Section 0 can_1.o(.text.BSP_CAN_FindQueue) - BSP_CAN_GetFrameType 0x08002395 Thumb Code 58 can_1.o(.text.BSP_CAN_GetFrameType) - [Anonymous Symbol] 0x08002394 Section 0 can_1.o(.text.BSP_CAN_GetFrameType) - [Anonymous Symbol] 0x080023d0 Section 0 can_1.o(.text.BSP_CAN_GetHandle) - [Anonymous Symbol] 0x08002420 Section 0 can_1.o(.text.BSP_CAN_GetMessage) - [Anonymous Symbol] 0x080024c0 Section 0 can_1.o(.text.BSP_CAN_Init) - [Anonymous Symbol] 0x08002634 Section 0 can_1.o(.text.BSP_CAN_ParseId) - [Anonymous Symbol] 0x08002678 Section 0 can_1.o(.text.BSP_CAN_RegisterCallback) - [Anonymous Symbol] 0x080026fc Section 0 can_1.o(.text.BSP_CAN_RegisterId) - BSP_CAN_RxFifo0Callback 0x08002741 Thumb Code 228 can_1.o(.text.BSP_CAN_RxFifo0Callback) - [Anonymous Symbol] 0x08002740 Section 0 can_1.o(.text.BSP_CAN_RxFifo0Callback) - BSP_CAN_RxFifo1Callback 0x08002825 Thumb Code 228 can_1.o(.text.BSP_CAN_RxFifo1Callback) - [Anonymous Symbol] 0x08002824 Section 0 can_1.o(.text.BSP_CAN_RxFifo1Callback) - [Anonymous Symbol] 0x08002908 Section 0 can_1.o(.text.BSP_CAN_Transmit) - [Anonymous Symbol] 0x08002a80 Section 0 can_1.o(.text.BSP_CAN_TransmitStdDataFrame) - BSP_CAN_TxCompleteCallback 0x08002ac1 Thumb Code 120 can_1.o(.text.BSP_CAN_TxCompleteCallback) - [Anonymous Symbol] 0x08002ac0 Section 0 can_1.o(.text.BSP_CAN_TxCompleteCallback) - BSP_CAN_TxQueueInit 0x08002b39 Thumb Code 66 can_1.o(.text.BSP_CAN_TxQueueInit) - [Anonymous Symbol] 0x08002b38 Section 0 can_1.o(.text.BSP_CAN_TxQueueInit) - BSP_CAN_TxQueueIsEmpty 0x08002b7d Thumb Code 86 can_1.o(.text.BSP_CAN_TxQueueIsEmpty) - [Anonymous Symbol] 0x08002b7c Section 0 can_1.o(.text.BSP_CAN_TxQueueIsEmpty) - BSP_CAN_TxQueuePop 0x08002bd5 Thumb Code 172 can_1.o(.text.BSP_CAN_TxQueuePop) - [Anonymous Symbol] 0x08002bd4 Section 0 can_1.o(.text.BSP_CAN_TxQueuePop) - BSP_CAN_TxQueuePush 0x08002c81 Thumb Code 172 can_1.o(.text.BSP_CAN_TxQueuePush) - [Anonymous Symbol] 0x08002c80 Section 0 can_1.o(.text.BSP_CAN_TxQueuePush) - [Anonymous Symbol] 0x08002d2c Section 0 mm.o(.text.BSP_Free) - [Anonymous Symbol] 0x08002d3c Section 0 gpio_1.o(.text.BSP_GPIO_DisableIRQ) - [Anonymous Symbol] 0x08002d94 Section 0 gpio_1.o(.text.BSP_GPIO_EnableIRQ) - [Anonymous Symbol] 0x08002dec Section 0 gpio_1.o(.text.BSP_GPIO_ReadPin) - [Anonymous Symbol] 0x08002e38 Section 0 gpio_1.o(.text.BSP_GPIO_RegisterCallback) - [Anonymous Symbol] 0x08002ec8 Section 0 gpio_1.o(.text.BSP_GPIO_WritePin) - [Anonymous Symbol] 0x08002f18 Section 0 mm.o(.text.BSP_Malloc) - [Anonymous Symbol] 0x08002f28 Section 0 pwm.o(.text.BSP_PWM_SetComp) - [Anonymous Symbol] 0x08003068 Section 0 pwm.o(.text.BSP_PWM_Start) - [Anonymous Symbol] 0x080030ac Section 0 spi_1.o(.text.BSP_SPI_GetHandle) - [Anonymous Symbol] 0x080030d4 Section 0 spi_1.o(.text.BSP_SPI_Receive) - [Anonymous Symbol] 0x08003154 Section 0 spi_1.o(.text.BSP_SPI_RegisterCallback) - [Anonymous Symbol] 0x08003198 Section 0 spi_1.o(.text.BSP_SPI_Transmit) - [Anonymous Symbol] 0x08003218 Section 0 time.o(.text.BSP_TIME_Delay_ms) - [Anonymous Symbol] 0x080032a8 Section 0 time.o(.text.BSP_TIME_Get_us) - [Anonymous Symbol] 0x08003354 Section 0 uart.o(.text.BSP_UART_IRQHandler) - [Anonymous Symbol] 0x080033c0 Section 0 stm32f4xx_it.o(.text.BusFault_Handler) - [Anonymous Symbol] 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DMA1_Stream2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA1_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream0_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - ETH_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - ETH_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI15_10_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - EXTI2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - FLASH_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - FMC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - FPU_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - HASH_RNG_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C2_ER_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C2_EV_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C3_ER_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - I2C3_EV_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_FS_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_FS_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_EP1_IN_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_EP1_OUT_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - OTG_HS_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - PVD_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - RCC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - RTC_Alarm_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - RTC_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - SDIO_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - SPI1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - SPI2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - SPI3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TAMP_STAMP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_BRK_TIM9_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_CC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_TRG_COM_TIM11_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM1_UP_TIM10_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM3_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM6_DAC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM8_BRK_TIM12_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM8_CC_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM8_TRG_COM_TIM14_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - TIM8_UP_TIM13_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - UART4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - UART5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - USART1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - USART2_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - USART6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - WWDG_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - __user_initial_stackheap 0x08000285 Thumb Code 0 startup_stm32f407xx.o(.text) - __aeabi_uldivmod 0x080002a9 Thumb Code 0 lludivv7m.o(.text) - _ll_udiv 0x080002a9 Thumb Code 240 lludivv7m.o(.text) - __aeabi_memcpy 0x08000399 Thumb Code 0 rt_memcpy_v6.o(.text) - __rt_memcpy 0x08000399 Thumb Code 138 rt_memcpy_v6.o(.text) - _memcpy_lastbytes 0x080003ff Thumb Code 0 rt_memcpy_v6.o(.text) - __aeabi_memset4 0x08000423 Thumb Code 16 aeabi_memset4.o(.text) - __aeabi_memset8 0x08000423 Thumb Code 0 aeabi_memset4.o(.text) - __aeabi_memclr4 0x08000433 Thumb Code 0 rt_memclr_w.o(.text) - __aeabi_memclr8 0x08000433 Thumb Code 0 rt_memclr_w.o(.text) - __rt_memclr_w 0x08000433 Thumb Code 0 rt_memclr_w.o(.text) - _memset_w 0x08000437 Thumb Code 74 rt_memclr_w.o(.text) - __use_two_region_memory 0x08000481 Thumb Code 2 heapauxi.o(.text) - __rt_heap_escrow$2region 0x08000483 Thumb Code 2 heapauxi.o(.text) - __rt_heap_expand$2region 0x08000485 Thumb Code 2 heapauxi.o(.text) - __read_errno 0x08000487 Thumb Code 10 _rserrno.o(.text) - __set_errno 0x08000491 Thumb Code 12 _rserrno.o(.text) - __aeabi_memcpy4 0x0800049d Thumb Code 0 rt_memcpy_w.o(.text) - __aeabi_memcpy8 0x0800049d Thumb Code 0 rt_memcpy_w.o(.text) - __rt_memcpy_w 0x0800049d Thumb Code 100 rt_memcpy_w.o(.text) - _memcpy_lastbytes_aligned 0x080004e5 Thumb Code 0 rt_memcpy_w.o(.text) - __aeabi_errno_addr 0x08000501 Thumb Code 8 rt_errno_addr_intlibspace.o(.text) - __errno$intlibspace 0x08000501 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) - __rt_errno_addr$intlibspace 0x08000501 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) - __user_libspace 0x08000509 Thumb Code 8 libspace.o(.text) - __user_perproc_libspace 0x08000509 Thumb Code 0 libspace.o(.text) - __user_perthread_libspace 0x08000509 Thumb Code 0 libspace.o(.text) - __user_setup_stackheap 0x08000511 Thumb Code 74 sys_stackheap_outer.o(.text) - exit 0x0800055b Thumb Code 18 exit.o(.text) - _sys_exit 0x0800056d Thumb Code 8 sys_exit.o(.text) - __I$use$semihosting 0x08000579 Thumb Code 0 use_no_semi.o(.text) - __use_no_semihosting_swi 0x08000579 Thumb Code 2 use_no_semi.o(.text) - __semihosting_library_function 0x0800057b Thumb Code 0 indicate_semi.o(.text) - AHRS_GetEulr 0x0800057d Thumb Code 348 ahrs.o(.text.AHRS_GetEulr) - AHRS_Init 0x080006d9 Thumb Code 644 ahrs.o(.text.AHRS_Init) - AHRS_ResetEulr 0x0800095d Thumb Code 18 ahrs.o(.text.AHRS_ResetEulr) - AHRS_Update 0x08000971 Thumb Code 3098 ahrs.o(.text.AHRS_Update) - AbsClip 0x08001b55 Thumb Code 106 user_math.o(.text.AbsClip) - BMI088_AcclStartDmaRecv 0x08001bd5 Thumb Code 30 bmi088.o(.text.BMI088_AcclStartDmaRecv) - BMI088_AcclWaitDmaCplt 0x08001bf5 Thumb Code 16 bmi088.o(.text.BMI088_AcclWaitDmaCplt) - BMI088_GetUpdateFreq 0x08001c05 Thumb Code 16 bmi088.o(.text.BMI088_GetUpdateFreq) - BMI088_GyroStartDmaRecv 0x08001c29 Thumb Code 26 bmi088.o(.text.BMI088_GyroStartDmaRecv) - BMI088_GyroWaitDmaCplt 0x08001c45 Thumb Code 16 bmi088.o(.text.BMI088_GyroWaitDmaCplt) - BMI088_Init 0x08001c55 Thumb Code 392 bmi088.o(.text.BMI088_Init) - BMI088_ParseAccl 0x08001ddd Thumb Code 244 bmi088.o(.text.BMI088_ParseAccl) - BMI088_ParseGyro 0x08001ed1 Thumb Code 280 bmi088.o(.text.BMI088_ParseGyro) - BMI088_WaitNew 0x0800203d Thumb Code 16 bmi088.o(.text.BMI088_WaitNew) - BSP_CAN_GetHandle 0x080023d1 Thumb Code 78 can_1.o(.text.BSP_CAN_GetHandle) - BSP_CAN_GetMessage 0x08002421 Thumb Code 158 can_1.o(.text.BSP_CAN_GetMessage) - BSP_CAN_Init 0x080024c1 Thumb Code 372 can_1.o(.text.BSP_CAN_Init) - BSP_CAN_ParseId 0x08002635 Thumb Code 66 can_1.o(.text.BSP_CAN_ParseId) - BSP_CAN_RegisterCallback 0x08002679 Thumb Code 130 can_1.o(.text.BSP_CAN_RegisterCallback) - BSP_CAN_RegisterId 0x080026fd Thumb Code 66 can_1.o(.text.BSP_CAN_RegisterId) - BSP_CAN_Transmit 0x08002909 Thumb Code 374 can_1.o(.text.BSP_CAN_Transmit) - BSP_CAN_TransmitStdDataFrame 0x08002a81 Thumb Code 62 can_1.o(.text.BSP_CAN_TransmitStdDataFrame) - BSP_Free 0x08002d2d Thumb Code 16 mm.o(.text.BSP_Free) - BSP_GPIO_DisableIRQ 0x08002d3d Thumb Code 88 gpio_1.o(.text.BSP_GPIO_DisableIRQ) - BSP_GPIO_EnableIRQ 0x08002d95 Thumb Code 88 gpio_1.o(.text.BSP_GPIO_EnableIRQ) - BSP_GPIO_ReadPin 0x08002ded Thumb Code 74 gpio_1.o(.text.BSP_GPIO_ReadPin) - BSP_GPIO_RegisterCallback 0x08002e39 Thumb Code 144 gpio_1.o(.text.BSP_GPIO_RegisterCallback) - BSP_GPIO_WritePin 0x08002ec9 Thumb Code 80 gpio_1.o(.text.BSP_GPIO_WritePin) - BSP_Malloc 0x08002f19 Thumb Code 16 mm.o(.text.BSP_Malloc) - BSP_PWM_SetComp 0x08002f29 Thumb Code 318 pwm.o(.text.BSP_PWM_SetComp) - BSP_PWM_Start 0x08003069 Thumb Code 68 pwm.o(.text.BSP_PWM_Start) - BSP_SPI_GetHandle 0x080030ad Thumb Code 38 spi_1.o(.text.BSP_SPI_GetHandle) - BSP_SPI_Receive 0x080030d5 Thumb Code 128 spi_1.o(.text.BSP_SPI_Receive) - BSP_SPI_RegisterCallback 0x08003155 Thumb Code 68 spi_1.o(.text.BSP_SPI_RegisterCallback) - BSP_SPI_Transmit 0x08003199 Thumb Code 128 spi_1.o(.text.BSP_SPI_Transmit) - BSP_TIME_Delay 0x08003219 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms) - BSP_TIME_Delay_ms 0x08003219 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms) - BSP_TIME_Get 0x080032a9 Thumb Code 170 time.o(.text.BSP_TIME_Get_us) - BSP_TIME_Get_us 0x080032a9 Thumb Code 170 time.o(.text.BSP_TIME_Get_us) - BSP_UART_IRQHandler 0x08003355 Thumb Code 108 uart.o(.text.BSP_UART_IRQHandler) - BusFault_Handler 0x080033c1 Thumb Code 4 stm32f4xx_it.o(.text.BusFault_Handler) - CAN1_RX0_IRQHandler 0x080033c5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) - CAN1_RX1_IRQHandler 0x080033d5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler) - CAN1_TX_IRQHandler 0x080033e5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_TX_IRQHandler) - CAN2_RX0_IRQHandler 0x080033f5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) - CAN2_RX1_IRQHandler 0x08003405 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) - CAN2_TX_IRQHandler 0x08003415 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler) - CircleAdd 0x0800347d Thumb Code 132 user_math.o(.text.CircleAdd) - CircleError 0x08003501 Thumb Code 154 user_math.o(.text.CircleError) - Clip 0x0800359d Thumb Code 76 user_math.o(.text.Clip) - Config_GetRobotParam 0x080035e9 Thumb Code 10 config.o(.text.Config_GetRobotParam) - DMA1_Stream1_IRQHandler 0x080035f5 Thumb Code 20 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) - DMA1_Stream1_IRQHandler1 0x08003609 Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1) - DMA2_Stream2_IRQHandler 0x08003661 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - DMA2_Stream3_IRQHandler 0x08003671 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DebugMon_Handler 0x08003819 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - EXTI0_IRQHandler 0x0800381d Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - EXTI3_IRQHandler 0x08003829 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - EXTI4_IRQHandler 0x08003835 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x08003841 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x0800384d Thumb Code 6 main.o(.text.Error_Handler) - Gimbal_Control 0x08003855 Thumb Code 1312 gimbal.o(.text.Gimbal_Control) - Gimbal_Init 0x08003d75 Thumb Code 424 gimbal.o(.text.Gimbal_Init) - Gimbal_Output 0x08003f1d Thumb Code 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) + __decompress 0x080001c5 Thumb Code 58 __dczerorl.o(!!dczerorl) + __decompress0 0x080001c5 Thumb Code 0 __dczerorl.o(!!dczerorl) + __scatterload_zeroinit 0x08000201 Thumb Code 28 __scatter_zi.o(!!handler_zi) + __rt_lib_init 0x0800021d Thumb Code 0 libinit.o(.ARM.Collect$$libinit$$00000000) + __rt_lib_init_fp_1 0x0800021f Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000001) + __rt_lib_init_alloca_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002E) + __rt_lib_init_argv_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002C) + __rt_lib_init_atexit_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001B) + __rt_lib_init_clock_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000021) + __rt_lib_init_cpp_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000032) + __rt_lib_init_exceptions_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000030) + __rt_lib_init_fp_trap_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001F) + __rt_lib_init_getenv_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000023) + __rt_lib_init_heap_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000A) + __rt_lib_init_lc_collate_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000011) + __rt_lib_init_lc_ctype_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000013) + __rt_lib_init_lc_monetary_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000015) + __rt_lib_init_lc_numeric_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000017) + __rt_lib_init_lc_time_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000019) + __rt_lib_init_preinit_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000004) + __rt_lib_init_rand_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000E) + __rt_lib_init_return 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000033) + __rt_lib_init_signal_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001D) + __rt_lib_init_stdio_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000025) + __rt_lib_init_user_alloc_1 0x08000223 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000C) + __rt_lib_shutdown 0x08000225 Thumb Code 0 libshutdown.o(.ARM.Collect$$libshutdown$$00000000) + __rt_lib_shutdown_cpp_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) + __rt_lib_shutdown_fp_trap_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) + __rt_lib_shutdown_heap_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) + __rt_lib_shutdown_return 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) + __rt_lib_shutdown_signal_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) + __rt_lib_shutdown_stdio_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) + __rt_lib_shutdown_user_alloc_1 0x08000227 Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) + __rt_entry 0x08000229 Thumb Code 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000) + __rt_entry_presh_1 0x08000229 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002) + __rt_entry_sh 0x08000229 Thumb Code 0 __rtentry4.o(.ARM.Collect$$rtentry$$00000004) + __rt_entry_li 0x0800022f Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) + __rt_entry_postsh_1 0x0800022f Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009) + __rt_entry_main 0x08000233 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) + __rt_entry_postli_1 0x08000233 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) + __rt_exit 0x0800023b Thumb Code 0 rtexit.o(.ARM.Collect$$rtexit$$00000000) + __rt_exit_ls 0x0800023d Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000003) + __rt_exit_prels_1 0x0800023d Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002) + __rt_exit_exit 0x08000241 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000004) + Reset_Handler 0x08000249 Thumb Code 8 startup_stm32f407xx.o(.text) + ADC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + CAN1_SCE_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + CAN2_SCE_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DCMI_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream0_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream3_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream6_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA1_Stream7_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream0_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream6_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + DMA2_Stream7_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + ETH_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + ETH_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + EXTI15_10_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + EXTI1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + EXTI2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + FLASH_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + FMC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + FPU_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + HASH_RNG_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + I2C2_ER_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + I2C2_EV_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + I2C3_ER_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + I2C3_EV_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + OTG_FS_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + OTG_FS_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + OTG_HS_EP1_IN_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + OTG_HS_EP1_OUT_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + OTG_HS_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + OTG_HS_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + PVD_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + RCC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + RTC_Alarm_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + RTC_WKUP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + SDIO_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + SPI1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + SPI2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + SPI3_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TAMP_STAMP_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM1_BRK_TIM9_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM1_CC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM1_TRG_COM_TIM11_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM1_UP_TIM10_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM3_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM6_DAC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM8_BRK_TIM12_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM8_CC_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM8_TRG_COM_TIM14_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + TIM8_UP_TIM13_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + UART4_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + UART5_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + USART1_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + USART2_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + USART6_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + WWDG_IRQHandler 0x08000263 Thumb Code 0 startup_stm32f407xx.o(.text) + __user_initial_stackheap 0x08000265 Thumb Code 0 startup_stm32f407xx.o(.text) + __aeabi_uldivmod 0x08000289 Thumb Code 0 lludivv7m.o(.text) + _ll_udiv 0x08000289 Thumb Code 240 lludivv7m.o(.text) + __aeabi_memcpy 0x08000379 Thumb Code 0 rt_memcpy_v6.o(.text) + __rt_memcpy 0x08000379 Thumb Code 138 rt_memcpy_v6.o(.text) + _memcpy_lastbytes 0x080003df Thumb Code 0 rt_memcpy_v6.o(.text) + __aeabi_memset4 0x08000403 Thumb Code 16 aeabi_memset4.o(.text) + __aeabi_memset8 0x08000403 Thumb Code 0 aeabi_memset4.o(.text) + __aeabi_memclr4 0x08000413 Thumb Code 0 rt_memclr_w.o(.text) + __aeabi_memclr8 0x08000413 Thumb Code 0 rt_memclr_w.o(.text) + __rt_memclr_w 0x08000413 Thumb Code 0 rt_memclr_w.o(.text) + _memset_w 0x08000417 Thumb Code 74 rt_memclr_w.o(.text) + __use_two_region_memory 0x08000461 Thumb Code 2 heapauxi.o(.text) + __rt_heap_escrow$2region 0x08000463 Thumb Code 2 heapauxi.o(.text) + __rt_heap_expand$2region 0x08000465 Thumb Code 2 heapauxi.o(.text) + __read_errno 0x08000467 Thumb Code 10 _rserrno.o(.text) + __set_errno 0x08000471 Thumb Code 12 _rserrno.o(.text) + __aeabi_memcpy4 0x0800047d Thumb Code 0 rt_memcpy_w.o(.text) + __aeabi_memcpy8 0x0800047d Thumb Code 0 rt_memcpy_w.o(.text) + __rt_memcpy_w 0x0800047d Thumb Code 100 rt_memcpy_w.o(.text) + _memcpy_lastbytes_aligned 0x080004c5 Thumb Code 0 rt_memcpy_w.o(.text) + __aeabi_errno_addr 0x080004e1 Thumb Code 8 rt_errno_addr_intlibspace.o(.text) + __errno$intlibspace 0x080004e1 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) + __rt_errno_addr$intlibspace 0x080004e1 Thumb Code 0 rt_errno_addr_intlibspace.o(.text) + __user_libspace 0x080004e9 Thumb Code 8 libspace.o(.text) + __user_perproc_libspace 0x080004e9 Thumb Code 0 libspace.o(.text) + __user_perthread_libspace 0x080004e9 Thumb Code 0 libspace.o(.text) + __user_setup_stackheap 0x080004f1 Thumb Code 74 sys_stackheap_outer.o(.text) + exit 0x0800053b Thumb Code 18 exit.o(.text) + _sys_exit 0x0800054d Thumb Code 8 sys_exit.o(.text) + __I$use$semihosting 0x08000559 Thumb Code 0 use_no_semi.o(.text) + __use_no_semihosting_swi 0x08000559 Thumb Code 2 use_no_semi.o(.text) + __semihosting_library_function 0x0800055b Thumb Code 0 indicate_semi.o(.text) + AHRS_GetEulr 0x0800055d Thumb Code 348 ahrs.o(.text.AHRS_GetEulr) + AHRS_Init 0x080006b9 Thumb Code 644 ahrs.o(.text.AHRS_Init) + AHRS_ResetEulr 0x0800093d Thumb Code 18 ahrs.o(.text.AHRS_ResetEulr) + AHRS_Update 0x08000951 Thumb Code 3098 ahrs.o(.text.AHRS_Update) + AbsClip 0x08001b35 Thumb Code 106 user_math.o(.text.AbsClip) + BMI088_AcclStartDmaRecv 0x08001bb5 Thumb Code 30 bmi088.o(.text.BMI088_AcclStartDmaRecv) + BMI088_AcclWaitDmaCplt 0x08001bd5 Thumb Code 16 bmi088.o(.text.BMI088_AcclWaitDmaCplt) + BMI088_GetUpdateFreq 0x08001be5 Thumb Code 16 bmi088.o(.text.BMI088_GetUpdateFreq) + BMI088_GyroStartDmaRecv 0x08001c09 Thumb Code 26 bmi088.o(.text.BMI088_GyroStartDmaRecv) + BMI088_GyroWaitDmaCplt 0x08001c25 Thumb Code 16 bmi088.o(.text.BMI088_GyroWaitDmaCplt) + BMI088_Init 0x08001c35 Thumb Code 392 bmi088.o(.text.BMI088_Init) + BMI088_ParseAccl 0x08001dbd Thumb Code 244 bmi088.o(.text.BMI088_ParseAccl) + BMI088_ParseGyro 0x08001eb1 Thumb Code 280 bmi088.o(.text.BMI088_ParseGyro) + BMI088_WaitNew 0x0800201d Thumb Code 16 bmi088.o(.text.BMI088_WaitNew) + BSP_CAN_GetHandle 0x080023b1 Thumb Code 78 can_1.o(.text.BSP_CAN_GetHandle) + BSP_CAN_GetMessage 0x08002401 Thumb Code 158 can_1.o(.text.BSP_CAN_GetMessage) + BSP_CAN_Init 0x080024a1 Thumb Code 372 can_1.o(.text.BSP_CAN_Init) + BSP_CAN_ParseId 0x08002615 Thumb Code 66 can_1.o(.text.BSP_CAN_ParseId) + BSP_CAN_RegisterCallback 0x08002659 Thumb Code 130 can_1.o(.text.BSP_CAN_RegisterCallback) + BSP_CAN_RegisterId 0x080026dd Thumb Code 66 can_1.o(.text.BSP_CAN_RegisterId) + BSP_CAN_Transmit 0x080028e9 Thumb Code 374 can_1.o(.text.BSP_CAN_Transmit) + BSP_CAN_TransmitStdDataFrame 0x08002a61 Thumb Code 62 can_1.o(.text.BSP_CAN_TransmitStdDataFrame) + BSP_Free 0x08002d0d Thumb Code 16 mm.o(.text.BSP_Free) + BSP_GPIO_DisableIRQ 0x08002d1d Thumb Code 88 gpio_1.o(.text.BSP_GPIO_DisableIRQ) + BSP_GPIO_EnableIRQ 0x08002d75 Thumb Code 88 gpio_1.o(.text.BSP_GPIO_EnableIRQ) + BSP_GPIO_ReadPin 0x08002dcd Thumb Code 74 gpio_1.o(.text.BSP_GPIO_ReadPin) + BSP_GPIO_RegisterCallback 0x08002e19 Thumb Code 144 gpio_1.o(.text.BSP_GPIO_RegisterCallback) + BSP_GPIO_WritePin 0x08002ea9 Thumb Code 80 gpio_1.o(.text.BSP_GPIO_WritePin) + BSP_Malloc 0x08002ef9 Thumb Code 16 mm.o(.text.BSP_Malloc) + BSP_PWM_SetComp 0x08002f09 Thumb Code 318 pwm.o(.text.BSP_PWM_SetComp) + BSP_PWM_Start 0x08003049 Thumb Code 68 pwm.o(.text.BSP_PWM_Start) + BSP_SPI_GetHandle 0x0800308d Thumb Code 38 spi_1.o(.text.BSP_SPI_GetHandle) + BSP_SPI_Receive 0x080030b5 Thumb Code 128 spi_1.o(.text.BSP_SPI_Receive) + BSP_SPI_RegisterCallback 0x08003135 Thumb Code 68 spi_1.o(.text.BSP_SPI_RegisterCallback) + BSP_SPI_Transmit 0x08003179 Thumb Code 128 spi_1.o(.text.BSP_SPI_Transmit) + BSP_TIME_Delay 0x080031f9 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms) + BSP_TIME_Delay_ms 0x080031f9 Thumb Code 142 time.o(.text.BSP_TIME_Delay_ms) + BSP_TIME_Get 0x08003289 Thumb Code 170 time.o(.text.BSP_TIME_Get_us) + BSP_TIME_Get_us 0x08003289 Thumb Code 170 time.o(.text.BSP_TIME_Get_us) + BSP_UART_IRQHandler 0x08003335 Thumb Code 108 uart.o(.text.BSP_UART_IRQHandler) + BusFault_Handler 0x080033a1 Thumb Code 4 stm32f4xx_it.o(.text.BusFault_Handler) + CAN1_RX0_IRQHandler 0x080033a5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) + CAN1_RX1_IRQHandler 0x080033b5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler) + CAN1_TX_IRQHandler 0x080033c5 Thumb Code 16 stm32f4xx_it.o(.text.CAN1_TX_IRQHandler) + CAN2_RX0_IRQHandler 0x080033d5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) + CAN2_RX1_IRQHandler 0x080033e5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) + CAN2_TX_IRQHandler 0x080033f5 Thumb Code 16 stm32f4xx_it.o(.text.CAN2_TX_IRQHandler) + CircleAdd 0x0800345d Thumb Code 132 user_math.o(.text.CircleAdd) + CircleError 0x080034e1 Thumb Code 154 user_math.o(.text.CircleError) + Clip 0x0800357d Thumb Code 76 user_math.o(.text.Clip) + Config_GetRobotParam 0x080035c9 Thumb Code 10 config.o(.text.Config_GetRobotParam) + DMA1_Stream1_IRQHandler 0x080035d5 Thumb Code 20 stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) + DMA1_Stream1_IRQHandler1 0x080035e9 Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1) + DMA2_Stream2_IRQHandler 0x08003641 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x08003651 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DebugMon_Handler 0x080037f9 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + EXTI0_IRQHandler 0x080037fd Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) + EXTI3_IRQHandler 0x08003809 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) + EXTI4_IRQHandler 0x08003815 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x08003821 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x0800382d Thumb Code 6 main.o(.text.Error_Handler) + Gimbal_Control 0x08003835 Thumb Code 1304 gimbal.o(.text.Gimbal_Control) + Gimbal_Init 0x08003d4d Thumb Code 472 gimbal.o(.text.Gimbal_Init) + Gimbal_Output 0x08003f25 Thumb Code 274 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x080040ed Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x08004255 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x080042a1 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x080042f5 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x0800444d Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x080045ed Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x0800463d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x08004691 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x080048a5 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x08004915 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x08004d09 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08004ee9 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x080050b9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x08005109 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x08005159 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x080051a9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x080051f9 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08005249 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x080052d5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08005325 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08005371 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x080053c1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08005411 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08005461 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x080054b1 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x08005501 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x080055ed Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_GetState 0x08005631 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) + HAL_DMA_IRQHandler 0x08005641 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x08005961 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08005ad1 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08005b95 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08005bd9 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08005c41 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08005c79 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x08006031 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x08006061 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08006091 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_AbortCpltCallback 0x0800609d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) + HAL_I2C_AddrCallback 0x080060f1 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) + HAL_I2C_ER_IRQHandler 0x08006101 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) + HAL_I2C_EV_IRQHandler 0x0800627d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) + HAL_I2C_ErrorCallback 0x08006649 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) + HAL_I2C_Init 0x0800669d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_ListenCpltCallback 0x08006941 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) + HAL_I2C_MasterRxCpltCallback 0x08006995 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) + HAL_I2C_MasterTxCpltCallback 0x080069e9 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) + HAL_I2C_MemRxCpltCallback 0x08006a39 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) + HAL_I2C_MemTxCpltCallback 0x08006a8d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) + HAL_I2C_MspInit 0x08006ae1 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) + HAL_I2C_SlaveRxCpltCallback 0x08006c15 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) + HAL_I2C_SlaveTxCpltCallback 0x08006c69 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) + HAL_IncTick 0x08006cbd Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x08006cd9 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08006d11 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08006d81 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x08006dd9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x08006ded Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x08006e01 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x08006e35 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08006e45 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x080070a9 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x080070b5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x080070d9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x080070fd Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080071e5 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x080078a5 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x080078f9 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x080079f9 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08007c09 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x08007e59 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x08007ff1 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x08008045 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08008099 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x0800833d Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x080086e1 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x080088f5 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x08008a61 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x08008aa9 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x08008afd Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x08008b51 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08008ba5 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08008bb5 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x08008bbd Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08008bc5 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08008ce9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08008d85 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x08008e11 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x08008e19 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x08009035 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x080090a1 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x080090a9 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x080091ed Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08009289 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x08009291 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x08009299 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x08009465 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x0800946d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x08009475 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x08009481 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x080094d5 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x08009931 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x080099d1 Thumb Code 460 usart.o(.text.HAL_UART_MspInit) + HAL_UART_RxCpltCallback 0x08009b9d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_TxCpltCallback 0x08009bf1 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) + HardFault_Handler 0x08009c45 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) + I2C1_ER_IRQHandler 0x08009c49 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) + I2C1_EV_IRQHandler 0x08009c59 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) + InvSqrt 0x0800b145 Thumb Code 118 user_math.o(.text.InvSqrt) + LowPassFilter2p_Apply 0x0800b1bd Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x0800b275 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x0800b3b1 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x0800b4dd Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800b589 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x0800b611 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x0800b7b1 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x0800ba21 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x0800bbc5 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x0800be39 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x0800bf01 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_SetOutput 0x0800c021 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800c13d Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x0800c241 Thumb Code 78 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x0800c291 Thumb Code 78 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x0800c2e1 Thumb Code 134 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800c369 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800c3a9 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x0800c5d5 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x0800c61d Thumb Code 72 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x0800c665 Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_SPI2_Init 0x0800c6b9 Thumb Code 84 spi.o(.text.MX_SPI2_Init) + MX_TIM10_Init 0x0800c70d Thumb Code 142 tim.o(.text.MX_TIM10_Init) + MX_TIM7_Init 0x0800c79d Thumb Code 88 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x0800c7f5 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) + MX_USART3_UART_Init 0x0800c835 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) + MemManage_Handler 0x0800c881 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800caa1 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800cb11 Thumb Code 752 pid.o(.text.PID_Calc) + PID_Init 0x0800ce01 Thumb Code 406 pid.o(.text.PID_Init) + PID_Reset 0x0800cf99 Thumb Code 72 pid.o(.text.PID_Reset) PendSV_Handler 0x0800cfe1 Thumb Code 100 port.o(.text.PendSV_Handler) RC_Init 0x0800d045 Thumb Code 148 bsp_rc.o(.text.RC_Init) RC_restart 0x0800d0d9 Thumb Code 90 bsp_rc.o(.text.RC_restart) @@ -7743,33 +7743,33 @@ Image Symbol Table 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 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) + 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) @@ -7779,7 +7779,7 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00015090, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014f60]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00015090, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014f80]) Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014ee4, Max: 0x00100000, ABSOLUTE) @@ -7788,425 +7788,424 @@ Memory Map of the image 0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o 0x08000188 0x08000188 0x00000008 Code RO 3098 * !!!main c_w.l(__main.o) 0x08000190 0x08000190 0x00000034 Code RO 3587 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000005a Code RO 3585 !!dczerorl2 c_w.l(__dczerorl2.o) - 0x0800021e 0x0800021e 0x00000002 PAD - 0x08000220 0x08000220 0x0000001c Code RO 3589 !!handler_zi c_w.l(__scatter_zi.o) - 0x0800023c 0x0800023c 0x00000002 Code RO 3441 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x0800023e 0x0800023e 0x00000004 Code RO 3459 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3462 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3465 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3467 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3469 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3472 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3474 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3476 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3478 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3480 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3482 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3484 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3486 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3488 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3490 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3492 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3496 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3498 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3500 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3502 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000002 Code RO 3503 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) - 0x08000244 0x08000244 0x00000002 Code RO 3540 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) - 0x08000246 0x08000246 0x00000000 Code RO 3568 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3570 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3573 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3576 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3578 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3581 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000002 Code RO 3582 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000248 0x08000248 0x00000000 Code RO 3156 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000248 0x08000248 0x00000000 Code RO 3339 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000248 0x08000248 0x00000006 Code RO 3351 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800024e 0x0800024e 0x00000000 Code RO 3341 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800024e 0x0800024e 0x00000004 Code RO 3342 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000252 0x08000252 0x00000000 Code RO 3344 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000252 0x08000252 0x00000008 Code RO 3345 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800025a 0x0800025a 0x00000002 Code RO 3444 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800025c 0x0800025c 0x00000000 Code RO 3509 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800025c 0x0800025c 0x00000004 Code RO 3510 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000260 0x08000260 0x00000006 Code RO 3511 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) - 0x08000266 0x08000266 0x00000002 PAD - 0x08000268 0x08000268 0x00000040 Code RO 4 .text startup_stm32f407xx.o - 0x080002a8 0x080002a8 0x000000f0 Code RO 3072 .text c_w.l(lludivv7m.o) - 0x08000398 0x08000398 0x0000008a Code RO 3084 .text c_w.l(rt_memcpy_v6.o) - 0x08000422 0x08000422 0x00000010 Code RO 3088 .text c_w.l(aeabi_memset4.o) - 0x08000432 0x08000432 0x0000004e Code RO 3092 .text c_w.l(rt_memclr_w.o) - 0x08000480 0x08000480 0x00000006 Code RO 3096 .text c_w.l(heapauxi.o) - 0x08000486 0x08000486 0x00000016 Code RO 3161 .text c_w.l(_rserrno.o) - 0x0800049c 0x0800049c 0x00000064 Code RO 3256 .text c_w.l(rt_memcpy_w.o) - 0x08000500 0x08000500 0x00000008 Code RO 3358 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x08000508 0x08000508 0x00000008 Code RO 3386 .text c_w.l(libspace.o) - 0x08000510 0x08000510 0x0000004a Code RO 3389 .text c_w.l(sys_stackheap_outer.o) - 0x0800055a 0x0800055a 0x00000012 Code RO 3430 .text c_w.l(exit.o) - 0x0800056c 0x0800056c 0x0000000c Code RO 3504 .text c_w.l(sys_exit.o) - 0x08000578 0x08000578 0x00000002 Code RO 3529 .text c_w.l(use_no_semi.o) - 0x0800057a 0x0800057a 0x00000000 Code RO 3531 .text c_w.l(indicate_semi.o) - 0x0800057a 0x0800057a 0x00000002 PAD - 0x0800057c 0x0800057c 0x0000015c Code RO 2480 .text.AHRS_GetEulr ahrs.o - 0x080006d8 0x080006d8 0x00000284 Code RO 2474 .text.AHRS_Init ahrs.o - 0x0800095c 0x0800095c 0x00000012 Code RO 2484 .text.AHRS_ResetEulr ahrs.o - 0x0800096e 0x0800096e 0x00000002 PAD - 0x08000970 0x08000970 0x00000c1a Code RO 2476 .text.AHRS_Update ahrs.o - 0x0800158a 0x0800158a 0x00000002 PAD - 0x0800158c 0x0800158c 0x000005c8 Code RO 2478 .text.AHRS_UpdateIMU ahrs.o - 0x08001b54 0x08001b54 0x0000006a Code RO 2677 .text.AbsClip user_math.o - 0x08001bbe 0x08001bbe 0x00000002 PAD - 0x08001bc0 0x08001bc0 0x00000014 Code RO 2761 .text.BMI088_AcclIntCallback bmi088.o - 0x08001bd4 0x08001bd4 0x0000001e Code RO 2769 .text.BMI088_AcclStartDmaRecv bmi088.o - 0x08001bf2 0x08001bf2 0x00000002 PAD - 0x08001bf4 0x08001bf4 0x00000010 Code RO 2773 .text.BMI088_AcclWaitDmaCplt bmi088.o - 0x08001c04 0x08001c04 0x00000010 Code RO 2783 .text.BMI088_GetUpdateFreq bmi088.o - 0x08001c14 0x08001c14 0x00000014 Code RO 2763 .text.BMI088_GyroIntCallback bmi088.o - 0x08001c28 0x08001c28 0x0000001a Code RO 2775 .text.BMI088_GyroStartDmaRecv bmi088.o - 0x08001c42 0x08001c42 0x00000002 PAD - 0x08001c44 0x08001c44 0x00000010 Code RO 2777 .text.BMI088_GyroWaitDmaCplt bmi088.o - 0x08001c54 0x08001c54 0x00000188 Code RO 2753 .text.BMI088_Init bmi088.o - 0x08001ddc 0x08001ddc 0x000000f4 Code RO 2779 .text.BMI088_ParseAccl bmi088.o - 0x08001ed0 0x08001ed0 0x00000118 Code RO 2781 .text.BMI088_ParseGyro bmi088.o - 0x08001fe8 0x08001fe8 0x00000054 Code RO 2759 .text.BMI088_RxCpltCallback bmi088.o - 0x0800203c 0x0800203c 0x00000010 Code RO 2767 .text.BMI088_WaitNew bmi088.o - 0x0800204c 0x0800204c 0x00000076 Code RO 2771 .text.BMI_Read bmi088.o - 0x080020c2 0x080020c2 0x00000002 PAD - 0x080020c4 0x080020c4 0x000000b2 Code RO 2757 .text.BMI_ReadSingle bmi088.o - 0x08002176 0x08002176 0x00000002 PAD - 0x08002178 0x08002178 0x00000094 Code RO 2755 .text.BMI_WriteSingle bmi088.o - 0x0800220c 0x0800220c 0x00000124 Code RO 2242 .text.BSP_CAN_CreateIdQueue can_1.o - 0x08002330 0x08002330 0x0000000e Code RO 2218 .text.BSP_CAN_DefaultIdParser can_1.o - 0x0800233e 0x0800233e 0x00000002 PAD - 0x08002340 0x08002340 0x00000052 Code RO 2246 .text.BSP_CAN_FindQueue can_1.o - 0x08002392 0x08002392 0x00000002 PAD - 0x08002394 0x08002394 0x0000003a Code RO 2256 .text.BSP_CAN_GetFrameType can_1.o - 0x080023ce 0x080023ce 0x00000002 PAD - 0x080023d0 0x080023d0 0x0000004e Code RO 2228 .text.BSP_CAN_GetHandle can_1.o - 0x0800241e 0x0800241e 0x00000002 PAD - 0x08002420 0x08002420 0x0000009e Code RO 2244 .text.BSP_CAN_GetMessage can_1.o - 0x080024be 0x080024be 0x00000002 PAD - 0x080024c0 0x080024c0 0x00000174 Code RO 2214 .text.BSP_CAN_Init can_1.o - 0x08002634 0x08002634 0x00000042 Code RO 2254 .text.BSP_CAN_ParseId can_1.o - 0x08002676 0x08002676 0x00000002 PAD - 0x08002678 0x08002678 0x00000082 Code RO 2220 .text.BSP_CAN_RegisterCallback can_1.o - 0x080026fa 0x080026fa 0x00000002 PAD - 0x080026fc 0x080026fc 0x00000042 Code RO 2240 .text.BSP_CAN_RegisterId can_1.o - 0x0800273e 0x0800273e 0x00000002 PAD - 0x08002740 0x08002740 0x000000e4 Code RO 2222 .text.BSP_CAN_RxFifo0Callback can_1.o - 0x08002824 0x08002824 0x000000e4 Code RO 2226 .text.BSP_CAN_RxFifo1Callback can_1.o - 0x08002908 0x08002908 0x00000176 Code RO 2230 .text.BSP_CAN_Transmit can_1.o - 0x08002a7e 0x08002a7e 0x00000002 PAD - 0x08002a80 0x08002a80 0x0000003e Code RO 2234 .text.BSP_CAN_TransmitStdDataFrame can_1.o - 0x08002abe 0x08002abe 0x00000002 PAD - 0x08002ac0 0x08002ac0 0x00000078 Code RO 2224 .text.BSP_CAN_TxCompleteCallback can_1.o - 0x08002b38 0x08002b38 0x00000042 Code RO 2216 .text.BSP_CAN_TxQueueInit can_1.o - 0x08002b7a 0x08002b7a 0x00000002 PAD - 0x08002b7c 0x08002b7c 0x00000056 Code RO 2258 .text.BSP_CAN_TxQueueIsEmpty can_1.o - 0x08002bd2 0x08002bd2 0x00000002 PAD - 0x08002bd4 0x08002bd4 0x000000ac Code RO 2260 .text.BSP_CAN_TxQueuePop can_1.o - 0x08002c80 0x08002c80 0x000000ac Code RO 2232 .text.BSP_CAN_TxQueuePush can_1.o - 0x08002d2c 0x08002d2c 0x00000010 Code RO 2344 .text.BSP_Free mm.o - 0x08002d3c 0x08002d3c 0x00000058 Code RO 2281 .text.BSP_GPIO_DisableIRQ gpio_1.o - 0x08002d94 0x08002d94 0x00000058 Code RO 2279 .text.BSP_GPIO_EnableIRQ gpio_1.o - 0x08002dec 0x08002dec 0x0000004a Code RO 2287 .text.BSP_GPIO_ReadPin gpio_1.o - 0x08002e36 0x08002e36 0x00000002 PAD - 0x08002e38 0x08002e38 0x00000090 Code RO 2277 .text.BSP_GPIO_RegisterCallback gpio_1.o - 0x08002ec8 0x08002ec8 0x00000050 Code RO 2283 .text.BSP_GPIO_WritePin gpio_1.o - 0x08002f18 0x08002f18 0x00000010 Code RO 2342 .text.BSP_Malloc mm.o - 0x08002f28 0x08002f28 0x0000013e Code RO 2355 .text.BSP_PWM_SetComp pwm.o - 0x08003066 0x08003066 0x00000002 PAD - 0x08003068 0x08003068 0x00000044 Code RO 2353 .text.BSP_PWM_Start pwm.o - 0x080030ac 0x080030ac 0x00000026 Code RO 2397 .text.BSP_SPI_GetHandle spi_1.o - 0x080030d2 0x080030d2 0x00000002 PAD - 0x080030d4 0x080030d4 0x00000080 Code RO 2403 .text.BSP_SPI_Receive spi_1.o - 0x08003154 0x08003154 0x00000044 Code RO 2399 .text.BSP_SPI_RegisterCallback spi_1.o - 0x08003198 0x08003198 0x00000080 Code RO 2401 .text.BSP_SPI_Transmit spi_1.o - 0x08003218 0x08003218 0x0000008e Code RO 2427 .text.BSP_TIME_Delay_ms time.o - 0x080032a6 0x080032a6 0x00000002 PAD - 0x080032a8 0x080032a8 0x000000aa Code RO 2425 .text.BSP_TIME_Get_us time.o - 0x08003352 0x08003352 0x00000002 PAD - 0x08003354 0x08003354 0x0000006c Code RO 2456 .text.BSP_UART_IRQHandler uart.o - 0x080033c0 0x080033c0 0x00000004 Code RO 158 .text.BusFault_Handler stm32f4xx_it.o - 0x080033c4 0x080033c4 0x00000010 Code RO 176 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o - 0x080033d4 0x080033d4 0x00000010 Code RO 178 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o - 0x080033e4 0x080033e4 0x00000010 Code RO 174 .text.CAN1_TX_IRQHandler stm32f4xx_it.o - 0x080033f4 0x080033f4 0x00000010 Code RO 196 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o - 0x08003404 0x08003404 0x00000010 Code RO 198 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o - 0x08003414 0x08003414 0x00000010 Code RO 194 .text.CAN2_TX_IRQHandler stm32f4xx_it.o - 0x08003424 0x08003424 0x00000056 Code RO 2188 .text.CAN_Get can_1.o - 0x0800347a 0x0800347a 0x00000002 PAD - 0x0800347c 0x0800347c 0x00000084 Code RO 2689 .text.CircleAdd user_math.o - 0x08003500 0x08003500 0x0000009a Code RO 2687 .text.CircleError user_math.o - 0x0800359a 0x0800359a 0x00000002 PAD - 0x0800359c 0x0800359c 0x0000004c Code RO 2681 .text.Clip user_math.o - 0x080035e8 0x080035e8 0x0000000a Code RO 3062 .text.Config_GetRobotParam config.o - 0x080035f2 0x080035f2 0x00000002 PAD - 0x080035f4 0x080035f4 0x00000014 Code RO 172 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x08003608 0x08003608 0x00000056 Code RO 2921 .text.DMA1_Stream1_IRQHandler1 remote_control.o - 0x0800365e 0x0800365e 0x00000002 PAD - 0x08003660 0x08003660 0x00000010 Code RO 190 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08003670 0x08003670 0x00000010 Code RO 192 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08003680 0x08003680 0x00000056 Code RO 472 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x080036d6 0x080036d6 0x00000002 PAD - 0x080036d8 0x080036d8 0x000000f0 Code RO 470 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x080037c8 0x080037c8 0x00000050 Code RO 478 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x08003818 0x08003818 0x00000002 Code RO 162 .text.DebugMon_Handler stm32f4xx_it.o - 0x0800381a 0x0800381a 0x00000002 PAD - 0x0800381c 0x0800381c 0x0000000a Code RO 166 .text.EXTI0_IRQHandler stm32f4xx_it.o - 0x08003826 0x08003826 0x00000002 PAD - 0x08003828 0x08003828 0x0000000a Code RO 168 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x080001c4 0x080001c4 0x0000003a Code RO 3585 !!dczerorl c_w.l(__dczerorl.o) + 0x080001fe 0x080001fe 0x00000002 PAD + 0x08000200 0x08000200 0x0000001c Code RO 3589 !!handler_zi c_w.l(__scatter_zi.o) + 0x0800021c 0x0800021c 0x00000002 Code RO 3441 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x0800021e 0x0800021e 0x00000004 Code RO 3459 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3462 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3465 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3467 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3469 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3472 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3474 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3476 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3478 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3480 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3482 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3484 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3486 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3488 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3490 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3492 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3496 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3498 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3500 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000000 Code RO 3502 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000222 0x08000222 0x00000002 Code RO 3503 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000224 0x08000224 0x00000002 Code RO 3540 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000226 0x08000226 0x00000000 Code RO 3568 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000226 0x08000226 0x00000000 Code RO 3570 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x08000226 0x08000226 0x00000000 Code RO 3573 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x08000226 0x08000226 0x00000000 Code RO 3576 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x08000226 0x08000226 0x00000000 Code RO 3578 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x08000226 0x08000226 0x00000000 Code RO 3581 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x08000226 0x08000226 0x00000002 Code RO 3582 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x08000228 0x08000228 0x00000000 Code RO 3156 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x08000228 0x08000228 0x00000000 Code RO 3339 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x08000228 0x08000228 0x00000006 Code RO 3351 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x0800022e 0x0800022e 0x00000000 Code RO 3341 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x0800022e 0x0800022e 0x00000004 Code RO 3342 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000232 0x08000232 0x00000000 Code RO 3344 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x08000232 0x08000232 0x00000008 Code RO 3345 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x0800023a 0x0800023a 0x00000002 Code RO 3444 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x0800023c 0x0800023c 0x00000000 Code RO 3509 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x0800023c 0x0800023c 0x00000004 Code RO 3510 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x08000240 0x08000240 0x00000006 Code RO 3511 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x08000246 0x08000246 0x00000002 PAD + 0x08000248 0x08000248 0x00000040 Code RO 4 .text startup_stm32f407xx.o + 0x08000288 0x08000288 0x000000f0 Code RO 3072 .text c_w.l(lludivv7m.o) + 0x08000378 0x08000378 0x0000008a Code RO 3084 .text c_w.l(rt_memcpy_v6.o) + 0x08000402 0x08000402 0x00000010 Code RO 3088 .text c_w.l(aeabi_memset4.o) + 0x08000412 0x08000412 0x0000004e Code RO 3092 .text c_w.l(rt_memclr_w.o) + 0x08000460 0x08000460 0x00000006 Code RO 3096 .text c_w.l(heapauxi.o) + 0x08000466 0x08000466 0x00000016 Code RO 3161 .text c_w.l(_rserrno.o) + 0x0800047c 0x0800047c 0x00000064 Code RO 3256 .text c_w.l(rt_memcpy_w.o) + 0x080004e0 0x080004e0 0x00000008 Code RO 3358 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x080004e8 0x080004e8 0x00000008 Code RO 3386 .text c_w.l(libspace.o) + 0x080004f0 0x080004f0 0x0000004a Code RO 3389 .text c_w.l(sys_stackheap_outer.o) + 0x0800053a 0x0800053a 0x00000012 Code RO 3430 .text c_w.l(exit.o) + 0x0800054c 0x0800054c 0x0000000c Code RO 3504 .text c_w.l(sys_exit.o) + 0x08000558 0x08000558 0x00000002 Code RO 3529 .text c_w.l(use_no_semi.o) + 0x0800055a 0x0800055a 0x00000000 Code RO 3531 .text c_w.l(indicate_semi.o) + 0x0800055a 0x0800055a 0x00000002 PAD + 0x0800055c 0x0800055c 0x0000015c Code RO 2480 .text.AHRS_GetEulr ahrs.o + 0x080006b8 0x080006b8 0x00000284 Code RO 2474 .text.AHRS_Init ahrs.o + 0x0800093c 0x0800093c 0x00000012 Code RO 2484 .text.AHRS_ResetEulr ahrs.o + 0x0800094e 0x0800094e 0x00000002 PAD + 0x08000950 0x08000950 0x00000c1a Code RO 2476 .text.AHRS_Update ahrs.o + 0x0800156a 0x0800156a 0x00000002 PAD + 0x0800156c 0x0800156c 0x000005c8 Code RO 2478 .text.AHRS_UpdateIMU ahrs.o + 0x08001b34 0x08001b34 0x0000006a Code RO 2677 .text.AbsClip user_math.o + 0x08001b9e 0x08001b9e 0x00000002 PAD + 0x08001ba0 0x08001ba0 0x00000014 Code RO 2761 .text.BMI088_AcclIntCallback bmi088.o + 0x08001bb4 0x08001bb4 0x0000001e Code RO 2769 .text.BMI088_AcclStartDmaRecv bmi088.o + 0x08001bd2 0x08001bd2 0x00000002 PAD + 0x08001bd4 0x08001bd4 0x00000010 Code RO 2773 .text.BMI088_AcclWaitDmaCplt bmi088.o + 0x08001be4 0x08001be4 0x00000010 Code RO 2783 .text.BMI088_GetUpdateFreq bmi088.o + 0x08001bf4 0x08001bf4 0x00000014 Code RO 2763 .text.BMI088_GyroIntCallback bmi088.o + 0x08001c08 0x08001c08 0x0000001a Code RO 2775 .text.BMI088_GyroStartDmaRecv bmi088.o + 0x08001c22 0x08001c22 0x00000002 PAD + 0x08001c24 0x08001c24 0x00000010 Code RO 2777 .text.BMI088_GyroWaitDmaCplt bmi088.o + 0x08001c34 0x08001c34 0x00000188 Code RO 2753 .text.BMI088_Init bmi088.o + 0x08001dbc 0x08001dbc 0x000000f4 Code RO 2779 .text.BMI088_ParseAccl bmi088.o + 0x08001eb0 0x08001eb0 0x00000118 Code RO 2781 .text.BMI088_ParseGyro bmi088.o + 0x08001fc8 0x08001fc8 0x00000054 Code RO 2759 .text.BMI088_RxCpltCallback bmi088.o + 0x0800201c 0x0800201c 0x00000010 Code RO 2767 .text.BMI088_WaitNew bmi088.o + 0x0800202c 0x0800202c 0x00000076 Code RO 2771 .text.BMI_Read bmi088.o + 0x080020a2 0x080020a2 0x00000002 PAD + 0x080020a4 0x080020a4 0x000000b2 Code RO 2757 .text.BMI_ReadSingle bmi088.o + 0x08002156 0x08002156 0x00000002 PAD + 0x08002158 0x08002158 0x00000094 Code RO 2755 .text.BMI_WriteSingle bmi088.o + 0x080021ec 0x080021ec 0x00000124 Code RO 2242 .text.BSP_CAN_CreateIdQueue can_1.o + 0x08002310 0x08002310 0x0000000e Code RO 2218 .text.BSP_CAN_DefaultIdParser can_1.o + 0x0800231e 0x0800231e 0x00000002 PAD + 0x08002320 0x08002320 0x00000052 Code RO 2246 .text.BSP_CAN_FindQueue can_1.o + 0x08002372 0x08002372 0x00000002 PAD + 0x08002374 0x08002374 0x0000003a Code RO 2256 .text.BSP_CAN_GetFrameType can_1.o + 0x080023ae 0x080023ae 0x00000002 PAD + 0x080023b0 0x080023b0 0x0000004e Code RO 2228 .text.BSP_CAN_GetHandle can_1.o + 0x080023fe 0x080023fe 0x00000002 PAD + 0x08002400 0x08002400 0x0000009e Code RO 2244 .text.BSP_CAN_GetMessage can_1.o + 0x0800249e 0x0800249e 0x00000002 PAD + 0x080024a0 0x080024a0 0x00000174 Code RO 2214 .text.BSP_CAN_Init can_1.o + 0x08002614 0x08002614 0x00000042 Code RO 2254 .text.BSP_CAN_ParseId can_1.o + 0x08002656 0x08002656 0x00000002 PAD + 0x08002658 0x08002658 0x00000082 Code RO 2220 .text.BSP_CAN_RegisterCallback can_1.o + 0x080026da 0x080026da 0x00000002 PAD + 0x080026dc 0x080026dc 0x00000042 Code RO 2240 .text.BSP_CAN_RegisterId can_1.o + 0x0800271e 0x0800271e 0x00000002 PAD + 0x08002720 0x08002720 0x000000e4 Code RO 2222 .text.BSP_CAN_RxFifo0Callback can_1.o + 0x08002804 0x08002804 0x000000e4 Code RO 2226 .text.BSP_CAN_RxFifo1Callback can_1.o + 0x080028e8 0x080028e8 0x00000176 Code RO 2230 .text.BSP_CAN_Transmit can_1.o + 0x08002a5e 0x08002a5e 0x00000002 PAD + 0x08002a60 0x08002a60 0x0000003e Code RO 2234 .text.BSP_CAN_TransmitStdDataFrame can_1.o + 0x08002a9e 0x08002a9e 0x00000002 PAD + 0x08002aa0 0x08002aa0 0x00000078 Code RO 2224 .text.BSP_CAN_TxCompleteCallback can_1.o + 0x08002b18 0x08002b18 0x00000042 Code RO 2216 .text.BSP_CAN_TxQueueInit can_1.o + 0x08002b5a 0x08002b5a 0x00000002 PAD + 0x08002b5c 0x08002b5c 0x00000056 Code RO 2258 .text.BSP_CAN_TxQueueIsEmpty can_1.o + 0x08002bb2 0x08002bb2 0x00000002 PAD + 0x08002bb4 0x08002bb4 0x000000ac Code RO 2260 .text.BSP_CAN_TxQueuePop can_1.o + 0x08002c60 0x08002c60 0x000000ac Code RO 2232 .text.BSP_CAN_TxQueuePush can_1.o + 0x08002d0c 0x08002d0c 0x00000010 Code RO 2344 .text.BSP_Free mm.o + 0x08002d1c 0x08002d1c 0x00000058 Code RO 2281 .text.BSP_GPIO_DisableIRQ gpio_1.o + 0x08002d74 0x08002d74 0x00000058 Code RO 2279 .text.BSP_GPIO_EnableIRQ gpio_1.o + 0x08002dcc 0x08002dcc 0x0000004a Code RO 2287 .text.BSP_GPIO_ReadPin gpio_1.o + 0x08002e16 0x08002e16 0x00000002 PAD + 0x08002e18 0x08002e18 0x00000090 Code RO 2277 .text.BSP_GPIO_RegisterCallback gpio_1.o + 0x08002ea8 0x08002ea8 0x00000050 Code RO 2283 .text.BSP_GPIO_WritePin gpio_1.o + 0x08002ef8 0x08002ef8 0x00000010 Code RO 2342 .text.BSP_Malloc mm.o + 0x08002f08 0x08002f08 0x0000013e Code RO 2355 .text.BSP_PWM_SetComp pwm.o + 0x08003046 0x08003046 0x00000002 PAD + 0x08003048 0x08003048 0x00000044 Code RO 2353 .text.BSP_PWM_Start pwm.o + 0x0800308c 0x0800308c 0x00000026 Code RO 2397 .text.BSP_SPI_GetHandle spi_1.o + 0x080030b2 0x080030b2 0x00000002 PAD + 0x080030b4 0x080030b4 0x00000080 Code RO 2403 .text.BSP_SPI_Receive spi_1.o + 0x08003134 0x08003134 0x00000044 Code RO 2399 .text.BSP_SPI_RegisterCallback spi_1.o + 0x08003178 0x08003178 0x00000080 Code RO 2401 .text.BSP_SPI_Transmit spi_1.o + 0x080031f8 0x080031f8 0x0000008e Code RO 2427 .text.BSP_TIME_Delay_ms time.o + 0x08003286 0x08003286 0x00000002 PAD + 0x08003288 0x08003288 0x000000aa Code RO 2425 .text.BSP_TIME_Get_us time.o + 0x08003332 0x08003332 0x00000002 PAD + 0x08003334 0x08003334 0x0000006c Code RO 2456 .text.BSP_UART_IRQHandler uart.o + 0x080033a0 0x080033a0 0x00000004 Code RO 158 .text.BusFault_Handler stm32f4xx_it.o + 0x080033a4 0x080033a4 0x00000010 Code RO 176 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o + 0x080033b4 0x080033b4 0x00000010 Code RO 178 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o + 0x080033c4 0x080033c4 0x00000010 Code RO 174 .text.CAN1_TX_IRQHandler stm32f4xx_it.o + 0x080033d4 0x080033d4 0x00000010 Code RO 196 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o + 0x080033e4 0x080033e4 0x00000010 Code RO 198 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o + 0x080033f4 0x080033f4 0x00000010 Code RO 194 .text.CAN2_TX_IRQHandler stm32f4xx_it.o + 0x08003404 0x08003404 0x00000056 Code RO 2188 .text.CAN_Get can_1.o + 0x0800345a 0x0800345a 0x00000002 PAD + 0x0800345c 0x0800345c 0x00000084 Code RO 2689 .text.CircleAdd user_math.o + 0x080034e0 0x080034e0 0x0000009a Code RO 2687 .text.CircleError user_math.o + 0x0800357a 0x0800357a 0x00000002 PAD + 0x0800357c 0x0800357c 0x0000004c Code RO 2681 .text.Clip user_math.o + 0x080035c8 0x080035c8 0x0000000a Code RO 3062 .text.Config_GetRobotParam config.o + 0x080035d2 0x080035d2 0x00000002 PAD + 0x080035d4 0x080035d4 0x00000014 Code RO 172 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x080035e8 0x080035e8 0x00000056 Code RO 2921 .text.DMA1_Stream1_IRQHandler1 remote_control.o + 0x0800363e 0x0800363e 0x00000002 PAD + 0x08003640 0x08003640 0x00000010 Code RO 190 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x08003650 0x08003650 0x00000010 Code RO 192 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x08003660 0x08003660 0x00000056 Code RO 472 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x080036b6 0x080036b6 0x00000002 PAD + 0x080036b8 0x080036b8 0x000000f0 Code RO 470 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x080037a8 0x080037a8 0x00000050 Code RO 478 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x080037f8 0x080037f8 0x00000002 Code RO 162 .text.DebugMon_Handler stm32f4xx_it.o + 0x080037fa 0x080037fa 0x00000002 PAD + 0x080037fc 0x080037fc 0x0000000a Code RO 166 .text.EXTI0_IRQHandler stm32f4xx_it.o + 0x08003806 0x08003806 0x00000002 PAD + 0x08003808 0x08003808 0x0000000a Code RO 168 .text.EXTI3_IRQHandler stm32f4xx_it.o + 0x08003812 0x08003812 0x00000002 PAD + 0x08003814 0x08003814 0x0000000a Code RO 170 .text.EXTI4_IRQHandler stm32f4xx_it.o + 0x0800381e 0x0800381e 0x00000002 PAD + 0x08003820 0x08003820 0x0000000a Code RO 180 .text.EXTI9_5_IRQHandler stm32f4xx_it.o + 0x0800382a 0x0800382a 0x00000002 PAD + 0x0800382c 0x0800382c 0x00000006 Code RO 15 .text.Error_Handler main.o 0x08003832 0x08003832 0x00000002 PAD - 0x08003834 0x08003834 0x0000000a Code RO 170 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x0800383e 0x0800383e 0x00000002 PAD - 0x08003840 0x08003840 0x0000000a Code RO 180 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x0800384a 0x0800384a 0x00000002 PAD - 0x0800384c 0x0800384c 0x00000006 Code RO 15 .text.Error_Handler main.o - 0x08003852 0x08003852 0x00000002 PAD - 0x08003854 0x08003854 0x00000520 Code RO 3049 .text.Gimbal_Control gimbal.o - 0x08003d74 0x08003d74 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 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 0x08006094 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x080060e8 0x080060e8 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x080060f8 0x080060f8 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x08006272 0x08006272 0x00000002 PAD - 0x08006274 0x08006274 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x0800663e 0x0800663e 0x00000002 PAD - 0x08006640 0x08006640 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x08006694 0x08006694 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08006938 0x08006938 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x0800698c 0x0800698c 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x080069e0 0x080069e0 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x08006a30 0x08006a30 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x08006a84 0x08006a84 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x08006ad8 0x08006ad8 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x08006c0c 0x08006c0c 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x08006c60 0x08006c60 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x08006cb4 0x08006cb4 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o - 0x08006cce 0x08006cce 0x00000002 PAD - 0x08006cd0 0x08006cd0 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o - 0x08006d06 0x08006d06 0x00000002 PAD - 0x08006d08 0x08006d08 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o - 0x08006d78 0x08006d78 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08006dd0 0x08006dd0 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x08006de4 0x08006de4 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08006df8 0x08006df8 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08006e2a 0x08006e2a 0x00000002 PAD - 0x08006e2c 0x08006e2c 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08006e3c 0x08006e3c 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x0800709e 0x0800709e 0x00000002 PAD - 0x080070a0 0x080070a0 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x080070ac 0x080070ac 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x080070ce 0x080070ce 0x00000002 PAD - 0x080070d0 0x080070d0 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x080070f2 0x080070f2 0x00000002 PAD - 0x080070f4 0x080070f4 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080071da 0x080071da 0x00000002 PAD - 0x080071dc 0x080071dc 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x0800789a 0x0800789a 0x00000002 PAD - 0x0800789c 0x0800789c 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o - 0x080078f0 0x080078f0 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x080079f0 0x080079f0 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x08007c00 0x08007c00 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08007e4e 0x08007e4e 0x00000002 PAD - 0x08007e50 0x08007e50 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08007fe8 0x08007fe8 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x0800803c 0x0800803c 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08008090 0x08008090 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x08008332 0x08008332 0x00000002 PAD - 0x08008334 0x08008334 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x080086d6 0x080086d6 0x00000002 PAD - 0x080086d8 0x080086d8 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x080088ec 0x080088ec 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x08008a58 0x08008a58 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08008aa0 0x08008aa0 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x08008af4 0x08008af4 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x08008b48 0x08008b48 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08008b9c 0x08008b9c 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08008bac 0x08008bac 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x08008bb4 0x08008bb4 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08008bbc 0x08008bbc 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08008cde 0x08008cde 0x00000002 PAD - 0x08008ce0 0x08008ce0 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08008d7c 0x08008d7c 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x08008e06 0x08008e06 0x00000002 PAD - 0x08008e08 0x08008e08 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x08008e10 0x08008e10 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x0800902a 0x0800902a 0x00000002 PAD - 0x0800902c 0x0800902c 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x08009098 0x08009098 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x080090a0 0x080090a0 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x080091e2 0x080091e2 0x00000002 PAD - 0x080091e4 0x080091e4 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x08009280 0x08009280 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009288 0x08009288 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x08009290 0x08009290 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x0800945a 0x0800945a 0x00000002 PAD - 0x0800945c 0x0800945c 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x08009464 0x08009464 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x0800946c 0x0800946c 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08009478 0x08009478 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o - 0x080094cc 0x080094cc 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x08009928 0x08009928 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x080099c6 0x080099c6 0x00000002 PAD - 0x080099c8 0x080099c8 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o - 0x08009b94 0x08009b94 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o - 0x08009be8 0x08009be8 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o - 0x08009c3c 0x08009c3c 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o - 0x08009c40 0x08009c40 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 + 0x08003834 0x08003834 0x00000518 Code RO 3049 .text.Gimbal_Control gimbal.o + 0x08003d4c 0x08003d4c 0x000001d8 Code RO 3043 .text.Gimbal_Init gimbal.o + 0x08003f24 0x08003f24 0x00000112 Code RO 3053 .text.Gimbal_Output gimbal.o + 0x08004036 0x08004036 0x00000002 PAD + 0x08004038 0x08004038 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o + 0x080040ec 0x080040ec 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o + 0x08004254 0x08004254 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o + 0x0800429e 0x0800429e 0x00000002 PAD + 0x080042a0 0x080042a0 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080042f2 0x080042f2 0x00000002 PAD + 0x080042f4 0x080042f4 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x0800444a 0x0800444a 0x00000002 PAD + 0x0800444c 0x0800444c 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x080045ea 0x080045ea 0x00000002 PAD + 0x080045ec 0x080045ec 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o + 0x0800463c 0x0800463c 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x0800468e 0x0800468e 0x00000002 PAD + 0x08004690 0x08004690 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x080048a2 0x080048a2 0x00000002 PAD + 0x080048a4 0x080048a4 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x08004914 0x08004914 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08004d06 0x08004d06 0x00000002 PAD + 0x08004d08 0x08004d08 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08004ee6 0x08004ee6 0x00000002 PAD + 0x08004ee8 0x08004ee8 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x080050b8 0x080050b8 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x08005108 0x08005108 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08005158 0x08005158 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x080051a8 0x080051a8 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x080051f8 0x080051f8 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o + 0x08005248 0x08005248 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080052d2 0x080052d2 0x00000002 PAD + 0x080052d4 0x080052d4 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08005324 0x08005324 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08005370 0x08005370 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x080053c0 0x080053c0 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08005410 0x08005410 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08005460 0x08005460 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x080054b0 0x080054b0 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08005500 0x08005500 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x080055ec 0x080055ec 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08005630 0x08005630 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x0800563e 0x0800563e 0x00000002 PAD + 0x08005640 0x08005640 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x0800595e 0x0800595e 0x00000002 PAD + 0x08005960 0x08005960 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08005ace 0x08005ace 0x00000002 PAD + 0x08005ad0 0x08005ad0 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08005b92 0x08005b92 0x00000002 PAD + 0x08005b94 0x08005b94 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o + 0x08005bd6 0x08005bd6 0x00000002 PAD + 0x08005bd8 0x08005bd8 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08005c3e 0x08005c3e 0x00000002 PAD + 0x08005c40 0x08005c40 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08005c78 0x08005c78 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x0800602e 0x0800602e 0x00000002 PAD + 0x08006030 0x08006030 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x0800605e 0x0800605e 0x00000002 PAD + 0x08006060 0x08006060 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x0800608e 0x0800608e 0x00000002 PAD + 0x08006090 0x08006090 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o + 0x0800609c 0x0800609c 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o + 0x080060f0 0x080060f0 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o + 0x08006100 0x08006100 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o + 0x0800627a 0x0800627a 0x00000002 PAD + 0x0800627c 0x0800627c 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o + 0x08006646 0x08006646 0x00000002 PAD + 0x08006648 0x08006648 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o + 0x0800669c 0x0800669c 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x08006940 0x08006940 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o + 0x08006994 0x08006994 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 0x080069e8 0x080069e8 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o + 0x08006a38 0x08006a38 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o + 0x08006a8c 0x08006a8c 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o + 0x08006ae0 0x08006ae0 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o + 0x08006c14 0x08006c14 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 0x08006c68 0x08006c68 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o + 0x08006cbc 0x08006cbc 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o + 0x08006cd6 0x08006cd6 0x00000002 PAD + 0x08006cd8 0x08006cd8 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o + 0x08006d0e 0x08006d0e 0x00000002 PAD + 0x08006d10 0x08006d10 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o + 0x08006d80 0x08006d80 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08006dd8 0x08006dd8 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x08006dec 0x08006dec 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08006e00 0x08006e00 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x08006e32 0x08006e32 0x00000002 PAD + 0x08006e34 0x08006e34 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08006e44 0x08006e44 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x080070a6 0x080070a6 0x00000002 PAD + 0x080070a8 0x080070a8 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x080070b4 0x080070b4 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x080070d6 0x080070d6 0x00000002 PAD + 0x080070d8 0x080070d8 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x080070fa 0x080070fa 0x00000002 PAD + 0x080070fc 0x080070fc 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080071e2 0x080071e2 0x00000002 PAD + 0x080071e4 0x080071e4 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x080078a2 0x080078a2 0x00000002 PAD + 0x080078a4 0x080078a4 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o + 0x080078f8 0x080078f8 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x080079f8 0x080079f8 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o + 0x08007c08 0x08007c08 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x08007e56 0x08007e56 0x00000002 PAD + 0x08007e58 0x08007e58 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08007ff0 0x08007ff0 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08008044 0x08008044 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08008098 0x08008098 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x0800833a 0x0800833a 0x00000002 PAD + 0x0800833c 0x0800833c 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x080086de 0x080086de 0x00000002 PAD + 0x080086e0 0x080086e0 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x080088f4 0x080088f4 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x08008a60 0x08008a60 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08008aa8 0x08008aa8 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x08008afc 0x08008afc 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x08008b50 0x08008b50 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08008ba4 0x08008ba4 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08008bb4 0x08008bb4 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x08008bbc 0x08008bbc 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08008bc4 0x08008bc4 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08008ce6 0x08008ce6 0x00000002 PAD + 0x08008ce8 0x08008ce8 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08008d84 0x08008d84 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x08008e0e 0x08008e0e 0x00000002 PAD + 0x08008e10 0x08008e10 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x08008e18 0x08008e18 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x08009032 0x08009032 0x00000002 PAD + 0x08009034 0x08009034 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x080090a0 0x080090a0 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x080090a8 0x080090a8 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x080091ea 0x080091ea 0x00000002 PAD + 0x080091ec 0x080091ec 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08009288 0x08009288 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x08009290 0x08009290 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x08009298 0x08009298 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x08009462 0x08009462 0x00000002 PAD + 0x08009464 0x08009464 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x0800946c 0x0800946c 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08009474 0x08009474 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08009480 0x08009480 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o + 0x080094d4 0x080094d4 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x08009930 0x08009930 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x080099ce 0x080099ce 0x00000002 PAD + 0x080099d0 0x080099d0 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o + 0x08009b9c 0x08009b9c 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o + 0x08009bf0 0x08009bf0 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o + 0x08009c44 0x08009c44 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o + 0x08009c48 0x08009c48 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x08009c58 0x08009c58 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x08009c68 0x08009c68 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x08009c9c 0x08009c9c 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x08009df2 0x08009df2 0x00000002 PAD + 0x08009df4 0x08009df4 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x08009e18 0x08009e18 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o + 0x08009e60 0x08009e60 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800a0da 0x0800a0da 0x00000002 PAD + 0x0800a0dc 0x0800a0dc 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800a288 0x0800a288 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800a3f2 0x0800a3f2 0x00000002 PAD + 0x0800a3f4 0x0800a3f4 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800a4d2 0x0800a4d2 0x00000002 PAD + 0x0800a4d4 0x0800a4d4 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800a612 0x0800a612 0x00000002 PAD + 0x0800a614 0x0800a614 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800a65a 0x0800a65a 0x00000002 PAD + 0x0800a65c 0x0800a65c 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800a99a 0x0800a99a 0x00000002 PAD + 0x0800a99c 0x0800a99c 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800aa8c 0x0800aa8c 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800abb4 0x0800abb4 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800abe2 0x0800abe2 0x00000002 PAD + 0x0800abe4 0x0800abe4 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ac52 0x0800ac52 0x00000002 PAD + 0x0800ac54 0x0800ac54 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ac80 0x0800ac80 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800acec 0x0800acec 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800ad9a 0x0800ad9a 0x00000002 PAD + 0x0800ad9c 0x0800ad9c 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800ae80 0x0800ae80 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800b0ca 0x0800b0ca 0x00000002 PAD + 0x0800b0cc 0x0800b0cc 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800b144 0x0800b144 0x00000076 Code RO 2675 .text.InvSqrt user_math.o + 0x0800b1ba 0x0800b1ba 0x00000002 PAD + 0x0800b1bc 0x0800b1bc 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o + 0x0800b274 0x0800b274 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o + 0x0800b3b0 0x0800b3b0 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o + 0x0800b442 0x0800b442 0x00000002 PAD + 0x0800b444 0x0800b444 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800b4da 0x0800b4da 0x00000002 PAD + 0x0800b4dc 0x0800b4dc 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o + 0x0800b556 0x0800b556 0x00000002 PAD + 0x0800b558 0x0800b558 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800b588 0x0800b588 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800b60e 0x0800b60e 0x00000002 PAD + 0x0800b610 0x0800b610 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800b658 0x0800b658 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800b7b0 0x0800b7b0 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o + 0x0800b8dc 0x0800b8dc 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800ba20 0x0800ba20 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o + 0x0800bb2c 0x0800bb2c 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800bbc2 0x0800bbc2 0x00000002 PAD + 0x0800bbc4 0x0800bbc4 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800bd34 0x0800bd34 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800bd64 0x0800bd64 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800bdb6 0x0800bdb6 0x00000002 PAD + 0x0800bdb8 0x0800bdb8 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800be38 0x0800be38 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800beb0 0x0800beb0 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800bf00 0x0800bf00 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o + 0x0800c020 0x0800c020 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800c13a 0x0800c13a 0x00000002 PAD + 0x0800c13c 0x0800c13c 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o + 0x0800c23e 0x0800c23e 0x00000002 PAD + 0x0800c240 0x0800c240 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800c28e 0x0800c28e 0x00000002 PAD + 0x0800c290 0x0800c290 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800c2de 0x0800c2de 0x00000002 PAD + 0x0800c2e0 0x0800c2e0 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800c366 0x0800c366 0x00000002 PAD + 0x0800c368 0x0800c368 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800c3a8 0x0800c3a8 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800c5d2 0x0800c5d2 0x00000002 PAD + 0x0800c5d4 0x0800c5d4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800c61c 0x0800c61c 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800c664 0x0800c664 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800c6b6 0x0800c6b6 0x00000002 PAD + 0x0800c6b8 0x0800c6b8 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800c70c 0x0800c70c 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800c79a 0x0800c79a 0x00000002 PAD + 0x0800c79c 0x0800c79c 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800c7f4 0x0800c7f4 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800c834 0x0800c834 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o + 0x0800c880 0x0800c880 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o + 0x0800c884 0x0800c884 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o + 0x0800caa0 0x0800caa0 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o + 0x0800caa4 0x0800caa4 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800cb10 0x0800cb10 0x000002f0 Code RO 2638 .text.PID_Calc pid.o + 0x0800ce00 0x0800ce00 0x00000196 Code RO 2630 .text.PID_Init pid.o + 0x0800cf96 0x0800cf96 0x00000002 PAD + 0x0800cf98 0x0800cf98 0x00000048 Code RO 2636 .text.PID_Reset pid.o 0x0800cfe0 0x0800cfe0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o 0x0800d044 0x0800d044 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o 0x0800d0d8 0x0800d0d8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o @@ -8546,7 +8545,7 @@ Memory Map of the image 0x08014ec4 0x08014ec4 0x00000020 Data RO 3584 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014ee8, Size: 0x00008770, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000078]) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014ee8, Size: 0x00008788, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000098]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -8579,95 +8578,95 @@ 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 - 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 + 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 - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014f60, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014f80, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -8689,12 +8688,12 @@ Image component sizes 620 0 0 0 84 6422 can.o 3946 4 0 0 2181 14234 can_1.o 2968 0 0 0 1740 35206 cmsis_os2.o - 10 0 0 400 0 2772 config.o + 10 0 0 400 0 2789 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 - 2624 40 0 0 0 8481 gimbal.o - 236 12 0 0 756 5066 gimbal_ctrl.o + 2664 40 0 0 0 8578 gimbal.o + 236 12 0 0 780 5095 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 @@ -8739,15 +8738,15 @@ Image component sizes 0 0 183 0 80 3063 user_task.o ---------------------------------------------------------------------- - 77016 310 804 420 34156 454166 Object Totals + 77048 302 804 420 34180 454309 Object Totals 0 0 32 0 0 0 (incl. Generated) - 398 12 3 3 30 0 (incl. Padding) + 390 4 3 3 30 0 (incl. Padding) ---------------------------------------------------------------------- Code (inc. data) RO Data RW Data ZI Data Debug Library Member Name - 90 0 0 0 0 0 __dczerorl2.o + 58 0 0 0 0 0 __dczerorl.o 8 0 0 0 0 68 __main.o 0 0 0 0 0 0 __rtentry.o 12 0 0 0 0 0 __rtentry2.o @@ -8809,19 +8808,19 @@ Image component sizes 380 58 0 0 0 200 tanf.o ---------------------------------------------------------------------- - 7720 676 192 0 96 6964 Library Totals + 7688 676 192 0 96 6964 Library Totals 20 0 0 0 0 0 (incl. Padding) ---------------------------------------------------------------------- Code (inc. data) RO Data RW Data ZI Data Debug Library Name - 942 20 0 0 96 1148 c_w.l + 910 20 0 0 96 1148 c_w.l 2926 196 0 0 0 2888 fz_wm.l 3832 460 192 0 0 2928 m_wm.l ---------------------------------------------------------------------- - 7720 676 192 0 96 6964 Library Totals + 7688 676 192 0 96 6964 Library Totals ---------------------------------------------------------------------- @@ -8830,15 +8829,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 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 + 84736 978 996 420 34276 456073 Grand Totals + 84736 978 996 152 34276 456073 ELF Image Totals (compressed) + 84736 978 996 152 0 0 ROM Totals ============================================================================== 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) + Total RW Size (RW Data + ZI Data) 34696 ( 33.88kB) + Total ROM Size (Code + RO Data + RW Data) 85884 ( 83.87kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index 19b48dd..a4279e6 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 642a068..d3a6778 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 3da5962..2a61709 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)(0x69147C6E) +I (..\User\module\gimbal.h)(0x691489EC) 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)(0x69147C6E) +I (..\User\module\gimbal.h)(0x691489EC) 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)(0x69147C6E) +I (..\User\module\gimbal.h)(0x691489EC) 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)(0x69147C6E) +I (..\User\module\gimbal.h)(0x691489EC) I (..\User\component\ahrs.h)(0x68F3410E) I (..\User\component\filter.h)(0x68F22FA9) I (..\User\component\pid.h)(0x68F22FA9) @@ -2481,7 +2481,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) -I (..\User\module\gimbal.h)(0x69147C6E) +I (..\User\module\gimbal.h)(0x691489EC) 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)(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) +F (..\User\module\gimbal.c)(0x69148AFD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) +I (..\User\module\gimbal.h)(0x691489EC) 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)(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) +F (..\User\module\config.c)(0x691488E2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD) 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)(0x69147C6E) +I (..\User\module\gimbal.h)(0x691489EC) 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 661bf25..b142e47 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 2f56bb1..5fe5f93 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -23,8 +23,8 @@ Config_RobotParam_t robot_config = { .Set_Limit_t= { .pit_max=0.69, .pit_min=-0.47, - .yaw_max= 1.0,//yaw的 - .yaw_min=-1.0, +// .yaw_max= 1.0,//yaw的 +// .yaw_min=-1.0, }, @@ -39,7 +39,7 @@ Config_RobotParam_t robot_config = { }, /*零点参数*/ - .gimbal_zero={ + .zero={ .pit_encoder=0, .yaw_encoder=0, /*零点行程*/ diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 2426a8c..b8abdfe 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -122,9 +122,13 @@ 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->zero.yaw=g->param->zero.yaw; + g->zero.pit=g->param->zero.pit; + g->zero.yaw_encoder=g->param->zero.yaw_encoder; + g->zero.pit_encoder=g->param->zero.pit_encoder; + g->zero.travel.yaw=g->param->zero.travel.yaw; + g->zero.travel.pit=g->param->zero.travel.pit; BSP_CAN_Init(); /*大疆电机注册*/ @@ -291,8 +295,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { break; case GIMBAL_MODE_RELATIVE: /*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; + g->zero.yaw = g->zero.yaw_encoder - g->zero.travel.yaw; + g->zero.pit = g->zero.pit_encoder - g->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); @@ -300,8 +304,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { 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; + g->setpoint.eulr.yaw=g->zero.yaw + g->relative_angle.yaw; + g->setpoint.eulr.pit=g->zero.pit + g->relative_angle.pit; /*yaw的限位*/ if (g->param->motor.limit_yaw==true) diff --git a/User/module/gimbal.h b/User/module/gimbal.h index 4099337..1b47995 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -47,6 +47,16 @@ typedef struct { float min; } Gimbal_Limit_t; +typedef 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_t; typedef struct { bool limit_yaw;/*是否开启限位*/ @@ -59,13 +69,13 @@ 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; +}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。*/ typedef struct { Gimbal_MOTOR_Param_t motor; - + Gimbal_zero_t zero; struct { KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */ @@ -103,24 +113,10 @@ typedef struct { float pit_min; float yaw_max; /*yaw的限位*/ float yaw_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*/ @@ -165,6 +161,7 @@ typedef struct { /* 模块通用 */ Gimbal_Mode_t mode; /* 云台模式 */ Gimbal_MOTOR MOTOR; + Gimbal_zero_t zero; /* PID计算的目标值 */ struct { AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */ @@ -185,7 +182,6 @@ typedef struct { } pid; struct { - Gimbal_Limit_t set_yaw; Gimbal_Limit_t set_pit; } limit;