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1423 @@ -3563,7 +3563,7 @@ Build 955 - 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583 @@ -3579,7 +3579,7 @@ Debug 2362 - 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898 @@ -3603,30 +3603,48 @@ 0 100 - 8 + 0 - ..\User\task\vofa.c - 21 - 18 - 33 - 1 - - 0 - - - ..\User\component\filter.c - 5 - 34 - 44 + ..\User\module\gimbal.c + 39 + 252 + 266 1 0 ..\User\module\config.c - 12 - 61 - 73 + 14 + 77 + 91 + 1 + + 0 + + + ..\User\task\gimbal_ctrl.c + 31 + 10 + 48 + 1 + + 0 + + + ..\User\component\Sliding.c + 48 + 322 + 333 + 1 + + 0 + + + ..\User\module\gimbal.h + 14 + 127 + 137 1 0 @@ -3649,128 +3667,11 @@ 0 - - ..\User\component\Kalman.c - 16 - 1 - 1 - 1 - - 0 - - - ..\User\component\Kalman.h - 10 - 3 - 18 - 1 - - 0 - - - ..\User\component\Sliding.c - 2 - 34 - 11 - 1 - - 0 - - - ..\User\task\gimbal_ctrl.c - 46 - 28 - 44 - 1 - - 0 - - - ..\User\task\user_task.c - 0 - 1 - 1 - 1 - - 0 - - - ..\User\module\gimbal.c - 24 - 235 - 255 - 1 - - 0 - ..\User\component\Sliding.h - 0 - 79 - 95 - 1 - - 0 - - - ..\User\device\motor_dm.c - 16 - 1 - 16 - 1 - - 0 - - - ..\User\task\remote.c - 18 - 23 - 48 - 1 - - 0 - - - ..\User\device\ai.c - 0 - 10 - 22 - 1 - - 0 - - - ..\User\device\vofa.c - 0 - 1 - 1 - 1 - - 0 - - - ..\User\task\init.c - 0 - 1 - 1 - 1 - - 0 - - - ..\User\task\atti_esti.c - 0 - 22 - 1 - 1 - - 0 - - - ..\User\bsp\gpio.c - 20 - 38 - 41 + 22 + 63 + 76 1 0 @@ -3784,6 +3685,24 @@ 0 + + ..\User\task\atti_esti.c + 0 + 1 + 1 + 1 + + 0 + + + ..\User\task\remote.c + 0 + 23 + 43 + 1 + + 0 + diff --git a/MDK-ARM/gimbal.uvoptx b/MDK-ARM/gimbal.uvoptx index fbc0a3a..442a460 100644 --- a/MDK-ARM/gimbal.uvoptx +++ b/MDK-ARM/gimbal.uvoptx @@ -165,36 +165,6 @@ 1 gimbal_cmd - - 3 - 1 - cali_bmi088 - - - 4 - 1 - vofa_imu - - - 5 - 1 - channels - - - 6 - 1 - remote_cmd - - - 7 - 1 - task_runtime.msgq.gimbal - - - 8 - 1 - gimbal_cmd - 0 diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o index 76932e7..4bd5f15 100644 Binary files a/MDK-ARM/gimbal/config.o and b/MDK-ARM/gimbal/config.o differ diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index fe2f464..de29d8a 100644 Binary files a/MDK-ARM/gimbal/gimbal.axf and b/MDK-ARM/gimbal/gimbal.axf differ diff --git a/MDK-ARM/gimbal/gimbal.build_log.htm b/MDK-ARM/gimbal/gimbal.build_log.htm index 9a27b03..5acd2b2 100644 --- a/MDK-ARM/gimbal/gimbal.build_log.htm +++ b/MDK-ARM/gimbal/gimbal.build_log.htm @@ -32,9 +32,6 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'. Note: source file '..\User\task\vofa.c' - object file renamed from 'gimbal\vofa.o' to 'gimbal\vofa_1.o'. -compiling gimbal_ctrl.c... -linking... -Program Size: Code=92784 RO-data=1172 RW-data=252 ZI-data=34476 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -58,7 +55,7 @@ Package Vendor: Keil

Collection of Component Files used:

* Component: ARM::CMSIS:CORE:5.4.0 -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index 8d4bfbb..f0af372 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Mon Dec 8 20:13:34 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Dec 13 19:34:39 2025

Maximum Stack Usage = 576 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -1136,7 +1136,7 @@ Global Symbols
  • >>   MX_CAN1_Init -

    Gimbal_Control (Thumb, 1112 bytes, Stack size 80 bytes, gimbal.o(.text.Gimbal_Control)) +

    Gimbal_Control (Thumb, 1156 bytes, Stack size 80 bytes, gimbal.o(.text.Gimbal_Control))

    [Stack]

    • Max Depth = 544
    • Call Chain = Gimbal_Control ⇒ Smc_Calc ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf

    [Calls]
    • >>   Smc_Calc @@ -1177,8 +1177,8 @@ Global Symbols
      [Called By]
      • >>   Task_gimbal_ctrl
      -

      Gimbal_UpdateFeedback (Thumb, 468 bytes, Stack size 40 bytes, gimbal.o(.text.Gimbal_UpdateFeedback)) -

      [Stack]

      • Max Depth = 364
      • Call Chain = Gimbal_UpdateFeedback ⇒ MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd +

        Gimbal_UpdateFeedback (Thumb, 528 bytes, Stack size 56 bytes, gimbal.o(.text.Gimbal_UpdateFeedback)) +

        [Stack]

        • Max Depth = 380
        • Call Chain = Gimbal_UpdateFeedback ⇒ MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

        [Calls]
        • >>   __aeabi_f2d
        • >>   __aeabi_dmul @@ -2485,7 +2485,7 @@ Global Symbols
          [Called By]
          • >>   DMA1_Stream1_IRQHandler1
          -

          SMC_Init (Thumb, 108 bytes, Stack size 24 bytes, sliding.o(.text.SMC_Init)) +

          SMC_Init (Thumb, 110 bytes, Stack size 24 bytes, sliding.o(.text.SMC_Init))

          [Stack]

          • Max Depth = 52
          • Call Chain = SMC_Init ⇒ SMC_SetParam ⇒ OutContinuation

          [Calls]
          • >>   SMC_SetParam @@ -2493,7 +2493,7 @@ Global Symbols
            [Called By]
            • >>   Gimbal_Init
            -

            SMC_PErrorUpdate (Thumb, 156 bytes, Stack size 20 bytes, sliding.o(.text.SMC_PErrorUpdate)) +

            SMC_PErrorUpdate (Thumb, 260 bytes, Stack size 20 bytes, sliding.o(.text.SMC_PErrorUpdate))

            [Stack]

            • Max Depth = 20
            • Call Chain = SMC_PErrorUpdate

            [Called By]
            • >>   Gimbal_Control @@ -2508,7 +2508,7 @@ Global Symbols

              SVC_Handler (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.SVC_Handler))
              [Address Reference Count : 1]

              • startup_stm32f407xx.o(RESET)
              -

              Smc_Calc (Thumb, 1688 bytes, Stack size 208 bytes, sliding.o(.text.Smc_Calc)) +

              Smc_Calc (Thumb, 1760 bytes, Stack size 208 bytes, sliding.o(.text.Smc_Calc))

              [Stack]

              • Max Depth = 464
              • Call Chain = Smc_Calc ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf

              [Calls]
              • >>   Sat @@ -2625,7 +2625,7 @@ Global Symbols

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

              Task_gimbal_ctrl (Thumb, 276 bytes, Stack size 32 bytes, gimbal_ctrl.o(.text.Task_gimbal_ctrl)) +

              Task_gimbal_ctrl (Thumb, 244 bytes, Stack size 32 bytes, gimbal_ctrl.o(.text.Task_gimbal_ctrl))

              [Stack]

              • Max Depth = 576 + Unknown Stack Size
              • Call Chain = Task_gimbal_ctrl ⇒ Gimbal_Control ⇒ Smc_Calc ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
              @@ -2648,13 +2648,14 @@ Global Symbols

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

            Task_remote (Thumb, 160 bytes, Stack size 32 bytes, remote.o(.text.Task_remote)) -

            [Stack]

            • Max Depth = 228
            • Call Chain = Task_remote ⇒ osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd +

              Task_remote (Thumb, 176 bytes, Stack size 40 bytes, remote.o(.text.Task_remote)) +

              [Stack]

              • Max Depth = 236
              • Call Chain = Task_remote ⇒ osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

              [Calls]
              • >>   remote_ParseHost
              • >>   delay_init
              • >>   osMessageQueueReset
              • >>   osMessageQueuePut +
              • >>   osMessageQueueGet
              • >>   osKernelGetTickFreq
              • >>   osKernelGetTickCount
              • >>   osDelayUntil @@ -2861,6 +2862,7 @@ Global Symbols

              [Called By]
              • >>   BSP_CAN_GetMessage
              • >>   Task_vofa +
              • >>   Task_remote
              • >>   Task_gimbal_ctrl
              @@ -5355,7 +5357,7 @@ Local Symbols
              [Called By]
              • >>   MOTOR_DM_ParseFeedbackFrame
              -

              Gimbal_SetMode (Thumb, 160 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode)) +

              Gimbal_SetMode (Thumb, 148 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))

              [Stack]

              • Max Depth = 96
              • Call Chain = Gimbal_SetMode ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf

              [Calls]
              • >>   SMC_Reset diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 6d2454c..2fd3407 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -3446,11 +3446,12 @@ Section Cross References remote.o(.text.Task_remote) refers to cmsis_os2.o(.text.osKernelGetTickCount) for osKernelGetTickCount remote.o(.text.Task_remote) refers to bsp_delay.o(.text.delay_init) for delay_init remote.o(.text.Task_remote) refers to remote_control.o(.text.remote_control_init) for remote_control_init + remote.o(.text.Task_remote) refers to user_task.o(.bss.task_runtime) for task_runtime + remote.o(.text.Task_remote) refers to remote.o(.bss.imu) for imu + remote.o(.text.Task_remote) refers to cmsis_os2.o(.text.osMessageQueueGet) for osMessageQueueGet remote.o(.text.Task_remote) refers to remote.o(.bss.remote_cmd) for remote_cmd remote.o(.text.Task_remote) refers to remote_control.o(.bss.rc_ctrl) for rc_ctrl - remote.o(.text.Task_remote) refers to remote.o(.bss.imu) for imu remote.o(.text.Task_remote) refers to ai.o(.text.remote_ParseHost) for remote_ParseHost - remote.o(.text.Task_remote) refers to user_task.o(.bss.task_runtime) for task_runtime remote.o(.text.Task_remote) refers to cmsis_os2.o(.text.osMessageQueueReset) for osMessageQueueReset remote.o(.text.Task_remote) refers to cmsis_os2.o(.text.osMessageQueuePut) for osMessageQueuePut remote.o(.text.Task_remote) refers to cmsis_os2.o(.text.osDelayUntil) for osDelayUntil @@ -3523,7 +3524,6 @@ Section Cross References gimbal.o(.ARM.exidx.text.Gimbal_Control) refers to gimbal.o(.text.Gimbal_Control) for [Anonymous Symbol] gimbal.o(.text.Gimbal_SetMode) refers to sliding.o(.text.SMC_Reset) for SMC_Reset gimbal.o(.text.Gimbal_SetMode) refers to filter.o(.text.LowPassFilter2p_Reset) for LowPassFilter2p_Reset - gimbal.o(.text.Gimbal_SetMode) refers to gimbal.o(.bss.hhhh) for hhhh gimbal.o(.text.Gimbal_SetMode) refers to ahrs.o(.text.AHRS_ResetEulr) for AHRS_ResetEulr gimbal.o(.ARM.exidx.text.Gimbal_SetMode) refers to gimbal.o(.text.Gimbal_SetMode) for [Anonymous Symbol] gimbal.o(.ARM.exidx.text.motor_imu_offset) refers to gimbal.o(.text.motor_imu_offset) for [Anonymous Symbol] @@ -6642,612 +6642,612 @@ Image Symbol Table [Anonymous Symbol] 0x080038bc Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) [Anonymous Symbol] 0x080038c8 Section 0 main.o(.text.Error_Handler) [Anonymous Symbol] 0x080038d0 Section 0 gimbal.o(.text.Gimbal_Control) - __arm_cp.3_4 0x08003c84 Number 4 gimbal.o(.text.Gimbal_Control) - [Anonymous Symbol] 0x08003d28 Section 0 gimbal.o(.text.Gimbal_Init) - [Anonymous Symbol] 0x08003e4c Section 0 gimbal.o(.text.Gimbal_Output) - Gimbal_SetMode 0x08003f61 Thumb Code 160 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08003f60 Section 0 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08004000 Section 0 gimbal.o(.text.Gimbal_UpdateFeedback) - [Anonymous Symbol] 0x080041d4 Section 0 gimbal.o(.text.Gimbal_UpdateIMU) - [Anonymous Symbol] 0x08004220 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x08004274 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x080043cc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x0800456c Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x080045bc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08004610 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x08004824 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x08004894 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x08004c88 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08004e68 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x08005038 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08005088 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x080050d8 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08005128 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x08005178 Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x080051c8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x08005254 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x080052a4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x080052f0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x08005340 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08005390 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x080053e0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08005430 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x08005480 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x0800556c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x080055b0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - [Anonymous Symbol] 0x080055c0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x080058e0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x08005a50 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08005b14 Section 0 stm32f4xx_hal.o(.text.HAL_Delay) - [Anonymous Symbol] 0x08005b58 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - [Anonymous Symbol] 0x08005bc0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - [Anonymous Symbol] 0x08005bf8 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x08005fb0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - [Anonymous Symbol] 0x08005fe0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - [Anonymous Symbol] 0x08006010 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x0800601c Section 0 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - [Anonymous Symbol] 0x08006070 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - [Anonymous Symbol] 0x08006080 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - [Anonymous Symbol] 0x080061fc Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - [Anonymous Symbol] 0x080065c8 Section 0 i2c_1.o(.text.HAL_I2C_ErrorCallback) - [Anonymous Symbol] 0x0800661c Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - [Anonymous Symbol] 0x080068c0 Section 0 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - [Anonymous Symbol] 0x08006914 Section 0 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - [Anonymous Symbol] 0x08006968 Section 0 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - [Anonymous Symbol] 0x080069b8 Section 0 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - [Anonymous Symbol] 0x08006a0c Section 0 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - [Anonymous Symbol] 0x08006a60 Section 0 i2c.o(.text.HAL_I2C_MspInit) - [Anonymous Symbol] 0x08006b94 Section 0 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - [Anonymous Symbol] 0x08006be8 Section 0 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - [Anonymous Symbol] 0x08006c3c Section 0 stm32f4xx_hal.o(.text.HAL_IncTick) - [Anonymous Symbol] 0x08006c58 Section 0 stm32f4xx_hal.o(.text.HAL_Init) - [Anonymous Symbol] 0x08006c90 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick) - [Anonymous Symbol] 0x08006d00 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - [Anonymous Symbol] 0x08006d58 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - [Anonymous Symbol] 0x08006d6c Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - [Anonymous Symbol] 0x08006d80 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - [Anonymous Symbol] 0x08006db4 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - [Anonymous Symbol] 0x08006dc4 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - [Anonymous Symbol] 0x08007028 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - [Anonymous Symbol] 0x08007034 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - [Anonymous Symbol] 0x08007058 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - [Anonymous Symbol] 0x0800707c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - [Anonymous Symbol] 0x08007164 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - [Anonymous Symbol] 0x08007824 Section 0 spi_1.o(.text.HAL_SPI_ErrorCallback) - [Anonymous Symbol] 0x08007878 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - [Anonymous Symbol] 0x08007978 Section 0 spi.o(.text.HAL_SPI_MspInit) - [Anonymous Symbol] 0x08007b88 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - [Anonymous Symbol] 0x08007dd8 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - [Anonymous Symbol] 0x08007f70 Section 0 spi_1.o(.text.HAL_SPI_RxCpltCallback) - [Anonymous Symbol] 0x08007fc4 Section 0 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - [Anonymous Symbol] 0x08008018 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - [Anonymous Symbol] 0x080082bc Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - [Anonymous Symbol] 0x08008660 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - [Anonymous Symbol] 0x08008874 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - [Anonymous Symbol] 0x080089e0 Section 0 spi_1.o(.text.HAL_SPI_TxCpltCallback) - [Anonymous Symbol] 0x08008a28 Section 0 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - [Anonymous Symbol] 0x08008a7c Section 0 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - [Anonymous Symbol] 0x08008ad0 Section 0 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - [Anonymous Symbol] 0x08008b24 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - [Anonymous Symbol] 0x08008b34 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - [Anonymous Symbol] 0x08008b3c Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - [Anonymous Symbol] 0x08008b44 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - [Anonymous Symbol] 0x08008c68 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - [Anonymous Symbol] 0x08008d04 Section 0 tim.o(.text.HAL_TIM_Base_MspInit) - [Anonymous Symbol] 0x08008d90 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - [Anonymous Symbol] 0x08008d98 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - [Anonymous Symbol] 0x08008fb4 Section 0 tim.o(.text.HAL_TIM_MspPostInit) - [Anonymous Symbol] 0x08009020 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - [Anonymous Symbol] 0x08009028 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - [Anonymous Symbol] 0x0800916c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - [Anonymous Symbol] 0x08009208 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - [Anonymous Symbol] 0x08009210 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - [Anonymous Symbol] 0x08009218 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - [Anonymous Symbol] 0x080093e4 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - [Anonymous Symbol] 0x080093ec Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - [Anonymous Symbol] 0x080093f4 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - [Anonymous Symbol] 0x08009400 Section 0 uart.o(.text.HAL_UART_ErrorCallback) - [Anonymous Symbol] 0x08009454 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - [Anonymous Symbol] 0x080098b0 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - [Anonymous Symbol] 0x08009950 Section 0 usart.o(.text.HAL_UART_MspInit) - [Anonymous Symbol] 0x08009b30 Section 0 uart.o(.text.HAL_UART_RxCpltCallback) - [Anonymous Symbol] 0x08009b84 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) - [Anonymous Symbol] 0x08009c80 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) - [Anonymous Symbol] 0x08009cf4 Section 0 uart.o(.text.HAL_UART_TxCpltCallback) - [Anonymous Symbol] 0x08009d48 Section 0 uart.o(.text.HAL_UART_TxHalfCpltCallback) - [Anonymous Symbol] 0x08009d98 Section 0 stm32f4xx_it.o(.text.HardFault_Handler) - [Anonymous Symbol] 0x08009d9c Section 0 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) - [Anonymous Symbol] 0x08009dac Section 0 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) - I2C_ConvertOtherXferOptions 0x08009dbd Thumb Code 52 stm32f4xx_hal_i2c.o(.text.I2C_ConvertOtherXferOptions) - [Anonymous Symbol] 0x08009dbc Section 0 stm32f4xx_hal_i2c.o(.text.I2C_ConvertOtherXferOptions) - I2C_DMAAbort 0x08009df1 Thumb Code 342 stm32f4xx_hal_i2c.o(.text.I2C_DMAAbort) - [Anonymous Symbol] 0x08009df0 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_DMAAbort) - I2C_Flush_DR 0x08009f49 Thumb Code 36 stm32f4xx_hal_i2c.o(.text.I2C_Flush_DR) - [Anonymous Symbol] 0x08009f48 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Flush_DR) - I2C_Get 0x08009f6d Thumb Code 72 i2c_1.o(.text.I2C_Get) - [Anonymous Symbol] 0x08009f6c Section 0 i2c_1.o(.text.I2C_Get) - I2C_ITError 0x08009fb5 Thumb Code 634 stm32f4xx_hal_i2c.o(.text.I2C_ITError) - [Anonymous Symbol] 0x08009fb4 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_ITError) - I2C_MasterReceive_BTF 0x0800a231 Thumb Code 428 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_BTF) - [Anonymous Symbol] 0x0800a230 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_BTF) - I2C_MasterReceive_RXNE 0x0800a3dd Thumb Code 362 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_RXNE) - [Anonymous Symbol] 0x0800a3dc Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_RXNE) - I2C_MasterTransmit_BTF 0x0800a549 Thumb Code 222 stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_BTF) - [Anonymous Symbol] 0x0800a548 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[Anonymous Symbol] 0x20008190 Section 0 timers.o(.bss.xTimerTaskHandle) + xYieldPending 0x20008194 Data 4 tasks.o(.bss.xYieldPending) + [Anonymous Symbol] 0x20008194 Section 0 tasks.o(.bss.xYieldPending) + Heap_Mem 0x20008198 Data 512 startup_stm32f407xx.o(HEAP) + HEAP 0x20008198 Section 512 startup_stm32f407xx.o(HEAP) + Stack_Mem 0x20008398 Data 1024 startup_stm32f407xx.o(STACK) + STACK 0x20008398 Section 1024 startup_stm32f407xx.o(STACK) + __initial_sp 0x20008798 Data 0 startup_stm32f407xx.o(STACK) Global Symbols @@ -7642,371 +7642,371 @@ Image Symbol Table EXTI4_IRQHandler 0x080038b1 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) EXTI9_5_IRQHandler 0x080038bd Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) Error_Handler 0x080038c9 Thumb Code 6 main.o(.text.Error_Handler) - Gimbal_Control 0x080038d1 Thumb Code 1112 gimbal.o(.text.Gimbal_Control) - Gimbal_Init 0x08003d29 Thumb Code 290 gimbal.o(.text.Gimbal_Init) - Gimbal_Output 0x08003e4d Thumb Code 274 gimbal.o(.text.Gimbal_Output) - Gimbal_UpdateFeedback 0x08004001 Thumb Code 468 gimbal.o(.text.Gimbal_UpdateFeedback) - Gimbal_UpdateIMU 0x080041d5 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU) - HAL_CAN_ActivateNotification 0x08004221 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - HAL_CAN_AddTxMessage 0x08004275 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - HAL_CAN_ConfigFilter 0x080043cd Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - HAL_CAN_ErrorCallback 0x0800456d Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetRxFifoFillLevel 0x080045bd Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - HAL_CAN_GetRxMessage 0x08004611 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - HAL_CAN_GetTxMailboxesFreeLevel 0x08004825 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x08004895 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x08004c89 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08004e69 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x08005039 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08005089 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x080050d9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08005129 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x08005179 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x080051c9 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x08005255 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x080052a5 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x080052f1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x08005341 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08005391 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x080053e1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08005431 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x08005481 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x0800556d Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_GetState 0x080055b1 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - HAL_DMA_IRQHandler 0x080055c1 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x080058e1 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08005a51 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08005b15 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08005b59 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x08005bc1 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08005bf9 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x08005fb1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x08005fe1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08006011 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_AbortCpltCallback 0x0800601d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - HAL_I2C_AddrCallback 0x08006071 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - HAL_I2C_ER_IRQHandler 0x08006081 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - HAL_I2C_EV_IRQHandler 0x080061fd Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - HAL_I2C_ErrorCallback 0x080065c9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) - HAL_I2C_Init 0x0800661d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_ListenCpltCallback 0x080068c1 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - HAL_I2C_MasterRxCpltCallback 0x08006915 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - HAL_I2C_MasterTxCpltCallback 0x08006969 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - HAL_I2C_MemRxCpltCallback 0x080069b9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - HAL_I2C_MemTxCpltCallback 0x08006a0d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - HAL_I2C_MspInit 0x08006a61 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) - HAL_I2C_SlaveRxCpltCallback 0x08006b95 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - HAL_I2C_SlaveTxCpltCallback 0x08006be9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - HAL_IncTick 0x08006c3d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08006c59 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08006c91 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08006d01 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08006d59 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x08006d6d Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08006d81 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x08006db5 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x08006dc5 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x08007029 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x08007035 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08007059 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x0800707d Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x08007165 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x08007825 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x08007879 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x08007979 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x08007b89 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x08007dd9 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08007f71 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x08007fc5 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x08008019 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x080082bd Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x08008661 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x08008875 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x080089e1 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x08008a29 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x08008a7d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x08008ad1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x08008b25 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x08008b35 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x08008b3d Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x08008b45 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08008c69 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08008d05 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_IC_CaptureCallback 0x08008d91 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x08008d99 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_MspPostInit 0x08008fb5 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_OC_DelayElapsedCallback 0x08009021 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x08009029 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x0800916d Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x08009209 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x08009211 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PWM_Start 0x08009219 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PeriodElapsedCallback 0x080093e5 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x080093ed Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x080093f5 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08009401 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x08009455 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x080098b1 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x08009951 Thumb Code 478 usart.o(.text.HAL_UART_MspInit) - HAL_UART_RxCpltCallback 0x08009b31 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_Transmit_DMA 0x08009b85 Thumb Code 252 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) - HAL_UART_Transmit_IT 0x08009c81 Thumb Code 114 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) - HAL_UART_TxCpltCallback 0x08009cf5 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) - HAL_UART_TxHalfCpltCallback 0x08009d49 Thumb Code 80 uart.o(.text.HAL_UART_TxHalfCpltCallback) - HardFault_Handler 0x08009d99 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) - I2C1_ER_IRQHandler 0x08009d9d Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) - I2C1_EV_IRQHandler 0x08009dad Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) - InvSqrt 0x0800b299 Thumb Code 118 user_math.o(.text.InvSqrt) - LowPassFilter2p_Apply 0x0800b311 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x0800b3c9 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x0800b505 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_DM_Enable 0x0800b631 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) - MOTOR_DM_GetMotor 0x0800b6dd Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) - MOTOR_DM_MITCtrl 0x0800b765 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) - MOTOR_DM_Register 0x0800b905 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) - MOTOR_DM_Update 0x0800bb75 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) - MOTOR_RM_Ctrl 0x0800bd19 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x0800bf8d Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800c055 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_SetOutput 0x0800c175 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x0800c291 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x0800c395 Thumb Code 78 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x0800c3e5 Thumb Code 78 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x0800c435 Thumb Code 134 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800c4bd Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x0800c4fd Thumb Code 554 gpio.o(.text.MX_GPIO_Init) - MX_I2C1_Init 0x0800c729 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) - MX_I2C2_Init 0x0800c771 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) - MX_SPI1_Init 0x0800c7b9 Thumb Code 82 spi.o(.text.MX_SPI1_Init) - MX_SPI2_Init 0x0800c80d Thumb Code 84 spi.o(.text.MX_SPI2_Init) - MX_TIM10_Init 0x0800c861 Thumb Code 142 tim.o(.text.MX_TIM10_Init) - MX_TIM7_Init 0x0800c8f1 Thumb Code 88 tim.o(.text.MX_TIM7_Init) - MX_USART1_UART_Init 0x0800c949 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) - MX_USART3_UART_Init 0x0800c989 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) - MemManage_Handler 0x0800c9d5 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x0800cbf5 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x0800ccf9 Thumb Code 752 pid.o(.text.PID_Calc) - PID_Init 0x0800cfe9 Thumb Code 406 pid.o(.text.PID_Init) - PID_Reset 0x0800d181 Thumb Code 72 pid.o(.text.PID_Reset) - PendSV_Handler 0x0800d1d1 Thumb Code 100 port.o(.text.PendSV_Handler) - RC_Init 0x0800d235 Thumb Code 148 bsp_rc.o(.text.RC_Init) - RC_restart 0x0800d2c9 Thumb Code 90 bsp_rc.o(.text.RC_restart) - SMC_Init 0x0800d325 Thumb Code 108 sliding.o(.text.SMC_Init) - SMC_PErrorUpdate 0x0800d391 Thumb Code 156 sliding.o(.text.SMC_PErrorUpdate) - SMC_Reset 0x0800d42d Thumb Code 78 sliding.o(.text.SMC_Reset) - SVC_Handler 0x0800da31 Thumb Code 36 port.o(.text.SVC_Handler) - Smc_Calc 0x0800db39 Thumb Code 1688 sliding.o(.text.Smc_Calc) - StartDefaultTask 0x0800e1d1 Thumb Code 18 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x0800e239 Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x0800e251 Thumb Code 188 main.o(.text.SystemClock_Config) - SystemInit 0x0800e30d Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM7_IRQHandler 0x0800e321 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) - TIM_Base_SetConfig 0x0800e331 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x0800e4d5 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x0800e5f9 Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) - Task_Init 0x0800e885 Thumb Code 230 init.o(.text.Task_Init) - Task_atti_esti 0x0800e971 Thumb Code 400 atti_esti.o(.text.Task_atti_esti) - Task_gimbal_ctrl 0x0800eb01 Thumb Code 276 gimbal_ctrl.o(.text.Task_gimbal_ctrl) - Task_remote 0x0800ec19 Thumb Code 160 remote.o(.text.Task_remote) - Task_vofa 0x0800ecb9 Thumb Code 144 vofa_1.o(.text.Task_vofa) - USART1_IRQHandler 0x0800f2e9 Thumb Code 16 stm32f4xx_it.o(.text.USART1_IRQHandler) - USART3_IRQHandler 0x0800f2f9 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) - USART3_IRQHandler1 0x0800f319 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) - UsageFault_Handler 0x0800f33d Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) - VOFA_JustFloat_Send 0x0800f341 Thumb Code 104 vofa.o(.text.VOFA_JustFloat_Send) - configureTimerForRunTimeStats 0x0800f5a5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) - delay_init 0x0800f5c9 Thumb Code 62 bsp_delay.o(.text.delay_init) - eTaskGetState 0x0800f609 Thumb Code 246 tasks.o(.text.eTaskGetState) - getRunTimeCounterValue 0x0800f759 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) - main 0x0800f75d Thumb Code 80 main.o(.text.main) - map 0x0800f7ad Thumb Code 42 calc_lib.o(.text.map) - osDelay 0x0800f859 Thumb Code 52 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x0800f88d Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) - osKernelGetState 0x0800f8e5 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) - osKernelGetTickCount 0x0800f939 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x0800f961 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x0800f969 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x0800f9b1 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x0800fa09 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x0800fa5d Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x0800facd Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x0800fb8d Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x0800fc8d Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) - osMessageQueueReset 0x0800fd51 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) - osMutexAcquire 0x0800fd91 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) - osMutexNew 0x0800fe31 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) - osMutexRelease 0x0800ff59 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsSet 0x0800ffd9 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) - osThreadFlagsWait 0x0801007d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x08010199 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x080101a9 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x08010305 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 0x08011265 Thumb Code 492 heap_4.o(.text.pvPortMalloc) - pvTaskIncrementMutexHeldCount 0x08011451 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) - pxPortInitialiseStack 0x0801147d Thumb Code 94 port.o(.text.pxPortInitialiseStack) - remote_ParseHost 0x080114dd Thumb Code 68 ai.o(.text.remote_ParseHost) - remote_control_init 0x08011521 Thumb Code 18 remote_control.o(.text.remote_control_init) - user_delay_ms 0x0801181d Thumb Code 46 calc_lib.o(.text.user_delay_ms) - user_delay_us 0x0801184d Thumb Code 68 calc_lib.o(.text.user_delay_us) - uxListRemove 0x08011891 Thumb Code 72 list.o(.text.uxListRemove) - vApplicationGetIdleTaskMemory 0x080118d9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) - vApplicationGetTimerTaskMemory 0x08011905 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) - vApplicationStackOverflowHook 0x08011931 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) - vListInitialise 0x0801193d Thumb Code 46 list.o(.text.vListInitialise) - vListInitialiseItem 0x0801196d Thumb Code 14 list.o(.text.vListInitialiseItem) - vListInsert 0x0801197d Thumb Code 106 list.o(.text.vListInsert) - vListInsertEnd 0x080119e9 Thumb Code 58 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x08011a39 Thumb Code 86 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08011a91 Thumb Code 74 port.o(.text.vPortExitCritical) - vPortFree 0x08011add Thumb Code 206 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08011bad Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08011bf1 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08011c75 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08011cc9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08011d2d Thumb Code 110 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x08011d9d Thumb Code 276 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08011eb1 Thumb Code 270 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08011fc1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08011fe5 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08011ff5 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x08012039 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x0801208d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x080121c1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x080122a5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x080122b5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08012435 Thumb Code 342 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x0801258d Thumb Code 60 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x080125c9 Thumb Code 38 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x080125f1 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x08012625 Thumb Code 116 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08012699 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x080127a9 Thumb Code 186 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x08012865 Thumb Code 556 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x08012a91 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x08012bdd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x08012c49 Thumb Code 476 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x08012e25 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x08012f2d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x08013159 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x080131c9 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08013295 Thumb Code 158 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x08013335 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x08013405 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x0801357d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x08013741 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x08013755 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x0801378d Thumb Code 20 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x080137a1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x080137c1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08013985 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08013a5d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08013b49 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08013c59 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x08013d29 Thumb Code 390 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x08013eb1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x08013f45 Thumb Code 176 timers.o(.text.xTimerGenericCommand) - __ARM_fpclassify 0x08013ff5 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) - __ARM_fpclassifyf 0x08014025 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) - __hardfp_asinf 0x0801404d Thumb Code 258 asinf.o(i.__hardfp_asinf) - __hardfp_atan 0x08014179 Thumb Code 622 atan.o(i.__hardfp_atan) - __hardfp_atan2 0x08014451 Thumb Code 448 atan2.o(i.__hardfp_atan2) - __hardfp_atan2f 0x08014651 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) - __hardfp_cosf 0x080148fd Thumb Code 280 cosf.o(i.__hardfp_cosf) - __hardfp_pow 0x08014a51 Thumb Code 3088 pow.o(i.__hardfp_pow) - __hardfp_tanf 0x080156b1 Thumb Code 322 tanf.o(i.__hardfp_tanf) - __kernel_poly 0x0801582d Thumb Code 248 poly.o(i.__kernel_poly) - __mathlib_dbl_divzero 0x08015929 Thumb Code 28 dunder.o(i.__mathlib_dbl_divzero) - __mathlib_dbl_infnan 0x08015959 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) - __mathlib_dbl_infnan2 0x0801596d Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) - __mathlib_dbl_invalid 0x08015981 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) - __mathlib_dbl_overflow 0x080159a1 Thumb Code 24 dunder.o(i.__mathlib_dbl_overflow) - __mathlib_dbl_underflow 0x080159c1 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) - __mathlib_flt_infnan 0x080159e1 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_infnan2 0x080159e7 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) - __mathlib_flt_invalid 0x080159ed Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x080159fd Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x08015a0d Thumb Code 316 rredf.o(i.__mathlib_rredf2) - atan 0x08015b61 Thumb Code 16 atan.o(i.atan) - fabs 0x08015b71 Thumb Code 24 fabs.o(i.fabs) - sqrt 0x08015b89 Thumb Code 110 sqrt.o(i.sqrt) - sqrtf 0x08015bf7 Thumb Code 62 sqrtf.o(i.sqrtf) - __aeabi_dneg 0x08015c35 Thumb Code 0 basic.o(x$fpl$basic) - _dneg 0x08015c35 Thumb Code 6 basic.o(x$fpl$basic) - __aeabi_fneg 0x08015c3b Thumb Code 0 basic.o(x$fpl$basic) - _fneg 0x08015c3b Thumb Code 6 basic.o(x$fpl$basic) - _dabs 0x08015c41 Thumb Code 6 basic.o(x$fpl$basic) - _fabs 0x08015c47 Thumb Code 6 basic.o(x$fpl$basic) - __aeabi_d2f 0x08015c4d Thumb Code 0 d2f.o(x$fpl$d2f) - _d2f 0x08015c4d Thumb Code 98 d2f.o(x$fpl$d2f) - __aeabi_dadd 0x08015cb1 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - _dadd 0x08015cb1 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) - __fpl_dcheck_NaN1 0x08015e01 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) - __fpl_dcmp_Inf 0x08015e11 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) - __aeabi_ddiv 0x08015e29 Thumb Code 0 ddiv.o(x$fpl$ddiv) - _ddiv 0x08015e29 Thumb Code 556 ddiv.o(x$fpl$ddiv) - __aeabi_cdcmpeq 0x080160dd Thumb Code 0 deqf.o(x$fpl$deqf) - _dcmpeq 0x080160dd Thumb Code 120 deqf.o(x$fpl$deqf) - __aeabi_d2iz 0x08016155 Thumb Code 0 dfix.o(x$fpl$dfix) - _dfix 0x08016155 Thumb Code 94 dfix.o(x$fpl$dfix) - __aeabi_d2uiz 0x080161b5 Thumb Code 0 dfixu.o(x$fpl$dfixu) - _dfixu 0x080161b5 Thumb Code 90 dfixu.o(x$fpl$dfixu) - __aeabi_i2d 0x0801620f Thumb Code 0 dflt_clz.o(x$fpl$dflt) - _dflt 0x0801620f Thumb Code 46 dflt_clz.o(x$fpl$dflt) - __aeabi_ui2d 0x0801623d Thumb Code 0 dflt_clz.o(x$fpl$dfltu) - _dfltu 0x0801623d Thumb Code 38 dflt_clz.o(x$fpl$dfltu) - __aeabi_cdcmpge 0x08016265 Thumb Code 0 dgeqf.o(x$fpl$dgeqf) - _dcmpge 0x08016265 Thumb Code 120 dgeqf.o(x$fpl$dgeqf) - __aeabi_cdcmple 0x080162dd Thumb Code 0 dleqf.o(x$fpl$dleqf) - _dcmple 0x080162dd Thumb Code 120 dleqf.o(x$fpl$dleqf) - __fpl_dcmple_InfNaN 0x0801633f Thumb Code 0 dleqf.o(x$fpl$dleqf) - __aeabi_dmul 0x08016355 Thumb Code 0 dmul.o(x$fpl$dmul) - _dmul 0x08016355 Thumb Code 332 dmul.o(x$fpl$dmul) - __fpl_dnaninf 0x080164a9 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) - __fpl_dretinf 0x08016545 Thumb Code 12 dretinf.o(x$fpl$dretinf) - __aeabi_cdrcmple 0x08016551 Thumb Code 0 drleqf.o(x$fpl$drleqf) - _drcmple 0x08016551 Thumb Code 108 drleqf.o(x$fpl$drleqf) - __aeabi_drsub 0x080165bd Thumb Code 0 daddsub_clz.o(x$fpl$drsb) - _drsb 0x080165bd Thumb Code 22 daddsub_clz.o(x$fpl$drsb) - _dsqrt 0x080165d5 Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) - __aeabi_dsub 0x0801676d Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - _dsub 0x0801676d Thumb Code 472 daddsub_clz.o(x$fpl$dsub) - __aeabi_f2d 0x08016949 Thumb Code 0 f2d.o(x$fpl$f2d) - _f2d 0x08016949 Thumb Code 86 f2d.o(x$fpl$f2d) - __aeabi_dcmpeq 0x0801699f Thumb Code 0 dcmp.o(x$fpl$fcmp) - _deq 0x0801699f Thumb Code 14 dcmp.o(x$fpl$fcmp) - _dneq 0x080169ad Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmpgt 0x080169bb Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dgr 0x080169bb Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmpge 0x080169c9 Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dgeq 0x080169c9 Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmple 0x080169d7 Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dleq 0x080169d7 Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_dcmplt 0x080169e5 Thumb Code 0 dcmp.o(x$fpl$fcmp) - _dls 0x080169e5 Thumb Code 14 dcmp.o(x$fpl$fcmp) - __aeabi_ul2f 0x080169f3 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_uto_f 0x080169f3 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) - __aeabi_l2f 0x080169f9 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_sto_f 0x080169f9 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) - __fpl_fnaninf 0x08016a53 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) - _fp_init 0x08016adf Thumb Code 26 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x08016af7 Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x08016af7 Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fpl_fretinf 0x08016af9 Thumb Code 10 fretinf.o(x$fpl$fretinf) - __fpl_return_NaN 0x08016b03 Thumb Code 100 retnan.o(x$fpl$retnan) - __ARM_scalbn 0x08016b67 Thumb Code 92 scalbn.o(x$fpl$scalbn) - __fpl_cmpreturn 0x08016bc3 Thumb Code 48 trapv.o(x$fpl$trapveneer) - __I$use$fp 0x08016bf2 Number 0 usenofp.o(x$fpl$usenofp) - __mathlib_zero 0x08016d18 Data 8 qnan.o(.constdata) - AHBPrescTable 0x08016d40 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08016d50 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_atti_esti 0x08016da0 Data 36 user_task.o(.rodata.attr_atti_esti) - attr_gimbal_ctrl 0x08016dc4 Data 36 user_task.o(.rodata.attr_gimbal_ctrl) - attr_init 0x08016de8 Data 36 user_task.o(.rodata.attr_init) - attr_remote 0x08016e0c Data 36 user_task.o(.rodata.attr_remote) - attr_vofa 0x08016e30 Data 36 user_task.o(.rodata.attr_vofa) - defaultTask_attributes 0x08016e54 Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08016ee4 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08016f04 Number 0 anon$$obj.o(Region$$Table) + Gimbal_Control 0x080038d1 Thumb Code 1156 gimbal.o(.text.Gimbal_Control) + Gimbal_Init 0x08003d55 Thumb Code 290 gimbal.o(.text.Gimbal_Init) + Gimbal_Output 0x08003e79 Thumb Code 274 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x08004021 Thumb Code 528 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x08004231 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x0800427d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x080042d1 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x08004429 Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x080045c9 Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08004619 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x0800466d Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x08004881 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x080048f1 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x08004ce5 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08004ec5 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x08005095 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x080050e5 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x08005135 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x08005185 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x080051d5 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08005225 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x080052b1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08005301 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x0800534d Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x0800539d Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x080053ed Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x0800543d Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x0800548d Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x080054dd Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x080055c9 Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_GetState 0x0800560d Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) + HAL_DMA_IRQHandler 0x0800561d Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x0800593d Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08005aad Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08005b71 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08005bb5 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08005c1d Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08005c55 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x0800600d Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x0800603d Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x0800606d Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_AbortCpltCallback 0x08006079 Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) + HAL_I2C_AddrCallback 0x080060cd Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) + HAL_I2C_ER_IRQHandler 0x080060dd Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) + HAL_I2C_EV_IRQHandler 0x08006259 Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) + HAL_I2C_ErrorCallback 0x08006625 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) + HAL_I2C_Init 0x08006679 Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_ListenCpltCallback 0x0800691d Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) + HAL_I2C_MasterRxCpltCallback 0x08006971 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) + HAL_I2C_MasterTxCpltCallback 0x080069c5 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) + HAL_I2C_MemRxCpltCallback 0x08006a15 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) + HAL_I2C_MemTxCpltCallback 0x08006a69 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) + HAL_I2C_MspInit 0x08006abd Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) + HAL_I2C_SlaveRxCpltCallback 0x08006bf1 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) + HAL_I2C_SlaveTxCpltCallback 0x08006c45 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) + HAL_IncTick 0x08006c99 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x08006cb5 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08006ced Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08006d5d Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x08006db5 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x08006dc9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x08006ddd Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x08006e11 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08006e21 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x08007085 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x08007091 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x080070b5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x080070d9 Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080071c1 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x08007881 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x080078d5 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x080079d5 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08007be5 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x08007e35 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x08007fcd Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x08008021 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08008075 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x08008319 Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x080086bd Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x080088d1 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x08008a3d Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x08008a85 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x08008ad9 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x08008b2d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08008b81 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08008b91 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x08008b99 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08008ba1 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08008cc5 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08008d61 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x08008ded Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x08008df5 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x08009011 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x0800907d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x08009085 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x080091c9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08009265 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x0800926d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x08009275 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x08009441 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08009449 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x08009451 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x0800945d Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x080094b1 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x0800990d Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x080099ad Thumb Code 478 usart.o(.text.HAL_UART_MspInit) + HAL_UART_RxCpltCallback 0x08009b8d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_Transmit_DMA 0x08009be1 Thumb Code 252 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) + HAL_UART_Transmit_IT 0x08009cdd Thumb Code 114 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) + HAL_UART_TxCpltCallback 0x08009d51 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) + HAL_UART_TxHalfCpltCallback 0x08009da5 Thumb Code 80 uart.o(.text.HAL_UART_TxHalfCpltCallback) + HardFault_Handler 0x08009df5 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) + I2C1_ER_IRQHandler 0x08009df9 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) + I2C1_EV_IRQHandler 0x08009e09 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) + InvSqrt 0x0800b2f5 Thumb Code 118 user_math.o(.text.InvSqrt) + LowPassFilter2p_Apply 0x0800b36d Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x0800b425 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x0800b561 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x0800b68d Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800b739 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x0800b7c1 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x0800b961 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x0800bbd1 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x0800bd75 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x0800bfe9 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x0800c0b1 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_SetOutput 0x0800c1d1 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800c2ed Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x0800c3f1 Thumb Code 78 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x0800c441 Thumb Code 78 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x0800c491 Thumb Code 134 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800c519 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800c559 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x0800c785 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x0800c7cd Thumb Code 72 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x0800c815 Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_SPI2_Init 0x0800c869 Thumb Code 84 spi.o(.text.MX_SPI2_Init) + MX_TIM10_Init 0x0800c8bd Thumb Code 142 tim.o(.text.MX_TIM10_Init) + MX_TIM7_Init 0x0800c94d Thumb Code 88 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x0800c9a5 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) + MX_USART3_UART_Init 0x0800c9e5 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) + MemManage_Handler 0x0800ca31 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800cc51 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800cd55 Thumb Code 752 pid.o(.text.PID_Calc) + PID_Init 0x0800d045 Thumb Code 406 pid.o(.text.PID_Init) + PID_Reset 0x0800d1dd Thumb Code 72 pid.o(.text.PID_Reset) + PendSV_Handler 0x0800d231 Thumb Code 100 port.o(.text.PendSV_Handler) + RC_Init 0x0800d295 Thumb Code 148 bsp_rc.o(.text.RC_Init) + RC_restart 0x0800d329 Thumb Code 90 bsp_rc.o(.text.RC_restart) + SMC_Init 0x0800d385 Thumb Code 110 sliding.o(.text.SMC_Init) + SMC_PErrorUpdate 0x0800d3f5 Thumb Code 260 sliding.o(.text.SMC_PErrorUpdate) + SMC_Reset 0x0800d4f9 Thumb Code 78 sliding.o(.text.SMC_Reset) + SVC_Handler 0x0800db01 Thumb Code 36 port.o(.text.SVC_Handler) + Smc_Calc 0x0800dc09 Thumb Code 1760 sliding.o(.text.Smc_Calc) + StartDefaultTask 0x0800e2e9 Thumb Code 18 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x0800e351 Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x0800e369 Thumb Code 188 main.o(.text.SystemClock_Config) + SystemInit 0x0800e425 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM7_IRQHandler 0x0800e439 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) + TIM_Base_SetConfig 0x0800e449 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x0800e5ed Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x0800e711 Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_Init 0x0800e99d Thumb Code 230 init.o(.text.Task_Init) + Task_atti_esti 0x0800ea89 Thumb Code 400 atti_esti.o(.text.Task_atti_esti) + Task_gimbal_ctrl 0x0800ec19 Thumb Code 244 gimbal_ctrl.o(.text.Task_gimbal_ctrl) + Task_remote 0x0800ed11 Thumb Code 176 remote.o(.text.Task_remote) + Task_vofa 0x0800edc1 Thumb Code 144 vofa_1.o(.text.Task_vofa) + USART1_IRQHandler 0x0800f3f1 Thumb Code 16 stm32f4xx_it.o(.text.USART1_IRQHandler) + USART3_IRQHandler 0x0800f401 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) + USART3_IRQHandler1 0x0800f421 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) + UsageFault_Handler 0x0800f445 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) + VOFA_JustFloat_Send 0x0800f449 Thumb Code 104 vofa.o(.text.VOFA_JustFloat_Send) + configureTimerForRunTimeStats 0x0800f6ad Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) + delay_init 0x0800f6d1 Thumb Code 62 bsp_delay.o(.text.delay_init) + eTaskGetState 0x0800f711 Thumb Code 246 tasks.o(.text.eTaskGetState) + getRunTimeCounterValue 0x0800f861 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) + main 0x0800f865 Thumb Code 80 main.o(.text.main) + map 0x0800f8b5 Thumb Code 42 calc_lib.o(.text.map) + osDelay 0x0800f961 Thumb Code 52 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x0800f995 Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x0800f9ed Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x0800fa41 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x0800fa69 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x0800fa71 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x0800fab9 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0800fb11 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x0800fb65 Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x0800fbd5 Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x0800fc95 Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x0800fd95 Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) + osMessageQueueReset 0x0800fe59 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) + osMutexAcquire 0x0800fe99 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x0800ff39 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x08010061 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x080100e1 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x08010185 Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x080102a1 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x080102b1 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x0801040d Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x0801136d Thumb Code 492 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x08011559 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x08011585 Thumb Code 94 port.o(.text.pxPortInitialiseStack) + remote_ParseHost 0x080115e5 Thumb Code 68 ai.o(.text.remote_ParseHost) + remote_control_init 0x08011629 Thumb Code 18 remote_control.o(.text.remote_control_init) + user_delay_ms 0x08011925 Thumb Code 46 calc_lib.o(.text.user_delay_ms) + user_delay_us 0x08011955 Thumb Code 68 calc_lib.o(.text.user_delay_us) + uxListRemove 0x08011999 Thumb Code 72 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x080119e1 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08011a0d Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x08011a39 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x08011a45 Thumb Code 46 list.o(.text.vListInitialise) + vListInitialiseItem 0x08011a75 Thumb Code 14 list.o(.text.vListInitialiseItem) + vListInsert 0x08011a85 Thumb Code 106 list.o(.text.vListInsert) + vListInsertEnd 0x08011af1 Thumb Code 58 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08011b41 Thumb Code 86 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08011b99 Thumb Code 74 port.o(.text.vPortExitCritical) + vPortFree 0x08011be5 Thumb Code 206 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08011cb5 Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08011cf9 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08011d7d Thumb Code 82 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08011dd1 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08011e35 Thumb Code 110 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x08011ea5 Thumb Code 276 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08011fb9 Thumb Code 270 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x080120c9 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x080120ed Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x080120fd Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08012141 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x08012195 Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x080122c9 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x080123ad Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x080123bd Thumb Code 384 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x0801253d Thumb Code 342 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x08012695 Thumb Code 60 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x080126d1 Thumb Code 38 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x080126f9 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x0801272d Thumb Code 116 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x080127a1 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x080128b1 Thumb Code 186 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x0801296d Thumb Code 556 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x08012b99 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x08012ce5 Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08012d51 Thumb Code 476 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08012f2d Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x08013035 Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x08013261 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x080132d1 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x0801339d Thumb Code 158 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x0801343d Thumb Code 206 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x0801350d Thumb Code 376 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x08013685 Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08013849 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x0801385d Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x08013895 Thumb Code 20 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x080138a9 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x080138c9 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x08013a8d Thumb Code 214 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08013b65 Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08013c51 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08013d61 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x08013e31 Thumb Code 390 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x08013fb9 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x0801404d Thumb Code 176 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x080140fd Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x0801412d Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x08014155 Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x08014281 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x08014559 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x08014759 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_cosf 0x08014a05 Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_pow 0x08014b59 Thumb Code 3088 pow.o(i.__hardfp_pow) + __hardfp_tanf 0x080157b9 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x08015935 Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_divzero 0x08015a31 Thumb Code 28 dunder.o(i.__mathlib_dbl_divzero) + __mathlib_dbl_infnan 0x08015a61 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x08015a75 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_invalid 0x08015a89 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) + __mathlib_dbl_overflow 0x08015aa9 Thumb Code 24 dunder.o(i.__mathlib_dbl_overflow) + __mathlib_dbl_underflow 0x08015ac9 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x08015ae9 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x08015aef Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x08015af5 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x08015b05 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x08015b15 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x08015c69 Thumb Code 16 atan.o(i.atan) + fabs 0x08015c79 Thumb Code 24 fabs.o(i.fabs) + sqrt 0x08015c91 Thumb Code 110 sqrt.o(i.sqrt) + sqrtf 0x08015cff Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x08015d3d Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x08015d3d Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x08015d43 Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x08015d43 Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x08015d49 Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x08015d4f Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x08015d55 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x08015d55 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x08015db9 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08015db9 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcheck_NaN1 0x08015f09 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) + __fpl_dcmp_Inf 0x08015f19 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x08015f31 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08015f31 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x080161e5 Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x080161e5 Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2iz 0x0801625d Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x0801625d Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x080162bd Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x080162bd Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x08016317 Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x08016317 Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_ui2d 0x08016345 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08016345 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_cdcmpge 0x0801636d Thumb Code 0 dgeqf.o(x$fpl$dgeqf) + _dcmpge 0x0801636d Thumb Code 120 dgeqf.o(x$fpl$dgeqf) + __aeabi_cdcmple 0x080163e5 Thumb Code 0 dleqf.o(x$fpl$dleqf) + _dcmple 0x080163e5 Thumb Code 120 dleqf.o(x$fpl$dleqf) + __fpl_dcmple_InfNaN 0x08016447 Thumb Code 0 dleqf.o(x$fpl$dleqf) + __aeabi_dmul 0x0801645d Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x0801645d Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x080165b1 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x0801664d Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_cdrcmple 0x08016659 Thumb Code 0 drleqf.o(x$fpl$drleqf) + _drcmple 0x08016659 Thumb Code 108 drleqf.o(x$fpl$drleqf) + __aeabi_drsub 0x080166c5 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x080166c5 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + _dsqrt 0x080166dd Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) + __aeabi_dsub 0x08016875 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x08016875 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x08016a51 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x08016a51 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_dcmpeq 0x08016aa7 Thumb Code 0 dcmp.o(x$fpl$fcmp) + _deq 0x08016aa7 Thumb Code 14 dcmp.o(x$fpl$fcmp) + _dneq 0x08016ab5 Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmpgt 0x08016ac3 Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dgr 0x08016ac3 Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmpge 0x08016ad1 Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dgeq 0x08016ad1 Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmple 0x08016adf Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dleq 0x08016adf Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_dcmplt 0x08016aed Thumb Code 0 dcmp.o(x$fpl$fcmp) + _dls 0x08016aed Thumb Code 14 dcmp.o(x$fpl$fcmp) + __aeabi_ul2f 0x08016afb Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08016afb Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x08016b01 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x08016b01 Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x08016b5b Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x08016be7 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x08016bff Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x08016bff Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x08016c01 Thumb Code 10 fretinf.o(x$fpl$fretinf) + __fpl_return_NaN 0x08016c0b Thumb Code 100 retnan.o(x$fpl$retnan) + __ARM_scalbn 0x08016c6f Thumb Code 92 scalbn.o(x$fpl$scalbn) + __fpl_cmpreturn 0x08016ccb Thumb Code 48 trapv.o(x$fpl$trapveneer) + __I$use$fp 0x08016cfa Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x08016e20 Data 8 qnan.o(.constdata) + AHBPrescTable 0x08016e48 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08016e58 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_atti_esti 0x08016ea8 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_gimbal_ctrl 0x08016ecc Data 36 user_task.o(.rodata.attr_gimbal_ctrl) + attr_init 0x08016ef0 Data 36 user_task.o(.rodata.attr_init) + attr_remote 0x08016f14 Data 36 user_task.o(.rodata.attr_remote) + attr_vofa 0x08016f38 Data 36 user_task.o(.rodata.attr_vofa) + defaultTask_attributes 0x08016f5c Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08016fec Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x0801700c Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) cali_bmi088 0x20000008 Data 12 atti_esti.o(.data.cali_bmi088) robot_config 0x20000014 Data 220 config.o(.data.robot_config) @@ -8018,35 +8018,34 @@ Image Symbol Table channels 0x20000340 Data 16 vofa_1.o(.bss.channels) defaultTaskHandle 0x20000350 Data 4 freertos.o(.bss.defaultTaskHandle) eulr_to_send 0x20000354 Data 12 atti_esti.o(.bss.eulr_to_send) - gimbal 0x20000368 Data 592 gimbal_ctrl.o(.bss.gimbal) - gimbal_ahrs 0x200005b8 Data 20 atti_esti.o(.bss.gimbal_ahrs) - gimbal_cmd 0x200005cc Data 12 gimbal_ctrl.o(.bss.gimbal_cmd) - gimbal_imu 0x200005d8 Data 24 gimbal_ctrl.o(.bss.gimbal_imu) - gimbal_to_send 0x200005f0 Data 24 atti_esti.o(.bss.gimbal_to_send) - hcan1 0x20000608 Data 40 can.o(.bss.hcan1) - hcan2 0x20000630 Data 40 can.o(.bss.hcan2) - hdma_spi1_rx 0x20000658 Data 96 spi.o(.bss.hdma_spi1_rx) - hdma_spi1_tx 0x200006b8 Data 96 spi.o(.bss.hdma_spi1_tx) - hdma_usart3_rx 0x20000718 Data 96 usart.o(.bss.hdma_usart3_rx) - hhhh 0x20000778 Data 4 gimbal.o(.bss.hhhh) - hi2c1 0x2000077c Data 84 i2c.o(.bss.hi2c1) - hi2c2 0x200007d0 Data 84 i2c.o(.bss.hi2c2) - hspi1 0x20000824 Data 88 spi.o(.bss.hspi1) - hspi2 0x2000087c Data 88 spi.o(.bss.hspi2) - htim10 0x200008d4 Data 72 tim.o(.bss.htim10) - htim7 0x2000091c Data 72 tim.o(.bss.htim7) - huart1 0x20000964 Data 72 usart.o(.bss.huart1) - huart3 0x200009ac Data 72 usart.o(.bss.huart3) - imu 0x200009f8 Data 24 remote.o(.bss.imu) - imu_temp_ctrl_pid 0x20000a10 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) - magn 0x20000a50 Data 12 atti_esti.o(.bss.magn) - pxCurrentTCB 0x20000b50 Data 4 tasks.o(.bss.pxCurrentTCB) - rc_ctrl 0x20000fd0 Data 24 remote_control.o(.bss.rc_ctrl) - remote_cmd 0x20000fe8 Data 12 remote.o(.bss.remote_cmd) - task_runtime 0x20001010 Data 104 user_task.o(.bss.task_runtime) - uwTick 0x2000789c Data 4 stm32f4xx_hal.o(.bss.uwTick) - vofa_imu 0x20007f7c Data 24 vofa_1.o(.bss.vofa_imu) - xQueueRegistry 0x20008120 Data 64 queue.o(.bss.xQueueRegistry) + gimbal 0x20000368 Data 584 gimbal_ctrl.o(.bss.gimbal) + gimbal_ahrs 0x200005b0 Data 20 atti_esti.o(.bss.gimbal_ahrs) + gimbal_cmd 0x200005c4 Data 12 gimbal_ctrl.o(.bss.gimbal_cmd) + gimbal_imu 0x200005d0 Data 24 gimbal_ctrl.o(.bss.gimbal_imu) + gimbal_to_send 0x200005e8 Data 24 atti_esti.o(.bss.gimbal_to_send) + hcan1 0x20000600 Data 40 can.o(.bss.hcan1) + hcan2 0x20000628 Data 40 can.o(.bss.hcan2) + hdma_spi1_rx 0x20000650 Data 96 spi.o(.bss.hdma_spi1_rx) + hdma_spi1_tx 0x200006b0 Data 96 spi.o(.bss.hdma_spi1_tx) + hdma_usart3_rx 0x20000710 Data 96 usart.o(.bss.hdma_usart3_rx) + hi2c1 0x20000770 Data 84 i2c.o(.bss.hi2c1) + hi2c2 0x200007c4 Data 84 i2c.o(.bss.hi2c2) + hspi1 0x20000818 Data 88 spi.o(.bss.hspi1) + hspi2 0x20000870 Data 88 spi.o(.bss.hspi2) + htim10 0x200008c8 Data 72 tim.o(.bss.htim10) + htim7 0x20000910 Data 72 tim.o(.bss.htim7) + huart1 0x20000958 Data 72 usart.o(.bss.huart1) + huart3 0x200009a0 Data 72 usart.o(.bss.huart3) + imu 0x200009ec Data 24 remote.o(.bss.imu) + imu_temp_ctrl_pid 0x20000a04 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) + magn 0x20000a44 Data 12 atti_esti.o(.bss.magn) + pxCurrentTCB 0x20000b44 Data 4 tasks.o(.bss.pxCurrentTCB) + rc_ctrl 0x20000fc4 Data 24 remote_control.o(.bss.rc_ctrl) + remote_cmd 0x20000fdc Data 12 remote.o(.bss.remote_cmd) + task_runtime 0x20001004 Data 104 user_task.o(.bss.task_runtime) + uwTick 0x20007890 Data 4 stm32f4xx_hal.o(.bss.uwTick) + vofa_imu 0x20007f70 Data 24 vofa_1.o(.bss.vofa_imu) + xQueueRegistry 0x20008114 Data 64 queue.o(.bss.xQueueRegistry) @@ -8056,75 +8055,75 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00017008, Max: 0x00100000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00017110, Max: 0x00100000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00016f04, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x0001700c, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x08000000 0x08000000 0x00000188 Data RO 3 RESET startup_stm32f407xx.o - 0x08000188 0x08000188 0x00000008 Code RO 3172 * !!!main c_w.l(__main.o) - 0x08000190 0x08000190 0x00000034 Code RO 3690 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000001a Code RO 3692 !!handler_copy c_w.l(__scatter_copy.o) + 0x08000188 0x08000188 0x00000008 Code RO 3171 * !!!main c_w.l(__main.o) + 0x08000190 0x08000190 0x00000034 Code RO 3689 !!!scatter c_w.l(__scatter.o) + 0x080001c4 0x080001c4 0x0000001a Code RO 3691 !!handler_copy c_w.l(__scatter_copy.o) 0x080001de 0x080001de 0x00000002 PAD - 0x080001e0 0x080001e0 0x0000001c Code RO 3694 !!handler_zi c_w.l(__scatter_zi.o) - 0x080001fc 0x080001fc 0x00000002 Code RO 3542 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x080001fe 0x080001fe 0x00000004 Code RO 3562 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3565 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3568 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3570 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3572 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3575 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3577 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3579 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3581 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3583 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3585 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3587 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3589 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3591 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3593 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3595 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3599 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3601 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3603 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000000 Code RO 3605 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) - 0x08000202 0x08000202 0x00000002 Code RO 3606 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) - 0x08000204 0x08000204 0x00000002 Code RO 3645 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) - 0x08000206 0x08000206 0x00000000 Code RO 3673 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3675 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3678 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3681 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3683 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000000 Code RO 3686 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) - 0x08000206 0x08000206 0x00000002 Code RO 3687 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000208 0x08000208 0x00000000 Code RO 3245 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000208 0x08000208 0x00000000 Code RO 3440 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000208 0x08000208 0x00000006 Code RO 3452 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800020e 0x0800020e 0x00000000 Code RO 3442 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800020e 0x0800020e 0x00000004 Code RO 3443 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000000 Code RO 3445 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000212 0x08000212 0x00000008 Code RO 3446 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800021a 0x0800021a 0x00000002 Code RO 3547 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800021c 0x0800021c 0x00000000 Code RO 3614 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800021c 0x0800021c 0x00000004 Code RO 3615 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000220 0x08000220 0x00000006 Code RO 3616 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x080001e0 0x080001e0 0x0000001c Code RO 3693 !!handler_zi c_w.l(__scatter_zi.o) + 0x080001fc 0x080001fc 0x00000002 Code RO 3541 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x080001fe 0x080001fe 0x00000004 Code RO 3561 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3564 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3567 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3569 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3571 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3574 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3576 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3578 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3580 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3582 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3584 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3586 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3588 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3590 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3592 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3594 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3598 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3600 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3602 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000000 Code RO 3604 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000202 0x08000202 0x00000002 Code RO 3605 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000204 0x08000204 0x00000002 Code RO 3644 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000206 0x08000206 0x00000000 Code RO 3672 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 3674 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 3677 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 3680 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 3682 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000000 Code RO 3685 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x08000206 0x08000206 0x00000002 Code RO 3686 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x08000208 0x08000208 0x00000000 Code RO 3244 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x08000208 0x08000208 0x00000000 Code RO 3439 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x08000208 0x08000208 0x00000006 Code RO 3451 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x0800020e 0x0800020e 0x00000000 Code RO 3441 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x0800020e 0x0800020e 0x00000004 Code RO 3442 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000212 0x08000212 0x00000000 Code RO 3444 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x08000212 0x08000212 0x00000008 Code RO 3445 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x0800021a 0x0800021a 0x00000002 Code RO 3546 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x0800021c 0x0800021c 0x00000000 Code RO 3613 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x0800021c 0x0800021c 0x00000004 Code RO 3614 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x08000220 0x08000220 0x00000006 Code RO 3615 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) 0x08000226 0x08000226 0x00000002 PAD 0x08000228 0x08000228 0x00000040 Code RO 4 .text startup_stm32f407xx.o - 0x08000268 0x08000268 0x000000f0 Code RO 3144 .text c_w.l(lludivv7m.o) - 0x08000358 0x08000358 0x0000008a Code RO 3158 .text c_w.l(rt_memcpy_v6.o) - 0x080003e2 0x080003e2 0x00000010 Code RO 3162 .text c_w.l(aeabi_memset4.o) - 0x080003f2 0x080003f2 0x0000004e Code RO 3166 .text c_w.l(rt_memclr_w.o) - 0x08000440 0x08000440 0x00000006 Code RO 3170 .text c_w.l(heapauxi.o) - 0x08000446 0x08000446 0x00000016 Code RO 3250 .text c_w.l(_rserrno.o) - 0x0800045c 0x0800045c 0x00000064 Code RO 3345 .text c_w.l(rt_memcpy_w.o) - 0x080004c0 0x080004c0 0x00000008 Code RO 3459 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x080004c8 0x080004c8 0x00000008 Code RO 3487 .text c_w.l(libspace.o) - 0x080004d0 0x080004d0 0x0000004a Code RO 3490 .text c_w.l(sys_stackheap_outer.o) - 0x0800051a 0x0800051a 0x00000012 Code RO 3531 .text c_w.l(exit.o) - 0x0800052c 0x0800052c 0x0000000c Code RO 3609 .text c_w.l(sys_exit.o) - 0x08000538 0x08000538 0x00000002 Code RO 3634 .text c_w.l(use_no_semi.o) - 0x0800053a 0x0800053a 0x00000000 Code RO 3636 .text c_w.l(indicate_semi.o) + 0x08000268 0x08000268 0x000000f0 Code RO 3143 .text c_w.l(lludivv7m.o) + 0x08000358 0x08000358 0x0000008a Code RO 3157 .text c_w.l(rt_memcpy_v6.o) + 0x080003e2 0x080003e2 0x00000010 Code RO 3161 .text c_w.l(aeabi_memset4.o) + 0x080003f2 0x080003f2 0x0000004e Code RO 3165 .text c_w.l(rt_memclr_w.o) + 0x08000440 0x08000440 0x00000006 Code RO 3169 .text c_w.l(heapauxi.o) + 0x08000446 0x08000446 0x00000016 Code RO 3249 .text c_w.l(_rserrno.o) + 0x0800045c 0x0800045c 0x00000064 Code RO 3344 .text c_w.l(rt_memcpy_w.o) + 0x080004c0 0x080004c0 0x00000008 Code RO 3458 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x080004c8 0x080004c8 0x00000008 Code RO 3486 .text c_w.l(libspace.o) + 0x080004d0 0x080004d0 0x0000004a Code RO 3489 .text c_w.l(sys_stackheap_outer.o) + 0x0800051a 0x0800051a 0x00000012 Code RO 3530 .text c_w.l(exit.o) + 0x0800052c 0x0800052c 0x0000000c Code RO 3608 .text c_w.l(sys_exit.o) + 0x08000538 0x08000538 0x00000002 Code RO 3633 .text c_w.l(use_no_semi.o) + 0x0800053a 0x0800053a 0x00000000 Code RO 3635 .text c_w.l(indicate_semi.o) 0x0800053a 0x0800053a 0x00000002 PAD 0x0800053c 0x0800053c 0x0000015c Code RO 2482 .text.AHRS_GetEulr ahrs.o 0x08000698 0x08000698 0x00000284 Code RO 2476 .text.AHRS_Init ahrs.o @@ -8222,7 +8221,7 @@ Memory Map of the image 0x0800357c 0x0800357c 0x0000009a Code RO 2689 .text.CircleError user_math.o 0x08003616 0x08003616 0x00000002 PAD 0x08003618 0x08003618 0x0000004c Code RO 2683 .text.Clip user_math.o - 0x08003664 0x08003664 0x0000000a Code RO 3134 .text.Config_GetRobotParam config.o + 0x08003664 0x08003664 0x0000000a Code RO 3133 .text.Config_GetRobotParam config.o 0x0800366e 0x0800366e 0x00000002 PAD 0x08003670 0x08003670 0x00000014 Code RO 172 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o 0x08003684 0x08003684 0x00000056 Code RO 2965 .text.DMA1_Stream1_IRQHandler1 remote_control.o @@ -8245,647 +8244,648 @@ Memory Map of the image 0x080038c6 0x080038c6 0x00000002 PAD 0x080038c8 0x080038c8 0x00000006 Code RO 15 .text.Error_Handler main.o 0x080038ce 0x080038ce 0x00000002 PAD - 0x080038d0 0x080038d0 0x00000458 Code RO 3118 .text.Gimbal_Control gimbal.o - 0x08003d28 0x08003d28 0x00000122 Code RO 3112 .text.Gimbal_Init gimbal.o - 0x08003e4a 0x08003e4a 0x00000002 PAD - 0x08003e4c 0x08003e4c 0x00000112 Code RO 3124 .text.Gimbal_Output gimbal.o - 0x08003f5e 0x08003f5e 0x00000002 PAD - 0x08003f60 0x08003f60 0x000000a0 Code RO 3120 .text.Gimbal_SetMode gimbal.o - 0x08004000 0x08004000 0x000001d4 Code RO 3114 .text.Gimbal_UpdateFeedback gimbal.o - 0x080041d4 0x080041d4 0x0000004a Code RO 3116 .text.Gimbal_UpdateIMU gimbal.o - 0x0800421e 0x0800421e 0x00000002 PAD - 0x08004220 0x08004220 0x00000052 Code RO 251 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x08004272 0x08004272 0x00000002 PAD - 0x08004274 0x08004274 0x00000156 Code RO 237 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x080043ca 0x080043ca 0x00000002 PAD - 0x080043cc 0x080043cc 0x0000019e Code RO 227 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x0800456a 0x0800456a 0x00000002 PAD - 0x0800456c 0x0800456c 0x00000050 Code RO 2214 .text.HAL_CAN_ErrorCallback can_1.o - 0x080045bc 0x080045bc 0x00000052 Code RO 249 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x0800460e 0x0800460e 0x00000002 PAD - 0x08004610 0x08004610 0x00000212 Code RO 247 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x08004822 0x08004822 0x00000002 PAD - 0x08004824 0x08004824 0x00000070 Code RO 241 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x08004894 0x08004894 0x000003f2 Code RO 255 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08004c86 0x08004c86 0x00000002 PAD - 0x08004c88 0x08004c88 0x000001de Code RO 217 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08004e66 0x08004e66 0x00000002 PAD - 0x08004e68 0x08004e68 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o - 0x08005038 0x08005038 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08005088 0x08005088 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x080050d8 0x080050d8 0x00000050 Code RO 2208 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x08005128 0x08005128 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x08005178 0x08005178 0x00000050 Code RO 2210 .text.HAL_CAN_SleepCallback can_1.o - 0x080051c8 0x080051c8 0x0000008a Code RO 229 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x08005252 0x08005252 0x00000002 PAD - 0x08005254 0x08005254 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x080052a4 0x080052a4 0x0000004c Code RO 2188 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x080052f0 0x080052f0 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x08005340 0x08005340 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08005390 0x08005390 0x00000050 Code RO 2200 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x080053e0 0x080053e0 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08005430 0x08005430 0x00000050 Code RO 2212 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x08005480 0x08005480 0x000000ec Code RO 484 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x0800556c 0x0800556c 0x00000044 Code RO 486 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x080055b0 0x080055b0 0x0000000e Code RO 496 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o - 0x080055be 0x080055be 0x00000002 PAD - 0x080055c0 0x080055c0 0x0000031e Code RO 490 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x080058de 0x080058de 0x00000002 PAD - 0x080058e0 0x080058e0 0x0000016e Code RO 470 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x08005a4e 0x08005a4e 0x00000002 PAD - 0x08005a50 0x08005a50 0x000000c2 Code RO 482 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08005b12 0x08005b12 0x00000002 PAD - 0x08005b14 0x08005b14 0x00000042 Code RO 665 .text.HAL_Delay stm32f4xx_hal.o - 0x08005b56 0x08005b56 0x00000002 PAD - 0x08005b58 0x08005b58 0x00000066 Code RO 2277 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x08005bbe 0x08005bbe 0x00000002 PAD - 0x08005bc0 0x08005bc0 0x00000038 Code RO 444 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08005bf8 0x08005bf8 0x000003b6 Code RO 432 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x08005fae 0x08005fae 0x00000002 PAD - 0x08005fb0 0x08005fb0 0x0000002e Code RO 436 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x08005fde 0x08005fde 0x00000002 PAD - 0x08005fe0 0x08005fe0 0x0000002e Code RO 438 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x0800600e 0x0800600e 0x00000002 PAD - 0x08006010 0x08006010 0x0000000c Code RO 657 .text.HAL_GetTick stm32f4xx_hal.o - 0x0800601c 0x0800601c 0x00000054 Code RO 2318 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x08006070 0x08006070 0x00000010 Code RO 872 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x08006080 0x08006080 0x0000017a Code RO 860 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x080061fa 0x080061fa 0x00000002 PAD - 0x080061fc 0x080061fc 0x000003ca Code RO 828 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x080065c6 0x080065c6 0x00000002 PAD - 0x080065c8 0x080065c8 0x00000054 Code RO 2316 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x0800661c 0x0800661c 0x000002a4 Code RO 734 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x080068c0 0x080068c0 0x00000054 Code RO 2310 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x08006914 0x08006914 0x00000054 Code RO 2304 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x08006968 0x08006968 0x00000050 Code RO 2300 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x080069b8 0x080069b8 0x00000054 Code RO 2314 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x08006a0c 0x08006a0c 0x00000054 Code RO 2312 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x08006a60 0x08006a60 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x08006b94 0x08006b94 0x00000054 Code RO 2308 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x08006be8 0x08006be8 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x08006c3c 0x08006c3c 0x0000001a Code RO 655 .text.HAL_IncTick stm32f4xx_hal.o - 0x08006c56 0x08006c56 0x00000002 PAD - 0x08006c58 0x08006c58 0x00000036 Code RO 645 .text.HAL_Init stm32f4xx_hal.o - 0x08006c8e 0x08006c8e 0x00000002 PAD - 0x08006c90 0x08006c90 0x00000070 Code RO 647 .text.HAL_InitTick stm32f4xx_hal.o - 0x08006d00 0x08006d00 0x00000058 Code RO 209 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08006d58 0x08006d58 0x00000014 Code RO 584 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x08006d6c 0x08006d6c 0x00000014 Code RO 580 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08006d80 0x08006d80 0x00000032 Code RO 572 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08006db2 0x08006db2 0x00000002 PAD - 0x08006db4 0x08006db4 0x00000010 Code RO 568 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08006dc4 0x08006dc4 0x00000262 Code RO 300 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08007026 0x08007026 0x00000002 PAD - 0x08007028 0x08007028 0x0000000c Code RO 310 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x08007034 0x08007034 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x08007056 0x08007056 0x00000002 PAD - 0x08007058 0x08007058 0x00000022 Code RO 314 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x0800707a 0x0800707a 0x00000002 PAD - 0x0800707c 0x0800707c 0x000000e6 Code RO 302 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x08007162 0x08007162 0x00000002 PAD - 0x08007164 0x08007164 0x000006be Code RO 298 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08007822 0x08007822 0x00000002 PAD - 0x08007824 0x08007824 0x00000054 Code RO 2395 .text.HAL_SPI_ErrorCallback spi_1.o - 0x08007878 0x08007878 0x00000100 Code RO 906 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x08007978 0x08007978 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x08007b88 0x08007b88 0x0000024e Code RO 918 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08007dd6 0x08007dd6 0x00000002 PAD - 0x08007dd8 0x08007dd8 0x00000198 Code RO 954 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08007f70 0x08007f70 0x00000054 Code RO 2385 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x08007fc4 0x08007fc4 0x00000054 Code RO 2391 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08008018 0x08008018 0x000002a2 Code RO 914 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x080082ba 0x080082ba 0x00000002 PAD - 0x080082bc 0x080082bc 0x000003a2 Code RO 920 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x0800865e 0x0800865e 0x00000002 PAD - 0x08008660 0x08008660 0x00000214 Code RO 956 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x08008874 0x08008874 0x0000016c Code RO 946 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x080089e0 0x080089e0 0x00000048 Code RO 2381 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08008a28 0x08008a28 0x00000054 Code RO 2389 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x08008a7c 0x08008a7c 0x00000054 Code RO 2387 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x08008ad0 0x08008ad0 0x00000054 Code RO 2393 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08008b24 0x08008b24 0x00000010 Code RO 592 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08008b34 0x08008b34 0x00000008 Code RO 1346 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x08008b3c 0x08008b3c 0x00000008 Code RO 1342 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08008b44 0x08008b44 0x00000122 Code RO 1336 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08008c66 0x08008c66 0x00000002 PAD - 0x08008c68 0x08008c68 0x0000009c Code RO 1023 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08008d04 0x08008d04 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x08008d8e 0x08008d8e 0x00000002 PAD - 0x08008d90 0x08008d90 0x00000008 Code RO 1159 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x08008d98 0x08008d98 0x0000021a Code RO 1157 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08008fb2 0x08008fb2 0x00000002 PAD - 0x08008fb4 0x08008fb4 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x08009020 0x08009020 0x00000008 Code RO 1161 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x08009028 0x08009028 0x00000142 Code RO 1189 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x0800916a 0x0800916a 0x00000002 PAD - 0x0800916c 0x0800916c 0x0000009c Code RO 1077 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x08009208 0x08009208 0x00000008 Code RO 1079 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009210 0x08009210 0x00000008 Code RO 1163 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x08009218 0x08009218 0x000001ca Code RO 1085 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x080093e2 0x080093e2 0x00000002 PAD - 0x080093e4 0x080093e4 0x00000008 Code RO 1165 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x080093ec 0x080093ec 0x00000008 Code RO 1167 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x080093f4 0x080093f4 0x0000000c Code RO 1451 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08009400 0x08009400 0x00000054 Code RO 2450 .text.HAL_UART_ErrorCallback uart.o - 0x08009454 0x08009454 0x0000045c Code RO 1443 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x080098b0 0x080098b0 0x0000009e Code RO 1359 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x0800994e 0x0800994e 0x00000002 PAD - 0x08009950 0x08009950 0x000001de Code RO 138 .text.HAL_UART_MspInit usart.o - 0x08009b2e 0x08009b2e 0x00000002 PAD - 0x08009b30 0x08009b30 0x00000054 Code RO 2446 .text.HAL_UART_RxCpltCallback uart.o - 0x08009b84 0x08009b84 0x000000fc Code RO 1387 .text.HAL_UART_Transmit_DMA stm32f4xx_hal_uart.o - 0x08009c80 0x08009c80 0x00000072 Code RO 1381 .text.HAL_UART_Transmit_IT stm32f4xx_hal_uart.o - 0x08009cf2 0x08009cf2 0x00000002 PAD - 0x08009cf4 0x08009cf4 0x00000054 Code RO 2440 .text.HAL_UART_TxCpltCallback uart.o - 0x08009d48 0x08009d48 0x00000050 Code RO 2444 .text.HAL_UART_TxHalfCpltCallback uart.o - 0x08009d98 0x08009d98 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o - 0x08009d9c 0x08009d9c 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o - 0x08009dac 0x08009dac 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o - 0x08009dbc 0x08009dbc 0x00000034 Code RO 830 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o - 0x08009df0 0x08009df0 0x00000156 Code RO 814 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o - 0x08009f46 0x08009f46 0x00000002 PAD - 0x08009f48 0x08009f48 0x00000024 Code RO 890 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o - 0x08009f6c 0x08009f6c 0x00000048 Code RO 2302 .text.I2C_Get i2c_1.o - 0x08009fb4 0x08009fb4 0x0000027a Code RO 826 .text.I2C_ITError stm32f4xx_hal_i2c.o - 0x0800a22e 0x0800a22e 0x00000002 PAD - 0x0800a230 0x0800a230 0x000001ac Code RO 846 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o - 0x0800a3dc 0x0800a3dc 0x0000016a Code RO 844 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800a546 0x0800a546 0x00000002 PAD - 0x0800a548 0x0800a548 0x000000de Code RO 840 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800a626 0x0800a626 0x00000002 PAD - 0x0800a628 0x0800a628 0x0000013e Code RO 838 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800a766 0x0800a766 0x00000002 PAD - 0x0800a768 0x0800a768 0x00000046 Code RO 834 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o - 0x0800a7ae 0x0800a7ae 0x00000002 PAD - 0x0800a7b0 0x0800a7b0 0x0000033e Code RO 836 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o - 0x0800aaee 0x0800aaee 0x00000002 PAD - 0x0800aaf0 0x0800aaf0 0x000000f0 Code RO 832 .text.I2C_Master_SB stm32f4xx_hal_i2c.o - 0x0800abe0 0x0800abe0 0x00000128 Code RO 842 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o - 0x0800ad08 0x0800ad08 0x0000002e Code RO 858 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o - 0x0800ad36 0x0800ad36 0x00000002 PAD - 0x0800ad38 0x0800ad38 0x0000006e Code RO 856 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800ada6 0x0800ada6 0x00000002 PAD - 0x0800ada8 0x0800ada8 0x0000002c Code RO 854 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800add4 0x0800add4 0x0000006c Code RO 852 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800ae40 0x0800ae40 0x000000ae Code RO 848 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o - 0x0800aeee 0x0800aeee 0x00000002 PAD - 0x0800aef0 0x0800aef0 0x000000e4 Code RO 862 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o - 0x0800afd4 0x0800afd4 0x0000024a Code RO 850 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o - 0x0800b21e 0x0800b21e 0x00000002 PAD - 0x0800b220 0x0800b220 0x00000078 Code RO 892 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o - 0x0800b298 0x0800b298 0x00000076 Code RO 2677 .text.InvSqrt user_math.o - 0x0800b30e 0x0800b30e 0x00000002 PAD - 0x0800b310 0x0800b310 0x000000b8 Code RO 2529 .text.LowPassFilter2p_Apply filter.o - 0x0800b3c8 0x0800b3c8 0x0000013c Code RO 2527 .text.LowPassFilter2p_Init filter.o - 0x0800b504 0x0800b504 0x00000092 Code RO 2535 .text.LowPassFilter2p_Reset filter.o - 0x0800b596 0x0800b596 0x00000002 PAD - 0x0800b598 0x0800b598 0x00000096 Code RO 2980 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x0800b62e 0x0800b62e 0x00000002 PAD - 0x0800b630 0x0800b630 0x0000007a Code RO 3004 .text.MOTOR_DM_Enable motor_dm.o - 0x0800b6aa 0x0800b6aa 0x00000002 PAD - 0x0800b6ac 0x0800b6ac 0x00000030 Code RO 2982 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x0800b6dc 0x0800b6dc 0x00000086 Code RO 2992 .text.MOTOR_DM_GetMotor motor_dm.o - 0x0800b762 0x0800b762 0x00000002 PAD - 0x0800b764 0x0800b764 0x00000048 Code RO 2990 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x0800b7ac 0x0800b7ac 0x00000158 Code RO 2986 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800b904 0x0800b904 0x0000012c Code RO 2978 .text.MOTOR_DM_Register motor_dm.o - 0x0800ba30 0x0800ba30 0x00000144 Code RO 2994 .text.MOTOR_DM_SendMITCmd motor_dm.o - 0x0800bb74 0x0800bb74 0x0000010c Code RO 2984 .text.MOTOR_DM_Update motor_dm.o - 0x0800bc80 0x0800bc80 0x00000096 Code RO 2887 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x0800bd16 0x0800bd16 0x00000002 PAD - 0x0800bd18 0x0800bd18 0x00000170 Code RO 2905 .text.MOTOR_RM_Ctrl motor_rm.o - 0x0800be88 0x0800be88 0x00000030 Code RO 2889 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800beb8 0x0800beb8 0x00000052 Code RO 2903 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800bf0a 0x0800bf0a 0x00000002 PAD - 0x0800bf0c 0x0800bf0c 0x00000080 Code RO 2901 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x0800bf8c 0x0800bf8c 0x00000078 Code RO 2899 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800c004 0x0800c004 0x00000050 Code RO 2911 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800c054 0x0800c054 0x00000120 Code RO 2885 .text.MOTOR_RM_Register motor_rm.o - 0x0800c174 0x0800c174 0x0000011a Code RO 2897 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800c28e 0x0800c28e 0x00000002 PAD - 0x0800c290 0x0800c290 0x00000102 Code RO 2891 .text.MOTOR_RM_Update motor_rm.o - 0x0800c392 0x0800c392 0x00000002 PAD - 0x0800c394 0x0800c394 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800c3e2 0x0800c3e2 0x00000002 PAD - 0x0800c3e4 0x0800c3e4 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800c432 0x0800c432 0x00000002 PAD - 0x0800c434 0x0800c434 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o - 0x0800c4ba 0x0800c4ba 0x00000002 PAD - 0x0800c4bc 0x0800c4bc 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800c4fc 0x0800c4fc 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800c726 0x0800c726 0x00000002 PAD - 0x0800c728 0x0800c728 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800c770 0x0800c770 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800c7b8 0x0800c7b8 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800c80a 0x0800c80a 0x00000002 PAD - 0x0800c80c 0x0800c80c 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800c860 0x0800c860 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800c8ee 0x0800c8ee 0x00000002 PAD - 0x0800c8f0 0x0800c8f0 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o - 0x0800c948 0x0800c948 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x0800c988 0x0800c988 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o - 0x0800c9d4 0x0800c9d4 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o - 0x0800c9d8 0x0800c9d8 0x0000021c Code RO 2893 .text.Motor_RM_Decode motor_rm.o - 0x0800cbf4 0x0800cbf4 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o - 0x0800cbf8 0x0800cbf8 0x0000006c Code RO 578 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800cc64 0x0800cc64 0x00000094 Code RO 2769 .text.OutContinuation sliding.o - 0x0800ccf8 0x0800ccf8 0x000002f0 Code RO 2640 .text.PID_Calc pid.o - 0x0800cfe8 0x0800cfe8 0x00000196 Code RO 2632 .text.PID_Init pid.o - 0x0800d17e 0x0800d17e 0x00000002 PAD - 0x0800d180 0x0800d180 0x00000048 Code RO 2638 .text.PID_Reset pid.o - 0x0800d1c8 0x0800d1c8 0x00000008 PAD - 0x0800d1d0 0x0800d1d0 0x00000064 Code RO 2172 .text.PendSV_Handler port.o - 0x0800d234 0x0800d234 0x00000094 Code RO 2719 .text.RC_Init bsp_rc.o - 0x0800d2c8 0x0800d2c8 0x0000005a Code RO 2723 .text.RC_restart bsp_rc.o - 0x0800d322 0x0800d322 0x00000002 PAD - 0x0800d324 0x0800d324 0x0000006c Code RO 2757 .text.SMC_Init sliding.o - 0x0800d390 0x0800d390 0x0000009c Code RO 2761 .text.SMC_PErrorUpdate sliding.o - 0x0800d42c 0x0800d42c 0x0000004e Code RO 2755 .text.SMC_Reset sliding.o - 0x0800d47a 0x0800d47a 0x00000002 PAD - 0x0800d47c 0x0800d47c 0x0000004e Code RO 2759 .text.SMC_SetParam sliding.o - 0x0800d4ca 0x0800d4ca 0x00000002 PAD - 0x0800d4cc 0x0800d4cc 0x00000034 Code RO 952 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800d500 0x0800d500 0x00000016 Code RO 958 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800d516 0x0800d516 0x00000002 PAD - 0x0800d518 0x0800d518 0x00000016 Code RO 948 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800d52e 0x0800d52e 0x00000002 PAD - 0x0800d530 0x0800d530 0x00000016 Code RO 962 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x080038d0 0x080038d0 0x00000484 Code RO 3118 .text.Gimbal_Control gimbal.o + 0x08003d54 0x08003d54 0x00000122 Code RO 3112 .text.Gimbal_Init gimbal.o + 0x08003e76 0x08003e76 0x00000002 PAD + 0x08003e78 0x08003e78 0x00000112 Code RO 3124 .text.Gimbal_Output gimbal.o + 0x08003f8a 0x08003f8a 0x00000002 PAD + 0x08003f8c 0x08003f8c 0x00000094 Code RO 3120 .text.Gimbal_SetMode gimbal.o + 0x08004020 0x08004020 0x00000210 Code RO 3114 .text.Gimbal_UpdateFeedback gimbal.o + 0x08004230 0x08004230 0x0000004a Code RO 3116 .text.Gimbal_UpdateIMU gimbal.o + 0x0800427a 0x0800427a 0x00000002 PAD + 0x0800427c 0x0800427c 0x00000052 Code RO 251 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080042ce 0x080042ce 0x00000002 PAD + 0x080042d0 0x080042d0 0x00000156 Code RO 237 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08004426 0x08004426 0x00000002 PAD + 0x08004428 0x08004428 0x0000019e Code RO 227 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x080045c6 0x080045c6 0x00000002 PAD + 0x080045c8 0x080045c8 0x00000050 Code RO 2214 .text.HAL_CAN_ErrorCallback can_1.o + 0x08004618 0x08004618 0x00000052 Code RO 249 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x0800466a 0x0800466a 0x00000002 PAD + 0x0800466c 0x0800466c 0x00000212 Code RO 247 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x0800487e 0x0800487e 0x00000002 PAD + 0x08004880 0x08004880 0x00000070 Code RO 241 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x080048f0 0x080048f0 0x000003f2 Code RO 255 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08004ce2 0x08004ce2 0x00000002 PAD + 0x08004ce4 0x08004ce4 0x000001de Code RO 217 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08004ec2 0x08004ec2 0x00000002 PAD + 0x08004ec4 0x08004ec4 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x08005094 0x08005094 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x080050e4 0x080050e4 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08005134 0x08005134 0x00000050 Code RO 2208 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08005184 0x08005184 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x080051d4 0x080051d4 0x00000050 Code RO 2210 .text.HAL_CAN_SleepCallback can_1.o + 0x08005224 0x08005224 0x0000008a Code RO 229 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080052ae 0x080052ae 0x00000002 PAD + 0x080052b0 0x080052b0 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08005300 0x08005300 0x0000004c Code RO 2188 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x0800534c 0x0800534c 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x0800539c 0x0800539c 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x080053ec 0x080053ec 0x00000050 Code RO 2200 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x0800543c 0x0800543c 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x0800548c 0x0800548c 0x00000050 Code RO 2212 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x080054dc 0x080054dc 0x000000ec Code RO 484 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x080055c8 0x080055c8 0x00000044 Code RO 486 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x0800560c 0x0800560c 0x0000000e Code RO 496 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x0800561a 0x0800561a 0x00000002 PAD + 0x0800561c 0x0800561c 0x0000031e Code RO 490 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x0800593a 0x0800593a 0x00000002 PAD + 0x0800593c 0x0800593c 0x0000016e Code RO 470 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08005aaa 0x08005aaa 0x00000002 PAD + 0x08005aac 0x08005aac 0x000000c2 Code RO 482 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08005b6e 0x08005b6e 0x00000002 PAD + 0x08005b70 0x08005b70 0x00000042 Code RO 665 .text.HAL_Delay stm32f4xx_hal.o + 0x08005bb2 0x08005bb2 0x00000002 PAD + 0x08005bb4 0x08005bb4 0x00000066 Code RO 2277 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08005c1a 0x08005c1a 0x00000002 PAD + 0x08005c1c 0x08005c1c 0x00000038 Code RO 444 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08005c54 0x08005c54 0x000003b6 Code RO 432 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x0800600a 0x0800600a 0x00000002 PAD + 0x0800600c 0x0800600c 0x0000002e Code RO 436 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x0800603a 0x0800603a 0x00000002 PAD + 0x0800603c 0x0800603c 0x0000002e Code RO 438 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x0800606a 0x0800606a 0x00000002 PAD + 0x0800606c 0x0800606c 0x0000000c Code RO 657 .text.HAL_GetTick stm32f4xx_hal.o + 0x08006078 0x08006078 0x00000054 Code RO 2318 .text.HAL_I2C_AbortCpltCallback i2c_1.o + 0x080060cc 0x080060cc 0x00000010 Code RO 872 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o + 0x080060dc 0x080060dc 0x0000017a Code RO 860 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o + 0x08006256 0x08006256 0x00000002 PAD + 0x08006258 0x08006258 0x000003ca Code RO 828 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o + 0x08006622 0x08006622 0x00000002 PAD + 0x08006624 0x08006624 0x00000054 Code RO 2316 .text.HAL_I2C_ErrorCallback i2c_1.o + 0x08006678 0x08006678 0x000002a4 Code RO 734 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x0800691c 0x0800691c 0x00000054 Code RO 2310 .text.HAL_I2C_ListenCpltCallback i2c_1.o + 0x08006970 0x08006970 0x00000054 Code RO 2304 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 0x080069c4 0x080069c4 0x00000050 Code RO 2300 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o + 0x08006a14 0x08006a14 0x00000054 Code RO 2314 .text.HAL_I2C_MemRxCpltCallback i2c_1.o + 0x08006a68 0x08006a68 0x00000054 Code RO 2312 .text.HAL_I2C_MemTxCpltCallback i2c_1.o + 0x08006abc 0x08006abc 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o + 0x08006bf0 0x08006bf0 0x00000054 Code RO 2308 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 0x08006c44 0x08006c44 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o + 0x08006c98 0x08006c98 0x0000001a Code RO 655 .text.HAL_IncTick stm32f4xx_hal.o + 0x08006cb2 0x08006cb2 0x00000002 PAD + 0x08006cb4 0x08006cb4 0x00000036 Code RO 645 .text.HAL_Init stm32f4xx_hal.o + 0x08006cea 0x08006cea 0x00000002 PAD + 0x08006cec 0x08006cec 0x00000070 Code RO 647 .text.HAL_InitTick stm32f4xx_hal.o + 0x08006d5c 0x08006d5c 0x00000058 Code RO 209 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08006db4 0x08006db4 0x00000014 Code RO 584 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x08006dc8 0x08006dc8 0x00000014 Code RO 580 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08006ddc 0x08006ddc 0x00000032 Code RO 572 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x08006e0e 0x08006e0e 0x00000002 PAD + 0x08006e10 0x08006e10 0x00000010 Code RO 568 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08006e20 0x08006e20 0x00000262 Code RO 300 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08007082 0x08007082 0x00000002 PAD + 0x08007084 0x08007084 0x0000000c Code RO 310 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08007090 0x08007090 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x080070b2 0x080070b2 0x00000002 PAD + 0x080070b4 0x080070b4 0x00000022 Code RO 314 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x080070d6 0x080070d6 0x00000002 PAD + 0x080070d8 0x080070d8 0x000000e6 Code RO 302 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080071be 0x080071be 0x00000002 PAD + 0x080071c0 0x080071c0 0x000006be Code RO 298 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x0800787e 0x0800787e 0x00000002 PAD + 0x08007880 0x08007880 0x00000054 Code RO 2395 .text.HAL_SPI_ErrorCallback spi_1.o + 0x080078d4 0x080078d4 0x00000100 Code RO 906 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x080079d4 0x080079d4 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o + 0x08007be4 0x08007be4 0x0000024e Code RO 918 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x08007e32 0x08007e32 0x00000002 PAD + 0x08007e34 0x08007e34 0x00000198 Code RO 954 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08007fcc 0x08007fcc 0x00000054 Code RO 2385 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08008020 0x08008020 0x00000054 Code RO 2391 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08008074 0x08008074 0x000002a2 Code RO 914 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x08008316 0x08008316 0x00000002 PAD + 0x08008318 0x08008318 0x000003a2 Code RO 920 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x080086ba 0x080086ba 0x00000002 PAD + 0x080086bc 0x080086bc 0x00000214 Code RO 956 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x080088d0 0x080088d0 0x0000016c Code RO 946 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x08008a3c 0x08008a3c 0x00000048 Code RO 2381 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08008a84 0x08008a84 0x00000054 Code RO 2389 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x08008ad8 0x08008ad8 0x00000054 Code RO 2387 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x08008b2c 0x08008b2c 0x00000054 Code RO 2393 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08008b80 0x08008b80 0x00000010 Code RO 592 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08008b90 0x08008b90 0x00000008 Code RO 1346 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x08008b98 0x08008b98 0x00000008 Code RO 1342 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08008ba0 0x08008ba0 0x00000122 Code RO 1336 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08008cc2 0x08008cc2 0x00000002 PAD + 0x08008cc4 0x08008cc4 0x0000009c Code RO 1023 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08008d60 0x08008d60 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x08008dea 0x08008dea 0x00000002 PAD + 0x08008dec 0x08008dec 0x00000008 Code RO 1159 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x08008df4 0x08008df4 0x0000021a Code RO 1157 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x0800900e 0x0800900e 0x00000002 PAD + 0x08009010 0x08009010 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x0800907c 0x0800907c 0x00000008 Code RO 1161 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x08009084 0x08009084 0x00000142 Code RO 1189 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x080091c6 0x080091c6 0x00000002 PAD + 0x080091c8 0x080091c8 0x0000009c Code RO 1077 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08009264 0x08009264 0x00000008 Code RO 1079 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x0800926c 0x0800926c 0x00000008 Code RO 1163 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x08009274 0x08009274 0x000001ca Code RO 1085 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x0800943e 0x0800943e 0x00000002 PAD + 0x08009440 0x08009440 0x00000008 Code RO 1165 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x08009448 0x08009448 0x00000008 Code RO 1167 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08009450 0x08009450 0x0000000c Code RO 1451 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x0800945c 0x0800945c 0x00000054 Code RO 2450 .text.HAL_UART_ErrorCallback uart.o + 0x080094b0 0x080094b0 0x0000045c Code RO 1443 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x0800990c 0x0800990c 0x0000009e Code RO 1359 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x080099aa 0x080099aa 0x00000002 PAD + 0x080099ac 0x080099ac 0x000001de Code RO 138 .text.HAL_UART_MspInit usart.o + 0x08009b8a 0x08009b8a 0x00000002 PAD + 0x08009b8c 0x08009b8c 0x00000054 Code RO 2446 .text.HAL_UART_RxCpltCallback uart.o + 0x08009be0 0x08009be0 0x000000fc Code RO 1387 .text.HAL_UART_Transmit_DMA stm32f4xx_hal_uart.o + 0x08009cdc 0x08009cdc 0x00000072 Code RO 1381 .text.HAL_UART_Transmit_IT stm32f4xx_hal_uart.o + 0x08009d4e 0x08009d4e 0x00000002 PAD + 0x08009d50 0x08009d50 0x00000054 Code RO 2440 .text.HAL_UART_TxCpltCallback uart.o + 0x08009da4 0x08009da4 0x00000050 Code RO 2444 .text.HAL_UART_TxHalfCpltCallback uart.o + 0x08009df4 0x08009df4 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o + 0x08009df8 0x08009df8 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x08009e08 0x08009e08 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x08009e18 0x08009e18 0x00000034 Code RO 830 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x08009e4c 0x08009e4c 0x00000156 Code RO 814 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x08009fa2 0x08009fa2 0x00000002 PAD + 0x08009fa4 0x08009fa4 0x00000024 Code RO 890 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x08009fc8 0x08009fc8 0x00000048 Code RO 2302 .text.I2C_Get i2c_1.o + 0x0800a010 0x0800a010 0x0000027a Code RO 826 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800a28a 0x0800a28a 0x00000002 PAD + 0x0800a28c 0x0800a28c 0x000001ac Code RO 846 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800a438 0x0800a438 0x0000016a Code RO 844 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800a5a2 0x0800a5a2 0x00000002 PAD + 0x0800a5a4 0x0800a5a4 0x000000de Code RO 840 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800a682 0x0800a682 0x00000002 PAD + 0x0800a684 0x0800a684 0x0000013e Code RO 838 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800a7c2 0x0800a7c2 0x00000002 PAD + 0x0800a7c4 0x0800a7c4 0x00000046 Code RO 834 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800a80a 0x0800a80a 0x00000002 PAD + 0x0800a80c 0x0800a80c 0x0000033e Code RO 836 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800ab4a 0x0800ab4a 0x00000002 PAD + 0x0800ab4c 0x0800ab4c 0x000000f0 Code RO 832 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800ac3c 0x0800ac3c 0x00000128 Code RO 842 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800ad64 0x0800ad64 0x0000002e Code RO 858 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800ad92 0x0800ad92 0x00000002 PAD + 0x0800ad94 0x0800ad94 0x0000006e Code RO 856 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ae02 0x0800ae02 0x00000002 PAD + 0x0800ae04 0x0800ae04 0x0000002c Code RO 854 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ae30 0x0800ae30 0x0000006c Code RO 852 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800ae9c 0x0800ae9c 0x000000ae Code RO 848 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800af4a 0x0800af4a 0x00000002 PAD + 0x0800af4c 0x0800af4c 0x000000e4 Code RO 862 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800b030 0x0800b030 0x0000024a Code RO 850 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800b27a 0x0800b27a 0x00000002 PAD + 0x0800b27c 0x0800b27c 0x00000078 Code RO 892 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800b2f4 0x0800b2f4 0x00000076 Code RO 2677 .text.InvSqrt user_math.o + 0x0800b36a 0x0800b36a 0x00000002 PAD + 0x0800b36c 0x0800b36c 0x000000b8 Code RO 2529 .text.LowPassFilter2p_Apply filter.o + 0x0800b424 0x0800b424 0x0000013c Code RO 2527 .text.LowPassFilter2p_Init filter.o + 0x0800b560 0x0800b560 0x00000092 Code RO 2535 .text.LowPassFilter2p_Reset filter.o + 0x0800b5f2 0x0800b5f2 0x00000002 PAD + 0x0800b5f4 0x0800b5f4 0x00000096 Code RO 2980 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800b68a 0x0800b68a 0x00000002 PAD + 0x0800b68c 0x0800b68c 0x0000007a Code RO 3004 .text.MOTOR_DM_Enable motor_dm.o + 0x0800b706 0x0800b706 0x00000002 PAD + 0x0800b708 0x0800b708 0x00000030 Code RO 2982 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800b738 0x0800b738 0x00000086 Code RO 2992 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800b7be 0x0800b7be 0x00000002 PAD + 0x0800b7c0 0x0800b7c0 0x00000048 Code RO 2990 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800b808 0x0800b808 0x00000158 Code RO 2986 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800b960 0x0800b960 0x0000012c Code RO 2978 .text.MOTOR_DM_Register motor_dm.o + 0x0800ba8c 0x0800ba8c 0x00000144 Code RO 2994 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800bbd0 0x0800bbd0 0x0000010c Code RO 2984 .text.MOTOR_DM_Update motor_dm.o + 0x0800bcdc 0x0800bcdc 0x00000096 Code RO 2887 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800bd72 0x0800bd72 0x00000002 PAD + 0x0800bd74 0x0800bd74 0x00000170 Code RO 2905 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800bee4 0x0800bee4 0x00000030 Code RO 2889 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800bf14 0x0800bf14 0x00000052 Code RO 2903 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800bf66 0x0800bf66 0x00000002 PAD + 0x0800bf68 0x0800bf68 0x00000080 Code RO 2901 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800bfe8 0x0800bfe8 0x00000078 Code RO 2899 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800c060 0x0800c060 0x00000050 Code RO 2911 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800c0b0 0x0800c0b0 0x00000120 Code RO 2885 .text.MOTOR_RM_Register motor_rm.o + 0x0800c1d0 0x0800c1d0 0x0000011a Code RO 2897 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800c2ea 0x0800c2ea 0x00000002 PAD + 0x0800c2ec 0x0800c2ec 0x00000102 Code RO 2891 .text.MOTOR_RM_Update motor_rm.o + 0x0800c3ee 0x0800c3ee 0x00000002 PAD + 0x0800c3f0 0x0800c3f0 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800c43e 0x0800c43e 0x00000002 PAD + 0x0800c440 0x0800c440 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800c48e 0x0800c48e 0x00000002 PAD + 0x0800c490 0x0800c490 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800c516 0x0800c516 0x00000002 PAD + 0x0800c518 0x0800c518 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800c558 0x0800c558 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800c782 0x0800c782 0x00000002 PAD + 0x0800c784 0x0800c784 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800c7cc 0x0800c7cc 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800c814 0x0800c814 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800c866 0x0800c866 0x00000002 PAD + 0x0800c868 0x0800c868 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800c8bc 0x0800c8bc 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800c94a 0x0800c94a 0x00000002 PAD + 0x0800c94c 0x0800c94c 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800c9a4 0x0800c9a4 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800c9e4 0x0800c9e4 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o + 0x0800ca30 0x0800ca30 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o + 0x0800ca34 0x0800ca34 0x0000021c Code RO 2893 .text.Motor_RM_Decode motor_rm.o + 0x0800cc50 0x0800cc50 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o + 0x0800cc54 0x0800cc54 0x0000006c Code RO 578 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800ccc0 0x0800ccc0 0x00000094 Code RO 2769 .text.OutContinuation sliding.o + 0x0800cd54 0x0800cd54 0x000002f0 Code RO 2640 .text.PID_Calc pid.o + 0x0800d044 0x0800d044 0x00000196 Code RO 2632 .text.PID_Init pid.o + 0x0800d1da 0x0800d1da 0x00000002 PAD + 0x0800d1dc 0x0800d1dc 0x00000048 Code RO 2638 .text.PID_Reset pid.o + 0x0800d224 0x0800d224 0x0000000c PAD + 0x0800d230 0x0800d230 0x00000064 Code RO 2172 .text.PendSV_Handler port.o + 0x0800d294 0x0800d294 0x00000094 Code RO 2719 .text.RC_Init bsp_rc.o + 0x0800d328 0x0800d328 0x0000005a Code RO 2723 .text.RC_restart bsp_rc.o + 0x0800d382 0x0800d382 0x00000002 PAD + 0x0800d384 0x0800d384 0x0000006e Code RO 2757 .text.SMC_Init sliding.o + 0x0800d3f2 0x0800d3f2 0x00000002 PAD + 0x0800d3f4 0x0800d3f4 0x00000104 Code RO 2761 .text.SMC_PErrorUpdate sliding.o + 0x0800d4f8 0x0800d4f8 0x0000004e Code RO 2755 .text.SMC_Reset sliding.o 0x0800d546 0x0800d546 0x00000002 PAD - 0x0800d548 0x0800d548 0x000000a2 Code RO 960 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800d5ea 0x0800d5ea 0x00000002 PAD - 0x0800d5ec 0x0800d5ec 0x000000a6 Code RO 950 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800d692 0x0800d692 0x00000002 PAD - 0x0800d694 0x0800d694 0x00000086 Code RO 964 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d71a 0x0800d71a 0x00000002 PAD - 0x0800d71c 0x0800d71c 0x000000e4 Code RO 922 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x0800d800 0x0800d800 0x000000cc Code RO 916 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800d8cc 0x0800d8cc 0x0000002e Code RO 2383 .text.SPI_Get spi_1.o - 0x0800d8fa 0x0800d8fa 0x00000002 PAD - 0x0800d8fc 0x0800d8fc 0x0000012c Code RO 1014 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800da28 0x0800da28 0x00000008 PAD - 0x0800da30 0x0800da30 0x00000024 Code RO 2156 .text.SVC_Handler port.o - 0x0800da54 0x0800da54 0x0000000e Code RO 1950 .text.SVC_Setup cmsis_os2.o - 0x0800da62 0x0800da62 0x00000006 PAD - 0x0800da68 0x0800da68 0x00000088 Code RO 2767 .text.Sat sliding.o - 0x0800daf0 0x0800daf0 0x00000046 Code RO 2771 .text.Signal sliding.o - 0x0800db36 0x0800db36 0x00000002 PAD - 0x0800db38 0x0800db38 0x00000698 Code RO 2765 .text.Smc_Calc sliding.o - 0x0800e1d0 0x0800e1d0 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800e1e2 0x0800e1e2 0x00000002 PAD - 0x0800e1e4 0x0800e1e4 0x00000052 Code RO 594 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800e236 0x0800e236 0x00000002 PAD - 0x0800e238 0x0800e238 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o - 0x0800e250 0x0800e250 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800e30c 0x0800e30c 0x00000012 Code RO 1490 .text.SystemInit system_stm32f4xx.o - 0x0800e31e 0x0800e31e 0x00000002 PAD - 0x0800e320 0x0800e320 0x00000010 Code RO 190 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800e330 0x0800e330 0x000001a4 Code RO 1027 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800e4d4 0x0800e4d4 0x00000036 Code RO 1061 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800e50a 0x0800e50a 0x00000002 PAD - 0x0800e50c 0x0800e50c 0x000000ea Code RO 1171 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800e5f6 0x0800e5f6 0x00000002 PAD - 0x0800e5f8 0x0800e5f8 0x000000f4 Code RO 1173 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800e6ec 0x0800e6ec 0x000000f2 Code RO 1175 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800e7de 0x0800e7de 0x00000002 PAD - 0x0800e7e0 0x0800e7e0 0x000000a4 Code RO 1177 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x0800e884 0x0800e884 0x000000e6 Code RO 3042 .text.Task_Init init.o - 0x0800e96a 0x0800e96a 0x00000006 PAD - 0x0800e970 0x0800e970 0x00000190 Code RO 3050 .text.Task_atti_esti atti_esti.o - 0x0800eb00 0x0800eb00 0x00000114 Code RO 3091 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x0800ec14 0x0800ec14 0x00000004 PAD - 0x0800ec18 0x0800ec18 0x000000a0 Code RO 3069 .text.Task_remote remote.o - 0x0800ecb8 0x0800ecb8 0x00000090 Code RO 3102 .text.Task_vofa vofa_1.o - 0x0800ed48 0x0800ed48 0x0000001c Code RO 1447 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x0800ed64 0x0800ed64 0x0000007c Code RO 1393 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x0800ede0 0x0800ede0 0x0000007a Code RO 1389 .text.UART_DMATransmitCplt stm32f4xx_hal_uart.o - 0x0800ee5a 0x0800ee5a 0x00000002 PAD - 0x0800ee5c 0x0800ee5c 0x00000016 Code RO 1391 .text.UART_DMATxHalfCplt stm32f4xx_hal_uart.o - 0x0800ee72 0x0800ee72 0x00000002 PAD - 0x0800ee74 0x0800ee74 0x00000094 Code RO 1407 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x0800ef08 0x0800ef08 0x00000026 Code RO 1455 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x0800ef2e 0x0800ef2e 0x00000002 PAD - 0x0800ef30 0x0800ef30 0x00000036 Code RO 1405 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o - 0x0800ef66 0x0800ef66 0x00000002 PAD - 0x0800ef68 0x0800ef68 0x00000048 Code RO 2442 .text.UART_Get uart.o - 0x0800efb0 0x0800efb0 0x00000168 Code RO 1445 .text.UART_Receive_IT 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0x0801623c 0x00000026 Code RO 3196 x$fpl$dfltu fz_wm.l(dflt_clz.o) - 0x08016262 0x08016262 0x00000002 PAD - 0x08016264 0x08016264 0x00000078 Code RO 3351 x$fpl$dgeqf fz_wm.l(dgeqf.o) - 0x080162dc 0x080162dc 0x00000078 Code RO 3353 x$fpl$dleqf fz_wm.l(dleqf.o) - 0x08016354 0x08016354 0x00000154 Code RO 3202 x$fpl$dmul fz_wm.l(dmul.o) - 0x080164a8 0x080164a8 0x0000009c Code RO 3355 x$fpl$dnaninf fz_wm.l(dnaninf.o) - 0x08016544 0x08016544 0x0000000c Code RO 3357 x$fpl$dretinf fz_wm.l(dretinf.o) - 0x08016550 0x08016550 0x0000006c Code RO 3359 x$fpl$drleqf fz_wm.l(drleqf.o) - 0x080165bc 0x080165bc 0x00000016 Code RO 3177 x$fpl$drsb fz_wm.l(daddsub_clz.o) - 0x080165d2 0x080165d2 0x00000002 PAD - 0x080165d4 0x080165d4 0x00000198 Code RO 3485 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) - 0x0801676c 0x0801676c 0x000001dc Code RO 3178 x$fpl$dsub fz_wm.l(daddsub_clz.o) - 0x08016948 0x08016948 0x00000056 Code RO 3204 x$fpl$f2d fz_wm.l(f2d.o) - 0x0801699e 0x0801699e 0x00000054 Code RO 3182 x$fpl$fcmp fz_wm.l(dcmp.o) - 0x080169f2 0x080169f2 0x00000060 Code RO 3206 x$fpl$ffltll fz_wm.l(ffltll_clz.o) - 0x08016a52 0x08016a52 0x0000008c Code RO 3361 x$fpl$fnaninf fz_wm.l(fnaninf.o) - 0x08016ade 0x08016ade 0x0000001a Code RO 3628 x$fpl$fpinit fz_wm.l(fpinit.o) - 0x08016af8 0x08016af8 0x0000000a Code RO 3363 x$fpl$fretinf fz_wm.l(fretinf.o) - 0x08016b02 0x08016b02 0x00000064 Code RO 3545 x$fpl$retnan fz_wm.l(retnan.o) - 0x08016b66 0x08016b66 0x0000005c Code RO 3373 x$fpl$scalbn fz_wm.l(scalbn.o) - 0x08016bc2 0x08016bc2 0x00000030 Code RO 3607 x$fpl$trapveneer fz_wm.l(trapv.o) - 0x08016bf2 0x08016bf2 0x00000000 Code RO 3375 x$fpl$usenofp fz_wm.l(usenofp.o) - 0x08016bf2 0x08016bf2 0x00000006 PAD - 0x08016bf8 0x08016bf8 0x00000088 Data RO 3235 .constdata m_wm.l(pow.o) - 0x08016c80 0x08016c80 0x00000098 Data RO 3379 .constdata m_wm.l(atan.o) - 0x08016d18 0x08016d18 0x00000008 Data RO 3423 .constdata m_wm.l(qnan.o) - 0x08016d20 0x08016d20 0x00000020 Data RO 3425 .constdata m_wm.l(rredf.o) - 0x08016d40 0x08016d40 0x00000010 Data RO 1495 .rodata.AHBPrescTable system_stm32f4xx.o - 0x08016d50 0x08016d50 0x00000008 Data RO 1496 .rodata.APBPrescTable system_stm32f4xx.o - 0x08016d58 0x08016d58 0x00000008 Data RO 500 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o - 0x08016d60 0x08016d60 0x00000038 Data RO 2292 .rodata.GPIO_Map gpio_1.o - 0x08016d98 0x08016d98 0x00000008 Data RO 2373 .rodata.PWM_Map pwm.o - 0x08016da0 0x08016da0 0x00000024 Data RO 3081 .rodata.attr_atti_esti user_task.o - 0x08016dc4 0x08016dc4 0x00000024 Data RO 3082 .rodata.attr_gimbal_ctrl user_task.o - 0x08016de8 0x08016de8 0x00000024 Data RO 3080 .rodata.attr_init user_task.o - 0x08016e0c 0x08016e0c 0x00000024 Data RO 3083 .rodata.attr_remote user_task.o - 0x08016e30 0x08016e30 0x00000024 Data RO 3084 .rodata.attr_vofa user_task.o - 0x08016e54 0x08016e54 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o - 0x08016e78 0x08016e78 0x00000020 Data RO 3057 .rodata.imu_temp_ctrl_pid_param atti_esti.o - 0x08016e98 0x08016e98 0x0000000c Data RO 43 .rodata.str1.1 freertos.o - 0x08016ea4 0x08016ea4 0x00000005 Data RO 1854 .rodata.str1.1 tasks.o - 0x08016ea9 0x08016ea9 0x0000000d Data RO 1926 .rodata.str1.1 timers.o - 0x08016eb6 0x08016eb6 0x0000002c Data RO 3079 .rodata.str1.1 user_task.o - 0x08016ee2 0x08016ee2 0x00000002 PAD - 0x08016ee4 0x08016ee4 0x00000020 Data RO 3689 Region$$Table anon$$obj.o + 0x0800d548 0x0800d548 0x0000004e Code RO 2759 .text.SMC_SetParam sliding.o + 0x0800d596 0x0800d596 0x00000002 PAD + 0x0800d598 0x0800d598 0x00000034 Code RO 952 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x0800d5cc 0x0800d5cc 0x00000016 Code RO 958 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x0800d5e2 0x0800d5e2 0x00000002 PAD + 0x0800d5e4 0x0800d5e4 0x00000016 Code RO 948 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800d5fa 0x0800d5fa 0x00000002 PAD + 0x0800d5fc 0x0800d5fc 0x00000016 Code RO 962 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d612 0x0800d612 0x00000002 PAD + 0x0800d614 0x0800d614 0x000000a2 Code RO 960 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x0800d6b6 0x0800d6b6 0x00000002 PAD + 0x0800d6b8 0x0800d6b8 0x000000a6 Code RO 950 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x0800d75e 0x0800d75e 0x00000002 PAD + 0x0800d760 0x0800d760 0x00000086 Code RO 964 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d7e6 0x0800d7e6 0x00000002 PAD + 0x0800d7e8 0x0800d7e8 0x000000e4 Code RO 922 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x0800d8cc 0x0800d8cc 0x000000cc Code RO 916 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x0800d998 0x0800d998 0x0000002e Code RO 2383 .text.SPI_Get spi_1.o + 0x0800d9c6 0x0800d9c6 0x00000002 PAD + 0x0800d9c8 0x0800d9c8 0x0000012c Code RO 1014 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x0800daf4 0x0800daf4 0x0000000c PAD + 0x0800db00 0x0800db00 0x00000024 Code RO 2156 .text.SVC_Handler port.o + 0x0800db24 0x0800db24 0x0000000e Code RO 1950 .text.SVC_Setup cmsis_os2.o + 0x0800db32 0x0800db32 0x00000006 PAD + 0x0800db38 0x0800db38 0x00000088 Code RO 2767 .text.Sat sliding.o + 0x0800dbc0 0x0800dbc0 0x00000046 Code RO 2771 .text.Signal sliding.o + 0x0800dc06 0x0800dc06 0x00000002 PAD + 0x0800dc08 0x0800dc08 0x000006e0 Code RO 2765 .text.Smc_Calc sliding.o + 0x0800e2e8 0x0800e2e8 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o + 0x0800e2fa 0x0800e2fa 0x00000002 PAD + 0x0800e2fc 0x0800e2fc 0x00000052 Code RO 594 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x0800e34e 0x0800e34e 0x00000002 PAD + 0x0800e350 0x0800e350 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o + 0x0800e368 0x0800e368 0x000000bc Code RO 13 .text.SystemClock_Config main.o + 0x0800e424 0x0800e424 0x00000012 Code RO 1490 .text.SystemInit system_stm32f4xx.o + 0x0800e436 0x0800e436 0x00000002 PAD + 0x0800e438 0x0800e438 0x00000010 Code RO 190 .text.TIM7_IRQHandler stm32f4xx_it.o + 0x0800e448 0x0800e448 0x000001a4 Code RO 1027 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800e5ec 0x0800e5ec 0x00000036 Code RO 1061 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x0800e622 0x0800e622 0x00000002 PAD + 0x0800e624 0x0800e624 0x000000ea Code RO 1171 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x0800e70e 0x0800e70e 0x00000002 PAD + 0x0800e710 0x0800e710 0x000000f4 Code RO 1173 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o + 0x0800e804 0x0800e804 0x000000f2 Code RO 1175 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o + 0x0800e8f6 0x0800e8f6 0x00000002 PAD + 0x0800e8f8 0x0800e8f8 0x000000a4 Code RO 1177 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o + 0x0800e99c 0x0800e99c 0x000000e6 Code RO 3042 .text.Task_Init init.o + 0x0800ea82 0x0800ea82 0x00000006 PAD + 0x0800ea88 0x0800ea88 0x00000190 Code RO 3050 .text.Task_atti_esti atti_esti.o + 0x0800ec18 0x0800ec18 0x000000f4 Code RO 3091 .text.Task_gimbal_ctrl gimbal_ctrl.o + 0x0800ed0c 0x0800ed0c 0x00000004 PAD + 0x0800ed10 0x0800ed10 0x000000b0 Code RO 3069 .text.Task_remote remote.o + 0x0800edc0 0x0800edc0 0x00000090 Code RO 3102 .text.Task_vofa vofa_1.o + 0x0800ee50 0x0800ee50 0x0000001c Code RO 1447 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o + 0x0800ee6c 0x0800ee6c 0x0000007c Code RO 1393 .text.UART_DMAError stm32f4xx_hal_uart.o + 0x0800eee8 0x0800eee8 0x0000007a Code RO 1389 .text.UART_DMATransmitCplt stm32f4xx_hal_uart.o + 0x0800ef62 0x0800ef62 0x00000002 PAD + 0x0800ef64 0x0800ef64 0x00000016 Code RO 1391 .text.UART_DMATxHalfCplt stm32f4xx_hal_uart.o + 0x0800ef7a 0x0800ef7a 0x00000002 PAD + 0x0800ef7c 0x0800ef7c 0x00000094 Code RO 1407 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o + 0x0800f010 0x0800f010 0x00000026 Code RO 1455 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o + 0x0800f036 0x0800f036 0x00000002 PAD + 0x0800f038 0x0800f038 0x00000036 Code RO 1405 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o + 0x0800f06e 0x0800f06e 0x00000002 PAD + 0x0800f070 0x0800f070 0x00000048 Code RO 2442 .text.UART_Get uart.o + 0x0800f0b8 0x0800f0b8 0x00000168 Code RO 1445 .text.UART_Receive_IT stm32f4xx_hal_uart.o + 0x0800f220 0x0800f220 0x0000013a Code RO 1363 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x0800f35a 0x0800f35a 0x00000002 PAD + 0x0800f35c 0x0800f35c 0x00000094 Code RO 1453 .text.UART_Transmit_IT stm32f4xx_hal_uart.o + 0x0800f3f0 0x0800f3f0 0x00000010 Code RO 186 .text.USART1_IRQHandler stm32f4xx_it.o + 0x0800f400 0x0800f400 0x00000020 Code RO 188 .text.USART3_IRQHandler stm32f4xx_it.o + 0x0800f420 0x0800f420 0x00000022 Code RO 2963 .text.USART3_IRQHandler1 remote_control.o + 0x0800f442 0x0800f442 0x00000002 PAD + 0x0800f444 0x0800f444 0x00000004 Code RO 160 .text.UsageFault_Handler stm32f4xx_it.o + 0x0800f448 0x0800f448 0x00000068 Code RO 3026 .text.VOFA_JustFloat_Send vofa.o + 0x0800f4b0 0x0800f4b0 0x0000001e Code RO 2539 .text.__ARM_isfinite filter.o + 0x0800f4ce 0x0800f4ce 0x00000002 PAD + 0x0800f4d0 0x0800f4d0 0x0000001e Code RO 2636 .text.__ARM_isfinite pid.o + 0x0800f4ee 0x0800f4ee 0x00000002 PAD + 0x0800f4f0 0x0800f4f0 0x00000018 Code RO 2537 .text.__ARM_isfinitef filter.o + 0x0800f508 0x0800f508 0x00000018 Code RO 2634 .text.__ARM_isfinitef pid.o + 0x0800f520 0x0800f520 0x00000034 Code RO 2533 .text.__ARM_isinf filter.o + 0x0800f554 0x0800f554 0x0000001c Code RO 2531 .text.__ARM_isinff filter.o + 0x0800f570 0x0800f570 0x00000038 Code RO 586 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x0800f5a8 0x0800f5a8 0x00000030 Code RO 582 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x0800f5d8 0x0800f5d8 0x00000010 Code RO 574 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800f5e8 0x0800f5e8 0x00000042 Code RO 576 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x0800f62a 0x0800f62a 0x00000002 PAD + 0x0800f62c 0x0800f62c 0x00000042 Code RO 2106 .text.__NVIC_SetPriority cmsis_os2.o + 0x0800f66e 0x0800f66e 0x00000002 PAD + 0x0800f670 0x0800f670 0x0000003c Code RO 570 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800f6ac 0x0800f6ac 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o + 0x0800f6ae 0x0800f6ae 0x00000002 PAD + 0x0800f6b0 0x0800f6b0 0x0000001e Code RO 2484 .text.copysignf ahrs.o + 0x0800f6ce 0x0800f6ce 0x00000002 PAD + 0x0800f6d0 0x0800f6d0 0x0000003e Code RO 2704 .text.delay_init bsp_delay.o + 0x0800f70e 0x0800f70e 0x00000002 PAD + 0x0800f710 0x0800f710 0x000000f6 Code RO 1728 .text.eTaskGetState tasks.o + 0x0800f806 0x0800f806 0x00000002 PAD + 0x0800f808 0x0800f808 0x00000058 Code RO 3012 .text.float_to_uint motor_dm.o + 0x0800f860 0x0800f860 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o + 0x0800f864 0x0800f864 0x00000050 Code RO 11 .text.main main.o + 0x0800f8b4 0x0800f8b4 0x0000002a Code RO 2744 .text.map calc_lib.o + 0x0800f8de 0x0800f8de 0x00000002 PAD + 0x0800f8e0 0x0800f8e0 0x00000080 Code RO 3122 .text.motor_imu_offset gimbal.o + 0x0800f960 0x0800f960 0x00000034 Code RO 2008 .text.osDelay cmsis_os2.o + 0x0800f994 0x0800f994 0x00000058 Code RO 2010 .text.osDelayUntil cmsis_os2.o + 0x0800f9ec 0x0800f9ec 0x00000052 Code RO 1946 .text.osKernelGetState cmsis_os2.o + 0x0800fa3e 0x0800fa3e 0x00000002 PAD + 0x0800fa40 0x0800fa40 0x00000026 Code RO 1958 .text.osKernelGetTickCount cmsis_os2.o + 0x0800fa66 0x0800fa66 0x00000002 PAD + 0x0800fa68 0x0800fa68 0x00000006 Code RO 1960 .text.osKernelGetTickFreq cmsis_os2.o + 0x0800fa6e 0x0800fa6e 0x00000002 PAD + 0x0800fa70 0x0800fa70 0x00000046 Code RO 1942 .text.osKernelInitialize cmsis_os2.o + 0x0800fab6 0x0800fab6 0x00000002 PAD + 0x0800fab8 0x0800fab8 0x00000056 Code RO 1952 .text.osKernelLock cmsis_os2.o + 0x0800fb0e 0x0800fb0e 0x00000002 PAD + 0x0800fb10 0x0800fb10 0x00000052 Code RO 1948 .text.osKernelStart cmsis_os2.o + 0x0800fb62 0x0800fb62 0x00000002 PAD + 0x0800fb64 0x0800fb64 0x0000006e Code RO 1954 .text.osKernelUnlock cmsis_os2.o + 0x0800fbd2 0x0800fbd2 0x00000002 PAD + 0x0800fbd4 0x0800fbd4 0x000000c0 Code RO 2062 .text.osMessageQueueGet cmsis_os2.o + 0x0800fc94 0x0800fc94 0x000000fe Code RO 2058 .text.osMessageQueueNew cmsis_os2.o + 0x0800fd92 0x0800fd92 0x00000002 PAD + 0x0800fd94 0x0800fd94 0x000000c4 Code RO 2060 .text.osMessageQueuePut cmsis_os2.o + 0x0800fe58 0x0800fe58 0x00000040 Code RO 2072 .text.osMessageQueueReset cmsis_os2.o + 0x0800fe98 0x0800fe98 0x0000009e Code RO 2040 .text.osMutexAcquire cmsis_os2.o + 0x0800ff36 0x0800ff36 0x00000002 PAD + 0x0800ff38 0x0800ff38 0x00000128 Code RO 2038 .text.osMutexNew cmsis_os2.o + 0x08010060 0x08010060 0x0000007e Code RO 2042 .text.osMutexRelease cmsis_os2.o + 0x080100de 0x080100de 0x00000002 PAD + 0x080100e0 0x080100e0 0x000000a4 Code RO 2000 .text.osThreadFlagsSet cmsis_os2.o + 0x08010184 0x08010184 0x0000011a Code RO 2006 .text.osThreadFlagsWait cmsis_os2.o + 0x0801029e 0x0801029e 0x00000002 PAD + 0x080102a0 0x080102a0 0x00000010 Code RO 1976 .text.osThreadGetId cmsis_os2.o + 0x080102b0 0x080102b0 0x0000015a Code RO 1972 .text.osThreadNew cmsis_os2.o + 0x0801040a 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44 .rodata.defaultTask_attributes freertos.o + 0x08016f80 0x08016f80 0x00000020 Data RO 3057 .rodata.imu_temp_ctrl_pid_param atti_esti.o + 0x08016fa0 0x08016fa0 0x0000000c Data RO 43 .rodata.str1.1 freertos.o + 0x08016fac 0x08016fac 0x00000005 Data RO 1854 .rodata.str1.1 tasks.o + 0x08016fb1 0x08016fb1 0x0000000d Data RO 1926 .rodata.str1.1 timers.o + 0x08016fbe 0x08016fbe 0x0000002c Data RO 3079 .rodata.str1.1 user_task.o + 0x08016fea 0x08016fea 0x00000002 PAD + 0x08016fec 0x08016fec 0x00000020 Data RO 3688 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08016f08, Size: 0x000087a8, Max: 0x00020000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08017010, Size: 0x00008798, Max: 0x00020000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x08016f08 0x00000004 Data RW 1494 .data.SystemCoreClock system_stm32f4xx.o - 0x20000004 0x08016f0c 0x00000004 Data RW 2488 .data.beta ahrs.o - 0x20000008 0x08016f10 0x0000000c Data RW 3052 .data.cali_bmi088 atti_esti.o - 0x20000014 0x08016f1c 0x000000dc Data RW 3136 .data.robot_config config.o - 0x200000f0 0x08016ff8 0x00000001 Data RW 700 .data.uwTickFreq stm32f4xx_hal.o - 0x200000f1 0x08016ff9 0x00000003 PAD - 0x200000f4 0x08016ffc 0x00000004 Data RW 699 .data.uwTickPrio stm32f4xx_hal.o - 0x200000f8 0x08017000 0x00000004 Data RW 2180 .data.uxCriticalNesting port.o - 0x200000fc 0x08017004 0x00000004 PAD - 0x20000100 - 0x00000060 Zero RW 3488 .bss c_w.l(libspace.o) + 0x20000000 0x08017010 0x00000004 Data RW 1494 .data.SystemCoreClock system_stm32f4xx.o + 0x20000004 0x08017014 0x00000004 Data RW 2488 .data.beta ahrs.o + 0x20000008 0x08017018 0x0000000c Data RW 3052 .data.cali_bmi088 atti_esti.o + 0x20000014 0x08017024 0x000000dc Data RW 3135 .data.robot_config config.o + 0x200000f0 0x08017100 0x00000001 Data RW 700 .data.uwTickFreq stm32f4xx_hal.o + 0x200000f1 0x08017101 0x00000003 PAD + 0x200000f4 0x08017104 0x00000004 Data RW 699 .data.uwTickPrio stm32f4xx_hal.o + 0x200000f8 0x08017108 0x00000004 Data RW 2180 .data.uxCriticalNesting port.o + 0x200000fc 0x0801710c 0x00000004 PAD + 0x20000100 - 0x00000060 Zero RW 3487 .bss c_w.l(libspace.o) 0x20000160 - 0x00000068 Zero RW 2264 .bss.CAN_Callback can_1.o 0x200001c8 - 0x00000040 Zero RW 2291 .bss.GPIO_Callback gpio_1.o 0x20000208 - 0x00000004 Zero RW 63 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o @@ -8894,11 +8894,11 @@ Memory Map of the image 0x20000258 - 0x00000040 Zero RW 2417 .bss.SPI_Callback spi_1.o 0x20000298 - 0x00000004 Zero RW 2773 .bss.Smc_Calc.pos_pow sliding.o 0x2000029c - 0x00000048 Zero RW 2468 .bss.UART_Callback uart.o - 0x200002e4 0x08017004 0x00000004 PAD + 0x200002e4 0x0801710c 0x00000004 PAD 0x200002e8 - 0x00000030 Zero RW 3053 .bss.bmi088 atti_esti.o 0x20000318 - 0x00000013 Zero RW 2823 .bss.bmi088_rxbuf bmi088.o 0x2000032b - 0x00000002 Zero RW 2824 .bss.buffer bmi088.o - 0x2000032d 0x08017004 0x00000003 PAD + 0x2000032d 0x0801710c 0x00000003 PAD 0x20000330 - 0x00000008 Zero RW 2913 .bss.can_managers motor_rm.o 0x20000338 - 0x00000008 Zero RW 3014 .bss.can_managers motor_dm.o 0x20000340 - 0x00000010 Zero RW 3105 .bss.channels vofa_1.o @@ -8906,96 +8906,94 @@ Memory Map of the image 0x20000354 - 0x0000000c Zero RW 3058 .bss.eulr_to_send atti_esti.o 0x20000360 - 0x00000004 Zero RW 2711 .bss.fac_ms bsp_delay.o 0x20000364 - 0x00000001 Zero RW 2710 .bss.fac_us bsp_delay.o - 0x20000365 0x08017004 0x00000003 PAD - 0x20000368 - 0x00000250 Zero RW 3093 .bss.gimbal gimbal_ctrl.o - 0x200005b8 - 0x00000014 Zero RW 3054 .bss.gimbal_ahrs atti_esti.o - 0x200005cc - 0x0000000c Zero RW 3095 .bss.gimbal_cmd gimbal_ctrl.o - 0x200005d8 - 0x00000018 Zero RW 3094 .bss.gimbal_imu gimbal_ctrl.o - 0x200005f0 - 0x00000018 Zero RW 3059 .bss.gimbal_to_send atti_esti.o - 0x20000608 - 0x00000028 Zero RW 61 .bss.hcan1 can.o - 0x20000630 - 0x00000028 Zero RW 62 .bss.hcan2 can.o - 0x20000658 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o - 0x200006b8 - 0x00000060 Zero RW 107 .bss.hdma_spi1_tx spi.o - 0x20000718 - 0x00000060 Zero RW 144 .bss.hdma_usart3_rx usart.o - 0x20000778 - 0x00000004 Zero RW 3126 .bss.hhhh gimbal.o - 0x2000077c - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o - 0x200007d0 - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o - 0x20000824 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o - 0x2000087c - 0x00000058 Zero RW 105 .bss.hspi2 spi.o - 0x200008d4 - 0x00000048 Zero RW 126 .bss.htim10 tim.o - 0x2000091c - 0x00000048 Zero RW 125 .bss.htim7 tim.o - 0x20000964 - 0x00000048 Zero RW 142 .bss.huart1 usart.o - 0x200009ac - 0x00000048 Zero RW 143 .bss.huart3 usart.o - 0x200009f4 - 0x00000004 Zero RW 2266 .bss.id_parser can_1.o - 0x200009f8 - 0x00000018 Zero RW 3072 .bss.imu remote.o - 0x20000a10 - 0x0000003c Zero RW 3056 .bss.imu_temp_ctrl_pid atti_esti.o - 0x20000a4c - 0x00000001 Zero RW 2265 .bss.inited can_1.o - 0x20000a4d - 0x00000001 Zero RW 2821 .bss.inited bmi088.o - 0x20000a4e 0x08017004 0x00000002 PAD - 0x20000a50 - 0x0000000c Zero RW 3055 .bss.magn atti_esti.o - 0x20000a5c - 0x000000a0 Zero RW 1934 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x20000afc - 0x00000050 Zero RW 1933 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x20000b4c - 0x00000004 Zero RW 1930 .bss.prvSampleTimeNow.xLastTime timers.o - 0x20000b50 - 0x00000004 Zero RW 1840 .bss.pxCurrentTCB tasks.o - 0x20000b54 - 0x00000004 Zero RW 1928 .bss.pxCurrentTimerList timers.o - 0x20000b58 - 0x00000004 Zero RW 1848 .bss.pxDelayedTaskList tasks.o - 0x20000b5c - 0x00000004 Zero RW 2137 .bss.pxEnd heap_4.o - 0x20000b60 - 0x00000004 Zero RW 1849 .bss.pxOverflowDelayedTaskList tasks.o - 0x20000b64 - 0x00000004 Zero RW 1929 .bss.pxOverflowTimerList timers.o - 0x20000b68 - 0x00000460 Zero RW 1851 .bss.pxReadyTasksLists tasks.o - 0x20000fc8 - 0x00000004 Zero RW 2269 .bss.queue_list can_1.o - 0x20000fcc - 0x00000004 Zero RW 2267 .bss.queue_mutex can_1.o - 0x20000fd0 - 0x00000018 Zero RW 2970 .bss.rc_ctrl remote_control.o - 0x20000fe8 - 0x0000000c Zero RW 3071 .bss.remote_cmd remote.o - 0x20000ff4 - 0x00000019 Zero RW 2969 .bss.sbus_rx_buf remote_control.o - 0x2000100d 0x08017004 0x00000003 PAD - 0x20001010 - 0x00000068 Zero RW 3085 .bss.task_runtime user_task.o - 0x20001078 - 0x00000004 Zero RW 2822 .bss.thread_alert bmi088.o - 0x2000107c - 0x00000810 Zero RW 2268 .bss.tx_queues can_1.o - 0x2000188c - 0x00006000 Zero RW 2144 .bss.ucHeap heap_4.o - 0x2000788c - 0x00000001 Zero RW 2178 .bss.ucMaxSysCallPriority port.o - 0x2000788d 0x08017004 0x00000003 PAD - 0x20007890 - 0x00000004 Zero RW 2179 .bss.ulMaxPRIGROUPValue port.o - 0x20007894 - 0x00000004 Zero RW 1861 .bss.ulTaskSwitchedInTime tasks.o - 0x20007898 - 0x00000004 Zero RW 1860 .bss.ulTotalRunTime tasks.o - 0x2000789c - 0x00000004 Zero RW 701 .bss.uwTick stm32f4xx_hal.o - 0x200078a0 - 0x00000004 Zero RW 1844 .bss.uxCurrentNumberOfTasks tasks.o - 0x200078a4 - 0x00000004 Zero RW 1843 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x200078a8 - 0x00000004 Zero RW 1846 .bss.uxSchedulerSuspended tasks.o - 0x200078ac - 0x00000004 Zero RW 1841 .bss.uxTaskNumber tasks.o - 0x200078b0 - 0x00000004 Zero RW 1852 .bss.uxTopReadyPriority tasks.o - 0x200078b4 - 0x00000200 Zero RW 2111 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x20007ab4 - 0x00000064 Zero RW 2110 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x20007b18 - 0x00000400 Zero RW 2113 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x20007f18 - 0x00000064 Zero RW 2112 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x20007f7c - 0x00000018 Zero RW 3104 .bss.vofa_imu vofa_1.o - 0x20007f94 - 0x00000104 Zero RW 3032 .bss.vofa_tx_buf vofa.o - 0x20008098 - 0x00000014 Zero RW 1931 .bss.xActiveTimerList1 timers.o - 0x200080ac - 0x00000014 Zero RW 1932 .bss.xActiveTimerList2 timers.o - 0x200080c0 - 0x00000004 Zero RW 2138 .bss.xBlockAllocatedBit heap_4.o - 0x200080c4 - 0x00000014 Zero RW 1862 .bss.xDelayedTaskList1 tasks.o - 0x200080d8 - 0x00000014 Zero RW 1863 .bss.xDelayedTaskList2 tasks.o - 0x200080ec - 0x00000004 Zero RW 2139 .bss.xFreeBytesRemaining heap_4.o - 0x200080f0 - 0x00000004 Zero RW 1855 .bss.xIdleTaskHandle tasks.o - 0x200080f4 - 0x00000004 Zero RW 2141 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x200080f8 - 0x00000004 Zero RW 1856 .bss.xNextTaskUnblockTime tasks.o - 0x200080fc - 0x00000004 Zero RW 1859 .bss.xNumOfOverflows tasks.o - 0x20008100 - 0x00000004 Zero RW 2142 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x20008104 - 0x00000004 Zero RW 2143 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x20008108 - 0x00000004 Zero RW 1858 .bss.xPendedTicks tasks.o - 0x2000810c - 0x00000014 Zero RW 1853 .bss.xPendingReadyList tasks.o - 0x20008120 - 0x00000040 Zero RW 1639 .bss.xQueueRegistry queue.o - 0x20008160 - 0x00000004 Zero RW 1845 .bss.xSchedulerRunning tasks.o - 0x20008164 - 0x00000008 Zero RW 2140 .bss.xStart heap_4.o - 0x2000816c - 0x00000014 Zero RW 1850 .bss.xSuspendedTaskList tasks.o - 0x20008180 - 0x00000014 Zero RW 1842 .bss.xTasksWaitingTermination tasks.o - 0x20008194 - 0x00000004 Zero RW 1847 .bss.xTickCount tasks.o - 0x20008198 - 0x00000004 Zero RW 1925 .bss.xTimerQueue timers.o - 0x2000819c - 0x00000004 Zero RW 1927 .bss.xTimerTaskHandle timers.o - 0x200081a0 - 0x00000004 Zero RW 1857 .bss.xYieldPending tasks.o - 0x200081a4 0x08017004 0x00000004 PAD - 0x200081a8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x200083a8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000365 0x0801710c 0x00000003 PAD + 0x20000368 - 0x00000248 Zero RW 3093 .bss.gimbal gimbal_ctrl.o + 0x200005b0 - 0x00000014 Zero RW 3054 .bss.gimbal_ahrs atti_esti.o + 0x200005c4 - 0x0000000c Zero RW 3095 .bss.gimbal_cmd gimbal_ctrl.o + 0x200005d0 - 0x00000018 Zero RW 3094 .bss.gimbal_imu gimbal_ctrl.o + 0x200005e8 - 0x00000018 Zero RW 3059 .bss.gimbal_to_send atti_esti.o + 0x20000600 - 0x00000028 Zero RW 61 .bss.hcan1 can.o + 0x20000628 - 0x00000028 Zero RW 62 .bss.hcan2 can.o + 0x20000650 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o + 0x200006b0 - 0x00000060 Zero RW 107 .bss.hdma_spi1_tx spi.o + 0x20000710 - 0x00000060 Zero RW 144 .bss.hdma_usart3_rx usart.o + 0x20000770 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o + 0x200007c4 - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o + 0x20000818 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o + 0x20000870 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o + 0x200008c8 - 0x00000048 Zero RW 126 .bss.htim10 tim.o + 0x20000910 - 0x00000048 Zero RW 125 .bss.htim7 tim.o + 0x20000958 - 0x00000048 Zero RW 142 .bss.huart1 usart.o + 0x200009a0 - 0x00000048 Zero RW 143 .bss.huart3 usart.o + 0x200009e8 - 0x00000004 Zero RW 2266 .bss.id_parser can_1.o + 0x200009ec - 0x00000018 Zero RW 3071 .bss.imu remote.o + 0x20000a04 - 0x0000003c Zero RW 3056 .bss.imu_temp_ctrl_pid atti_esti.o + 0x20000a40 - 0x00000001 Zero RW 2265 .bss.inited can_1.o + 0x20000a41 - 0x00000001 Zero RW 2821 .bss.inited bmi088.o + 0x20000a42 0x0801710c 0x00000002 PAD + 0x20000a44 - 0x0000000c Zero RW 3055 .bss.magn atti_esti.o + 0x20000a50 - 0x000000a0 Zero RW 1934 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x20000af0 - 0x00000050 Zero RW 1933 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x20000b40 - 0x00000004 Zero RW 1930 .bss.prvSampleTimeNow.xLastTime timers.o + 0x20000b44 - 0x00000004 Zero RW 1840 .bss.pxCurrentTCB tasks.o + 0x20000b48 - 0x00000004 Zero RW 1928 .bss.pxCurrentTimerList timers.o + 0x20000b4c - 0x00000004 Zero RW 1848 .bss.pxDelayedTaskList tasks.o + 0x20000b50 - 0x00000004 Zero RW 2137 .bss.pxEnd heap_4.o + 0x20000b54 - 0x00000004 Zero RW 1849 .bss.pxOverflowDelayedTaskList tasks.o + 0x20000b58 - 0x00000004 Zero RW 1929 .bss.pxOverflowTimerList timers.o + 0x20000b5c - 0x00000460 Zero RW 1851 .bss.pxReadyTasksLists tasks.o + 0x20000fbc - 0x00000004 Zero RW 2269 .bss.queue_list can_1.o + 0x20000fc0 - 0x00000004 Zero RW 2267 .bss.queue_mutex can_1.o + 0x20000fc4 - 0x00000018 Zero RW 2970 .bss.rc_ctrl remote_control.o + 0x20000fdc - 0x0000000c Zero RW 3072 .bss.remote_cmd remote.o + 0x20000fe8 - 0x00000019 Zero RW 2969 .bss.sbus_rx_buf remote_control.o + 0x20001001 0x0801710c 0x00000003 PAD + 0x20001004 - 0x00000068 Zero RW 3085 .bss.task_runtime user_task.o + 0x2000106c - 0x00000004 Zero RW 2822 .bss.thread_alert bmi088.o + 0x20001070 - 0x00000810 Zero RW 2268 .bss.tx_queues can_1.o + 0x20001880 - 0x00006000 Zero RW 2144 .bss.ucHeap heap_4.o + 0x20007880 - 0x00000001 Zero RW 2178 .bss.ucMaxSysCallPriority port.o + 0x20007881 0x0801710c 0x00000003 PAD + 0x20007884 - 0x00000004 Zero RW 2179 .bss.ulMaxPRIGROUPValue port.o + 0x20007888 - 0x00000004 Zero RW 1861 .bss.ulTaskSwitchedInTime tasks.o + 0x2000788c - 0x00000004 Zero RW 1860 .bss.ulTotalRunTime tasks.o + 0x20007890 - 0x00000004 Zero RW 701 .bss.uwTick stm32f4xx_hal.o + 0x20007894 - 0x00000004 Zero RW 1844 .bss.uxCurrentNumberOfTasks tasks.o + 0x20007898 - 0x00000004 Zero RW 1843 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x2000789c - 0x00000004 Zero RW 1846 .bss.uxSchedulerSuspended tasks.o + 0x200078a0 - 0x00000004 Zero RW 1841 .bss.uxTaskNumber tasks.o + 0x200078a4 - 0x00000004 Zero RW 1852 .bss.uxTopReadyPriority tasks.o + 0x200078a8 - 0x00000200 Zero RW 2111 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x20007aa8 - 0x00000064 Zero RW 2110 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20007b0c - 0x00000400 Zero RW 2113 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20007f0c - 0x00000064 Zero RW 2112 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x20007f70 - 0x00000018 Zero RW 3104 .bss.vofa_imu vofa_1.o + 0x20007f88 - 0x00000104 Zero RW 3032 .bss.vofa_tx_buf vofa.o + 0x2000808c - 0x00000014 Zero RW 1931 .bss.xActiveTimerList1 timers.o + 0x200080a0 - 0x00000014 Zero RW 1932 .bss.xActiveTimerList2 timers.o + 0x200080b4 - 0x00000004 Zero RW 2138 .bss.xBlockAllocatedBit heap_4.o + 0x200080b8 - 0x00000014 Zero RW 1862 .bss.xDelayedTaskList1 tasks.o + 0x200080cc - 0x00000014 Zero RW 1863 .bss.xDelayedTaskList2 tasks.o + 0x200080e0 - 0x00000004 Zero RW 2139 .bss.xFreeBytesRemaining heap_4.o + 0x200080e4 - 0x00000004 Zero RW 1855 .bss.xIdleTaskHandle tasks.o + 0x200080e8 - 0x00000004 Zero RW 2141 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x200080ec - 0x00000004 Zero RW 1856 .bss.xNextTaskUnblockTime tasks.o + 0x200080f0 - 0x00000004 Zero RW 1859 .bss.xNumOfOverflows tasks.o + 0x200080f4 - 0x00000004 Zero RW 2142 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x200080f8 - 0x00000004 Zero RW 2143 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x200080fc - 0x00000004 Zero RW 1858 .bss.xPendedTicks tasks.o + 0x20008100 - 0x00000014 Zero RW 1853 .bss.xPendingReadyList tasks.o + 0x20008114 - 0x00000040 Zero RW 1639 .bss.xQueueRegistry queue.o + 0x20008154 - 0x00000004 Zero RW 1845 .bss.xSchedulerRunning tasks.o + 0x20008158 - 0x00000008 Zero RW 2140 .bss.xStart heap_4.o + 0x20008160 - 0x00000014 Zero RW 1850 .bss.xSuspendedTaskList tasks.o + 0x20008174 - 0x00000014 Zero RW 1842 .bss.xTasksWaitingTermination tasks.o + 0x20008188 - 0x00000004 Zero RW 1847 .bss.xTickCount tasks.o + 0x2000818c - 0x00000004 Zero RW 1925 .bss.xTimerQueue timers.o + 0x20008190 - 0x00000004 Zero RW 1927 .bss.xTimerTaskHandle timers.o + 0x20008194 - 0x00000004 Zero RW 1857 .bss.xYieldPending tasks.o + 0x20008198 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x20008398 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o ============================================================================== @@ -9019,8 +9017,8 @@ Image component sizes 134 0 0 0 0 3285 dma.o 780 8 0 0 0 3400 filter.o 98 0 48 0 4 3072 freertos.o - 2506 56 0 0 4 8687 gimbal.o - 276 12 0 0 628 5318 gimbal_ctrl.o + 2598 56 0 0 0 8698 gimbal.o + 244 12 0 0 620 5295 gimbal_ctrl.o 554 0 0 0 0 4152 gpio.o 576 12 56 0 64 4710 gpio_1.o 1084 0 0 0 24608 4422 heap_4.o @@ -9036,9 +9034,9 @@ Image component sizes 1128 16 0 4 5 3817 port.o 386 0 8 0 0 5409 pwm.o 3928 0 0 0 64 17306 queue.o - 160 8 0 0 36 1229 remote.o + 176 8 0 0 36 1236 remote.o 794 8 0 0 49 2415 remote_control.o - 2462 40 0 0 4 4330 sliding.o + 2640 56 0 0 4 4454 sliding.o 694 0 0 0 368 5391 spi.o 984 0 0 0 64 7282 spi_1.o 64 26 392 0 1536 812 startup_stm32f407xx.o @@ -9068,9 +9066,9 @@ Image component sizes 144 8 0 0 40 1073 vofa_1.o ---------------------------------------------------------------------- - 80632 358 844 252 34380 461716 Object Totals + 80896 378 844 252 34364 461835 Object Totals 0 0 32 0 0 0 (incl. Generated) - 430 12 2 3 26 0 (incl. Padding) + 440 16 2 3 22 0 (incl. Padding) ---------------------------------------------------------------------- @@ -9170,15 +9168,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 92784 1438 1172 252 34476 464188 Grand Totals - 92784 1438 1172 252 34476 464188 ELF Image Totals - 92784 1438 1172 252 0 0 ROM Totals + 93048 1458 1172 252 34460 464307 Grand Totals + 93048 1458 1172 252 34460 464307 ELF Image Totals + 93048 1458 1172 252 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 93956 ( 91.75kB) - Total RW Size (RW Data + ZI Data) 34728 ( 33.91kB) - Total ROM Size (Code + RO Data + RW Data) 94208 ( 92.00kB) + Total RO Size (Code + RO Data) 94220 ( 92.01kB) + Total RW Size (RW Data + ZI Data) 34712 ( 33.90kB) + Total ROM Size (Code + RO Data + RW Data) 94472 ( 92.26kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index 8b5b367..97e7332 100644 Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o index 839b23b..731c9ff 100644 Binary files a/MDK-ARM/gimbal/gimbal_ctrl.o and b/MDK-ARM/gimbal/gimbal_ctrl.o differ diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index a148161..c4c4eee 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -1850,8 +1850,8 @@ I (..\User\component\calc_lib.h)(0x692C2F1E) F (..\User\component\calc_lib.c)(0x692C2F1E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/calc_lib.o -MD) I (..\User\component\calc_lib.h)(0x692C2F1E) I (..\User\module\struct_typedef.h)(0x692C2F1E) -F (..\User\component\Sliding.c)(0x6936C0A7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/sliding.o -MD) -I (..\User\component\Sliding.h)(0x6936C0A7) +F (..\User\component\Sliding.c)(0x693D4B3E)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/sliding.o -MD) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\user_math.h)(0x69352AF2) @@ -1859,7 +1859,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -F (..\User\component\Sliding.h)(0x6936C0A7)() +F (..\User\component\Sliding.h)(0x693D4B05)() F (..\User\component\Kalman.c)(0x69353AFC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/kalman.o -MD) I (..\User\component\Kalman.h)(0x69353AFC) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -1923,8 +1923,8 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x69352AF2) I (..\User\component\filter.h)(0x69352AF2) @@ -2323,8 +2323,8 @@ 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) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\user_math.h)(0x69352AF2) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) @@ -2437,8 +2437,8 @@ I (..\User\component\pid.h)(0x69352AF2) I (..\User\component\filter.h)(0x69352AF2) I (..\User\device\bmi088.h)(0x69352AF2) I (..\User\device\device.h)(0x69352AF2) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\device\motor.h)(0x69352AF2) I (..\User\device\motor_dm.h)(0x69352AF2) @@ -2448,7 +2448,7 @@ I (..\User\bsp\mm.h)(0x69352AF2) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x69352AF2) I (..\User\device\ist8310.h)(0x69352AF2) -F (..\User\task\remote.c)(0x69352AEF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote.o -MD) +F (..\User\task\remote.c)(0x693D4BF6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/remote.o -MD) I (..\User\task\user_task.h)(0x69352BFA) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -2470,8 +2470,8 @@ I (..\User\component\user_math.h)(0x69352AF2) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x69352AF2) I (..\User\component\filter.h)(0x69352AF2) @@ -2532,7 +2532,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) -F (..\User\task\gimbal_ctrl.c)(0x6936C0EC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD) +F (..\User\task\gimbal_ctrl.c)(0x693D2B87)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal_ctrl.o -MD) I (..\User\task\user_task.h)(0x69352BFA) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) @@ -2546,8 +2546,8 @@ 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) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\user_math.h)(0x69352AF2) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) @@ -2654,8 +2654,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8) I (..\User\bsp\bsp.h)(0x69352AF2) I (..\User\device\device.h)(0x69352AF2) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\user_math.h)(0x69352AF2) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) @@ -2670,9 +2670,9 @@ I (..\Core\Inc\can.h)(0x69352FF3) I (..\User\bsp\mm.h)(0x69352AF2) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x69352AF2) -F (..\User\module\gimbal.c)(0x6936C0E6)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +F (..\User\module\gimbal.c)(0x693D4F4D)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\user_math.h)(0x69352AF2) @@ -2736,7 +2736,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x69352AF2) I (..\User\bsp\time.h)(0x69352AF2) -F (..\User\module\config.c)(0x6936BDB8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD) +F (..\User\module\config.c)(0x693D4F3C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/config.o -MD) I (..\User\component\user_math.h)(0x69352AF2) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) @@ -2796,8 +2796,8 @@ 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)(0x69352AF2) -I (..\User\module\gimbal.h)(0x6934E912) -I (..\User\component\Sliding.h)(0x6936C0A7) +I (..\User\module\gimbal.h)(0x693D3638) +I (..\User\component\Sliding.h)(0x693D4B05) I (D:\Keil_v5\ARM\ARMCLANG\include\string.h)(0x6035A4A8) I (..\User\component\ahrs.h)(0x69352AF2) I (..\User\component\filter.h)(0x69352AF2) diff --git a/MDK-ARM/gimbal/remote.o b/MDK-ARM/gimbal/remote.o index ae56186..c626a51 100644 Binary files a/MDK-ARM/gimbal/remote.o and b/MDK-ARM/gimbal/remote.o differ diff --git a/MDK-ARM/gimbal/sliding.o b/MDK-ARM/gimbal/sliding.o index 7368981..d9b37d3 100644 Binary files a/MDK-ARM/gimbal/sliding.o and b/MDK-ARM/gimbal/sliding.o differ diff --git a/User/component/Sliding.c b/User/component/Sliding.c index 4f7b78b..d535e1b 100644 --- a/User/component/Sliding.c +++ b/User/component/Sliding.c @@ -144,7 +144,7 @@ void SMC_Reset(Sliding *s){ */ void SMC_Init(Sliding *s,Smc_mode mode,SlidingParam *param){ - s->J = 0; + s->param->J = 0; s->param->K = 0; s->param->c = 0; s->param->epsilon = 0; @@ -189,6 +189,14 @@ void SMC_PErrorUpdate(Sliding *s,float target, float pos_now, float vol_now,floa s->position.error = pos_now - target; s->velocity.error = vol_now - s->position.tar_differential; + + /* 将误差限制在 -PI 到 +PI 之间 */ + if (s->position.error > M_PI) { + s->position.error -= M_2PI; + } else if (s->position.error < -M_PI) { + s->position.error += M_2PI; + } + /* 更新上一次的值 */ s->position.tar_last = s->position.tar_now; /* 位置误差积分项 */ @@ -276,7 +284,7 @@ float Smc_Calc(Sliding *s){ s->s = s->param->c * s->position.error + s->velocity.error; //滑模面 fun = Sat(s->s,s);//饱和函数消除抖动 // u = smc.param.J * ( (-smc.param.c * smc.error.v_error) - smc.param.K * smc.s - smc.param.K * (std::pow(std::fabs(smc.s),smc.param.epsilon)) * fun + smc.error.tar_differential_second); //控制器计算,幂次趋近率 - u = s->J * ( (-s->param->c * s->velocity.error) - s->param->K * s->s - s->param->K * (pow(fabs(s->s),s->param->epsilon)) * fun); //控制器计算,幂次趋近率 + u = s->param->J * ( (-s->param->c * s->velocity.error) - s->param->K * s->s - s->param->K * (pow(fabs(s->s),s->param->epsilon)) * fun); //控制器计算,幂次趋近率 break; case TFSMC:///tfsmc @@ -295,7 +303,7 @@ float Smc_Calc(Sliding *s){ fun = Sat(s->s,s); if(s->position.error!=0){ - u = s->J * (s->position.tar_differential_second//目标值的二阶导 暂定是否删除，需测试 + u = s->param->J * (s->position.tar_differential_second//目标值的二阶导 暂定是否删除，需测试 -s->param->K * s->s //s*K -s->param->epsilon * fun //epsilon*SAT(S) -s->velocity.error * ((s->param->q * s->param->beta) * pos_pow) / (s->param->p * s->position.error)); //控制器计算 @@ -308,7 +316,7 @@ float Smc_Calc(Sliding *s){ fun = Sat(s->s,s); /*控制器计算，速度控制*/ - u = s->J * (s->velocity.tar_differential - (s->param->c * s->velocity.error) - s->param->K * s->s - s->param->epsilon * fun); + u = s->param->J * (s->velocity.tar_differential - (s->param->c * s->velocity.error) - s->param->K * s->s - s->param->epsilon * fun); break; case EISMC:///比例积分滑模面，指数趋近律，位置控制 @@ -320,8 +328,12 @@ float Smc_Calc(Sliding *s){ s->s = s->param->c1 * s->position.error + s->velocity.error + s->param->c2 * s->position.error_integral; fun = Sat(s->s,s); /* 控制器计算,指数趋近率 */ - u = s->J * ( (-s->param->c1 * s->velocity.error)- s->param->c2 * s->position.error - s->param->K * s->s - s->param->epsilon * fun); - break; + u = s->param->J * ( (-s->param->c1 * s->velocity.error)- s->param->c2 * s->position.error - s->param->K * s->s - s->param->epsilon * fun); + s->s1= -s->param->c1 * s->velocity.error; + s->s2= -s->param->c2 * s->position.error; + s->s3= -s->param->K * s->s ; + s->s4= -s->param->epsilon * fun; + break; } /* 更新上一步的误差 */ s->position.error_last = s->position.error; diff --git a/User/component/Sliding.h b/User/component/Sliding.h index 23b22f8..0e51ea6 100644 --- a/User/component/Sliding.h +++ b/User/component/Sliding.h @@ -74,7 +74,6 @@ typedef struct { float fun; //控制器输出 float u; //控制器输出 float s; //滑模面计算储存 - float J; SlidingParam *param; SlidingParam *param_last; Smc_mode mode; diff --git a/User/module/config.c b/User/module/config.c index b4a6391..1f8b746 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -46,13 +46,13 @@ Config_RobotParam_t robot_config = { .motor={ /*按自己需求选择电机*/ - .pit=DM, + .pit=RM, .yaw=RM, /*是否开启限位*/ .limit_yaw=false, .limit_pit=true, -// .pit_rm_motor={BSP_CAN_1,0x20A,MOTOR_GM6020,false,false}, - .yaw_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false}, + .pit_rm_motor={BSP_CAN_1,0x205,MOTOR_GM6020,false,false}, + .yaw_rm_motor={BSP_CAN_2,0x205,MOTOR_GM6020,false,false}, /*达妙电机参数自己配*/ .pit_dm_motor={}, .yaw_dm_motor={}, @@ -77,15 +77,19 @@ Config_RobotParam_t robot_config = { .K=1.6, .c=0.6, .epsilon=0.05, -// float c1; //EIsmc参数 -// float c2; //EIsmc参数 -// float p; //tfsmc参数，正奇数 p>q -// float q; //tfsmc参数，正奇数 -// float beta; //tfsmc参数，正数 + }, .pit={ - + .u_max=1.0f, //输出限幅 + .J=1.0, + .limit=5.1f, //饱和函数上下限 + .K=1.6, + .c=0.6, + .epsilon=0.05, + + .c1=1.0, //EIsmc参数 + .c2=1.0, //EIsmc参数 }, }, diff --git a/User/module/gimbal.c b/User/module/gimbal.c index 6f5d58a..8debd0b 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -62,7 +62,7 @@ static float motor_imu_offset(float* motor, float* imu){ * * \return 函数运行结果 */ -int hhhh; + static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) { if (g == NULL) return -1; @@ -75,8 +75,8 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) { LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f); LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f); -hhhh+=1; - + + AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */ g->setpoint.eulr.pit = g->feedback.imu.eulr.pit; @@ -115,6 +115,7 @@ int8_t Gimbal_Init(Gimbal_t *g,Gimbal_Params_t *param, SMC_Init(&g->smc.pit,EISMC,&g->param->smc.pit); SMC_Init(&g->smc.yaw,EXPONENT,&g->param->smc.yaw); + LowPassFilter2p_Init(&g->filter_out.yaw, target_freq, g->param->low_pass_cutoff_freq.out); LowPassFilter2p_Init(&g->filter_out.pit, target_freq, @@ -164,8 +165,7 @@ int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) { gimbal->feedback.motor.yaw = rm_motor_yaw->feedback; /* 角速度 */ gimbal->feedback.motor.yaw_omega=(gimbal->feedback.motor.yaw.rotor_speed*M_2PI/60)*0.002; - gimbal->feedback.motor.yaw_torque=gimbal->feedback.motor.yaw.torque_current/1000; - + gimbal->feedback.motor.pit_omega=(gimbal->feedback.motor.pit.rotor_speed*M_2PI/60)*0.002; } @@ -263,6 +263,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */ g->setpoint.eulr.pit+=delta_pit; +// g->setpoint.eulr.pit=g_cmd->delta_pit; /* 限制pit控制命令 */ if (g->param->motor.limit_pit == true) Clip(&(g->setpoint.eulr.pit),g->param->Limit_t.pit_min,g->param->Limit_t.pit_max); @@ -270,7 +271,11 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { g->setpoint.eulr.yaw, g->feedback.motor.yaw.rotor_abs_angle, g->feedback.motor.yaw_omega,g->dt); - + + SMC_PErrorUpdate( &g->smc.pit, + g->setpoint.eulr.pit, + g->feedback.motor.pit.rotor_abs_angle, + g->feedback.motor.pit_omega,g->dt); /*角速度滤波*/ // g->feedback.imu.gyro.z = LowPassFilter2p_Apply(&g->filter_out.gyro_z, g->feedback.imu.gyro.z); // SMC_PErrorUpdate(&g->smc.yaw, @@ -278,6 +283,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { // g->feedback.imu.eulr.yaw, // g->feedback.imu.gyro.z*0.002,g->dt); g->out.yaw=Smc_Calc(&g->smc.yaw); + g->out.pit=Smc_Calc(&g->smc.pit); /*前馈添加*/ if(g->param->feedforward.imu.yaw==true) diff --git a/User/module/gimbal.h b/User/module/gimbal.h index bc30b39..a07b111 100644 --- a/User/module/gimbal.h +++ b/User/module/gimbal.h @@ -134,7 +134,7 @@ typedef struct { MOTOR_Feedback_t yaw; /* yaw轴电机反馈 */ MOTOR_Feedback_t pit; /* pitch轴电机反馈 */ float yaw_omega; - float yaw_torque; + float pit_omega; } motor; } Gimbal_Feedback_t; diff --git a/User/task/gimbal_ctrl.c b/User/task/gimbal_ctrl.c index e2796c8..af47915 100644 --- a/User/task/gimbal_ctrl.c +++ b/User/task/gimbal_ctrl.c @@ -43,7 +43,7 @@ void Task_gimbal_ctrl(void *argument) { if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK){ Gimbal_UpdateIMU(&gimbal, &gimbal_imu);} gimbal_cmd.mode=GIMBAL_MODE_ABSOLUTE; - if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0)==osOK) +// if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0)==osOK) Gimbal_UpdateFeedback(&gimbal); Gimbal_Control(&gimbal,&gimbal_cmd); Gimbal_Output(&gimbal); diff --git a/User/task/remote.c b/User/task/remote.c index 8b351af..f5be6e4 100644 --- a/User/task/remote.c +++ b/User/task/remote.c @@ -41,7 +41,7 @@ void Task_remote(void *argument) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ -// osMessageQueueGet(task_runtime.msgq.gimbal.imu, &imu, NULL, 0); + osMessageQueueGet(task_runtime.msgq.gimbal.imu, &imu, NULL, 0); remote_ParseHost(&remote_cmd,&rc_ctrl,&imu); osMessageQueueReset(task_runtime.msgq.gimbal.cmd);