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z0`X=2qVir*x#J(^v^H`Eu>k=KM2C0c%CjA-cEaDN-`x%GRllbfu2sKxDtvf_v{M^Zxcg3uWh~N+j(gV-{5aY$?s!X9a{NfiVB{(d$zbF?Dr7M7J{2++`H%`3i`<|> z#v-3a{8RQVW0Bi5B4d$zRmfQ60Ysc;#PDj(c_%d_gOT5=kikfPW2^q;c)5BhM6_=i zi!9X$FITUb3K@%Ri-`8k%hjvah>S({Q6XcIgH=qI!N}pLXx}mzIaWiwT)m&Ekg>>V zh-lxuT)kNuk+I0RDr77&r`2REaVKd`lt1)U8GI-kCB%**@l5zphUkwu`L$Kqbl`aRuj6ZLz0**5C; zOJzH&KQNO$L;W*KvP1DFvFm8X+i5tnC`g`L!iu-q^Q9hlu)~VC*|DcKN_KOzKU2Sl zm%U8=+EjL$`u#H5tJRkkZ@01I;}j&um$0~PcKxXsi`!FFUb9W+pOJ;duQ)YSc@s0UsKlYNFcAn+6elYIm^PhdProject: -D:\yunha\gimbal\motor\gimbal\MDK-ARM\gimbal.uvprojx +D:\yunha\gimbal\MDK-ARM\gimbal.uvprojx Project File Date: 10/25/2025

Output:

@@ -31,6 +31,9 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'. Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'. +compiling gimbal.c... +linking... +Program Size: Code=84848 RO-data=996 RW-data=404 ZI-data=34268 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -55,7 +58,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:01 +Build Time Elapsed: 00:00:02 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index b26a67f..44a9da0 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: Fri Nov 14 21:27:19 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sun Nov 30 19:50:03 2025

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

Call chain for Maximum Stack Depth:

diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 31fe738..1d6badd 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -8699,7 +8699,7 @@ Image component sizes 134 0 0 0 0 3297 dma.o 780 8 0 0 0 3412 filter.o 98 0 48 0 4 3084 freertos.o - 2740 48 0 0 0 8732 gimbal.o + 2740 48 0 0 0 8719 gimbal.o 236 12 0 0 772 5081 gimbal_ctrl.o 554 0 0 0 0 4164 gpio.o 576 12 56 0 64 4722 gpio_1.o @@ -8745,7 +8745,7 @@ Image component sizes 0 0 183 0 80 3063 user_task.o ---------------------------------------------------------------------- - 77128 314 804 404 34172 454349 Object Totals + 77128 314 804 404 34172 454336 Object Totals 0 0 32 0 0 0 (incl. Generated) 394 8 3 3 30 0 (incl. Padding) @@ -8836,8 +8836,8 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 84848 990 996 404 34268 456113 Grand Totals - 84848 990 996 120 34268 456113 ELF Image Totals (compressed) + 84848 990 996 404 34268 456100 Grand Totals + 84848 990 996 120 34268 456100 ELF Image Totals (compressed) 84848 990 996 120 0 0 ROM Totals ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index be6871ae70f82eed7a67a3e4ba657387793dad65..1ce82e9c22d217c8c7d39dbc9727b3f8a8d50079 100644 GIT binary patch delta 3399 zcmYjUeQ;FO6~E`byV;kp56)Wx*+3whkWWZRz(BSTY7!w4S`C^J(Hf=lA*F-bN(@wF zV_Ou96vDGQ9l_FR96qH8QftjrLeZfuwM|F(rymmr+o2z{eqeFNR{A@4_YyL*_x*n7 z>)w0L+4DAsw$q;Nv?ECuUnyCbLpjI3n)6{K-L3HFuE#=3KY)iv&Rk(m(tQk184BWuo3ktEZ*KzkJ!rYTs$bCl?Srtum|6o*?jLM-ARXQ@kEdW<;1y*t! zjV>bAJ4Ddcjx}c`Rl6WLP9Oiy@K#W;7&)T7s15VJl7r`}xzH&SVYP{{N<0pXMCcZ) z0}>&cRN~PM=pAZt@EX>!Q#Ou8fH`j#x|afmYRphyC&C zjS_w6T6Arq4`t7%hUJ_?JH^+Ws0k}|Z4;jhSs%CWv@(~vV4U2(Q|cz!@xm^6d2Zhc zwMOVAxfZr<+H^fjrFRPbcUIZ3|9Vz`LfA)HUClefE@xTQLSg^Ova(KLSF$YmM`8cX zvZ4=!T@{w=^d&wOMkG|_DV0{LABehk$(>rvolqFh+^8j+hUkzKsO5;4@lmSRxEvIh z8WT!fqEgG6v$!>wHkmU_a&1hfn@y!kO6oveCkgxKtR|uuJj|A>N%mBJ1J?Us6iw+) z*@pB09$JrXhr+)d%Q6(5em!Q`p%?h~(4E5>X_w;9fMp}v?Xk3%G#BlOvD`s!KtE!B z4|p;XLH+4~UxV=*qIfBvuR?K9oDY-*3EImZ>K)4k-=}zz#rtE53t{xG7{1mtW|-&@ zF9&HB%a>tk@!=-!vG~X9d9B4qUgak;IIZaD`|%pZ}cTd z{7Nwd6dJr_4@(9OzVif20u5d|tm0DYEwbaXGD24F;ej+HCKX+ZPg{JiR&gor zQ88UpLqUx0XKCn@B3P}!mzyjV$YEDxvSjc|;`eNnRhlnb`~dnZu91j{T>jyd?7o(f z&va(@2hlXpnv*<)-Ah60#B_Z#q0o=;RI6R5c&5eOn&(*jsK>1q_rz3O+T?2zA-$M_ zdin-0fnbHS`D2Qov3O%TpF`{RcoiS8cvB6kcNG2_SD^NwjGEX-@yspf;j|Wio=oGJ zZ_|yA$%?_vE;qrZS~Aq4`KZOMF@6(xx5($`bNY%U3yPF30CC8#zyz2ENM(Kl?0yL7 z76qO=o)-dkL*y1Hz7x1taKhmY78h#n1(vDmPRQZ!1Iv-!iBaXZBJ3>?IOYCU$Q}la zrf<|=mZ#${hxREzcdWk;+P?zo8G)y#UE5UGC_V$RY^rM=v(euKPuJHr(sdC&4;$H3 z*XJl--bcTcSmXVxkllfFMy3YINC{U;b4dS1N)^ldQK}!AqIsIdWggdBTpr^(iz}EL zEw0Sx7K^JA++lHbk@6oxxi_GqUU`u36?0d%xL#86iY!ihC7Rb-MXAS+SUe@hk6K*D z%HM{Im>FB_zm2#bKu2@Xn=|?Efaj#MW-GMy4I`tb;kr>XOJ7GCJ!^#dmx?LB0OKaW zmn(N-5X&vFN|l=!amqz$eV9m=awmAo{{noThafUHXo}RD`926yWV$kQ|BT=|&9zyd z$P8~JvomAd0QuHjy#FF84q}l8{+u=KJ{mAf)Ht@0*#e2-NW#rQspCo$h|@#K77 zX>l^a-4>VN6t`grAA*4Dk^Nfk&*}(y*k^H_R{jRqofW(1Fb{TQbBy~_-$;^arydy; zp*J!pp2bG5BfzaPQnm#tdddvMkK_fgMVYyNR`4^4AW2V~;2n6=(|0nl4c^K~&u6ew z5@a)8u;1jgjJ=6s`7Jf_w*59*q5{IpIBsq=TB4l)mAy)Ch2r-uuGIXY#Z_pDyWukr z!MzCqd*j##ly>pPV_;capt;)OgqP-&C516H`dI|Q~87eUNenA6M`fIIOkNY9>0>ub$0*;^xiBSN?1m48U+yRluXlxgSuDISLs$2rOUDQI*KTy|DWf zg6JH51&@dxy#^A$8%qlIZfQ{O7Mp8TM}=b?M8o5W;<7F_OAjp#Uux-~;qYUu7sCau9aI&5ueFEjL;t1@N`+lm zRroSiFZ>_Y=J1yJJ#=&U*8C1y9FAMiLA~M11wFJS{1dPj*0xQfNO)J<6uLEhysa|w zWC@xk9BLaI4zw{n8U6;cVaQH}gRNu3SUc1Da8i3E^@j_vUJTc^S0+x^;$ILsHC!j* KgX}0Yp!z=>X22H! delta 3389 zcmYjUeQ;FO6~E`byUE*RUpQ}F$PyxKVDklm1PCD}Ye{GVN^Jvb!2)rpe3ViFK`@q9 zH-l)QNFhAN85Cyk0M9DmG@aByHVlKeHIHTy$%nLoMvH8%H52oa(4=I z_h5D0y&_Np25#UU1%=qy>$v;2F!wzy9e?;hB7BPc4m!HjY>i;RCJ8ga`a# z*)0?E637{gk8_E)W^d9 zn`5OngxwStb$XJX2Sy}R6)2Test<@d_eoBzCMPt;Ga0q!%8>sTX;AAyxQdTb-S|-F zadD|Jp~NL2y{tKptiiOYoMBRHV>-cXDqT|22kLx}uz%iiB8tJoY`L6dPvzHReH2Fd zje3!6L;5TpS{KcP!oMHON;I8*H{_y2FY#ZYyMQy&9>s+?hHOMHdo0&WE*JI2SaOgI z=*P@gfk&b&)RztTG>m^Kik~DnhW@@L&im6rl3wMZ;ISz9Ud3ZA-WO9`0i*ZD@XgGS zi$t&UV<0VJ`7>Brd?3S{EdKeEyuspwNBIW>IIHOJr}3Ap;z$j}_gQjuImO?wbc477xPp}5{+BojXa%XMOTs>TUC`n9n%WqE7B(%_RitKxrz z=?}&9oq8u|p|_3c1xe-ffT_X1O{sVVtX9cxXVy9K&){}I$k{$e`In$_aDe<){dZ}b zS9Apu|8p#Vz=yhrbQ8^Dxg)PiTwJ4vXoE8VX|c2+M{3jR=-2@WrM|#d6ps164A3De+YsWtnC|>L&U(aKGXKSVWS4 ztWkDf$*5;`K)(u?#@epN?zJGbV)|qYq0x`?RI6R5c$&rQHP5v836DE0?ux1SJdiaK zAv>FbI@-XCAy^{U{5y(wTm0Q@f_tsoQ&s$?#ZT9udxzm4ARU?+q$$HCXr9UPZk*QQ zFOa!-=G!#QF;y|R#pQcpQ!N#0)%=#l(_{QD@XI1^OK?^rz9H?UN~fW5$gjWzXauCR zUk|$jfNp8vxx;ua;ChJMV#P~)T0KGE+DO+% z_#d#5O?6$K^5uQ>Cy6!8zX{nRNH;PzNJYw6MqIPpzsP9C4MGHu(cEZp+T$jR%VV6e zxPrOO;>rYn#p0?YFSNM2RQapX?&r`^uRKV2qj*KGxn4@~njFr0Wtulw#b}SaEglo& zXDm*$^0y(8%Mj2g{~g4=A+QN|a}r+%ydXELLE&0Y9vn6Gw~d-9`ZhAvvqqSIjWOjH zW893ymn%9Vh((L7Qbm)4PEoYB1SV3YXo;u%FTtk|f=F|aiHtY%{S-uz3ChgG=-yeu=@K#27 zZotZyAkX3jyOFap_C|>1GivZ{y9rmKLWD4kR^v*P^M7)wL@N~k&*DnWH!ZHhm6#8o zS@7{n0``V-37}jTZx{xa#l@N%EKYh^ZntE3Ocm`y0RI&%Y5D%%9n98K%w>`Zr5hB> zOYak?HEyuH%dQJg$`wsLU0D9R; zL6tXw_XCfE%&S$mMu}I)W z1Vw(6)_6p8(F#cX^;p`$-O)jvJIbV0oi7~YAQ2u*j!Lfpqp^6qRSf=Gs#GjLH6;nE z(!41AJb5s(a`n2^Ymf8}pXMF8Sk^L%YQnPCE?N@qZtb8?!jG}`hj&fyp!#sj^e)PT z^u-Qp3+G^sg+IcY2(MzjFKlh=q6fnhZ5^~QjJ9{s^WoRpyJ%N<4mc5(%@{}V@XIsC z(1LKyj7kc_-DW+76}w>F6b3UZ>0o#l*8cG8Gb@wtkHzero.travel.yaw=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,&g->feedback.imu.eulr.yaw); - g->zero.travel.yaw=motor_imu_offset(&g->feedback.motor.pit.rotor_abs_angle,&g->feedback.imu.eulr.pit); + g->zero.travel.pit=motor_imu_offset(&g->feedback.motor.pit.rotor_abs_angle,&g->feedback.imu.eulr.pit); g->zero.yaw = g->param->zero.yaw_encoder - g->zero.travel.yaw; g->zero.pit = g->param->zero.pit_encoder - g->zero.travel.pit;