From bd8ce065e4775bf659165dfe081eaf00079bec11 Mon Sep 17 00:00:00 2001
From: yunhai8432 <yunhai_0812024@qq.com>
Date: Fri, 17 Oct 2025 15:56:59 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BA=91=E5=8F=B0=E6=9C=80=E7=BB=88=E7=89=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/gimbal.uvguix.yunha         |   75 +-
 MDK-ARM/gimbal.uvoptx               |   30 +-
 MDK-ARM/gimbal.uvprojx              |   10 +-
 MDK-ARM/gimbal/ai.crf               |  Bin 937508 -> 937467 bytes
 MDK-ARM/gimbal/ai.o                 |  Bin 1014172 -> 1014152 bytes
 MDK-ARM/gimbal/atti_esti.crf        |  Bin 936870 -> 936829 bytes
 MDK-ARM/gimbal/atti_esti.o          |  Bin 1013256 -> 1013236 bytes
 MDK-ARM/gimbal/config.crf           |  Bin 936627 -> 936586 bytes
 MDK-ARM/gimbal/config.o             |  Bin 1008780 -> 1008760 bytes
 MDK-ARM/gimbal/gimbal.axf           |  Bin 2035028 -> 2034604 bytes
 MDK-ARM/gimbal/gimbal.build_log.htm |    6 +-
 MDK-ARM/gimbal/gimbal.crf           |  Bin 935227 -> 934814 bytes
 MDK-ARM/gimbal/gimbal.hex           | 6513 +++++++++++++--------------
 MDK-ARM/gimbal/gimbal.htm           |  354 +-
 MDK-ARM/gimbal/gimbal.lnp           |    2 +-
 MDK-ARM/gimbal/gimbal.map           | 2533 +++++------
 MDK-ARM/gimbal/gimbal.o             |  Bin 1015644 -> 1015224 bytes
 MDK-ARM/gimbal/gimbal_ctrl.crf      |  Bin 938622 -> 938581 bytes
 MDK-ARM/gimbal/gimbal_ctrl.o        |  Bin 1011896 -> 1011876 bytes
 MDK-ARM/gimbal/gimbal_gimbal.dep    |   34 +-
 MDK-ARM/gimbal/init.crf             |  Bin 935018 -> 934977 bytes
 MDK-ARM/gimbal/init.o               |  Bin 1010456 -> 1010436 bytes
 MDK-ARM/gimbal/remote.crf           |  Bin 935311 -> 935270 bytes
 MDK-ARM/gimbal/remote.o             |  Bin 1012236 -> 1012216 bytes
 User/module/config.c                |    1 +
 User/module/gimbal.c                |   48 +-
 User/module/gimbal.h                |    1 -
 27 files changed, 4814 insertions(+), 4793 deletions(-)

diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha
index 9345efd..5e3a571 100644
--- a/MDK-ARM/gimbal.uvguix.yunha
+++ b/MDK-ARM/gimbal.uvguix.yunha
@@ -110,8 +110,8 @@
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-        <Data>010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000</Data>
+        <Len>613</Len>
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@@ -134,7 +134,7 @@
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
-          <Data>F783FFFF5985FFFFA088FFFF2A86FFFF</Data>
+          <Data>F700000070020000A005000041030000</Data>
         </RectRecentFloat>
       </Window>
       <Window>
@@ -1799,14 +1799,14 @@
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       <DockMan>
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@@ -3598,4 +3598,67 @@
     </ViewEx>
   </WinLayoutEx>
 
+  <MDIGroups>
+    <Orientation>1</Orientation>
+    <ActiveMDIGroup>0</ActiveMDIGroup>
+    <MDIGroup>
+      <Size>100</Size>
+      <ActiveTab>2</ActiveTab>
+      <Doc>
+        <Name>..\User\bsp\can.c</Name>
+        <ColumnNumber>0</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>1</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\module\gimbal.c</Name>
+        <ColumnNumber>7</ColumnNumber>
+        <TopLine>263</TopLine>
+        <CurrentLine>246</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>../User/module/gimbal.h</Name>
+        <ColumnNumber>16</ColumnNumber>
+        <TopLine>25</TopLine>
+        <CurrentLine>28</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\module\config.c</Name>
+        <ColumnNumber>3</ColumnNumber>
+        <TopLine>127</TopLine>
+        <CurrentLine>51</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\component\cmd.c</Name>
+        <ColumnNumber>13</ColumnNumber>
+        <TopLine>1</TopLine>
+        <CurrentLine>5</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
+      </Doc>
+      <Doc>
+        <Name>..\User\component\cmd.h</Name>
+        <ColumnNumber>17</ColumnNumber>
+        <TopLine>40</TopLine>
+        <CurrentLine>49</CurrentLine>
+        <Folding>1</Folding>
+        <ContractedFolders></ContractedFolders>
+        <PaneID>0</PaneID>
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+    </MDIGroup>
+  </MDIGroups>
+
 </ProjectGui>
diff --git a/MDK-ARM/gimbal.uvoptx b/MDK-ARM/gimbal.uvoptx
index 436245c..74a04aa 100644
--- a/MDK-ARM/gimbal.uvoptx
+++ b/MDK-ARM/gimbal.uvoptx
@@ -157,22 +157,6 @@
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-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>..\User\module\gimbal.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
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-        <Bp>
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-          <Type>0</Type>
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@@ -187,7 +171,7 @@
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-          <Number>2</Number>
+          <Number>1</Number>
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@@ -994,8 +978,8 @@
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       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\crc8.c</PathWithFileName>
-      <FilenameWithoutPath>crc8.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\component\filter.c</PathWithFileName>
+      <FilenameWithoutPath>filter.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
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@@ -1006,8 +990,8 @@
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       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\crc16.c</PathWithFileName>
-      <FilenameWithoutPath>crc16.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\component\crc8.c</PathWithFileName>
+      <FilenameWithoutPath>crc8.c</FilenameWithoutPath>
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@@ -1018,8 +1002,8 @@
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       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\filter.c</PathWithFileName>
-      <FilenameWithoutPath>filter.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\component\crc16.c</PathWithFileName>
+      <FilenameWithoutPath>crc16.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
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diff --git a/MDK-ARM/gimbal.uvprojx b/MDK-ARM/gimbal.uvprojx
index feb392c..a04986c 100644
--- a/MDK-ARM/gimbal.uvprojx
+++ b/MDK-ARM/gimbal.uvprojx
@@ -1920,6 +1920,11 @@
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               <FilePath>..\User\component\cmd.c</FilePath>
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+            <File>
+              <FileName>filter.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\component\filter.c</FilePath>
+            </File>
             <File>
               <FileName>crc8.c</FileName>
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-              <FileType>1</FileType>
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diff --git a/MDK-ARM/gimbal/ai.crf b/MDK-ARM/gimbal/ai.crf
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rlQ&Qdf7(dr$SF#c+llUSqMSPZgNU<7|3SomdC+$7(J=l8M5O!|)SybA

delta 4391
zcmZwL34Bz=9l-IKB#@VvWC;*RARNOHjNBLr#01R=(Sj#x6(PiA3DJb4aU+6l_o0%=
z5fK7BksEERR$De6D?&Kb3aH3Yw79F*TfC7fh+y?M`*zbJ^7*{?`Obgl|7PCIo7sFg
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diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o
index 0c97d4fc06c2c9fccc705b94b11abd468bb8d0d1..da62452d20adb386502c379188950ea29dfaa8f8 100644
GIT binary patch
delta 2246
zcmZ{ke@xV69LJyMxKmKR&jSdPjYA2pXvNhX9086qr6YAaHS<a>;lhsJ9BQIsz-CkP
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wQ`*CHR;lZP9zpuUNcQZi%0B%4ME}N!3dci#rF}ex_Cb+Iznsg-{?I?{e>KftKL7v#

delta 1651
zcmZ|OT}+#06bJC<DU{Ix&&y|49D%~-05i0uYymRJ80%;a1iD~^sVN;}6jl&6n8l9-
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L7t@aJKJCzd;cN9u

diff --git a/MDK-ARM/gimbal/atti_esti.crf b/MDK-ARM/gimbal/atti_esti.crf
index ea5be02a4d46e18136889da2ed4f025afbac2ad7..c6c0e8e58f3ad63f6291ac166bfafa110029ffe0 100644
GIT binary patch
delta 3226
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z9>Zp$CYj4#1}YHRGD%w{Y2TN+k{<R7sOc8vhW;w_LII=J#y^7o8uTKeT_<U4q;HVo
zb?C)34j2z@om7blc>`35&{XLFlsBQ232nKw8_MWBXx9pD0e>9Y2`JS<Yv5av7you>
SOQ1NlAph+-3IB_*(*Fapde8s>

delta 3218
zcmZu!eQ;FO6~8z8$ZlSCUjhV4NJ1`w;75`s5*m}ZRUj`}2t>uk2#Lvd$-X2D*(4J-
zlE94FYTLA;%pf(dSX2=CvSQgNEJ}@3sHLs7%CwH`QpIXpYilXC)<3Lmf9LIct083O
zy!oBq`MBqvd(X}6=VR6T^=j8!GGi&6sV|Rnwl3m&TgkZp#Kg~28UE7F&1WgIcZiIv
z`;?4PC4)m!AU22unFdLP*dY!`T2#r94_4&OVR@92&G4*fT()$TxA9iB4xgr5Z)Yd;
zqs!zQYMzPkX~90f#`ec%F_BfsnFLDqYds;Kci6XyJ#+=WKM-PL`odbdGWXdCmx8__
z=89#Q;RX}vWf}UWTDj`#D6+xd8|(}94X_r<mWNdw#3R4SH|yJL<@^!xg30y;wJsm)
zu)LGJueYm5W7;I1vM2nzrtk^>KrB14D&=v}s&{KWeI0?&F#9x?^M$EJA)D6W_a@@b
zPKu*-l5wAXIZh$d7h!M4G7~w&DcGgdAMmrSJKnuEr`TxkX;6KGA@(78S<JMq;ekFj
z5))Q;^vpUro4-O~Rff|Ugwc6?lx#FHSeRY1c5U=DsC9IEH*3hYg@S!X@T+F<Uy{MZ
zQ1C~wnPwGW9JB{oq<IQUzAdpCiSjbBEqiFdhi<R~`u1Nqaz>10&LRc1f-Xc&GDVWb
zrEpJTsoUgRIhBQPRcy9d8ZtO3FO^6B2c}r=G)xFOG|6NgCk5@jvIQ~w$U>J=U|-I!
zYa#EdKoHA?*o6LGy<DCDdkl$jK+V?4I*HN-dj^<SulC55_IJ_GKyXlxtWV3<w|Qho
z*?VTsC#dI?J(C#f<IAz>=6Z-qO$^4X`p-P_jkzC~LBCEO6fqR^hMv1zu3qssRM_L&
zxWT*0w?P~1XRR^CY!WOse~77+Je%eiL~6fpz!zkk$}R-Q!6nAMTaPrS<y28!&P&!_
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zl^rC?xbZ|GF2E+DcQ?vwCD&OV=Cw9RS(q0`&##tSQx+Tn=RQH77wL0`T&{*(11W}-
zhWYAfYm<DaKnjKV=}|{WhNMHBQAfx%94!>=$YEZQD=Ip|ykb3acp)Q@FmkE6VZKd&
zqF5P{+QWQtbZ&|ATQ2XSr5?qnKKh?hg{Lg2fW8>=RY)bI3Q`TJf!v5JMPYtYpI5GY
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zMn7JrJi>GB?CA)17l^ue20IKSgnK?bwuJe7{eY?z+-zqN&_$vq?quUY3x(08!*M&q
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z>B_eNKWyT)z+)y}1FQqnM63e-fr(cF?=*1(@FT!f&eC|=2>YR_EI~&wytOk#3lLt5
z+L>Yv&|^SZq8aFMpjn~`XgAPR;&z}tK(obdKzJBxb3`N1UZ6Q*CD4;Vxnc#-KA=3|
z0oo6gZ(Q92Kr7~oTHIZl-vEr5|5_oaltV!C#7#g?0Tl{2(2s!T<5JILPXjFw#?)il
z)$B0es5dky`F9}C>o}7mu;V#+4KM<DU6}t0a6AEj3HU4^-ikAT&jFT%`73}&0g>-C
z;IRZe6)$8_J<_0vk#nfv_&635H{fPJ50oR+uSx11lDbA(A9t}AK+Q3!bm%9b=L#6r
zcK!kMpFqzS>P?c`CVh?+FG4S%D~}OS*GXlVf(cObgzA>|KzRvDkx*}zc0xH>3hjEK
iF5<hO{S->2Q0w`<$cvvFY7G>d>gT_COTupuR``FH0>&f&

diff --git a/MDK-ARM/gimbal/atti_esti.o b/MDK-ARM/gimbal/atti_esti.o
index acffe69b60e6b98e48bfa4657e35ed351c6a06e8..327bba8924319ada819392e319ad54fb4d266f46 100644
GIT binary patch
delta 1185
zcmZwFPfS!-7zOZqhd%<t+y@G&q|}0rwY0REVa6g<7gQQcBZ*_ig~sG%2!hz5f_=tL
z%Z7?pl37Smj}uu)GaDOBJBjp#WEPT|MiOGAWzk7YTas=_XHgOsrO~9{8QkgO<d=8P
z_wLQRc~|lW*8e_mwLvdu8b9~ew>Go{TK4W#TG@8AtNTOSZrB;z+a79d4+JjGdcU6a
zYKccuBq^4ZNJ=GJBxRCvNri;7l@gyj>oq@J)?-L~W3sic7ach?FxV4|+XuTlZAWcA
zTB>*B<4F_HZ@XVkn!_G_0uQg7u(t8+x{2z39KB(Jde9xaVK#Khx4LNCFZk-FIaH+H
zx`dURCgg5QnO)w}p3uH`LTWPjW836Vag}>1Z9ZtP4F~&L0s(tp&)H+)_rB;GY7N=`
z7R>))YTSQ*H+OezeR073{+aoxy5_~g_G8#*)w_Ev>w<aNi$A<(y;=2=0<vQr{@iVq
zxMlBJm96>;YEN0av_jh{Ymcr%Oekqi8TBvjzAuFz85UE>ks0Vd=^x)R>hWfO8xdL2
zQ6$JoOcR9#Qj9g?psru&MF&Y@fMhX29$-%Jt=~7QOeq!CN>!k{-+I;a^gb$1TW{!Q
z1W(Ig7{^H`MoAQRNH3O%gAI~I<AC5t7jZC5Mvx+7m?ufBk~FH%2wAj|5yZ$8#z`8P
z%`Qilp+6DAXd;IZAu~vjDNK_^ERZPHNE~%>;V*Oup8U@^6PJ%D#spWBm?LSdkY<z*
z7Dj`DC%=djgECr)QLfhD4tap3Liq^)N$FdEWYqTO_cT(tCz<d1R0idTAp4ObY0Q&)
ztdcOQ&k7FO$UVf!BF0G^8S(@<QUg6CB+*3Dh>&F@1YiDFqpm(bJG*)I2o^YS4QnKe
zx?#aV2bsYDxrYgI5_6l~3YkLrIU$W8$>KO!#;D-Q|Az0*6|QWFtCiRwel&h2>_-=g
zVwl8{B1z1X8LW~gsCHzVr#ZAcvW*`xd6c^zC!NTUMdXMBeZJ5&k$OZ(ClaI=(<F`s
L62aPe>y`fj)_ZbG

delta 1703
zcmZ|PUuauZ7y$5dlBRaca!#}@2HI}1E$xs6k~DK!XC&(q+G)eGQK2H`u0q;WmoBqa
zBT|UfX<jPn%JyZtKwv)fr4Yd`c~~KH{)w=<h!g5)rGmqN7CPC(6as!H=Z4z{`|#zv
z+~4<o=j7zxJo?j<_{)>D(()J2#Eh+ntxmi1a66$yQHD+i{EA|2cRG3<j^3W5A1oU`
zUN%w;9flsG4#R*^kMRUX1I8YVy%?f)ABHKnY-G1TqA7Uy61&-K)d%}0BCm~}Q%(eY
z$~1Xuyq<Q!iwn$759QulV1qjPDikj>7d;D=%WQ~-;mj50pp&@|udsip;X2hf{sFTo
z)^BO*KN;vdKBxpv`TY1Xbm|N->dCX8!krZBxp9@X8|xh|m#v2^IBpzWh}M~N7d~fw
zy-nvGV@|tWIpOm6IVb&Z2VV*)ouIVx=G^+PY-xY<|G5+9AF}<qn-$jm<SqrYj<@6*
zIe&-kQV{%&d2;J*yv%ngpq)73k&W*=LazZ0@eWhdRYuH&5Emun5}ZE9TMV6es}<h&
z@eYF*FCWA47kCGCLpsE}P1(=1`dJwD@zy%L(<#e;$IFr|{}Mc7SRPI@(x8q%1{BBB
zD9oYgo31n9M|d;b8RKSZfepM#6JQv}6a$+`8F*Qw63k#StrZxttE2Y7=s0iDHQa(9
z#(9^?d`lx^m8cim!q__ievyVDg2@!dy4siJa5{{;iNT5}NWcS;GGLm(I`>zM1l6S)
z<-7!ppwJ{-6e$HuqAr7V7PamGJQVZtP!Uo>DX7vdB?*DoQL?wS6FF4tNed~V)TX(l
zlwnKAz}K2QFXb$F-asj!Y^&?|q-0@E$mTbUBvcuc5{3;S@oyQ4sWJrf6S(WgU^|CG
zzSGuuMfO-=Mo6Zp$*7b(tP1gd&q!V`AE1faw6=(tw#tZAU1w5?6(T|oqGa)b6A#^#
zoVErl)t<ZB>BOp{Yq$$+5`SbXQtf!+vdIl2lQ=Gj5>^*V)Hb&y#9q>Rl2QhsA|!$0
zReMrWiV!%DvWb#WB_kycX(8J`GU8UZy(r}%YzfKyq^*;ck_S%|rMyG(Rnd`q@JSTE
zQ1YJERFF-JupydCD0y`YMJWleT|g=PjOU}1Cs&eEgc%{xHEr5jt!Gt87NzzMZb->P
z+nZvY9X$`Elp!L7{Gv_UlE0k=R)ko0$ltQZ4W=oS;12m$N*G2^XdEtzlz}BtSHQa3
zi@X=+r||jPh6;+#d>^`|c^CfI1g5djdtckc)3R_F(n2;-7S#hfASD4?)t+_jh3J-I
d2hUr$`Y?n<iou*naahJ=2tCKiEKoOZ{0})?%On5*

diff --git a/MDK-ARM/gimbal/config.crf b/MDK-ARM/gimbal/config.crf
index be3841680c0e296160727f81938efad5c598c88c..ea56f25443d5eaf71dc8799f4dff0efedd8c739d 100644
GIT binary patch
delta 2767
zcmZuzdr(wm6#qV0V7acBMNlC$KS_<uNev&MUR2Z-D00l6rtGZjN-Mi81FNKtvOe(D
z7$(vkU*V%H^99(nGY<AJgPH!p(k9zYr<|OoEX~Q8QbYTlz4tDI$jtfXcYo*n&Ufzl
zzH^t8jk#MIbNgPD7>nU7zqysOWi5TPlBC_gbaccs{IxesP5Ml#zp6jl)|ssv%~lSJ
zfyKg1usB#eECFVQB?iq_$v$3PKTDc0>C+Y-=k+;V?43}5CQ>swGl7zvE|1?~U+$=3
zYahZ_y8Uc}dJFoDFI%|D>v)58g_3l6gmG7}`|2#4l=FB8vLW8?_4$2OtcbD=!Y*dw
zkzeO+>d=qP>9yn$U+W&9*Hz|V^9)6lcT|*lT<pajJnf*xzub%0;$ID=X**M%zO?f)
zm&aG?_Ah6@hSD`x3HfC5xk{aOO?Re;j`oS_t{J+Bj9lHa_K;P}8HmA~nkwB+wo+}$
zm(o>hffP650yy7NKMPS<r0Zbf%9dC8m@g!Z7O9tKOKJR*Ze8|8=;%}~McYjbwq`#Y
z?;Yu^*H!wueT56@%DdGIe$>@JMAgKQ`cf!GuLF#kUW0bA^<pWuDAZ3Y(26%p@K-s|
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z7+!q!lqKRA&~2b{aRlfNkVhO2Ti9J7uTYv0JQEIFTBS<t2kHW<7EM6+fc%15b|0ul
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z>Pv-kR&5g(--gX>50v}3I2Rtu_5vQ@BGQltF1pf*BJ;wD>|MlA!xjQJ>39L~KHz5X
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z6*m_6h>pjgBbfGt6j29s3@BBs3#YQ<Km$a=qZrM8qp;AGI)H;X0iMY1Tnq~LVfb$~
Szn{o&z>ncY6aIl^ng0WhEk#@a

delta 2786
zcmZuz4Qx|Y6ux)s*0;CuHpYe<Ot_2yQw(5+u)!Y4v>QXl1c@L7YT4dKrQMd&!3KsE
zR8SO^-$#&tL_|et6&vMm;15I%5)6v1Mxw^QfFjX|^5=K@-YeFz<lKDy?)lC=_ndp$
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zhS^{#uvC~GCc)CeQkLwztDpxfpujA<vZ}g#%y?&Y&AkpRlWQii{d&Da9zNo5kf(T?
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z=|vTC$$;aC27jlw$=~E-RTQlNr%1#jzR5fEK5t3+`qm0LrTt@br^%}|xY#61AuQh2
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z(8EGSKVq%V(>GTt#qD<X7x)Gd#HB6)%@*o5gd7JczV6gH;#Hu3fIMP1&}AU6*ahb+
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z47h`fSVjK#!qt<=a(Fb2ZGjI}Y&!5(6Hf!)1{?%G6?nVJ6W#$#!!jQD#ZbHP;XZuW
zi47W{vA{2xxDt4mi7S9#2B!HM0leG9rNFP4xCHoBU`lQ<@M|U>gyLY#?cK!VK(7Pk
yh$ZOy8^Zy+3wtjNWj1UjblcI1y`YI($wfglo#7wY@@!GQ3O|EqZ1|s+75)nbI!gZl

diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o
index 468ec753f3f47ff476c1d6e1aee4bc3b5832450e..e91e5d4d8ffcdcf29d6eddd6bb176d34f4db9fb2 100644
GIT binary patch
delta 1995
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B5ZV9$

delta 1513
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B%{~AC

diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf
index 8b7b86b8923a6b5ee4b2bd56f7c5b858d028d61c..0b1ade19d9a2650d4c6da022d09ab82ef154bcef 100644
GIT binary patch
delta 77675
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diff --git a/MDK-ARM/gimbal/gimbal.build_log.htm b/MDK-ARM/gimbal/gimbal.build_log.htm
index ffb8799..b39ef33 100644
--- a/MDK-ARM/gimbal/gimbal.build_log.htm
+++ b/MDK-ARM/gimbal/gimbal.build_log.htm
@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\yunha\��̨\�󽮵��\gimbal\MDK-ARM\gimbal.uvprojx
-Project File Date:  10/16/2025
+Project File Date:  10/17/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\KEIL_MDK\ARM\ARMCC\Bin'
@@ -33,7 +33,7 @@ Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.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=60476 RO-data=980 RW-data=544 ZI-data=34064  
+Program Size: Code=60268 RO-data=980 RW-data=544 ZI-data=34064  
 FromELF: creating hex file...
 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).
 
@@ -58,7 +58,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE:5.4.0
       Include file:  CMSIS\Core\Include\tz_context.h
-Build Time Elapsed:  00:00:04
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>
diff --git a/MDK-ARM/gimbal/gimbal.crf b/MDK-ARM/gimbal/gimbal.crf
index 71479e0b2d066d2eaed2e79cde5c6a9ce475d44d..e4484311502877786e88de1fd3feec4347f1688f 100644
GIT binary patch
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diff --git a/MDK-ARM/gimbal/gimbal.hex b/MDK-ARM/gimbal/gimbal.hex
index d54069f..1eb9d46 100644
--- a/MDK-ARM/gimbal/gimbal.hex
+++ b/MDK-ARM/gimbal/gimbal.hex
@@ -1,8 +1,8 @@
 :020000040800F2
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+:10EFA0004440293869401D3FD7A330040318F0BE00
 :040000050800018965
 :00000001FF
diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm
index 0c397fa..28fa9b0 100644
--- a/MDK-ARM/gimbal/gimbal.htm
+++ b/MDK-ARM/gimbal/gimbal.htm
@@ -3,7 +3,7 @@
 <title>Static Call Graph - [gimbal\gimbal.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image gimbal\gimbal.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Thu Oct 16 22:04:10 2025
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060960: Last Updated: Fri Oct 17 15:56:01 2025
 <BR><P>
 <H3>Maximum Stack Usage =        344 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -521,11 +521,11 @@ Global Symbols
 <P><STRONG><a name="[260]"></a>_ll_udiv</STRONG> (Thumb, 238 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED)
 
 <P><STRONG><a name="[cc]"></a>__aeabi_memcpy</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text))
-<BR><BR>[Called By]<UL><LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
-<LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
-<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_Transmit
+<BR><BR>[Called By]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_Transmit
 <LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo1Callback
 <LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo0Callback
+<LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+<LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
 </UL>
 
 <P><STRONG><a name="[8a]"></a>__rt_memcpy</STRONG> (Thumb, 138 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text), UNUSED)
@@ -924,9 +924,9 @@ Global Symbols
 <P><STRONG><a name="[b5]"></a>BSP_SPI_Receive</STRONG> (Thumb, 84 bytes, Stack size 24 bytes, spi_1.o(i.BSP_SPI_Receive))
 <BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = BSP_SPI_Receive &rArr; HAL_SPI_Receive &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
 </UL>
-<BR>[Calls]<UL><LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive_DMA
+<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_SPI_GetHandle
+<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive_DMA
 <LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
-<LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_SPI_GetHandle
 </UL>
 <BR>[Called By]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI_ReadSingle
 <LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI_Read
@@ -939,9 +939,9 @@ Global Symbols
 <P><STRONG><a name="[b4]"></a>BSP_SPI_Transmit</STRONG> (Thumb, 84 bytes, Stack size 24 bytes, spi_1.o(i.BSP_SPI_Transmit))
 <BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = BSP_SPI_Transmit &rArr; HAL_SPI_Transmit &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
 </UL>
-<BR>[Calls]<UL><LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit_DMA
+<BR>[Calls]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_SPI_GetHandle
+<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit_DMA
 <LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit
-<LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_SPI_GetHandle
 </UL>
 <BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI_WriteSingle
 <LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI_ReadSingle
@@ -972,8 +972,8 @@ Global Symbols
 <P><STRONG><a name="[e9]"></a>BSP_TIME_Get_us</STRONG> (Thumb, 144 bytes, Stack size 24 bytes, time.o(i.BSP_TIME_Get_us))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = BSP_TIME_Get_us
 </UL>
-<BR>[Calls]<UL><LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
-<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickFreq
+<BR>[Calls]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickFreq
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
 </UL>
 <BR>[Called By]<UL><LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
 </UL>
@@ -1121,7 +1121,7 @@ Global Symbols
 <LI><a href="#[1a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
 </UL>
 
-<P><STRONG><a name="[f3]"></a>Gimbal_Control</STRONG> (Thumb, 1104 bytes, Stack size 56 bytes, gimbal.o(i.Gimbal_Control))
+<P><STRONG><a name="[f3]"></a>Gimbal_Control</STRONG> (Thumb, 876 bytes, Stack size 56 bytes, gimbal.o(i.Gimbal_Control))
 <BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = Gimbal_Control &rArr; PID_Calc &rArr; __hardfp_fmaxf &rArr; __ARM_fcmp4
 </UL>
 <BR>[Calls]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_TIME_Get_us
@@ -1462,6 +1462,8 @@ Global Symbols
 <LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Start
 <LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
 <LI><a href="#[117]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort
+<LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo1Callback
+<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo0Callback
 <LI><a href="#[150]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
 <LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Transmit
 <LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Receive
@@ -1469,8 +1471,6 @@ Global Symbols
 <LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMATransmitReceiveCplt
 <LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMATransmitCplt
 <LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_DMAReceiveCplt
-<LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo1Callback
-<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo0Callback
 </UL>
 
 <P><STRONG><a name="[11e]"></a>HAL_I2C_AbortCpltCallback</STRONG> (Thumb, 46 bytes, Stack size 16 bytes, i2c_1.o(i.HAL_I2C_AbortCpltCallback))
@@ -1996,12 +1996,12 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[172]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort_IT
 <LI><a href="#[117]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Abort
+<LI><a href="#[16e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
 <LI><a href="#[173]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_RxEventCallback
 <LI><a href="#[174]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Transmit_IT
 <LI><a href="#[170]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_Receive_IT
 <LI><a href="#[175]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndTransmit_IT
 <LI><a href="#[171]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_EndRxTransfer
-<LI><a href="#[16e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_ErrorCallback
 </UL>
 <BR>[Called By]<UL><LI><a href="#[34]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART3_IRQHandler
 </UL>
@@ -2711,8 +2711,8 @@ Global Symbols
 <P><STRONG><a name="[e7]"></a>osDelay</STRONG> (Thumb, 30 bytes, Stack size 16 bytes, cmsis_os2.o(i.osDelay))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = osDelay &rArr; vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
 </UL>
 <BR>[Called By]<UL><LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_TIME_Delay_ms
 <LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_remote
@@ -2723,9 +2723,9 @@ Global Symbols
 <P><STRONG><a name="[1ae]"></a>osDelayUntil</STRONG> (Thumb, 52 bytes, Stack size 24 bytes, cmsis_os2.o(i.osDelayUntil))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = osDelayUntil &rArr; vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
 <LI><a href="#[1d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_remote
 <LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_gimbal_ctrl
@@ -2741,9 +2741,9 @@ Global Symbols
 <P><STRONG><a name="[1a8]"></a>osKernelGetTickCount</STRONG> (Thumb, 26 bytes, Stack size 8 bytes, cmsis_os2.o(i.osKernelGetTickCount))
 <BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = osKernelGetTickCount &rArr; xTaskGetTickCountFromISR &rArr; vPortValidateInterruptPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCountFromISR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCountFromISR
 <LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_remote
 <LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_gimbal_ctrl
@@ -2770,8 +2770,8 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = osKernelLock
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
-<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 <LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_atti_esti
@@ -2781,8 +2781,8 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 176 + Unknown Stack Size
 <LI>Call Chain = osKernelStart &rArr; vTaskStartScheduler &rArr; xTimerCreateTimerTask &rArr; prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
 </UL>
 <BR>[Called By]<UL><LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
 </UL>
@@ -2791,8 +2791,8 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = osKernelUnlock &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_atti_esti
@@ -2801,9 +2801,9 @@ Global Symbols
 <P><STRONG><a name="[be]"></a>osMessageQueueGet</STRONG> (Thumb, 124 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMessageQueueGet))
 <BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = osMessageQueueGet &rArr; xQueueReceive &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceiveFromISR
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_GetMessage
 <LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_gimbal_ctrl
@@ -2812,10 +2812,10 @@ Global Symbols
 <P><STRONG><a name="[ba]"></a>osMessageQueueNew</STRONG> (Thumb, 154 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMessageQueueNew))
 <BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = osMessageQueueNew &rArr; xQueueGenericCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
 <LI><a href="#[1d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreate
 <LI><a href="#[1da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_CreateIdQueue
@@ -2824,9 +2824,9 @@ Global Symbols
 <P><STRONG><a name="[ce]"></a>osMessageQueuePut</STRONG> (Thumb, 128 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMessageQueuePut))
 <BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = osMessageQueuePut &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSendFromISR
 <LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo1Callback
 <LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_RxFifo0Callback
@@ -2837,8 +2837,8 @@ Global Symbols
 <P><STRONG><a name="[1ad]"></a>osMessageQueueReset</STRONG> (Thumb, 40 bytes, Stack size 16 bytes, cmsis_os2.o(i.osMessageQueueReset))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = osMessageQueueReset &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReset
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericReset
 </UL>
 <BR>[Called By]<UL><LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_remote
 <LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_atti_esti
@@ -2847,9 +2847,9 @@ Global Symbols
 <P><STRONG><a name="[b7]"></a>osMutexAcquire</STRONG> (Thumb, 98 bytes, Stack size 24 bytes, cmsis_os2.o(i.osMutexAcquire))
 <BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = osMutexAcquire &rArr; xQueueTakeMutexRecursive &rArr; xQueueSemaphoreTake &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueTakeMutexRecursive
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueTakeMutexRecursive
 <LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_GetMessage
 <LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_CreateIdQueue
@@ -2858,10 +2858,10 @@ Global Symbols
 <P><STRONG><a name="[c2]"></a>osMutexNew</STRONG> (Thumb, 178 bytes, Stack size 32 bytes, cmsis_os2.o(i.osMutexNew))
 <BR><BR>[Stack]<UL><LI>Max Depth = 176<LI>Call Chain = osMutexNew &rArr; xQueueCreateMutexStatic &rArr; prvInitialiseMutex &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutexStatic
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutexStatic
 <LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
 <LI><a href="#[1da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_Init
 </UL>
@@ -2869,9 +2869,9 @@ Global Symbols
 <P><STRONG><a name="[b8]"></a>osMutexRelease</STRONG> (Thumb, 78 bytes, Stack size 24 bytes, cmsis_os2.o(i.osMutexRelease))
 <BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = osMutexRelease &rArr; xQueueGiveMutexRecursive &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGiveMutexRecursive
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGiveMutexRecursive
 <LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_GetMessage
 <LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_CAN_CreateIdQueue
@@ -2880,9 +2880,9 @@ Global Symbols
 <P><STRONG><a name="[a1]"></a>osThreadFlagsSet</STRONG> (Thumb, 122 bytes, Stack size 32 bytes, cmsis_os2.o(i.osThreadFlagsSet))
 <BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = osThreadFlagsSet &rArr; xTaskGenericNotifyFromISR &rArr; vPortValidateInterruptPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericNotifyFromISR
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericNotifyFromISR
 <LI><a href="#[1e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGenericNotify
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_RxCpltCallback
 <LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GyroIntCallback
@@ -2892,9 +2892,9 @@ Global Symbols
 <P><STRONG><a name="[a5]"></a>osThreadFlagsWait</STRONG> (Thumb, 178 bytes, Stack size 48 bytes, cmsis_os2.o(i.osThreadFlagsWait))
 <BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = osThreadFlagsWait &rArr; xTaskNotifyWait &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
 <LI><a href="#[1e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskNotifyWait
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_WaitNew
 <LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GyroWaitDmaCplt
@@ -2915,9 +2915,9 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 184 + Unknown Stack Size
 <LI>Call Chain = osThreadNew &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
 <LI><a href="#[1e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[18b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FREERTOS_Init
@@ -2926,9 +2926,9 @@ Global Symbols
 <P><STRONG><a name="[19e]"></a>osThreadTerminate</STRONG> (Thumb, 60 bytes, Stack size 24 bytes, cmsis_os2.o(i.osThreadTerminate))
 <BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = osThreadTerminate &rArr; vTaskDelete &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
+<BR>[Calls]<UL><LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
+<LI><a href="#[1e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[1ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
-<LI><a href="#[1cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__get_IPSR
 </UL>
 <BR>[Called By]<UL><LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_Init
 <LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StartDefaultTask
@@ -2937,14 +2937,14 @@ Global Symbols
 <P><STRONG><a name="[dc]"></a>pvPortMalloc</STRONG> (Thumb, 306 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))
 <BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
-<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
-<LI><a href="#[20b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
+<BR>[Calls]<UL><LI><a href="#[20b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
 <LI><a href="#[20a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvHeapInit
+<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
+<BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Malloc
+<LI><a href="#[1e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
 <LI><a href="#[1d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreate
-<LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Malloc
 </UL>
 
 <P><STRONG><a name="[223]"></a>pvTaskIncrementMutexHeldCount</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, tasks.o(i.pvTaskIncrementMutexHeldCount))
@@ -2994,7 +2994,8 @@ Global Symbols
 </UL>
 
 <P><STRONG><a name="[1eb]"></a>uxListRemove</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, list.o(i.uxListRemove))
-<BR><BR>[Called By]<UL><LI><a href="#[205]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSwitchTimerLists
+<BR><BR>[Called By]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[205]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSwitchTimerLists
 <LI><a href="#[201]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
 <LI><a href="#[1ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessExpiredTimer
 <LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
@@ -3007,7 +3008,6 @@ Global Symbols
 <LI><a href="#[224]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskPriorityInherit
 <LI><a href="#[1f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskPriorityDisinherit
 <LI><a href="#[216]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityDisinheritAfterTimeout
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 
 <P><STRONG><a name="[217]"></a>vApplicationGetIdleTaskMemory</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, cmsis_os2.o(i.vApplicationGetIdleTaskMemory))
@@ -3042,7 +3042,8 @@ Global Symbols
 </UL>
 
 <P><STRONG><a name="[1ec]"></a>vListInsertEnd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, list.o(i.vListInsertEnd))
-<BR><BR>[Called By]<UL><LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
+<BR><BR>[Called By]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
 <LI><a href="#[1e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[1ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
 <LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
@@ -3053,11 +3054,11 @@ Global Symbols
 <LI><a href="#[1f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskPriorityDisinherit
 <LI><a href="#[216]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPriorityDisinheritAfterTimeout
 <LI><a href="#[213]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 
 <P><STRONG><a name="[1cb]"></a>vPortEnterCritical</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, port.o(i.vPortEnterCritical))
-<BR><BR>[Called By]<UL><LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
+<BR><BR>[Called By]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
 <LI><a href="#[1e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[1ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
 <LI><a href="#[1f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
@@ -3073,11 +3074,11 @@ Global Symbols
 <LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[1fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
 <LI><a href="#[1fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 
 <P><STRONG><a name="[1cc]"></a>vPortExitCritical</STRONG> (Thumb, 56 bytes, Stack size 0 bytes, port.o(i.vPortExitCritical))
-<BR><BR>[Called By]<UL><LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
+<BR><BR>[Called By]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
 <LI><a href="#[1e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
 <LI><a href="#[1ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;eTaskGetState
 <LI><a href="#[1f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
@@ -3093,20 +3094,19 @@ Global Symbols
 <LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[1fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
 <LI><a href="#[1fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 
 <P><STRONG><a name="[d7]"></a>vPortFree</STRONG> (Thumb, 150 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[20b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
+<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
-<LI><a href="#[20b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
 </UL>
-<BR>[Called By]<UL><LI><a href="#[201]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
+<BR>[Called By]<UL><LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Free
+<LI><a href="#[201]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
 <LI><a href="#[1e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
 <LI><a href="#[1f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
-<LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_Free
 </UL>
 
 <P><STRONG><a name="[21d]"></a>vPortSetupTimerInterrupt</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, port.o(i.vPortSetupTimerInterrupt))
@@ -3125,18 +3125,18 @@ Global Symbols
 </UL>
 
 <P><STRONG><a name="[1da]"></a>vQueueAddToRegistry</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, queue.o(i.vQueueAddToRegistry))
-<BR><BR>[Called By]<UL><LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
-<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMutexNew
+<BR><BR>[Called By]<UL><LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMutexNew
 <LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
+<LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
 </UL>
 
 <P><STRONG><a name="[204]"></a>vQueueWaitForMessageRestricted</STRONG> (Thumb, 74 bytes, Stack size 24 bytes, queue.o(i.vQueueWaitForMessageRestricted))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vQueueWaitForMessageRestricted &rArr; vTaskPlaceOnEventListRestricted &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[213]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
-<LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[213]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventListRestricted
+<LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 </UL>
 <BR>[Called By]<UL><LI><a href="#[203]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 </UL>
@@ -3144,9 +3144,9 @@ Global Symbols
 <P><STRONG><a name="[1d0]"></a>vTaskDelay</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelay))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelay
 </UL>
@@ -3154,9 +3154,9 @@ Global Symbols
 <P><STRONG><a name="[1d1]"></a>vTaskDelayUntil</STRONG> (Thumb, 200 bytes, Stack size 32 bytes, tasks.o(i.vTaskDelayUntil))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 <LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelayUntil
 </UL>
@@ -3164,12 +3164,12 @@ Global Symbols
 <P><STRONG><a name="[1e9]"></a>vTaskDelete</STRONG> (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelete))
 <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = vTaskDelete &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
-<LI><a href="#[1f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
-<LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<BR>[Calls]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
+<LI><a href="#[1f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
 </UL>
 <BR>[Called By]<UL><LI><a href="#[19e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadTerminate
 </UL>
@@ -3188,8 +3188,8 @@ Global Symbols
 <P><STRONG><a name="[215]"></a>vTaskPlaceOnEventList</STRONG> (Thumb, 52 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventList))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
-<LI><a href="#[1ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
+<BR>[Calls]<UL><LI><a href="#[1ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
+<LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
@@ -3199,8 +3199,8 @@ Global Symbols
 <P><STRONG><a name="[213]"></a>vTaskPlaceOnEventListRestricted</STRONG> (Thumb, 60 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventListRestricted))
 <BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = vTaskPlaceOnEventListRestricted &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
-<LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<BR>[Calls]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[204]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueWaitForMessageRestricted
 </UL>
@@ -3228,15 +3228,15 @@ Global Symbols
 </UL>
 
 <P><STRONG><a name="[1d3]"></a>vTaskSuspendAll</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(i.vTaskSuspendAll))
-<BR><BR>[Called By]<UL><LI><a href="#[203]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
+<BR><BR>[Called By]<UL><LI><a href="#[1a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelLock
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[203]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 <LI><a href="#[1d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
 <LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
 <LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
-<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
-<LI><a href="#[1a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelLock
 </UL>
 
 <P><STRONG><a name="[89]"></a>vTaskSwitchContext</STRONG> (Thumb, 230 bytes, Stack size 16 bytes, tasks.o(i.vTaskSwitchContext))
@@ -3287,11 +3287,11 @@ Global Symbols
 <P><STRONG><a name="[1d9]"></a>xQueueGenericCreate</STRONG> (Thumb, 90 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreate))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = xQueueGenericCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<BR>[Calls]<UL><LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[1f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
-<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
+<BR>[Called By]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
+<LI><a href="#[1e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutex
 </UL>
 
 <P><STRONG><a name="[1d8]"></a>xQueueGenericCreateStatic</STRONG> (Thumb, 224 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreateStatic))
@@ -3299,55 +3299,55 @@ Global Symbols
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
+<BR>[Called By]<UL><LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
+<LI><a href="#[1f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckForValidListAndQueue
 <LI><a href="#[1e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueCreateMutexStatic
-<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueNew
 </UL>
 
 <P><STRONG><a name="[1dd]"></a>xQueueGenericReset</STRONG> (Thumb, 146 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericReset))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[1f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
+<LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
-<LI><a href="#[1ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueReset
+<BR>[Called By]<UL><LI><a href="#[1ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueReset
+<LI><a href="#[1f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewQueue
 </UL>
 
 <P><STRONG><a name="[1dc]"></a>xQueueGenericSend</STRONG> (Thumb, 420 bytes, Stack size 56 bytes, queue.o(i.xQueueGenericSend))
 <BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
+<LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[222]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
 <LI><a href="#[215]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
 <LI><a href="#[221]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
 <LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[1fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueFull
-<LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
-<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
-<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
-<BR>[Called By]<UL><LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
+<BR>[Called By]<UL><LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMutexRelease
+<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueuePut
+<LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 <LI><a href="#[1e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGiveMutexRecursive
 <LI><a href="#[1f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseMutex
-<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMutexRelease
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueuePut
 </UL>
 
 <P><STRONG><a name="[1db]"></a>xQueueGenericSendFromISR</STRONG> (Thumb, 252 bytes, Stack size 40 bytes, queue.o(i.xQueueGenericSendFromISR))
 <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = xQueueGenericSendFromISR &rArr; prvCopyDataToQueue &rArr; xTaskPriorityDisinherit
 </UL>
-<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<BR>[Calls]<UL><LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
+<LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[211]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortValidateInterruptPriority
-<LI><a href="#[1f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataToQueue
 </UL>
-<BR>[Called By]<UL><LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
-<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueuePut
+<BR>[Called By]<UL><LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueuePut
+<LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 </UL>
 
 <P><STRONG><a name="[1e2]"></a>xQueueGiveMutexRecursive</STRONG> (Thumb, 72 bytes, Stack size 16 bytes, queue.o(i.xQueueGiveMutexRecursive))
@@ -3363,28 +3363,28 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = xQueueReceive &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
+<LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
+<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[222]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
 <LI><a href="#[215]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskPlaceOnEventList
 <LI><a href="#[221]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
 <LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[1fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
-<LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
-<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
-<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
-<BR>[Called By]<UL><LI><a href="#[201]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
-<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueGet
+<BR>[Called By]<UL><LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueGet
+<LI><a href="#[201]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessReceivedCommands
 </UL>
 
 <P><STRONG><a name="[1d6]"></a>xQueueReceiveFromISR</STRONG> (Thumb, 202 bytes, Stack size 40 bytes, queue.o(i.xQueueReceiveFromISR))
-<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = xQueueReceiveFromISR &rArr; xTaskRemoveFromEventList
+<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = xQueueReceiveFromISR &rArr; prvCopyDataFromQueue
 </UL>
-<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<BR>[Calls]<UL><LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
+<LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[211]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortValidateInterruptPriority
-<LI><a href="#[1f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCopyDataFromQueue
 </UL>
 <BR>[Called By]<UL><LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMessageQueueGet
 </UL>
@@ -3393,6 +3393,10 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = xQueueSemaphoreTake &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
 <BR>[Calls]<UL><LI><a href="#[1a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetSchedulerState
+<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
 <LI><a href="#[224]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskPriorityInherit
 <LI><a href="#[222]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCheckForTimeOut
@@ -3403,13 +3407,9 @@ Global Symbols
 <LI><a href="#[207]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvUnlockQueue
 <LI><a href="#[1fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIsQueueEmpty
 <LI><a href="#[225]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvGetDisinheritPriorityAfterTimeout
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
-<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
-<LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 </UL>
-<BR>[Called By]<UL><LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueTakeMutexRecursive
-<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMutexAcquire
+<BR>[Called By]<UL><LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osMutexAcquire
+<LI><a href="#[1de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueTakeMutexRecursive
 </UL>
 
 <P><STRONG><a name="[1de]"></a>xQueueTakeMutexRecursive</STRONG> (Thumb, 78 bytes, Stack size 24 bytes, queue.o(i.xQueueTakeMutexRecursive))
@@ -3424,9 +3424,9 @@ Global Symbols
 <P><STRONG><a name="[222]"></a>xTaskCheckForTimeOut</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, tasks.o(i.xTaskCheckForTimeOut))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xTaskCheckForTimeOut
 </UL>
-<BR>[Calls]<UL><LI><a href="#[221]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[221]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskInternalSetTimeOutState
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
@@ -3437,10 +3437,10 @@ Global Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 136 + Unknown Stack Size
 <LI>Call Chain = xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
-<LI><a href="#[1ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
-<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<BR>[Calls]<UL><LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 <LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[1f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
+<LI><a href="#[1ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[18c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadNew
 </UL>
@@ -3471,9 +3471,9 @@ Global Symbols
 <P><STRONG><a name="[1e3]"></a>xTaskGenericNotifyFromISR</STRONG> (Thumb, 332 bytes, Stack size 40 bytes, tasks.o(i.xTaskGenericNotifyFromISR))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = xTaskGenericNotifyFromISR &rArr; vPortValidateInterruptPriority
 </UL>
-<BR>[Calls]<UL><LI><a href="#[211]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortValidateInterruptPriority
-<LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<BR>[Calls]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
+<LI><a href="#[211]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortValidateInterruptPriority
 </UL>
 <BR>[Called By]<UL><LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsSet
 </UL>
@@ -3486,21 +3486,21 @@ Global Symbols
 
 <P><STRONG><a name="[1a0]"></a>xTaskGetSchedulerState</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, tasks.o(i.xTaskGetSchedulerState))
 <BR><BR>[Called By]<UL><LI><a href="#[c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
+<LI><a href="#[1a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelUnlock
+<LI><a href="#[1a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelLock
+<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetState
 <LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 <LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
-<LI><a href="#[1a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelUnlock
-<LI><a href="#[1a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelLock
-<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetState
 </UL>
 
 <P><STRONG><a name="[ea]"></a>xTaskGetTickCount</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, tasks.o(i.xTaskGetTickCount))
-<BR><BR>[Called By]<UL><LI><a href="#[202]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
-<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_TIME_Get_us
+<BR><BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BSP_TIME_Get_us
 <LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsWait
 <LI><a href="#[1a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickCount
 <LI><a href="#[1ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelayUntil
+<LI><a href="#[202]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
 </UL>
 
 <P><STRONG><a name="[1d2]"></a>xTaskGetTickCountFromISR</STRONG> (Thumb, 16 bytes, Stack size 16 bytes, tasks.o(i.xTaskGetTickCountFromISR))
@@ -3514,9 +3514,9 @@ Global Symbols
 <P><STRONG><a name="[220]"></a>xTaskIncrementTick</STRONG> (Thumb, 280 bytes, Stack size 24 bytes, tasks.o(i.xTaskIncrementTick))
 <BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
-<LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<BR>[Calls]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
+<LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortSysTickHandler
 <LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
@@ -3525,9 +3525,9 @@ Global Symbols
 <P><STRONG><a name="[1e5]"></a>xTaskNotifyWait</STRONG> (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(i.xTaskNotifyWait))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = xTaskNotifyWait &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[1ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
 </UL>
 <BR>[Called By]<UL><LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadFlagsWait
 </UL>
@@ -3568,22 +3568,22 @@ Global Symbols
 <P><STRONG><a name="[1d5]"></a>xTaskResumeAll</STRONG> (Thumb, 222 bytes, Stack size 16 bytes, tasks.o(i.xTaskResumeAll))
 <BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
-<LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
-<LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<BR>[Calls]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
+<LI><a href="#[214]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
 </UL>
-<BR>[Called By]<UL><LI><a href="#[203]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
+<BR>[Called By]<UL><LI><a href="#[1a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelUnlock
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
+<LI><a href="#[203]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 <LI><a href="#[1d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
 <LI><a href="#[1d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
 <LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
 <LI><a href="#[1dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericSend
-<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
-<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
-<LI><a href="#[1a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelUnlock
 </UL>
 
 <P><STRONG><a name="[218]"></a>xTimerCreateTimerTask</STRONG> (Thumb, 100 bytes, Stack size 32 bytes, timers.o(i.xTimerCreateTimerTask))
@@ -3904,10 +3904,10 @@ Local Symbols
 <P><STRONG><a name="[12b]"></a>I2C_MasterReceive_RXNE</STRONG> (Thumb, 260 bytes, Stack size 16 bytes, stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_RXNE))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = I2C_MasterReceive_RXNE &rArr; HAL_I2C_MemRxCpltCallback
 </UL>
-<BR>[Calls]<UL><LI><a href="#[17b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnSTOPRequestThroughIT
-<LI><a href="#[13a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MemRxCpltCallback
+<BR>[Calls]<UL><LI><a href="#[13a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MemRxCpltCallback
 <LI><a href="#[138]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MasterRxCpltCallback
 <LI><a href="#[133]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_ErrorCallback
+<LI><a href="#[17b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_WaitOnSTOPRequestThroughIT
 </UL>
 <BR>[Called By]<UL><LI><a href="#[123]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_EV_IRQHandler
 </UL>
@@ -3924,9 +3924,9 @@ Local Symbols
 <P><STRONG><a name="[128]"></a>I2C_MasterTransmit_TXE</STRONG> (Thumb, 216 bytes, Stack size 24 bytes, stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_TXE))
 <BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = I2C_MasterTransmit_TXE &rArr; I2C_MemoryTransmit_TXE_BTF &rArr; HAL_I2C_MemTxCpltCallback
 </UL>
-<BR>[Calls]<UL><LI><a href="#[12a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_MemoryTransmit_TXE_BTF
-<LI><a href="#[13b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MemTxCpltCallback
+<BR>[Calls]<UL><LI><a href="#[13b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MemTxCpltCallback
 <LI><a href="#[139]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_MasterTxCpltCallback
+<LI><a href="#[12a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;I2C_MemoryTransmit_TXE_BTF
 </UL>
 <BR>[Called By]<UL><LI><a href="#[123]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_I2C_EV_IRQHandler
 </UL>
@@ -4050,9 +4050,9 @@ Local Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = SPI_DMAReceiveCplt &rArr; SPI_EndRxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
 </UL>
 <BR>[Calls]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[151]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTransaction
 <LI><a href="#[153]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_RxCpltCallback
 <LI><a href="#[14b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_ErrorCallback
+<LI><a href="#[151]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTransaction
 </UL>
 <BR>[Address Reference Count : 2]<UL><LI> stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA)
 <LI> stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
@@ -4061,9 +4061,9 @@ Local Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = SPI_DMATransmitCplt &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
 </UL>
 <BR>[Calls]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[155]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTxTransaction
 <LI><a href="#[156]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TxCpltCallback
 <LI><a href="#[14b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_ErrorCallback
+<LI><a href="#[155]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTxTransaction
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
 </UL>
@@ -4071,9 +4071,9 @@ Local Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = SPI_DMATransmitReceiveCplt &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
 </UL>
 <BR>[Calls]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
-<LI><a href="#[155]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTxTransaction
 <LI><a href="#[158]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TxRxCpltCallback
 <LI><a href="#[14b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_ErrorCallback
+<LI><a href="#[155]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTxTransaction
 </UL>
 <BR>[Address Reference Count : 1]<UL><LI> stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
 </UL>
@@ -4146,8 +4146,8 @@ Local Symbols
 <P><STRONG><a name="[170]"></a>UART_Receive_IT</STRONG> (Thumb, 252 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(i.UART_Receive_IT))
 <BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = UART_Receive_IT &rArr; HAL_UART_RxCpltCallback
 </UL>
-<BR>[Calls]<UL><LI><a href="#[173]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_RxEventCallback
-<LI><a href="#[179]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_RxCpltCallback
+<BR>[Calls]<UL><LI><a href="#[179]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_RxCpltCallback
+<LI><a href="#[173]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UARTEx_RxEventCallback
 </UL>
 <BR>[Called By]<UL><LI><a href="#[16f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_IRQHandler
 </UL>
@@ -4229,10 +4229,10 @@ Local Symbols
 <P><STRONG><a name="[207]"></a>prvUnlockQueue</STRONG> (Thumb, 126 bytes, Stack size 16 bytes, queue.o(i.prvUnlockQueue))
 <BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = prvUnlockQueue &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
-<LI><a href="#[209]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskMissedYield
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[208]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskRemoveFromEventList
+<LI><a href="#[209]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskMissedYield
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueSemaphoreTake
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
@@ -4257,10 +4257,10 @@ Local Symbols
 <P><STRONG><a name="[1ee]"></a>prvAddNewTaskToReadyList</STRONG> (Thumb, 154 bytes, Stack size 8 bytes, tasks.o(i.prvAddNewTaskToReadyList))
 <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = prvAddNewTaskToReadyList &rArr; prvInitialiseTaskLists
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
-<LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
+<BR>[Calls]<UL><LI><a href="#[1ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
 <LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[1ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
 <LI><a href="#[1e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
@@ -4269,10 +4269,10 @@ Local Symbols
 <P><STRONG><a name="[1f2]"></a>prvCheckTasksWaitingTermination</STRONG> (Thumb, 60 bytes, Stack size 8 bytes, tasks.o(i.prvCheckTasksWaitingTermination))
 <BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
-<LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
+<BR>[Calls]<UL><LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 <LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
+<LI><a href="#[1f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
 </UL>
 <BR>[Called By]<UL><LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIdleTask
 </UL>
@@ -4297,8 +4297,8 @@ Local Symbols
 <BR><BR>[Stack]<UL><LI>Max Depth = 40 + Unknown Stack Size
 <LI>Call Chain = prvInitialiseNewTask
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pxPortInitialiseStack
-<LI><a href="#[1fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialiseItem
+<BR>[Calls]<UL><LI><a href="#[1fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialiseItem
+<LI><a href="#[1fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pxPortInitialiseStack
 <LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
 </UL>
 <BR>[Called By]<UL><LI><a href="#[1e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
@@ -4314,19 +4314,19 @@ Local Symbols
 </UL>
 
 <P><STRONG><a name="[214]"></a>prvResetNextTaskUnblockTime</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(i.prvResetNextTaskUnblockTime))
-<BR><BR>[Called By]<UL><LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
+<BR><BR>[Called By]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[220]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
 <LI><a href="#[1e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelete
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
 </UL>
 
 <P><STRONG><a name="[1f0]"></a>prvCheckForValidListAndQueue</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, timers.o(i.prvCheckForValidListAndQueue))
 <BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = prvCheckForValidListAndQueue &rArr; xQueueGenericCreateStatic &rArr; prvInitialiseNewQueue &rArr; xQueueGenericReset &rArr; xTaskRemoveFromEventList
 </UL>
-<BR>[Calls]<UL><LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
-<LI><a href="#[1da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
-<LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
+<BR>[Calls]<UL><LI><a href="#[1cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
 <LI><a href="#[1cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
 <LI><a href="#[1f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
+<LI><a href="#[1d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueGenericCreateStatic
+<LI><a href="#[1da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueAddToRegistry
 </UL>
 <BR>[Called By]<UL><LI><a href="#[218]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerCreateTimerTask
 </UL>
@@ -4347,9 +4347,9 @@ Local Symbols
 <P><STRONG><a name="[1ff]"></a>prvProcessExpiredTimer</STRONG> (Thumb, 110 bytes, Stack size 24 bytes, timers.o(i.prvProcessExpiredTimer))
 <BR><BR>[Stack]<UL><LI>Max Depth = 176<LI>Call Chain = prvProcessExpiredTimer &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
+<BR>[Calls]<UL><LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
+<LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 <LI><a href="#[1fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertTimerInActiveList
-<LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
 </UL>
 <BR>[Called By]<UL><LI><a href="#[203]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessTimerOrBlockTask
 </UL>
@@ -4357,12 +4357,12 @@ Local Symbols
 <P><STRONG><a name="[201]"></a>prvProcessReceivedCommands</STRONG> (Thumb, 350 bytes, Stack size 48 bytes, timers.o(i.prvProcessReceivedCommands))
 <BR><BR>[Stack]<UL><LI>Max Depth = 248<LI>Call Chain = prvProcessReceivedCommands &rArr; prvSampleTimeNow &rArr; prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
+<BR>[Calls]<UL><LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
+<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
+<LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 <LI><a href="#[202]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
 <LI><a href="#[1fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertTimerInActiveList
 <LI><a href="#[1d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xQueueReceive
-<LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
-<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
 </UL>
 <BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvTimerTask
 </UL>
@@ -4370,11 +4370,11 @@ Local Symbols
 <P><STRONG><a name="[203]"></a>prvProcessTimerOrBlockTask</STRONG> (Thumb, 102 bytes, Stack size 24 bytes, timers.o(i.prvProcessTimerOrBlockTask))
 <BR><BR>[Stack]<UL><LI>Max Depth = 224<LI>Call Chain = prvProcessTimerOrBlockTask &rArr; prvSampleTimeNow &rArr; prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[202]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
+<BR>[Calls]<UL><LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
+<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
+<LI><a href="#[202]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
 <LI><a href="#[1ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvProcessExpiredTimer
 <LI><a href="#[204]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vQueueWaitForMessageRestricted
-<LI><a href="#[1d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
-<LI><a href="#[1d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
 </UL>
 <BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvTimerTask
 </UL>
@@ -4392,9 +4392,9 @@ Local Symbols
 <P><STRONG><a name="[205]"></a>prvSwitchTimerLists</STRONG> (Thumb, 154 bytes, Stack size 32 bytes, timers.o(i.prvSwitchTimerLists))
 <BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = prvSwitchTimerLists &rArr; xTimerGenericCommand &rArr; xQueueGenericSend &rArr; vTaskPlaceOnEventList &rArr; prvAddCurrentTaskToDelayedList &rArr; vListInsert
 </UL>
-<BR>[Calls]<UL><LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
-<LI><a href="#[1ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
+<BR>[Calls]<UL><LI><a href="#[1ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
 <LI><a href="#[1eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
+<LI><a href="#[200]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTimerGenericCommand
 </UL>
 <BR>[Called By]<UL><LI><a href="#[202]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvSampleTimeNow
 </UL>
diff --git a/MDK-ARM/gimbal/gimbal.lnp b/MDK-ARM/gimbal/gimbal.lnp
index 59df1e7..4aabbec 100644
--- a/MDK-ARM/gimbal/gimbal.lnp
+++ b/MDK-ARM/gimbal/gimbal.lnp
@@ -52,9 +52,9 @@
 "gimbal\uart.o"
 "gimbal\ahrs.o"
 "gimbal\cmd.o"
+"gimbal\filter.o"
 "gimbal\crc8.o"
 "gimbal\crc16.o"
-"gimbal\filter.o"
 "gimbal\freertos_cli.o"
 "gimbal\limiter.o"
 "gimbal\mixer.o"
diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map
index 187595e..f5748c3 100644
--- a/MDK-ARM/gimbal/gimbal.map
+++ b/MDK-ARM/gimbal/gimbal.map
@@ -1820,16 +1820,16 @@ Section Cross References
     cmd.o(i.CMD_ParseRc) refers to cmd.o(i.CMD_RcLogic) for CMD_RcLogic
     cmd.o(i.CMD_PcLogic) refers to cmd.o(i.CMD_BehaviorOccurredRc) for CMD_BehaviorOccurredRc
     cmd.o(i.CMD_PcLogic) refers to cmd.o(i.CMD_RefereeAdd) for CMD_RefereeAdd
-    crc8.o(i.CRC8_Calc) refers to crc8.o(.constdata) for crc8_tab
-    crc8.o(i.CRC8_Verify) refers to crc8.o(i.CRC8_Calc) for CRC8_Calc
-    crc16.o(i.CRC16_Calc) refers to crc16.o(.constdata) for crc16_tab
-    crc16.o(i.CRC16_Verify) refers to crc16.o(i.CRC16_Calc) for CRC16_Calc
     filter.o(i.LowPassFilter2p_Init) refers to tanf.o(i.__hardfp_tanf) for __hardfp_tanf
     filter.o(i.LowPassFilter2p_Init) refers to cosf.o(i.__hardfp_cosf) for __hardfp_cosf
     filter.o(i.LowPassFilter2p_Reset) refers to filter.o(i.LowPassFilter2p_Apply) for LowPassFilter2p_Apply
     filter.o(i.NotchFilter_Init) refers to tanf.o(i.__hardfp_tanf) for __hardfp_tanf
     filter.o(i.NotchFilter_Init) refers to cosf.o(i.__hardfp_cosf) for __hardfp_cosf
     filter.o(i.NotchFilter_Reset) refers to filter.o(i.NotchFilter_Apply) for NotchFilter_Apply
+    crc8.o(i.CRC8_Calc) refers to crc8.o(.constdata) for crc8_tab
+    crc8.o(i.CRC8_Verify) refers to crc8.o(i.CRC8_Calc) for CRC8_Calc
+    crc16.o(i.CRC16_Calc) refers to crc16.o(.constdata) for crc16_tab
+    crc16.o(i.CRC16_Verify) refers to crc16.o(i.CRC16_Calc) for CRC16_Calc
     freertos_cli.o(i.FreeRTOS_CLIGetOutputBuffer) refers to freertos_cli.o(.bss) for cOutputBuffer
     freertos_cli.o(i.FreeRTOS_CLIProcessCommand) refers to strlen.o(.text) for strlen
     freertos_cli.o(i.FreeRTOS_CLIProcessCommand) refers to strncmp.o(.text) for strncmp
@@ -3288,14 +3288,14 @@ Removing Unused input sections from the image.
     Removing cmd.o(i.CMD_RcLogic), (200 bytes).
     Removing cmd.o(i.CMD_RcLostLogic), (14 bytes).
     Removing cmd.o(i.CMD_RefereeAdd), (42 bytes).
+    Removing filter.o(i.NotchFilter_Init), (240 bytes).
+    Removing filter.o(i.NotchFilter_Reset), (124 bytes).
     Removing crc8.o(i.CRC8_Calc), (36 bytes).
     Removing crc8.o(i.CRC8_Verify), (42 bytes).
     Removing crc8.o(.constdata), (256 bytes).
     Removing crc16.o(i.CRC16_Calc), (48 bytes).
     Removing crc16.o(i.CRC16_Verify), (56 bytes).
     Removing crc16.o(.constdata), (512 bytes).
-    Removing filter.o(i.NotchFilter_Init), (240 bytes).
-    Removing filter.o(i.NotchFilter_Reset), (124 bytes).
     Removing freertos_cli.o(i.FreeRTOS_CLIGetOutputBuffer), (8 bytes).
     Removing freertos_cli.o(i.FreeRTOS_CLIGetParameter), (92 bytes).
     Removing freertos_cli.o(i.FreeRTOS_CLIProcessCommand), (216 bytes).
@@ -3865,505 +3865,505 @@ Image Symbol Table
     i.EXTI9_5_IRQHandler                     0x08002a72   Section        0  stm32f4xx_it.o(i.EXTI9_5_IRQHandler)
     i.Error_Handler                          0x08002a7c   Section        0  main.o(i.Error_Handler)
     i.Gimbal_Control                         0x08002a84   Section        0  gimbal.o(i.Gimbal_Control)
-    i.Gimbal_Init                            0x08002ed4   Section        0  gimbal.o(i.Gimbal_Init)
-    i.Gimbal_Output                          0x08003028   Section        0  gimbal.o(i.Gimbal_Output)
-    i.Gimbal_SetMode                         0x08003060   Section        0  gimbal.o(i.Gimbal_SetMode)
-    Gimbal_SetMode                           0x08003061   Thumb Code   126  gimbal.o(i.Gimbal_SetMode)
-    i.Gimbal_UpdateFeedback                  0x080030e4   Section        0  gimbal.o(i.Gimbal_UpdateFeedback)
-    i.Gimbal_UpdateIMU                       0x0800313a   Section        0  gimbal.o(i.Gimbal_UpdateIMU)
-    i.HAL_CAN_ActivateNotification           0x08003164   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_ActivateNotification)
-    i.HAL_CAN_AddTxMessage                   0x0800318e   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_AddTxMessage)
-    i.HAL_CAN_ConfigFilter                   0x080032d8   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_ConfigFilter)
-    i.HAL_CAN_ErrorCallback                  0x080033f8   Section        0  can_1.o(i.HAL_CAN_ErrorCallback)
-    i.HAL_CAN_GetRxFifoFillLevel             0x08003434   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxFifoFillLevel)
-    i.HAL_CAN_GetRxMessage                   0x0800345c   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxMessage)
-    i.HAL_CAN_GetTxMailboxesFreeLevel        0x080035f0   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_GetTxMailboxesFreeLevel)
-    i.HAL_CAN_IRQHandler                     0x08003626   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_IRQHandler)
-    i.HAL_CAN_Init                           0x08003874   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_Init)
-    i.HAL_CAN_MspInit                        0x080039e8   Section        0  can.o(i.HAL_CAN_MspInit)
-    i.HAL_CAN_RxFifo0FullCallback            0x08003b88   Section        0  can_1.o(i.HAL_CAN_RxFifo0FullCallback)
-    i.HAL_CAN_RxFifo0MsgPendingCallback      0x08003bc4   Section        0  can_1.o(i.HAL_CAN_RxFifo0MsgPendingCallback)
-    i.HAL_CAN_RxFifo1FullCallback            0x08003c00   Section        0  can_1.o(i.HAL_CAN_RxFifo1FullCallback)
-    i.HAL_CAN_RxFifo1MsgPendingCallback      0x08003c3c   Section        0  can_1.o(i.HAL_CAN_RxFifo1MsgPendingCallback)
-    i.HAL_CAN_SleepCallback                  0x08003c78   Section        0  can_1.o(i.HAL_CAN_SleepCallback)
-    i.HAL_CAN_Start                          0x08003cb4   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_Start)
-    i.HAL_CAN_TxMailbox0AbortCallback        0x08003d14   Section        0  can_1.o(i.HAL_CAN_TxMailbox0AbortCallback)
-    i.HAL_CAN_TxMailbox0CompleteCallback     0x08003d50   Section        0  can_1.o(i.HAL_CAN_TxMailbox0CompleteCallback)
-    i.HAL_CAN_TxMailbox1AbortCallback        0x08003d88   Section        0  can_1.o(i.HAL_CAN_TxMailbox1AbortCallback)
-    i.HAL_CAN_TxMailbox1CompleteCallback     0x08003dc4   Section        0  can_1.o(i.HAL_CAN_TxMailbox1CompleteCallback)
-    i.HAL_CAN_TxMailbox2AbortCallback        0x08003e00   Section        0  can_1.o(i.HAL_CAN_TxMailbox2AbortCallback)
-    i.HAL_CAN_TxMailbox2CompleteCallback     0x08003e3c   Section        0  can_1.o(i.HAL_CAN_TxMailbox2CompleteCallback)
-    i.HAL_CAN_WakeUpFromRxMsgCallback        0x08003e78   Section        0  can_1.o(i.HAL_CAN_WakeUpFromRxMsgCallback)
-    i.HAL_DMA_Abort                          0x08003eb4   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort)
-    i.HAL_DMA_Abort_IT                       0x08003f60   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort_IT)
-    i.HAL_DMA_GetState                       0x08003f88   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_GetState)
-    i.HAL_DMA_IRQHandler                     0x08003f90   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_IRQHandler)
-    i.HAL_DMA_Init                           0x080041d0   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Init)
-    i.HAL_DMA_Start_IT                       0x080042bc   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Start_IT)
-    i.HAL_Delay                              0x08004350   Section        0  stm32f4xx_hal.o(i.HAL_Delay)
-    i.HAL_GPIO_EXTI_Callback                 0x08004378   Section        0  gpio_1.o(i.HAL_GPIO_EXTI_Callback)
-    i.HAL_GPIO_EXTI_IRQHandler               0x080043a8   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_EXTI_IRQHandler)
-    i.HAL_GPIO_Init                          0x080043c4   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_Init)
-    i.HAL_GPIO_ReadPin                       0x080045b8   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_ReadPin)
-    i.HAL_GPIO_WritePin                      0x080045c8   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_WritePin)
-    i.HAL_GetTick                            0x080045d4   Section        0  stm32f4xx_hal.o(i.HAL_GetTick)
-    i.HAL_I2C_AbortCpltCallback              0x080045e0   Section        0  i2c_1.o(i.HAL_I2C_AbortCpltCallback)
-    i.HAL_I2C_AddrCallback                   0x08004614   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_AddrCallback)
-    i.HAL_I2C_ER_IRQHandler                  0x08004616   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_ER_IRQHandler)
-    i.HAL_I2C_EV_IRQHandler                  0x080046ea   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_EV_IRQHandler)
-    i.HAL_I2C_ErrorCallback                  0x080048c4   Section        0  i2c_1.o(i.HAL_I2C_ErrorCallback)
-    i.HAL_I2C_Init                           0x080048f8   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_Init)
-    i.HAL_I2C_ListenCpltCallback             0x08004ac8   Section        0  i2c_1.o(i.HAL_I2C_ListenCpltCallback)
-    i.HAL_I2C_MasterRxCpltCallback           0x08004afc   Section        0  i2c_1.o(i.HAL_I2C_MasterRxCpltCallback)
-    i.HAL_I2C_MasterTxCpltCallback           0x08004b30   Section        0  i2c_1.o(i.HAL_I2C_MasterTxCpltCallback)
-    i.HAL_I2C_MemRxCpltCallback              0x08004b60   Section        0  i2c_1.o(i.HAL_I2C_MemRxCpltCallback)
-    i.HAL_I2C_MemTxCpltCallback              0x08004b94   Section        0  i2c_1.o(i.HAL_I2C_MemTxCpltCallback)
-    i.HAL_I2C_MspInit                        0x08004bc8   Section        0  i2c.o(i.HAL_I2C_MspInit)
-    i.HAL_I2C_SlaveRxCpltCallback            0x08004ce4   Section        0  i2c_1.o(i.HAL_I2C_SlaveRxCpltCallback)
-    i.HAL_I2C_SlaveTxCpltCallback            0x08004d18   Section        0  i2c_1.o(i.HAL_I2C_SlaveTxCpltCallback)
-    i.HAL_IncTick                            0x08004d4c   Section        0  stm32f4xx_hal.o(i.HAL_IncTick)
-    i.HAL_Init                               0x08004d64   Section        0  stm32f4xx_hal.o(i.HAL_Init)
-    i.HAL_InitTick                           0x08004da0   Section        0  stm32f4xx_hal.o(i.HAL_InitTick)
-    i.HAL_MspInit                            0x08004dec   Section        0  stm32f4xx_hal_msp.o(i.HAL_MspInit)
-    i.HAL_NVIC_DisableIRQ                    0x08004e40   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_DisableIRQ)
-    i.HAL_NVIC_EnableIRQ                     0x08004e6c   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_EnableIRQ)
-    i.HAL_NVIC_SetPriority                   0x08004e94   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriority)
-    i.HAL_NVIC_SetPriorityGrouping           0x08004f10   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriorityGrouping)
-    i.HAL_RCC_ClockConfig                    0x08004f38   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_ClockConfig)
-    i.HAL_RCC_GetHCLKFreq                    0x080050bc   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetHCLKFreq)
-    i.HAL_RCC_GetPCLK1Freq                   0x080050c8   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK1Freq)
-    i.HAL_RCC_GetPCLK2Freq                   0x080050e8   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK2Freq)
-    i.HAL_RCC_GetSysClockFreq                0x08005108   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetSysClockFreq)
-    i.HAL_RCC_OscConfig                      0x080051b8   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_OscConfig)
-    i.HAL_SPI_ErrorCallback                  0x08005654   Section        0  spi_1.o(i.HAL_SPI_ErrorCallback)
-    i.HAL_SPI_Init                           0x0800568c   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Init)
-    i.HAL_SPI_MspInit                        0x08005754   Section        0  spi.o(i.HAL_SPI_MspInit)
-    i.HAL_SPI_Receive                        0x08005920   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive)
-    i.HAL_SPI_Receive_DMA                    0x08005aa4   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA)
-    i.HAL_SPI_RxCpltCallback                 0x08005bbc   Section        0  spi_1.o(i.HAL_SPI_RxCpltCallback)
-    i.HAL_SPI_RxHalfCpltCallback             0x08005bf4   Section        0  spi_1.o(i.HAL_SPI_RxHalfCpltCallback)
-    i.HAL_SPI_Transmit                       0x08005c2c   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit)
-    i.HAL_SPI_TransmitReceive                0x08005dea   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive)
-    i.HAL_SPI_TransmitReceive_DMA            0x08006034   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
-    i.HAL_SPI_Transmit_DMA                   0x08006198   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
-    i.HAL_SPI_TxCpltCallback                 0x08006294   Section        0  spi_1.o(i.HAL_SPI_TxCpltCallback)
-    i.HAL_SPI_TxHalfCpltCallback             0x080062c0   Section        0  spi_1.o(i.HAL_SPI_TxHalfCpltCallback)
-    i.HAL_SPI_TxRxCpltCallback               0x080062f8   Section        0  spi_1.o(i.HAL_SPI_TxRxCpltCallback)
-    i.HAL_SPI_TxRxHalfCpltCallback           0x08006330   Section        0  spi_1.o(i.HAL_SPI_TxRxHalfCpltCallback)
-    i.HAL_SYSTICK_Config                     0x08006368   Section        0  stm32f4xx_hal_cortex.o(i.HAL_SYSTICK_Config)
-    i.HAL_TIMEx_BreakCallback                0x0800639c   Section        0  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_BreakCallback)
-    i.HAL_TIMEx_CommutCallback               0x0800639e   Section        0  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_CommutCallback)
-    i.HAL_TIMEx_MasterConfigSynchronization  0x080063a0   Section        0  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_MasterConfigSynchronization)
-    i.HAL_TIM_Base_Init                      0x08006454   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Init)
-    i.HAL_TIM_Base_MspInit                   0x080064bc   Section        0  tim.o(i.HAL_TIM_Base_MspInit)
-    i.HAL_TIM_IC_CaptureCallback             0x08006534   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_IC_CaptureCallback)
-    i.HAL_TIM_IRQHandler                     0x08006536   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler)
-    i.HAL_TIM_MspPostInit                    0x080066a4   Section        0  tim.o(i.HAL_TIM_MspPostInit)
-    i.HAL_TIM_OC_DelayElapsedCallback        0x08006704   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_OC_DelayElapsedCallback)
-    i.HAL_TIM_PWM_ConfigChannel              0x08006706   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_ConfigChannel)
-    i.HAL_TIM_PWM_Init                       0x0800680a   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init)
-    i.HAL_TIM_PWM_MspInit                    0x08006870   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_MspInit)
-    i.HAL_TIM_PWM_PulseFinishedCallback      0x08006872   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_PulseFinishedCallback)
-    i.HAL_TIM_PWM_Start                      0x08006874   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Start)
-    i.HAL_TIM_PeriodElapsedCallback          0x08006980   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PeriodElapsedCallback)
-    i.HAL_TIM_TriggerCallback                0x08006982   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_TriggerCallback)
-    i.HAL_UARTEx_RxEventCallback             0x08006984   Section        0  stm32f4xx_hal_uart.o(i.HAL_UARTEx_RxEventCallback)
-    i.HAL_UART_ErrorCallback                 0x08006988   Section        0  uart.o(i.HAL_UART_ErrorCallback)
-    i.HAL_UART_IRQHandler                    0x080069bc   Section        0  stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler)
-    i.HAL_UART_Init                          0x08006cc4   Section        0  stm32f4xx_hal_uart.o(i.HAL_UART_Init)
-    i.HAL_UART_MspInit                       0x08006d3c   Section        0  usart.o(i.HAL_UART_MspInit)
-    i.HAL_UART_RxCpltCallback                0x08006ed4   Section        0  uart.o(i.HAL_UART_RxCpltCallback)
-    i.HAL_UART_TxCpltCallback                0x08006f08   Section        0  uart.o(i.HAL_UART_TxCpltCallback)
-    i.HardFault_Handler                      0x08006f3c   Section        0  stm32f4xx_it.o(i.HardFault_Handler)
-    i.I2C1_ER_IRQHandler                     0x08006f40   Section        0  stm32f4xx_it.o(i.I2C1_ER_IRQHandler)
-    i.I2C1_EV_IRQHandler                     0x08006f50   Section        0  stm32f4xx_it.o(i.I2C1_EV_IRQHandler)
-    i.I2C_ConvertOtherXferOptions            0x08006f60   Section        0  stm32f4xx_hal_i2c.o(i.I2C_ConvertOtherXferOptions)
-    I2C_ConvertOtherXferOptions              0x08006f61   Thumb Code    28  stm32f4xx_hal_i2c.o(i.I2C_ConvertOtherXferOptions)
-    i.I2C_DMAAbort                           0x08006f7c   Section        0  stm32f4xx_hal_i2c.o(i.I2C_DMAAbort)
-    I2C_DMAAbort                             0x08006f7d   Thumb Code   242  stm32f4xx_hal_i2c.o(i.I2C_DMAAbort)
-    i.I2C_Flush_DR                           0x08007074   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Flush_DR)
-    I2C_Flush_DR                             0x08007075   Thumb Code    18  stm32f4xx_hal_i2c.o(i.I2C_Flush_DR)
-    i.I2C_Get                                0x08007088   Section        0  i2c_1.o(i.I2C_Get)
-    I2C_Get                                  0x08007089   Thumb Code    30  i2c_1.o(i.I2C_Get)
-    i.I2C_ITError                            0x080070b0   Section        0  stm32f4xx_hal_i2c.o(i.I2C_ITError)
-    I2C_ITError                              0x080070b1   Thumb Code   420  stm32f4xx_hal_i2c.o(i.I2C_ITError)
-    i.I2C_MasterReceive_BTF                  0x0800725c   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_BTF)
-    I2C_MasterReceive_BTF                    0x0800725d   Thumb Code   304  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_BTF)
-    i.I2C_MasterReceive_RXNE                 0x0800738c   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_RXNE)
-    I2C_MasterReceive_RXNE                   0x0800738d   Thumb Code   260  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_RXNE)
-    i.I2C_MasterTransmit_BTF                 0x08007490   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_BTF)
-    I2C_MasterTransmit_BTF                   0x08007491   Thumb Code   160  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_BTF)
-    i.I2C_MasterTransmit_TXE                 0x08007530   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_TXE)
-    I2C_MasterTransmit_TXE                   0x08007531   Thumb Code   216  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_TXE)
-    i.I2C_Master_ADD10                       0x08007608   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Master_ADD10)
-    I2C_Master_ADD10                         0x08007609   Thumb Code    42  stm32f4xx_hal_i2c.o(i.I2C_Master_ADD10)
-    i.I2C_Master_ADDR                        0x08007632   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Master_ADDR)
-    I2C_Master_ADDR                          0x08007633   Thumb Code   616  stm32f4xx_hal_i2c.o(i.I2C_Master_ADDR)
-    i.I2C_Master_SB                          0x0800789a   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Master_SB)
-    I2C_Master_SB                            0x0800789b   Thumb Code   158  stm32f4xx_hal_i2c.o(i.I2C_Master_SB)
-    i.I2C_MemoryTransmit_TXE_BTF             0x08007938   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MemoryTransmit_TXE_BTF)
-    I2C_MemoryTransmit_TXE_BTF               0x08007939   Thumb Code   198  stm32f4xx_hal_i2c.o(i.I2C_MemoryTransmit_TXE_BTF)
-    i.I2C_SlaveReceive_BTF                   0x080079fe   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_BTF)
-    I2C_SlaveReceive_BTF                     0x080079ff   Thumb Code    26  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_BTF)
-    i.I2C_SlaveReceive_RXNE                  0x08007a18   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_RXNE)
-    I2C_SlaveReceive_RXNE                    0x08007a19   Thumb Code    70  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_RXNE)
-    i.I2C_SlaveTransmit_BTF                  0x08007a5e   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_BTF)
-    I2C_SlaveTransmit_BTF                    0x08007a5f   Thumb Code    26  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_BTF)
-    i.I2C_SlaveTransmit_TXE                  0x08007a78   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_TXE)
-    I2C_SlaveTransmit_TXE                    0x08007a79   Thumb Code    70  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_TXE)
-    i.I2C_Slave_ADDR                         0x08007abe   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Slave_ADDR)
-    I2C_Slave_ADDR                           0x08007abf   Thumb Code   112  stm32f4xx_hal_i2c.o(i.I2C_Slave_ADDR)
-    i.I2C_Slave_AF                           0x08007b30   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Slave_AF)
-    I2C_Slave_AF                             0x08007b31   Thumb Code   162  stm32f4xx_hal_i2c.o(i.I2C_Slave_AF)
-    i.I2C_Slave_STOPF                        0x08007bd8   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Slave_STOPF)
-    I2C_Slave_STOPF                          0x08007bd9   Thumb Code   386  stm32f4xx_hal_i2c.o(i.I2C_Slave_STOPF)
-    i.I2C_WaitOnSTOPRequestThroughIT         0x08007d64   Section        0  stm32f4xx_hal_i2c.o(i.I2C_WaitOnSTOPRequestThroughIT)
-    I2C_WaitOnSTOPRequestThroughIT           0x08007d65   Thumb Code    74  stm32f4xx_hal_i2c.o(i.I2C_WaitOnSTOPRequestThroughIT)
-    i.InvSqrt                                0x08007db4   Section        0  user_math.o(i.InvSqrt)
-    i.LowPassFilter2p_Apply                  0x08007e04   Section        0  filter.o(i.LowPassFilter2p_Apply)
-    i.LowPassFilter2p_Init                   0x08007e84   Section        0  filter.o(i.LowPassFilter2p_Init)
-    i.LowPassFilter2p_Reset                  0x08007f98   Section        0  filter.o(i.LowPassFilter2p_Reset)
-    i.MOTOR_RM_CreateCANManager              0x08007ff8   Section        0  motor_rm.o(i.MOTOR_RM_CreateCANManager)
-    MOTOR_RM_CreateCANManager                0x08007ff9   Thumb Code    76  motor_rm.o(i.MOTOR_RM_CreateCANManager)
-    i.MOTOR_RM_Ctrl                          0x08008048   Section        0  motor_rm.o(i.MOTOR_RM_Ctrl)
-    i.MOTOR_RM_GetCANManager                 0x0800816c   Section        0  motor_rm.o(i.MOTOR_RM_GetCANManager)
-    MOTOR_RM_GetCANManager                   0x0800816d   Thumb Code    18  motor_rm.o(i.MOTOR_RM_GetCANManager)
-    i.MOTOR_RM_GetLSB                        0x08008184   Section        0  motor_rm.o(i.MOTOR_RM_GetLSB)
-    MOTOR_RM_GetLSB                          0x08008185   Thumb Code    38  motor_rm.o(i.MOTOR_RM_GetLSB)
-    i.MOTOR_RM_GetLogicalIndex               0x080081aa   Section        0  motor_rm.o(i.MOTOR_RM_GetLogicalIndex)
-    MOTOR_RM_GetLogicalIndex                 0x080081ab   Thumb Code    68  motor_rm.o(i.MOTOR_RM_GetLogicalIndex)
-    i.MOTOR_RM_GetMotor                      0x080081ee   Section        0  motor_rm.o(i.MOTOR_RM_GetMotor)
-    i.MOTOR_RM_GetRatio                      0x0800822c   Section        0  motor_rm.o(i.MOTOR_RM_GetRatio)
-    MOTOR_RM_GetRatio                        0x0800822d   Thumb Code    36  motor_rm.o(i.MOTOR_RM_GetRatio)
-    i.MOTOR_RM_Register                      0x08008254   Section        0  motor_rm.o(i.MOTOR_RM_Register)
-    i.MOTOR_RM_SetOutput                     0x08008314   Section        0  motor_rm.o(i.MOTOR_RM_SetOutput)
-    i.MOTOR_RM_Update                        0x080083c6   Section        0  motor_rm.o(i.MOTOR_RM_Update)
-    i.MX_CAN1_Init                           0x08008474   Section        0  can.o(i.MX_CAN1_Init)
-    i.MX_CAN2_Init                           0x080084bc   Section        0  can.o(i.MX_CAN2_Init)
-    i.MX_DMA_Init                            0x08008504   Section        0  dma.o(i.MX_DMA_Init)
-    i.MX_FREERTOS_Init                       0x0800857c   Section        0  freertos.o(i.MX_FREERTOS_Init)
-    i.MX_GPIO_Init                           0x080085ac   Section        0  gpio.o(i.MX_GPIO_Init)
-    i.MX_I2C1_Init                           0x0800879c   Section        0  i2c.o(i.MX_I2C1_Init)
-    i.MX_I2C2_Init                           0x080087d8   Section        0  i2c.o(i.MX_I2C2_Init)
-    i.MX_SPI1_Init                           0x08008814   Section        0  spi.o(i.MX_SPI1_Init)
-    i.MX_SPI2_Init                           0x0800885c   Section        0  spi.o(i.MX_SPI2_Init)
-    i.MX_TIM10_Init                          0x080088a4   Section        0  tim.o(i.MX_TIM10_Init)
-    i.MX_TIM7_Init                           0x08008910   Section        0  tim.o(i.MX_TIM7_Init)
-    i.MX_USART1_UART_Init                    0x0800895c   Section        0  usart.o(i.MX_USART1_UART_Init)
-    i.MX_USART3_UART_Init                    0x08008994   Section        0  usart.o(i.MX_USART3_UART_Init)
-    i.MemManage_Handler                      0x080089d4   Section        0  stm32f4xx_it.o(i.MemManage_Handler)
-    i.Motor_RM_Decode                        0x080089d8   Section        0  motor_rm.o(i.Motor_RM_Decode)
-    Motor_RM_Decode                          0x080089d9   Thumb Code   384  motor_rm.o(i.Motor_RM_Decode)
-    i.NMI_Handler                            0x08008b68   Section        0  stm32f4xx_it.o(i.NMI_Handler)
-    i.PID_Calc                               0x08008b6c   Section        0  pid.o(i.PID_Calc)
-    i.PID_Init                               0x08008d10   Section        0  pid.o(i.PID_Init)
-    i.PID_Reset                              0x08008ddc   Section        0  pid.o(i.PID_Reset)
-    i.RC_Init                                0x08008e1c   Section        0  bsp_rc.o(i.RC_Init)
-    i.RC_restart                             0x08008ea0   Section        0  bsp_rc.o(i.RC_restart)
-    i.SPI_DMAError                           0x08008efc   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAError)
-    SPI_DMAError                             0x08008efd   Thumb Code    40  stm32f4xx_hal_spi.o(i.SPI_DMAError)
-    i.SPI_DMAHalfReceiveCplt                 0x08008f24   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAHalfReceiveCplt)
-    SPI_DMAHalfReceiveCplt                   0x08008f25   Thumb Code    14  stm32f4xx_hal_spi.o(i.SPI_DMAHalfReceiveCplt)
-    i.SPI_DMAHalfTransmitCplt                0x08008f32   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitCplt)
-    SPI_DMAHalfTransmitCplt                  0x08008f33   Thumb Code    14  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitCplt)
-    i.SPI_DMAHalfTransmitReceiveCplt         0x08008f40   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitReceiveCplt)
-    SPI_DMAHalfTransmitReceiveCplt           0x08008f41   Thumb Code    14  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitReceiveCplt)
-    i.SPI_DMAReceiveCplt                     0x08008f4e   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAReceiveCplt)
-    SPI_DMAReceiveCplt                       0x08008f4f   Thumb Code   124  stm32f4xx_hal_spi.o(i.SPI_DMAReceiveCplt)
-    i.SPI_DMATransmitCplt                    0x08008fca   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMATransmitCplt)
-    SPI_DMATransmitCplt                      0x08008fcb   Thumb Code   128  stm32f4xx_hal_spi.o(i.SPI_DMATransmitCplt)
-    i.SPI_DMATransmitReceiveCplt             0x0800904a   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMATransmitReceiveCplt)
-    SPI_DMATransmitReceiveCplt               0x0800904b   Thumb Code   104  stm32f4xx_hal_spi.o(i.SPI_DMATransmitReceiveCplt)
-    i.SPI_EndRxTransaction                   0x080090b2   Section        0  stm32f4xx_hal_spi.o(i.SPI_EndRxTransaction)
-    SPI_EndRxTransaction                     0x080090b3   Thumb Code   148  stm32f4xx_hal_spi.o(i.SPI_EndRxTransaction)
-    i.SPI_EndRxTxTransaction                 0x08009148   Section        0  stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction)
-    SPI_EndRxTxTransaction                   0x08009149   Thumb Code   128  stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction)
-    i.SPI_Get                                0x080091d0   Section        0  spi_1.o(i.SPI_Get)
-    SPI_Get                                  0x080091d1   Thumb Code    18  spi_1.o(i.SPI_Get)
-    i.SPI_WaitFlagStateUntilTimeout          0x080091e8   Section        0  stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
-    SPI_WaitFlagStateUntilTimeout            0x080091e9   Thumb Code   212  stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
-    i.StartDefaultTask                       0x080092c0   Section        0  freertos.o(i.StartDefaultTask)
-    i.SysTick_Handler                        0x080092d0   Section        0  stm32f4xx_it.o(i.SysTick_Handler)
-    i.SystemClock_Config                     0x080092e4   Section        0  main.o(i.SystemClock_Config)
-    i.SystemInit                             0x08009398   Section        0  system_stm32f4xx.o(i.SystemInit)
-    i.TIM7_IRQHandler                        0x080093ac   Section        0  stm32f4xx_it.o(i.TIM7_IRQHandler)
-    i.TIM_Base_SetConfig                     0x080093bc   Section        0  stm32f4xx_hal_tim.o(i.TIM_Base_SetConfig)
-    i.TIM_CCxChannelCmd                      0x0800949c   Section        0  stm32f4xx_hal_tim.o(i.TIM_CCxChannelCmd)
-    i.TIM_OC1_SetConfig                      0x080094c0   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC1_SetConfig)
-    TIM_OC1_SetConfig                        0x080094c1   Thumb Code   104  stm32f4xx_hal_tim.o(i.TIM_OC1_SetConfig)
-    i.TIM_OC2_SetConfig                      0x08009530   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC2_SetConfig)
-    i.TIM_OC3_SetConfig                      0x080095ac   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC3_SetConfig)
-    TIM_OC3_SetConfig                        0x080095ad   Thumb Code   112  stm32f4xx_hal_tim.o(i.TIM_OC3_SetConfig)
-    i.TIM_OC4_SetConfig                      0x08009624   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC4_SetConfig)
-    TIM_OC4_SetConfig                        0x08009625   Thumb Code    74  stm32f4xx_hal_tim.o(i.TIM_OC4_SetConfig)
-    i.Task_Init                              0x08009678   Section        0  init.o(i.Task_Init)
-    i.Task_atti_esti                         0x08009714   Section        0  atti_esti.o(i.Task_atti_esti)
-    i.Task_gimbal_ctrl                       0x08009858   Section        0  gimbal_ctrl.o(i.Task_gimbal_ctrl)
-    i.Task_remote                            0x08009900   Section        0  remote.o(i.Task_remote)
-    i.UART_DMAAbortOnError                   0x08009980   Section        0  stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError)
-    UART_DMAAbortOnError                     0x08009981   Thumb Code    18  stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError)
-    i.UART_EndRxTransfer                     0x08009992   Section        0  stm32f4xx_hal_uart.o(i.UART_EndRxTransfer)
-    UART_EndRxTransfer                       0x08009993   Thumb Code   108  stm32f4xx_hal_uart.o(i.UART_EndRxTransfer)
-    i.UART_EndTransmit_IT                    0x080099fe   Section        0  stm32f4xx_hal_uart.o(i.UART_EndTransmit_IT)
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-    i.UART_Get                               0x08009a20   Section        0  uart.o(i.UART_Get)
-    UART_Get                                 0x08009a21   Thumb Code    18  uart.o(i.UART_Get)
-    i.UART_Receive_IT                        0x08009a38   Section        0  stm32f4xx_hal_uart.o(i.UART_Receive_IT)
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-    i.UART_SetConfig                         0x08009b34   Section        0  stm32f4xx_hal_uart.o(i.UART_SetConfig)
-    UART_SetConfig                           0x08009b35   Thumb Code   546  stm32f4xx_hal_uart.o(i.UART_SetConfig)
-    i.UART_Transmit_IT                       0x08009d60   Section        0  stm32f4xx_hal_uart.o(i.UART_Transmit_IT)
-    UART_Transmit_IT                         0x08009d61   Thumb Code    96  stm32f4xx_hal_uart.o(i.UART_Transmit_IT)
-    i.USART3_IRQHandler                      0x08009dc0   Section        0  stm32f4xx_it.o(i.USART3_IRQHandler)
-    i.USART3_IRQHandler1                     0x08009dd8   Section        0  remote_control.o(i.USART3_IRQHandler1)
-    i.UsageFault_Handler                     0x08009df0   Section        0  stm32f4xx_it.o(i.UsageFault_Handler)
-    i.__ARM_fpclassify                       0x08009df4   Section        0  fpclassify.o(i.__ARM_fpclassify)
-    i.__ARM_fpclassifyf                      0x08009e24   Section        0  fpclassifyf.o(i.__ARM_fpclassifyf)
-    i.__ARM_isfinitef                        0x08009e4a   Section        0  pid.o(i.__ARM_isfinitef)
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-    i.__NVIC_GetPriorityGrouping             0x08009e5c   Section        0  stm32f4xx_hal_cortex.o(i.__NVIC_GetPriorityGrouping)
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-    i.__get_IPSR                             0x08009e94   Section        0  cmsis_os2.o(i.__get_IPSR)
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-    i.__hardfp_tanf                          0x0800a8e4   Section        0  tanf.o(i.__hardfp_tanf)
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-    i.__mathlib_flt_infnan2                  0x0800aba6   Section        0  funder.o(i.__mathlib_flt_infnan2)
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-    i.pvPortMalloc                           0x0800bfdc   Section        0  heap_4.o(i.pvPortMalloc)
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-    i.xTaskPriorityInherit                   0x0800dec0   Section        0  tasks.o(i.xTaskPriorityInherit)
-    i.xTaskRemoveFromEventList               0x0800df64   Section        0  tasks.o(i.xTaskRemoveFromEventList)
-    i.xTaskResumeAll                         0x0800dffc   Section        0  tasks.o(i.xTaskResumeAll)
-    i.xTimerCreateTimerTask                  0x0800e100   Section        0  timers.o(i.xTimerCreateTimerTask)
-    i.xTimerGenericCommand                   0x0800e178   Section        0  timers.o(i.xTimerGenericCommand)
-    x$fpl$basic                              0x0800e1fc   Section       24  basic.o(x$fpl$basic)
-    $v0                                      0x0800e1fc   Number         0  basic.o(x$fpl$basic)
-    x$fpl$d2f                                0x0800e214   Section       98  d2f.o(x$fpl$d2f)
-    $v0                                      0x0800e214   Number         0  d2f.o(x$fpl$d2f)
-    x$fpl$dadd                               0x0800e278   Section      336  daddsub_clz.o(x$fpl$dadd)
-    $v0                                      0x0800e278   Number         0  daddsub_clz.o(x$fpl$dadd)
-    _dadd1                                   0x0800e289   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
-    x$fpl$dcmpinf                            0x0800e3c8   Section       24  dcmpi.o(x$fpl$dcmpinf)
-    $v0                                      0x0800e3c8   Number         0  dcmpi.o(x$fpl$dcmpinf)
-    x$fpl$ddiv                               0x0800e3e0   Section      688  ddiv.o(x$fpl$ddiv)
-    $v0                                      0x0800e3e0   Number         0  ddiv.o(x$fpl$ddiv)
-    ddiv_entry                               0x0800e3e7   Thumb Code     0  ddiv.o(x$fpl$ddiv)
-    x$fpl$deqf                               0x0800e690   Section      120  deqf.o(x$fpl$deqf)
-    $v0                                      0x0800e690   Number         0  deqf.o(x$fpl$deqf)
-    x$fpl$dfix                               0x0800e708   Section       94  dfix.o(x$fpl$dfix)
-    $v0                                      0x0800e708   Number         0  dfix.o(x$fpl$dfix)
-    x$fpl$dfixu                              0x0800e768   Section       90  dfixu.o(x$fpl$dfixu)
-    $v0                                      0x0800e768   Number         0  dfixu.o(x$fpl$dfixu)
-    x$fpl$dflt                               0x0800e7c2   Section       46  dflt_clz.o(x$fpl$dflt)
-    $v0                                      0x0800e7c2   Number         0  dflt_clz.o(x$fpl$dflt)
-    x$fpl$dfltu                              0x0800e7f0   Section       38  dflt_clz.o(x$fpl$dfltu)
-    $v0                                      0x0800e7f0   Number         0  dflt_clz.o(x$fpl$dfltu)
-    x$fpl$dmul                               0x0800e818   Section      340  dmul.o(x$fpl$dmul)
-    $v0                                      0x0800e818   Number         0  dmul.o(x$fpl$dmul)
-    x$fpl$dnaninf                            0x0800e96c   Section      156  dnaninf.o(x$fpl$dnaninf)
-    $v0                                      0x0800e96c   Number         0  dnaninf.o(x$fpl$dnaninf)
-    x$fpl$dretinf                            0x0800ea08   Section       12  dretinf.o(x$fpl$dretinf)
-    $v0                                      0x0800ea08   Number         0  dretinf.o(x$fpl$dretinf)
-    x$fpl$drsb                               0x0800ea14   Section       22  daddsub_clz.o(x$fpl$drsb)
-    $v0                                      0x0800ea14   Number         0  daddsub_clz.o(x$fpl$drsb)
-    x$fpl$dsub                               0x0800ea2c   Section      468  daddsub_clz.o(x$fpl$dsub)
-    $v0                                      0x0800ea2c   Number         0  daddsub_clz.o(x$fpl$dsub)
-    _dsub1                                   0x0800ea3d   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
-    x$fpl$f2d                                0x0800ec00   Section       86  f2d.o(x$fpl$f2d)
-    $v0                                      0x0800ec00   Number         0  f2d.o(x$fpl$f2d)
-    x$fpl$fcmp4                              0x0800ec58   Section       82  fcmp4.o(x$fpl$fcmp4)
-    $v0                                      0x0800ec58   Number         0  fcmp4.o(x$fpl$fcmp4)
-    x$fpl$fcmpinf                            0x0800ecaa   Section       24  fcmpi.o(x$fpl$fcmpinf)
-    $v0                                      0x0800ecaa   Number         0  fcmpi.o(x$fpl$fcmpinf)
-    x$fpl$ffltll                             0x0800ecc2   Section       96  ffltll_clz.o(x$fpl$ffltll)
-    $v0                                      0x0800ecc2   Number         0  ffltll_clz.o(x$fpl$ffltll)
-    x$fpl$fnaninf                            0x0800ed22   Section      140  fnaninf.o(x$fpl$fnaninf)
-    $v0                                      0x0800ed22   Number         0  fnaninf.o(x$fpl$fnaninf)
-    x$fpl$fpinit                             0x0800edae   Section       10  fpinit.o(x$fpl$fpinit)
-    $v0                                      0x0800edae   Number         0  fpinit.o(x$fpl$fpinit)
-    x$fpl$fretinf                            0x0800edb8   Section       10  fretinf.o(x$fpl$fretinf)
-    $v0                                      0x0800edb8   Number         0  fretinf.o(x$fpl$fretinf)
-    x$fpl$usenofp                            0x0800edc2   Section        0  usenofp.o(x$fpl$usenofp)
-    .constdata                               0x0800edc4   Section       36  freertos.o(.constdata)
-    .constdata                               0x0800ede8   Section        8  stm32f4xx_hal_dma.o(.constdata)
-    flagBitshiftOffset                       0x0800ede8   Data           8  stm32f4xx_hal_dma.o(.constdata)
-    .constdata                               0x0800edf0   Section       24  system_stm32f4xx.o(.constdata)
-    .constdata                               0x0800ee08   Section       56  gpio_1.o(.constdata)
-    GPIO_Map                                 0x0800ee08   Data          56  gpio_1.o(.constdata)
-    .constdata                               0x0800ee40   Section        8  pwm.o(.constdata)
-    PWM_Map                                  0x0800ee40   Data           8  pwm.o(.constdata)
-    .constdata                               0x0800ee48   Section       32  atti_esti.o(.constdata)
-    imu_temp_ctrl_pid_param                  0x0800ee48   Data          32  atti_esti.o(.constdata)
-    .constdata                               0x0800ee68   Section      144  user_task.o(.constdata)
-    .constdata                               0x0800eef8   Section      152  atan.o(.constdata)
-    atanhi                                   0x0800eef8   Data          32  atan.o(.constdata)
-    atanlo                                   0x0800ef18   Data          32  atan.o(.constdata)
-    aTodd                                    0x0800ef38   Data          40  atan.o(.constdata)
-    aTeven                                   0x0800ef60   Data          48  atan.o(.constdata)
-    .constdata                               0x0800ef90   Section        8  qnan.o(.constdata)
-    .constdata                               0x0800ef98   Section       32  rredf.o(.constdata)
-    twooverpi                                0x0800ef98   Data          32  rredf.o(.constdata)
-    .conststring                             0x0800efb8   Section       12  freertos.o(.conststring)
-    .conststring                             0x0800efc4   Section       42  user_task.o(.conststring)
+    i.Gimbal_Init                            0x08002e00   Section        0  gimbal.o(i.Gimbal_Init)
+    i.Gimbal_Output                          0x08002f54   Section        0  gimbal.o(i.Gimbal_Output)
+    i.Gimbal_SetMode                         0x08002f8c   Section        0  gimbal.o(i.Gimbal_SetMode)
+    Gimbal_SetMode                           0x08002f8d   Thumb Code   126  gimbal.o(i.Gimbal_SetMode)
+    i.Gimbal_UpdateFeedback                  0x08003010   Section        0  gimbal.o(i.Gimbal_UpdateFeedback)
+    i.Gimbal_UpdateIMU                       0x08003066   Section        0  gimbal.o(i.Gimbal_UpdateIMU)
+    i.HAL_CAN_ActivateNotification           0x08003090   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_ActivateNotification)
+    i.HAL_CAN_AddTxMessage                   0x080030ba   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_AddTxMessage)
+    i.HAL_CAN_ConfigFilter                   0x08003204   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_ConfigFilter)
+    i.HAL_CAN_ErrorCallback                  0x08003324   Section        0  can_1.o(i.HAL_CAN_ErrorCallback)
+    i.HAL_CAN_GetRxFifoFillLevel             0x08003360   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxFifoFillLevel)
+    i.HAL_CAN_GetRxMessage                   0x08003388   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxMessage)
+    i.HAL_CAN_GetTxMailboxesFreeLevel        0x0800351c   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_GetTxMailboxesFreeLevel)
+    i.HAL_CAN_IRQHandler                     0x08003552   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_IRQHandler)
+    i.HAL_CAN_Init                           0x080037a0   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_Init)
+    i.HAL_CAN_MspInit                        0x08003914   Section        0  can.o(i.HAL_CAN_MspInit)
+    i.HAL_CAN_RxFifo0FullCallback            0x08003ab4   Section        0  can_1.o(i.HAL_CAN_RxFifo0FullCallback)
+    i.HAL_CAN_RxFifo0MsgPendingCallback      0x08003af0   Section        0  can_1.o(i.HAL_CAN_RxFifo0MsgPendingCallback)
+    i.HAL_CAN_RxFifo1FullCallback            0x08003b2c   Section        0  can_1.o(i.HAL_CAN_RxFifo1FullCallback)
+    i.HAL_CAN_RxFifo1MsgPendingCallback      0x08003b68   Section        0  can_1.o(i.HAL_CAN_RxFifo1MsgPendingCallback)
+    i.HAL_CAN_SleepCallback                  0x08003ba4   Section        0  can_1.o(i.HAL_CAN_SleepCallback)
+    i.HAL_CAN_Start                          0x08003be0   Section        0  stm32f4xx_hal_can.o(i.HAL_CAN_Start)
+    i.HAL_CAN_TxMailbox0AbortCallback        0x08003c40   Section        0  can_1.o(i.HAL_CAN_TxMailbox0AbortCallback)
+    i.HAL_CAN_TxMailbox0CompleteCallback     0x08003c7c   Section        0  can_1.o(i.HAL_CAN_TxMailbox0CompleteCallback)
+    i.HAL_CAN_TxMailbox1AbortCallback        0x08003cb4   Section        0  can_1.o(i.HAL_CAN_TxMailbox1AbortCallback)
+    i.HAL_CAN_TxMailbox1CompleteCallback     0x08003cf0   Section        0  can_1.o(i.HAL_CAN_TxMailbox1CompleteCallback)
+    i.HAL_CAN_TxMailbox2AbortCallback        0x08003d2c   Section        0  can_1.o(i.HAL_CAN_TxMailbox2AbortCallback)
+    i.HAL_CAN_TxMailbox2CompleteCallback     0x08003d68   Section        0  can_1.o(i.HAL_CAN_TxMailbox2CompleteCallback)
+    i.HAL_CAN_WakeUpFromRxMsgCallback        0x08003da4   Section        0  can_1.o(i.HAL_CAN_WakeUpFromRxMsgCallback)
+    i.HAL_DMA_Abort                          0x08003de0   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort)
+    i.HAL_DMA_Abort_IT                       0x08003e8c   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort_IT)
+    i.HAL_DMA_GetState                       0x08003eb4   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_GetState)
+    i.HAL_DMA_IRQHandler                     0x08003ebc   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_IRQHandler)
+    i.HAL_DMA_Init                           0x080040fc   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Init)
+    i.HAL_DMA_Start_IT                       0x080041e8   Section        0  stm32f4xx_hal_dma.o(i.HAL_DMA_Start_IT)
+    i.HAL_Delay                              0x0800427c   Section        0  stm32f4xx_hal.o(i.HAL_Delay)
+    i.HAL_GPIO_EXTI_Callback                 0x080042a4   Section        0  gpio_1.o(i.HAL_GPIO_EXTI_Callback)
+    i.HAL_GPIO_EXTI_IRQHandler               0x080042d4   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_EXTI_IRQHandler)
+    i.HAL_GPIO_Init                          0x080042f0   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_Init)
+    i.HAL_GPIO_ReadPin                       0x080044e4   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_ReadPin)
+    i.HAL_GPIO_WritePin                      0x080044f4   Section        0  stm32f4xx_hal_gpio.o(i.HAL_GPIO_WritePin)
+    i.HAL_GetTick                            0x08004500   Section        0  stm32f4xx_hal.o(i.HAL_GetTick)
+    i.HAL_I2C_AbortCpltCallback              0x0800450c   Section        0  i2c_1.o(i.HAL_I2C_AbortCpltCallback)
+    i.HAL_I2C_AddrCallback                   0x08004540   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_AddrCallback)
+    i.HAL_I2C_ER_IRQHandler                  0x08004542   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_ER_IRQHandler)
+    i.HAL_I2C_EV_IRQHandler                  0x08004616   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_EV_IRQHandler)
+    i.HAL_I2C_ErrorCallback                  0x080047f0   Section        0  i2c_1.o(i.HAL_I2C_ErrorCallback)
+    i.HAL_I2C_Init                           0x08004824   Section        0  stm32f4xx_hal_i2c.o(i.HAL_I2C_Init)
+    i.HAL_I2C_ListenCpltCallback             0x080049f4   Section        0  i2c_1.o(i.HAL_I2C_ListenCpltCallback)
+    i.HAL_I2C_MasterRxCpltCallback           0x08004a28   Section        0  i2c_1.o(i.HAL_I2C_MasterRxCpltCallback)
+    i.HAL_I2C_MasterTxCpltCallback           0x08004a5c   Section        0  i2c_1.o(i.HAL_I2C_MasterTxCpltCallback)
+    i.HAL_I2C_MemRxCpltCallback              0x08004a8c   Section        0  i2c_1.o(i.HAL_I2C_MemRxCpltCallback)
+    i.HAL_I2C_MemTxCpltCallback              0x08004ac0   Section        0  i2c_1.o(i.HAL_I2C_MemTxCpltCallback)
+    i.HAL_I2C_MspInit                        0x08004af4   Section        0  i2c.o(i.HAL_I2C_MspInit)
+    i.HAL_I2C_SlaveRxCpltCallback            0x08004c10   Section        0  i2c_1.o(i.HAL_I2C_SlaveRxCpltCallback)
+    i.HAL_I2C_SlaveTxCpltCallback            0x08004c44   Section        0  i2c_1.o(i.HAL_I2C_SlaveTxCpltCallback)
+    i.HAL_IncTick                            0x08004c78   Section        0  stm32f4xx_hal.o(i.HAL_IncTick)
+    i.HAL_Init                               0x08004c90   Section        0  stm32f4xx_hal.o(i.HAL_Init)
+    i.HAL_InitTick                           0x08004ccc   Section        0  stm32f4xx_hal.o(i.HAL_InitTick)
+    i.HAL_MspInit                            0x08004d18   Section        0  stm32f4xx_hal_msp.o(i.HAL_MspInit)
+    i.HAL_NVIC_DisableIRQ                    0x08004d6c   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_DisableIRQ)
+    i.HAL_NVIC_EnableIRQ                     0x08004d98   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_EnableIRQ)
+    i.HAL_NVIC_SetPriority                   0x08004dc0   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriority)
+    i.HAL_NVIC_SetPriorityGrouping           0x08004e3c   Section        0  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriorityGrouping)
+    i.HAL_RCC_ClockConfig                    0x08004e64   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_ClockConfig)
+    i.HAL_RCC_GetHCLKFreq                    0x08004fe8   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetHCLKFreq)
+    i.HAL_RCC_GetPCLK1Freq                   0x08004ff4   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK1Freq)
+    i.HAL_RCC_GetPCLK2Freq                   0x08005014   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK2Freq)
+    i.HAL_RCC_GetSysClockFreq                0x08005034   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetSysClockFreq)
+    i.HAL_RCC_OscConfig                      0x080050e4   Section        0  stm32f4xx_hal_rcc.o(i.HAL_RCC_OscConfig)
+    i.HAL_SPI_ErrorCallback                  0x08005580   Section        0  spi_1.o(i.HAL_SPI_ErrorCallback)
+    i.HAL_SPI_Init                           0x080055b8   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Init)
+    i.HAL_SPI_MspInit                        0x08005680   Section        0  spi.o(i.HAL_SPI_MspInit)
+    i.HAL_SPI_Receive                        0x0800584c   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive)
+    i.HAL_SPI_Receive_DMA                    0x080059d0   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA)
+    i.HAL_SPI_RxCpltCallback                 0x08005ae8   Section        0  spi_1.o(i.HAL_SPI_RxCpltCallback)
+    i.HAL_SPI_RxHalfCpltCallback             0x08005b20   Section        0  spi_1.o(i.HAL_SPI_RxHalfCpltCallback)
+    i.HAL_SPI_Transmit                       0x08005b58   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit)
+    i.HAL_SPI_TransmitReceive                0x08005d16   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive)
+    i.HAL_SPI_TransmitReceive_DMA            0x08005f60   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
+    i.HAL_SPI_Transmit_DMA                   0x080060c4   Section        0  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
+    i.HAL_SPI_TxCpltCallback                 0x080061c0   Section        0  spi_1.o(i.HAL_SPI_TxCpltCallback)
+    i.HAL_SPI_TxHalfCpltCallback             0x080061ec   Section        0  spi_1.o(i.HAL_SPI_TxHalfCpltCallback)
+    i.HAL_SPI_TxRxCpltCallback               0x08006224   Section        0  spi_1.o(i.HAL_SPI_TxRxCpltCallback)
+    i.HAL_SPI_TxRxHalfCpltCallback           0x0800625c   Section        0  spi_1.o(i.HAL_SPI_TxRxHalfCpltCallback)
+    i.HAL_SYSTICK_Config                     0x08006294   Section        0  stm32f4xx_hal_cortex.o(i.HAL_SYSTICK_Config)
+    i.HAL_TIMEx_BreakCallback                0x080062c8   Section        0  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_BreakCallback)
+    i.HAL_TIMEx_CommutCallback               0x080062ca   Section        0  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_CommutCallback)
+    i.HAL_TIMEx_MasterConfigSynchronization  0x080062cc   Section        0  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_MasterConfigSynchronization)
+    i.HAL_TIM_Base_Init                      0x08006380   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Init)
+    i.HAL_TIM_Base_MspInit                   0x080063e8   Section        0  tim.o(i.HAL_TIM_Base_MspInit)
+    i.HAL_TIM_IC_CaptureCallback             0x08006460   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_IC_CaptureCallback)
+    i.HAL_TIM_IRQHandler                     0x08006462   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler)
+    i.HAL_TIM_MspPostInit                    0x080065d0   Section        0  tim.o(i.HAL_TIM_MspPostInit)
+    i.HAL_TIM_OC_DelayElapsedCallback        0x08006630   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_OC_DelayElapsedCallback)
+    i.HAL_TIM_PWM_ConfigChannel              0x08006632   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_ConfigChannel)
+    i.HAL_TIM_PWM_Init                       0x08006736   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init)
+    i.HAL_TIM_PWM_MspInit                    0x0800679c   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_MspInit)
+    i.HAL_TIM_PWM_PulseFinishedCallback      0x0800679e   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_PulseFinishedCallback)
+    i.HAL_TIM_PWM_Start                      0x080067a0   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Start)
+    i.HAL_TIM_PeriodElapsedCallback          0x080068ac   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_PeriodElapsedCallback)
+    i.HAL_TIM_TriggerCallback                0x080068ae   Section        0  stm32f4xx_hal_tim.o(i.HAL_TIM_TriggerCallback)
+    i.HAL_UARTEx_RxEventCallback             0x080068b0   Section        0  stm32f4xx_hal_uart.o(i.HAL_UARTEx_RxEventCallback)
+    i.HAL_UART_ErrorCallback                 0x080068b4   Section        0  uart.o(i.HAL_UART_ErrorCallback)
+    i.HAL_UART_IRQHandler                    0x080068e8   Section        0  stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler)
+    i.HAL_UART_Init                          0x08006bf0   Section        0  stm32f4xx_hal_uart.o(i.HAL_UART_Init)
+    i.HAL_UART_MspInit                       0x08006c68   Section        0  usart.o(i.HAL_UART_MspInit)
+    i.HAL_UART_RxCpltCallback                0x08006e00   Section        0  uart.o(i.HAL_UART_RxCpltCallback)
+    i.HAL_UART_TxCpltCallback                0x08006e34   Section        0  uart.o(i.HAL_UART_TxCpltCallback)
+    i.HardFault_Handler                      0x08006e68   Section        0  stm32f4xx_it.o(i.HardFault_Handler)
+    i.I2C1_ER_IRQHandler                     0x08006e6c   Section        0  stm32f4xx_it.o(i.I2C1_ER_IRQHandler)
+    i.I2C1_EV_IRQHandler                     0x08006e7c   Section        0  stm32f4xx_it.o(i.I2C1_EV_IRQHandler)
+    i.I2C_ConvertOtherXferOptions            0x08006e8c   Section        0  stm32f4xx_hal_i2c.o(i.I2C_ConvertOtherXferOptions)
+    I2C_ConvertOtherXferOptions              0x08006e8d   Thumb Code    28  stm32f4xx_hal_i2c.o(i.I2C_ConvertOtherXferOptions)
+    i.I2C_DMAAbort                           0x08006ea8   Section        0  stm32f4xx_hal_i2c.o(i.I2C_DMAAbort)
+    I2C_DMAAbort                             0x08006ea9   Thumb Code   242  stm32f4xx_hal_i2c.o(i.I2C_DMAAbort)
+    i.I2C_Flush_DR                           0x08006fa0   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Flush_DR)
+    I2C_Flush_DR                             0x08006fa1   Thumb Code    18  stm32f4xx_hal_i2c.o(i.I2C_Flush_DR)
+    i.I2C_Get                                0x08006fb4   Section        0  i2c_1.o(i.I2C_Get)
+    I2C_Get                                  0x08006fb5   Thumb Code    30  i2c_1.o(i.I2C_Get)
+    i.I2C_ITError                            0x08006fdc   Section        0  stm32f4xx_hal_i2c.o(i.I2C_ITError)
+    I2C_ITError                              0x08006fdd   Thumb Code   420  stm32f4xx_hal_i2c.o(i.I2C_ITError)
+    i.I2C_MasterReceive_BTF                  0x08007188   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_BTF)
+    I2C_MasterReceive_BTF                    0x08007189   Thumb Code   304  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_BTF)
+    i.I2C_MasterReceive_RXNE                 0x080072b8   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_RXNE)
+    I2C_MasterReceive_RXNE                   0x080072b9   Thumb Code   260  stm32f4xx_hal_i2c.o(i.I2C_MasterReceive_RXNE)
+    i.I2C_MasterTransmit_BTF                 0x080073bc   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_BTF)
+    I2C_MasterTransmit_BTF                   0x080073bd   Thumb Code   160  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_BTF)
+    i.I2C_MasterTransmit_TXE                 0x0800745c   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_TXE)
+    I2C_MasterTransmit_TXE                   0x0800745d   Thumb Code   216  stm32f4xx_hal_i2c.o(i.I2C_MasterTransmit_TXE)
+    i.I2C_Master_ADD10                       0x08007534   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Master_ADD10)
+    I2C_Master_ADD10                         0x08007535   Thumb Code    42  stm32f4xx_hal_i2c.o(i.I2C_Master_ADD10)
+    i.I2C_Master_ADDR                        0x0800755e   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Master_ADDR)
+    I2C_Master_ADDR                          0x0800755f   Thumb Code   616  stm32f4xx_hal_i2c.o(i.I2C_Master_ADDR)
+    i.I2C_Master_SB                          0x080077c6   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Master_SB)
+    I2C_Master_SB                            0x080077c7   Thumb Code   158  stm32f4xx_hal_i2c.o(i.I2C_Master_SB)
+    i.I2C_MemoryTransmit_TXE_BTF             0x08007864   Section        0  stm32f4xx_hal_i2c.o(i.I2C_MemoryTransmit_TXE_BTF)
+    I2C_MemoryTransmit_TXE_BTF               0x08007865   Thumb Code   198  stm32f4xx_hal_i2c.o(i.I2C_MemoryTransmit_TXE_BTF)
+    i.I2C_SlaveReceive_BTF                   0x0800792a   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_BTF)
+    I2C_SlaveReceive_BTF                     0x0800792b   Thumb Code    26  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_BTF)
+    i.I2C_SlaveReceive_RXNE                  0x08007944   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_RXNE)
+    I2C_SlaveReceive_RXNE                    0x08007945   Thumb Code    70  stm32f4xx_hal_i2c.o(i.I2C_SlaveReceive_RXNE)
+    i.I2C_SlaveTransmit_BTF                  0x0800798a   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_BTF)
+    I2C_SlaveTransmit_BTF                    0x0800798b   Thumb Code    26  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_BTF)
+    i.I2C_SlaveTransmit_TXE                  0x080079a4   Section        0  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_TXE)
+    I2C_SlaveTransmit_TXE                    0x080079a5   Thumb Code    70  stm32f4xx_hal_i2c.o(i.I2C_SlaveTransmit_TXE)
+    i.I2C_Slave_ADDR                         0x080079ea   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Slave_ADDR)
+    I2C_Slave_ADDR                           0x080079eb   Thumb Code   112  stm32f4xx_hal_i2c.o(i.I2C_Slave_ADDR)
+    i.I2C_Slave_AF                           0x08007a5c   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Slave_AF)
+    I2C_Slave_AF                             0x08007a5d   Thumb Code   162  stm32f4xx_hal_i2c.o(i.I2C_Slave_AF)
+    i.I2C_Slave_STOPF                        0x08007b04   Section        0  stm32f4xx_hal_i2c.o(i.I2C_Slave_STOPF)
+    I2C_Slave_STOPF                          0x08007b05   Thumb Code   386  stm32f4xx_hal_i2c.o(i.I2C_Slave_STOPF)
+    i.I2C_WaitOnSTOPRequestThroughIT         0x08007c90   Section        0  stm32f4xx_hal_i2c.o(i.I2C_WaitOnSTOPRequestThroughIT)
+    I2C_WaitOnSTOPRequestThroughIT           0x08007c91   Thumb Code    74  stm32f4xx_hal_i2c.o(i.I2C_WaitOnSTOPRequestThroughIT)
+    i.InvSqrt                                0x08007ce0   Section        0  user_math.o(i.InvSqrt)
+    i.LowPassFilter2p_Apply                  0x08007d30   Section        0  filter.o(i.LowPassFilter2p_Apply)
+    i.LowPassFilter2p_Init                   0x08007db0   Section        0  filter.o(i.LowPassFilter2p_Init)
+    i.LowPassFilter2p_Reset                  0x08007ec4   Section        0  filter.o(i.LowPassFilter2p_Reset)
+    i.MOTOR_RM_CreateCANManager              0x08007f24   Section        0  motor_rm.o(i.MOTOR_RM_CreateCANManager)
+    MOTOR_RM_CreateCANManager                0x08007f25   Thumb Code    76  motor_rm.o(i.MOTOR_RM_CreateCANManager)
+    i.MOTOR_RM_Ctrl                          0x08007f74   Section        0  motor_rm.o(i.MOTOR_RM_Ctrl)
+    i.MOTOR_RM_GetCANManager                 0x08008098   Section        0  motor_rm.o(i.MOTOR_RM_GetCANManager)
+    MOTOR_RM_GetCANManager                   0x08008099   Thumb Code    18  motor_rm.o(i.MOTOR_RM_GetCANManager)
+    i.MOTOR_RM_GetLSB                        0x080080b0   Section        0  motor_rm.o(i.MOTOR_RM_GetLSB)
+    MOTOR_RM_GetLSB                          0x080080b1   Thumb Code    38  motor_rm.o(i.MOTOR_RM_GetLSB)
+    i.MOTOR_RM_GetLogicalIndex               0x080080d6   Section        0  motor_rm.o(i.MOTOR_RM_GetLogicalIndex)
+    MOTOR_RM_GetLogicalIndex                 0x080080d7   Thumb Code    68  motor_rm.o(i.MOTOR_RM_GetLogicalIndex)
+    i.MOTOR_RM_GetMotor                      0x0800811a   Section        0  motor_rm.o(i.MOTOR_RM_GetMotor)
+    i.MOTOR_RM_GetRatio                      0x08008158   Section        0  motor_rm.o(i.MOTOR_RM_GetRatio)
+    MOTOR_RM_GetRatio                        0x08008159   Thumb Code    36  motor_rm.o(i.MOTOR_RM_GetRatio)
+    i.MOTOR_RM_Register                      0x08008180   Section        0  motor_rm.o(i.MOTOR_RM_Register)
+    i.MOTOR_RM_SetOutput                     0x08008240   Section        0  motor_rm.o(i.MOTOR_RM_SetOutput)
+    i.MOTOR_RM_Update                        0x080082f2   Section        0  motor_rm.o(i.MOTOR_RM_Update)
+    i.MX_CAN1_Init                           0x080083a0   Section        0  can.o(i.MX_CAN1_Init)
+    i.MX_CAN2_Init                           0x080083e8   Section        0  can.o(i.MX_CAN2_Init)
+    i.MX_DMA_Init                            0x08008430   Section        0  dma.o(i.MX_DMA_Init)
+    i.MX_FREERTOS_Init                       0x080084a8   Section        0  freertos.o(i.MX_FREERTOS_Init)
+    i.MX_GPIO_Init                           0x080084d8   Section        0  gpio.o(i.MX_GPIO_Init)
+    i.MX_I2C1_Init                           0x080086c8   Section        0  i2c.o(i.MX_I2C1_Init)
+    i.MX_I2C2_Init                           0x08008704   Section        0  i2c.o(i.MX_I2C2_Init)
+    i.MX_SPI1_Init                           0x08008740   Section        0  spi.o(i.MX_SPI1_Init)
+    i.MX_SPI2_Init                           0x08008788   Section        0  spi.o(i.MX_SPI2_Init)
+    i.MX_TIM10_Init                          0x080087d0   Section        0  tim.o(i.MX_TIM10_Init)
+    i.MX_TIM7_Init                           0x0800883c   Section        0  tim.o(i.MX_TIM7_Init)
+    i.MX_USART1_UART_Init                    0x08008888   Section        0  usart.o(i.MX_USART1_UART_Init)
+    i.MX_USART3_UART_Init                    0x080088c0   Section        0  usart.o(i.MX_USART3_UART_Init)
+    i.MemManage_Handler                      0x08008900   Section        0  stm32f4xx_it.o(i.MemManage_Handler)
+    i.Motor_RM_Decode                        0x08008904   Section        0  motor_rm.o(i.Motor_RM_Decode)
+    Motor_RM_Decode                          0x08008905   Thumb Code   384  motor_rm.o(i.Motor_RM_Decode)
+    i.NMI_Handler                            0x08008a94   Section        0  stm32f4xx_it.o(i.NMI_Handler)
+    i.PID_Calc                               0x08008a98   Section        0  pid.o(i.PID_Calc)
+    i.PID_Init                               0x08008c3c   Section        0  pid.o(i.PID_Init)
+    i.PID_Reset                              0x08008d08   Section        0  pid.o(i.PID_Reset)
+    i.RC_Init                                0x08008d48   Section        0  bsp_rc.o(i.RC_Init)
+    i.RC_restart                             0x08008dcc   Section        0  bsp_rc.o(i.RC_restart)
+    i.SPI_DMAError                           0x08008e28   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAError)
+    SPI_DMAError                             0x08008e29   Thumb Code    40  stm32f4xx_hal_spi.o(i.SPI_DMAError)
+    i.SPI_DMAHalfReceiveCplt                 0x08008e50   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAHalfReceiveCplt)
+    SPI_DMAHalfReceiveCplt                   0x08008e51   Thumb Code    14  stm32f4xx_hal_spi.o(i.SPI_DMAHalfReceiveCplt)
+    i.SPI_DMAHalfTransmitCplt                0x08008e5e   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitCplt)
+    SPI_DMAHalfTransmitCplt                  0x08008e5f   Thumb Code    14  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitCplt)
+    i.SPI_DMAHalfTransmitReceiveCplt         0x08008e6c   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitReceiveCplt)
+    SPI_DMAHalfTransmitReceiveCplt           0x08008e6d   Thumb Code    14  stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitReceiveCplt)
+    i.SPI_DMAReceiveCplt                     0x08008e7a   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMAReceiveCplt)
+    SPI_DMAReceiveCplt                       0x08008e7b   Thumb Code   124  stm32f4xx_hal_spi.o(i.SPI_DMAReceiveCplt)
+    i.SPI_DMATransmitCplt                    0x08008ef6   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMATransmitCplt)
+    SPI_DMATransmitCplt                      0x08008ef7   Thumb Code   128  stm32f4xx_hal_spi.o(i.SPI_DMATransmitCplt)
+    i.SPI_DMATransmitReceiveCplt             0x08008f76   Section        0  stm32f4xx_hal_spi.o(i.SPI_DMATransmitReceiveCplt)
+    SPI_DMATransmitReceiveCplt               0x08008f77   Thumb Code   104  stm32f4xx_hal_spi.o(i.SPI_DMATransmitReceiveCplt)
+    i.SPI_EndRxTransaction                   0x08008fde   Section        0  stm32f4xx_hal_spi.o(i.SPI_EndRxTransaction)
+    SPI_EndRxTransaction                     0x08008fdf   Thumb Code   148  stm32f4xx_hal_spi.o(i.SPI_EndRxTransaction)
+    i.SPI_EndRxTxTransaction                 0x08009074   Section        0  stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction)
+    SPI_EndRxTxTransaction                   0x08009075   Thumb Code   128  stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction)
+    i.SPI_Get                                0x080090fc   Section        0  spi_1.o(i.SPI_Get)
+    SPI_Get                                  0x080090fd   Thumb Code    18  spi_1.o(i.SPI_Get)
+    i.SPI_WaitFlagStateUntilTimeout          0x08009114   Section        0  stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
+    SPI_WaitFlagStateUntilTimeout            0x08009115   Thumb Code   212  stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout)
+    i.StartDefaultTask                       0x080091ec   Section        0  freertos.o(i.StartDefaultTask)
+    i.SysTick_Handler                        0x080091fc   Section        0  stm32f4xx_it.o(i.SysTick_Handler)
+    i.SystemClock_Config                     0x08009210   Section        0  main.o(i.SystemClock_Config)
+    i.SystemInit                             0x080092c4   Section        0  system_stm32f4xx.o(i.SystemInit)
+    i.TIM7_IRQHandler                        0x080092d8   Section        0  stm32f4xx_it.o(i.TIM7_IRQHandler)
+    i.TIM_Base_SetConfig                     0x080092e8   Section        0  stm32f4xx_hal_tim.o(i.TIM_Base_SetConfig)
+    i.TIM_CCxChannelCmd                      0x080093c8   Section        0  stm32f4xx_hal_tim.o(i.TIM_CCxChannelCmd)
+    i.TIM_OC1_SetConfig                      0x080093ec   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC1_SetConfig)
+    TIM_OC1_SetConfig                        0x080093ed   Thumb Code   104  stm32f4xx_hal_tim.o(i.TIM_OC1_SetConfig)
+    i.TIM_OC2_SetConfig                      0x0800945c   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC2_SetConfig)
+    i.TIM_OC3_SetConfig                      0x080094d8   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC3_SetConfig)
+    TIM_OC3_SetConfig                        0x080094d9   Thumb Code   112  stm32f4xx_hal_tim.o(i.TIM_OC3_SetConfig)
+    i.TIM_OC4_SetConfig                      0x08009550   Section        0  stm32f4xx_hal_tim.o(i.TIM_OC4_SetConfig)
+    TIM_OC4_SetConfig                        0x08009551   Thumb Code    74  stm32f4xx_hal_tim.o(i.TIM_OC4_SetConfig)
+    i.Task_Init                              0x080095a4   Section        0  init.o(i.Task_Init)
+    i.Task_atti_esti                         0x08009640   Section        0  atti_esti.o(i.Task_atti_esti)
+    i.Task_gimbal_ctrl                       0x08009784   Section        0  gimbal_ctrl.o(i.Task_gimbal_ctrl)
+    i.Task_remote                            0x0800982c   Section        0  remote.o(i.Task_remote)
+    i.UART_DMAAbortOnError                   0x080098ac   Section        0  stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError)
+    UART_DMAAbortOnError                     0x080098ad   Thumb Code    18  stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError)
+    i.UART_EndRxTransfer                     0x080098be   Section        0  stm32f4xx_hal_uart.o(i.UART_EndRxTransfer)
+    UART_EndRxTransfer                       0x080098bf   Thumb Code   108  stm32f4xx_hal_uart.o(i.UART_EndRxTransfer)
+    i.UART_EndTransmit_IT                    0x0800992a   Section        0  stm32f4xx_hal_uart.o(i.UART_EndTransmit_IT)
+    UART_EndTransmit_IT                      0x0800992b   Thumb Code    32  stm32f4xx_hal_uart.o(i.UART_EndTransmit_IT)
+    i.UART_Get                               0x0800994c   Section        0  uart.o(i.UART_Get)
+    UART_Get                                 0x0800994d   Thumb Code    18  uart.o(i.UART_Get)
+    i.UART_Receive_IT                        0x08009964   Section        0  stm32f4xx_hal_uart.o(i.UART_Receive_IT)
+    UART_Receive_IT                          0x08009965   Thumb Code   252  stm32f4xx_hal_uart.o(i.UART_Receive_IT)
+    i.UART_SetConfig                         0x08009a60   Section        0  stm32f4xx_hal_uart.o(i.UART_SetConfig)
+    UART_SetConfig                           0x08009a61   Thumb Code   546  stm32f4xx_hal_uart.o(i.UART_SetConfig)
+    i.UART_Transmit_IT                       0x08009c8c   Section        0  stm32f4xx_hal_uart.o(i.UART_Transmit_IT)
+    UART_Transmit_IT                         0x08009c8d   Thumb Code    96  stm32f4xx_hal_uart.o(i.UART_Transmit_IT)
+    i.USART3_IRQHandler                      0x08009cec   Section        0  stm32f4xx_it.o(i.USART3_IRQHandler)
+    i.USART3_IRQHandler1                     0x08009d04   Section        0  remote_control.o(i.USART3_IRQHandler1)
+    i.UsageFault_Handler                     0x08009d1c   Section        0  stm32f4xx_it.o(i.UsageFault_Handler)
+    i.__ARM_fpclassify                       0x08009d20   Section        0  fpclassify.o(i.__ARM_fpclassify)
+    i.__ARM_fpclassifyf                      0x08009d50   Section        0  fpclassifyf.o(i.__ARM_fpclassifyf)
+    i.__ARM_isfinitef                        0x08009d76   Section        0  pid.o(i.__ARM_isfinitef)
+    __ARM_isfinitef                          0x08009d77   Thumb Code    18  pid.o(i.__ARM_isfinitef)
+    i.__NVIC_GetPriorityGrouping             0x08009d88   Section        0  stm32f4xx_hal_cortex.o(i.__NVIC_GetPriorityGrouping)
+    __NVIC_GetPriorityGrouping               0x08009d89   Thumb Code    10  stm32f4xx_hal_cortex.o(i.__NVIC_GetPriorityGrouping)
+    i.__NVIC_SetPriority                     0x08009d98   Section        0  stm32f4xx_hal_cortex.o(i.__NVIC_SetPriority)
+    __NVIC_SetPriority                       0x08009d99   Thumb Code    32  stm32f4xx_hal_cortex.o(i.__NVIC_SetPriority)
+    i.__get_IPSR                             0x08009dc0   Section        0  cmsis_os2.o(i.__get_IPSR)
+    __get_IPSR                               0x08009dc1   Thumb Code     6  cmsis_os2.o(i.__get_IPSR)
+    i.__hardfp_asinf                         0x08009dc8   Section        0  asinf.o(i.__hardfp_asinf)
+    i.__hardfp_atan                          0x08009ef8   Section        0  atan.o(i.__hardfp_atan)
+    i.__hardfp_atan2                         0x0800a1d0   Section        0  atan2.o(i.__hardfp_atan2)
+    i.__hardfp_atan2f                        0x0800a3d0   Section        0  atan2f.o(i.__hardfp_atan2f)
+    i.__hardfp_cosf                          0x0800a67c   Section        0  cosf.o(i.__hardfp_cosf)
+    i.__hardfp_fmaxf                         0x0800a7cc   Section        0  fmaxf.o(i.__hardfp_fmaxf)
+    i.__hardfp_tanf                          0x0800a814   Section        0  tanf.o(i.__hardfp_tanf)
+    i.__kernel_poly                          0x0800a990   Section        0  poly.o(i.__kernel_poly)
+    i.__mathlib_dbl_infnan                   0x0800aa88   Section        0  dunder.o(i.__mathlib_dbl_infnan)
+    i.__mathlib_dbl_infnan2                  0x0800aa9c   Section        0  dunder.o(i.__mathlib_dbl_infnan2)
+    i.__mathlib_dbl_underflow                0x0800aab0   Section        0  dunder.o(i.__mathlib_dbl_underflow)
+    i.__mathlib_flt_infnan                   0x0800aad0   Section        0  funder.o(i.__mathlib_flt_infnan)
+    i.__mathlib_flt_infnan2                  0x0800aad6   Section        0  funder.o(i.__mathlib_flt_infnan2)
+    i.__mathlib_flt_invalid                  0x0800aadc   Section        0  funder.o(i.__mathlib_flt_invalid)
+    i.__mathlib_flt_underflow                0x0800aaec   Section        0  funder.o(i.__mathlib_flt_underflow)
+    i.__mathlib_rredf2                       0x0800aafc   Section        0  rredf.o(i.__mathlib_rredf2)
+    i.atan                                   0x0800ac50   Section        0  atan.o(i.atan)
+    i.configureTimerForRunTimeStats          0x0800ac60   Section        0  freertos.o(i.configureTimerForRunTimeStats)
+    i.delay_init                             0x0800ac64   Section        0  bsp_delay.o(i.delay_init)
+    i.eTaskGetState                          0x0800ac94   Section        0  tasks.o(i.eTaskGetState)
+    i.fabs                                   0x0800ad28   Section        0  fabs.o(i.fabs)
+    i.getRunTimeCounterValue                 0x0800ad40   Section        0  freertos.o(i.getRunTimeCounterValue)
+    i.main                                   0x0800ad44   Section        0  main.o(i.main)
+    i.map                                    0x0800ad8c   Section        0  calc_lib.o(i.map)
+    i.osDelay                                0x0800ada2   Section        0  cmsis_os2.o(i.osDelay)
+    i.osDelayUntil                           0x0800adc0   Section        0  cmsis_os2.o(i.osDelayUntil)
+    i.osKernelGetState                       0x0800adf4   Section        0  cmsis_os2.o(i.osKernelGetState)
+    i.osKernelGetTickCount                   0x0800ae28   Section        0  cmsis_os2.o(i.osKernelGetTickCount)
+    i.osKernelGetTickFreq                    0x0800ae42   Section        0  cmsis_os2.o(i.osKernelGetTickFreq)
+    i.osKernelInitialize                     0x0800ae48   Section        0  cmsis_os2.o(i.osKernelInitialize)
+    i.osKernelLock                           0x0800ae74   Section        0  cmsis_os2.o(i.osKernelLock)
+    i.osKernelStart                          0x0800aeac   Section        0  cmsis_os2.o(i.osKernelStart)
+    i.osKernelUnlock                         0x0800af0c   Section        0  cmsis_os2.o(i.osKernelUnlock)
+    i.osMessageQueueGet                      0x0800af50   Section        0  cmsis_os2.o(i.osMessageQueueGet)
+    i.osMessageQueueNew                      0x0800afd0   Section        0  cmsis_os2.o(i.osMessageQueueNew)
+    i.osMessageQueuePut                      0x0800b06c   Section        0  cmsis_os2.o(i.osMessageQueuePut)
+    i.osMessageQueueReset                    0x0800b0f0   Section        0  cmsis_os2.o(i.osMessageQueueReset)
+    i.osMutexAcquire                         0x0800b118   Section        0  cmsis_os2.o(i.osMutexAcquire)
+    i.osMutexNew                             0x0800b17a   Section        0  cmsis_os2.o(i.osMutexNew)
+    i.osMutexRelease                         0x0800b22c   Section        0  cmsis_os2.o(i.osMutexRelease)
+    i.osThreadFlagsSet                       0x0800b27c   Section        0  cmsis_os2.o(i.osThreadFlagsSet)
+    i.osThreadFlagsWait                      0x0800b2fc   Section        0  cmsis_os2.o(i.osThreadFlagsWait)
+    i.osThreadGetId                          0x0800b3ae   Section        0  cmsis_os2.o(i.osThreadGetId)
+    i.osThreadNew                            0x0800b3ba   Section        0  cmsis_os2.o(i.osThreadNew)
+    i.osThreadTerminate                      0x0800b472   Section        0  cmsis_os2.o(i.osThreadTerminate)
+    i.prvAddCurrentTaskToDelayedList         0x0800b4b0   Section        0  tasks.o(i.prvAddCurrentTaskToDelayedList)
+    prvAddCurrentTaskToDelayedList           0x0800b4b1   Thumb Code   100  tasks.o(i.prvAddCurrentTaskToDelayedList)
+    i.prvAddNewTaskToReadyList               0x0800b52c   Section        0  tasks.o(i.prvAddNewTaskToReadyList)
+    prvAddNewTaskToReadyList                 0x0800b52d   Thumb Code   154  tasks.o(i.prvAddNewTaskToReadyList)
+    i.prvCheckForValidListAndQueue           0x0800b5e4   Section        0  timers.o(i.prvCheckForValidListAndQueue)
+    prvCheckForValidListAndQueue             0x0800b5e5   Thumb Code    78  timers.o(i.prvCheckForValidListAndQueue)
+    i.prvCheckTasksWaitingTermination        0x0800b658   Section        0  tasks.o(i.prvCheckTasksWaitingTermination)
+    prvCheckTasksWaitingTermination          0x0800b659   Thumb Code    60  tasks.o(i.prvCheckTasksWaitingTermination)
+    i.prvCopyDataFromQueue                   0x0800b6a0   Section        0  queue.o(i.prvCopyDataFromQueue)
+    prvCopyDataFromQueue                     0x0800b6a1   Thumb Code    42  queue.o(i.prvCopyDataFromQueue)
+    i.prvCopyDataToQueue                     0x0800b6ca   Section        0  queue.o(i.prvCopyDataToQueue)
+    prvCopyDataToQueue                       0x0800b6cb   Thumb Code   126  queue.o(i.prvCopyDataToQueue)
+    i.prvDeleteTCB                           0x0800b748   Section        0  tasks.o(i.prvDeleteTCB)
+    prvDeleteTCB                             0x0800b749   Thumb Code    80  tasks.o(i.prvDeleteTCB)
+    i.prvGetDisinheritPriorityAfterTimeout   0x0800b798   Section        0  queue.o(i.prvGetDisinheritPriorityAfterTimeout)
+    prvGetDisinheritPriorityAfterTimeout     0x0800b799   Thumb Code    20  queue.o(i.prvGetDisinheritPriorityAfterTimeout)
+    i.prvGetNextExpireTime                   0x0800b7ac   Section        0  timers.o(i.prvGetNextExpireTime)
+    prvGetNextExpireTime                     0x0800b7ad   Thumb Code    36  timers.o(i.prvGetNextExpireTime)
+    i.prvHeapInit                            0x0800b7d4   Section        0  heap_4.o(i.prvHeapInit)
+    prvHeapInit                              0x0800b7d5   Thumb Code    98  heap_4.o(i.prvHeapInit)
+    i.prvIdleTask                            0x0800b850   Section        0  tasks.o(i.prvIdleTask)
+    prvIdleTask                              0x0800b851   Thumb Code    32  tasks.o(i.prvIdleTask)
+    i.prvInitialiseMutex                     0x0800b878   Section        0  queue.o(i.prvInitialiseMutex)
+    prvInitialiseMutex                       0x0800b879   Thumb Code    30  queue.o(i.prvInitialiseMutex)
+    i.prvInitialiseNewQueue                  0x0800b896   Section        0  queue.o(i.prvInitialiseNewQueue)
+    prvInitialiseNewQueue                    0x0800b897   Thumb Code    42  queue.o(i.prvInitialiseNewQueue)
+    i.prvInitialiseNewTask                   0x0800b8c0   Section        0  tasks.o(i.prvInitialiseNewTask)
+    prvInitialiseNewTask                     0x0800b8c1   Thumb Code   196  tasks.o(i.prvInitialiseNewTask)
+    i.prvInitialiseTaskLists                 0x0800b984   Section        0  tasks.o(i.prvInitialiseTaskLists)
+    prvInitialiseTaskLists                   0x0800b985   Thumb Code    70  tasks.o(i.prvInitialiseTaskLists)
+    i.prvInsertBlockIntoFreeList             0x0800b9ec   Section        0  heap_4.o(i.prvInsertBlockIntoFreeList)
+    prvInsertBlockIntoFreeList               0x0800b9ed   Thumb Code    96  heap_4.o(i.prvInsertBlockIntoFreeList)
+    i.prvInsertTimerInActiveList             0x0800ba54   Section        0  timers.o(i.prvInsertTimerInActiveList)
+    prvInsertTimerInActiveList               0x0800ba55   Thumb Code    80  timers.o(i.prvInsertTimerInActiveList)
+    i.prvIsQueueEmpty                        0x0800baac   Section        0  queue.o(i.prvIsQueueEmpty)
+    prvIsQueueEmpty                          0x0800baad   Thumb Code    26  queue.o(i.prvIsQueueEmpty)
+    i.prvIsQueueFull                         0x0800bac6   Section        0  queue.o(i.prvIsQueueFull)
+    prvIsQueueFull                           0x0800bac7   Thumb Code    30  queue.o(i.prvIsQueueFull)
+    i.prvProcessExpiredTimer                 0x0800bae4   Section        0  timers.o(i.prvProcessExpiredTimer)
+    prvProcessExpiredTimer                   0x0800bae5   Thumb Code   110  timers.o(i.prvProcessExpiredTimer)
+    i.prvProcessReceivedCommands             0x0800bb58   Section        0  timers.o(i.prvProcessReceivedCommands)
+    prvProcessReceivedCommands               0x0800bb59   Thumb Code   350  timers.o(i.prvProcessReceivedCommands)
+    i.prvProcessTimerOrBlockTask             0x0800bcbc   Section        0  timers.o(i.prvProcessTimerOrBlockTask)
+    prvProcessTimerOrBlockTask               0x0800bcbd   Thumb Code   102  timers.o(i.prvProcessTimerOrBlockTask)
+    i.prvResetNextTaskUnblockTime            0x0800bd30   Section        0  tasks.o(i.prvResetNextTaskUnblockTime)
+    prvResetNextTaskUnblockTime              0x0800bd31   Thumb Code    42  tasks.o(i.prvResetNextTaskUnblockTime)
+    i.prvSampleTimeNow                       0x0800bd64   Section        0  timers.o(i.prvSampleTimeNow)
+    prvSampleTimeNow                         0x0800bd65   Thumb Code    40  timers.o(i.prvSampleTimeNow)
+    i.prvSwitchTimerLists                    0x0800bd90   Section        0  timers.o(i.prvSwitchTimerLists)
+    prvSwitchTimerLists                      0x0800bd91   Thumb Code   154  timers.o(i.prvSwitchTimerLists)
+    i.prvTaskExitError                       0x0800be34   Section        0  port.o(i.prvTaskExitError)
+    prvTaskExitError                         0x0800be35   Thumb Code    60  port.o(i.prvTaskExitError)
+    i.prvTimerTask                           0x0800be74   Section        0  timers.o(i.prvTimerTask)
+    prvTimerTask                             0x0800be75   Thumb Code    26  timers.o(i.prvTimerTask)
+    i.prvUnlockQueue                         0x0800be8e   Section        0  queue.o(i.prvUnlockQueue)
+    prvUnlockQueue                           0x0800be8f   Thumb Code   126  queue.o(i.prvUnlockQueue)
+    i.pvPortMalloc                           0x0800bf0c   Section        0  heap_4.o(i.pvPortMalloc)
+    i.pvTaskIncrementMutexHeldCount          0x0800c058   Section        0  tasks.o(i.pvTaskIncrementMutexHeldCount)
+    i.pxPortInitialiseStack                  0x0800c078   Section        0  port.o(i.pxPortInitialiseStack)
+    i.remote_ParseHost                       0x0800c0a4   Section        0  ai.o(i.remote_ParseHost)
+    i.remote_control_init                    0x0800c12c   Section        0  remote_control.o(i.remote_control_init)
+    i.sbus_to_rc                             0x0800c13c   Section        0  remote_control.o(i.sbus_to_rc)
+    sbus_to_rc                               0x0800c13d   Thumb Code   510  remote_control.o(i.sbus_to_rc)
+    i.sqrtf                                  0x0800c348   Section        0  sqrtf.o(i.sqrtf)
+    i.user_delay_ms                          0x0800c386   Section        0  calc_lib.o(i.user_delay_ms)
+    i.user_delay_us                          0x0800c39e   Section        0  calc_lib.o(i.user_delay_us)
+    i.uxListRemove                           0x0800c3b6   Section        0  list.o(i.uxListRemove)
+    i.vApplicationGetIdleTaskMemory          0x0800c3e0   Section        0  cmsis_os2.o(i.vApplicationGetIdleTaskMemory)
+    i.vApplicationGetTimerTaskMemory         0x0800c3f8   Section        0  cmsis_os2.o(i.vApplicationGetTimerTaskMemory)
+    i.vApplicationStackOverflowHook          0x0800c410   Section        0  freertos.o(i.vApplicationStackOverflowHook)
+    i.vListInitialise                        0x0800c412   Section        0  list.o(i.vListInitialise)
+    i.vListInitialiseItem                    0x0800c42c   Section        0  list.o(i.vListInitialiseItem)
+    i.vListInsert                            0x0800c432   Section        0  list.o(i.vListInsert)
+    i.vListInsertEnd                         0x0800c466   Section        0  list.o(i.vListInsertEnd)
+    i.vPortEnterCritical                     0x0800c480   Section        0  port.o(i.vPortEnterCritical)
+    i.vPortExitCritical                      0x0800c4d4   Section        0  port.o(i.vPortExitCritical)
+    i.vPortFree                              0x0800c510   Section        0  heap_4.o(i.vPortFree)
+    i.vPortSetupTimerInterrupt               0x0800c5b4   Section        0  port.o(i.vPortSetupTimerInterrupt)
+    i.vPortValidateInterruptPriority         0x0800c5dc   Section        0  port.o(i.vPortValidateInterruptPriority)
+    i.vQueueAddToRegistry                    0x0800c654   Section        0  queue.o(i.vQueueAddToRegistry)
+    i.vQueueWaitForMessageRestricted         0x0800c680   Section        0  queue.o(i.vQueueWaitForMessageRestricted)
+    i.vTaskDelay                             0x0800c6cc   Section        0  tasks.o(i.vTaskDelay)
+    i.vTaskDelayUntil                        0x0800c728   Section        0  tasks.o(i.vTaskDelayUntil)
+    i.vTaskDelete                            0x0800c7fc   Section        0  tasks.o(i.vTaskDelete)
+    i.vTaskInternalSetTimeOutState           0x0800c8c4   Section        0  tasks.o(i.vTaskInternalSetTimeOutState)
+    i.vTaskMissedYield                       0x0800c8dc   Section        0  tasks.o(i.vTaskMissedYield)
+    i.vTaskPlaceOnEventList                  0x0800c8e8   Section        0  tasks.o(i.vTaskPlaceOnEventList)
+    i.vTaskPlaceOnEventListRestricted        0x0800c920   Section        0  tasks.o(i.vTaskPlaceOnEventListRestricted)
+    i.vTaskPriorityDisinheritAfterTimeout    0x0800c960   Section        0  tasks.o(i.vTaskPriorityDisinheritAfterTimeout)
+    i.vTaskStartScheduler                    0x0800ca30   Section        0  tasks.o(i.vTaskStartScheduler)
+    i.vTaskSuspendAll                        0x0800caec   Section        0  tasks.o(i.vTaskSuspendAll)
+    i.vTaskSwitchContext                     0x0800cafc   Section        0  tasks.o(i.vTaskSwitchContext)
+    i.xPortStartScheduler                    0x0800cc00   Section        0  port.o(i.xPortStartScheduler)
+    i.xPortSysTickHandler                    0x0800cd68   Section        0  port.o(i.xPortSysTickHandler)
+    i.xQueueCreateMutex                      0x0800cd9c   Section        0  queue.o(i.xQueueCreateMutex)
+    i.xQueueCreateMutexStatic                0x0800cdbe   Section        0  queue.o(i.xQueueCreateMutexStatic)
+    i.xQueueGenericCreate                    0x0800cde8   Section        0  queue.o(i.xQueueGenericCreate)
+    i.xQueueGenericCreateStatic              0x0800ce42   Section        0  queue.o(i.xQueueGenericCreateStatic)
+    i.xQueueGenericReset                     0x0800cf24   Section        0  queue.o(i.xQueueGenericReset)
+    i.xQueueGenericSend                      0x0800cfbc   Section        0  queue.o(i.xQueueGenericSend)
+    i.xQueueGenericSendFromISR               0x0800d164   Section        0  queue.o(i.xQueueGenericSendFromISR)
+    i.xQueueGiveMutexRecursive               0x0800d260   Section        0  queue.o(i.xQueueGiveMutexRecursive)
+    i.xQueueReceive                          0x0800d2a8   Section        0  queue.o(i.xQueueReceive)
+    i.xQueueReceiveFromISR                   0x0800d410   Section        0  queue.o(i.xQueueReceiveFromISR)
+    i.xQueueSemaphoreTake                    0x0800d4dc   Section        0  queue.o(i.xQueueSemaphoreTake)
+    i.xQueueTakeMutexRecursive               0x0800d694   Section        0  queue.o(i.xQueueTakeMutexRecursive)
+    i.xTaskCheckForTimeOut                   0x0800d6e4   Section        0  tasks.o(i.xTaskCheckForTimeOut)
+    i.xTaskCreate                            0x0800d770   Section        0  tasks.o(i.xTaskCreate)
+    i.xTaskCreateStatic                      0x0800d7d4   Section        0  tasks.o(i.xTaskCreateStatic)
+    i.xTaskGenericNotify                     0x0800d890   Section        0  tasks.o(i.xTaskGenericNotify)
+    i.xTaskGenericNotifyFromISR              0x0800d9b8   Section        0  tasks.o(i.xTaskGenericNotifyFromISR)
+    i.xTaskGetCurrentTaskHandle              0x0800db1c   Section        0  tasks.o(i.xTaskGetCurrentTaskHandle)
+    i.xTaskGetSchedulerState                 0x0800db28   Section        0  tasks.o(i.xTaskGetSchedulerState)
+    i.xTaskGetTickCount                      0x0800db48   Section        0  tasks.o(i.xTaskGetTickCount)
+    i.xTaskGetTickCountFromISR               0x0800db54   Section        0  tasks.o(i.xTaskGetTickCountFromISR)
+    i.xTaskIncrementTick                     0x0800db68   Section        0  tasks.o(i.xTaskIncrementTick)
+    i.xTaskNotifyWait                        0x0800dcac   Section        0  tasks.o(i.xTaskNotifyWait)
+    i.xTaskPriorityDisinherit                0x0800dd4c   Section        0  tasks.o(i.xTaskPriorityDisinherit)
+    i.xTaskPriorityInherit                   0x0800ddf0   Section        0  tasks.o(i.xTaskPriorityInherit)
+    i.xTaskRemoveFromEventList               0x0800de94   Section        0  tasks.o(i.xTaskRemoveFromEventList)
+    i.xTaskResumeAll                         0x0800df2c   Section        0  tasks.o(i.xTaskResumeAll)
+    i.xTimerCreateTimerTask                  0x0800e030   Section        0  timers.o(i.xTimerCreateTimerTask)
+    i.xTimerGenericCommand                   0x0800e0a8   Section        0  timers.o(i.xTimerGenericCommand)
+    x$fpl$basic                              0x0800e12c   Section       24  basic.o(x$fpl$basic)
+    $v0                                      0x0800e12c   Number         0  basic.o(x$fpl$basic)
+    x$fpl$d2f                                0x0800e144   Section       98  d2f.o(x$fpl$d2f)
+    $v0                                      0x0800e144   Number         0  d2f.o(x$fpl$d2f)
+    x$fpl$dadd                               0x0800e1a8   Section      336  daddsub_clz.o(x$fpl$dadd)
+    $v0                                      0x0800e1a8   Number         0  daddsub_clz.o(x$fpl$dadd)
+    _dadd1                                   0x0800e1b9   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    x$fpl$dcmpinf                            0x0800e2f8   Section       24  dcmpi.o(x$fpl$dcmpinf)
+    $v0                                      0x0800e2f8   Number         0  dcmpi.o(x$fpl$dcmpinf)
+    x$fpl$ddiv                               0x0800e310   Section      688  ddiv.o(x$fpl$ddiv)
+    $v0                                      0x0800e310   Number         0  ddiv.o(x$fpl$ddiv)
+    ddiv_entry                               0x0800e317   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    x$fpl$deqf                               0x0800e5c0   Section      120  deqf.o(x$fpl$deqf)
+    $v0                                      0x0800e5c0   Number         0  deqf.o(x$fpl$deqf)
+    x$fpl$dfix                               0x0800e638   Section       94  dfix.o(x$fpl$dfix)
+    $v0                                      0x0800e638   Number         0  dfix.o(x$fpl$dfix)
+    x$fpl$dfixu                              0x0800e698   Section       90  dfixu.o(x$fpl$dfixu)
+    $v0                                      0x0800e698   Number         0  dfixu.o(x$fpl$dfixu)
+    x$fpl$dflt                               0x0800e6f2   Section       46  dflt_clz.o(x$fpl$dflt)
+    $v0                                      0x0800e6f2   Number         0  dflt_clz.o(x$fpl$dflt)
+    x$fpl$dfltu                              0x0800e720   Section       38  dflt_clz.o(x$fpl$dfltu)
+    $v0                                      0x0800e720   Number         0  dflt_clz.o(x$fpl$dfltu)
+    x$fpl$dmul                               0x0800e748   Section      340  dmul.o(x$fpl$dmul)
+    $v0                                      0x0800e748   Number         0  dmul.o(x$fpl$dmul)
+    x$fpl$dnaninf                            0x0800e89c   Section      156  dnaninf.o(x$fpl$dnaninf)
+    $v0                                      0x0800e89c   Number         0  dnaninf.o(x$fpl$dnaninf)
+    x$fpl$dretinf                            0x0800e938   Section       12  dretinf.o(x$fpl$dretinf)
+    $v0                                      0x0800e938   Number         0  dretinf.o(x$fpl$dretinf)
+    x$fpl$drsb                               0x0800e944   Section       22  daddsub_clz.o(x$fpl$drsb)
+    $v0                                      0x0800e944   Number         0  daddsub_clz.o(x$fpl$drsb)
+    x$fpl$dsub                               0x0800e95c   Section      468  daddsub_clz.o(x$fpl$dsub)
+    $v0                                      0x0800e95c   Number         0  daddsub_clz.o(x$fpl$dsub)
+    _dsub1                                   0x0800e96d   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    x$fpl$f2d                                0x0800eb30   Section       86  f2d.o(x$fpl$f2d)
+    $v0                                      0x0800eb30   Number         0  f2d.o(x$fpl$f2d)
+    x$fpl$fcmp4                              0x0800eb88   Section       82  fcmp4.o(x$fpl$fcmp4)
+    $v0                                      0x0800eb88   Number         0  fcmp4.o(x$fpl$fcmp4)
+    x$fpl$fcmpinf                            0x0800ebda   Section       24  fcmpi.o(x$fpl$fcmpinf)
+    $v0                                      0x0800ebda   Number         0  fcmpi.o(x$fpl$fcmpinf)
+    x$fpl$ffltll                             0x0800ebf2   Section       96  ffltll_clz.o(x$fpl$ffltll)
+    $v0                                      0x0800ebf2   Number         0  ffltll_clz.o(x$fpl$ffltll)
+    x$fpl$fnaninf                            0x0800ec52   Section      140  fnaninf.o(x$fpl$fnaninf)
+    $v0                                      0x0800ec52   Number         0  fnaninf.o(x$fpl$fnaninf)
+    x$fpl$fpinit                             0x0800ecde   Section       10  fpinit.o(x$fpl$fpinit)
+    $v0                                      0x0800ecde   Number         0  fpinit.o(x$fpl$fpinit)
+    x$fpl$fretinf                            0x0800ece8   Section       10  fretinf.o(x$fpl$fretinf)
+    $v0                                      0x0800ece8   Number         0  fretinf.o(x$fpl$fretinf)
+    x$fpl$usenofp                            0x0800ecf2   Section        0  usenofp.o(x$fpl$usenofp)
+    .constdata                               0x0800ecf4   Section       36  freertos.o(.constdata)
+    .constdata                               0x0800ed18   Section        8  stm32f4xx_hal_dma.o(.constdata)
+    flagBitshiftOffset                       0x0800ed18   Data           8  stm32f4xx_hal_dma.o(.constdata)
+    .constdata                               0x0800ed20   Section       24  system_stm32f4xx.o(.constdata)
+    .constdata                               0x0800ed38   Section       56  gpio_1.o(.constdata)
+    GPIO_Map                                 0x0800ed38   Data          56  gpio_1.o(.constdata)
+    .constdata                               0x0800ed70   Section        8  pwm.o(.constdata)
+    PWM_Map                                  0x0800ed70   Data           8  pwm.o(.constdata)
+    .constdata                               0x0800ed78   Section       32  atti_esti.o(.constdata)
+    imu_temp_ctrl_pid_param                  0x0800ed78   Data          32  atti_esti.o(.constdata)
+    .constdata                               0x0800ed98   Section      144  user_task.o(.constdata)
+    .constdata                               0x0800ee28   Section      152  atan.o(.constdata)
+    atanhi                                   0x0800ee28   Data          32  atan.o(.constdata)
+    atanlo                                   0x0800ee48   Data          32  atan.o(.constdata)
+    aTodd                                    0x0800ee68   Data          40  atan.o(.constdata)
+    aTeven                                   0x0800ee90   Data          48  atan.o(.constdata)
+    .constdata                               0x0800eec0   Section        8  qnan.o(.constdata)
+    .constdata                               0x0800eec8   Section       32  rredf.o(.constdata)
+    twooverpi                                0x0800eec8   Data          32  rredf.o(.constdata)
+    .conststring                             0x0800eee8   Section       12  freertos.o(.conststring)
+    .conststring                             0x0800eef4   Section       42  user_task.o(.conststring)
     .data                                    0x20000000   Section        4  freertos.o(.data)
     .data                                    0x20000004   Section        4  can.o(.data)
     HAL_RCC_CAN1_CLK_ENABLED                 0x20000004   Data           4  can.o(.data)
@@ -4732,330 +4732,330 @@ Image Symbol Table
     EXTI4_IRQHandler                         0x08002a69   Thumb Code    10  stm32f4xx_it.o(i.EXTI4_IRQHandler)
     EXTI9_5_IRQHandler                       0x08002a73   Thumb Code    10  stm32f4xx_it.o(i.EXTI9_5_IRQHandler)
     Error_Handler                            0x08002a7d   Thumb Code     6  main.o(i.Error_Handler)
-    Gimbal_Control                           0x08002a85   Thumb Code  1104  gimbal.o(i.Gimbal_Control)
-    Gimbal_Init                              0x08002ed5   Thumb Code   340  gimbal.o(i.Gimbal_Init)
-    Gimbal_Output                            0x08003029   Thumb Code    54  gimbal.o(i.Gimbal_Output)
-    Gimbal_UpdateFeedback                    0x080030e5   Thumb Code    86  gimbal.o(i.Gimbal_UpdateFeedback)
-    Gimbal_UpdateIMU                         0x0800313b   Thumb Code    42  gimbal.o(i.Gimbal_UpdateIMU)
-    HAL_CAN_ActivateNotification             0x08003165   Thumb Code    42  stm32f4xx_hal_can.o(i.HAL_CAN_ActivateNotification)
-    HAL_CAN_AddTxMessage                     0x0800318f   Thumb Code   330  stm32f4xx_hal_can.o(i.HAL_CAN_AddTxMessage)
-    HAL_CAN_ConfigFilter                     0x080032d9   Thumb Code   284  stm32f4xx_hal_can.o(i.HAL_CAN_ConfigFilter)
-    HAL_CAN_ErrorCallback                    0x080033f9   Thumb Code    54  can_1.o(i.HAL_CAN_ErrorCallback)
-    HAL_CAN_GetRxFifoFillLevel               0x08003435   Thumb Code    40  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxFifoFillLevel)
-    HAL_CAN_GetRxMessage                     0x0800345d   Thumb Code   404  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxMessage)
-    HAL_CAN_GetTxMailboxesFreeLevel          0x080035f1   Thumb Code    54  stm32f4xx_hal_can.o(i.HAL_CAN_GetTxMailboxesFreeLevel)
-    HAL_CAN_IRQHandler                       0x08003627   Thumb Code   590  stm32f4xx_hal_can.o(i.HAL_CAN_IRQHandler)
-    HAL_CAN_Init                             0x08003875   Thumb Code   372  stm32f4xx_hal_can.o(i.HAL_CAN_Init)
-    HAL_CAN_MspInit                          0x080039e9   Thumb Code   392  can.o(i.HAL_CAN_MspInit)
-    HAL_CAN_RxFifo0FullCallback              0x08003b89   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo0FullCallback)
-    HAL_CAN_RxFifo0MsgPendingCallback        0x08003bc5   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo0MsgPendingCallback)
-    HAL_CAN_RxFifo1FullCallback              0x08003c01   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo1FullCallback)
-    HAL_CAN_RxFifo1MsgPendingCallback        0x08003c3d   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo1MsgPendingCallback)
-    HAL_CAN_SleepCallback                    0x08003c79   Thumb Code    54  can_1.o(i.HAL_CAN_SleepCallback)
-    HAL_CAN_Start                            0x08003cb5   Thumb Code    94  stm32f4xx_hal_can.o(i.HAL_CAN_Start)
-    HAL_CAN_TxMailbox0AbortCallback          0x08003d15   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox0AbortCallback)
-    HAL_CAN_TxMailbox0CompleteCallback       0x08003d51   Thumb Code    50  can_1.o(i.HAL_CAN_TxMailbox0CompleteCallback)
-    HAL_CAN_TxMailbox1AbortCallback          0x08003d89   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox1AbortCallback)
-    HAL_CAN_TxMailbox1CompleteCallback       0x08003dc5   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox1CompleteCallback)
-    HAL_CAN_TxMailbox2AbortCallback          0x08003e01   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox2AbortCallback)
-    HAL_CAN_TxMailbox2CompleteCallback       0x08003e3d   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox2CompleteCallback)
-    HAL_CAN_WakeUpFromRxMsgCallback          0x08003e79   Thumb Code    54  can_1.o(i.HAL_CAN_WakeUpFromRxMsgCallback)
-    HAL_DMA_Abort                            0x08003eb5   Thumb Code   172  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort)
-    HAL_DMA_Abort_IT                         0x08003f61   Thumb Code    40  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort_IT)
-    HAL_DMA_GetState                         0x08003f89   Thumb Code     8  stm32f4xx_hal_dma.o(i.HAL_DMA_GetState)
-    HAL_DMA_IRQHandler                       0x08003f91   Thumb Code   570  stm32f4xx_hal_dma.o(i.HAL_DMA_IRQHandler)
-    HAL_DMA_Init                             0x080041d1   Thumb Code   232  stm32f4xx_hal_dma.o(i.HAL_DMA_Init)
-    HAL_DMA_Start_IT                         0x080042bd   Thumb Code   146  stm32f4xx_hal_dma.o(i.HAL_DMA_Start_IT)
-    HAL_Delay                                0x08004351   Thumb Code    36  stm32f4xx_hal.o(i.HAL_Delay)
-    HAL_GPIO_EXTI_Callback                   0x08004379   Thumb Code    42  gpio_1.o(i.HAL_GPIO_EXTI_Callback)
-    HAL_GPIO_EXTI_IRQHandler                 0x080043a9   Thumb Code    24  stm32f4xx_hal_gpio.o(i.HAL_GPIO_EXTI_IRQHandler)
-    HAL_GPIO_Init                            0x080043c5   Thumb Code   454  stm32f4xx_hal_gpio.o(i.HAL_GPIO_Init)
-    HAL_GPIO_ReadPin                         0x080045b9   Thumb Code    16  stm32f4xx_hal_gpio.o(i.HAL_GPIO_ReadPin)
-    HAL_GPIO_WritePin                        0x080045c9   Thumb Code    12  stm32f4xx_hal_gpio.o(i.HAL_GPIO_WritePin)
-    HAL_GetTick                              0x080045d5   Thumb Code     6  stm32f4xx_hal.o(i.HAL_GetTick)
-    HAL_I2C_AbortCpltCallback                0x080045e1   Thumb Code    46  i2c_1.o(i.HAL_I2C_AbortCpltCallback)
-    HAL_I2C_AddrCallback                     0x08004615   Thumb Code     2  stm32f4xx_hal_i2c.o(i.HAL_I2C_AddrCallback)
-    HAL_I2C_ER_IRQHandler                    0x08004617   Thumb Code   212  stm32f4xx_hal_i2c.o(i.HAL_I2C_ER_IRQHandler)
-    HAL_I2C_EV_IRQHandler                    0x080046eb   Thumb Code   474  stm32f4xx_hal_i2c.o(i.HAL_I2C_EV_IRQHandler)
-    HAL_I2C_ErrorCallback                    0x080048c5   Thumb Code    46  i2c_1.o(i.HAL_I2C_ErrorCallback)
-    HAL_I2C_Init                             0x080048f9   Thumb Code   446  stm32f4xx_hal_i2c.o(i.HAL_I2C_Init)
-    HAL_I2C_ListenCpltCallback               0x08004ac9   Thumb Code    46  i2c_1.o(i.HAL_I2C_ListenCpltCallback)
-    HAL_I2C_MasterRxCpltCallback             0x08004afd   Thumb Code    46  i2c_1.o(i.HAL_I2C_MasterRxCpltCallback)
-    HAL_I2C_MasterTxCpltCallback             0x08004b31   Thumb Code    42  i2c_1.o(i.HAL_I2C_MasterTxCpltCallback)
-    HAL_I2C_MemRxCpltCallback                0x08004b61   Thumb Code    46  i2c_1.o(i.HAL_I2C_MemRxCpltCallback)
-    HAL_I2C_MemTxCpltCallback                0x08004b95   Thumb Code    46  i2c_1.o(i.HAL_I2C_MemTxCpltCallback)
-    HAL_I2C_MspInit                          0x08004bc9   Thumb Code   262  i2c.o(i.HAL_I2C_MspInit)
-    HAL_I2C_SlaveRxCpltCallback              0x08004ce5   Thumb Code    46  i2c_1.o(i.HAL_I2C_SlaveRxCpltCallback)
-    HAL_I2C_SlaveTxCpltCallback              0x08004d19   Thumb Code    46  i2c_1.o(i.HAL_I2C_SlaveTxCpltCallback)
-    HAL_IncTick                              0x08004d4d   Thumb Code    16  stm32f4xx_hal.o(i.HAL_IncTick)
-    HAL_Init                                 0x08004d65   Thumb Code    54  stm32f4xx_hal.o(i.HAL_Init)
-    HAL_InitTick                             0x08004da1   Thumb Code    64  stm32f4xx_hal.o(i.HAL_InitTick)
-    HAL_MspInit                              0x08004ded   Thumb Code    78  stm32f4xx_hal_msp.o(i.HAL_MspInit)
-    HAL_NVIC_DisableIRQ                      0x08004e41   Thumb Code    38  stm32f4xx_hal_cortex.o(i.HAL_NVIC_DisableIRQ)
-    HAL_NVIC_EnableIRQ                       0x08004e6d   Thumb Code    40  stm32f4xx_hal_cortex.o(i.HAL_NVIC_EnableIRQ)
-    HAL_NVIC_SetPriority                     0x08004e95   Thumb Code   124  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriority)
-    HAL_NVIC_SetPriorityGrouping             0x08004f11   Thumb Code    32  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriorityGrouping)
-    HAL_RCC_ClockConfig                      0x08004f39   Thumb Code   368  stm32f4xx_hal_rcc.o(i.HAL_RCC_ClockConfig)
-    HAL_RCC_GetHCLKFreq                      0x080050bd   Thumb Code     6  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetHCLKFreq)
-    HAL_RCC_GetPCLK1Freq                     0x080050c9   Thumb Code    22  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK1Freq)
-    HAL_RCC_GetPCLK2Freq                     0x080050e9   Thumb Code    22  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK2Freq)
-    HAL_RCC_GetSysClockFreq                  0x08005109   Thumb Code   162  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetSysClockFreq)
-    HAL_RCC_OscConfig                        0x080051b9   Thumb Code  1172  stm32f4xx_hal_rcc.o(i.HAL_RCC_OscConfig)
-    HAL_SPI_ErrorCallback                    0x08005655   Thumb Code    50  spi_1.o(i.HAL_SPI_ErrorCallback)
-    HAL_SPI_Init                             0x0800568d   Thumb Code   200  stm32f4xx_hal_spi.o(i.HAL_SPI_Init)
-    HAL_SPI_MspInit                          0x08005755   Thumb Code   424  spi.o(i.HAL_SPI_MspInit)
-    HAL_SPI_Receive                          0x08005921   Thumb Code   386  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive)
-    HAL_SPI_Receive_DMA                      0x08005aa5   Thumb Code   268  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA)
-    HAL_SPI_RxCpltCallback                   0x08005bbd   Thumb Code    50  spi_1.o(i.HAL_SPI_RxCpltCallback)
-    HAL_SPI_RxHalfCpltCallback               0x08005bf5   Thumb Code    50  spi_1.o(i.HAL_SPI_RxHalfCpltCallback)
-    HAL_SPI_Transmit                         0x08005c2d   Thumb Code   446  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit)
-    HAL_SPI_TransmitReceive                  0x08005deb   Thumb Code   584  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive)
-    HAL_SPI_TransmitReceive_DMA              0x08006035   Thumb Code   336  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
-    HAL_SPI_Transmit_DMA                     0x08006199   Thumb Code   238  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
-    HAL_SPI_TxCpltCallback                   0x08006295   Thumb Code    38  spi_1.o(i.HAL_SPI_TxCpltCallback)
-    HAL_SPI_TxHalfCpltCallback               0x080062c1   Thumb Code    50  spi_1.o(i.HAL_SPI_TxHalfCpltCallback)
-    HAL_SPI_TxRxCpltCallback                 0x080062f9   Thumb Code    50  spi_1.o(i.HAL_SPI_TxRxCpltCallback)
-    HAL_SPI_TxRxHalfCpltCallback             0x08006331   Thumb Code    50  spi_1.o(i.HAL_SPI_TxRxHalfCpltCallback)
-    HAL_SYSTICK_Config                       0x08006369   Thumb Code    52  stm32f4xx_hal_cortex.o(i.HAL_SYSTICK_Config)
-    HAL_TIMEx_BreakCallback                  0x0800639d   Thumb Code     2  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_BreakCallback)
-    HAL_TIMEx_CommutCallback                 0x0800639f   Thumb Code     2  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_CommutCallback)
-    HAL_TIMEx_MasterConfigSynchronization    0x080063a1   Thumb Code   150  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_MasterConfigSynchronization)
-    HAL_TIM_Base_Init                        0x08006455   Thumb Code   102  stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Init)
-    HAL_TIM_Base_MspInit                     0x080064bd   Thumb Code   108  tim.o(i.HAL_TIM_Base_MspInit)
-    HAL_TIM_IC_CaptureCallback               0x08006535   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_IC_CaptureCallback)
-    HAL_TIM_IRQHandler                       0x08006537   Thumb Code   364  stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler)
-    HAL_TIM_MspPostInit                      0x080066a5   Thumb Code    84  tim.o(i.HAL_TIM_MspPostInit)
-    HAL_TIM_OC_DelayElapsedCallback          0x08006705   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_OC_DelayElapsedCallback)
-    HAL_TIM_PWM_ConfigChannel                0x08006707   Thumb Code   260  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_ConfigChannel)
-    HAL_TIM_PWM_Init                         0x0800680b   Thumb Code   102  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init)
-    HAL_TIM_PWM_MspInit                      0x08006871   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_MspInit)
-    HAL_TIM_PWM_PulseFinishedCallback        0x08006873   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_PulseFinishedCallback)
-    HAL_TIM_PWM_Start                        0x08006875   Thumb Code   238  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Start)
-    HAL_TIM_PeriodElapsedCallback            0x08006981   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_PeriodElapsedCallback)
-    HAL_TIM_TriggerCallback                  0x08006983   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_TriggerCallback)
-    HAL_UARTEx_RxEventCallback               0x08006985   Thumb Code     2  stm32f4xx_hal_uart.o(i.HAL_UARTEx_RxEventCallback)
-    HAL_UART_ErrorCallback                   0x08006989   Thumb Code    46  uart.o(i.HAL_UART_ErrorCallback)
-    HAL_UART_IRQHandler                      0x080069bd   Thumb Code   772  stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler)
-    HAL_UART_Init                            0x08006cc5   Thumb Code   118  stm32f4xx_hal_uart.o(i.HAL_UART_Init)
-    HAL_UART_MspInit                         0x08006d3d   Thumb Code   374  usart.o(i.HAL_UART_MspInit)
-    HAL_UART_RxCpltCallback                  0x08006ed5   Thumb Code    46  uart.o(i.HAL_UART_RxCpltCallback)
-    HAL_UART_TxCpltCallback                  0x08006f09   Thumb Code    46  uart.o(i.HAL_UART_TxCpltCallback)
-    HardFault_Handler                        0x08006f3d   Thumb Code     4  stm32f4xx_it.o(i.HardFault_Handler)
-    I2C1_ER_IRQHandler                       0x08006f41   Thumb Code    10  stm32f4xx_it.o(i.I2C1_ER_IRQHandler)
-    I2C1_EV_IRQHandler                       0x08006f51   Thumb Code    10  stm32f4xx_it.o(i.I2C1_EV_IRQHandler)
-    InvSqrt                                  0x08007db5   Thumb Code    76  user_math.o(i.InvSqrt)
-    LowPassFilter2p_Apply                    0x08007e05   Thumb Code   124  filter.o(i.LowPassFilter2p_Apply)
-    LowPassFilter2p_Init                     0x08007e85   Thumb Code   264  filter.o(i.LowPassFilter2p_Init)
-    LowPassFilter2p_Reset                    0x08007f99   Thumb Code    90  filter.o(i.LowPassFilter2p_Reset)
-    MOTOR_RM_Ctrl                            0x08008049   Thumb Code   290  motor_rm.o(i.MOTOR_RM_Ctrl)
-    MOTOR_RM_GetMotor                        0x080081ef   Thumb Code    62  motor_rm.o(i.MOTOR_RM_GetMotor)
-    MOTOR_RM_Register                        0x08008255   Thumb Code   192  motor_rm.o(i.MOTOR_RM_Register)
-    MOTOR_RM_SetOutput                       0x08008315   Thumb Code   178  motor_rm.o(i.MOTOR_RM_SetOutput)
-    MOTOR_RM_Update                          0x080083c7   Thumb Code   174  motor_rm.o(i.MOTOR_RM_Update)
-    MX_CAN1_Init                             0x08008475   Thumb Code    62  can.o(i.MX_CAN1_Init)
-    MX_CAN2_Init                             0x080084bd   Thumb Code    62  can.o(i.MX_CAN2_Init)
-    MX_DMA_Init                              0x08008505   Thumb Code   114  dma.o(i.MX_DMA_Init)
-    MX_FREERTOS_Init                         0x0800857d   Thumb Code    28  freertos.o(i.MX_FREERTOS_Init)
-    MX_GPIO_Init                             0x080085ad   Thumb Code   476  gpio.o(i.MX_GPIO_Init)
-    MX_I2C1_Init                             0x0800879d   Thumb Code    48  i2c.o(i.MX_I2C1_Init)
-    MX_I2C2_Init                             0x080087d9   Thumb Code    48  i2c.o(i.MX_I2C2_Init)
-    MX_SPI1_Init                             0x08008815   Thumb Code    62  spi.o(i.MX_SPI1_Init)
-    MX_SPI2_Init                             0x0800885d   Thumb Code    64  spi.o(i.MX_SPI2_Init)
-    MX_TIM10_Init                            0x080088a5   Thumb Code   100  tim.o(i.MX_TIM10_Init)
-    MX_TIM7_Init                             0x08008911   Thumb Code    66  tim.o(i.MX_TIM7_Init)
-    MX_USART1_UART_Init                      0x0800895d   Thumb Code    46  usart.o(i.MX_USART1_UART_Init)
-    MX_USART3_UART_Init                      0x08008995   Thumb Code    50  usart.o(i.MX_USART3_UART_Init)
-    MemManage_Handler                        0x080089d5   Thumb Code     4  stm32f4xx_it.o(i.MemManage_Handler)
-    NMI_Handler                              0x08008b69   Thumb Code     4  stm32f4xx_it.o(i.NMI_Handler)
-    PID_Calc                                 0x08008b6d   Thumb Code   412  pid.o(i.PID_Calc)
-    PID_Init                                 0x08008d11   Thumb Code   204  pid.o(i.PID_Init)
-    PID_Reset                                0x08008ddd   Thumb Code    60  pid.o(i.PID_Reset)
-    RC_Init                                  0x08008e1d   Thumb Code   114  bsp_rc.o(i.RC_Init)
-    RC_restart                               0x08008ea1   Thumb Code    82  bsp_rc.o(i.RC_restart)
-    StartDefaultTask                         0x080092c1   Thumb Code    16  freertos.o(i.StartDefaultTask)
-    SysTick_Handler                          0x080092d1   Thumb Code    20  stm32f4xx_it.o(i.SysTick_Handler)
-    SystemClock_Config                       0x080092e5   Thumb Code   170  main.o(i.SystemClock_Config)
-    SystemInit                               0x08009399   Thumb Code    14  system_stm32f4xx.o(i.SystemInit)
-    TIM7_IRQHandler                          0x080093ad   Thumb Code    10  stm32f4xx_it.o(i.TIM7_IRQHandler)
-    TIM_Base_SetConfig                       0x080093bd   Thumb Code   178  stm32f4xx_hal_tim.o(i.TIM_Base_SetConfig)
-    TIM_CCxChannelCmd                        0x0800949d   Thumb Code    34  stm32f4xx_hal_tim.o(i.TIM_CCxChannelCmd)
-    TIM_OC2_SetConfig                        0x08009531   Thumb Code   114  stm32f4xx_hal_tim.o(i.TIM_OC2_SetConfig)
-    Task_Init                                0x08009679   Thumb Code   126  init.o(i.Task_Init)
-    Task_atti_esti                           0x08009715   Thumb Code   272  atti_esti.o(i.Task_atti_esti)
-    Task_gimbal_ctrl                         0x08009859   Thumb Code   140  gimbal_ctrl.o(i.Task_gimbal_ctrl)
-    Task_remote                              0x08009901   Thumb Code   104  remote.o(i.Task_remote)
-    USART3_IRQHandler                        0x08009dc1   Thumb Code    20  stm32f4xx_it.o(i.USART3_IRQHandler)
-    USART3_IRQHandler1                       0x08009dd9   Thumb Code    20  remote_control.o(i.USART3_IRQHandler1)
-    UsageFault_Handler                       0x08009df1   Thumb Code     4  stm32f4xx_it.o(i.UsageFault_Handler)
-    __ARM_fpclassify                         0x08009df5   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
-    __ARM_fpclassifyf                        0x08009e25   Thumb Code    38  fpclassifyf.o(i.__ARM_fpclassifyf)
-    __hardfp_asinf                           0x08009e9d   Thumb Code   258  asinf.o(i.__hardfp_asinf)
-    __hardfp_atan                            0x08009fc9   Thumb Code   622  atan.o(i.__hardfp_atan)
-    __hardfp_atan2                           0x0800a2a1   Thumb Code   448  atan2.o(i.__hardfp_atan2)
-    __hardfp_atan2f                          0x0800a4a1   Thumb Code   594  atan2f.o(i.__hardfp_atan2f)
-    __hardfp_cosf                            0x0800a74d   Thumb Code   280  cosf.o(i.__hardfp_cosf)
-    __hardfp_fmaxf                           0x0800a89d   Thumb Code    72  fmaxf.o(i.__hardfp_fmaxf)
-    __hardfp_tanf                            0x0800a8e5   Thumb Code   322  tanf.o(i.__hardfp_tanf)
-    __kernel_poly                            0x0800aa61   Thumb Code   248  poly.o(i.__kernel_poly)
-    __mathlib_dbl_infnan                     0x0800ab59   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
-    __mathlib_dbl_infnan2                    0x0800ab6d   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan2)
-    __mathlib_dbl_underflow                  0x0800ab81   Thumb Code    24  dunder.o(i.__mathlib_dbl_underflow)
-    __mathlib_flt_infnan                     0x0800aba1   Thumb Code     6  funder.o(i.__mathlib_flt_infnan)
-    __mathlib_flt_infnan2                    0x0800aba7   Thumb Code     6  funder.o(i.__mathlib_flt_infnan2)
-    __mathlib_flt_invalid                    0x0800abad   Thumb Code    10  funder.o(i.__mathlib_flt_invalid)
-    __mathlib_flt_underflow                  0x0800abbd   Thumb Code    10  funder.o(i.__mathlib_flt_underflow)
-    __mathlib_rredf2                         0x0800abcd   Thumb Code   316  rredf.o(i.__mathlib_rredf2)
-    atan                                     0x0800ad21   Thumb Code    16  atan.o(i.atan)
-    configureTimerForRunTimeStats            0x0800ad31   Thumb Code     2  freertos.o(i.configureTimerForRunTimeStats)
-    delay_init                               0x0800ad35   Thumb Code    32  bsp_delay.o(i.delay_init)
-    eTaskGetState                            0x0800ad65   Thumb Code   128  tasks.o(i.eTaskGetState)
-    fabs                                     0x0800adf9   Thumb Code    24  fabs.o(i.fabs)
-    getRunTimeCounterValue                   0x0800ae11   Thumb Code     4  freertos.o(i.getRunTimeCounterValue)
-    main                                     0x0800ae15   Thumb Code    72  main.o(i.main)
-    map                                      0x0800ae5d   Thumb Code    22  calc_lib.o(i.map)
-    osDelay                                  0x0800ae73   Thumb Code    30  cmsis_os2.o(i.osDelay)
-    osDelayUntil                             0x0800ae91   Thumb Code    52  cmsis_os2.o(i.osDelayUntil)
-    osKernelGetState                         0x0800aec5   Thumb Code    48  cmsis_os2.o(i.osKernelGetState)
-    osKernelGetTickCount                     0x0800aef9   Thumb Code    26  cmsis_os2.o(i.osKernelGetTickCount)
-    osKernelGetTickFreq                      0x0800af13   Thumb Code     6  cmsis_os2.o(i.osKernelGetTickFreq)
-    osKernelInitialize                       0x0800af19   Thumb Code    38  cmsis_os2.o(i.osKernelInitialize)
-    osKernelLock                             0x0800af45   Thumb Code    56  cmsis_os2.o(i.osKernelLock)
-    osKernelStart                            0x0800af7d   Thumb Code    82  cmsis_os2.o(i.osKernelStart)
-    osKernelUnlock                           0x0800afdd   Thumb Code    68  cmsis_os2.o(i.osKernelUnlock)
-    osMessageQueueGet                        0x0800b021   Thumb Code   124  cmsis_os2.o(i.osMessageQueueGet)
-    osMessageQueueNew                        0x0800b0a1   Thumb Code   154  cmsis_os2.o(i.osMessageQueueNew)
-    osMessageQueuePut                        0x0800b13d   Thumb Code   128  cmsis_os2.o(i.osMessageQueuePut)
-    osMessageQueueReset                      0x0800b1c1   Thumb Code    40  cmsis_os2.o(i.osMessageQueueReset)
-    osMutexAcquire                           0x0800b1e9   Thumb Code    98  cmsis_os2.o(i.osMutexAcquire)
-    osMutexNew                               0x0800b24b   Thumb Code   178  cmsis_os2.o(i.osMutexNew)
-    osMutexRelease                           0x0800b2fd   Thumb Code    78  cmsis_os2.o(i.osMutexRelease)
-    osThreadFlagsSet                         0x0800b34d   Thumb Code   122  cmsis_os2.o(i.osThreadFlagsSet)
-    osThreadFlagsWait                        0x0800b3cd   Thumb Code   178  cmsis_os2.o(i.osThreadFlagsWait)
-    osThreadGetId                            0x0800b47f   Thumb Code    12  cmsis_os2.o(i.osThreadGetId)
-    osThreadNew                              0x0800b48b   Thumb Code   184  cmsis_os2.o(i.osThreadNew)
-    osThreadTerminate                        0x0800b543   Thumb Code    60  cmsis_os2.o(i.osThreadTerminate)
-    pvPortMalloc                             0x0800bfdd   Thumb Code   306  heap_4.o(i.pvPortMalloc)
-    pvTaskIncrementMutexHeldCount            0x0800c129   Thumb Code    26  tasks.o(i.pvTaskIncrementMutexHeldCount)
-    pxPortInitialiseStack                    0x0800c149   Thumb Code    38  port.o(i.pxPortInitialiseStack)
-    remote_ParseHost                         0x0800c175   Thumb Code   118  ai.o(i.remote_ParseHost)
-    remote_control_init                      0x0800c1fd   Thumb Code    12  remote_control.o(i.remote_control_init)
-    sqrtf                                    0x0800c419   Thumb Code    62  sqrtf.o(i.sqrtf)
-    user_delay_ms                            0x0800c457   Thumb Code    24  calc_lib.o(i.user_delay_ms)
-    user_delay_us                            0x0800c46f   Thumb Code    24  calc_lib.o(i.user_delay_us)
-    uxListRemove                             0x0800c487   Thumb Code    40  list.o(i.uxListRemove)
-    vApplicationGetIdleTaskMemory            0x0800c4b1   Thumb Code    14  cmsis_os2.o(i.vApplicationGetIdleTaskMemory)
-    vApplicationGetTimerTaskMemory           0x0800c4c9   Thumb Code    16  cmsis_os2.o(i.vApplicationGetTimerTaskMemory)
-    vApplicationStackOverflowHook            0x0800c4e1   Thumb Code     2  freertos.o(i.vApplicationStackOverflowHook)
-    vListInitialise                          0x0800c4e3   Thumb Code    26  list.o(i.vListInitialise)
-    vListInitialiseItem                      0x0800c4fd   Thumb Code     6  list.o(i.vListInitialiseItem)
-    vListInsert                              0x0800c503   Thumb Code    52  list.o(i.vListInsert)
-    vListInsertEnd                           0x0800c537   Thumb Code    24  list.o(i.vListInsertEnd)
-    vPortEnterCritical                       0x0800c551   Thumb Code    76  port.o(i.vPortEnterCritical)
-    vPortExitCritical                        0x0800c5a5   Thumb Code    56  port.o(i.vPortExitCritical)
-    vPortFree                                0x0800c5e1   Thumb Code   150  heap_4.o(i.vPortFree)
-    vPortSetupTimerInterrupt                 0x0800c685   Thumb Code    36  port.o(i.vPortSetupTimerInterrupt)
-    vPortValidateInterruptPriority           0x0800c6ad   Thumb Code   106  port.o(i.vPortValidateInterruptPriority)
-    vQueueAddToRegistry                      0x0800c725   Thumb Code    38  queue.o(i.vQueueAddToRegistry)
-    vQueueWaitForMessageRestricted           0x0800c751   Thumb Code    74  queue.o(i.vQueueWaitForMessageRestricted)
-    vTaskDelay                               0x0800c79d   Thumb Code    82  tasks.o(i.vTaskDelay)
-    vTaskDelayUntil                          0x0800c7f9   Thumb Code   200  tasks.o(i.vTaskDelayUntil)
-    vTaskDelete                              0x0800c8cd   Thumb Code   168  tasks.o(i.vTaskDelete)
-    vTaskInternalSetTimeOutState             0x0800c995   Thumb Code    14  tasks.o(i.vTaskInternalSetTimeOutState)
-    vTaskMissedYield                         0x0800c9ad   Thumb Code     8  tasks.o(i.vTaskMissedYield)
-    vTaskPlaceOnEventList                    0x0800c9b9   Thumb Code    52  tasks.o(i.vTaskPlaceOnEventList)
-    vTaskPlaceOnEventListRestricted          0x0800c9f1   Thumb Code    60  tasks.o(i.vTaskPlaceOnEventListRestricted)
-    vTaskPriorityDisinheritAfterTimeout      0x0800ca31   Thumb Code   194  tasks.o(i.vTaskPriorityDisinheritAfterTimeout)
-    vTaskStartScheduler                      0x0800cb01   Thumb Code   160  tasks.o(i.vTaskStartScheduler)
-    vTaskSuspendAll                          0x0800cbbd   Thumb Code    12  tasks.o(i.vTaskSuspendAll)
-    vTaskSwitchContext                       0x0800cbcd   Thumb Code   230  tasks.o(i.vTaskSwitchContext)
-    xPortStartScheduler                      0x0800ccd1   Thumb Code   330  port.o(i.xPortStartScheduler)
-    xPortSysTickHandler                      0x0800ce39   Thumb Code    46  port.o(i.xPortSysTickHandler)
-    xQueueCreateMutex                        0x0800ce6d   Thumb Code    34  queue.o(i.xQueueCreateMutex)
-    xQueueCreateMutexStatic                  0x0800ce8f   Thumb Code    42  queue.o(i.xQueueCreateMutexStatic)
-    xQueueGenericCreate                      0x0800ceb9   Thumb Code    90  queue.o(i.xQueueGenericCreate)
-    xQueueGenericCreateStatic                0x0800cf13   Thumb Code   224  queue.o(i.xQueueGenericCreateStatic)
-    xQueueGenericReset                       0x0800cff5   Thumb Code   146  queue.o(i.xQueueGenericReset)
-    xQueueGenericSend                        0x0800d08d   Thumb Code   420  queue.o(i.xQueueGenericSend)
-    xQueueGenericSendFromISR                 0x0800d235   Thumb Code   252  queue.o(i.xQueueGenericSendFromISR)
-    xQueueGiveMutexRecursive                 0x0800d331   Thumb Code    72  queue.o(i.xQueueGiveMutexRecursive)
-    xQueueReceive                            0x0800d379   Thumb Code   356  queue.o(i.xQueueReceive)
-    xQueueReceiveFromISR                     0x0800d4e1   Thumb Code   202  queue.o(i.xQueueReceiveFromISR)
-    xQueueSemaphoreTake                      0x0800d5ad   Thumb Code   434  queue.o(i.xQueueSemaphoreTake)
-    xQueueTakeMutexRecursive                 0x0800d765   Thumb Code    78  queue.o(i.xQueueTakeMutexRecursive)
-    xTaskCheckForTimeOut                     0x0800d7b5   Thumb Code   132  tasks.o(i.xTaskCheckForTimeOut)
-    xTaskCreate                              0x0800d841   Thumb Code   100  tasks.o(i.xTaskCreate)
-    xTaskCreateStatic                        0x0800d8a5   Thumb Code   186  tasks.o(i.xTaskCreateStatic)
-    xTaskGenericNotify                       0x0800d961   Thumb Code   278  tasks.o(i.xTaskGenericNotify)
-    xTaskGenericNotifyFromISR                0x0800da89   Thumb Code   332  tasks.o(i.xTaskGenericNotifyFromISR)
-    xTaskGetCurrentTaskHandle                0x0800dbed   Thumb Code     6  tasks.o(i.xTaskGetCurrentTaskHandle)
-    xTaskGetSchedulerState                   0x0800dbf9   Thumb Code    24  tasks.o(i.xTaskGetSchedulerState)
-    xTaskGetTickCount                        0x0800dc19   Thumb Code     6  tasks.o(i.xTaskGetTickCount)
-    xTaskGetTickCountFromISR                 0x0800dc25   Thumb Code    16  tasks.o(i.xTaskGetTickCountFromISR)
-    xTaskIncrementTick                       0x0800dc39   Thumb Code   280  tasks.o(i.xTaskIncrementTick)
-    xTaskNotifyWait                          0x0800dd7d   Thumb Code   150  tasks.o(i.xTaskNotifyWait)
-    xTaskPriorityDisinherit                  0x0800de1d   Thumb Code   152  tasks.o(i.xTaskPriorityDisinherit)
-    xTaskPriorityInherit                     0x0800dec1   Thumb Code   150  tasks.o(i.xTaskPriorityInherit)
-    xTaskRemoveFromEventList                 0x0800df65   Thumb Code   126  tasks.o(i.xTaskRemoveFromEventList)
-    xTaskResumeAll                           0x0800dffd   Thumb Code   222  tasks.o(i.xTaskResumeAll)
-    xTimerCreateTimerTask                    0x0800e101   Thumb Code   100  timers.o(i.xTimerCreateTimerTask)
-    xTimerGenericCommand                     0x0800e179   Thumb Code   128  timers.o(i.xTimerGenericCommand)
-    __aeabi_dneg                             0x0800e1fd   Thumb Code     0  basic.o(x$fpl$basic)
-    _dneg                                    0x0800e1fd   Thumb Code     6  basic.o(x$fpl$basic)
-    __aeabi_fneg                             0x0800e203   Thumb Code     0  basic.o(x$fpl$basic)
-    _fneg                                    0x0800e203   Thumb Code     6  basic.o(x$fpl$basic)
-    _dabs                                    0x0800e209   Thumb Code     6  basic.o(x$fpl$basic)
-    _fabs                                    0x0800e20f   Thumb Code     6  basic.o(x$fpl$basic)
-    __aeabi_d2f                              0x0800e215   Thumb Code     0  d2f.o(x$fpl$d2f)
-    _d2f                                     0x0800e215   Thumb Code    98  d2f.o(x$fpl$d2f)
-    __aeabi_dadd                             0x0800e279   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
-    _dadd                                    0x0800e279   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
-    __fpl_dcmp_Inf                           0x0800e3c9   Thumb Code    24  dcmpi.o(x$fpl$dcmpinf)
-    __aeabi_ddiv                             0x0800e3e1   Thumb Code     0  ddiv.o(x$fpl$ddiv)
-    _ddiv                                    0x0800e3e1   Thumb Code   552  ddiv.o(x$fpl$ddiv)
-    __aeabi_cdcmpeq                          0x0800e691   Thumb Code     0  deqf.o(x$fpl$deqf)
-    _dcmpeq                                  0x0800e691   Thumb Code   120  deqf.o(x$fpl$deqf)
-    __aeabi_d2iz                             0x0800e709   Thumb Code     0  dfix.o(x$fpl$dfix)
-    _dfix                                    0x0800e709   Thumb Code    94  dfix.o(x$fpl$dfix)
-    __aeabi_d2uiz                            0x0800e769   Thumb Code     0  dfixu.o(x$fpl$dfixu)
-    _dfixu                                   0x0800e769   Thumb Code    90  dfixu.o(x$fpl$dfixu)
-    __aeabi_i2d                              0x0800e7c3   Thumb Code     0  dflt_clz.o(x$fpl$dflt)
-    _dflt                                    0x0800e7c3   Thumb Code    46  dflt_clz.o(x$fpl$dflt)
-    __aeabi_ui2d                             0x0800e7f1   Thumb Code     0  dflt_clz.o(x$fpl$dfltu)
-    _dfltu                                   0x0800e7f1   Thumb Code    38  dflt_clz.o(x$fpl$dfltu)
-    __aeabi_dmul                             0x0800e819   Thumb Code     0  dmul.o(x$fpl$dmul)
-    _dmul                                    0x0800e819   Thumb Code   332  dmul.o(x$fpl$dmul)
-    __fpl_dnaninf                            0x0800e96d   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
-    __fpl_dretinf                            0x0800ea09   Thumb Code    12  dretinf.o(x$fpl$dretinf)
-    __aeabi_drsub                            0x0800ea15   Thumb Code     0  daddsub_clz.o(x$fpl$drsb)
-    _drsb                                    0x0800ea15   Thumb Code    22  daddsub_clz.o(x$fpl$drsb)
-    __aeabi_dsub                             0x0800ea2d   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
-    _dsub                                    0x0800ea2d   Thumb Code   464  daddsub_clz.o(x$fpl$dsub)
-    __aeabi_f2d                              0x0800ec01   Thumb Code     0  f2d.o(x$fpl$f2d)
-    _f2d                                     0x0800ec01   Thumb Code    86  f2d.o(x$fpl$f2d)
-    __fcmp4                                  0x0800ec59   Thumb Code    24  fcmp4.o(x$fpl$fcmp4)
-    __ARM_fcmp4                              0x0800ec71   Thumb Code     0  fcmp4.o(x$fpl$fcmp4)
-    _fcmp4                                   0x0800ec71   Thumb Code    58  fcmp4.o(x$fpl$fcmp4)
-    __fpl_fcmp_Inf                           0x0800ecab   Thumb Code    24  fcmpi.o(x$fpl$fcmpinf)
-    __aeabi_ul2f                             0x0800ecc3   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
-    _ll_uto_f                                0x0800ecc3   Thumb Code     6  ffltll_clz.o(x$fpl$ffltll)
-    __aeabi_l2f                              0x0800ecc9   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
-    _ll_sto_f                                0x0800ecc9   Thumb Code    90  ffltll_clz.o(x$fpl$ffltll)
-    __fpl_fnaninf                            0x0800ed23   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
-    _fp_init                                 0x0800edaf   Thumb Code    10  fpinit.o(x$fpl$fpinit)
-    __fplib_config_fpu_vfp                   0x0800edb7   Thumb Code     0  fpinit.o(x$fpl$fpinit)
-    __fplib_config_pureend_doubles           0x0800edb7   Thumb Code     0  fpinit.o(x$fpl$fpinit)
-    __fpl_fretinf                            0x0800edb9   Thumb Code    10  fretinf.o(x$fpl$fretinf)
-    __I$use$fp                               0x0800edc2   Number         0  usenofp.o(x$fpl$usenofp)
-    defaultTask_attributes                   0x0800edc4   Data          36  freertos.o(.constdata)
-    AHBPrescTable                            0x0800edf0   Data          16  system_stm32f4xx.o(.constdata)
-    APBPrescTable                            0x0800ee00   Data           8  system_stm32f4xx.o(.constdata)
-    attr_init                                0x0800ee68   Data          36  user_task.o(.constdata)
-    attr_atti_esti                           0x0800ee8c   Data          36  user_task.o(.constdata)
-    attr_gimbal_ctrl                         0x0800eeb0   Data          36  user_task.o(.constdata)
-    attr_remote                              0x0800eed4   Data          36  user_task.o(.constdata)
-    __mathlib_zero                           0x0800ef90   Data           8  qnan.o(.constdata)
-    Region$$Table$$Base                      0x0800eff0   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x0800f010   Number         0  anon$$obj.o(Region$$Table)
+    Gimbal_Control                           0x08002a85   Thumb Code   876  gimbal.o(i.Gimbal_Control)
+    Gimbal_Init                              0x08002e01   Thumb Code   340  gimbal.o(i.Gimbal_Init)
+    Gimbal_Output                            0x08002f55   Thumb Code    54  gimbal.o(i.Gimbal_Output)
+    Gimbal_UpdateFeedback                    0x08003011   Thumb Code    86  gimbal.o(i.Gimbal_UpdateFeedback)
+    Gimbal_UpdateIMU                         0x08003067   Thumb Code    42  gimbal.o(i.Gimbal_UpdateIMU)
+    HAL_CAN_ActivateNotification             0x08003091   Thumb Code    42  stm32f4xx_hal_can.o(i.HAL_CAN_ActivateNotification)
+    HAL_CAN_AddTxMessage                     0x080030bb   Thumb Code   330  stm32f4xx_hal_can.o(i.HAL_CAN_AddTxMessage)
+    HAL_CAN_ConfigFilter                     0x08003205   Thumb Code   284  stm32f4xx_hal_can.o(i.HAL_CAN_ConfigFilter)
+    HAL_CAN_ErrorCallback                    0x08003325   Thumb Code    54  can_1.o(i.HAL_CAN_ErrorCallback)
+    HAL_CAN_GetRxFifoFillLevel               0x08003361   Thumb Code    40  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxFifoFillLevel)
+    HAL_CAN_GetRxMessage                     0x08003389   Thumb Code   404  stm32f4xx_hal_can.o(i.HAL_CAN_GetRxMessage)
+    HAL_CAN_GetTxMailboxesFreeLevel          0x0800351d   Thumb Code    54  stm32f4xx_hal_can.o(i.HAL_CAN_GetTxMailboxesFreeLevel)
+    HAL_CAN_IRQHandler                       0x08003553   Thumb Code   590  stm32f4xx_hal_can.o(i.HAL_CAN_IRQHandler)
+    HAL_CAN_Init                             0x080037a1   Thumb Code   372  stm32f4xx_hal_can.o(i.HAL_CAN_Init)
+    HAL_CAN_MspInit                          0x08003915   Thumb Code   392  can.o(i.HAL_CAN_MspInit)
+    HAL_CAN_RxFifo0FullCallback              0x08003ab5   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo0FullCallback)
+    HAL_CAN_RxFifo0MsgPendingCallback        0x08003af1   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo0MsgPendingCallback)
+    HAL_CAN_RxFifo1FullCallback              0x08003b2d   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo1FullCallback)
+    HAL_CAN_RxFifo1MsgPendingCallback        0x08003b69   Thumb Code    54  can_1.o(i.HAL_CAN_RxFifo1MsgPendingCallback)
+    HAL_CAN_SleepCallback                    0x08003ba5   Thumb Code    54  can_1.o(i.HAL_CAN_SleepCallback)
+    HAL_CAN_Start                            0x08003be1   Thumb Code    94  stm32f4xx_hal_can.o(i.HAL_CAN_Start)
+    HAL_CAN_TxMailbox0AbortCallback          0x08003c41   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox0AbortCallback)
+    HAL_CAN_TxMailbox0CompleteCallback       0x08003c7d   Thumb Code    50  can_1.o(i.HAL_CAN_TxMailbox0CompleteCallback)
+    HAL_CAN_TxMailbox1AbortCallback          0x08003cb5   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox1AbortCallback)
+    HAL_CAN_TxMailbox1CompleteCallback       0x08003cf1   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox1CompleteCallback)
+    HAL_CAN_TxMailbox2AbortCallback          0x08003d2d   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox2AbortCallback)
+    HAL_CAN_TxMailbox2CompleteCallback       0x08003d69   Thumb Code    54  can_1.o(i.HAL_CAN_TxMailbox2CompleteCallback)
+    HAL_CAN_WakeUpFromRxMsgCallback          0x08003da5   Thumb Code    54  can_1.o(i.HAL_CAN_WakeUpFromRxMsgCallback)
+    HAL_DMA_Abort                            0x08003de1   Thumb Code   172  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort)
+    HAL_DMA_Abort_IT                         0x08003e8d   Thumb Code    40  stm32f4xx_hal_dma.o(i.HAL_DMA_Abort_IT)
+    HAL_DMA_GetState                         0x08003eb5   Thumb Code     8  stm32f4xx_hal_dma.o(i.HAL_DMA_GetState)
+    HAL_DMA_IRQHandler                       0x08003ebd   Thumb Code   570  stm32f4xx_hal_dma.o(i.HAL_DMA_IRQHandler)
+    HAL_DMA_Init                             0x080040fd   Thumb Code   232  stm32f4xx_hal_dma.o(i.HAL_DMA_Init)
+    HAL_DMA_Start_IT                         0x080041e9   Thumb Code   146  stm32f4xx_hal_dma.o(i.HAL_DMA_Start_IT)
+    HAL_Delay                                0x0800427d   Thumb Code    36  stm32f4xx_hal.o(i.HAL_Delay)
+    HAL_GPIO_EXTI_Callback                   0x080042a5   Thumb Code    42  gpio_1.o(i.HAL_GPIO_EXTI_Callback)
+    HAL_GPIO_EXTI_IRQHandler                 0x080042d5   Thumb Code    24  stm32f4xx_hal_gpio.o(i.HAL_GPIO_EXTI_IRQHandler)
+    HAL_GPIO_Init                            0x080042f1   Thumb Code   454  stm32f4xx_hal_gpio.o(i.HAL_GPIO_Init)
+    HAL_GPIO_ReadPin                         0x080044e5   Thumb Code    16  stm32f4xx_hal_gpio.o(i.HAL_GPIO_ReadPin)
+    HAL_GPIO_WritePin                        0x080044f5   Thumb Code    12  stm32f4xx_hal_gpio.o(i.HAL_GPIO_WritePin)
+    HAL_GetTick                              0x08004501   Thumb Code     6  stm32f4xx_hal.o(i.HAL_GetTick)
+    HAL_I2C_AbortCpltCallback                0x0800450d   Thumb Code    46  i2c_1.o(i.HAL_I2C_AbortCpltCallback)
+    HAL_I2C_AddrCallback                     0x08004541   Thumb Code     2  stm32f4xx_hal_i2c.o(i.HAL_I2C_AddrCallback)
+    HAL_I2C_ER_IRQHandler                    0x08004543   Thumb Code   212  stm32f4xx_hal_i2c.o(i.HAL_I2C_ER_IRQHandler)
+    HAL_I2C_EV_IRQHandler                    0x08004617   Thumb Code   474  stm32f4xx_hal_i2c.o(i.HAL_I2C_EV_IRQHandler)
+    HAL_I2C_ErrorCallback                    0x080047f1   Thumb Code    46  i2c_1.o(i.HAL_I2C_ErrorCallback)
+    HAL_I2C_Init                             0x08004825   Thumb Code   446  stm32f4xx_hal_i2c.o(i.HAL_I2C_Init)
+    HAL_I2C_ListenCpltCallback               0x080049f5   Thumb Code    46  i2c_1.o(i.HAL_I2C_ListenCpltCallback)
+    HAL_I2C_MasterRxCpltCallback             0x08004a29   Thumb Code    46  i2c_1.o(i.HAL_I2C_MasterRxCpltCallback)
+    HAL_I2C_MasterTxCpltCallback             0x08004a5d   Thumb Code    42  i2c_1.o(i.HAL_I2C_MasterTxCpltCallback)
+    HAL_I2C_MemRxCpltCallback                0x08004a8d   Thumb Code    46  i2c_1.o(i.HAL_I2C_MemRxCpltCallback)
+    HAL_I2C_MemTxCpltCallback                0x08004ac1   Thumb Code    46  i2c_1.o(i.HAL_I2C_MemTxCpltCallback)
+    HAL_I2C_MspInit                          0x08004af5   Thumb Code   262  i2c.o(i.HAL_I2C_MspInit)
+    HAL_I2C_SlaveRxCpltCallback              0x08004c11   Thumb Code    46  i2c_1.o(i.HAL_I2C_SlaveRxCpltCallback)
+    HAL_I2C_SlaveTxCpltCallback              0x08004c45   Thumb Code    46  i2c_1.o(i.HAL_I2C_SlaveTxCpltCallback)
+    HAL_IncTick                              0x08004c79   Thumb Code    16  stm32f4xx_hal.o(i.HAL_IncTick)
+    HAL_Init                                 0x08004c91   Thumb Code    54  stm32f4xx_hal.o(i.HAL_Init)
+    HAL_InitTick                             0x08004ccd   Thumb Code    64  stm32f4xx_hal.o(i.HAL_InitTick)
+    HAL_MspInit                              0x08004d19   Thumb Code    78  stm32f4xx_hal_msp.o(i.HAL_MspInit)
+    HAL_NVIC_DisableIRQ                      0x08004d6d   Thumb Code    38  stm32f4xx_hal_cortex.o(i.HAL_NVIC_DisableIRQ)
+    HAL_NVIC_EnableIRQ                       0x08004d99   Thumb Code    40  stm32f4xx_hal_cortex.o(i.HAL_NVIC_EnableIRQ)
+    HAL_NVIC_SetPriority                     0x08004dc1   Thumb Code   124  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriority)
+    HAL_NVIC_SetPriorityGrouping             0x08004e3d   Thumb Code    32  stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriorityGrouping)
+    HAL_RCC_ClockConfig                      0x08004e65   Thumb Code   368  stm32f4xx_hal_rcc.o(i.HAL_RCC_ClockConfig)
+    HAL_RCC_GetHCLKFreq                      0x08004fe9   Thumb Code     6  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetHCLKFreq)
+    HAL_RCC_GetPCLK1Freq                     0x08004ff5   Thumb Code    22  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK1Freq)
+    HAL_RCC_GetPCLK2Freq                     0x08005015   Thumb Code    22  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK2Freq)
+    HAL_RCC_GetSysClockFreq                  0x08005035   Thumb Code   162  stm32f4xx_hal_rcc.o(i.HAL_RCC_GetSysClockFreq)
+    HAL_RCC_OscConfig                        0x080050e5   Thumb Code  1172  stm32f4xx_hal_rcc.o(i.HAL_RCC_OscConfig)
+    HAL_SPI_ErrorCallback                    0x08005581   Thumb Code    50  spi_1.o(i.HAL_SPI_ErrorCallback)
+    HAL_SPI_Init                             0x080055b9   Thumb Code   200  stm32f4xx_hal_spi.o(i.HAL_SPI_Init)
+    HAL_SPI_MspInit                          0x08005681   Thumb Code   424  spi.o(i.HAL_SPI_MspInit)
+    HAL_SPI_Receive                          0x0800584d   Thumb Code   386  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive)
+    HAL_SPI_Receive_DMA                      0x080059d1   Thumb Code   268  stm32f4xx_hal_spi.o(i.HAL_SPI_Receive_DMA)
+    HAL_SPI_RxCpltCallback                   0x08005ae9   Thumb Code    50  spi_1.o(i.HAL_SPI_RxCpltCallback)
+    HAL_SPI_RxHalfCpltCallback               0x08005b21   Thumb Code    50  spi_1.o(i.HAL_SPI_RxHalfCpltCallback)
+    HAL_SPI_Transmit                         0x08005b59   Thumb Code   446  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit)
+    HAL_SPI_TransmitReceive                  0x08005d17   Thumb Code   584  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive)
+    HAL_SPI_TransmitReceive_DMA              0x08005f61   Thumb Code   336  stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive_DMA)
+    HAL_SPI_Transmit_DMA                     0x080060c5   Thumb Code   238  stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
+    HAL_SPI_TxCpltCallback                   0x080061c1   Thumb Code    38  spi_1.o(i.HAL_SPI_TxCpltCallback)
+    HAL_SPI_TxHalfCpltCallback               0x080061ed   Thumb Code    50  spi_1.o(i.HAL_SPI_TxHalfCpltCallback)
+    HAL_SPI_TxRxCpltCallback                 0x08006225   Thumb Code    50  spi_1.o(i.HAL_SPI_TxRxCpltCallback)
+    HAL_SPI_TxRxHalfCpltCallback             0x0800625d   Thumb Code    50  spi_1.o(i.HAL_SPI_TxRxHalfCpltCallback)
+    HAL_SYSTICK_Config                       0x08006295   Thumb Code    52  stm32f4xx_hal_cortex.o(i.HAL_SYSTICK_Config)
+    HAL_TIMEx_BreakCallback                  0x080062c9   Thumb Code     2  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_BreakCallback)
+    HAL_TIMEx_CommutCallback                 0x080062cb   Thumb Code     2  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_CommutCallback)
+    HAL_TIMEx_MasterConfigSynchronization    0x080062cd   Thumb Code   150  stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_MasterConfigSynchronization)
+    HAL_TIM_Base_Init                        0x08006381   Thumb Code   102  stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Init)
+    HAL_TIM_Base_MspInit                     0x080063e9   Thumb Code   108  tim.o(i.HAL_TIM_Base_MspInit)
+    HAL_TIM_IC_CaptureCallback               0x08006461   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_IC_CaptureCallback)
+    HAL_TIM_IRQHandler                       0x08006463   Thumb Code   364  stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler)
+    HAL_TIM_MspPostInit                      0x080065d1   Thumb Code    84  tim.o(i.HAL_TIM_MspPostInit)
+    HAL_TIM_OC_DelayElapsedCallback          0x08006631   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_OC_DelayElapsedCallback)
+    HAL_TIM_PWM_ConfigChannel                0x08006633   Thumb Code   260  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_ConfigChannel)
+    HAL_TIM_PWM_Init                         0x08006737   Thumb Code   102  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init)
+    HAL_TIM_PWM_MspInit                      0x0800679d   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_MspInit)
+    HAL_TIM_PWM_PulseFinishedCallback        0x0800679f   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_PulseFinishedCallback)
+    HAL_TIM_PWM_Start                        0x080067a1   Thumb Code   238  stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Start)
+    HAL_TIM_PeriodElapsedCallback            0x080068ad   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_PeriodElapsedCallback)
+    HAL_TIM_TriggerCallback                  0x080068af   Thumb Code     2  stm32f4xx_hal_tim.o(i.HAL_TIM_TriggerCallback)
+    HAL_UARTEx_RxEventCallback               0x080068b1   Thumb Code     2  stm32f4xx_hal_uart.o(i.HAL_UARTEx_RxEventCallback)
+    HAL_UART_ErrorCallback                   0x080068b5   Thumb Code    46  uart.o(i.HAL_UART_ErrorCallback)
+    HAL_UART_IRQHandler                      0x080068e9   Thumb Code   772  stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler)
+    HAL_UART_Init                            0x08006bf1   Thumb Code   118  stm32f4xx_hal_uart.o(i.HAL_UART_Init)
+    HAL_UART_MspInit                         0x08006c69   Thumb Code   374  usart.o(i.HAL_UART_MspInit)
+    HAL_UART_RxCpltCallback                  0x08006e01   Thumb Code    46  uart.o(i.HAL_UART_RxCpltCallback)
+    HAL_UART_TxCpltCallback                  0x08006e35   Thumb Code    46  uart.o(i.HAL_UART_TxCpltCallback)
+    HardFault_Handler                        0x08006e69   Thumb Code     4  stm32f4xx_it.o(i.HardFault_Handler)
+    I2C1_ER_IRQHandler                       0x08006e6d   Thumb Code    10  stm32f4xx_it.o(i.I2C1_ER_IRQHandler)
+    I2C1_EV_IRQHandler                       0x08006e7d   Thumb Code    10  stm32f4xx_it.o(i.I2C1_EV_IRQHandler)
+    InvSqrt                                  0x08007ce1   Thumb Code    76  user_math.o(i.InvSqrt)
+    LowPassFilter2p_Apply                    0x08007d31   Thumb Code   124  filter.o(i.LowPassFilter2p_Apply)
+    LowPassFilter2p_Init                     0x08007db1   Thumb Code   264  filter.o(i.LowPassFilter2p_Init)
+    LowPassFilter2p_Reset                    0x08007ec5   Thumb Code    90  filter.o(i.LowPassFilter2p_Reset)
+    MOTOR_RM_Ctrl                            0x08007f75   Thumb Code   290  motor_rm.o(i.MOTOR_RM_Ctrl)
+    MOTOR_RM_GetMotor                        0x0800811b   Thumb Code    62  motor_rm.o(i.MOTOR_RM_GetMotor)
+    MOTOR_RM_Register                        0x08008181   Thumb Code   192  motor_rm.o(i.MOTOR_RM_Register)
+    MOTOR_RM_SetOutput                       0x08008241   Thumb Code   178  motor_rm.o(i.MOTOR_RM_SetOutput)
+    MOTOR_RM_Update                          0x080082f3   Thumb Code   174  motor_rm.o(i.MOTOR_RM_Update)
+    MX_CAN1_Init                             0x080083a1   Thumb Code    62  can.o(i.MX_CAN1_Init)
+    MX_CAN2_Init                             0x080083e9   Thumb Code    62  can.o(i.MX_CAN2_Init)
+    MX_DMA_Init                              0x08008431   Thumb Code   114  dma.o(i.MX_DMA_Init)
+    MX_FREERTOS_Init                         0x080084a9   Thumb Code    28  freertos.o(i.MX_FREERTOS_Init)
+    MX_GPIO_Init                             0x080084d9   Thumb Code   476  gpio.o(i.MX_GPIO_Init)
+    MX_I2C1_Init                             0x080086c9   Thumb Code    48  i2c.o(i.MX_I2C1_Init)
+    MX_I2C2_Init                             0x08008705   Thumb Code    48  i2c.o(i.MX_I2C2_Init)
+    MX_SPI1_Init                             0x08008741   Thumb Code    62  spi.o(i.MX_SPI1_Init)
+    MX_SPI2_Init                             0x08008789   Thumb Code    64  spi.o(i.MX_SPI2_Init)
+    MX_TIM10_Init                            0x080087d1   Thumb Code   100  tim.o(i.MX_TIM10_Init)
+    MX_TIM7_Init                             0x0800883d   Thumb Code    66  tim.o(i.MX_TIM7_Init)
+    MX_USART1_UART_Init                      0x08008889   Thumb Code    46  usart.o(i.MX_USART1_UART_Init)
+    MX_USART3_UART_Init                      0x080088c1   Thumb Code    50  usart.o(i.MX_USART3_UART_Init)
+    MemManage_Handler                        0x08008901   Thumb Code     4  stm32f4xx_it.o(i.MemManage_Handler)
+    NMI_Handler                              0x08008a95   Thumb Code     4  stm32f4xx_it.o(i.NMI_Handler)
+    PID_Calc                                 0x08008a99   Thumb Code   412  pid.o(i.PID_Calc)
+    PID_Init                                 0x08008c3d   Thumb Code   204  pid.o(i.PID_Init)
+    PID_Reset                                0x08008d09   Thumb Code    60  pid.o(i.PID_Reset)
+    RC_Init                                  0x08008d49   Thumb Code   114  bsp_rc.o(i.RC_Init)
+    RC_restart                               0x08008dcd   Thumb Code    82  bsp_rc.o(i.RC_restart)
+    StartDefaultTask                         0x080091ed   Thumb Code    16  freertos.o(i.StartDefaultTask)
+    SysTick_Handler                          0x080091fd   Thumb Code    20  stm32f4xx_it.o(i.SysTick_Handler)
+    SystemClock_Config                       0x08009211   Thumb Code   170  main.o(i.SystemClock_Config)
+    SystemInit                               0x080092c5   Thumb Code    14  system_stm32f4xx.o(i.SystemInit)
+    TIM7_IRQHandler                          0x080092d9   Thumb Code    10  stm32f4xx_it.o(i.TIM7_IRQHandler)
+    TIM_Base_SetConfig                       0x080092e9   Thumb Code   178  stm32f4xx_hal_tim.o(i.TIM_Base_SetConfig)
+    TIM_CCxChannelCmd                        0x080093c9   Thumb Code    34  stm32f4xx_hal_tim.o(i.TIM_CCxChannelCmd)
+    TIM_OC2_SetConfig                        0x0800945d   Thumb Code   114  stm32f4xx_hal_tim.o(i.TIM_OC2_SetConfig)
+    Task_Init                                0x080095a5   Thumb Code   126  init.o(i.Task_Init)
+    Task_atti_esti                           0x08009641   Thumb Code   272  atti_esti.o(i.Task_atti_esti)
+    Task_gimbal_ctrl                         0x08009785   Thumb Code   140  gimbal_ctrl.o(i.Task_gimbal_ctrl)
+    Task_remote                              0x0800982d   Thumb Code   104  remote.o(i.Task_remote)
+    USART3_IRQHandler                        0x08009ced   Thumb Code    20  stm32f4xx_it.o(i.USART3_IRQHandler)
+    USART3_IRQHandler1                       0x08009d05   Thumb Code    20  remote_control.o(i.USART3_IRQHandler1)
+    UsageFault_Handler                       0x08009d1d   Thumb Code     4  stm32f4xx_it.o(i.UsageFault_Handler)
+    __ARM_fpclassify                         0x08009d21   Thumb Code    48  fpclassify.o(i.__ARM_fpclassify)
+    __ARM_fpclassifyf                        0x08009d51   Thumb Code    38  fpclassifyf.o(i.__ARM_fpclassifyf)
+    __hardfp_asinf                           0x08009dc9   Thumb Code   258  asinf.o(i.__hardfp_asinf)
+    __hardfp_atan                            0x08009ef9   Thumb Code   622  atan.o(i.__hardfp_atan)
+    __hardfp_atan2                           0x0800a1d1   Thumb Code   448  atan2.o(i.__hardfp_atan2)
+    __hardfp_atan2f                          0x0800a3d1   Thumb Code   594  atan2f.o(i.__hardfp_atan2f)
+    __hardfp_cosf                            0x0800a67d   Thumb Code   280  cosf.o(i.__hardfp_cosf)
+    __hardfp_fmaxf                           0x0800a7cd   Thumb Code    72  fmaxf.o(i.__hardfp_fmaxf)
+    __hardfp_tanf                            0x0800a815   Thumb Code   322  tanf.o(i.__hardfp_tanf)
+    __kernel_poly                            0x0800a991   Thumb Code   248  poly.o(i.__kernel_poly)
+    __mathlib_dbl_infnan                     0x0800aa89   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_infnan2                    0x0800aa9d   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan2)
+    __mathlib_dbl_underflow                  0x0800aab1   Thumb Code    24  dunder.o(i.__mathlib_dbl_underflow)
+    __mathlib_flt_infnan                     0x0800aad1   Thumb Code     6  funder.o(i.__mathlib_flt_infnan)
+    __mathlib_flt_infnan2                    0x0800aad7   Thumb Code     6  funder.o(i.__mathlib_flt_infnan2)
+    __mathlib_flt_invalid                    0x0800aadd   Thumb Code    10  funder.o(i.__mathlib_flt_invalid)
+    __mathlib_flt_underflow                  0x0800aaed   Thumb Code    10  funder.o(i.__mathlib_flt_underflow)
+    __mathlib_rredf2                         0x0800aafd   Thumb Code   316  rredf.o(i.__mathlib_rredf2)
+    atan                                     0x0800ac51   Thumb Code    16  atan.o(i.atan)
+    configureTimerForRunTimeStats            0x0800ac61   Thumb Code     2  freertos.o(i.configureTimerForRunTimeStats)
+    delay_init                               0x0800ac65   Thumb Code    32  bsp_delay.o(i.delay_init)
+    eTaskGetState                            0x0800ac95   Thumb Code   128  tasks.o(i.eTaskGetState)
+    fabs                                     0x0800ad29   Thumb Code    24  fabs.o(i.fabs)
+    getRunTimeCounterValue                   0x0800ad41   Thumb Code     4  freertos.o(i.getRunTimeCounterValue)
+    main                                     0x0800ad45   Thumb Code    72  main.o(i.main)
+    map                                      0x0800ad8d   Thumb Code    22  calc_lib.o(i.map)
+    osDelay                                  0x0800ada3   Thumb Code    30  cmsis_os2.o(i.osDelay)
+    osDelayUntil                             0x0800adc1   Thumb Code    52  cmsis_os2.o(i.osDelayUntil)
+    osKernelGetState                         0x0800adf5   Thumb Code    48  cmsis_os2.o(i.osKernelGetState)
+    osKernelGetTickCount                     0x0800ae29   Thumb Code    26  cmsis_os2.o(i.osKernelGetTickCount)
+    osKernelGetTickFreq                      0x0800ae43   Thumb Code     6  cmsis_os2.o(i.osKernelGetTickFreq)
+    osKernelInitialize                       0x0800ae49   Thumb Code    38  cmsis_os2.o(i.osKernelInitialize)
+    osKernelLock                             0x0800ae75   Thumb Code    56  cmsis_os2.o(i.osKernelLock)
+    osKernelStart                            0x0800aead   Thumb Code    82  cmsis_os2.o(i.osKernelStart)
+    osKernelUnlock                           0x0800af0d   Thumb Code    68  cmsis_os2.o(i.osKernelUnlock)
+    osMessageQueueGet                        0x0800af51   Thumb Code   124  cmsis_os2.o(i.osMessageQueueGet)
+    osMessageQueueNew                        0x0800afd1   Thumb Code   154  cmsis_os2.o(i.osMessageQueueNew)
+    osMessageQueuePut                        0x0800b06d   Thumb Code   128  cmsis_os2.o(i.osMessageQueuePut)
+    osMessageQueueReset                      0x0800b0f1   Thumb Code    40  cmsis_os2.o(i.osMessageQueueReset)
+    osMutexAcquire                           0x0800b119   Thumb Code    98  cmsis_os2.o(i.osMutexAcquire)
+    osMutexNew                               0x0800b17b   Thumb Code   178  cmsis_os2.o(i.osMutexNew)
+    osMutexRelease                           0x0800b22d   Thumb Code    78  cmsis_os2.o(i.osMutexRelease)
+    osThreadFlagsSet                         0x0800b27d   Thumb Code   122  cmsis_os2.o(i.osThreadFlagsSet)
+    osThreadFlagsWait                        0x0800b2fd   Thumb Code   178  cmsis_os2.o(i.osThreadFlagsWait)
+    osThreadGetId                            0x0800b3af   Thumb Code    12  cmsis_os2.o(i.osThreadGetId)
+    osThreadNew                              0x0800b3bb   Thumb Code   184  cmsis_os2.o(i.osThreadNew)
+    osThreadTerminate                        0x0800b473   Thumb Code    60  cmsis_os2.o(i.osThreadTerminate)
+    pvPortMalloc                             0x0800bf0d   Thumb Code   306  heap_4.o(i.pvPortMalloc)
+    pvTaskIncrementMutexHeldCount            0x0800c059   Thumb Code    26  tasks.o(i.pvTaskIncrementMutexHeldCount)
+    pxPortInitialiseStack                    0x0800c079   Thumb Code    38  port.o(i.pxPortInitialiseStack)
+    remote_ParseHost                         0x0800c0a5   Thumb Code   118  ai.o(i.remote_ParseHost)
+    remote_control_init                      0x0800c12d   Thumb Code    12  remote_control.o(i.remote_control_init)
+    sqrtf                                    0x0800c349   Thumb Code    62  sqrtf.o(i.sqrtf)
+    user_delay_ms                            0x0800c387   Thumb Code    24  calc_lib.o(i.user_delay_ms)
+    user_delay_us                            0x0800c39f   Thumb Code    24  calc_lib.o(i.user_delay_us)
+    uxListRemove                             0x0800c3b7   Thumb Code    40  list.o(i.uxListRemove)
+    vApplicationGetIdleTaskMemory            0x0800c3e1   Thumb Code    14  cmsis_os2.o(i.vApplicationGetIdleTaskMemory)
+    vApplicationGetTimerTaskMemory           0x0800c3f9   Thumb Code    16  cmsis_os2.o(i.vApplicationGetTimerTaskMemory)
+    vApplicationStackOverflowHook            0x0800c411   Thumb Code     2  freertos.o(i.vApplicationStackOverflowHook)
+    vListInitialise                          0x0800c413   Thumb Code    26  list.o(i.vListInitialise)
+    vListInitialiseItem                      0x0800c42d   Thumb Code     6  list.o(i.vListInitialiseItem)
+    vListInsert                              0x0800c433   Thumb Code    52  list.o(i.vListInsert)
+    vListInsertEnd                           0x0800c467   Thumb Code    24  list.o(i.vListInsertEnd)
+    vPortEnterCritical                       0x0800c481   Thumb Code    76  port.o(i.vPortEnterCritical)
+    vPortExitCritical                        0x0800c4d5   Thumb Code    56  port.o(i.vPortExitCritical)
+    vPortFree                                0x0800c511   Thumb Code   150  heap_4.o(i.vPortFree)
+    vPortSetupTimerInterrupt                 0x0800c5b5   Thumb Code    36  port.o(i.vPortSetupTimerInterrupt)
+    vPortValidateInterruptPriority           0x0800c5dd   Thumb Code   106  port.o(i.vPortValidateInterruptPriority)
+    vQueueAddToRegistry                      0x0800c655   Thumb Code    38  queue.o(i.vQueueAddToRegistry)
+    vQueueWaitForMessageRestricted           0x0800c681   Thumb Code    74  queue.o(i.vQueueWaitForMessageRestricted)
+    vTaskDelay                               0x0800c6cd   Thumb Code    82  tasks.o(i.vTaskDelay)
+    vTaskDelayUntil                          0x0800c729   Thumb Code   200  tasks.o(i.vTaskDelayUntil)
+    vTaskDelete                              0x0800c7fd   Thumb Code   168  tasks.o(i.vTaskDelete)
+    vTaskInternalSetTimeOutState             0x0800c8c5   Thumb Code    14  tasks.o(i.vTaskInternalSetTimeOutState)
+    vTaskMissedYield                         0x0800c8dd   Thumb Code     8  tasks.o(i.vTaskMissedYield)
+    vTaskPlaceOnEventList                    0x0800c8e9   Thumb Code    52  tasks.o(i.vTaskPlaceOnEventList)
+    vTaskPlaceOnEventListRestricted          0x0800c921   Thumb Code    60  tasks.o(i.vTaskPlaceOnEventListRestricted)
+    vTaskPriorityDisinheritAfterTimeout      0x0800c961   Thumb Code   194  tasks.o(i.vTaskPriorityDisinheritAfterTimeout)
+    vTaskStartScheduler                      0x0800ca31   Thumb Code   160  tasks.o(i.vTaskStartScheduler)
+    vTaskSuspendAll                          0x0800caed   Thumb Code    12  tasks.o(i.vTaskSuspendAll)
+    vTaskSwitchContext                       0x0800cafd   Thumb Code   230  tasks.o(i.vTaskSwitchContext)
+    xPortStartScheduler                      0x0800cc01   Thumb Code   330  port.o(i.xPortStartScheduler)
+    xPortSysTickHandler                      0x0800cd69   Thumb Code    46  port.o(i.xPortSysTickHandler)
+    xQueueCreateMutex                        0x0800cd9d   Thumb Code    34  queue.o(i.xQueueCreateMutex)
+    xQueueCreateMutexStatic                  0x0800cdbf   Thumb Code    42  queue.o(i.xQueueCreateMutexStatic)
+    xQueueGenericCreate                      0x0800cde9   Thumb Code    90  queue.o(i.xQueueGenericCreate)
+    xQueueGenericCreateStatic                0x0800ce43   Thumb Code   224  queue.o(i.xQueueGenericCreateStatic)
+    xQueueGenericReset                       0x0800cf25   Thumb Code   146  queue.o(i.xQueueGenericReset)
+    xQueueGenericSend                        0x0800cfbd   Thumb Code   420  queue.o(i.xQueueGenericSend)
+    xQueueGenericSendFromISR                 0x0800d165   Thumb Code   252  queue.o(i.xQueueGenericSendFromISR)
+    xQueueGiveMutexRecursive                 0x0800d261   Thumb Code    72  queue.o(i.xQueueGiveMutexRecursive)
+    xQueueReceive                            0x0800d2a9   Thumb Code   356  queue.o(i.xQueueReceive)
+    xQueueReceiveFromISR                     0x0800d411   Thumb Code   202  queue.o(i.xQueueReceiveFromISR)
+    xQueueSemaphoreTake                      0x0800d4dd   Thumb Code   434  queue.o(i.xQueueSemaphoreTake)
+    xQueueTakeMutexRecursive                 0x0800d695   Thumb Code    78  queue.o(i.xQueueTakeMutexRecursive)
+    xTaskCheckForTimeOut                     0x0800d6e5   Thumb Code   132  tasks.o(i.xTaskCheckForTimeOut)
+    xTaskCreate                              0x0800d771   Thumb Code   100  tasks.o(i.xTaskCreate)
+    xTaskCreateStatic                        0x0800d7d5   Thumb Code   186  tasks.o(i.xTaskCreateStatic)
+    xTaskGenericNotify                       0x0800d891   Thumb Code   278  tasks.o(i.xTaskGenericNotify)
+    xTaskGenericNotifyFromISR                0x0800d9b9   Thumb Code   332  tasks.o(i.xTaskGenericNotifyFromISR)
+    xTaskGetCurrentTaskHandle                0x0800db1d   Thumb Code     6  tasks.o(i.xTaskGetCurrentTaskHandle)
+    xTaskGetSchedulerState                   0x0800db29   Thumb Code    24  tasks.o(i.xTaskGetSchedulerState)
+    xTaskGetTickCount                        0x0800db49   Thumb Code     6  tasks.o(i.xTaskGetTickCount)
+    xTaskGetTickCountFromISR                 0x0800db55   Thumb Code    16  tasks.o(i.xTaskGetTickCountFromISR)
+    xTaskIncrementTick                       0x0800db69   Thumb Code   280  tasks.o(i.xTaskIncrementTick)
+    xTaskNotifyWait                          0x0800dcad   Thumb Code   150  tasks.o(i.xTaskNotifyWait)
+    xTaskPriorityDisinherit                  0x0800dd4d   Thumb Code   152  tasks.o(i.xTaskPriorityDisinherit)
+    xTaskPriorityInherit                     0x0800ddf1   Thumb Code   150  tasks.o(i.xTaskPriorityInherit)
+    xTaskRemoveFromEventList                 0x0800de95   Thumb Code   126  tasks.o(i.xTaskRemoveFromEventList)
+    xTaskResumeAll                           0x0800df2d   Thumb Code   222  tasks.o(i.xTaskResumeAll)
+    xTimerCreateTimerTask                    0x0800e031   Thumb Code   100  timers.o(i.xTimerCreateTimerTask)
+    xTimerGenericCommand                     0x0800e0a9   Thumb Code   128  timers.o(i.xTimerGenericCommand)
+    __aeabi_dneg                             0x0800e12d   Thumb Code     0  basic.o(x$fpl$basic)
+    _dneg                                    0x0800e12d   Thumb Code     6  basic.o(x$fpl$basic)
+    __aeabi_fneg                             0x0800e133   Thumb Code     0  basic.o(x$fpl$basic)
+    _fneg                                    0x0800e133   Thumb Code     6  basic.o(x$fpl$basic)
+    _dabs                                    0x0800e139   Thumb Code     6  basic.o(x$fpl$basic)
+    _fabs                                    0x0800e13f   Thumb Code     6  basic.o(x$fpl$basic)
+    __aeabi_d2f                              0x0800e145   Thumb Code     0  d2f.o(x$fpl$d2f)
+    _d2f                                     0x0800e145   Thumb Code    98  d2f.o(x$fpl$d2f)
+    __aeabi_dadd                             0x0800e1a9   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    _dadd                                    0x0800e1a9   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
+    __fpl_dcmp_Inf                           0x0800e2f9   Thumb Code    24  dcmpi.o(x$fpl$dcmpinf)
+    __aeabi_ddiv                             0x0800e311   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    _ddiv                                    0x0800e311   Thumb Code   552  ddiv.o(x$fpl$ddiv)
+    __aeabi_cdcmpeq                          0x0800e5c1   Thumb Code     0  deqf.o(x$fpl$deqf)
+    _dcmpeq                                  0x0800e5c1   Thumb Code   120  deqf.o(x$fpl$deqf)
+    __aeabi_d2iz                             0x0800e639   Thumb Code     0  dfix.o(x$fpl$dfix)
+    _dfix                                    0x0800e639   Thumb Code    94  dfix.o(x$fpl$dfix)
+    __aeabi_d2uiz                            0x0800e699   Thumb Code     0  dfixu.o(x$fpl$dfixu)
+    _dfixu                                   0x0800e699   Thumb Code    90  dfixu.o(x$fpl$dfixu)
+    __aeabi_i2d                              0x0800e6f3   Thumb Code     0  dflt_clz.o(x$fpl$dflt)
+    _dflt                                    0x0800e6f3   Thumb Code    46  dflt_clz.o(x$fpl$dflt)
+    __aeabi_ui2d                             0x0800e721   Thumb Code     0  dflt_clz.o(x$fpl$dfltu)
+    _dfltu                                   0x0800e721   Thumb Code    38  dflt_clz.o(x$fpl$dfltu)
+    __aeabi_dmul                             0x0800e749   Thumb Code     0  dmul.o(x$fpl$dmul)
+    _dmul                                    0x0800e749   Thumb Code   332  dmul.o(x$fpl$dmul)
+    __fpl_dnaninf                            0x0800e89d   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
+    __fpl_dretinf                            0x0800e939   Thumb Code    12  dretinf.o(x$fpl$dretinf)
+    __aeabi_drsub                            0x0800e945   Thumb Code     0  daddsub_clz.o(x$fpl$drsb)
+    _drsb                                    0x0800e945   Thumb Code    22  daddsub_clz.o(x$fpl$drsb)
+    __aeabi_dsub                             0x0800e95d   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    _dsub                                    0x0800e95d   Thumb Code   464  daddsub_clz.o(x$fpl$dsub)
+    __aeabi_f2d                              0x0800eb31   Thumb Code     0  f2d.o(x$fpl$f2d)
+    _f2d                                     0x0800eb31   Thumb Code    86  f2d.o(x$fpl$f2d)
+    __fcmp4                                  0x0800eb89   Thumb Code    24  fcmp4.o(x$fpl$fcmp4)
+    __ARM_fcmp4                              0x0800eba1   Thumb Code     0  fcmp4.o(x$fpl$fcmp4)
+    _fcmp4                                   0x0800eba1   Thumb Code    58  fcmp4.o(x$fpl$fcmp4)
+    __fpl_fcmp_Inf                           0x0800ebdb   Thumb Code    24  fcmpi.o(x$fpl$fcmpinf)
+    __aeabi_ul2f                             0x0800ebf3   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
+    _ll_uto_f                                0x0800ebf3   Thumb Code     6  ffltll_clz.o(x$fpl$ffltll)
+    __aeabi_l2f                              0x0800ebf9   Thumb Code     0  ffltll_clz.o(x$fpl$ffltll)
+    _ll_sto_f                                0x0800ebf9   Thumb Code    90  ffltll_clz.o(x$fpl$ffltll)
+    __fpl_fnaninf                            0x0800ec53   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
+    _fp_init                                 0x0800ecdf   Thumb Code    10  fpinit.o(x$fpl$fpinit)
+    __fplib_config_fpu_vfp                   0x0800ece7   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fplib_config_pureend_doubles           0x0800ece7   Thumb Code     0  fpinit.o(x$fpl$fpinit)
+    __fpl_fretinf                            0x0800ece9   Thumb Code    10  fretinf.o(x$fpl$fretinf)
+    __I$use$fp                               0x0800ecf2   Number         0  usenofp.o(x$fpl$usenofp)
+    defaultTask_attributes                   0x0800ecf4   Data          36  freertos.o(.constdata)
+    AHBPrescTable                            0x0800ed20   Data          16  system_stm32f4xx.o(.constdata)
+    APBPrescTable                            0x0800ed30   Data           8  system_stm32f4xx.o(.constdata)
+    attr_init                                0x0800ed98   Data          36  user_task.o(.constdata)
+    attr_atti_esti                           0x0800edbc   Data          36  user_task.o(.constdata)
+    attr_gimbal_ctrl                         0x0800ede0   Data          36  user_task.o(.constdata)
+    attr_remote                              0x0800ee04   Data          36  user_task.o(.constdata)
+    __mathlib_zero                           0x0800eec0   Data           8  qnan.o(.constdata)
+    Region$$Table$$Base                      0x0800ef20   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x0800ef40   Number         0  anon$$obj.o(Region$$Table)
     defaultTaskHandle                        0x20000000   Data           4  freertos.o(.data)
     uwTick                                   0x20000008   Data           4  stm32f4xx_hal.o(.data)
     uwTickPrio                               0x2000000c   Data           4  stm32f4xx_hal.o(.data)
@@ -5103,9 +5103,9 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000f230, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000f080])
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000f160, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x0000efb0])
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000f010, Max: 0x00100000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0000ef40, Max: 0x00100000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -5265,428 +5265,429 @@ Memory Map of the image
     0x08002a72   0x08002a72   0x0000000a   Code   RO          591    i.EXTI9_5_IRQHandler  stm32f4xx_it.o
     0x08002a7c   0x08002a7c   0x00000006   Code   RO           13    i.Error_Handler     main.o
     0x08002a82   0x08002a82   0x00000002   PAD
-    0x08002a84   0x08002a84   0x00000450   Code   RO         8548    i.Gimbal_Control    gimbal.o
-    0x08002ed4   0x08002ed4   0x00000154   Code   RO         8549    i.Gimbal_Init       gimbal.o
-    0x08003028   0x08003028   0x00000036   Code   RO         8550    i.Gimbal_Output     gimbal.o
-    0x0800305e   0x0800305e   0x00000002   PAD
-    0x08003060   0x08003060   0x00000084   Code   RO         8551    i.Gimbal_SetMode    gimbal.o
-    0x080030e4   0x080030e4   0x00000056   Code   RO         8552    i.Gimbal_UpdateFeedback  gimbal.o
-    0x0800313a   0x0800313a   0x0000002a   Code   RO         8553    i.Gimbal_UpdateIMU  gimbal.o
-    0x08003164   0x08003164   0x0000002a   Code   RO          786    i.HAL_CAN_ActivateNotification  stm32f4xx_hal_can.o
-    0x0800318e   0x0800318e   0x0000014a   Code   RO          787    i.HAL_CAN_AddTxMessage  stm32f4xx_hal_can.o
-    0x080032d8   0x080032d8   0x00000120   Code   RO          788    i.HAL_CAN_ConfigFilter  stm32f4xx_hal_can.o
-    0x080033f8   0x080033f8   0x0000003c   Code   RO         6290    i.HAL_CAN_ErrorCallback  can_1.o
-    0x08003434   0x08003434   0x00000028   Code   RO          793    i.HAL_CAN_GetRxFifoFillLevel  stm32f4xx_hal_can.o
-    0x0800345c   0x0800345c   0x00000194   Code   RO          794    i.HAL_CAN_GetRxMessage  stm32f4xx_hal_can.o
-    0x080035f0   0x080035f0   0x00000036   Code   RO          796    i.HAL_CAN_GetTxMailboxesFreeLevel  stm32f4xx_hal_can.o
-    0x08003626   0x08003626   0x0000024e   Code   RO          798    i.HAL_CAN_IRQHandler  stm32f4xx_hal_can.o
-    0x08003874   0x08003874   0x00000174   Code   RO          799    i.HAL_CAN_Init      stm32f4xx_hal_can.o
-    0x080039e8   0x080039e8   0x000001a0   Code   RO          307    i.HAL_CAN_MspInit   can.o
-    0x08003b88   0x08003b88   0x0000003c   Code   RO         6291    i.HAL_CAN_RxFifo0FullCallback  can_1.o
-    0x08003bc4   0x08003bc4   0x0000003c   Code   RO         6292    i.HAL_CAN_RxFifo0MsgPendingCallback  can_1.o
-    0x08003c00   0x08003c00   0x0000003c   Code   RO         6293    i.HAL_CAN_RxFifo1FullCallback  can_1.o
-    0x08003c3c   0x08003c3c   0x0000003c   Code   RO         6294    i.HAL_CAN_RxFifo1MsgPendingCallback  can_1.o
-    0x08003c78   0x08003c78   0x0000003c   Code   RO         6295    i.HAL_CAN_SleepCallback  can_1.o
-    0x08003cb4   0x08003cb4   0x0000005e   Code   RO          811    i.HAL_CAN_Start     stm32f4xx_hal_can.o
-    0x08003d12   0x08003d12   0x00000002   PAD
-    0x08003d14   0x08003d14   0x0000003c   Code   RO         6296    i.HAL_CAN_TxMailbox0AbortCallback  can_1.o
-    0x08003d50   0x08003d50   0x00000038   Code   RO         6297    i.HAL_CAN_TxMailbox0CompleteCallback  can_1.o
-    0x08003d88   0x08003d88   0x0000003c   Code   RO         6298    i.HAL_CAN_TxMailbox1AbortCallback  can_1.o
-    0x08003dc4   0x08003dc4   0x0000003c   Code   RO         6299    i.HAL_CAN_TxMailbox1CompleteCallback  can_1.o
-    0x08003e00   0x08003e00   0x0000003c   Code   RO         6300    i.HAL_CAN_TxMailbox2AbortCallback  can_1.o
-    0x08003e3c   0x08003e3c   0x0000003c   Code   RO         6301    i.HAL_CAN_TxMailbox2CompleteCallback  can_1.o
-    0x08003e78   0x08003e78   0x0000003c   Code   RO         6302    i.HAL_CAN_WakeUpFromRxMsgCallback  can_1.o
-    0x08003eb4   0x08003eb4   0x000000ac   Code   RO         1526    i.HAL_DMA_Abort     stm32f4xx_hal_dma.o
-    0x08003f60   0x08003f60   0x00000028   Code   RO         1527    i.HAL_DMA_Abort_IT  stm32f4xx_hal_dma.o
-    0x08003f88   0x08003f88   0x00000008   Code   RO         1530    i.HAL_DMA_GetState  stm32f4xx_hal_dma.o
-    0x08003f90   0x08003f90   0x00000240   Code   RO         1531    i.HAL_DMA_IRQHandler  stm32f4xx_hal_dma.o
-    0x080041d0   0x080041d0   0x000000ec   Code   RO         1532    i.HAL_DMA_Init      stm32f4xx_hal_dma.o
-    0x080042bc   0x080042bc   0x00000092   Code   RO         1536    i.HAL_DMA_Start_IT  stm32f4xx_hal_dma.o
-    0x0800434e   0x0800434e   0x00000002   PAD
-    0x08004350   0x08004350   0x00000028   Code   RO         1968    i.HAL_Delay         stm32f4xx_hal.o
-    0x08004378   0x08004378   0x00000030   Code   RO         6517    i.HAL_GPIO_EXTI_Callback  gpio_1.o
-    0x080043a8   0x080043a8   0x0000001c   Code   RO         1418    i.HAL_GPIO_EXTI_IRQHandler  stm32f4xx_hal_gpio.o
-    0x080043c4   0x080043c4   0x000001f4   Code   RO         1419    i.HAL_GPIO_Init     stm32f4xx_hal_gpio.o
-    0x080045b8   0x080045b8   0x00000010   Code   RO         1421    i.HAL_GPIO_ReadPin  stm32f4xx_hal_gpio.o
-    0x080045c8   0x080045c8   0x0000000c   Code   RO         1423    i.HAL_GPIO_WritePin  stm32f4xx_hal_gpio.o
-    0x080045d4   0x080045d4   0x0000000c   Code   RO         1974    i.HAL_GetTick       stm32f4xx_hal.o
-    0x080045e0   0x080045e0   0x00000034   Code   RO         6585    i.HAL_I2C_AbortCpltCallback  i2c_1.o
-    0x08004614   0x08004614   0x00000002   Code   RO         2220    i.HAL_I2C_AddrCallback  stm32f4xx_hal_i2c.o
-    0x08004616   0x08004616   0x000000d4   Code   RO         2223    i.HAL_I2C_ER_IRQHandler  stm32f4xx_hal_i2c.o
-    0x080046ea   0x080046ea   0x000001da   Code   RO         2224    i.HAL_I2C_EV_IRQHandler  stm32f4xx_hal_i2c.o
-    0x080048c4   0x080048c4   0x00000034   Code   RO         6586    i.HAL_I2C_ErrorCallback  i2c_1.o
-    0x080048f8   0x080048f8   0x000001d0   Code   RO         2230    i.HAL_I2C_Init      stm32f4xx_hal_i2c.o
-    0x08004ac8   0x08004ac8   0x00000034   Code   RO         6587    i.HAL_I2C_ListenCpltCallback  i2c_1.o
-    0x08004afc   0x08004afc   0x00000034   Code   RO         6588    i.HAL_I2C_MasterRxCpltCallback  i2c_1.o
-    0x08004b30   0x08004b30   0x00000030   Code   RO         6589    i.HAL_I2C_MasterTxCpltCallback  i2c_1.o
-    0x08004b60   0x08004b60   0x00000034   Code   RO         6590    i.HAL_I2C_MemRxCpltCallback  i2c_1.o
-    0x08004b94   0x08004b94   0x00000034   Code   RO         6591    i.HAL_I2C_MemTxCpltCallback  i2c_1.o
-    0x08004bc8   0x08004bc8   0x0000011c   Code   RO          380    i.HAL_I2C_MspInit   i2c.o
-    0x08004ce4   0x08004ce4   0x00000034   Code   RO         6592    i.HAL_I2C_SlaveRxCpltCallback  i2c_1.o
-    0x08004d18   0x08004d18   0x00000034   Code   RO         6593    i.HAL_I2C_SlaveTxCpltCallback  i2c_1.o
-    0x08004d4c   0x08004d4c   0x00000018   Code   RO         1980    i.HAL_IncTick       stm32f4xx_hal.o
-    0x08004d64   0x08004d64   0x0000003c   Code   RO         1981    i.HAL_Init          stm32f4xx_hal.o
-    0x08004da0   0x08004da0   0x0000004c   Code   RO         1982    i.HAL_InitTick      stm32f4xx_hal.o
-    0x08004dec   0x08004dec   0x00000054   Code   RO          761    i.HAL_MspInit       stm32f4xx_hal_msp.o
-    0x08004e40   0x08004e40   0x0000002c   Code   RO         1810    i.HAL_NVIC_DisableIRQ  stm32f4xx_hal_cortex.o
-    0x08004e6c   0x08004e6c   0x00000028   Code   RO         1811    i.HAL_NVIC_EnableIRQ  stm32f4xx_hal_cortex.o
-    0x08004e94   0x08004e94   0x0000007c   Code   RO         1817    i.HAL_NVIC_SetPriority  stm32f4xx_hal_cortex.o
-    0x08004f10   0x08004f10   0x00000028   Code   RO         1818    i.HAL_NVIC_SetPriorityGrouping  stm32f4xx_hal_cortex.o
-    0x08004f38   0x08004f38   0x00000184   Code   RO         1020    i.HAL_RCC_ClockConfig  stm32f4xx_hal_rcc.o
-    0x080050bc   0x080050bc   0x0000000c   Code   RO         1025    i.HAL_RCC_GetHCLKFreq  stm32f4xx_hal_rcc.o
-    0x080050c8   0x080050c8   0x00000020   Code   RO         1027    i.HAL_RCC_GetPCLK1Freq  stm32f4xx_hal_rcc.o
-    0x080050e8   0x080050e8   0x00000020   Code   RO         1028    i.HAL_RCC_GetPCLK2Freq  stm32f4xx_hal_rcc.o
-    0x08005108   0x08005108   0x000000b0   Code   RO         1029    i.HAL_RCC_GetSysClockFreq  stm32f4xx_hal_rcc.o
-    0x080051b8   0x080051b8   0x0000049c   Code   RO         1032    i.HAL_RCC_OscConfig  stm32f4xx_hal_rcc.o
-    0x08005654   0x08005654   0x00000038   Code   RO         6815    i.HAL_SPI_ErrorCallback  spi_1.o
-    0x0800568c   0x0800568c   0x000000c8   Code   RO         2725    i.HAL_SPI_Init      stm32f4xx_hal_spi.o
-    0x08005754   0x08005754   0x000001cc   Code   RO          428    i.HAL_SPI_MspInit   spi.o
-    0x08005920   0x08005920   0x00000182   Code   RO         2728    i.HAL_SPI_Receive   stm32f4xx_hal_spi.o
-    0x08005aa2   0x08005aa2   0x00000002   PAD
-    0x08005aa4   0x08005aa4   0x00000118   Code   RO         2729    i.HAL_SPI_Receive_DMA  stm32f4xx_hal_spi.o
-    0x08005bbc   0x08005bbc   0x00000038   Code   RO         6816    i.HAL_SPI_RxCpltCallback  spi_1.o
-    0x08005bf4   0x08005bf4   0x00000038   Code   RO         6817    i.HAL_SPI_RxHalfCpltCallback  spi_1.o
-    0x08005c2c   0x08005c2c   0x000001be   Code   RO         2733    i.HAL_SPI_Transmit  stm32f4xx_hal_spi.o
-    0x08005dea   0x08005dea   0x00000248   Code   RO         2734    i.HAL_SPI_TransmitReceive  stm32f4xx_hal_spi.o
-    0x08006032   0x08006032   0x00000002   PAD
-    0x08006034   0x08006034   0x00000164   Code   RO         2735    i.HAL_SPI_TransmitReceive_DMA  stm32f4xx_hal_spi.o
-    0x08006198   0x08006198   0x000000fc   Code   RO         2737    i.HAL_SPI_Transmit_DMA  stm32f4xx_hal_spi.o
-    0x08006294   0x08006294   0x0000002c   Code   RO         6818    i.HAL_SPI_TxCpltCallback  spi_1.o
-    0x080062c0   0x080062c0   0x00000038   Code   RO         6819    i.HAL_SPI_TxHalfCpltCallback  spi_1.o
-    0x080062f8   0x080062f8   0x00000038   Code   RO         6820    i.HAL_SPI_TxRxCpltCallback  spi_1.o
-    0x08006330   0x08006330   0x00000038   Code   RO         6821    i.HAL_SPI_TxRxHalfCpltCallback  spi_1.o
-    0x08006368   0x08006368   0x00000034   Code   RO         1822    i.HAL_SYSTICK_Config  stm32f4xx_hal_cortex.o
-    0x0800639c   0x0800639c   0x00000002   Code   RO         3753    i.HAL_TIMEx_BreakCallback  stm32f4xx_hal_tim_ex.o
-    0x0800639e   0x0800639e   0x00000002   Code   RO         3754    i.HAL_TIMEx_CommutCallback  stm32f4xx_hal_tim_ex.o
-    0x080063a0   0x080063a0   0x000000b4   Code   RO         3772    i.HAL_TIMEx_MasterConfigSynchronization  stm32f4xx_hal_tim_ex.o
-    0x08006454   0x08006454   0x00000066   Code   RO         3038    i.HAL_TIM_Base_Init  stm32f4xx_hal_tim.o
-    0x080064ba   0x080064ba   0x00000002   PAD
-    0x080064bc   0x080064bc   0x00000078   Code   RO          476    i.HAL_TIM_Base_MspInit  tim.o
-    0x08006534   0x08006534   0x00000002   Code   RO         3072    i.HAL_TIM_IC_CaptureCallback  stm32f4xx_hal_tim.o
-    0x08006536   0x08006536   0x0000016c   Code   RO         3086    i.HAL_TIM_IRQHandler  stm32f4xx_hal_tim.o
-    0x080066a2   0x080066a2   0x00000002   PAD
-    0x080066a4   0x080066a4   0x00000060   Code   RO          477    i.HAL_TIM_MspPostInit  tim.o
-    0x08006704   0x08006704   0x00000002   Code   RO         3089    i.HAL_TIM_OC_DelayElapsedCallback  stm32f4xx_hal_tim.o
-    0x08006706   0x08006706   0x00000104   Code   RO         3110    i.HAL_TIM_PWM_ConfigChannel  stm32f4xx_hal_tim.o
-    0x0800680a   0x0800680a   0x00000066   Code   RO         3113    i.HAL_TIM_PWM_Init  stm32f4xx_hal_tim.o
-    0x08006870   0x08006870   0x00000002   Code   RO         3115    i.HAL_TIM_PWM_MspInit  stm32f4xx_hal_tim.o
-    0x08006872   0x08006872   0x00000002   Code   RO         3116    i.HAL_TIM_PWM_PulseFinishedCallback  stm32f4xx_hal_tim.o
-    0x08006874   0x08006874   0x0000010c   Code   RO         3118    i.HAL_TIM_PWM_Start  stm32f4xx_hal_tim.o
-    0x08006980   0x08006980   0x00000002   Code   RO         3124    i.HAL_TIM_PeriodElapsedCallback  stm32f4xx_hal_tim.o
-    0x08006982   0x08006982   0x00000002   Code   RO         3129    i.HAL_TIM_TriggerCallback  stm32f4xx_hal_tim.o
-    0x08006984   0x08006984   0x00000002   Code   RO         4032    i.HAL_UARTEx_RxEventCallback  stm32f4xx_hal_uart.o
-    0x08006986   0x08006986   0x00000002   PAD
-    0x08006988   0x08006988   0x00000034   Code   RO         6991    i.HAL_UART_ErrorCallback  uart.o
-    0x080069bc   0x080069bc   0x00000308   Code   RO         4049    i.HAL_UART_IRQHandler  stm32f4xx_hal_uart.o
-    0x08006cc4   0x08006cc4   0x00000076   Code   RO         4050    i.HAL_UART_Init     stm32f4xx_hal_uart.o
-    0x08006d3a   0x08006d3a   0x00000002   PAD
-    0x08006d3c   0x08006d3c   0x00000198   Code   RO          530    i.HAL_UART_MspInit  usart.o
-    0x08006ed4   0x08006ed4   0x00000034   Code   RO         6992    i.HAL_UART_RxCpltCallback  uart.o
-    0x08006f08   0x08006f08   0x00000034   Code   RO         6994    i.HAL_UART_TxCpltCallback  uart.o
-    0x08006f3c   0x08006f3c   0x00000004   Code   RO          592    i.HardFault_Handler  stm32f4xx_it.o
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+    0x0800ecf2   0x0800ecf2   0x00000002   PAD
+    0x0800ecf4   0x0800ecf4   0x00000024   Data   RO          246    .constdata          freertos.o
+    0x0800ed18   0x0800ed18   0x00000008   Data   RO         1538    .constdata          stm32f4xx_hal_dma.o
+    0x0800ed20   0x0800ed20   0x00000018   Data   RO         4395    .constdata          system_stm32f4xx.o
+    0x0800ed38   0x0800ed38   0x00000038   Data   RO         6519    .constdata          gpio_1.o
+    0x0800ed70   0x0800ed70   0x00000008   Data   RO         6734    .constdata          pwm.o
+    0x0800ed78   0x0800ed78   0x00000020   Data   RO         8405    .constdata          atti_esti.o
+    0x0800ed98   0x0800ed98   0x00000090   Data   RO         8532    .constdata          user_task.o
+    0x0800ee28   0x0800ee28   0x00000098   Data   RO         8852    .constdata          m_wm.l(atan.o)
+    0x0800eec0   0x0800eec0   0x00000008   Data   RO         8899    .constdata          m_wm.l(qnan.o)
+    0x0800eec8   0x0800eec8   0x00000020   Data   RO         8901    .constdata          m_wm.l(rredf.o)
+    0x0800eee8   0x0800eee8   0x0000000c   Data   RO          247    .conststring        freertos.o
+    0x0800eef4   0x0800eef4   0x0000002a   Data   RO         8533    .conststring        user_task.o
+    0x0800ef1e   0x0800ef1e   0x00000002   PAD
+    0x0800ef20   0x0800ef20   0x00000020   Data   RO         9090    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800f010, Size: 0x00008730, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000070])
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x0800ef40, Size: 0x00008730, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000070])
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -5735,7 +5736,7 @@ Memory Map of the image
     0x20008330        -       0x00000400   Zero   RW            1    STACK               startup_stm32f407xx.o
 
 
-    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800f080, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
+    Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x0800efb0, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
 
     **** No section assigned to this execution region ****
 
@@ -5748,8 +5749,8 @@ Image component sizes
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
       4242         76          0          4          0       9382   ahrs.o
-       136         18          0          0          0       8627   ai.o
-       324         52         32          0        220       8025   atti_esti.o
+       136         18          0          0          0       8607   ai.o
+       324         52         32          0        220       8005   atti_esti.o
       1280         92          0          9         19      12666   bmi088.o
         48         16          0          8          0     583613   bsp_delay.o
        224         28          0          0          0       1555   bsp_rc.o
@@ -5758,12 +5759,12 @@ Image component sizes
       2652        204          0         16       2168      25071   can_1.o
          0          0          0          0          0        628   cmd.o
       1854         56          0          4       1736      63560   cmsis_os2.o
-         8          4          0        336          0       5358   config.o
+         8          4          0        336          0       5338   config.o
        120          6          0          0          0        818   dma.o
          0          0          0          0          0      19160   event_groups.o
        500         22          0          0          0       8108   filter.o
         72         20         48          4          0       3402   freertos.o
-      1758         24          0          0          0       7382   gimbal.o
+      1546         22          0          0          0       7246   gimbal.o
        168         28          0          0        740       1274   gimbal_ctrl.o
        496         20          0          0          0       1239   gpio.o
        336         28         56          0         64       4927   gpio_1.o
@@ -5780,7 +5781,7 @@ Image component sizes
       1014         92          0         12          0      11673   port.o
        216         12          8          0          0       2302   pwm.o
       2930         26          0          0         64      25955   queue.o
-       128         24          0          0         36       6325   remote.o
+       128         24          0          0         36       6305   remote.o
        628         36          0          0         49       4604   remote_control.o
        604         54          0          0        368       2592   spi.o
        616         56          0          0         64       8650   spi_1.o
@@ -5810,7 +5811,7 @@ Image component sizes
          0          0        186          0         80       1777   user_task.o
 
     ----------------------------------------------------------------------
-     52540       2698        788        544      33964    1843514   Object Totals
+     52328       2696        788        544      33964    1843298   Object Totals
          0          0         32          0          0          0   (incl. Generated)
         70          0          2          6          4          0   (incl. Padding)
 
@@ -5884,8 +5885,8 @@ Image component sizes
        380         58          0          0          0        200   tanf.o
 
     ----------------------------------------------------------------------
-      7936        680        192          0        100       7424   Library Totals
-        20          0          0          0          4          0   (incl. Padding)
+      7940        684        192          0        100       7424   Library Totals
+        24          4          0          0          4          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
@@ -5896,7 +5897,7 @@ Image component sizes
       3904        460        192          0          0       3076   m_wm.l
 
     ----------------------------------------------------------------------
-      7936        680        192          0        100       7424   Library Totals
+      7940        684        192          0        100       7424   Library Totals
 
     ----------------------------------------------------------------------
 
@@ -5905,15 +5906,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     60476       3378        980        544      34064    1806366   Grand Totals
-     60476       3378        980        112      34064    1806366   ELF Image Totals (compressed)
-     60476       3378        980        112          0          0   ROM Totals
+     60268       3380        980        544      34064    1806150   Grand Totals
+     60268       3380        980        112      34064    1806150   ELF Image Totals (compressed)
+     60268       3380        980        112          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                61456 (  60.02kB)
+    Total RO  Size (Code + RO Data)                61248 (  59.81kB)
     Total RW  Size (RW Data + ZI Data)             34608 (  33.80kB)
-    Total ROM Size (Code + RO Data + RW Data)      61568 (  60.13kB)
+    Total ROM Size (Code + RO Data + RW Data)      61360 (  59.92kB)
 
 ==============================================================================
 
diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o
index ccaed50a6772e590c9e2f63342775659c1c5da56..7317f76973a992658c194a78221354fe0b808b90 100644
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diff --git a/MDK-ARM/gimbal/gimbal_ctrl.crf b/MDK-ARM/gimbal/gimbal_ctrl.crf
index cbe617665445435f147c027c6ffe907c299863a2..9e5853132d8b0a916ca63e59aca50e9b44fc807a 100644
GIT binary patch
delta 5117
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diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o
index e46b2eba80129734c9fcc73724977d2cf5de9829..63a29f4971b9abfa5bb52928193d7459d707c64b 100644
GIT binary patch
delta 1379
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delta 1930
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diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep
index d8849e6..2ff2cb7 100644
--- a/MDK-ARM/gimbal/gimbal_gimbal.dep
+++ b/MDK-ARM/gimbal/gimbal_gimbal.dep
@@ -1694,6 +1694,14 @@ I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
+F (..\User\component\filter.c)(0x68E90EBF)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\filter.o --omf_browse gimbal\filter.crf --depend gimbal\filter.d)
+I (..\User\component\filter.h)(0x68E90EBF)
+I (..\User\component\user_math.h)(0x68E90EBF)
+I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
+I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
+I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
+I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
+I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
 F (..\User\component\crc8.c)(0x68E90EBF)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\crc8.o --omf_browse gimbal\crc8.crf --depend gimbal\crc8.d)
 I (..\User\component\crc8.h)(0x68E90EBF)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
@@ -1707,14 +1715,6 @@ I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
-F (..\User\component\filter.c)(0x68E90EBF)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\filter.o --omf_browse gimbal\filter.crf --depend gimbal\filter.d)
-I (..\User\component\filter.h)(0x68E90EBF)
-I (..\User\component\user_math.h)(0x68E90EBF)
-I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
-I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
-I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
-I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
-I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
 F (..\User\component\freertos_cli.c)(0x68E90EBF)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\freertos_cli.o --omf_browse gimbal\freertos_cli.crf --depend gimbal\freertos_cli.d)
 I (D:\KEIL_MDK\ARM\ARMCC\include\string.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
@@ -2126,7 +2126,7 @@ I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stdint.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stddef.h)(0x5E8E3CC2)
-I (../User/module/gimbal.h)(0x68EF9D8A)
+I (../User/module/gimbal.h)(0x68F1F21B)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/filter.h)(0x68E90EBF)
 I (../User/component/pid.h)(0x68E90EBF)
@@ -2203,7 +2203,7 @@ 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)(0x68EF9D8A)
+I (../User/module/gimbal.h)(0x68F1F21B)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/user_math.h)(0x68E90EBF)
 I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
@@ -2314,7 +2314,7 @@ I (../User/component/pid.h)(0x68E90EBF)
 I (../User/component/filter.h)(0x68E90EBF)
 I (../User/device/bmi088.h)(0x68E90E66)
 I (../User/device/device.h)(0x68E90EBF)
-I (../User/module/gimbal.h)(0x68EF9D8A)
+I (../User/module/gimbal.h)(0x68F1F21B)
 I (../User/device/motor.h)(0x68E90E66)
 I (../User/device/motor_rm.h)(0x68E90E66)
 I (../User/bsp/can.h)(0x68E90EBF)
@@ -2344,7 +2344,7 @@ I (../User/component\user_math.h)(0x68E90EBF)
 I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\stdbool.h)(0x5E8E3CC2)
-I (../User/module/gimbal.h)(0x68EF9D8A)
+I (../User/module/gimbal.h)(0x68F1F21B)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/filter.h)(0x68E90EBF)
 I (../User/component/pid.h)(0x68E90EBF)
@@ -2403,7 +2403,7 @@ 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)(0x68EF9D8A)
+I (../User/module/gimbal.h)(0x68F1F21B)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/user_math.h)(0x68E90EBF)
 I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
@@ -2469,8 +2469,8 @@ I (../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h)(0x68B055DB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/task.h)(0x68B055DB)
 I (../Middlewares/Third_Party/FreeRTOS/Source/include/list.h)(0x68B055DB)
-F (..\User\module\gimbal.c)(0x68F0FB56)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d)
-I (..\User\module\gimbal.h)(0x68EF9D8A)
+F (..\User\module\gimbal.c)(0x68F1F68E)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\gimbal.o --omf_browse gimbal\gimbal.crf --depend gimbal\gimbal.d)
+I (..\User\module\gimbal.h)(0x68F1F21B)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/user_math.h)(0x68E90EBF)
 I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
@@ -2532,7 +2532,7 @@ 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/bsp/time.h)(0x68E90EBF)
-F (..\User\module\config.c)(0x68EF9D67)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\config.o --omf_browse gimbal\config.crf --depend gimbal\config.d)
+F (..\User\module\config.c)(0x68F1F28F)(--c99 -c --cpu Cortex-M4.fp.sp -g -W -O0 --apcs=interwork --split_sections -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_MDK\ARM\CMSIS\5.7.0\CMSIS\Core\Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o gimbal\config.o --omf_browse gimbal\config.crf --depend gimbal\config.d)
 I (../User/component/user_math.h)(0x68E90EBF)
 I (D:\KEIL_MDK\ARM\ARMCC\include\float.h)(0x5E8E3CC2)
 I (D:\KEIL_MDK\ARM\ARMCC\include\math.h)(0x5E8E3CC2)
@@ -2592,7 +2592,7 @@ 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)(0x68E90E66)
-I (../User/module/gimbal.h)(0x68EF9D8A)
+I (../User/module/gimbal.h)(0x68F1F21B)
 I (../User/component/ahrs.h)(0x68E90EBF)
 I (../User/component/filter.h)(0x68E90EBF)
 I (../User/component/pid.h)(0x68E90EBF)
diff --git a/MDK-ARM/gimbal/init.crf b/MDK-ARM/gimbal/init.crf
index 62137a762ecd6f403b1dcc692702c7d894bc317a..e1510000e6dee73adb3f419c42b06692cbf6cd00 100644
GIT binary patch
delta 3149
zcmZvfe^6A{702&o7j}8T1rtp`ARI_B0##8F7i4h(Nlh%ZsdgsS=w^jQ39O5-lxkyn
z#uzZ>myMa%3AR#a`h)h5fbGmqTl2%tG&+q+tZhSgZK@e#jWLNaHP)KMe$VcEYbi2w
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delta 3224
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diff --git a/MDK-ARM/gimbal/init.o b/MDK-ARM/gimbal/init.o
index f10839b7be39c93331cab238fbd3913b405a8d28..a50fdc7913fe572bae182f36eea0597037095987 100644
GIT binary patch
delta 1284
zcmZwEUrbw790%}oZdY37dTyCR%QmwD6UXL~+ZLpqSt6Nc)JRqq9)K}#yRku;7)aEN
zL?dKdEGV&a4`1*>VGl-(5BBMH{|xnMMA5Pk0>%e<E5?V;=~9duf4_Ey2YLAA)1Ke=
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co319*PeJ<5Obf=CC{j!VR+)at3;L7)0vBzKWB>pF

delta 1772
zcmZ{ke@t6d6vyv-ZK1fndtqxGhGH5Z%xrX)QsTA@1?^-g4Vz(q2rUn=LRrcj3ns*{
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zj!UpFhGS1%G8^5@n3CM|7n02FSrKFzlrDTqPN?Kk1`!lxDox2dMq3IsU3fFYFv*E?
w&b;S$>O{6)hLtY<)-IcE?-nL}HhZyZ7@p?R3*%gN!sjTqLtaJ>>wj1O0^#1z2mk;8

diff --git a/MDK-ARM/gimbal/remote.crf b/MDK-ARM/gimbal/remote.crf
index b7abf10963e9741b1066113a02eb34a4a51fb519..23a228f91beabdfea9ee9d825341afc4d845d161 100644
GIT binary patch
delta 2789
zcmZuzYj9Il5I(0#OL|E|Ddje$JPsY00aWNvC@mIfX`m_$==d1ql}VdhOi7xMq!tip
z<V``|aOEK&{P2NL+7UCL%*Y=RRGtEz1mr1>Fpht4h98XjZSK8+P&%_`zWvVbo;|x~
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zLT<u2)W$=Igs+@DQ&@m50nHK_K)(Xb7UsB}T?TRrxdsl@ZECb5H^K+Q2;Vi?CH_-i
zA8#vewz6wb=LmTptiHi6K525j_#5aqpt<5Npc_D5@gQzxH-UUY-mB+;M=1xz9hlq(
z3W-}lcYwm;2GCugCJ_hv9cZDr3WTqhyjWZU`U7Z*npS1&YhKF5kLrLbTd{dH7bnyi
zgw}J>u5PZfy=C6X#UAy3m2FV-UM_Ou7WQE~N4g>>-k&W6+|Na#D9^lY`5cn0if6KA
zu%V*u1zxV>J-{n~kAU9|yi(^0uL7nq*$BK^#~XmxG((|cu7lE|<F&wRb=(5H4wxou
z3GhccUJSfm$BTeB08?@y;Eg&C;$EBD6MY&5xLJcGfLk;;GHwmCtr~U=jqow?u54R7
zcVNIBL(MDVS!_GB9s-J^$Xp+nm<m0Y^gB>KhLSHFz4${YJD~Ixj=}r}+;&1Kgko|O
W^I13#|He87MEJc9Gybh*h5rLP5=5#1

delta 2739
zcmZuzdu&rx7(Zugx9+lC#u(kkfE~~wpc&v`FhJc(*^uyxLL!26Wxaz!yN<0J&$#j!
zW8<kXF7i+wCJKVGAt}1B7-Qm86hwKofII?*5aS=HBpRc?ulL^0I+lDVzw`SZ=R4nb
zzPsLQF5I@MFy)HGSR7~eeQlg=Y)zSNmYUl;zD!{FOIoLx8x=E$#6jXACJ1o}kVJ?D
zk`z?TQu~B{eOW(>#L`M%oMtPY>X<geJ_*aL885MRHOD568TW20H+y|9g`EiXVIqAH
zXC_dROY!)fjup;jY~N$}Dz~2<P`BHpg6t!$+~jpGXBnZMx_g9iSF$YimQ5P_)Nw?E
zy~FGC`>L6XqV>Zm7UB_K=gW2s+-p@UCrgR-;)Jg8d6k7u<~2N`yt8tlM`6Ago=(v0
zmv-Yd`<hUub~43Dp_A(rkFVVAU%_}Nt4sBYOgg39<<R`D#rV-VQ9tv4{bW*gx!nw<
zYB2+GxT&ei?b=nxGt~~8WO?CJ5WZSJ`;BZOB?n_(xT4y}nnI$hK7BmCWsWLmO^u_x
z*6*vRa8y()OWFCBr94ZWVVBJL9SB4{dK4`_F-U~{WmF+jXRlJe$gxsE{D!FWyw7##
zhf!x@$oWyIx1JXm3*CthDeK0Ptt*tKC7g<DCi<(Ls19qTZq^$?IuV45L(jw>4H9MX
zR7zr4sz2Elb!TB~3uWlZAwn|6r3A^oHCFSgp@P%N7?sgraytHa4SYT#4LwzXn<c-j
z_#IQ-Uc~gXPIX#|RM`IqqiJPEuak*VYCYA=tsX9s3X(3PqHb?3>!h-eqF||4^|E(T
z*`o}V@@%M=ejwZuw0XIt4lk9)XW!7BE=PMs3^|3>hEl1p^fprTIBS+TmN}OwwN*?B
z$$FKbiFf(gbPAqH;|(IA%31C7vL2N8AaER9<SU@2PEN{HUoVj?`9B+1nQbJR49bLJ
zvpb=5EzwN)CDkbYDxbU3&o&w}Y^i^skFYjEnZ{$BVDQ?gT4Q)>rDor+8?V{-HAa!*
z#E$S$V-!gx&oMfz#cPQ1qjRDo{9%kAsk%nE$!P1%c-)glnEgY2tdD%Ze%D*_u~8li
zG1QXN^ll9s3(6B2AKr~6TeI=V$UB*Ajd81dtcHC0R2vUv1ohHGuabRBnJu7G#ou~n
zJB`dD40-MjS+&fH;Mk+W?eQzs4*C+c7^W7wDKVcJJst}tsX|d)3!LRk*eAidDN>;+
z=>iY%UTKiv>FLt2xXcsSTia<lLrW*AQv*CN_~%UNRF26X;8TJptEBsL`e(B%DH+)!
zqddSf7Q@s5sfPsM(x#sNT3TS5AK<rw1HO@3xU`R=?Z=WAJabk$$3;H&qadRp1(30j
zLdZDC_y9kp9{WyOJ!Cz(HPEtwmPT5dXlbTp6D^yu+zHM+Cpqwm!@eTGM>Yn}OOPIr
z<Y4f8$||pA1XLpfye>HId3g`dPGpB#xiv@BhI_KZKtfobfW@i+e@FfG1v#fQk-Y~x
zS1b;vv-g1pi)b<Iy#strIFaEWq;;rp0UZSzCKdpF0Q9sd3+J+9K+gzuW|5qgU~NH?
z#j3wZo)%vqrm9~Q$;0C(h+_4RA~`qSCdQ}(iUCSRo?22Y7sgK)1J$*~^4!^p?0bZn
zBa*|Z>;lkSVO@?isY^$28a`9j*F*x)k3jQ<3Fsn_L&SwM*(IPdVMT)?&7?ls(*rzL
zeby%DPfBFhpkF8+hLhQKphd!Z5MfUu1ineuCE^#LpMX5#0nkk#uecB6TR@e<dH}{p
z)uT2!JEK-yhs9m+%f(fodqAtiMfI9Z9&B2}#aC*=L^<Eo$VG?x9HA{-oK*c2<yod(
zTpUu*PLzk#zs*ITu!XH@;|ML%0M`N@<RUdZkgWqe%thql|9hU+^GIYuIEk%?4HafT
zaD$Hb0dD|q1-}QlQRfM71g4k16}YLbUfXQJrWp!){msCeble2IS;rfJw*b>{tOnky
z<5j@hbi5LHJ1`};6!;AtSK(f7wnb*D0C0x}M~5x-Y^R1tp~Nj3wCB;ydazw>+>RNw
z=b6@rQ<#cfZ-I?{gvlM2*lz68X@47=x3I|)_P+cfHhZucAnZf=4Y=*aW)L><_Iy4M
TN8?AS{mB5od&Ptwscg`{;@&eO

diff --git a/MDK-ARM/gimbal/remote.o b/MDK-ARM/gimbal/remote.o
index 0988106512567c90c4ac49d956d0fc6aff68857e..8c222b109a2ce26fcc13308d5e318f808fa9cfe9 100644
GIT binary patch
delta 1728
zcmZwHUr1Y590%}olch1O_ng@32y3l(*4E+(yGE_i5vE%^9a~tm7Npq4e_4~&v=J&e
zXrQu|xlzGV%P(`YNGmKbg!JjgQd`G5CX{qp_poftO_>kwL6*IYY*5(m<lJxr^Wn!a
z=X1WlbMBRMuWfpAzk8+?iQIkhlI=jV;!<5r)kGqGf6trV6Mnx^UEkE&(A=u3A1>KG
zTCz!4CM+}7b66IvU07DE5-h%EH`X4kQY=|pveA>DNLN6fq4z7Q%)X9LcyM6E|GM|M
z|03Djy-PX_zs^uqdP!q9>DwmhH1q*&l>BfVXpiNrx$bW({C1N%z!akuQdo1u=s%L>
zwq)M-6rP`@9cEH@6~<<1gZ9NN{nBQwuXi;%8_12j)|MMylU=*LK+iW<oTv%7RMqbb
z9e?ZGYrWlplL3E?3kEi6xz_Rv{iCvcrv)JWNvpI||I((ioxOcGJD}a$!>-c3|Ice(
zFR)|wor4=y7}V-m%Q0yZ{_1Ck<e6DY?1Yd8iI8z9Yi0W_3piB{-?y?umL&dp4K})2
z4NMKNT6yy`Bz^UaSe@fjVs+`~lw5%>H?DRLvRX^e93=;#y^-yMkwIpcE<%(~U&84H
z7<~n&@AGK|Qhd7R4kdkJx^xJqFGJ-Jt2Jep;f*17M2bKdf6DU@C@IlTV1=$BwqJ_F
zGM7w|*o3TuJj`k(J2dgZ0cUWKk3KY>Scdjt?BIq)E}ccfM2B8@#wCJsRNu8sNDRCI
zY`O(wIGC~z;Z}ehk#o4Pa6E@tNMIXR$c`0C9D0jtAu4#@L&>5jy41l$01sq`DK3t$
zjLgf0%o>+Ylzu(aEF=!jvnVS?@~RL8qFn4>Q=;mb4k2xj;<AcTINLiy)}b<p()-AG
zo*p6n5au$DQpofPnTBO9$s!pRk_I`1vQ^YAlowO>5xg717gzF)(QZ_P6j<aTcaeM`
z#0Sr~L{Jp{fhL4ZgZF)uL{a8rA*(RQ#rLhT&vhX|*yfT&Nt(q?_*DEG;@~;QyFE7c
zxg{hGQ(Q7A3A{P{_S_NOCSfg~Nf|FLE+h%g5zM4f3NJ1pWDBBP$P-F}`tu|UXG?Ke
zM=4}h@?y$8frDXuaqjOZY12ciA~X)+Fovd4=5<L6QDK?Oe3}xse(a2p49MqEd{2#y
z)`bM&43}7uYzaxgBA2!wj7(MtUK=i#QIh%zazfnTy@1yy0%Lp_hdCT%<wv7K2~1qb
zU&(DQ{V0X|Bnt_GC&GIdWh#WkV2X>9p(L*FS}9}|*7BL3D9P$_SV#n%qj-=>IK_tq
fL~*brf5u&5qmzH3M)6a$0x3QnbuluL|DOE^0aLp?

delta 1222
zcmZ|MUr1zC90%}w=8x{I&bhdarL`=h4K9ko{99`zp(z(JW-x1rEa5upv`*>PkVL|?
zAQ`ob4?8sS)xn2khc?3(VPSSaVh0Qogb?;cutG9o!52Z6HGJsz-RZ6E;d?)v^ZT81
z?>YC;A3gI2JvY6|v)+<*oxkJ_`h%BR4P{tXqCbAwvb?RqKzAU}9g2KWc70WLDTz&D
zmpCL&NsXjdaz?_QvywVVy~JHAyYyQ()FRw@z0v5kztNYT8cj}Guf=<<Y2)0L8r6p1
z^4hODOXh-(+0=U&h7PL{<e(GI346!GTKvACn_yeijp}NtX;Ggj=PhM_>MuN9(0xsw
zzW(^D(U=t<=)EkD#K4<Io!#gtV5Fc!rF=pE;HvEkhx{*ujBnO!Bc*FaeeK0_L%vkd
z@3&F|pM^escY5rT(XQKiPhWV#e98N_e!Jlb1xTTJ;ak&L`mWCWQaAp0OUoBT<xkyH
z`uth*q4|GX!0(eiZgrTEF13tbN6hEd_fSdmV$I!xHarF{bepYe8-p^X-oXrcgcZSA
zzbp-iTc!_3Tu_wprUCtmESNxaR64&#n%qQ=gi$6hVV~sT8Z$5296usBX11w049QU4
z!7SOpDmlasImQX`p=Dg?L_c{M84|-18AgRn;sKdMLrPdfgq$KN*c|t8BW1R^>+fmf
zjA0ldWf)E988e?#9_+HQ6Y71T7wv-EQPGC?-@Xn^rKHb?88&ocrP{YehH*qT(0oO>
zk0=QvO?=3a1j=L&`{Wp|31JceGL0cJk6BX0D%r*kIlu`yMN66o_zAD4<*LpjBSU$`
z5{aQg#_@p2$v+T^h>%Sr$sVqgajcUpb_KWNXKmcISFd5Idb|y^fB1OSAUVJcIm8NC
z##Xg<M7Gg9`M4!YPLU=a<VY4}a*Tb!R{smmPRU2d5SWtLc?^*vW=Str$sO#FL!6Lt
zv|JUk=qGE)kWDO+1S&*+Gs&ajBO!(enM0Dy<2ngry;|EP(@-A^S+tWp2FV&`NEj<*
f4_npR5t&1CMp#CaY$8pzkt6p}COPb9%xC@qylQ(o

diff --git a/User/module/config.c b/User/module/config.c
index 40fe976..bf444fb 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -34,6 +34,7 @@ Config_RobotParam_t robot_config = {
 //            .yaw = 0.0f,
 //            .pit = -0.69f,
 //        },
+	
 	/*是否启动限位,1启动，-1不启动
 		一般pit统一限位*/
 				.travel = {
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index cbb335e..cb79a62 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -61,6 +61,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
 	
   g->setpoint.eulr.pit = g->feedback.imu.eulr.pit;
   g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+	
 	g->setpoint.ecd.pit=g->feedback.motor.pit.rotor_abs_angle;
 	g->setpoint.ecd.yaw=g->feedback.motor.yaw.rotor_abs_angle;
   g->mode = mode;
@@ -187,22 +188,26 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
   Gimbal_SetMode(g, g_cmd->mode);
 
   /* 欧拉角控制相关逻辑 */
-  float yaw_omega_set_point, pit_omega_set_point,delta_yaw;
+  float yaw_omega_set_point, pit_omega_set_point;
 	/* 电机角度控制相关逻辑 */
-	float yaw_velocity_set_point, pit_velocity_set_point,delta_ecd_yaw;
+	float yaw_velocity_set_point, pit_velocity_set_point;
+	float delta_ecd_yaw = g_cmd->delta_yaw*g->dt;
+	float delta_ecd_pit = g_cmd->delta_pit*g->dt;
 	
+	float delta_yaw = g_cmd->delta_yaw*g->dt;
+	float delta_pit = g_cmd->delta_pit*g->dt;
   switch (g->mode) {
   case GIMBAL_MODE_RELAX:/*放松模式*/
     g->out.yaw = 0.0f;
     g->out.pit = 0.0f;
     break;
   case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/
-		delta_yaw = g_cmd->delta_yaw*g->dt;
+		
 		g->setpoint.eulr.yaw+=delta_yaw;	
 	
-		if (g->param->travel.yaw > 0){
-	if(g->setpoint.eulr.yaw>g->limit.set_yaw.max)g->setpoint.eulr.yaw=g->limit.set_yaw.max;
-	if(g->setpoint.eulr.yaw<g->limit.set_yaw.min)g->setpoint.eulr.yaw=g->limit.set_yaw.min;			
+	if (g->param->travel.yaw > 0){
+		if(g->setpoint.eulr.yaw>g->limit.set_yaw.max)g->setpoint.eulr.yaw=g->limit.set_yaw.max;
+		if(g->setpoint.eulr.yaw<g->limit.set_yaw.min)g->setpoint.eulr.yaw=g->limit.set_yaw.min;			
 }
 		else{
 		CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
@@ -211,7 +216,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 		}
 			
   /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
-  float delta_pit = g_cmd->delta_pit*g->dt;
+ 
 	g->setpoint.eulr.pit+=delta_pit;
 		
   if (g->param->travel.pit > 0){
@@ -229,32 +234,14 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
                           g->feedback.imu.gyro.x, 0.f, g->dt);
     break;
-		case GIMBAL_MODE_RELATIVE:
-			/*将它的角度控制再-3.14~3.14*/
-		if(g->feedback.motor.yaw.rotor_abs_angle>M_2PI)
-		g->feedback.motor.yaw.rotor_abs_angle-=M_2PI;
-		g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle; 
-		
-    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
-                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
-    g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
-                          g->feedback.imu.gyro.z, 0.f, g->dt);
 
-		pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
-                                   g->feedback.imu.eulr.pit, 0.0f, g->dt);
-    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
-                          g->feedback.imu.gyro.x, 0.f, g->dt);
-		
-		break;
-	case GIMBAL_MODE_MOTOR:
-		
-  delta_ecd_yaw = g_cmd->delta_yaw*g->dt;
+	case GIMBAL_MODE_RELATIVE:
+		/*跟据电机角度控制,遥控器不给值不会动*/
 	g->setpoint.ecd.yaw+=delta_ecd_yaw;
-	
 	if(g->param->travel.yaw > 0){
-
-	if(g->setpoint.ecd.yaw>g->limit.set_ecd_yaw.max)g->setpoint.ecd.pit=g->limit.set_ecd_yaw.max;
-	if(g->setpoint.ecd.yaw<g->limit.set_ecd_yaw.min)g->setpoint.ecd.pit=g->limit.set_ecd_yaw.min;	
+		/*yaw的限位*/
+	if(g->setpoint.ecd.yaw>g->limit.set_ecd_yaw.max)g->setpoint.ecd.yaw=g->limit.set_ecd_yaw.max;
+	if(g->setpoint.ecd.yaw<g->limit.set_ecd_yaw.min)g->setpoint.ecd.yaw=g->limit.set_ecd_yaw.min;	
 	}
 	else{
 	/*限制yaw在0~6.28*/
@@ -262,7 +249,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 	}
 	
   /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
-  float delta_ecd_pit = g_cmd->delta_pit*g->dt;
 	g->setpoint.ecd.pit+=delta_pit;
 	
   if (g->param->travel.pit > 0) {
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 45bd3e1..321a0e4 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -28,7 +28,6 @@ typedef enum {
   GIMBAL_MODE_RELAX,    /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
   GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
   GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
-	GIMBAL_MODE_MOTOR, /* 相对坐标系控制，控制相对于电机角度 */
 } Gimbal_Mode_t;
 
 typedef struct {