diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h index c1eda69..7786a87 100644 --- a/Core/Inc/stm32f4xx_it.h +++ b/Core/Inc/stm32f4xx_it.h @@ -69,11 +69,13 @@ void USART1_IRQHandler(void); void USART2_IRQHandler(void); void USART3_IRQHandler(void); void TIM7_IRQHandler(void); +void DMA2_Stream1_IRQHandler(void); void DMA2_Stream2_IRQHandler(void); void DMA2_Stream3_IRQHandler(void); void CAN2_TX_IRQHandler(void); void CAN2_RX0_IRQHandler(void); void CAN2_RX1_IRQHandler(void); +void DMA2_Stream6_IRQHandler(void); void USART6_IRQHandler(void); /* USER CODE BEGIN EFP */ diff --git a/Core/Src/dma.c b/Core/Src/dma.c index dd6a919..f6d2fe3 100644 --- a/Core/Src/dma.c +++ b/Core/Src/dma.c @@ -53,12 +53,18 @@ void MX_DMA_Init(void) /* DMA1_Stream6_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA1_Stream6_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA1_Stream6_IRQn); + /* DMA2_Stream1_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn); /* DMA2_Stream2_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn); /* DMA2_Stream3_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); + /* DMA2_Stream6_IRQn interrupt configuration */ + HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn); } diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c index e74da91..ee79f70 100644 --- a/Core/Src/stm32f4xx_it.c +++ b/Core/Src/stm32f4xx_it.c @@ -68,6 +68,8 @@ extern TIM_HandleTypeDef htim7; extern DMA_HandleTypeDef hdma_usart2_rx; extern DMA_HandleTypeDef hdma_usart2_tx; extern DMA_HandleTypeDef hdma_usart3_rx; +extern DMA_HandleTypeDef hdma_usart6_rx; +extern DMA_HandleTypeDef hdma_usart6_tx; extern UART_HandleTypeDef huart1; extern UART_HandleTypeDef huart2; extern UART_HandleTypeDef huart3; @@ -423,6 +425,20 @@ void TIM7_IRQHandler(void) /* USER CODE END TIM7_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream1 global interrupt. + */ +void DMA2_Stream1_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ + + /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_rx); + /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ + + /* USER CODE END DMA2_Stream1_IRQn 1 */ +} + /** * @brief This function handles DMA2 stream2 global interrupt. */ @@ -493,6 +509,20 @@ void CAN2_RX1_IRQHandler(void) /* USER CODE END CAN2_RX1_IRQn 1 */ } +/** + * @brief This function handles DMA2 stream6 global interrupt. + */ +void DMA2_Stream6_IRQHandler(void) +{ + /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ + + /* USER CODE END DMA2_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart6_tx); + /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ + + /* USER CODE END DMA2_Stream6_IRQn 1 */ +} + /** * @brief This function handles USART6 global interrupt. */ diff --git a/Core/Src/usart.c b/Core/Src/usart.c index 080312a..e0a211b 100644 --- a/Core/Src/usart.c +++ b/Core/Src/usart.c @@ -31,6 +31,8 @@ UART_HandleTypeDef huart6; DMA_HandleTypeDef hdma_usart2_rx; DMA_HandleTypeDef hdma_usart2_tx; DMA_HandleTypeDef hdma_usart3_rx; +DMA_HandleTypeDef hdma_usart6_rx; +DMA_HandleTypeDef hdma_usart6_tx; /* USART1 init function */ @@ -318,6 +320,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle) GPIO_InitStruct.Alternate = GPIO_AF8_USART6; HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); + /* USART6 DMA Init */ + /* USART6_RX Init */ + hdma_usart6_rx.Instance = DMA2_Stream1; + hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5; + hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; + hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart6_rx.Init.Mode = DMA_NORMAL; + hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx); + + /* USART6_TX Init */ + hdma_usart6_tx.Instance = DMA2_Stream6; + hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5; + hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; + hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE; + hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + hdma_usart6_tx.Init.Mode = DMA_NORMAL; + hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW; + hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK) + { + Error_Handler(); + } + + __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx); + /* USART6 interrupt Init */ HAL_NVIC_SetPriority(USART6_IRQn, 5, 0); HAL_NVIC_EnableIRQ(USART6_IRQn); @@ -413,6 +452,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle) */ HAL_GPIO_DeInit(GPIOG, GPIO_PIN_14|GPIO_PIN_9); + /* USART6 DMA DeInit */ + HAL_DMA_DeInit(uartHandle->hdmarx); + HAL_DMA_DeInit(uartHandle->hdmatx); + /* USART6 interrupt Deinit */ HAL_NVIC_DisableIRQ(USART6_IRQn); /* USER CODE BEGIN USART6_MspDeInit 1 */ diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index ac63297..2670f81 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -15,17 +15,17 @@ 38003 Registers - 115 100 + 115 55 346 Code Coverage - 713 100 + 710 160 204 Performance Analyzer - 444 130 130 100 + 870 @@ -91,7 +91,7 @@ 44 2 - 3 + 2 -32000 -32000 @@ -110,8 +110,8 @@ 0 - 709 - 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1423 @@ -3603,12 +3603,12 @@ 0 100 - 1 + 9 ..\User\module\gimbal.c - 4 - 287 - 306 + 16 + 23 + 24 1 0 @@ -3616,7 +3616,7 @@ ..\User\task\ai.c 51 - 27 + 34 50 1 @@ -3624,9 +3624,9 @@ ..\User\device\ai.c - 31 - 43 - 52 + 23 + 1 + 2 1 0 @@ -3652,8 +3652,8 @@ ..\User\device\ai.h 0 - 51 - 74 + 2 + 10 1 0 @@ -3669,9 +3669,27 @@ ..\User\task\gimbal_ctrl.c + 28 + 45 + 53 + 1 + + 0 + + + ..\User\module\gimbal.h + 0 + 5 + 6 + 1 + + 0 + + + ..\User\module\config.c 20 1 - 53 + 20 1 0 diff --git a/MDK-ARM/gimbal/ai.d b/MDK-ARM/gimbal/ai.d index b309fad..6635059 100644 --- a/MDK-ARM/gimbal/ai.d +++ b/MDK-ARM/gimbal/ai.d @@ -54,6 +54,5 @@ gimbal/ai.o: ..\User\device\ai.c ..\User\device\ai.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \ - ..\User\device\motor_rm.h ..\User\device\motor.h \ - ..\User\device\remote_control.h ..\User\module\struct_typedef.h \ - ..\User\component\bsp_rc.h ..\User\bsp\uart.h ..\Core\Inc\usart.h + ..\User\device\motor_rm.h ..\User\device\motor.h ..\User\bsp\uart.h \ + ..\Core\Inc\usart.h diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o index 30b1b79..e6ed78c 100644 Binary files a/MDK-ARM/gimbal/ai.o and b/MDK-ARM/gimbal/ai.o differ diff --git a/MDK-ARM/gimbal/ai_1.d b/MDK-ARM/gimbal/ai_1.d index 979e00f..34049bc 100644 --- a/MDK-ARM/gimbal/ai_1.d +++ b/MDK-ARM/gimbal/ai_1.d @@ -55,6 +55,4 @@ gimbal/ai_1.o: ..\User\task\ai.c ..\User\task\user_task.h \ ..\User\bsp\bsp.h ..\User\bsp\mm.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \ - ..\User\device\motor_rm.h ..\User\device\motor.h \ - ..\User\device\remote_control.h ..\User\module\struct_typedef.h \ - ..\User\component\bsp_rc.h + ..\User\device\motor_rm.h ..\User\device\motor.h diff --git a/MDK-ARM/gimbal/ai_1.o b/MDK-ARM/gimbal/ai_1.o index e91c29d..36ca913 100644 Binary files a/MDK-ARM/gimbal/ai_1.o and b/MDK-ARM/gimbal/ai_1.o differ diff --git a/MDK-ARM/gimbal/dma.o b/MDK-ARM/gimbal/dma.o index e3e230e..45547bd 100644 Binary files a/MDK-ARM/gimbal/dma.o and b/MDK-ARM/gimbal/dma.o differ diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index b949b53..2f5892e 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 7be5df6..6d82e1d 100644 --- a/MDK-ARM/gimbal/gimbal.build_log.htm +++ b/MDK-ARM/gimbal/gimbal.build_log.htm @@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0

Project:

D:\yunha\1\ai\gimbal\MDK-ARM\gimbal.uvprojx -Project File Date: 12/15/2025 +Project File Date: 12/17/2025

Output:

*** Using Compiler 'V6.16', folder: 'D:\Keil_v5\ARM\ARMCLANG\Bin' @@ -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\ai.c' - object file renamed from 'gimbal\ai.o' to 'gimbal\ai_1.o'. -compiling ai.c... -linking... -Program Size: Code=94480 RO-data=1680 RW-data=680 ZI-data=35136 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -59,7 +56,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE:5.4.0 Include file: CMSIS\Core\Include\tz_context.h -Build Time Elapsed: 00:00:02 +Build Time Elapsed: 00:00:01 diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index b2c830a..2aa892c 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Dec 17 03:35:05 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Dec 17 03:46:03 2025

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

Call chain for Maximum Stack Depth:

@@ -51,12 +51,12 @@ Function Pointers
  • DMA1_Stream6_IRQHandler from stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA1_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) -
  • DMA2_Stream1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) +
  • DMA2_Stream1_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream2_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream3_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) -
  • DMA2_Stream6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) +
  • DMA2_Stream6_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  • DMA2_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  • DebugMon_Handler from stm32f4xx_it.o(.text.DebugMon_Handler) referenced from startup_stm32f407xx.o(RESET)
  • ETH_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET) @@ -329,18 +329,12 @@ Global Symbols

    DMA2_Stream0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET)
    -

    DMA2_Stream1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text)) -
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET) -

    DMA2_Stream4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET)

    DMA2_Stream5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET)
    -

    DMA2_Stream6_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text)) -
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET) -

    DMA2_Stream7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET)
    @@ -1139,6 +1133,13 @@ Global Symbols
    [Address Reference Count : 1]
    • startup_stm32f407xx.o(RESET)
    +

    DMA2_Stream1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler)) +

    [Stack]

    • Max Depth = 40
    • Call Chain = DMA2_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler +
    +
    [Calls]
    • >>   HAL_DMA_IRQHandler +
    +
    [Address Reference Count : 1]
    • startup_stm32f407xx.o(RESET) +

    DMA2_Stream2_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler))

    [Stack]

    • Max Depth = 40
    • Call Chain = DMA2_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
    @@ -1153,6 +1154,13 @@ Global Symbols
    [Address Reference Count : 1]
    • startup_stm32f407xx.o(RESET)
    +

    DMA2_Stream6_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler)) +

    [Stack]

    • Max Depth = 40
    • Call Chain = DMA2_Stream6_IRQHandler ⇒ HAL_DMA_IRQHandler +
    +
    [Calls]
    • >>   HAL_DMA_IRQHandler +
    +
    [Address Reference Count : 1]
    • startup_stm32f407xx.o(RESET) +

    DebugMon_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DebugMon_Handler))
    [Address Reference Count : 1]

    • startup_stm32f407xx.o(RESET)
    @@ -1488,8 +1496,10 @@ Global Symbols

    HAL_DMA_IRQHandler (Thumb, 798 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))

    [Stack]

    • Max Depth = 32
    • Call Chain = HAL_DMA_IRQHandler
    -
    [Called By]
    • >>   DMA2_Stream3_IRQHandler +
      [Called By]
      • >>   DMA2_Stream6_IRQHandler +
      • >>   DMA2_Stream3_IRQHandler
      • >>   DMA2_Stream2_IRQHandler +
      • >>   DMA2_Stream1_IRQHandler
      • >>   DMA1_Stream6_IRQHandler
      • >>   DMA1_Stream5_IRQHandler
      • >>   DMA1_Stream1_IRQHandler @@ -2154,7 +2164,7 @@ Global Symbols

      HAL_UART_Init (Thumb, 158 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init)) -

      [Stack]

      • Max Depth = 208
      • Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

        [Stack]
        • Max Depth = 216
        • Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

        [Calls]
        • >>   HAL_UART_MspInit
        • >>   UART_SetConfig @@ -2165,8 +2175,8 @@ Global Symbols
        • >>   MX_USART1_UART_Init
        -

        HAL_UART_MspInit (Thumb, 936 bytes, Stack size 128 bytes, usart.o(.text.HAL_UART_MspInit)) -

        [Stack]

        • Max Depth = 192
        • Call Chain = HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

          HAL_UART_MspInit (Thumb, 1104 bytes, Stack size 136 bytes, usart.o(.text.HAL_UART_MspInit)) +

          [Stack]

          • Max Depth = 200
          • Call Chain = HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

          [Calls]
          • >>   HAL_DMA_Init
          • >>   HAL_NVIC_SetPriority @@ -2424,8 +2434,8 @@ Global Symbols
            [Called By]
            • >>   main
            -

            MX_DMA_Init (Thumb, 170 bytes, Stack size 48 bytes, dma.o(.text.MX_DMA_Init)) -

            [Stack]

            • Max Depth = 112
            • Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

              MX_DMA_Init (Thumb, 206 bytes, Stack size 56 bytes, dma.o(.text.MX_DMA_Init)) +

              [Stack]

              • Max Depth = 120
              • Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

              [Calls]
              • >>   HAL_NVIC_SetPriority
              • >>   HAL_NVIC_EnableIRQ @@ -2511,7 +2521,7 @@ Global Symbols

              MX_USART1_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART1_UART_Init)) -

              [Stack]

              • Max Depth = 224
              • Call Chain = MX_USART1_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

                [Stack]
                • Max Depth = 232
                • Call Chain = MX_USART1_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

                [Calls]
                • >>   HAL_UART_Init
                • >>   Error_Handler @@ -2520,7 +2530,7 @@ Global Symbols

                MX_USART2_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART2_UART_Init)) -

                [Stack]

                • Max Depth = 224
                • Call Chain = MX_USART2_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

                  [Stack]
                  • Max Depth = 232
                  • Call Chain = MX_USART2_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

                  [Calls]
                  • >>   HAL_UART_Init
                  • >>   Error_Handler @@ -2529,7 +2539,7 @@ Global Symbols

                  MX_USART3_UART_Init (Thumb, 76 bytes, Stack size 16 bytes, usart.o(.text.MX_USART3_UART_Init)) -

                  [Stack]

                  • Max Depth = 224
                  • Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

                    [Stack]
                    • Max Depth = 232
                    • Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

                    [Calls]
                    • >>   HAL_UART_Init
                    • >>   Error_Handler @@ -2538,7 +2548,7 @@ Global Symbols

                    MX_USART6_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART6_UART_Init)) -

                    [Stack]

                    • Max Depth = 224
                    • Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority +

                      [Stack]
                      • Max Depth = 232
                      • Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority

                      [Calls]
                      • >>   HAL_UART_Init
                      • >>   Error_Handler @@ -2962,8 +2972,8 @@ Global Symbols

                        osKernelStart (Thumb, 82 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osKernelStart))

                        [Stack]

                        • Max Depth = 292
                        • Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
                        -
                        [Calls]
                        • >>   vTaskStartScheduler -
                        • >>   SVC_Setup +
                          [Calls]
                          • >>   SVC_Setup +
                          • >>   vTaskStartScheduler

                          [Called By]
                          • >>   main
                          @@ -3436,11 +3446,11 @@ Global Symbols

                          xPortStartScheduler (Thumb, 342 bytes, Stack size 40 bytes, port.o(.text.xPortStartScheduler))

                          [Stack]

                          • Max Depth = 80
                          • Call Chain = xPortStartScheduler ⇒ vTaskSwitchContext ⇒ vApplicationStackOverflowHook
                          -
                          [Calls]
                          • >>   vTaskSwitchContext -
                          • >>   vPortSetupTimerInterrupt +
                            [Calls]
                            • >>   vPortSetupTimerInterrupt
                            • >>   vPortEnableVFP
                            • >>   prvTaskExitError
                            • >>   prvPortStartFirstTask +
                            • >>   vTaskSwitchContext

                            [Called By]
                            • >>   vTaskStartScheduler
                            @@ -3638,8 +3648,8 @@ Global Symbols
                          • >>   prvAddNewTaskToReadyList

                          [Called By]
                          • >>   osThreadNew -
                          • >>   vTaskStartScheduler
                          • >>   xTimerCreateTimerTask +
                          • >>   vTaskStartScheduler

                          xTaskGenericNotify (Thumb, 376 bytes, Stack size 56 bytes, tasks.o(.text.xTaskGenericNotify)) diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 23c6316..8c45572 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -34,11 +34,13 @@ Section Cross References startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.USART2_IRQHandler) for USART2_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.USART3_IRQHandler) for USART3_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.TIM7_IRQHandler) for TIM7_IRQHandler + startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) for DMA2_Stream1_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) for DMA2_Stream2_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) for DMA2_Stream3_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.CAN2_TX_IRQHandler) for CAN2_TX_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) for CAN2_RX0_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) for CAN2_RX1_IRQHandler + startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) for DMA2_Stream6_IRQHandler startup_stm32f407xx.o(RESET) refers to stm32f4xx_it.o(.text.USART6_IRQHandler) for USART6_IRQHandler startup_stm32f407xx.o(.text) refers (Special) to heapauxi.o(.text) for __use_two_region_memory startup_stm32f407xx.o(.text) refers to system_stm32f4xx.o(.text.SystemInit) for SystemInit @@ -185,6 +187,8 @@ Section Cross References usart.o(.text.HAL_UART_MspInit) refers to main.o(.text.Error_Handler) for Error_Handler usart.o(.text.HAL_UART_MspInit) refers to usart.o(.bss.hdma_usart2_tx) for hdma_usart2_tx usart.o(.text.HAL_UART_MspInit) refers to usart.o(.bss.hdma_usart3_rx) for hdma_usart3_rx + usart.o(.text.HAL_UART_MspInit) refers to usart.o(.bss.hdma_usart6_rx) for hdma_usart6_rx + usart.o(.text.HAL_UART_MspInit) refers to usart.o(.bss.hdma_usart6_tx) for hdma_usart6_tx usart.o(.ARM.exidx.text.HAL_UART_MspInit) refers to usart.o(.text.HAL_UART_MspInit) for [Anonymous Symbol] usart.o(.text.HAL_UART_MspDeInit) refers to stm32f4xx_hal_gpio.o(.text.HAL_GPIO_DeInit) for HAL_GPIO_DeInit usart.o(.text.HAL_UART_MspDeInit) refers to stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) for HAL_NVIC_DisableIRQ @@ -249,6 +253,9 @@ Section Cross References stm32f4xx_it.o(.text.TIM7_IRQHandler) refers to tim.o(.bss.htim7) for htim7 stm32f4xx_it.o(.text.TIM7_IRQHandler) refers to stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) for HAL_TIM_IRQHandler stm32f4xx_it.o(.ARM.exidx.text.TIM7_IRQHandler) refers to stm32f4xx_it.o(.text.TIM7_IRQHandler) for [Anonymous Symbol] + stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) refers to usart.o(.bss.hdma_usart6_rx) for hdma_usart6_rx + stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) refers to stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) for HAL_DMA_IRQHandler + stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream1_IRQHandler) refers to stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) for [Anonymous Symbol] stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) refers to spi.o(.bss.hdma_spi1_rx) for hdma_spi1_rx stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) refers to stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) for HAL_DMA_IRQHandler stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream2_IRQHandler) refers to stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) for [Anonymous Symbol] @@ -264,6 +271,9 @@ Section Cross References stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) refers to can.o(.bss.hcan2) for hcan2 stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) refers to stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) for HAL_CAN_IRQHandler stm32f4xx_it.o(.ARM.exidx.text.CAN2_RX1_IRQHandler) refers to stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) for [Anonymous Symbol] + stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) refers to usart.o(.bss.hdma_usart6_tx) for hdma_usart6_tx + stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) refers to stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) for HAL_DMA_IRQHandler + stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream6_IRQHandler) refers to stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) for [Anonymous Symbol] stm32f4xx_it.o(.text.USART6_IRQHandler) refers to usart.o(.bss.huart6) for huart6 stm32f4xx_it.o(.text.USART6_IRQHandler) refers to stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) for HAL_UART_IRQHandler stm32f4xx_it.o(.text.USART6_IRQHandler) refers to uart.o(.text.BSP_UART_IRQHandler) for BSP_UART_IRQHandler @@ -4200,7 +4210,7 @@ Removing Unused input sections from the image. Removing usart.o(.ARM.exidx.text.MX_USART3_UART_Init), (8 bytes). Removing usart.o(.ARM.exidx.text.MX_USART6_UART_Init), (8 bytes). Removing usart.o(.ARM.exidx.text.HAL_UART_MspInit), (8 bytes). - Removing usart.o(.text.HAL_UART_MspDeInit), (282 bytes). + Removing usart.o(.text.HAL_UART_MspDeInit), (298 bytes). Removing usart.o(.ARM.exidx.text.HAL_UART_MspDeInit), (8 bytes). Removing stm32f4xx_it.o(.text), (0 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.NMI_Handler), (8 bytes). @@ -4226,11 +4236,13 @@ Removing Unused input sections from the image. Removing stm32f4xx_it.o(.ARM.exidx.text.USART2_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.USART3_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.TIM7_IRQHandler), (8 bytes). + Removing stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream1_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream2_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream3_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.CAN2_TX_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.CAN2_RX0_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.CAN2_RX1_IRQHandler), (8 bytes). + Removing stm32f4xx_it.o(.ARM.exidx.text.DMA2_Stream6_IRQHandler), (8 bytes). Removing stm32f4xx_it.o(.ARM.exidx.text.USART6_IRQHandler), (8 bytes). Removing stm32f4xx_hal_msp.o(.text), (0 bytes). Removing stm32f4xx_hal_msp.o(.ARM.exidx.text.HAL_MspInit), (8 bytes). @@ -6243,7 +6255,7 @@ Removing Unused input sections from the image. Removing shoot.o(.bss.a), (4 bytes). Removing shoot.o(.bss.last_firecmd), (1 bytes). -2088 unused section(s) (total 134649 bytes) removed from the image. +2090 unused section(s) (total 134681 bytes) removed from the image. ============================================================================== @@ -6693,630 +6705,632 @@ Image Symbol Table [Anonymous Symbol] 0x080039a8 Section 0 remote_control.o(.text.DMA1_Stream1_IRQHandler1) [Anonymous Symbol] 0x08003a00 Section 0 stm32f4xx_it.o(.text.DMA1_Stream5_IRQHandler) [Anonymous Symbol] 0x08003a10 Section 0 stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler) - [Anonymous Symbol] 0x08003a20 Section 0 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - [Anonymous Symbol] 0x08003a30 Section 0 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DMA_CalcBaseAndBitshift 0x08003a41 Thumb Code 86 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - [Anonymous Symbol] 0x08003a40 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift) - DMA_CheckFifoParam 0x08003a99 Thumb Code 240 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - [Anonymous Symbol] 0x08003a98 Section 0 stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam) - DMA_SetConfig 0x08003b89 Thumb Code 80 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08003b88 Section 0 stm32f4xx_hal_dma.o(.text.DMA_SetConfig) - [Anonymous Symbol] 0x08003bd8 Section 0 stm32f4xx_it.o(.text.DebugMon_Handler) - [Anonymous Symbol] 0x08003bdc Section 0 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - [Anonymous Symbol] 0x08003be8 Section 0 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - [Anonymous Symbol] 0x08003bf4 Section 0 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - [Anonymous Symbol] 0x08003c00 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - [Anonymous Symbol] 0x08003c0c Section 0 main.o(.text.Error_Handler) - [Anonymous Symbol] 0x08003c14 Section 0 gimbal.o(.text.Gimbal_Control) - __arm_cp.5_6 0x08003fc0 Number 4 gimbal.o(.text.Gimbal_Control) - Gimbal_Direction 0x08004219 Thumb Code 320 gimbal.o(.text.Gimbal_Direction) - [Anonymous Symbol] 0x08004218 Section 0 gimbal.o(.text.Gimbal_Direction) - [Anonymous Symbol] 0x08004358 Section 0 gimbal.o(.text.Gimbal_Init) - [Anonymous Symbol] 0x08004514 Section 0 gimbal.o(.text.Gimbal_Output) - Gimbal_SetMode 0x080046ad Thumb Code 200 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x080046ac Section 0 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x08004774 Section 0 gimbal.o(.text.Gimbal_UpdateFeedback) - [Anonymous Symbol] 0x08004980 Section 0 gimbal.o(.text.Gimbal_UpdateIMU) - [Anonymous Symbol] 0x08004a10 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x08004a64 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x08004bbc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x08004d5c Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x08004dac Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08004e00 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x08005014 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x08005084 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x08005478 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08005658 Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x08005828 Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x08005878 Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x080058c8 Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x08005918 Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x08005968 Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x080059b8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x08005a44 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08005a94 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x08005ae0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x08005b30 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08005b80 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08005bd0 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x08005c20 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - [Anonymous Symbol] 0x08005c70 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - [Anonymous Symbol] 0x08005d5c Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - [Anonymous Symbol] 0x08005da0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - [Anonymous Symbol] 0x08005db0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - [Anonymous Symbol] 0x080060d0 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - [Anonymous Symbol] 0x08006240 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - [Anonymous Symbol] 0x08006304 Section 0 stm32f4xx_hal.o(.text.HAL_Delay) - [Anonymous Symbol] 0x08006348 Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - [Anonymous Symbol] 0x080063b0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - [Anonymous Symbol] 0x080063e8 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - [Anonymous Symbol] 0x080067a0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - [Anonymous Symbol] 0x080067d0 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - [Anonymous Symbol] 0x08006800 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick) - [Anonymous Symbol] 0x0800680c Section 0 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - [Anonymous Symbol] 0x08006860 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - [Anonymous Symbol] 0x08006870 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - [Anonymous Symbol] 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__initial_sp 0x20008ca8 Data 0 startup_stm32f407xx.o(STACK) Global Symbols @@ -7565,10 +7579,8 @@ Image Symbol Table DMA1_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) DMA1_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) DMA2_Stream0_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream1_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) DMA2_Stream4_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) DMA2_Stream5_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) - DMA2_Stream6_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) DMA2_Stream7_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) ETH_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) ETH_WKUP_IRQHandler 0x08000283 Thumb Code 0 startup_stm32f407xx.o(.text) @@ -7711,371 +7723,373 @@ Image Symbol Table DMA1_Stream1_IRQHandler1 0x080039a9 Thumb Code 86 remote_control.o(.text.DMA1_Stream1_IRQHandler1) DMA1_Stream5_IRQHandler 0x08003a01 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream5_IRQHandler) DMA1_Stream6_IRQHandler 0x08003a11 Thumb Code 16 stm32f4xx_it.o(.text.DMA1_Stream6_IRQHandler) - DMA2_Stream2_IRQHandler 0x08003a21 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) - DMA2_Stream3_IRQHandler 0x08003a31 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) - DebugMon_Handler 0x08003bd9 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) - EXTI0_IRQHandler 0x08003bdd Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) - EXTI3_IRQHandler 0x08003be9 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) - EXTI4_IRQHandler 0x08003bf5 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) - EXTI9_5_IRQHandler 0x08003c01 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) - Error_Handler 0x08003c0d Thumb Code 6 main.o(.text.Error_Handler) - Gimbal_Control 0x08003c15 Thumb Code 1540 gimbal.o(.text.Gimbal_Control) - Gimbal_Init 0x08004359 Thumb Code 442 gimbal.o(.text.Gimbal_Init) - Gimbal_Output 0x08004515 Thumb Code 406 gimbal.o(.text.Gimbal_Output) - Gimbal_UpdateFeedback 0x08004775 Thumb Code 522 gimbal.o(.text.Gimbal_UpdateFeedback) - Gimbal_UpdateIMU 0x08004981 Thumb Code 142 gimbal.o(.text.Gimbal_UpdateIMU) - HAL_CAN_ActivateNotification 0x08004a11 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - HAL_CAN_AddTxMessage 0x08004a65 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - HAL_CAN_ConfigFilter 0x08004bbd Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - HAL_CAN_ErrorCallback 0x08004d5d Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) - HAL_CAN_GetRxFifoFillLevel 0x08004dad Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - HAL_CAN_GetRxMessage 0x08004e01 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - HAL_CAN_GetTxMailboxesFreeLevel 0x08005015 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - HAL_CAN_IRQHandler 0x08005085 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - HAL_CAN_Init 0x08005479 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - HAL_CAN_MspInit 0x08005659 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) - HAL_CAN_RxFifo0FullCallback 0x08005829 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - HAL_CAN_RxFifo0MsgPendingCallback 0x08005879 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - HAL_CAN_RxFifo1FullCallback 0x080058c9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - HAL_CAN_RxFifo1MsgPendingCallback 0x08005919 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - HAL_CAN_SleepCallback 0x08005969 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) - HAL_CAN_Start 0x080059b9 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x08005a45 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x08005a95 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x08005ae1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x08005b31 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08005b81 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08005bd1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x08005c21 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x08005c71 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x08005d5d Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_GetState 0x08005da1 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - HAL_DMA_IRQHandler 0x08005db1 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x080060d1 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08006241 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08006305 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08006349 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x080063b1 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x080063e9 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x080067a1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x080067d1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08006801 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_AbortCpltCallback 0x0800680d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - HAL_I2C_AddrCallback 0x08006861 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - HAL_I2C_ER_IRQHandler 0x08006871 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - HAL_I2C_EV_IRQHandler 0x080069ed Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - HAL_I2C_ErrorCallback 0x08006db9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) - HAL_I2C_Init 0x08006e0d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_ListenCpltCallback 0x080070b1 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - HAL_I2C_MasterRxCpltCallback 0x08007105 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - HAL_I2C_MasterTxCpltCallback 0x08007159 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - HAL_I2C_MemRxCpltCallback 0x080071a9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - HAL_I2C_MemTxCpltCallback 0x080071fd Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - HAL_I2C_MspInit 0x08007251 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) - HAL_I2C_SlaveRxCpltCallback 0x08007385 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - HAL_I2C_SlaveTxCpltCallback 0x080073d9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - HAL_IncTick 0x0800742d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08007449 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08007481 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x080074f1 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08007549 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x0800755d Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08007571 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x080075a5 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x080075b5 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x08007819 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x08007825 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x08007849 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x0800786d Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x08007955 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x08008015 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x08008069 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x08008169 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x08008379 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x080085c9 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08008761 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x080087b5 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x08008809 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x08008aad Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x08008e51 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x08009065 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x080091d1 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x08009219 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x0800926d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x080092c1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x08009315 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x08009325 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x0800932d Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x08009335 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08009459 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x080094f5 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_IC_CaptureCallback 0x08009581 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x08009589 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_MspPostInit 0x080097a5 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_OC_DelayElapsedCallback 0x08009811 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x08009819 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x0800995d Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x080099f9 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x08009a01 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PWM_Start 0x08009a09 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PeriodElapsedCallback 0x08009bd5 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x08009bdd Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x08009be5 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08009bf1 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x08009c45 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x0800a0a1 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x0800a141 Thumb Code 936 usart.o(.text.HAL_UART_MspInit) - HAL_UART_Receive_DMA 0x0800a4e9 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) - HAL_UART_Receive_IT 0x0800a541 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_IT) - HAL_UART_RxCpltCallback 0x0800a599 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_RxHalfCpltCallback 0x0800a5ed Thumb Code 84 uart.o(.text.HAL_UART_RxHalfCpltCallback) - HAL_UART_Transmit_DMA 0x0800a641 Thumb Code 252 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) - HAL_UART_Transmit_IT 0x0800a73d Thumb Code 114 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) - HAL_UART_TxCpltCallback 0x0800a7b1 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) - HAL_UART_TxHalfCpltCallback 0x0800a805 Thumb Code 80 uart.o(.text.HAL_UART_TxHalfCpltCallback) - HardFault_Handler 0x0800a855 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) - I2C1_ER_IRQHandler 0x0800a859 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) - I2C1_EV_IRQHandler 0x0800a869 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) - InvSqrt 0x0800bd55 Thumb Code 118 user_math.o(.text.InvSqrt) - LowPassFilter2p_Apply 0x0800bdcd Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x0800be85 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x0800bfc1 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_DM_Enable 0x0800c0ed Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) - MOTOR_DM_GetMotor 0x0800c199 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) - MOTOR_DM_MITCtrl 0x0800c221 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) - MOTOR_DM_Register 0x0800c3c1 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) - MOTOR_DM_Update 0x0800c631 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) - MOTOR_RM_Ctrl 0x0800c7d5 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x0800ca49 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800cb11 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_SetOutput 0x0800cc31 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x0800cd4d Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x0800ce51 Thumb Code 78 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x0800cea1 Thumb Code 78 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x0800cef1 Thumb Code 170 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800cf9d Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x0800cfdd Thumb Code 554 gpio.o(.text.MX_GPIO_Init) - MX_I2C1_Init 0x0800d209 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) - MX_I2C2_Init 0x0800d251 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) - MX_SPI1_Init 0x0800d299 Thumb Code 82 spi.o(.text.MX_SPI1_Init) - MX_SPI2_Init 0x0800d2ed Thumb Code 84 spi.o(.text.MX_SPI2_Init) - MX_TIM10_Init 0x0800d341 Thumb Code 142 tim.o(.text.MX_TIM10_Init) - MX_TIM7_Init 0x0800d3d1 Thumb Code 88 tim.o(.text.MX_TIM7_Init) - MX_USART1_UART_Init 0x0800d429 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) - MX_USART2_UART_Init 0x0800d469 Thumb Code 64 usart.o(.text.MX_USART2_UART_Init) - MX_USART3_UART_Init 0x0800d4a9 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) - MX_USART6_UART_Init 0x0800d4f5 Thumb Code 64 usart.o(.text.MX_USART6_UART_Init) - MemManage_Handler 0x0800d535 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x0800d755 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x0800d7c5 Thumb Code 752 pid.o(.text.PID_Calc) - PID_Init 0x0800dab5 Thumb Code 406 pid.o(.text.PID_Init) - PID_Reset 0x0800dc4d Thumb Code 72 pid.o(.text.PID_Reset) - PendSV_Handler 0x0800dca1 Thumb Code 100 port.o(.text.PendSV_Handler) - RC_Init 0x0800dd05 Thumb Code 148 bsp_rc.o(.text.RC_Init) - RC_restart 0x0800dd99 Thumb Code 90 bsp_rc.o(.text.RC_restart) - SVC_Handler 0x0800e351 Thumb Code 36 port.o(.text.SVC_Handler) - StartDefaultTask 0x0800e385 Thumb Code 18 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x0800e3ed Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x0800e405 Thumb Code 188 main.o(.text.SystemClock_Config) - SystemInit 0x0800e4c1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM7_IRQHandler 0x0800e4d5 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) - TIM_Base_SetConfig 0x0800e4e5 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x0800e689 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x0800e7ad Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) - Task_Init 0x0800ea39 Thumb Code 252 init.o(.text.Task_Init) - Task_ai 0x0800eb39 Thumb Code 208 ai_1.o(.text.Task_ai) - Task_atti_esti 0x0800ec09 Thumb Code 700 atti_esti.o(.text.Task_atti_esti) - Task_gimbal_ctrl 0x0800eec9 Thumb Code 372 gimbal_ctrl.o(.text.Task_gimbal_ctrl) - Task_remote 0x0800f041 Thumb Code 160 remote.o(.text.Task_remote) - UART_Start_Receive_DMA 0x0800f749 Thumb Code 304 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) - UART_Start_Receive_IT 0x0800f879 Thumb Code 98 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT) - USART1_IRQHandler 0x0800f971 Thumb Code 28 stm32f4xx_it.o(.text.USART1_IRQHandler) - USART2_IRQHandler 0x0800f98d Thumb Code 28 stm32f4xx_it.o(.text.USART2_IRQHandler) - USART3_IRQHandler 0x0800f9a9 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) - USART3_IRQHandler1 0x0800f9c9 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) - USART6_IRQHandler 0x0800f9ed Thumb Code 28 stm32f4xx_it.o(.text.USART6_IRQHandler) - UsageFault_Handler 0x0800fa09 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) - configureTimerForRunTimeStats 0x0800fc09 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) - delay_init 0x0800fc2d Thumb Code 62 bsp_delay.o(.text.delay_init) - eTaskGetState 0x0800fc6d Thumb Code 246 tasks.o(.text.eTaskGetState) - getRunTimeCounterValue 0x0800fdbd Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) - main 0x0800fdc1 Thumb Code 88 main.o(.text.main) - major_yaw_Control 0x0800fe19 Thumb Code 44 gimbal.o(.text.major_yaw_Control) - map 0x0800fe45 Thumb Code 42 calc_lib.o(.text.map) - osDelay 0x0800fef1 Thumb Code 52 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x0800ff25 Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) - osKernelGetState 0x0800ff7d Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) - osKernelGetTickCount 0x0800ffd1 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x0800fff9 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x08010001 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x08010049 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x080100a1 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x080100f5 Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x08010165 Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x08010225 Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) - 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94 port.o(.text.pxPortInitialiseStack) - remote_ParseHost 0x08011c51 Thumb Code 64 remote_cmd.o(.text.remote_ParseHost) - remote_control_init 0x08011c91 Thumb Code 18 remote_control.o(.text.remote_control_init) - user_delay_ms 0x08011f8d Thumb Code 46 calc_lib.o(.text.user_delay_ms) - user_delay_us 0x08011fbd Thumb Code 68 calc_lib.o(.text.user_delay_us) - uxListRemove 0x08012001 Thumb Code 72 list.o(.text.uxListRemove) - vApplicationGetIdleTaskMemory 0x08012049 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) - vApplicationGetTimerTaskMemory 0x08012075 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) - vApplicationStackOverflowHook 0x080120a1 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) - vListInitialise 0x080120ad Thumb Code 46 list.o(.text.vListInitialise) - vListInitialiseItem 0x080120dd Thumb Code 14 list.o(.text.vListInitialiseItem) - vListInsert 0x080120ed Thumb Code 106 list.o(.text.vListInsert) - vListInsertEnd 0x08012159 Thumb Code 58 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x080121a9 Thumb Code 86 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08012201 Thumb Code 74 port.o(.text.vPortExitCritical) - vPortFree 0x0801224d Thumb Code 206 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x0801231d Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08012361 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x080123e5 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08012439 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x0801249d Thumb Code 110 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x0801250d Thumb Code 276 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08012621 Thumb Code 270 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08012731 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08012755 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08012765 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x080127a9 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x080127fd Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08012931 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x08012a15 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x08012a25 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x08012ba5 Thumb Code 342 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x08012cfd Thumb Code 60 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x08012d39 Thumb Code 38 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x08012d61 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x08012d95 Thumb Code 116 queue.o(.text.xQueueGenericCreate) - 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dunder.o(i.__mathlib_dbl_divzero) - __mathlib_dbl_infnan 0x080160c9 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) - __mathlib_dbl_infnan2 0x080160dd Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) - __mathlib_dbl_invalid 0x080160f1 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) - __mathlib_dbl_overflow 0x08016111 Thumb Code 24 dunder.o(i.__mathlib_dbl_overflow) - __mathlib_dbl_underflow 0x08016131 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) - __mathlib_flt_infnan 0x08016151 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) - __mathlib_flt_infnan2 0x08016157 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) - __mathlib_flt_invalid 0x0801615d Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x0801616d Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x0801617d Thumb Code 316 rredf.o(i.__mathlib_rredf2) - atan 0x080162d1 Thumb Code 16 atan.o(i.atan) - fabs 0x080162e1 Thumb Code 24 fabs.o(i.fabs) - sqrt 0x080162f9 Thumb Code 110 sqrt.o(i.sqrt) 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Region$$Table$$Limit 0x080177a0 Number 0 anon$$obj.o(Region$$Table) + DMA2_Stream1_IRQHandler 0x08003a21 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) + DMA2_Stream2_IRQHandler 0x08003a31 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) + DMA2_Stream3_IRQHandler 0x08003a41 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) + DMA2_Stream6_IRQHandler 0x08003a51 Thumb Code 16 stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) + DebugMon_Handler 0x08003bf9 Thumb Code 2 stm32f4xx_it.o(.text.DebugMon_Handler) + EXTI0_IRQHandler 0x08003bfd Thumb Code 10 stm32f4xx_it.o(.text.EXTI0_IRQHandler) + EXTI3_IRQHandler 0x08003c09 Thumb Code 10 stm32f4xx_it.o(.text.EXTI3_IRQHandler) + EXTI4_IRQHandler 0x08003c15 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler) + EXTI9_5_IRQHandler 0x08003c21 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) + Error_Handler 0x08003c2d Thumb Code 6 main.o(.text.Error_Handler) + Gimbal_Control 0x08003c35 Thumb Code 1540 gimbal.o(.text.Gimbal_Control) + Gimbal_Init 0x08004379 Thumb Code 442 gimbal.o(.text.Gimbal_Init) + Gimbal_Output 0x08004535 Thumb Code 406 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x08004795 Thumb Code 522 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x080049a1 Thumb Code 142 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x08004a31 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x08004a85 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x08004bdd Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x08004d7d Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08004dcd Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x08004e21 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x08005035 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x080050a5 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x08005499 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08005679 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x08005849 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x08005899 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x080058e9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x08005939 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x08005989 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x080059d9 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x08005a65 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08005ab5 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x08005b01 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x08005b51 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x08005ba1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x08005bf1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x08005c41 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x08005c91 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x08005d7d Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_GetState 0x08005dc1 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) + HAL_DMA_IRQHandler 0x08005dd1 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x080060f1 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08006261 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08006325 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08006369 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x080063d1 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08006409 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x080067c1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x080067f1 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x08006821 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_AbortCpltCallback 0x0800682d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) + HAL_I2C_AddrCallback 0x08006881 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) + HAL_I2C_ER_IRQHandler 0x08006891 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) + HAL_I2C_EV_IRQHandler 0x08006a0d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) + HAL_I2C_ErrorCallback 0x08006dd9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) + HAL_I2C_Init 0x08006e2d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_ListenCpltCallback 0x080070d1 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) + HAL_I2C_MasterRxCpltCallback 0x08007125 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) + HAL_I2C_MasterTxCpltCallback 0x08007179 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) + HAL_I2C_MemRxCpltCallback 0x080071c9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) + HAL_I2C_MemTxCpltCallback 0x0800721d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) + HAL_I2C_MspInit 0x08007271 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) + HAL_I2C_SlaveRxCpltCallback 0x080073a5 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) + HAL_I2C_SlaveTxCpltCallback 0x080073f9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) + HAL_IncTick 0x0800744d Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x08007469 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x080074a1 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08007511 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x08007569 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x0800757d Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x08007591 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x080075c5 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x080075d5 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x08007839 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x08007845 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x08007869 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x0800788d Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x08007975 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x08008035 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x08008089 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x08008189 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08008399 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x080085e9 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x08008781 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x080087d5 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08008829 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x08008acd Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x08008e71 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x08009085 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x080091f1 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x08009239 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x0800928d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x080092e1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08009335 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08009345 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x0800934d Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08009355 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08009479 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08009515 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x080095a1 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x080095a9 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x080097c5 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x08009831 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x08009839 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x0800997d Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08009a19 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x08009a21 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x08009a29 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x08009bf5 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08009bfd Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x08009c05 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x08009c11 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x08009c65 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x0800a0c1 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x0800a161 Thumb Code 1104 usart.o(.text.HAL_UART_MspInit) + HAL_UART_Receive_DMA 0x0800a5b1 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA) + HAL_UART_Receive_IT 0x0800a609 Thumb Code 86 stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_IT) + HAL_UART_RxCpltCallback 0x0800a661 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_RxHalfCpltCallback 0x0800a6b5 Thumb Code 84 uart.o(.text.HAL_UART_RxHalfCpltCallback) + HAL_UART_Transmit_DMA 0x0800a709 Thumb Code 252 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_DMA) + HAL_UART_Transmit_IT 0x0800a805 Thumb Code 114 stm32f4xx_hal_uart.o(.text.HAL_UART_Transmit_IT) + HAL_UART_TxCpltCallback 0x0800a879 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) + HAL_UART_TxHalfCpltCallback 0x0800a8cd Thumb Code 80 uart.o(.text.HAL_UART_TxHalfCpltCallback) + HardFault_Handler 0x0800a91d Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) + I2C1_ER_IRQHandler 0x0800a921 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) + I2C1_EV_IRQHandler 0x0800a931 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) + InvSqrt 0x0800be1d Thumb Code 118 user_math.o(.text.InvSqrt) + LowPassFilter2p_Apply 0x0800be95 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x0800bf4d Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x0800c089 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x0800c1b5 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800c261 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x0800c2e9 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x0800c489 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x0800c6f9 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x0800c89d Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x0800cb11 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x0800cbd9 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_SetOutput 0x0800ccf9 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800ce15 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x0800cf19 Thumb Code 78 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x0800cf69 Thumb Code 78 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x0800cfb9 Thumb Code 206 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800d089 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800d0c9 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x0800d2f5 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x0800d33d Thumb Code 72 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x0800d385 Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_SPI2_Init 0x0800d3d9 Thumb Code 84 spi.o(.text.MX_SPI2_Init) + MX_TIM10_Init 0x0800d42d Thumb Code 142 tim.o(.text.MX_TIM10_Init) + MX_TIM7_Init 0x0800d4bd Thumb Code 88 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x0800d515 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) + MX_USART2_UART_Init 0x0800d555 Thumb Code 64 usart.o(.text.MX_USART2_UART_Init) + MX_USART3_UART_Init 0x0800d595 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) + MX_USART6_UART_Init 0x0800d5e1 Thumb Code 64 usart.o(.text.MX_USART6_UART_Init) + MemManage_Handler 0x0800d621 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800d841 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800d8b1 Thumb Code 752 pid.o(.text.PID_Calc) + PID_Init 0x0800dba1 Thumb Code 406 pid.o(.text.PID_Init) + PID_Reset 0x0800dd39 Thumb Code 72 pid.o(.text.PID_Reset) + PendSV_Handler 0x0800dd81 Thumb Code 100 port.o(.text.PendSV_Handler) + RC_Init 0x0800dde5 Thumb Code 148 bsp_rc.o(.text.RC_Init) + RC_restart 0x0800de79 Thumb Code 90 bsp_rc.o(.text.RC_restart) + SVC_Handler 0x0800e431 Thumb Code 36 port.o(.text.SVC_Handler) + StartDefaultTask 0x0800e465 Thumb Code 18 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x0800e4cd Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x0800e4e5 Thumb Code 188 main.o(.text.SystemClock_Config) + SystemInit 0x0800e5a1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM7_IRQHandler 0x0800e5b5 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) + TIM_Base_SetConfig 0x0800e5c5 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x0800e769 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x0800e88d Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_Init 0x0800eb19 Thumb Code 252 init.o(.text.Task_Init) + Task_ai 0x0800ec19 Thumb Code 208 ai_1.o(.text.Task_ai) + Task_atti_esti 0x0800ece9 Thumb Code 700 atti_esti.o(.text.Task_atti_esti) + Task_gimbal_ctrl 0x0800efa9 Thumb Code 372 gimbal_ctrl.o(.text.Task_gimbal_ctrl) + Task_remote 0x0800f121 Thumb Code 160 remote.o(.text.Task_remote) + UART_Start_Receive_DMA 0x0800f829 Thumb Code 304 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA) + UART_Start_Receive_IT 0x0800f959 Thumb Code 98 stm32f4xx_hal_uart.o(.text.UART_Start_Receive_IT) + USART1_IRQHandler 0x0800fa51 Thumb Code 28 stm32f4xx_it.o(.text.USART1_IRQHandler) + USART2_IRQHandler 0x0800fa6d Thumb Code 28 stm32f4xx_it.o(.text.USART2_IRQHandler) + USART3_IRQHandler 0x0800fa89 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) + USART3_IRQHandler1 0x0800faa9 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) + USART6_IRQHandler 0x0800facd Thumb Code 28 stm32f4xx_it.o(.text.USART6_IRQHandler) + UsageFault_Handler 0x0800fae9 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) + configureTimerForRunTimeStats 0x0800fce9 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) + delay_init 0x0800fd0d Thumb Code 62 bsp_delay.o(.text.delay_init) + eTaskGetState 0x0800fd4d Thumb Code 246 tasks.o(.text.eTaskGetState) + getRunTimeCounterValue 0x0800fe9d Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) + main 0x0800fea1 Thumb Code 88 main.o(.text.main) + major_yaw_Control 0x0800fef9 Thumb Code 44 gimbal.o(.text.major_yaw_Control) + map 0x0800ff25 Thumb Code 42 calc_lib.o(.text.map) + osDelay 0x0800ffd1 Thumb Code 52 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x08010005 Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x0801005d Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x080100b1 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x080100d9 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x080100e1 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x08010129 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x08010181 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x080101d5 Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x08010245 Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x08010305 Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x08010405 Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) + osMessageQueueReset 0x080104c9 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) + osMutexAcquire 0x08010509 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x080105a9 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x080106d1 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x08010751 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x080107f5 Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x08010911 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x08010921 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x08010a7d Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x08011ab9 Thumb Code 492 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x08011ca5 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x08011cd1 Thumb Code 94 port.o(.text.pxPortInitialiseStack) + remote_ParseHost 0x08011d31 Thumb Code 64 remote_cmd.o(.text.remote_ParseHost) + remote_control_init 0x08011d71 Thumb Code 18 remote_control.o(.text.remote_control_init) + user_delay_ms 0x0801206d Thumb Code 46 calc_lib.o(.text.user_delay_ms) + user_delay_us 0x0801209d Thumb Code 68 calc_lib.o(.text.user_delay_us) + uxListRemove 0x080120e1 Thumb Code 72 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x08012129 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08012155 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x08012181 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x0801218d Thumb Code 46 list.o(.text.vListInitialise) + vListInitialiseItem 0x080121bd Thumb Code 14 list.o(.text.vListInitialiseItem) + vListInsert 0x080121cd Thumb Code 106 list.o(.text.vListInsert) + vListInsertEnd 0x08012239 Thumb Code 58 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08012289 Thumb Code 86 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x080122e1 Thumb Code 74 port.o(.text.vPortExitCritical) + vPortFree 0x0801232d Thumb Code 206 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x080123fd Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08012441 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x080124c5 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08012519 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x0801257d Thumb Code 110 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x080125ed Thumb Code 276 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08012701 Thumb Code 270 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08012811 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08012835 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08012845 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x08012889 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x080128dd Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x08012a11 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08012af5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08012b05 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x08012c85 Thumb Code 342 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x08012ddd Thumb Code 60 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x08012e19 Thumb Code 38 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x08012e41 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x08012e75 Thumb Code 116 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08012ee9 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x08012ff9 Thumb Code 186 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x080130b5 Thumb Code 556 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x080132e1 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x0801342d Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08013499 Thumb Code 476 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x08013675 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x0801377d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x080139a9 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08013a19 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x08013ae5 Thumb Code 158 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x08013b85 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08013c55 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x08013dcd Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x08013f91 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x08013fa5 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x08013fdd Thumb Code 20 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08013ff1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x08014011 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x080141d5 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x080142ad Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08014399 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x080144a9 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x08014579 Thumb Code 390 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x08014701 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x08014795 Thumb Code 176 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x08014845 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x08014875 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x0801489d Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x080149c9 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x08014ca1 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x08014ea1 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_cosf 0x0801514d Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_pow 0x080152a1 Thumb Code 3088 pow.o(i.__hardfp_pow) + __hardfp_tanf 0x08015f01 Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x0801607d Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_divzero 0x08016179 Thumb Code 28 dunder.o(i.__mathlib_dbl_divzero) + __mathlib_dbl_infnan 0x080161a9 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x080161bd Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_invalid 0x080161d1 Thumb Code 24 dunder.o(i.__mathlib_dbl_invalid) + __mathlib_dbl_overflow 0x080161f1 Thumb Code 24 dunder.o(i.__mathlib_dbl_overflow) + __mathlib_dbl_underflow 0x08016211 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x08016231 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x08016237 Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x0801623d Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x0801624d Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x0801625d Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x080163b1 Thumb Code 16 atan.o(i.atan) + fabs 0x080163c1 Thumb Code 24 fabs.o(i.fabs) + sqrt 0x080163d9 Thumb Code 110 sqrt.o(i.sqrt) + sqrtf 0x08016447 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x08016485 Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x08016485 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x0801648b Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x0801648b Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x08016491 Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x08016497 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x0801649d Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x0801649d Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x08016501 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08016501 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcheck_NaN1 0x08016651 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) + __fpl_dcmp_Inf 0x08016661 Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x08016679 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08016679 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x0801692d Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x0801692d Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2iz 0x080169a5 Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x080169a5 Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x08016a05 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x08016a05 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x08016a5f Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x08016a5f Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_ui2d 0x08016a8d Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08016a8d Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_cdcmple 0x08016ab5 Thumb Code 0 dleqf.o(x$fpl$dleqf) + _dcmple 0x08016ab5 Thumb Code 120 dleqf.o(x$fpl$dleqf) + __fpl_dcmple_InfNaN 0x08016b17 Thumb Code 0 dleqf.o(x$fpl$dleqf) + __aeabi_dmul 0x08016b2d Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x08016b2d Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x08016c81 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x08016d1d Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_cdrcmple 0x08016d29 Thumb Code 0 drleqf.o(x$fpl$drleqf) + _drcmple 0x08016d29 Thumb Code 108 drleqf.o(x$fpl$drleqf) + __aeabi_drsub 0x08016d95 Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x08016d95 Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + _dsqrt 0x08016dad Thumb Code 404 dsqrt_umaal.o(x$fpl$dsqrt) + __aeabi_dsub 0x08016f45 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x08016f45 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x08017121 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x08017121 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x08017177 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08017177 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x0801717d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x0801717d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x080171d7 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x08017263 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x0801727b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x0801727b Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x0801727d Thumb Code 10 fretinf.o(x$fpl$fretinf) + __fpl_return_NaN 0x08017287 Thumb Code 100 retnan.o(x$fpl$retnan) + __ARM_scalbn 0x080172eb Thumb Code 92 scalbn.o(x$fpl$scalbn) + __fpl_cmpreturn 0x08017347 Thumb Code 48 trapv.o(x$fpl$trapveneer) + __I$use$fp 0x08017376 Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x08017498 Data 8 qnan.o(.constdata) + AHBPrescTable 0x080174c0 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x080174d0 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_ai 0x08017520 Data 36 user_task.o(.rodata.attr_ai) + attr_atti_esti 0x08017544 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_gimbal_ctrl 0x08017568 Data 36 user_task.o(.rodata.attr_gimbal_ctrl) + attr_init 0x0801758c Data 36 user_task.o(.rodata.attr_init) + attr_remote 0x080175b0 Data 36 user_task.o(.rodata.attr_remote) + defaultTask_attributes 0x080177d4 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08017860 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08017880 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 648 config.o(.data.robot_config) @@ -8103,27 +8117,29 @@ Image Symbol Table hdma_usart2_rx 0x20000ae0 Data 96 usart.o(.bss.hdma_usart2_rx) hdma_usart2_tx 0x20000b40 Data 96 usart.o(.bss.hdma_usart2_tx) hdma_usart3_rx 0x20000ba0 Data 96 usart.o(.bss.hdma_usart3_rx) - hi2c1 0x20000c00 Data 84 i2c.o(.bss.hi2c1) - hi2c2 0x20000c54 Data 84 i2c.o(.bss.hi2c2) - hspi1 0x20000ca8 Data 88 spi.o(.bss.hspi1) - hspi2 0x20000d00 Data 88 spi.o(.bss.hspi2) - htim10 0x20000d58 Data 72 tim.o(.bss.htim10) - htim7 0x20000da0 Data 72 tim.o(.bss.htim7) - huart1 0x20000de8 Data 72 usart.o(.bss.huart1) - huart2 0x20000e30 Data 72 usart.o(.bss.huart2) - huart3 0x20000e78 Data 72 usart.o(.bss.huart3) - huart6 0x20000ec0 Data 72 usart.o(.bss.huart6) - imu 0x20000f0c Data 52 remote.o(.bss.imu) - imu_temp_ctrl_pid 0x20000f40 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) - ist8310 0x20000f80 Data 32 atti_esti.o(.bss.ist8310) - jiaozhun 0x20000fa0 Data 4 atti_esti.o(.bss.jiaozhun) - magn 0x20000fa4 Data 12 atti_esti.o(.bss.magn) - pxCurrentTCB 0x200010a4 Data 4 tasks.o(.bss.pxCurrentTCB) - rc_ctrl 0x20001524 Data 24 remote_control.o(.bss.rc_ctrl) - remote_cmd 0x2000153c Data 20 remote.o(.bss.remote_cmd) - task_runtime 0x2000156c Data 108 user_task.o(.bss.task_runtime) - uwTick 0x20007dfc Data 4 stm32f4xx_hal.o(.bss.uwTick) - xQueueRegistry 0x20008564 Data 64 queue.o(.bss.xQueueRegistry) + hdma_usart6_rx 0x20000c00 Data 96 usart.o(.bss.hdma_usart6_rx) + hdma_usart6_tx 0x20000c60 Data 96 usart.o(.bss.hdma_usart6_tx) + hi2c1 0x20000cc0 Data 84 i2c.o(.bss.hi2c1) + hi2c2 0x20000d14 Data 84 i2c.o(.bss.hi2c2) + hspi1 0x20000d68 Data 88 spi.o(.bss.hspi1) + hspi2 0x20000dc0 Data 88 spi.o(.bss.hspi2) + htim10 0x20000e18 Data 72 tim.o(.bss.htim10) + htim7 0x20000e60 Data 72 tim.o(.bss.htim7) + huart1 0x20000ea8 Data 72 usart.o(.bss.huart1) + huart2 0x20000ef0 Data 72 usart.o(.bss.huart2) + huart3 0x20000f38 Data 72 usart.o(.bss.huart3) + huart6 0x20000f80 Data 72 usart.o(.bss.huart6) + imu 0x20000fcc Data 52 remote.o(.bss.imu) + imu_temp_ctrl_pid 0x20001000 Data 60 atti_esti.o(.bss.imu_temp_ctrl_pid) + ist8310 0x20001040 Data 32 atti_esti.o(.bss.ist8310) + jiaozhun 0x20001060 Data 4 atti_esti.o(.bss.jiaozhun) + magn 0x20001064 Data 12 atti_esti.o(.bss.magn) + pxCurrentTCB 0x20001164 Data 4 tasks.o(.bss.pxCurrentTCB) + rc_ctrl 0x200015e4 Data 24 remote_control.o(.bss.rc_ctrl) + remote_cmd 0x200015fc Data 20 remote.o(.bss.remote_cmd) + task_runtime 0x2000162c Data 108 user_task.o(.bss.task_runtime) + uwTick 0x20007ebc Data 4 stm32f4xx_hal.o(.bss.uwTick) + xQueueRegistry 0x20008624 Data 64 queue.o(.bss.xQueueRegistry) @@ -8133,884 +8149,885 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00017a48, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x000178c8]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00017b28, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x000179a8]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000177a0, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00017880, 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 3197 * !!!main c_w.l(__main.o) - 0x08000190 0x08000190 0x00000034 Code RO 3711 !!!scatter c_w.l(__scatter.o) - 0x080001c4 0x080001c4 0x0000005a Code RO 3709 !!dczerorl2 c_w.l(__dczerorl2.o) + 0x08000188 0x08000188 0x00000008 Code RO 3203 * !!!main c_w.l(__main.o) + 0x08000190 0x08000190 0x00000034 Code RO 3717 !!!scatter c_w.l(__scatter.o) + 0x080001c4 0x080001c4 0x0000005a Code RO 3715 !!dczerorl2 c_w.l(__dczerorl2.o) 0x0800021e 0x0800021e 0x00000002 PAD - 0x08000220 0x08000220 0x0000001c Code RO 3713 !!handler_zi c_w.l(__scatter_zi.o) - 0x0800023c 0x0800023c 0x00000002 Code RO 3561 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) - 0x0800023e 0x0800023e 0x00000004 Code RO 3581 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3584 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3587 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3589 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3591 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3594 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3596 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3598 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3600 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3602 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3604 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3606 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3608 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3610 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3612 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3614 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3618 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3620 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3622 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000000 Code RO 3624 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) - 0x08000242 0x08000242 0x00000002 Code RO 3625 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) - 0x08000244 0x08000244 0x00000002 Code RO 3664 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) - 0x08000246 0x08000246 0x00000000 Code RO 3692 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3694 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3697 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3700 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3702 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000000 Code RO 3705 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) - 0x08000246 0x08000246 0x00000002 Code RO 3706 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) - 0x08000248 0x08000248 0x00000000 Code RO 3268 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) - 0x08000248 0x08000248 0x00000000 Code RO 3457 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) - 0x08000248 0x08000248 0x00000006 Code RO 3469 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) - 0x0800024e 0x0800024e 0x00000000 Code RO 3459 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) - 0x0800024e 0x0800024e 0x00000004 Code RO 3460 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) - 0x08000252 0x08000252 0x00000000 Code RO 3462 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) - 0x08000252 0x08000252 0x00000008 Code RO 3463 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) - 0x0800025a 0x0800025a 0x00000002 Code RO 3566 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) - 0x0800025c 0x0800025c 0x00000000 Code RO 3633 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) - 0x0800025c 0x0800025c 0x00000004 Code RO 3634 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) - 0x08000260 0x08000260 0x00000006 Code RO 3635 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x08000220 0x08000220 0x0000001c Code RO 3719 !!handler_zi c_w.l(__scatter_zi.o) + 0x0800023c 0x0800023c 0x00000002 Code RO 3567 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x0800023e 0x0800023e 0x00000004 Code RO 3587 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3590 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3593 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3595 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3597 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3600 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3602 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3604 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3606 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3608 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3610 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3612 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3614 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3616 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3618 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3620 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3624 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3626 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3628 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000000 Code RO 3630 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000242 0x08000242 0x00000002 Code RO 3631 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000244 0x08000244 0x00000002 Code RO 3670 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x08000246 0x08000246 0x00000000 Code RO 3698 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3700 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3703 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3706 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3708 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000000 Code RO 3711 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x08000246 0x08000246 0x00000002 Code RO 3712 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x08000248 0x08000248 0x00000000 Code RO 3274 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x08000248 0x08000248 0x00000000 Code RO 3463 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x08000248 0x08000248 0x00000006 Code RO 3475 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x0800024e 0x0800024e 0x00000000 Code RO 3465 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x0800024e 0x0800024e 0x00000004 Code RO 3466 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000252 0x08000252 0x00000000 Code RO 3468 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x08000252 0x08000252 0x00000008 Code RO 3469 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x0800025a 0x0800025a 0x00000002 Code RO 3572 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x0800025c 0x0800025c 0x00000000 Code RO 3639 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x0800025c 0x0800025c 0x00000004 Code RO 3640 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x08000260 0x08000260 0x00000006 Code RO 3641 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) 0x08000266 0x08000266 0x00000002 PAD 0x08000268 0x08000268 0x00000040 Code RO 4 .text startup_stm32f407xx.o - 0x080002a8 0x080002a8 0x000000f0 Code RO 3169 .text c_w.l(lludivv7m.o) - 0x08000398 0x08000398 0x0000008a Code RO 3181 .text c_w.l(rt_memcpy_v6.o) - 0x08000422 0x08000422 0x00000064 Code RO 3183 .text c_w.l(rt_memcpy_w.o) - 0x08000486 0x08000486 0x00000010 Code RO 3187 .text c_w.l(aeabi_memset4.o) - 0x08000496 0x08000496 0x0000004e Code RO 3191 .text c_w.l(rt_memclr_w.o) - 0x080004e4 0x080004e4 0x00000006 Code RO 3195 .text c_w.l(heapauxi.o) - 0x080004ea 0x080004ea 0x00000016 Code RO 3273 .text c_w.l(_rserrno.o) - 0x08000500 0x08000500 0x00000008 Code RO 3476 .text c_w.l(rt_errno_addr_intlibspace.o) - 0x08000508 0x08000508 0x00000008 Code RO 3506 .text c_w.l(libspace.o) - 0x08000510 0x08000510 0x0000004a Code RO 3509 .text c_w.l(sys_stackheap_outer.o) - 0x0800055a 0x0800055a 0x00000012 Code RO 3550 .text c_w.l(exit.o) - 0x0800056c 0x0800056c 0x0000000c Code RO 3628 .text c_w.l(sys_exit.o) - 0x08000578 0x08000578 0x00000002 Code RO 3653 .text c_w.l(use_no_semi.o) - 0x0800057a 0x0800057a 0x00000000 Code RO 3655 .text c_w.l(indicate_semi.o) + 0x080002a8 0x080002a8 0x000000f0 Code RO 3175 .text c_w.l(lludivv7m.o) + 0x08000398 0x08000398 0x0000008a Code RO 3187 .text c_w.l(rt_memcpy_v6.o) + 0x08000422 0x08000422 0x00000064 Code RO 3189 .text c_w.l(rt_memcpy_w.o) + 0x08000486 0x08000486 0x00000010 Code RO 3193 .text c_w.l(aeabi_memset4.o) + 0x08000496 0x08000496 0x0000004e Code RO 3197 .text c_w.l(rt_memclr_w.o) + 0x080004e4 0x080004e4 0x00000006 Code RO 3201 .text c_w.l(heapauxi.o) + 0x080004ea 0x080004ea 0x00000016 Code RO 3279 .text c_w.l(_rserrno.o) + 0x08000500 0x08000500 0x00000008 Code RO 3482 .text c_w.l(rt_errno_addr_intlibspace.o) + 0x08000508 0x08000508 0x00000008 Code RO 3512 .text c_w.l(libspace.o) + 0x08000510 0x08000510 0x0000004a Code RO 3515 .text c_w.l(sys_stackheap_outer.o) + 0x0800055a 0x0800055a 0x00000012 Code RO 3556 .text c_w.l(exit.o) + 0x0800056c 0x0800056c 0x0000000c Code RO 3634 .text c_w.l(sys_exit.o) + 0x08000578 0x08000578 0x00000002 Code RO 3659 .text c_w.l(use_no_semi.o) + 0x0800057a 0x0800057a 0x00000000 Code RO 3661 .text c_w.l(indicate_semi.o) 0x0800057a 0x0800057a 0x00000002 PAD - 0x0800057c 0x0800057c 0x0000015c Code RO 2498 .text.AHRS_GetEulr ahrs.o - 0x080006d8 0x080006d8 0x00000284 Code RO 2492 .text.AHRS_Init ahrs.o - 0x0800095c 0x0800095c 0x00000012 Code RO 2502 .text.AHRS_ResetEulr ahrs.o + 0x0800057c 0x0800057c 0x0000015c Code RO 2504 .text.AHRS_GetEulr ahrs.o + 0x080006d8 0x080006d8 0x00000284 Code RO 2498 .text.AHRS_Init ahrs.o + 0x0800095c 0x0800095c 0x00000012 Code RO 2508 .text.AHRS_ResetEulr ahrs.o 0x0800096e 0x0800096e 0x00000002 PAD - 0x08000970 0x08000970 0x00000c1a Code RO 2494 .text.AHRS_Update ahrs.o + 0x08000970 0x08000970 0x00000c1a Code RO 2500 .text.AHRS_Update ahrs.o 0x0800158a 0x0800158a 0x00000002 PAD - 0x0800158c 0x0800158c 0x000005c8 Code RO 2496 .text.AHRS_UpdateIMU ahrs.o - 0x08001b54 0x08001b54 0x00000088 Code RO 2956 .text.AI_Get_NUC ai.o - 0x08001bdc 0x08001bdc 0x000000b0 Code RO 2958 .text.AI_ParseHost ai.o - 0x08001c8c 0x08001c8c 0x00000032 Code RO 2954 .text.AI_StartReceiving ai.o + 0x0800158c 0x0800158c 0x000005c8 Code RO 2502 .text.AHRS_UpdateIMU ahrs.o + 0x08001b54 0x08001b54 0x00000088 Code RO 2962 .text.AI_Get_NUC ai.o + 0x08001bdc 0x08001bdc 0x000000b0 Code RO 2964 .text.AI_ParseHost ai.o + 0x08001c8c 0x08001c8c 0x00000032 Code RO 2960 .text.AI_StartReceiving ai.o 0x08001cbe 0x08001cbe 0x00000002 PAD - 0x08001cc0 0x08001cc0 0x00000026 Code RO 2960 .text.AI_StartSend ai.o + 0x08001cc0 0x08001cc0 0x00000026 Code RO 2966 .text.AI_StartSend ai.o 0x08001ce6 0x08001ce6 0x00000002 PAD - 0x08001ce8 0x08001ce8 0x0000006a Code RO 2695 .text.AbsClip user_math.o + 0x08001ce8 0x08001ce8 0x0000006a Code RO 2701 .text.AbsClip user_math.o 0x08001d52 0x08001d52 0x00000002 PAD - 0x08001d54 0x08001d54 0x00000014 Code RO 2781 .text.BMI088_AcclIntCallback bmi088.o - 0x08001d68 0x08001d68 0x0000001e Code RO 2789 .text.BMI088_AcclStartDmaRecv bmi088.o + 0x08001d54 0x08001d54 0x00000014 Code RO 2787 .text.BMI088_AcclIntCallback bmi088.o + 0x08001d68 0x08001d68 0x0000001e Code RO 2795 .text.BMI088_AcclStartDmaRecv bmi088.o 0x08001d86 0x08001d86 0x00000002 PAD - 0x08001d88 0x08001d88 0x00000010 Code RO 2793 .text.BMI088_AcclWaitDmaCplt bmi088.o - 0x08001d98 0x08001d98 0x00000010 Code RO 2803 .text.BMI088_GetUpdateFreq bmi088.o - 0x08001da8 0x08001da8 0x00000014 Code RO 2783 .text.BMI088_GyroIntCallback bmi088.o - 0x08001dbc 0x08001dbc 0x0000001a Code RO 2795 .text.BMI088_GyroStartDmaRecv bmi088.o + 0x08001d88 0x08001d88 0x00000010 Code RO 2799 .text.BMI088_AcclWaitDmaCplt bmi088.o + 0x08001d98 0x08001d98 0x00000010 Code RO 2809 .text.BMI088_GetUpdateFreq bmi088.o + 0x08001da8 0x08001da8 0x00000014 Code RO 2789 .text.BMI088_GyroIntCallback bmi088.o + 0x08001dbc 0x08001dbc 0x0000001a Code RO 2801 .text.BMI088_GyroStartDmaRecv bmi088.o 0x08001dd6 0x08001dd6 0x00000002 PAD - 0x08001dd8 0x08001dd8 0x00000010 Code RO 2797 .text.BMI088_GyroWaitDmaCplt bmi088.o - 0x08001de8 0x08001de8 0x00000188 Code RO 2773 .text.BMI088_Init bmi088.o - 0x08001f70 0x08001f70 0x000000f4 Code RO 2799 .text.BMI088_ParseAccl bmi088.o - 0x08002064 0x08002064 0x00000118 Code RO 2801 .text.BMI088_ParseGyro bmi088.o - 0x0800217c 0x0800217c 0x00000054 Code RO 2779 .text.BMI088_RxCpltCallback bmi088.o - 0x080021d0 0x080021d0 0x00000010 Code RO 2787 .text.BMI088_WaitNew bmi088.o - 0x080021e0 0x080021e0 0x00000076 Code RO 2791 .text.BMI_Read bmi088.o + 0x08001dd8 0x08001dd8 0x00000010 Code RO 2803 .text.BMI088_GyroWaitDmaCplt bmi088.o + 0x08001de8 0x08001de8 0x00000188 Code RO 2779 .text.BMI088_Init bmi088.o + 0x08001f70 0x08001f70 0x000000f4 Code RO 2805 .text.BMI088_ParseAccl bmi088.o + 0x08002064 0x08002064 0x00000118 Code RO 2807 .text.BMI088_ParseGyro bmi088.o + 0x0800217c 0x0800217c 0x00000054 Code RO 2785 .text.BMI088_RxCpltCallback bmi088.o + 0x080021d0 0x080021d0 0x00000010 Code RO 2793 .text.BMI088_WaitNew bmi088.o + 0x080021e0 0x080021e0 0x00000076 Code RO 2797 .text.BMI_Read bmi088.o 0x08002256 0x08002256 0x00000002 PAD - 0x08002258 0x08002258 0x000000b2 Code RO 2777 .text.BMI_ReadSingle bmi088.o + 0x08002258 0x08002258 0x000000b2 Code RO 2783 .text.BMI_ReadSingle bmi088.o 0x0800230a 0x0800230a 0x00000002 PAD - 0x0800230c 0x0800230c 0x00000094 Code RO 2775 .text.BMI_WriteSingle bmi088.o - 0x080023a0 0x080023a0 0x00000124 Code RO 2260 .text.BSP_CAN_CreateIdQueue can_1.o - 0x080024c4 0x080024c4 0x0000000e Code RO 2236 .text.BSP_CAN_DefaultIdParser can_1.o + 0x0800230c 0x0800230c 0x00000094 Code RO 2781 .text.BMI_WriteSingle bmi088.o + 0x080023a0 0x080023a0 0x00000124 Code RO 2266 .text.BSP_CAN_CreateIdQueue can_1.o + 0x080024c4 0x080024c4 0x0000000e Code RO 2242 .text.BSP_CAN_DefaultIdParser can_1.o 0x080024d2 0x080024d2 0x00000002 PAD - 0x080024d4 0x080024d4 0x00000052 Code RO 2264 .text.BSP_CAN_FindQueue can_1.o + 0x080024d4 0x080024d4 0x00000052 Code RO 2270 .text.BSP_CAN_FindQueue can_1.o 0x08002526 0x08002526 0x00000002 PAD - 0x08002528 0x08002528 0x0000003a Code RO 2274 .text.BSP_CAN_GetFrameType can_1.o + 0x08002528 0x08002528 0x0000003a Code RO 2280 .text.BSP_CAN_GetFrameType can_1.o 0x08002562 0x08002562 0x00000002 PAD - 0x08002564 0x08002564 0x0000004e Code RO 2246 .text.BSP_CAN_GetHandle can_1.o + 0x08002564 0x08002564 0x0000004e Code RO 2252 .text.BSP_CAN_GetHandle can_1.o 0x080025b2 0x080025b2 0x00000002 PAD - 0x080025b4 0x080025b4 0x0000009e Code RO 2262 .text.BSP_CAN_GetMessage can_1.o + 0x080025b4 0x080025b4 0x0000009e Code RO 2268 .text.BSP_CAN_GetMessage can_1.o 0x08002652 0x08002652 0x00000002 PAD - 0x08002654 0x08002654 0x00000174 Code RO 2232 .text.BSP_CAN_Init can_1.o - 0x080027c8 0x080027c8 0x00000042 Code RO 2272 .text.BSP_CAN_ParseId can_1.o + 0x08002654 0x08002654 0x00000174 Code RO 2238 .text.BSP_CAN_Init can_1.o + 0x080027c8 0x080027c8 0x00000042 Code RO 2278 .text.BSP_CAN_ParseId can_1.o 0x0800280a 0x0800280a 0x00000002 PAD - 0x0800280c 0x0800280c 0x00000082 Code RO 2238 .text.BSP_CAN_RegisterCallback can_1.o + 0x0800280c 0x0800280c 0x00000082 Code RO 2244 .text.BSP_CAN_RegisterCallback can_1.o 0x0800288e 0x0800288e 0x00000002 PAD - 0x08002890 0x08002890 0x00000042 Code RO 2258 .text.BSP_CAN_RegisterId can_1.o + 0x08002890 0x08002890 0x00000042 Code RO 2264 .text.BSP_CAN_RegisterId can_1.o 0x080028d2 0x080028d2 0x00000002 PAD - 0x080028d4 0x080028d4 0x000000e4 Code RO 2240 .text.BSP_CAN_RxFifo0Callback can_1.o - 0x080029b8 0x080029b8 0x000000e4 Code RO 2244 .text.BSP_CAN_RxFifo1Callback can_1.o - 0x08002a9c 0x08002a9c 0x00000176 Code RO 2248 .text.BSP_CAN_Transmit can_1.o + 0x080028d4 0x080028d4 0x000000e4 Code RO 2246 .text.BSP_CAN_RxFifo0Callback can_1.o + 0x080029b8 0x080029b8 0x000000e4 Code RO 2250 .text.BSP_CAN_RxFifo1Callback can_1.o + 0x08002a9c 0x08002a9c 0x00000176 Code RO 2254 .text.BSP_CAN_Transmit can_1.o 0x08002c12 0x08002c12 0x00000002 PAD - 0x08002c14 0x08002c14 0x0000003e Code RO 2252 .text.BSP_CAN_TransmitStdDataFrame can_1.o + 0x08002c14 0x08002c14 0x0000003e Code RO 2258 .text.BSP_CAN_TransmitStdDataFrame can_1.o 0x08002c52 0x08002c52 0x00000002 PAD - 0x08002c54 0x08002c54 0x00000078 Code RO 2242 .text.BSP_CAN_TxCompleteCallback can_1.o - 0x08002ccc 0x08002ccc 0x00000042 Code RO 2234 .text.BSP_CAN_TxQueueInit can_1.o + 0x08002c54 0x08002c54 0x00000078 Code RO 2248 .text.BSP_CAN_TxCompleteCallback can_1.o + 0x08002ccc 0x08002ccc 0x00000042 Code RO 2240 .text.BSP_CAN_TxQueueInit can_1.o 0x08002d0e 0x08002d0e 0x00000002 PAD - 0x08002d10 0x08002d10 0x00000056 Code RO 2276 .text.BSP_CAN_TxQueueIsEmpty can_1.o + 0x08002d10 0x08002d10 0x00000056 Code RO 2282 .text.BSP_CAN_TxQueueIsEmpty can_1.o 0x08002d66 0x08002d66 0x00000002 PAD - 0x08002d68 0x08002d68 0x000000ac Code RO 2278 .text.BSP_CAN_TxQueuePop can_1.o - 0x08002e14 0x08002e14 0x000000ac Code RO 2250 .text.BSP_CAN_TxQueuePush can_1.o - 0x08002ec0 0x08002ec0 0x00000010 Code RO 2362 .text.BSP_Free mm.o - 0x08002ed0 0x08002ed0 0x00000058 Code RO 2299 .text.BSP_GPIO_DisableIRQ gpio_1.o - 0x08002f28 0x08002f28 0x00000058 Code RO 2297 .text.BSP_GPIO_EnableIRQ gpio_1.o - 0x08002f80 0x08002f80 0x0000004a Code RO 2305 .text.BSP_GPIO_ReadPin gpio_1.o + 0x08002d68 0x08002d68 0x000000ac Code RO 2284 .text.BSP_CAN_TxQueuePop can_1.o + 0x08002e14 0x08002e14 0x000000ac Code RO 2256 .text.BSP_CAN_TxQueuePush can_1.o + 0x08002ec0 0x08002ec0 0x00000010 Code RO 2368 .text.BSP_Free mm.o + 0x08002ed0 0x08002ed0 0x00000058 Code RO 2305 .text.BSP_GPIO_DisableIRQ gpio_1.o + 0x08002f28 0x08002f28 0x00000058 Code RO 2303 .text.BSP_GPIO_EnableIRQ gpio_1.o + 0x08002f80 0x08002f80 0x0000004a Code RO 2311 .text.BSP_GPIO_ReadPin gpio_1.o 0x08002fca 0x08002fca 0x00000002 PAD - 0x08002fcc 0x08002fcc 0x00000090 Code RO 2295 .text.BSP_GPIO_RegisterCallback gpio_1.o - 0x0800305c 0x0800305c 0x00000050 Code RO 2301 .text.BSP_GPIO_WritePin gpio_1.o - 0x080030ac 0x080030ac 0x00000010 Code RO 2360 .text.BSP_Malloc mm.o - 0x080030bc 0x080030bc 0x0000013e Code RO 2373 .text.BSP_PWM_SetComp pwm.o + 0x08002fcc 0x08002fcc 0x00000090 Code RO 2301 .text.BSP_GPIO_RegisterCallback gpio_1.o + 0x0800305c 0x0800305c 0x00000050 Code RO 2307 .text.BSP_GPIO_WritePin gpio_1.o + 0x080030ac 0x080030ac 0x00000010 Code RO 2366 .text.BSP_Malloc mm.o + 0x080030bc 0x080030bc 0x0000013e Code RO 2379 .text.BSP_PWM_SetComp pwm.o 0x080031fa 0x080031fa 0x00000002 PAD - 0x080031fc 0x080031fc 0x00000044 Code RO 2371 .text.BSP_PWM_Start pwm.o - 0x08003240 0x08003240 0x00000026 Code RO 2415 .text.BSP_SPI_GetHandle spi_1.o + 0x080031fc 0x080031fc 0x00000044 Code RO 2377 .text.BSP_PWM_Start pwm.o + 0x08003240 0x08003240 0x00000026 Code RO 2421 .text.BSP_SPI_GetHandle spi_1.o 0x08003266 0x08003266 0x00000002 PAD - 0x08003268 0x08003268 0x00000080 Code RO 2421 .text.BSP_SPI_Receive spi_1.o - 0x080032e8 0x080032e8 0x00000044 Code RO 2417 .text.BSP_SPI_RegisterCallback spi_1.o - 0x0800332c 0x0800332c 0x00000080 Code RO 2419 .text.BSP_SPI_Transmit spi_1.o - 0x080033ac 0x080033ac 0x0000008e Code RO 2445 .text.BSP_TIME_Delay_ms time.o + 0x08003268 0x08003268 0x00000080 Code RO 2427 .text.BSP_SPI_Receive spi_1.o + 0x080032e8 0x080032e8 0x00000044 Code RO 2423 .text.BSP_SPI_RegisterCallback spi_1.o + 0x0800332c 0x0800332c 0x00000080 Code RO 2425 .text.BSP_SPI_Transmit spi_1.o + 0x080033ac 0x080033ac 0x0000008e Code RO 2451 .text.BSP_TIME_Delay_ms time.o 0x0800343a 0x0800343a 0x00000002 PAD - 0x0800343c 0x0800343c 0x000000aa Code RO 2443 .text.BSP_TIME_Get_us time.o + 0x0800343c 0x0800343c 0x000000aa Code RO 2449 .text.BSP_TIME_Get_us time.o 0x080034e6 0x080034e6 0x00000002 PAD - 0x080034e8 0x080034e8 0x00000058 Code RO 2476 .text.BSP_UART_GetHandle uart.o - 0x08003540 0x08003540 0x0000006c Code RO 2474 .text.BSP_UART_IRQHandler uart.o - 0x080035ac 0x080035ac 0x0000007c Code RO 2482 .text.BSP_UART_Receive uart.o - 0x08003628 0x08003628 0x0000007c Code RO 2480 .text.BSP_UART_Transmit uart.o - 0x080036a4 0x080036a4 0x00000004 Code RO 166 .text.BusFault_Handler stm32f4xx_it.o - 0x080036a8 0x080036a8 0x00000010 Code RO 188 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o - 0x080036b8 0x080036b8 0x00000010 Code RO 190 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o - 0x080036c8 0x080036c8 0x00000010 Code RO 186 .text.CAN1_TX_IRQHandler stm32f4xx_it.o - 0x080036d8 0x080036d8 0x00000010 Code RO 212 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o - 0x080036e8 0x080036e8 0x00000010 Code RO 214 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o - 0x080036f8 0x080036f8 0x00000010 Code RO 210 .text.CAN2_TX_IRQHandler stm32f4xx_it.o - 0x08003708 0x08003708 0x00000056 Code RO 2206 .text.CAN_Get can_1.o + 0x080034e8 0x080034e8 0x00000058 Code RO 2482 .text.BSP_UART_GetHandle uart.o + 0x08003540 0x08003540 0x0000006c Code RO 2480 .text.BSP_UART_IRQHandler uart.o + 0x080035ac 0x080035ac 0x0000007c Code RO 2488 .text.BSP_UART_Receive uart.o + 0x08003628 0x08003628 0x0000007c Code RO 2486 .text.BSP_UART_Transmit uart.o + 0x080036a4 0x080036a4 0x00000004 Code RO 168 .text.BusFault_Handler stm32f4xx_it.o + 0x080036a8 0x080036a8 0x00000010 Code RO 190 .text.CAN1_RX0_IRQHandler stm32f4xx_it.o + 0x080036b8 0x080036b8 0x00000010 Code RO 192 .text.CAN1_RX1_IRQHandler stm32f4xx_it.o + 0x080036c8 0x080036c8 0x00000010 Code RO 188 .text.CAN1_TX_IRQHandler stm32f4xx_it.o + 0x080036d8 0x080036d8 0x00000010 Code RO 216 .text.CAN2_RX0_IRQHandler stm32f4xx_it.o + 0x080036e8 0x080036e8 0x00000010 Code RO 218 .text.CAN2_RX1_IRQHandler stm32f4xx_it.o + 0x080036f8 0x080036f8 0x00000010 Code RO 214 .text.CAN2_TX_IRQHandler stm32f4xx_it.o + 0x08003708 0x08003708 0x00000056 Code RO 2212 .text.CAN_Get can_1.o 0x0800375e 0x0800375e 0x00000002 PAD - 0x08003760 0x08003760 0x0000002a Code RO 2584 .text.CRC16_Byte crc16.o + 0x08003760 0x08003760 0x0000002a Code RO 2590 .text.CRC16_Byte crc16.o 0x0800378a 0x0800378a 0x00000002 PAD - 0x0800378c 0x0800378c 0x00000036 Code RO 2582 .text.CRC16_Calc crc16.o + 0x0800378c 0x0800378c 0x00000036 Code RO 2588 .text.CRC16_Calc crc16.o 0x080037c2 0x080037c2 0x00000002 PAD - 0x080037c4 0x080037c4 0x00000058 Code RO 2586 .text.CRC16_Verify crc16.o - 0x0800381c 0x0800381c 0x00000084 Code RO 2707 .text.CircleAdd user_math.o - 0x080038a0 0x080038a0 0x0000009a Code RO 2705 .text.CircleError user_math.o + 0x080037c4 0x080037c4 0x00000058 Code RO 2592 .text.CRC16_Verify crc16.o + 0x0800381c 0x0800381c 0x00000084 Code RO 2713 .text.CircleAdd user_math.o + 0x080038a0 0x080038a0 0x0000009a Code RO 2711 .text.CircleError user_math.o 0x0800393a 0x0800393a 0x00000002 PAD - 0x0800393c 0x0800393c 0x0000004c Code RO 2699 .text.Clip user_math.o - 0x08003988 0x08003988 0x0000000a Code RO 3089 .text.Config_GetRobotParam config.o + 0x0800393c 0x0800393c 0x0000004c Code RO 2705 .text.Clip user_math.o + 0x08003988 0x08003988 0x0000000a Code RO 3095 .text.Config_GetRobotParam config.o 0x08003992 0x08003992 0x00000002 PAD - 0x08003994 0x08003994 0x00000014 Code RO 180 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o - 0x080039a8 0x080039a8 0x00000056 Code RO 2941 .text.DMA1_Stream1_IRQHandler1 remote_control.o + 0x08003994 0x08003994 0x00000014 Code RO 182 .text.DMA1_Stream1_IRQHandler stm32f4xx_it.o + 0x080039a8 0x080039a8 0x00000056 Code RO 2947 .text.DMA1_Stream1_IRQHandler1 remote_control.o 0x080039fe 0x080039fe 0x00000002 PAD - 0x08003a00 0x08003a00 0x00000010 Code RO 182 .text.DMA1_Stream5_IRQHandler stm32f4xx_it.o - 0x08003a10 0x08003a10 0x00000010 Code RO 184 .text.DMA1_Stream6_IRQHandler stm32f4xx_it.o - 0x08003a20 0x08003a20 0x00000010 Code RO 206 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o - 0x08003a30 0x08003a30 0x00000010 Code RO 208 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o - 0x08003a40 0x08003a40 0x00000056 Code RO 490 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o - 0x08003a96 0x08003a96 0x00000002 PAD - 0x08003a98 0x08003a98 0x000000f0 Code RO 488 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o - 0x08003b88 0x08003b88 0x00000050 Code RO 496 .text.DMA_SetConfig stm32f4xx_hal_dma.o - 0x08003bd8 0x08003bd8 0x00000002 Code RO 170 .text.DebugMon_Handler stm32f4xx_it.o - 0x08003bda 0x08003bda 0x00000002 PAD - 0x08003bdc 0x08003bdc 0x0000000a Code RO 174 .text.EXTI0_IRQHandler stm32f4xx_it.o - 0x08003be6 0x08003be6 0x00000002 PAD - 0x08003be8 0x08003be8 0x0000000a Code RO 176 .text.EXTI3_IRQHandler stm32f4xx_it.o - 0x08003bf2 0x08003bf2 0x00000002 PAD - 0x08003bf4 0x08003bf4 0x0000000a Code RO 178 .text.EXTI4_IRQHandler stm32f4xx_it.o - 0x08003bfe 0x08003bfe 0x00000002 PAD - 0x08003c00 0x08003c00 0x0000000a Code RO 192 .text.EXTI9_5_IRQHandler stm32f4xx_it.o - 0x08003c0a 0x08003c0a 0x00000002 PAD - 0x08003c0c 0x08003c0c 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x08003a00 0x08003a00 0x00000010 Code RO 184 .text.DMA1_Stream5_IRQHandler stm32f4xx_it.o + 0x08003a10 0x08003a10 0x00000010 Code RO 186 .text.DMA1_Stream6_IRQHandler stm32f4xx_it.o + 0x08003a20 0x08003a20 0x00000010 Code RO 208 .text.DMA2_Stream1_IRQHandler stm32f4xx_it.o + 0x08003a30 0x08003a30 0x00000010 Code RO 210 .text.DMA2_Stream2_IRQHandler stm32f4xx_it.o + 0x08003a40 0x08003a40 0x00000010 Code RO 212 .text.DMA2_Stream3_IRQHandler stm32f4xx_it.o + 0x08003a50 0x08003a50 0x00000010 Code RO 220 .text.DMA2_Stream6_IRQHandler stm32f4xx_it.o + 0x08003a60 0x08003a60 0x00000056 Code RO 496 .text.DMA_CalcBaseAndBitshift stm32f4xx_hal_dma.o + 0x08003ab6 0x08003ab6 0x00000002 PAD + 0x08003ab8 0x08003ab8 0x000000f0 Code RO 494 .text.DMA_CheckFifoParam stm32f4xx_hal_dma.o + 0x08003ba8 0x08003ba8 0x00000050 Code RO 502 .text.DMA_SetConfig stm32f4xx_hal_dma.o + 0x08003bf8 0x08003bf8 0x00000002 Code RO 172 .text.DebugMon_Handler stm32f4xx_it.o + 0x08003bfa 0x08003bfa 0x00000002 PAD + 0x08003bfc 0x08003bfc 0x0000000a Code RO 176 .text.EXTI0_IRQHandler stm32f4xx_it.o + 0x08003c06 0x08003c06 0x00000002 PAD + 0x08003c08 0x08003c08 0x0000000a Code RO 178 .text.EXTI3_IRQHandler stm32f4xx_it.o 0x08003c12 0x08003c12 0x00000002 PAD - 0x08003c14 0x08003c14 0x00000604 Code RO 3111 .text.Gimbal_Control gimbal.o - 0x08004218 0x08004218 0x00000140 Code RO 3107 .text.Gimbal_Direction gimbal.o - 0x08004358 0x08004358 0x000001ba Code RO 3101 .text.Gimbal_Init gimbal.o - 0x08004512 0x08004512 0x00000002 PAD - 0x08004514 0x08004514 0x00000196 Code RO 3119 .text.Gimbal_Output gimbal.o - 0x080046aa 0x080046aa 0x00000002 PAD - 0x080046ac 0x080046ac 0x000000c8 Code RO 3113 .text.Gimbal_SetMode gimbal.o - 0x08004774 0x08004774 0x0000020a Code RO 3103 .text.Gimbal_UpdateFeedback gimbal.o - 0x0800497e 0x0800497e 0x00000002 PAD - 0x08004980 0x08004980 0x0000008e Code RO 3105 .text.Gimbal_UpdateIMU gimbal.o - 0x08004a0e 0x08004a0e 0x00000002 PAD - 0x08004a10 0x08004a10 0x00000052 Code RO 267 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x08004a62 0x08004a62 0x00000002 PAD - 0x08004a64 0x08004a64 0x00000156 Code RO 253 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x08004bba 0x08004bba 0x00000002 PAD - 0x08004bbc 0x08004bbc 0x0000019e Code RO 243 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x08004d5a 0x08004d5a 0x00000002 PAD - 0x08004d5c 0x08004d5c 0x00000050 Code RO 2230 .text.HAL_CAN_ErrorCallback can_1.o - 0x08004dac 0x08004dac 0x00000052 Code RO 265 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x08004dfe 0x08004dfe 0x00000002 PAD - 0x08004e00 0x08004e00 0x00000212 Code RO 263 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x08005012 0x08005012 0x00000002 PAD - 0x08005014 0x08005014 0x00000070 Code RO 257 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x08005084 0x08005084 0x000003f2 Code RO 271 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08005476 0x08005476 0x00000002 PAD - 0x08005478 0x08005478 0x000001de Code RO 233 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08005656 0x08005656 0x00000002 PAD - 0x08005658 0x08005658 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o - 0x08005828 0x08005828 0x00000050 Code RO 2220 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x08005878 0x08005878 0x00000050 Code RO 2218 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x080058c8 0x080058c8 0x00000050 Code RO 2224 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x08005918 0x08005918 0x00000050 Code RO 2222 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x08005968 0x08005968 0x00000050 Code RO 2226 .text.HAL_CAN_SleepCallback can_1.o - 0x080059b8 0x080059b8 0x0000008a Code RO 245 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x08005a42 0x08005a42 0x00000002 PAD - 0x08005a44 0x08005a44 0x00000050 Code RO 2212 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08005a94 0x08005a94 0x0000004c Code RO 2204 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x08005ae0 0x08005ae0 0x00000050 Code RO 2214 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x08005b30 0x08005b30 0x00000050 Code RO 2208 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08005b80 0x08005b80 0x00000050 Code RO 2216 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08005bd0 0x08005bd0 0x00000050 Code RO 2210 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x08005c20 0x08005c20 0x00000050 Code RO 2228 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x08005c70 0x08005c70 0x000000ec Code RO 500 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x08005d5c 0x08005d5c 0x00000044 Code RO 502 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x08005da0 0x08005da0 0x0000000e Code RO 512 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o - 0x08005dae 0x08005dae 0x00000002 PAD - 0x08005db0 0x08005db0 0x0000031e Code RO 506 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x080060ce 0x080060ce 0x00000002 PAD - 0x080060d0 0x080060d0 0x0000016e Code RO 486 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x0800623e 0x0800623e 0x00000002 PAD - 0x08006240 0x08006240 0x000000c2 Code RO 498 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08006302 0x08006302 0x00000002 PAD - 0x08006304 0x08006304 0x00000042 Code RO 681 .text.HAL_Delay stm32f4xx_hal.o - 0x08006346 0x08006346 0x00000002 PAD - 0x08006348 0x08006348 0x00000066 Code RO 2293 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x080063ae 0x080063ae 0x00000002 PAD - 0x080063b0 0x080063b0 0x00000038 Code RO 460 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x080063e8 0x080063e8 0x000003b6 Code RO 448 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x0800679e 0x0800679e 0x00000002 PAD - 0x080067a0 0x080067a0 0x0000002e Code RO 452 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x080067ce 0x080067ce 0x00000002 PAD - 0x080067d0 0x080067d0 0x0000002e Code RO 454 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x080067fe 0x080067fe 0x00000002 PAD - 0x08006800 0x08006800 0x0000000c Code RO 673 .text.HAL_GetTick stm32f4xx_hal.o - 0x0800680c 0x0800680c 0x00000054 Code RO 2334 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x08006860 0x08006860 0x00000010 Code RO 888 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x08006870 0x08006870 0x0000017a Code RO 876 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x080069ea 0x080069ea 0x00000002 PAD - 0x080069ec 0x080069ec 0x000003ca Code RO 844 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x08006db6 0x08006db6 0x00000002 PAD - 0x08006db8 0x08006db8 0x00000054 Code RO 2332 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x08006e0c 0x08006e0c 0x000002a4 Code RO 750 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x080070b0 0x080070b0 0x00000054 Code RO 2326 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x08007104 0x08007104 0x00000054 Code RO 2320 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x08007158 0x08007158 0x00000050 Code RO 2316 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x080071a8 0x080071a8 0x00000054 Code RO 2330 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x080071fc 0x080071fc 0x00000054 Code RO 2328 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x08007250 0x08007250 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x08007384 0x08007384 0x00000054 Code RO 2324 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x080073d8 0x080073d8 0x00000054 Code RO 2322 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x0800742c 0x0800742c 0x0000001a Code RO 671 .text.HAL_IncTick stm32f4xx_hal.o - 0x08007446 0x08007446 0x00000002 PAD - 0x08007448 0x08007448 0x00000036 Code RO 661 .text.HAL_Init stm32f4xx_hal.o - 0x0800747e 0x0800747e 0x00000002 PAD - 0x08007480 0x08007480 0x00000070 Code RO 663 .text.HAL_InitTick stm32f4xx_hal.o - 0x080074f0 0x080074f0 0x00000058 Code RO 225 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08007548 0x08007548 0x00000014 Code RO 600 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800755c 0x0800755c 0x00000014 Code RO 596 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08007570 0x08007570 0x00000032 Code RO 588 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x080075a2 0x080075a2 0x00000002 PAD - 0x080075a4 0x080075a4 0x00000010 Code RO 584 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x080075b4 0x080075b4 0x00000262 Code RO 316 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x08007816 0x08007816 0x00000002 PAD - 0x08007818 0x08007818 0x0000000c Code RO 326 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x08007824 0x08007824 0x00000022 Code RO 328 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x08007846 0x08007846 0x00000002 PAD - 0x08007848 0x08007848 0x00000022 Code RO 330 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x0800786a 0x0800786a 0x00000002 PAD - 0x0800786c 0x0800786c 0x000000e6 Code RO 318 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x08007952 0x08007952 0x00000002 PAD - 0x08007954 0x08007954 0x000006be Code RO 314 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08008012 0x08008012 0x00000002 PAD - 0x08008014 0x08008014 0x00000054 Code RO 2411 .text.HAL_SPI_ErrorCallback spi_1.o - 0x08008068 0x08008068 0x00000100 Code RO 922 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x08008168 0x08008168 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x08008378 0x08008378 0x0000024e Code RO 934 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x080085c6 0x080085c6 0x00000002 PAD - 0x080085c8 0x080085c8 0x00000198 Code RO 970 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08008760 0x08008760 0x00000054 Code RO 2401 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x080087b4 0x080087b4 0x00000054 Code RO 2407 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x08008808 0x08008808 0x000002a2 Code RO 930 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x08008aaa 0x08008aaa 0x00000002 PAD - 0x08008aac 0x08008aac 0x000003a2 Code RO 936 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x08008e4e 0x08008e4e 0x00000002 PAD - 0x08008e50 0x08008e50 0x00000214 Code RO 972 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x08009064 0x08009064 0x0000016c Code RO 962 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x080091d0 0x080091d0 0x00000048 Code RO 2397 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08009218 0x08009218 0x00000054 Code RO 2405 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x0800926c 0x0800926c 0x00000054 Code RO 2403 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x080092c0 0x080092c0 0x00000054 Code RO 2409 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08009314 0x08009314 0x00000010 Code RO 608 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08009324 0x08009324 0x00000008 Code RO 1362 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x0800932c 0x0800932c 0x00000008 Code RO 1358 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08009334 0x08009334 0x00000122 Code RO 1352 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08009456 0x08009456 0x00000002 PAD - 0x08009458 0x08009458 0x0000009c Code RO 1039 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x080094f4 0x080094f4 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x0800957e 0x0800957e 0x00000002 PAD - 0x08009580 0x08009580 0x00000008 Code RO 1175 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x08009588 0x08009588 0x0000021a Code RO 1173 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x080097a2 0x080097a2 0x00000002 PAD - 0x080097a4 0x080097a4 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x08009810 0x08009810 0x00000008 Code RO 1177 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x08009818 0x08009818 0x00000142 Code RO 1205 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x0800995a 0x0800995a 0x00000002 PAD - 0x0800995c 0x0800995c 0x0000009c Code RO 1093 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x080099f8 0x080099f8 0x00000008 Code RO 1095 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009a00 0x08009a00 0x00000008 Code RO 1179 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x08009a08 0x08009a08 0x000001ca Code RO 1101 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x08009bd2 0x08009bd2 0x00000002 PAD - 0x08009bd4 0x08009bd4 0x00000008 Code RO 1181 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x08009bdc 0x08009bdc 0x00000008 Code RO 1183 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x08009be4 0x08009be4 0x0000000c Code RO 1467 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08009bf0 0x08009bf0 0x00000054 Code RO 2466 .text.HAL_UART_ErrorCallback uart.o - 0x08009c44 0x08009c44 0x0000045c Code RO 1459 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x0800a0a0 0x0800a0a0 0x0000009e Code RO 1375 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x0800a13e 0x0800a13e 0x00000002 PAD - 0x0800a140 0x0800a140 0x000003a8 Code RO 142 .text.HAL_UART_MspInit usart.o - 0x0800a4e8 0x0800a4e8 0x00000056 Code RO 1411 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o - 0x0800a53e 0x0800a53e 0x00000002 PAD - 0x0800a540 0x0800a540 0x00000056 Code RO 1399 .text.HAL_UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800a596 0x0800a596 0x00000002 PAD - 0x0800a598 0x0800a598 0x00000054 Code RO 2462 .text.HAL_UART_RxCpltCallback uart.o - 0x0800a5ec 0x0800a5ec 0x00000054 Code RO 2464 .text.HAL_UART_RxHalfCpltCallback uart.o - 0x0800a640 0x0800a640 0x000000fc Code RO 1403 .text.HAL_UART_Transmit_DMA stm32f4xx_hal_uart.o - 0x0800a73c 0x0800a73c 0x00000072 Code RO 1397 .text.HAL_UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800a7ae 0x0800a7ae 0x00000002 PAD - 0x0800a7b0 0x0800a7b0 0x00000054 Code RO 2456 .text.HAL_UART_TxCpltCallback uart.o - 0x0800a804 0x0800a804 0x00000050 Code RO 2460 .text.HAL_UART_TxHalfCpltCallback uart.o - 0x0800a854 0x0800a854 0x00000004 Code RO 162 .text.HardFault_Handler stm32f4xx_it.o - 0x0800a858 0x0800a858 0x00000010 Code RO 196 .text.I2C1_ER_IRQHandler stm32f4xx_it.o - 0x0800a868 0x0800a868 0x00000010 Code RO 194 .text.I2C1_EV_IRQHandler stm32f4xx_it.o - 0x0800a878 0x0800a878 0x00000034 Code RO 846 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o - 0x0800a8ac 0x0800a8ac 0x00000156 Code RO 830 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o - 0x0800aa02 0x0800aa02 0x00000002 PAD - 0x0800aa04 0x0800aa04 0x00000024 Code RO 906 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o - 0x0800aa28 0x0800aa28 0x00000048 Code RO 2318 .text.I2C_Get i2c_1.o - 0x0800aa70 0x0800aa70 0x0000027a Code RO 842 .text.I2C_ITError stm32f4xx_hal_i2c.o - 0x0800acea 0x0800acea 0x00000002 PAD - 0x0800acec 0x0800acec 0x000001ac Code RO 862 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o - 0x0800ae98 0x0800ae98 0x0000016a Code RO 860 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800b002 0x0800b002 0x00000002 PAD - 0x0800b004 0x0800b004 0x000000de Code RO 856 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800b0e2 0x0800b0e2 0x00000002 PAD - 0x0800b0e4 0x0800b0e4 0x0000013e Code RO 854 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800b222 0x0800b222 0x00000002 PAD - 0x0800b224 0x0800b224 0x00000046 Code RO 850 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o - 0x0800b26a 0x0800b26a 0x00000002 PAD - 0x0800b26c 0x0800b26c 0x0000033e Code RO 852 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o - 0x0800b5aa 0x0800b5aa 0x00000002 PAD - 0x0800b5ac 0x0800b5ac 0x000000f0 Code RO 848 .text.I2C_Master_SB stm32f4xx_hal_i2c.o - 0x0800b69c 0x0800b69c 0x00000128 Code RO 858 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o - 0x0800b7c4 0x0800b7c4 0x0000002e Code RO 874 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o - 0x0800b7f2 0x0800b7f2 0x00000002 PAD - 0x0800b7f4 0x0800b7f4 0x0000006e Code RO 872 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800b862 0x0800b862 0x00000002 PAD - 0x0800b864 0x0800b864 0x0000002c Code RO 870 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800b890 0x0800b890 0x0000006c Code RO 868 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800b8fc 0x0800b8fc 0x000000ae Code RO 864 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o - 0x0800b9aa 0x0800b9aa 0x00000002 PAD - 0x0800b9ac 0x0800b9ac 0x000000e4 Code RO 878 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o - 0x0800ba90 0x0800ba90 0x0000024a Code RO 866 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o - 0x0800bcda 0x0800bcda 0x00000002 PAD - 0x0800bcdc 0x0800bcdc 0x00000078 Code RO 908 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o - 0x0800bd54 0x0800bd54 0x00000076 Code RO 2693 .text.InvSqrt user_math.o - 0x0800bdca 0x0800bdca 0x00000002 PAD - 0x0800bdcc 0x0800bdcc 0x000000b8 Code RO 2545 .text.LowPassFilter2p_Apply filter.o - 0x0800be84 0x0800be84 0x0000013c Code RO 2543 .text.LowPassFilter2p_Init filter.o - 0x0800bfc0 0x0800bfc0 0x00000092 Code RO 2551 .text.LowPassFilter2p_Reset filter.o - 0x0800c052 0x0800c052 0x00000002 PAD - 0x0800c054 0x0800c054 0x00000096 Code RO 2971 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x0800c0ea 0x0800c0ea 0x00000002 PAD - 0x0800c0ec 0x0800c0ec 0x0000007a Code RO 2995 .text.MOTOR_DM_Enable motor_dm.o - 0x0800c166 0x0800c166 0x00000002 PAD - 0x0800c168 0x0800c168 0x00000030 Code RO 2973 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x0800c198 0x0800c198 0x00000086 Code RO 2983 .text.MOTOR_DM_GetMotor motor_dm.o - 0x0800c21e 0x0800c21e 0x00000002 PAD - 0x0800c220 0x0800c220 0x00000048 Code RO 2981 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x0800c268 0x0800c268 0x00000158 Code RO 2977 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800c3c0 0x0800c3c0 0x0000012c Code RO 2969 .text.MOTOR_DM_Register motor_dm.o - 0x0800c4ec 0x0800c4ec 0x00000144 Code RO 2985 .text.MOTOR_DM_SendMITCmd motor_dm.o - 0x0800c630 0x0800c630 0x0000010c Code RO 2975 .text.MOTOR_DM_Update motor_dm.o - 0x0800c73c 0x0800c73c 0x00000096 Code RO 2863 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x0800c7d2 0x0800c7d2 0x00000002 PAD - 0x0800c7d4 0x0800c7d4 0x00000170 Code RO 2881 .text.MOTOR_RM_Ctrl motor_rm.o - 0x0800c944 0x0800c944 0x00000030 Code RO 2865 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800c974 0x0800c974 0x00000052 Code RO 2879 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800c9c6 0x0800c9c6 0x00000002 PAD - 0x0800c9c8 0x0800c9c8 0x00000080 Code RO 2877 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x0800ca48 0x0800ca48 0x00000078 Code RO 2875 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800cac0 0x0800cac0 0x00000050 Code RO 2887 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800cb10 0x0800cb10 0x00000120 Code RO 2861 .text.MOTOR_RM_Register motor_rm.o - 0x0800cc30 0x0800cc30 0x0000011a Code RO 2873 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800cd4a 0x0800cd4a 0x00000002 PAD - 0x0800cd4c 0x0800cd4c 0x00000102 Code RO 2867 .text.MOTOR_RM_Update motor_rm.o - 0x0800ce4e 0x0800ce4e 0x00000002 PAD - 0x0800ce50 0x0800ce50 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800ce9e 0x0800ce9e 0x00000002 PAD - 0x0800cea0 0x0800cea0 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800ceee 0x0800ceee 0x00000002 PAD - 0x0800cef0 0x0800cef0 0x000000aa Code RO 71 .text.MX_DMA_Init dma.o - 0x0800cf9a 0x0800cf9a 0x00000002 PAD - 0x0800cf9c 0x0800cf9c 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800cfdc 0x0800cfdc 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800d206 0x0800d206 0x00000002 PAD - 0x0800d208 0x0800d208 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800d250 0x0800d250 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800d298 0x0800d298 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800d2ea 0x0800d2ea 0x00000002 PAD - 0x0800d2ec 0x0800d2ec 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800d340 0x0800d340 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800d3ce 0x0800d3ce 0x00000002 PAD - 0x0800d3d0 0x0800d3d0 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o - 0x0800d428 0x0800d428 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x0800d468 0x0800d468 0x00000040 Code RO 136 .text.MX_USART2_UART_Init usart.o - 0x0800d4a8 0x0800d4a8 0x0000004c Code RO 138 .text.MX_USART3_UART_Init usart.o - 0x0800d4f4 0x0800d4f4 0x00000040 Code RO 140 .text.MX_USART6_UART_Init usart.o - 0x0800d534 0x0800d534 0x00000004 Code RO 164 .text.MemManage_Handler stm32f4xx_it.o - 0x0800d538 0x0800d538 0x0000021c Code RO 2869 .text.Motor_RM_Decode motor_rm.o - 0x0800d754 0x0800d754 0x00000004 Code RO 160 .text.NMI_Handler stm32f4xx_it.o - 0x0800d758 0x0800d758 0x0000006c Code RO 594 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800d7c4 0x0800d7c4 0x000002f0 Code RO 2656 .text.PID_Calc pid.o - 0x0800dab4 0x0800dab4 0x00000196 Code RO 2648 .text.PID_Init pid.o - 0x0800dc4a 0x0800dc4a 0x00000002 PAD - 0x0800dc4c 0x0800dc4c 0x00000048 Code RO 2654 .text.PID_Reset pid.o - 0x0800dc94 0x0800dc94 0x0000000c PAD - 0x0800dca0 0x0800dca0 0x00000064 Code RO 2188 .text.PendSV_Handler port.o - 0x0800dd04 0x0800dd04 0x00000094 Code RO 2737 .text.RC_Init bsp_rc.o - 0x0800dd98 0x0800dd98 0x0000005a Code RO 2741 .text.RC_restart bsp_rc.o - 0x0800ddf2 0x0800ddf2 0x00000002 PAD - 0x0800ddf4 0x0800ddf4 0x00000034 Code RO 968 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800de28 0x0800de28 0x00000016 Code RO 974 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800de3e 0x0800de3e 0x00000002 PAD - 0x0800de40 0x0800de40 0x00000016 Code RO 964 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800de56 0x0800de56 0x00000002 PAD - 0x0800de58 0x0800de58 0x00000016 Code RO 978 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800de6e 0x0800de6e 0x00000002 PAD - 0x0800de70 0x0800de70 0x000000a2 Code RO 976 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800df12 0x0800df12 0x00000002 PAD - 0x0800df14 0x0800df14 0x000000a6 Code RO 966 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800dfba 0x0800dfba 0x00000002 PAD - 0x0800dfbc 0x0800dfbc 0x00000086 Code RO 980 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800e042 0x0800e042 0x00000002 PAD - 0x0800e044 0x0800e044 0x000000e4 Code RO 938 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x0800e128 0x0800e128 0x000000cc Code RO 932 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800e1f4 0x0800e1f4 0x0000002e Code RO 2399 .text.SPI_Get spi_1.o - 0x0800e222 0x0800e222 0x00000002 PAD - 0x0800e224 0x0800e224 0x0000012c Code RO 1030 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800e350 0x0800e350 0x00000024 Code RO 2172 .text.SVC_Handler port.o - 0x0800e374 0x0800e374 0x0000000e Code RO 1966 .text.SVC_Setup cmsis_os2.o - 0x0800e382 0x0800e382 0x00000002 PAD - 0x0800e384 0x0800e384 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800e396 0x0800e396 0x00000002 PAD - 0x0800e398 0x0800e398 0x00000052 Code RO 610 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800e3ea 0x0800e3ea 0x00000002 PAD - 0x0800e3ec 0x0800e3ec 0x00000018 Code RO 172 .text.SysTick_Handler stm32f4xx_it.o - 0x0800e404 0x0800e404 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800e4c0 0x0800e4c0 0x00000012 Code RO 1506 .text.SystemInit system_stm32f4xx.o - 0x0800e4d2 0x0800e4d2 0x00000002 PAD - 0x0800e4d4 0x0800e4d4 0x00000010 Code RO 204 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800e4e4 0x0800e4e4 0x000001a4 Code RO 1043 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800e688 0x0800e688 0x00000036 Code RO 1077 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800e6be 0x0800e6be 0x00000002 PAD - 0x0800e6c0 0x0800e6c0 0x000000ea Code RO 1187 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800e7aa 0x0800e7aa 0x00000002 PAD - 0x0800e7ac 0x0800e7ac 0x000000f4 Code RO 1189 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800e8a0 0x0800e8a0 0x000000f2 Code RO 1191 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800e992 0x0800e992 0x00000002 PAD - 0x0800e994 0x0800e994 0x000000a4 Code RO 1193 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x0800ea38 0x0800ea38 0x000000fc Code RO 3013 .text.Task_Init init.o - 0x0800eb34 0x0800eb34 0x00000004 PAD - 0x0800eb38 0x0800eb38 0x000000d0 Code RO 3078 .text.Task_ai ai_1.o - 0x0800ec08 0x0800ec08 0x000002bc Code RO 3021 .text.Task_atti_esti atti_esti.o - 0x0800eec4 0x0800eec4 0x00000004 PAD - 0x0800eec8 0x0800eec8 0x00000174 Code RO 3064 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x0800f03c 0x0800f03c 0x00000004 PAD - 0x0800f040 0x0800f040 0x000000a0 Code RO 3042 .text.Task_remote remote.o - 0x0800f0e0 0x0800f0e0 0x0000001c Code RO 1463 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x0800f0fc 0x0800f0fc 0x0000007c Code RO 1409 .text.UART_DMAError stm32f4xx_hal_uart.o - 0x0800f178 0x0800f178 0x000000f4 Code RO 1495 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o - 0x0800f26c 0x0800f26c 0x00000034 Code RO 1497 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o - 0x0800f2a0 0x0800f2a0 0x0000007a Code RO 1405 .text.UART_DMATransmitCplt stm32f4xx_hal_uart.o - 0x0800f31a 0x0800f31a 0x00000002 PAD - 0x0800f31c 0x0800f31c 0x00000016 Code RO 1407 .text.UART_DMATxHalfCplt stm32f4xx_hal_uart.o - 0x0800f332 0x0800f332 0x00000002 PAD - 0x0800f334 0x0800f334 0x00000094 Code RO 1423 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x0800f3c8 0x0800f3c8 0x00000026 Code RO 1471 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x0800f3ee 0x0800f3ee 0x00000002 PAD - 0x0800f3f0 0x0800f3f0 0x00000036 Code RO 1421 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o - 0x0800f426 0x0800f426 0x00000002 PAD - 0x0800f428 0x0800f428 0x0000007c Code RO 2458 .text.UART_Get uart.o - 0x0800f4a4 0x0800f4a4 0x00000168 Code RO 1461 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800f60c 0x0800f60c 0x0000013a Code RO 1379 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800f746 0x0800f746 0x00000002 PAD - 0x0800f748 0x0800f748 0x00000130 Code RO 1413 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o - 0x0800f878 0x0800f878 0x00000062 Code RO 1401 .text.UART_Start_Receive_IT stm32f4xx_hal_uart.o - 0x0800f8da 0x0800f8da 0x00000002 PAD - 0x0800f8dc 0x0800f8dc 0x00000094 Code RO 1469 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800f970 0x0800f970 0x0000001c Code RO 198 .text.USART1_IRQHandler stm32f4xx_it.o - 0x0800f98c 0x0800f98c 0x0000001c Code RO 200 .text.USART2_IRQHandler stm32f4xx_it.o - 0x0800f9a8 0x0800f9a8 0x00000020 Code RO 202 .text.USART3_IRQHandler stm32f4xx_it.o - 0x0800f9c8 0x0800f9c8 0x00000022 Code RO 2939 .text.USART3_IRQHandler1 remote_control.o - 0x0800f9ea 0x0800f9ea 0x00000002 PAD - 0x0800f9ec 0x0800f9ec 0x0000001c Code RO 216 .text.USART6_IRQHandler stm32f4xx_it.o - 0x0800fa08 0x0800fa08 0x00000004 Code RO 168 .text.UsageFault_Handler stm32f4xx_it.o - 0x0800fa0c 0x0800fa0c 0x0000001e Code RO 2555 .text.__ARM_isfinite filter.o - 0x0800fa2a 0x0800fa2a 0x00000002 PAD - 0x0800fa2c 0x0800fa2c 0x0000001e Code RO 2652 .text.__ARM_isfinite pid.o - 0x0800fa4a 0x0800fa4a 0x00000002 PAD - 0x0800fa4c 0x0800fa4c 0x00000018 Code RO 2553 .text.__ARM_isfinitef filter.o - 0x0800fa64 0x0800fa64 0x00000018 Code RO 2650 .text.__ARM_isfinitef pid.o - 0x0800fa7c 0x0800fa7c 0x00000034 Code RO 2549 .text.__ARM_isinf filter.o - 0x0800fab0 0x0800fab0 0x0000001c Code RO 2547 .text.__ARM_isinff filter.o - 0x0800facc 0x0800facc 0x00000038 Code RO 602 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800fb04 0x0800fb04 0x00000030 Code RO 598 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800fb34 0x0800fb34 0x00000010 Code RO 590 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800fb44 0x0800fb44 0x00000042 Code RO 592 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800fb86 0x0800fb86 0x00000002 PAD - 0x0800fb88 0x0800fb88 0x00000042 Code RO 2122 .text.__NVIC_SetPriority cmsis_os2.o - 0x0800fbca 0x0800fbca 0x00000002 PAD - 0x0800fbcc 0x0800fbcc 0x0000003c Code RO 586 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800fc08 0x0800fc08 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o - 0x0800fc0a 0x0800fc0a 0x00000002 PAD - 0x0800fc0c 0x0800fc0c 0x0000001e Code RO 2500 .text.copysignf ahrs.o - 0x0800fc2a 0x0800fc2a 0x00000002 PAD - 0x0800fc2c 0x0800fc2c 0x0000003e Code RO 2722 .text.delay_init bsp_delay.o - 0x0800fc6a 0x0800fc6a 0x00000002 PAD - 0x0800fc6c 0x0800fc6c 0x000000f6 Code RO 1744 .text.eTaskGetState tasks.o - 0x0800fd62 0x0800fd62 0x00000002 PAD - 0x0800fd64 0x0800fd64 0x00000058 Code RO 3003 .text.float_to_uint motor_dm.o - 0x0800fdbc 0x0800fdbc 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o - 0x0800fdc0 0x0800fdc0 0x00000058 Code RO 11 .text.main main.o - 0x0800fe18 0x0800fe18 0x0000002c Code RO 3109 .text.major_yaw_Control gimbal.o - 0x0800fe44 0x0800fe44 0x0000002a Code RO 2762 .text.map calc_lib.o - 0x0800fe6e 0x0800fe6e 0x00000002 PAD - 0x0800fe70 0x0800fe70 0x00000080 Code RO 3115 .text.motor_imu_offset gimbal.o - 0x0800fef0 0x0800fef0 0x00000034 Code RO 2024 .text.osDelay cmsis_os2.o - 0x0800ff24 0x0800ff24 0x00000058 Code RO 2026 .text.osDelayUntil cmsis_os2.o - 0x0800ff7c 0x0800ff7c 0x00000052 Code RO 1962 .text.osKernelGetState cmsis_os2.o - 0x0800ffce 0x0800ffce 0x00000002 PAD - 0x0800ffd0 0x0800ffd0 0x00000026 Code RO 1974 .text.osKernelGetTickCount cmsis_os2.o - 0x0800fff6 0x0800fff6 0x00000002 PAD - 0x0800fff8 0x0800fff8 0x00000006 Code RO 1976 .text.osKernelGetTickFreq cmsis_os2.o - 0x0800fffe 0x0800fffe 0x00000002 PAD - 0x08010000 0x08010000 0x00000046 Code RO 1958 .text.osKernelInitialize cmsis_os2.o - 0x08010046 0x08010046 0x00000002 PAD - 0x08010048 0x08010048 0x00000056 Code RO 1968 .text.osKernelLock cmsis_os2.o - 0x0801009e 0x0801009e 0x00000002 PAD - 0x080100a0 0x080100a0 0x00000052 Code RO 1964 .text.osKernelStart cmsis_os2.o - 0x080100f2 0x080100f2 0x00000002 PAD - 0x080100f4 0x080100f4 0x0000006e Code RO 1970 .text.osKernelUnlock cmsis_os2.o - 0x08010162 0x08010162 0x00000002 PAD - 0x08010164 0x08010164 0x000000c0 Code RO 2078 .text.osMessageQueueGet cmsis_os2.o - 0x08010224 0x08010224 0x000000fe Code RO 2074 .text.osMessageQueueNew cmsis_os2.o - 0x08010322 0x08010322 0x00000002 PAD - 0x08010324 0x08010324 0x000000c4 Code RO 2076 .text.osMessageQueuePut cmsis_os2.o - 0x080103e8 0x080103e8 0x00000040 Code RO 2088 .text.osMessageQueueReset cmsis_os2.o - 0x08010428 0x08010428 0x0000009e Code RO 2056 .text.osMutexAcquire cmsis_os2.o - 0x080104c6 0x080104c6 0x00000002 PAD - 0x080104c8 0x080104c8 0x00000128 Code RO 2054 .text.osMutexNew cmsis_os2.o - 0x080105f0 0x080105f0 0x0000007e Code RO 2058 .text.osMutexRelease cmsis_os2.o - 0x0801066e 0x0801066e 0x00000002 PAD - 0x08010670 0x08010670 0x000000a4 Code RO 2016 .text.osThreadFlagsSet cmsis_os2.o - 0x08010714 0x08010714 0x0000011a Code RO 2022 .text.osThreadFlagsWait cmsis_os2.o - 0x0801082e 0x0801082e 0x00000002 PAD - 0x08010830 0x08010830 0x00000010 Code RO 1992 .text.osThreadGetId cmsis_os2.o - 0x08010840 0x08010840 0x0000015a Code RO 1988 .text.osThreadNew cmsis_os2.o - 0x0801099a 0x0801099a 0x00000002 PAD - 0x0801099c 0x0801099c 0x0000005e Code RO 2010 .text.osThreadTerminate cmsis_os2.o - 0x080109fa 0x080109fa 0x00000006 PAD - 0x08010a00 0x08010a00 0x000000d8 Code RO 3117 .text.poly gimbal.o - 0x08010ad8 0x08010ad8 0x000000d4 Code RO 1738 .text.prvAddCurrentTaskToDelayedList tasks.o - 0x08010bac 0x08010bac 0x00000122 Code RO 1724 .text.prvAddNewTaskToReadyList tasks.o - 0x08010cce 0x08010cce 0x00000002 PAD - 0x08010cd0 0x08010cd0 0x000000a2 Code RO 1889 .text.prvCheckForValidListAndQueue timers.o - 0x08010d72 0x08010d72 0x00000002 PAD - 0x08010d74 0x08010d74 0x0000005a Code RO 1854 .text.prvCheckTasksWaitingTermination tasks.o - 0x08010dce 0x08010dce 0x00000002 PAD - 0x08010dd0 0x08010dd0 0x00000042 Code RO 1617 .text.prvCopyDataFromQueue queue.o - 0x08010e12 0x08010e12 0x00000002 PAD - 0x08010e14 0x08010e14 0x000000cc Code RO 1605 .text.prvCopyDataToQueue queue.o - 0x08010ee0 0x08010ee0 0x0000005e Code RO 1730 .text.prvDeleteTCB tasks.o - 0x08010f3e 0x08010f3e 0x00000002 PAD - 0x08010f40 0x08010f40 0x00000026 Code RO 1621 .text.prvGetDisinheritPriorityAfterTimeout queue.o - 0x08010f66 0x08010f66 0x00000002 PAD - 0x08010f68 0x08010f68 0x00000040 Code RO 1927 .text.prvGetNextExpireTime timers.o - 0x08010fa8 0x08010fa8 0x000000bc Code RO 2139 .text.prvHeapInit heap_4.o - 0x08011064 0x08011064 0x00000038 Code RO 1764 .text.prvIdleTask tasks.o - 0x0801109c 0x0801109c 0x0000002c Code RO 1585 .text.prvInitialiseMutex queue.o - 0x080110c8 0x080110c8 0x00000048 Code RO 1579 .text.prvInitialiseNewQueue queue.o - 0x08011110 0x08011110 0x0000012c Code RO 1722 .text.prvInitialiseNewTask tasks.o - 0x0801123c 0x0801123c 0x0000008e Code RO 1852 .text.prvInitialiseTaskLists tasks.o - 0x080112ca 0x080112ca 0x00000002 PAD - 0x080112cc 0x080112cc 0x000000c6 Code RO 2141 .text.prvInsertBlockIntoFreeList heap_4.o - 0x08011392 0x08011392 0x00000002 PAD - 0x08011394 0x08011394 0x00000086 Code RO 1939 .text.prvInsertTimerInActiveList timers.o - 0x0801141a 0x0801141a 0x00000002 PAD - 0x0801141c 0x0801141c 0x00000028 Code RO 1619 .text.prvIsQueueEmpty queue.o - 0x08011444 0x08011444 0x0000002e Code RO 1607 .text.prvIsQueueFull queue.o + 0x08003c14 0x08003c14 0x0000000a Code RO 180 .text.EXTI4_IRQHandler stm32f4xx_it.o + 0x08003c1e 0x08003c1e 0x00000002 PAD + 0x08003c20 0x08003c20 0x0000000a Code RO 194 .text.EXTI9_5_IRQHandler stm32f4xx_it.o + 0x08003c2a 0x08003c2a 0x00000002 PAD + 0x08003c2c 0x08003c2c 0x00000006 Code RO 15 .text.Error_Handler main.o + 0x08003c32 0x08003c32 0x00000002 PAD + 0x08003c34 0x08003c34 0x00000604 Code RO 3117 .text.Gimbal_Control gimbal.o + 0x08004238 0x08004238 0x00000140 Code RO 3113 .text.Gimbal_Direction gimbal.o + 0x08004378 0x08004378 0x000001ba Code RO 3107 .text.Gimbal_Init gimbal.o + 0x08004532 0x08004532 0x00000002 PAD + 0x08004534 0x08004534 0x00000196 Code RO 3125 .text.Gimbal_Output gimbal.o + 0x080046ca 0x080046ca 0x00000002 PAD + 0x080046cc 0x080046cc 0x000000c8 Code RO 3119 .text.Gimbal_SetMode gimbal.o + 0x08004794 0x08004794 0x0000020a Code RO 3109 .text.Gimbal_UpdateFeedback gimbal.o + 0x0800499e 0x0800499e 0x00000002 PAD + 0x080049a0 0x080049a0 0x0000008e Code RO 3111 .text.Gimbal_UpdateIMU gimbal.o + 0x08004a2e 0x08004a2e 0x00000002 PAD + 0x08004a30 0x08004a30 0x00000052 Code RO 273 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x08004a82 0x08004a82 0x00000002 PAD + 0x08004a84 0x08004a84 0x00000156 Code RO 259 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08004bda 0x08004bda 0x00000002 PAD + 0x08004bdc 0x08004bdc 0x0000019e Code RO 249 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x08004d7a 0x08004d7a 0x00000002 PAD + 0x08004d7c 0x08004d7c 0x00000050 Code RO 2236 .text.HAL_CAN_ErrorCallback can_1.o + 0x08004dcc 0x08004dcc 0x00000052 Code RO 271 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x08004e1e 0x08004e1e 0x00000002 PAD + 0x08004e20 0x08004e20 0x00000212 Code RO 269 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x08005032 0x08005032 0x00000002 PAD + 0x08005034 0x08005034 0x00000070 Code RO 263 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x080050a4 0x080050a4 0x000003f2 Code RO 277 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08005496 0x08005496 0x00000002 PAD + 0x08005498 0x08005498 0x000001de Code RO 239 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08005676 0x08005676 0x00000002 PAD + 0x08005678 0x08005678 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x08005848 0x08005848 0x00000050 Code RO 2226 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x08005898 0x08005898 0x00000050 Code RO 2224 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x080058e8 0x080058e8 0x00000050 Code RO 2230 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08005938 0x08005938 0x00000050 Code RO 2228 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x08005988 0x08005988 0x00000050 Code RO 2232 .text.HAL_CAN_SleepCallback can_1.o + 0x080059d8 0x080059d8 0x0000008a Code RO 251 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x08005a62 0x08005a62 0x00000002 PAD + 0x08005a64 0x08005a64 0x00000050 Code RO 2218 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08005ab4 0x08005ab4 0x0000004c Code RO 2210 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x08005b00 0x08005b00 0x00000050 Code RO 2220 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x08005b50 0x08005b50 0x00000050 Code RO 2214 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x08005ba0 0x08005ba0 0x00000050 Code RO 2222 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x08005bf0 0x08005bf0 0x00000050 Code RO 2216 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x08005c40 0x08005c40 0x00000050 Code RO 2234 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x08005c90 0x08005c90 0x000000ec Code RO 506 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x08005d7c 0x08005d7c 0x00000044 Code RO 508 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08005dc0 0x08005dc0 0x0000000e Code RO 518 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x08005dce 0x08005dce 0x00000002 PAD + 0x08005dd0 0x08005dd0 0x0000031e Code RO 512 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x080060ee 0x080060ee 0x00000002 PAD + 0x080060f0 0x080060f0 0x0000016e Code RO 492 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x0800625e 0x0800625e 0x00000002 PAD + 0x08006260 0x08006260 0x000000c2 Code RO 504 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08006322 0x08006322 0x00000002 PAD + 0x08006324 0x08006324 0x00000042 Code RO 687 .text.HAL_Delay stm32f4xx_hal.o + 0x08006366 0x08006366 0x00000002 PAD + 0x08006368 0x08006368 0x00000066 Code RO 2299 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x080063ce 0x080063ce 0x00000002 PAD + 0x080063d0 0x080063d0 0x00000038 Code RO 466 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08006408 0x08006408 0x000003b6 Code RO 454 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x080067be 0x080067be 0x00000002 PAD + 0x080067c0 0x080067c0 0x0000002e Code RO 458 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x080067ee 0x080067ee 0x00000002 PAD + 0x080067f0 0x080067f0 0x0000002e Code RO 460 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x0800681e 0x0800681e 0x00000002 PAD + 0x08006820 0x08006820 0x0000000c Code RO 679 .text.HAL_GetTick stm32f4xx_hal.o + 0x0800682c 0x0800682c 0x00000054 Code RO 2340 .text.HAL_I2C_AbortCpltCallback i2c_1.o + 0x08006880 0x08006880 0x00000010 Code RO 894 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o + 0x08006890 0x08006890 0x0000017a Code RO 882 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o + 0x08006a0a 0x08006a0a 0x00000002 PAD + 0x08006a0c 0x08006a0c 0x000003ca Code RO 850 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o + 0x08006dd6 0x08006dd6 0x00000002 PAD + 0x08006dd8 0x08006dd8 0x00000054 Code RO 2338 .text.HAL_I2C_ErrorCallback i2c_1.o + 0x08006e2c 0x08006e2c 0x000002a4 Code RO 756 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x080070d0 0x080070d0 0x00000054 Code RO 2332 .text.HAL_I2C_ListenCpltCallback i2c_1.o + 0x08007124 0x08007124 0x00000054 Code RO 2326 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 0x08007178 0x08007178 0x00000050 Code RO 2322 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o + 0x080071c8 0x080071c8 0x00000054 Code RO 2336 .text.HAL_I2C_MemRxCpltCallback i2c_1.o + 0x0800721c 0x0800721c 0x00000054 Code RO 2334 .text.HAL_I2C_MemTxCpltCallback i2c_1.o + 0x08007270 0x08007270 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o + 0x080073a4 0x080073a4 0x00000054 Code RO 2330 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 0x080073f8 0x080073f8 0x00000054 Code RO 2328 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o + 0x0800744c 0x0800744c 0x0000001a Code RO 677 .text.HAL_IncTick stm32f4xx_hal.o + 0x08007466 0x08007466 0x00000002 PAD + 0x08007468 0x08007468 0x00000036 Code RO 667 .text.HAL_Init stm32f4xx_hal.o + 0x0800749e 0x0800749e 0x00000002 PAD + 0x080074a0 0x080074a0 0x00000070 Code RO 669 .text.HAL_InitTick stm32f4xx_hal.o + 0x08007510 0x08007510 0x00000058 Code RO 231 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08007568 0x08007568 0x00000014 Code RO 606 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x0800757c 0x0800757c 0x00000014 Code RO 602 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08007590 0x08007590 0x00000032 Code RO 594 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x080075c2 0x080075c2 0x00000002 PAD + 0x080075c4 0x080075c4 0x00000010 Code RO 590 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x080075d4 0x080075d4 0x00000262 Code RO 322 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08007836 0x08007836 0x00000002 PAD + 0x08007838 0x08007838 0x0000000c Code RO 332 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x08007844 0x08007844 0x00000022 Code RO 334 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x08007866 0x08007866 0x00000002 PAD + 0x08007868 0x08007868 0x00000022 Code RO 336 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x0800788a 0x0800788a 0x00000002 PAD + 0x0800788c 0x0800788c 0x000000e6 Code RO 324 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x08007972 0x08007972 0x00000002 PAD + 0x08007974 0x08007974 0x000006be Code RO 320 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x08008032 0x08008032 0x00000002 PAD + 0x08008034 0x08008034 0x00000054 Code RO 2417 .text.HAL_SPI_ErrorCallback spi_1.o + 0x08008088 0x08008088 0x00000100 Code RO 928 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x08008188 0x08008188 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o + 0x08008398 0x08008398 0x0000024e Code RO 940 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x080085e6 0x080085e6 0x00000002 PAD + 0x080085e8 0x080085e8 0x00000198 Code RO 976 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08008780 0x08008780 0x00000054 Code RO 2407 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x080087d4 0x080087d4 0x00000054 Code RO 2413 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08008828 0x08008828 0x000002a2 Code RO 936 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x08008aca 0x08008aca 0x00000002 PAD + 0x08008acc 0x08008acc 0x000003a2 Code RO 942 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x08008e6e 0x08008e6e 0x00000002 PAD + 0x08008e70 0x08008e70 0x00000214 Code RO 978 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x08009084 0x08009084 0x0000016c Code RO 968 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x080091f0 0x080091f0 0x00000048 Code RO 2403 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08009238 0x08009238 0x00000054 Code RO 2411 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x0800928c 0x0800928c 0x00000054 Code RO 2409 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x080092e0 0x080092e0 0x00000054 Code RO 2415 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08009334 0x08009334 0x00000010 Code RO 614 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08009344 0x08009344 0x00000008 Code RO 1368 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x0800934c 0x0800934c 0x00000008 Code RO 1364 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08009354 0x08009354 0x00000122 Code RO 1358 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08009476 0x08009476 0x00000002 PAD + 0x08009478 0x08009478 0x0000009c Code RO 1045 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08009514 0x08009514 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x0800959e 0x0800959e 0x00000002 PAD + 0x080095a0 0x080095a0 0x00000008 Code RO 1181 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x080095a8 0x080095a8 0x0000021a Code RO 1179 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x080097c2 0x080097c2 0x00000002 PAD + 0x080097c4 0x080097c4 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x08009830 0x08009830 0x00000008 Code RO 1183 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x08009838 0x08009838 0x00000142 Code RO 1211 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x0800997a 0x0800997a 0x00000002 PAD + 0x0800997c 0x0800997c 0x0000009c Code RO 1099 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08009a18 0x08009a18 0x00000008 Code RO 1101 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x08009a20 0x08009a20 0x00000008 Code RO 1185 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x08009a28 0x08009a28 0x000001ca Code RO 1107 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x08009bf2 0x08009bf2 0x00000002 PAD + 0x08009bf4 0x08009bf4 0x00000008 Code RO 1187 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x08009bfc 0x08009bfc 0x00000008 Code RO 1189 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08009c04 0x08009c04 0x0000000c Code RO 1473 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08009c10 0x08009c10 0x00000054 Code RO 2472 .text.HAL_UART_ErrorCallback uart.o + 0x08009c64 0x08009c64 0x0000045c Code RO 1465 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x0800a0c0 0x0800a0c0 0x0000009e Code RO 1381 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x0800a15e 0x0800a15e 0x00000002 PAD + 0x0800a160 0x0800a160 0x00000450 Code RO 142 .text.HAL_UART_MspInit usart.o + 0x0800a5b0 0x0800a5b0 0x00000056 Code RO 1417 .text.HAL_UART_Receive_DMA stm32f4xx_hal_uart.o + 0x0800a606 0x0800a606 0x00000002 PAD + 0x0800a608 0x0800a608 0x00000056 Code RO 1405 .text.HAL_UART_Receive_IT stm32f4xx_hal_uart.o + 0x0800a65e 0x0800a65e 0x00000002 PAD + 0x0800a660 0x0800a660 0x00000054 Code RO 2468 .text.HAL_UART_RxCpltCallback uart.o + 0x0800a6b4 0x0800a6b4 0x00000054 Code RO 2470 .text.HAL_UART_RxHalfCpltCallback uart.o + 0x0800a708 0x0800a708 0x000000fc Code RO 1409 .text.HAL_UART_Transmit_DMA stm32f4xx_hal_uart.o + 0x0800a804 0x0800a804 0x00000072 Code RO 1403 .text.HAL_UART_Transmit_IT stm32f4xx_hal_uart.o + 0x0800a876 0x0800a876 0x00000002 PAD + 0x0800a878 0x0800a878 0x00000054 Code RO 2462 .text.HAL_UART_TxCpltCallback uart.o + 0x0800a8cc 0x0800a8cc 0x00000050 Code RO 2466 .text.HAL_UART_TxHalfCpltCallback uart.o + 0x0800a91c 0x0800a91c 0x00000004 Code RO 164 .text.HardFault_Handler stm32f4xx_it.o + 0x0800a920 0x0800a920 0x00000010 Code RO 198 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x0800a930 0x0800a930 0x00000010 Code RO 196 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x0800a940 0x0800a940 0x00000034 Code RO 852 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x0800a974 0x0800a974 0x00000156 Code RO 836 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x0800aaca 0x0800aaca 0x00000002 PAD + 0x0800aacc 0x0800aacc 0x00000024 Code RO 912 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x0800aaf0 0x0800aaf0 0x00000048 Code RO 2324 .text.I2C_Get i2c_1.o + 0x0800ab38 0x0800ab38 0x0000027a Code RO 848 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800adb2 0x0800adb2 0x00000002 PAD + 0x0800adb4 0x0800adb4 0x000001ac Code RO 868 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800af60 0x0800af60 0x0000016a Code RO 866 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800b0ca 0x0800b0ca 0x00000002 PAD + 0x0800b0cc 0x0800b0cc 0x000000de Code RO 862 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800b1aa 0x0800b1aa 0x00000002 PAD + 0x0800b1ac 0x0800b1ac 0x0000013e Code RO 860 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800b2ea 0x0800b2ea 0x00000002 PAD + 0x0800b2ec 0x0800b2ec 0x00000046 Code RO 856 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800b332 0x0800b332 0x00000002 PAD + 0x0800b334 0x0800b334 0x0000033e Code RO 858 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800b672 0x0800b672 0x00000002 PAD + 0x0800b674 0x0800b674 0x000000f0 Code RO 854 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800b764 0x0800b764 0x00000128 Code RO 864 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800b88c 0x0800b88c 0x0000002e Code RO 880 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800b8ba 0x0800b8ba 0x00000002 PAD + 0x0800b8bc 0x0800b8bc 0x0000006e Code RO 878 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800b92a 0x0800b92a 0x00000002 PAD + 0x0800b92c 0x0800b92c 0x0000002c Code RO 876 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800b958 0x0800b958 0x0000006c Code RO 874 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800b9c4 0x0800b9c4 0x000000ae Code RO 870 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800ba72 0x0800ba72 0x00000002 PAD + 0x0800ba74 0x0800ba74 0x000000e4 Code RO 884 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800bb58 0x0800bb58 0x0000024a Code RO 872 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800bda2 0x0800bda2 0x00000002 PAD + 0x0800bda4 0x0800bda4 0x00000078 Code RO 914 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800be1c 0x0800be1c 0x00000076 Code RO 2699 .text.InvSqrt user_math.o + 0x0800be92 0x0800be92 0x00000002 PAD + 0x0800be94 0x0800be94 0x000000b8 Code RO 2551 .text.LowPassFilter2p_Apply filter.o + 0x0800bf4c 0x0800bf4c 0x0000013c Code RO 2549 .text.LowPassFilter2p_Init filter.o + 0x0800c088 0x0800c088 0x00000092 Code RO 2557 .text.LowPassFilter2p_Reset filter.o + 0x0800c11a 0x0800c11a 0x00000002 PAD + 0x0800c11c 0x0800c11c 0x00000096 Code RO 2977 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800c1b2 0x0800c1b2 0x00000002 PAD + 0x0800c1b4 0x0800c1b4 0x0000007a Code RO 3001 .text.MOTOR_DM_Enable motor_dm.o + 0x0800c22e 0x0800c22e 0x00000002 PAD + 0x0800c230 0x0800c230 0x00000030 Code RO 2979 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800c260 0x0800c260 0x00000086 Code RO 2989 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800c2e6 0x0800c2e6 0x00000002 PAD + 0x0800c2e8 0x0800c2e8 0x00000048 Code RO 2987 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800c330 0x0800c330 0x00000158 Code RO 2983 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800c488 0x0800c488 0x0000012c Code RO 2975 .text.MOTOR_DM_Register motor_dm.o + 0x0800c5b4 0x0800c5b4 0x00000144 Code RO 2991 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800c6f8 0x0800c6f8 0x0000010c Code RO 2981 .text.MOTOR_DM_Update motor_dm.o + 0x0800c804 0x0800c804 0x00000096 Code RO 2869 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800c89a 0x0800c89a 0x00000002 PAD + 0x0800c89c 0x0800c89c 0x00000170 Code RO 2887 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800ca0c 0x0800ca0c 0x00000030 Code RO 2871 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800ca3c 0x0800ca3c 0x00000052 Code RO 2885 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800ca8e 0x0800ca8e 0x00000002 PAD + 0x0800ca90 0x0800ca90 0x00000080 Code RO 2883 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800cb10 0x0800cb10 0x00000078 Code RO 2881 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800cb88 0x0800cb88 0x00000050 Code RO 2893 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800cbd8 0x0800cbd8 0x00000120 Code RO 2867 .text.MOTOR_RM_Register motor_rm.o + 0x0800ccf8 0x0800ccf8 0x0000011a Code RO 2879 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800ce12 0x0800ce12 0x00000002 PAD + 0x0800ce14 0x0800ce14 0x00000102 Code RO 2873 .text.MOTOR_RM_Update motor_rm.o + 0x0800cf16 0x0800cf16 0x00000002 PAD + 0x0800cf18 0x0800cf18 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800cf66 0x0800cf66 0x00000002 PAD + 0x0800cf68 0x0800cf68 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800cfb6 0x0800cfb6 0x00000002 PAD + 0x0800cfb8 0x0800cfb8 0x000000ce Code RO 71 .text.MX_DMA_Init dma.o + 0x0800d086 0x0800d086 0x00000002 PAD + 0x0800d088 0x0800d088 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800d0c8 0x0800d0c8 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800d2f2 0x0800d2f2 0x00000002 PAD + 0x0800d2f4 0x0800d2f4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800d33c 0x0800d33c 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800d384 0x0800d384 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800d3d6 0x0800d3d6 0x00000002 PAD + 0x0800d3d8 0x0800d3d8 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800d42c 0x0800d42c 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800d4ba 0x0800d4ba 0x00000002 PAD + 0x0800d4bc 0x0800d4bc 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800d514 0x0800d514 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800d554 0x0800d554 0x00000040 Code RO 136 .text.MX_USART2_UART_Init usart.o + 0x0800d594 0x0800d594 0x0000004c Code RO 138 .text.MX_USART3_UART_Init usart.o + 0x0800d5e0 0x0800d5e0 0x00000040 Code RO 140 .text.MX_USART6_UART_Init usart.o + 0x0800d620 0x0800d620 0x00000004 Code RO 166 .text.MemManage_Handler stm32f4xx_it.o + 0x0800d624 0x0800d624 0x0000021c Code RO 2875 .text.Motor_RM_Decode motor_rm.o + 0x0800d840 0x0800d840 0x00000004 Code RO 162 .text.NMI_Handler stm32f4xx_it.o + 0x0800d844 0x0800d844 0x0000006c Code RO 600 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800d8b0 0x0800d8b0 0x000002f0 Code RO 2662 .text.PID_Calc pid.o + 0x0800dba0 0x0800dba0 0x00000196 Code RO 2654 .text.PID_Init pid.o + 0x0800dd36 0x0800dd36 0x00000002 PAD + 0x0800dd38 0x0800dd38 0x00000048 Code RO 2660 .text.PID_Reset pid.o + 0x0800dd80 0x0800dd80 0x00000064 Code RO 2194 .text.PendSV_Handler port.o + 0x0800dde4 0x0800dde4 0x00000094 Code RO 2743 .text.RC_Init bsp_rc.o + 0x0800de78 0x0800de78 0x0000005a Code RO 2747 .text.RC_restart bsp_rc.o + 0x0800ded2 0x0800ded2 0x00000002 PAD + 0x0800ded4 0x0800ded4 0x00000034 Code RO 974 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x0800df08 0x0800df08 0x00000016 Code RO 980 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x0800df1e 0x0800df1e 0x00000002 PAD + 0x0800df20 0x0800df20 0x00000016 Code RO 970 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800df36 0x0800df36 0x00000002 PAD + 0x0800df38 0x0800df38 0x00000016 Code RO 984 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800df4e 0x0800df4e 0x00000002 PAD + 0x0800df50 0x0800df50 0x000000a2 Code RO 982 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x0800dff2 0x0800dff2 0x00000002 PAD + 0x0800dff4 0x0800dff4 0x000000a6 Code RO 972 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x0800e09a 0x0800e09a 0x00000002 PAD + 0x0800e09c 0x0800e09c 0x00000086 Code RO 986 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800e122 0x0800e122 0x00000002 PAD + 0x0800e124 0x0800e124 0x000000e4 Code RO 944 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x0800e208 0x0800e208 0x000000cc Code RO 938 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x0800e2d4 0x0800e2d4 0x0000002e Code RO 2405 .text.SPI_Get spi_1.o + 0x0800e302 0x0800e302 0x00000002 PAD + 0x0800e304 0x0800e304 0x0000012c Code RO 1036 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x0800e430 0x0800e430 0x00000024 Code RO 2178 .text.SVC_Handler port.o + 0x0800e454 0x0800e454 0x0000000e Code RO 1972 .text.SVC_Setup cmsis_os2.o + 0x0800e462 0x0800e462 0x00000002 PAD + 0x0800e464 0x0800e464 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o + 0x0800e476 0x0800e476 0x00000002 PAD + 0x0800e478 0x0800e478 0x00000052 Code RO 616 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x0800e4ca 0x0800e4ca 0x00000002 PAD + 0x0800e4cc 0x0800e4cc 0x00000018 Code RO 174 .text.SysTick_Handler stm32f4xx_it.o + 0x0800e4e4 0x0800e4e4 0x000000bc Code RO 13 .text.SystemClock_Config main.o + 0x0800e5a0 0x0800e5a0 0x00000012 Code RO 1512 .text.SystemInit system_stm32f4xx.o + 0x0800e5b2 0x0800e5b2 0x00000002 PAD + 0x0800e5b4 0x0800e5b4 0x00000010 Code RO 206 .text.TIM7_IRQHandler stm32f4xx_it.o + 0x0800e5c4 0x0800e5c4 0x000001a4 Code RO 1049 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800e768 0x0800e768 0x00000036 Code RO 1083 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x0800e79e 0x0800e79e 0x00000002 PAD + 0x0800e7a0 0x0800e7a0 0x000000ea Code RO 1193 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x0800e88a 0x0800e88a 0x00000002 PAD + 0x0800e88c 0x0800e88c 0x000000f4 Code RO 1195 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o + 0x0800e980 0x0800e980 0x000000f2 Code RO 1197 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o + 0x0800ea72 0x0800ea72 0x00000002 PAD + 0x0800ea74 0x0800ea74 0x000000a4 Code RO 1199 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o + 0x0800eb18 0x0800eb18 0x000000fc Code RO 3019 .text.Task_Init init.o + 0x0800ec14 0x0800ec14 0x00000004 PAD + 0x0800ec18 0x0800ec18 0x000000d0 Code RO 3084 .text.Task_ai ai_1.o + 0x0800ece8 0x0800ece8 0x000002bc Code RO 3027 .text.Task_atti_esti atti_esti.o + 0x0800efa4 0x0800efa4 0x00000004 PAD + 0x0800efa8 0x0800efa8 0x00000174 Code RO 3070 .text.Task_gimbal_ctrl gimbal_ctrl.o + 0x0800f11c 0x0800f11c 0x00000004 PAD + 0x0800f120 0x0800f120 0x000000a0 Code RO 3048 .text.Task_remote remote.o + 0x0800f1c0 0x0800f1c0 0x0000001c Code RO 1469 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o + 0x0800f1dc 0x0800f1dc 0x0000007c Code RO 1415 .text.UART_DMAError stm32f4xx_hal_uart.o + 0x0800f258 0x0800f258 0x000000f4 Code RO 1501 .text.UART_DMAReceiveCplt stm32f4xx_hal_uart.o + 0x0800f34c 0x0800f34c 0x00000034 Code RO 1503 .text.UART_DMARxHalfCplt stm32f4xx_hal_uart.o + 0x0800f380 0x0800f380 0x0000007a Code RO 1411 .text.UART_DMATransmitCplt stm32f4xx_hal_uart.o + 0x0800f3fa 0x0800f3fa 0x00000002 PAD + 0x0800f3fc 0x0800f3fc 0x00000016 Code RO 1413 .text.UART_DMATxHalfCplt stm32f4xx_hal_uart.o + 0x0800f412 0x0800f412 0x00000002 PAD + 0x0800f414 0x0800f414 0x00000094 Code RO 1429 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o + 0x0800f4a8 0x0800f4a8 0x00000026 Code RO 1477 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o + 0x0800f4ce 0x0800f4ce 0x00000002 PAD + 0x0800f4d0 0x0800f4d0 0x00000036 Code RO 1427 .text.UART_EndTxTransfer stm32f4xx_hal_uart.o + 0x0800f506 0x0800f506 0x00000002 PAD + 0x0800f508 0x0800f508 0x0000007c Code RO 2464 .text.UART_Get uart.o + 0x0800f584 0x0800f584 0x00000168 Code RO 1467 .text.UART_Receive_IT stm32f4xx_hal_uart.o + 0x0800f6ec 0x0800f6ec 0x0000013a Code RO 1385 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x0800f826 0x0800f826 0x00000002 PAD + 0x0800f828 0x0800f828 0x00000130 Code RO 1419 .text.UART_Start_Receive_DMA stm32f4xx_hal_uart.o + 0x0800f958 0x0800f958 0x00000062 Code RO 1407 .text.UART_Start_Receive_IT stm32f4xx_hal_uart.o + 0x0800f9ba 0x0800f9ba 0x00000002 PAD + 0x0800f9bc 0x0800f9bc 0x00000094 Code RO 1475 .text.UART_Transmit_IT stm32f4xx_hal_uart.o + 0x0800fa50 0x0800fa50 0x0000001c Code RO 200 .text.USART1_IRQHandler stm32f4xx_it.o + 0x0800fa6c 0x0800fa6c 0x0000001c Code RO 202 .text.USART2_IRQHandler stm32f4xx_it.o + 0x0800fa88 0x0800fa88 0x00000020 Code RO 204 .text.USART3_IRQHandler stm32f4xx_it.o + 0x0800faa8 0x0800faa8 0x00000022 Code RO 2945 .text.USART3_IRQHandler1 remote_control.o + 0x0800faca 0x0800faca 0x00000002 PAD + 0x0800facc 0x0800facc 0x0000001c Code RO 222 .text.USART6_IRQHandler stm32f4xx_it.o + 0x0800fae8 0x0800fae8 0x00000004 Code RO 170 .text.UsageFault_Handler stm32f4xx_it.o + 0x0800faec 0x0800faec 0x0000001e Code RO 2561 .text.__ARM_isfinite filter.o + 0x0800fb0a 0x0800fb0a 0x00000002 PAD + 0x0800fb0c 0x0800fb0c 0x0000001e Code RO 2658 .text.__ARM_isfinite pid.o + 0x0800fb2a 0x0800fb2a 0x00000002 PAD + 0x0800fb2c 0x0800fb2c 0x00000018 Code RO 2559 .text.__ARM_isfinitef filter.o + 0x0800fb44 0x0800fb44 0x00000018 Code RO 2656 .text.__ARM_isfinitef pid.o + 0x0800fb5c 0x0800fb5c 0x00000034 Code RO 2555 .text.__ARM_isinf filter.o + 0x0800fb90 0x0800fb90 0x0000001c Code RO 2553 .text.__ARM_isinff filter.o + 0x0800fbac 0x0800fbac 0x00000038 Code RO 608 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x0800fbe4 0x0800fbe4 0x00000030 Code RO 604 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x0800fc14 0x0800fc14 0x00000010 Code RO 596 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800fc24 0x0800fc24 0x00000042 Code RO 598 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x0800fc66 0x0800fc66 0x00000002 PAD + 0x0800fc68 0x0800fc68 0x00000042 Code RO 2128 .text.__NVIC_SetPriority cmsis_os2.o + 0x0800fcaa 0x0800fcaa 0x00000002 PAD + 0x0800fcac 0x0800fcac 0x0000003c Code RO 592 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800fce8 0x0800fce8 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o + 0x0800fcea 0x0800fcea 0x00000002 PAD + 0x0800fcec 0x0800fcec 0x0000001e Code RO 2506 .text.copysignf ahrs.o + 0x0800fd0a 0x0800fd0a 0x00000002 PAD + 0x0800fd0c 0x0800fd0c 0x0000003e Code RO 2728 .text.delay_init bsp_delay.o + 0x0800fd4a 0x0800fd4a 0x00000002 PAD + 0x0800fd4c 0x0800fd4c 0x000000f6 Code RO 1750 .text.eTaskGetState tasks.o + 0x0800fe42 0x0800fe42 0x00000002 PAD + 0x0800fe44 0x0800fe44 0x00000058 Code RO 3009 .text.float_to_uint motor_dm.o + 0x0800fe9c 0x0800fe9c 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o + 0x0800fea0 0x0800fea0 0x00000058 Code RO 11 .text.main main.o + 0x0800fef8 0x0800fef8 0x0000002c Code RO 3115 .text.major_yaw_Control gimbal.o + 0x0800ff24 0x0800ff24 0x0000002a Code RO 2768 .text.map calc_lib.o + 0x0800ff4e 0x0800ff4e 0x00000002 PAD + 0x0800ff50 0x0800ff50 0x00000080 Code RO 3121 .text.motor_imu_offset gimbal.o + 0x0800ffd0 0x0800ffd0 0x00000034 Code RO 2030 .text.osDelay cmsis_os2.o + 0x08010004 0x08010004 0x00000058 Code RO 2032 .text.osDelayUntil cmsis_os2.o + 0x0801005c 0x0801005c 0x00000052 Code RO 1968 .text.osKernelGetState cmsis_os2.o + 0x080100ae 0x080100ae 0x00000002 PAD + 0x080100b0 0x080100b0 0x00000026 Code RO 1980 .text.osKernelGetTickCount cmsis_os2.o + 0x080100d6 0x080100d6 0x00000002 PAD + 0x080100d8 0x080100d8 0x00000006 Code RO 1982 .text.osKernelGetTickFreq cmsis_os2.o + 0x080100de 0x080100de 0x00000002 PAD + 0x080100e0 0x080100e0 0x00000046 Code RO 1964 .text.osKernelInitialize cmsis_os2.o + 0x08010126 0x08010126 0x00000002 PAD + 0x08010128 0x08010128 0x00000056 Code RO 1974 .text.osKernelLock cmsis_os2.o + 0x0801017e 0x0801017e 0x00000002 PAD + 0x08010180 0x08010180 0x00000052 Code RO 1970 .text.osKernelStart cmsis_os2.o + 0x080101d2 0x080101d2 0x00000002 PAD + 0x080101d4 0x080101d4 0x0000006e Code RO 1976 .text.osKernelUnlock cmsis_os2.o + 0x08010242 0x08010242 0x00000002 PAD + 0x08010244 0x08010244 0x000000c0 Code RO 2084 .text.osMessageQueueGet cmsis_os2.o + 0x08010304 0x08010304 0x000000fe Code RO 2080 .text.osMessageQueueNew cmsis_os2.o + 0x08010402 0x08010402 0x00000002 PAD + 0x08010404 0x08010404 0x000000c4 Code RO 2082 .text.osMessageQueuePut cmsis_os2.o + 0x080104c8 0x080104c8 0x00000040 Code RO 2094 .text.osMessageQueueReset cmsis_os2.o + 0x08010508 0x08010508 0x0000009e Code RO 2062 .text.osMutexAcquire cmsis_os2.o + 0x080105a6 0x080105a6 0x00000002 PAD + 0x080105a8 0x080105a8 0x00000128 Code RO 2060 .text.osMutexNew cmsis_os2.o + 0x080106d0 0x080106d0 0x0000007e Code RO 2064 .text.osMutexRelease cmsis_os2.o + 0x0801074e 0x0801074e 0x00000002 PAD + 0x08010750 0x08010750 0x000000a4 Code RO 2022 .text.osThreadFlagsSet cmsis_os2.o + 0x080107f4 0x080107f4 0x0000011a Code RO 2028 .text.osThreadFlagsWait cmsis_os2.o + 0x0801090e 0x0801090e 0x00000002 PAD + 0x08010910 0x08010910 0x00000010 Code RO 1998 .text.osThreadGetId cmsis_os2.o + 0x08010920 0x08010920 0x0000015a Code RO 1994 .text.osThreadNew cmsis_os2.o + 0x08010a7a 0x08010a7a 0x00000002 PAD + 0x08010a7c 0x08010a7c 0x0000005e Code RO 2016 .text.osThreadTerminate cmsis_os2.o + 0x08010ada 0x08010ada 0x00000006 PAD + 0x08010ae0 0x08010ae0 0x000000d8 Code RO 3123 .text.poly gimbal.o + 0x08010bb8 0x08010bb8 0x000000d4 Code RO 1744 .text.prvAddCurrentTaskToDelayedList tasks.o + 0x08010c8c 0x08010c8c 0x00000122 Code RO 1730 .text.prvAddNewTaskToReadyList tasks.o + 0x08010dae 0x08010dae 0x00000002 PAD + 0x08010db0 0x08010db0 0x000000a2 Code RO 1895 .text.prvCheckForValidListAndQueue timers.o + 0x08010e52 0x08010e52 0x00000002 PAD + 0x08010e54 0x08010e54 0x0000005a Code RO 1860 .text.prvCheckTasksWaitingTermination tasks.o + 0x08010eae 0x08010eae 0x00000002 PAD + 0x08010eb0 0x08010eb0 0x00000042 Code RO 1623 .text.prvCopyDataFromQueue queue.o + 0x08010ef2 0x08010ef2 0x00000002 PAD + 0x08010ef4 0x08010ef4 0x000000cc Code RO 1611 .text.prvCopyDataToQueue queue.o + 0x08010fc0 0x08010fc0 0x0000005e Code RO 1736 .text.prvDeleteTCB tasks.o + 0x0801101e 0x0801101e 0x00000002 PAD + 0x08011020 0x08011020 0x00000026 Code RO 1627 .text.prvGetDisinheritPriorityAfterTimeout queue.o + 0x08011046 0x08011046 0x00000002 PAD + 0x08011048 0x08011048 0x00000040 Code RO 1933 .text.prvGetNextExpireTime timers.o + 0x08011088 0x08011088 0x000000bc Code RO 2145 .text.prvHeapInit heap_4.o + 0x08011144 0x08011144 0x00000038 Code RO 1770 .text.prvIdleTask tasks.o + 0x0801117c 0x0801117c 0x0000002c Code RO 1591 .text.prvInitialiseMutex queue.o + 0x080111a8 0x080111a8 0x00000048 Code RO 1585 .text.prvInitialiseNewQueue queue.o + 0x080111f0 0x080111f0 0x0000012c Code RO 1728 .text.prvInitialiseNewTask tasks.o + 0x0801131c 0x0801131c 0x0000008e Code RO 1858 .text.prvInitialiseTaskLists tasks.o + 0x080113aa 0x080113aa 0x00000002 PAD + 0x080113ac 0x080113ac 0x000000c6 Code RO 2147 .text.prvInsertBlockIntoFreeList heap_4.o 0x08011472 0x08011472 0x00000002 PAD - 0x08011474 0x08011474 0x00000028 Code RO 2180 .text.prvPortStartFirstTask port.o - 0x0801149c 0x0801149c 0x0000008e Code RO 1935 .text.prvProcessExpiredTimer timers.o - 0x0801152a 0x0801152a 0x00000002 PAD - 0x0801152c 0x0801152c 0x00000192 Code RO 1931 .text.prvProcessReceivedCommands timers.o - 0x080116be 0x080116be 0x00000002 PAD - 0x080116c0 0x080116c0 0x0000009a Code RO 1929 .text.prvProcessTimerOrBlockTask timers.o - 0x0801175a 0x0801175a 0x00000002 PAD - 0x0801175c 0x0801175c 0x00000046 Code RO 1732 .text.prvResetNextTaskUnblockTime tasks.o - 0x080117a2 0x080117a2 0x00000002 PAD - 0x080117a4 0x080117a4 0x00000044 Code RO 1933 .text.prvSampleTimeNow timers.o - 0x080117e8 0x080117e8 0x000000d4 Code RO 1937 .text.prvSwitchTimerLists timers.o - 0x080118bc 0x080118bc 0x0000004c Code RO 2170 .text.prvTaskExitError port.o - 0x08011908 0x08011908 0x0000001e Code RO 1891 .text.prvTimerTask timers.o - 0x08011926 0x08011926 0x00000002 PAD - 0x08011928 0x08011928 0x000000ae Code RO 1609 .text.prvUnlockQueue queue.o - 0x080119d6 0x080119d6 0x00000002 PAD - 0x080119d8 0x080119d8 0x000001ec Code RO 2137 .text.pvPortMalloc heap_4.o - 0x08011bc4 0x08011bc4 0x0000002c Code RO 1836 .text.pvTaskIncrementMutexHeldCount tasks.o - 0x08011bf0 0x08011bf0 0x0000005e Code RO 2168 .text.pxPortInitialiseStack port.o - 0x08011c4e 0x08011c4e 0x00000002 PAD - 0x08011c50 0x08011c50 0x00000040 Code RO 3128 .text.remote_ParseHost remote_cmd.o - 0x08011c90 0x08011c90 0x00000012 Code RO 2935 .text.remote_control_init remote_control.o - 0x08011ca2 0x08011ca2 0x00000006 PAD - 0x08011ca8 0x08011ca8 0x00000290 Code RO 2943 .text.sbus_to_rc remote_control.o - 0x08011f38 0x08011f38 0x00000052 Code RO 3001 .text.uint_to_float motor_dm.o - 0x08011f8a 0x08011f8a 0x00000002 PAD - 0x08011f8c 0x08011f8c 0x0000002e Code RO 2752 .text.user_delay_ms calc_lib.o - 0x08011fba 0x08011fba 0x00000002 PAD - 0x08011fbc 0x08011fbc 0x00000044 Code RO 2750 .text.user_delay_us calc_lib.o - 0x08012000 0x08012000 0x00000048 Code RO 1566 .text.uxListRemove list.o - 0x08012048 0x08012048 0x0000002a Code RO 2118 .text.vApplicationGetIdleTaskMemory cmsis_os2.o - 0x08012072 0x08012072 0x00000002 PAD - 0x08012074 0x08012074 0x0000002c Code RO 2120 .text.vApplicationGetTimerTaskMemory cmsis_os2.o - 0x080120a0 0x080120a0 0x0000000a Code RO 37 .text.vApplicationStackOverflowHook freertos.o - 0x080120aa 0x080120aa 0x00000002 PAD - 0x080120ac 0x080120ac 0x0000002e Code RO 1558 .text.vListInitialise list.o - 0x080120da 0x080120da 0x00000002 PAD - 0x080120dc 0x080120dc 0x0000000e Code RO 1560 .text.vListInitialiseItem list.o - 0x080120ea 0x080120ea 0x00000002 PAD - 0x080120ec 0x080120ec 0x0000006a Code RO 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0x080139a8 0x080139a8 0x0000006e Code RO 1603 .text.xQueueTakeMutexRecursive queue.o + 0x08013a16 0x08013a16 0x00000002 PAD + 0x08013a18 0x08013a18 0x000000cc Code RO 1808 .text.xTaskCheckForTimeOut tasks.o + 0x08013ae4 0x08013ae4 0x0000009e Code RO 1732 .text.xTaskCreate tasks.o + 0x08013b82 0x08013b82 0x00000002 PAD + 0x08013b84 0x08013b84 0x000000ce Code RO 1726 .text.xTaskCreateStatic tasks.o + 0x08013c52 0x08013c52 0x00000002 PAD + 0x08013c54 0x08013c54 0x00000178 Code RO 1848 .text.xTaskGenericNotify tasks.o + 0x08013dcc 0x08013dcc 0x000001c4 Code RO 1850 .text.xTaskGenericNotifyFromISR tasks.o + 0x08013f90 0x08013f90 0x00000014 Code RO 1824 .text.xTaskGetCurrentTaskHandle tasks.o + 0x08013fa4 0x08013fa4 0x00000038 Code RO 1826 .text.xTaskGetSchedulerState tasks.o + 0x08013fdc 0x08013fdc 0x00000014 Code RO 1776 .text.xTaskGetTickCount tasks.o + 0x08013ff0 0x08013ff0 0x0000001e Code RO 1778 .text.xTaskGetTickCountFromISR tasks.o + 0x0801400e 0x0801400e 0x00000002 PAD + 0x08014010 0x08014010 0x000001c4 Code RO 1774 .text.xTaskIncrementTick tasks.o + 0x080141d4 0x080141d4 0x000000d6 Code RO 1846 .text.xTaskNotifyWait tasks.o + 0x080142aa 0x080142aa 0x00000002 PAD + 0x080142ac 0x080142ac 0x000000ec Code RO 1830 .text.xTaskPriorityDisinherit tasks.o + 0x08014398 0x08014398 0x0000010e Code RO 1828 .text.xTaskPriorityInherit tasks.o + 0x080144a6 0x080144a6 0x00000002 PAD + 0x080144a8 0x080144a8 0x000000ce Code RO 1800 .text.xTaskRemoveFromEventList tasks.o + 0x08014576 0x08014576 0x00000002 PAD + 0x08014578 0x08014578 0x00000186 Code RO 1746 .text.xTaskResumeAll tasks.o + 0x080146fe 0x080146fe 0x00000002 PAD + 0x08014700 0x08014700 0x00000094 Code RO 1893 .text.xTimerCreateTimerTask timers.o + 0x08014794 0x08014794 0x000000b0 Code RO 1905 .text.xTimerGenericCommand timers.o + 0x08014844 0x08014844 0x00000030 Code RO 3426 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x08014874 0x08014874 0x00000026 Code RO 3428 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x0801489a 0x0801489a 0x00000002 PAD + 0x0801489c 0x0801489c 0x0000012c Code RO 3237 i.__hardfp_asinf m_wm.l(asinf.o) + 0x080149c8 0x080149c8 0x000002d8 Code RO 3399 i.__hardfp_atan m_wm.l(atan.o) + 0x08014ca0 0x08014ca0 0x00000200 Code RO 3243 i.__hardfp_atan2 m_wm.l(atan2.o) + 0x08014ea0 0x08014ea0 0x000002ac Code RO 3249 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x0801514c 0x0801514c 0x00000150 Code RO 3255 i.__hardfp_cosf m_wm.l(cosf.o) + 0x0801529c 0x0801529c 0x00000004 PAD + 0x080152a0 0x080152a0 0x00000c60 Code RO 3261 i.__hardfp_pow m_wm.l(pow.o) + 0x08015f00 0x08015f00 0x0000017c Code RO 3268 i.__hardfp_tanf m_wm.l(tanf.o) + 0x0801607c 0x0801607c 0x000000f8 Code RO 3444 i.__kernel_poly m_wm.l(poly.o) + 0x08016174 0x08016174 0x00000004 PAD + 0x08016178 0x08016178 0x00000030 Code RO 3406 i.__mathlib_dbl_divzero m_wm.l(dunder.o) + 0x080161a8 0x080161a8 0x00000014 Code RO 3407 i.__mathlib_dbl_infnan m_wm.l(dunder.o) + 0x080161bc 0x080161bc 0x00000014 Code RO 3408 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o) + 0x080161d0 0x080161d0 0x00000020 Code RO 3409 i.__mathlib_dbl_invalid m_wm.l(dunder.o) + 0x080161f0 0x080161f0 0x00000020 Code RO 3410 i.__mathlib_dbl_overflow m_wm.l(dunder.o) + 0x08016210 0x08016210 0x00000020 Code RO 3412 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x08016230 0x08016230 0x00000006 Code RO 3431 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x08016236 0x08016236 0x00000006 Code RO 3432 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x0801623c 0x0801623c 0x00000010 Code RO 3433 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x0801624c 0x0801624c 0x00000010 Code RO 3436 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x0801625c 0x0801625c 0x00000154 Code RO 3447 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x080163b0 0x080163b0 0x00000010 Code RO 3401 i.atan m_wm.l(atan.o) + 0x080163c0 0x080163c0 0x00000018 Code RO 3422 i.fabs m_wm.l(fabs.o) + 0x080163d8 0x080163d8 0x0000006e Code RO 3452 i.sqrt m_wm.l(sqrt.o) + 0x08016446 0x08016446 0x0000003e Code RO 3458 i.sqrtf m_wm.l(sqrtf.o) + 0x08016484 0x08016484 0x00000018 Code RO 3374 x$fpl$basic fz_wm.l(basic.o) + 0x0801649c 0x0801649c 0x00000062 Code RO 3205 x$fpl$d2f fz_wm.l(d2f.o) + 0x080164fe 0x080164fe 0x00000002 PAD + 0x08016500 0x08016500 0x00000150 Code RO 3207 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x08016650 0x08016650 0x00000010 Code RO 3504 x$fpl$dcheck1 fz_wm.l(dcheck1.o) + 0x08016660 0x08016660 0x00000018 Code RO 3506 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x08016678 0x08016678 0x000002b4 Code RO 3214 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x0801692c 0x0801692c 0x00000078 Code RO 3376 x$fpl$deqf fz_wm.l(deqf.o) + 0x080169a4 0x080169a4 0x0000005e Code RO 3217 x$fpl$dfix fz_wm.l(dfix.o) + 0x08016a02 0x08016a02 0x00000002 PAD + 0x08016a04 0x08016a04 0x0000005a Code RO 3221 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x08016a5e 0x08016a5e 0x0000002e Code RO 3226 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x08016a8c 0x08016a8c 0x00000026 Code RO 3225 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x08016ab2 0x08016ab2 0x00000002 PAD + 0x08016ab4 0x08016ab4 0x00000078 Code RO 3508 x$fpl$dleqf fz_wm.l(dleqf.o) + 0x08016b2c 0x08016b2c 0x00000154 Code RO 3231 x$fpl$dmul fz_wm.l(dmul.o) + 0x08016c80 0x08016c80 0x0000009c Code RO 3378 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x08016d1c 0x08016d1c 0x0000000c Code RO 3380 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x08016d28 0x08016d28 0x0000006c Code RO 3382 x$fpl$drleqf fz_wm.l(drleqf.o) + 0x08016d94 0x08016d94 0x00000016 Code RO 3208 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x08016daa 0x08016daa 0x00000002 PAD + 0x08016dac 0x08016dac 0x00000198 Code RO 3510 x$fpl$dsqrt fz_wm.l(dsqrt_umaal.o) + 0x08016f44 0x08016f44 0x000001dc Code RO 3209 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x08017120 0x08017120 0x00000056 Code RO 3233 x$fpl$f2d fz_wm.l(f2d.o) + 0x08017176 0x08017176 0x00000060 Code RO 3235 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x080171d6 0x080171d6 0x0000008c Code RO 3384 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x08017262 0x08017262 0x0000001a Code RO 3653 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x0801727c 0x0801727c 0x0000000a Code RO 3386 x$fpl$fretinf fz_wm.l(fretinf.o) + 0x08017286 0x08017286 0x00000064 Code RO 3570 x$fpl$retnan fz_wm.l(retnan.o) + 0x080172ea 0x080172ea 0x0000005c Code RO 3396 x$fpl$scalbn fz_wm.l(scalbn.o) + 0x08017346 0x08017346 0x00000030 Code RO 3632 x$fpl$trapveneer fz_wm.l(trapv.o) + 0x08017376 0x08017376 0x00000000 Code RO 3398 x$fpl$usenofp fz_wm.l(usenofp.o) + 0x08017376 0x08017376 0x00000002 PAD + 0x08017378 0x08017378 0x00000088 Data RO 3264 .constdata m_wm.l(pow.o) + 0x08017400 0x08017400 0x00000098 Data RO 3402 .constdata m_wm.l(atan.o) + 0x08017498 0x08017498 0x00000008 Data RO 3446 .constdata m_wm.l(qnan.o) + 0x080174a0 0x080174a0 0x00000020 Data RO 3448 .constdata m_wm.l(rredf.o) + 0x080174c0 0x080174c0 0x00000010 Data RO 1517 .rodata.AHBPrescTable system_stm32f4xx.o + 0x080174d0 0x080174d0 0x00000008 Data RO 1518 .rodata.APBPrescTable system_stm32f4xx.o + 0x080174d8 0x080174d8 0x00000008 Data RO 522 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o + 0x080174e0 0x080174e0 0x00000038 Data RO 2314 .rodata.GPIO_Map gpio_1.o + 0x08017518 0x08017518 0x00000008 Data RO 2395 .rodata.PWM_Map pwm.o + 0x08017520 0x08017520 0x00000024 Data RO 3063 .rodata.attr_ai user_task.o + 0x08017544 0x08017544 0x00000024 Data RO 3060 .rodata.attr_atti_esti user_task.o + 0x08017568 0x08017568 0x00000024 Data RO 3061 .rodata.attr_gimbal_ctrl user_task.o + 0x0801758c 0x0801758c 0x00000024 Data RO 3059 .rodata.attr_init user_task.o + 0x080175b0 0x080175b0 0x00000024 Data RO 3062 .rodata.attr_remote user_task.o + 0x080175d4 0x080175d4 0x00000200 Data RO 2594 .rodata.crc16_tab crc16.o + 0x080177d4 0x080177d4 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o + 0x080177f8 0x080177f8 0x00000020 Data RO 3035 .rodata.imu_temp_ctrl_pid_param atti_esti.o + 0x08017818 0x08017818 0x0000000c Data RO 43 .rodata.str1.1 freertos.o + 0x08017824 0x08017824 0x00000005 Data RO 1876 .rodata.str1.1 tasks.o + 0x08017829 0x08017829 0x0000000d Data RO 1948 .rodata.str1.1 timers.o + 0x08017836 0x08017836 0x0000002a Data RO 3058 .rodata.str1.1 user_task.o + 0x08017860 0x08017860 0x00000020 Data RO 3714 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080177a0, Size: 0x00008be8, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000128]) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08017880, Size: 0x00008ca8, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000128]) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 COMPRESSED 0x00000004 Data RW 1510 .data.SystemCoreClock system_stm32f4xx.o - 0x20000004 COMPRESSED 0x00000004 Data RW 2504 .data.beta ahrs.o - 0x20000008 COMPRESSED 0x0000000c Data RW 3023 .data.cali_bmi088 atti_esti.o - 0x20000014 COMPRESSED 0x00000288 Data RW 3093 .data.robot_config config.o - 0x2000029c COMPRESSED 0x00000001 Data RW 716 .data.uwTickFreq stm32f4xx_hal.o + 0x20000000 COMPRESSED 0x00000004 Data RW 1516 .data.SystemCoreClock system_stm32f4xx.o + 0x20000004 COMPRESSED 0x00000004 Data RW 2510 .data.beta ahrs.o + 0x20000008 COMPRESSED 0x0000000c Data RW 3029 .data.cali_bmi088 atti_esti.o + 0x20000014 COMPRESSED 0x00000288 Data RW 3099 .data.robot_config config.o + 0x2000029c COMPRESSED 0x00000001 Data RW 722 .data.uwTickFreq stm32f4xx_hal.o 0x2000029d COMPRESSED 0x00000003 PAD - 0x200002a0 COMPRESSED 0x00000004 Data RW 715 .data.uwTickPrio stm32f4xx_hal.o - 0x200002a4 COMPRESSED 0x00000004 Data RW 2196 .data.uxCriticalNesting port.o - 0x200002a8 - 0x00000060 Zero RW 3507 .bss c_w.l(libspace.o) - 0x20000308 - 0x00000068 Zero RW 2280 .bss.CAN_Callback can_1.o - 0x20000370 - 0x00000040 Zero RW 2307 .bss.GPIO_Callback gpio_1.o + 0x200002a0 COMPRESSED 0x00000004 Data RW 721 .data.uwTickPrio stm32f4xx_hal.o + 0x200002a4 COMPRESSED 0x00000004 Data RW 2202 .data.uxCriticalNesting port.o + 0x200002a8 - 0x00000060 Zero RW 3513 .bss c_w.l(libspace.o) + 0x20000308 - 0x00000068 Zero RW 2286 .bss.CAN_Callback can_1.o + 0x20000370 - 0x00000040 Zero RW 2313 .bss.GPIO_Callback gpio_1.o 0x200003b0 - 0x00000004 Zero RW 63 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o - 0x200003b4 - 0x00000048 Zero RW 2352 .bss.I2C_Callback i2c_1.o - 0x200003fc - 0x00000004 Zero RW 2124 .bss.KernelState cmsis_os2.o - 0x20000400 - 0x00000040 Zero RW 2433 .bss.SPI_Callback spi_1.o - 0x20000440 - 0x00000090 Zero RW 2484 .bss.UART_Callback uart.o - 0x200004d0 - 0x00000048 Zero RW 3081 .bss.ai ai_1.o - 0x20000518 - 0x00000019 Zero RW 3082 .bss.ai_cmd ai_1.o - 0x20000531 - 0x00000019 Zero RW 3067 .bss.ai_g_cmd gimbal_ctrl.o + 0x200003b4 - 0x00000048 Zero RW 2358 .bss.I2C_Callback i2c_1.o + 0x200003fc - 0x00000004 Zero RW 2130 .bss.KernelState cmsis_os2.o + 0x20000400 - 0x00000040 Zero RW 2439 .bss.SPI_Callback spi_1.o + 0x20000440 - 0x00000090 Zero RW 2490 .bss.UART_Callback uart.o + 0x200004d0 - 0x00000048 Zero RW 3087 .bss.ai ai_1.o + 0x20000518 - 0x00000019 Zero RW 3088 .bss.ai_cmd ai_1.o + 0x20000531 - 0x00000019 Zero RW 3073 .bss.ai_g_cmd gimbal_ctrl.o 0x2000054a COMPRESSED 0x00000006 PAD - 0x20000550 - 0x00000030 Zero RW 3025 .bss.bmi088 atti_esti.o - 0x20000580 - 0x00000013 Zero RW 2807 .bss.bmi088_rxbuf bmi088.o - 0x20000593 - 0x00000002 Zero RW 2808 .bss.buffer bmi088.o + 0x20000550 - 0x00000030 Zero RW 3031 .bss.bmi088 atti_esti.o + 0x20000580 - 0x00000013 Zero RW 2813 .bss.bmi088_rxbuf bmi088.o + 0x20000593 - 0x00000002 Zero RW 2814 .bss.buffer bmi088.o 0x20000595 COMPRESSED 0x00000001 PAD - 0x20000596 - 0x00000002 Zero RW 3032 .bss.calib_count atti_esti.o - 0x20000598 - 0x00000001 Zero RW 3033 .bss.calib_state atti_esti.o + 0x20000596 - 0x00000002 Zero RW 3038 .bss.calib_count atti_esti.o + 0x20000598 - 0x00000001 Zero RW 3039 .bss.calib_state atti_esti.o 0x20000599 COMPRESSED 0x00000003 PAD - 0x2000059c - 0x00000008 Zero RW 2889 .bss.can_managers motor_rm.o - 0x200005a4 - 0x00000008 Zero RW 3005 .bss.can_managers motor_dm.o + 0x2000059c - 0x00000008 Zero RW 2895 .bss.can_managers motor_rm.o + 0x200005a4 - 0x00000008 Zero RW 3011 .bss.can_managers motor_dm.o 0x200005ac - 0x00000004 Zero RW 45 .bss.defaultTaskHandle freertos.o - 0x200005b0 - 0x0000000c Zero RW 3030 .bss.eulr_to_send atti_esti.o - 0x200005bc - 0x00000004 Zero RW 2729 .bss.fac_ms bsp_delay.o - 0x200005c0 - 0x00000001 Zero RW 2728 .bss.fac_us bsp_delay.o + 0x200005b0 - 0x0000000c Zero RW 3036 .bss.eulr_to_send atti_esti.o + 0x200005bc - 0x00000004 Zero RW 2735 .bss.fac_ms bsp_delay.o + 0x200005c0 - 0x00000001 Zero RW 2734 .bss.fac_us bsp_delay.o 0x200005c1 COMPRESSED 0x00000003 PAD - 0x200005c4 - 0x00000064 Zero RW 3080 .bss.g_feedback ai_1.o - 0x20000628 - 0x000002f8 Zero RW 3066 .bss.gimbal gimbal_ctrl.o - 0x20000920 - 0x00000014 Zero RW 3026 .bss.gimbal_ahrs atti_esti.o - 0x20000934 - 0x00000014 Zero RW 3068 .bss.gimbal_cmd_ai gimbal_ctrl.o - 0x20000948 - 0x00000014 Zero RW 3070 .bss.gimbal_cmd_remote gimbal_ctrl.o - 0x2000095c - 0x00000034 Zero RW 3069 .bss.gimbal_imu gimbal_ctrl.o - 0x20000990 - 0x00000034 Zero RW 3035 .bss.gimbal_to_send atti_esti.o - 0x200009c4 - 0x0000000c Zero RW 3031 .bss.gyro_sum atti_esti.o + 0x200005c4 - 0x00000064 Zero RW 3086 .bss.g_feedback ai_1.o + 0x20000628 - 0x000002f8 Zero RW 3072 .bss.gimbal gimbal_ctrl.o + 0x20000920 - 0x00000014 Zero RW 3032 .bss.gimbal_ahrs atti_esti.o + 0x20000934 - 0x00000014 Zero RW 3074 .bss.gimbal_cmd_ai gimbal_ctrl.o + 0x20000948 - 0x00000014 Zero RW 3076 .bss.gimbal_cmd_remote gimbal_ctrl.o + 0x2000095c - 0x00000034 Zero RW 3075 .bss.gimbal_imu gimbal_ctrl.o + 0x20000990 - 0x00000034 Zero RW 3041 .bss.gimbal_to_send atti_esti.o + 0x200009c4 - 0x0000000c Zero RW 3037 .bss.gyro_sum atti_esti.o 0x200009d0 - 0x00000028 Zero RW 61 .bss.hcan1 can.o 0x200009f8 - 0x00000028 Zero RW 62 .bss.hcan2 can.o 0x20000a20 - 0x00000060 Zero RW 106 .bss.hdma_spi1_rx spi.o @@ -9018,88 +9035,90 @@ Memory Map of the image 0x20000ae0 - 0x00000060 Zero RW 150 .bss.hdma_usart2_rx usart.o 0x20000b40 - 0x00000060 Zero RW 151 .bss.hdma_usart2_tx usart.o 0x20000ba0 - 0x00000060 Zero RW 152 .bss.hdma_usart3_rx usart.o - 0x20000c00 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o - 0x20000c54 - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o - 0x20000ca8 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o - 0x20000d00 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o - 0x20000d58 - 0x00000048 Zero RW 126 .bss.htim10 tim.o - 0x20000da0 - 0x00000048 Zero RW 125 .bss.htim7 tim.o - 0x20000de8 - 0x00000048 Zero RW 146 .bss.huart1 usart.o - 0x20000e30 - 0x00000048 Zero RW 147 .bss.huart2 usart.o - 0x20000e78 - 0x00000048 Zero RW 148 .bss.huart3 usart.o - 0x20000ec0 - 0x00000048 Zero RW 149 .bss.huart6 usart.o - 0x20000f08 - 0x00000004 Zero RW 2282 .bss.id_parser can_1.o - 0x20000f0c - 0x00000034 Zero RW 3045 .bss.imu remote.o - 0x20000f40 - 0x0000003c Zero RW 3028 .bss.imu_temp_ctrl_pid atti_esti.o - 0x20000f7c - 0x00000001 Zero RW 2281 .bss.inited can_1.o - 0x20000f7d - 0x00000001 Zero RW 2805 .bss.inited bmi088.o - 0x20000f7e COMPRESSED 0x00000002 PAD - 0x20000f80 - 0x00000020 Zero RW 3034 .bss.ist8310 atti_esti.o - 0x20000fa0 - 0x00000004 Zero RW 3024 .bss.jiaozhun atti_esti.o - 0x20000fa4 - 0x0000000c Zero RW 3027 .bss.magn atti_esti.o - 0x20000fb0 - 0x000000a0 Zero RW 1950 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o - 0x20001050 - 0x00000050 Zero RW 1949 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o - 0x200010a0 - 0x00000004 Zero RW 1946 .bss.prvSampleTimeNow.xLastTime timers.o - 0x200010a4 - 0x00000004 Zero RW 1856 .bss.pxCurrentTCB tasks.o - 0x200010a8 - 0x00000004 Zero RW 1944 .bss.pxCurrentTimerList timers.o - 0x200010ac - 0x00000004 Zero RW 1864 .bss.pxDelayedTaskList tasks.o - 0x200010b0 - 0x00000004 Zero RW 2153 .bss.pxEnd heap_4.o - 0x200010b4 - 0x00000004 Zero RW 1865 .bss.pxOverflowDelayedTaskList tasks.o - 0x200010b8 - 0x00000004 Zero RW 1945 .bss.pxOverflowTimerList timers.o - 0x200010bc - 0x00000460 Zero RW 1867 .bss.pxReadyTasksLists tasks.o - 0x2000151c - 0x00000004 Zero RW 2285 .bss.queue_list can_1.o - 0x20001520 - 0x00000004 Zero RW 2283 .bss.queue_mutex can_1.o - 0x20001524 - 0x00000018 Zero RW 2946 .bss.rc_ctrl remote_control.o - 0x2000153c - 0x00000014 Zero RW 3044 .bss.remote_cmd remote.o - 0x20001550 - 0x00000019 Zero RW 2945 .bss.sbus_rx_buf remote_control.o - 0x20001569 COMPRESSED 0x00000003 PAD - 0x2000156c - 0x0000006c Zero RW 3058 .bss.task_runtime user_task.o - 0x200015d8 - 0x00000004 Zero RW 2806 .bss.thread_alert bmi088.o - 0x200015dc - 0x00000810 Zero RW 2284 .bss.tx_queues can_1.o - 0x20001dec - 0x00006000 Zero RW 2160 .bss.ucHeap heap_4.o - 0x20007dec - 0x00000001 Zero RW 2194 .bss.ucMaxSysCallPriority port.o - 0x20007ded COMPRESSED 0x00000003 PAD - 0x20007df0 - 0x00000004 Zero RW 2195 .bss.ulMaxPRIGROUPValue port.o - 0x20007df4 - 0x00000004 Zero RW 1877 .bss.ulTaskSwitchedInTime tasks.o - 0x20007df8 - 0x00000004 Zero RW 1876 .bss.ulTotalRunTime tasks.o - 0x20007dfc - 0x00000004 Zero RW 717 .bss.uwTick stm32f4xx_hal.o - 0x20007e00 - 0x00000004 Zero RW 1860 .bss.uxCurrentNumberOfTasks tasks.o - 0x20007e04 - 0x00000004 Zero RW 1859 .bss.uxDeletedTasksWaitingCleanUp tasks.o - 0x20007e08 - 0x00000004 Zero RW 1862 .bss.uxSchedulerSuspended tasks.o - 0x20007e0c - 0x00000004 Zero RW 1857 .bss.uxTaskNumber tasks.o - 0x20007e10 - 0x00000004 Zero RW 1868 .bss.uxTopReadyPriority tasks.o - 0x20007e14 - 0x00000200 Zero RW 2127 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o - 0x20008014 - 0x00000064 Zero RW 2126 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o - 0x20008078 - 0x00000400 Zero RW 2129 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o - 0x20008478 - 0x00000064 Zero RW 2128 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o - 0x200084dc - 0x00000014 Zero RW 1947 .bss.xActiveTimerList1 timers.o - 0x200084f0 - 0x00000014 Zero RW 1948 .bss.xActiveTimerList2 timers.o - 0x20008504 - 0x00000004 Zero RW 2154 .bss.xBlockAllocatedBit heap_4.o - 0x20008508 - 0x00000014 Zero RW 1878 .bss.xDelayedTaskList1 tasks.o - 0x2000851c - 0x00000014 Zero RW 1879 .bss.xDelayedTaskList2 tasks.o - 0x20008530 - 0x00000004 Zero RW 2155 .bss.xFreeBytesRemaining heap_4.o - 0x20008534 - 0x00000004 Zero RW 1871 .bss.xIdleTaskHandle tasks.o - 0x20008538 - 0x00000004 Zero RW 2157 .bss.xMinimumEverFreeBytesRemaining heap_4.o - 0x2000853c - 0x00000004 Zero RW 1872 .bss.xNextTaskUnblockTime tasks.o - 0x20008540 - 0x00000004 Zero RW 1875 .bss.xNumOfOverflows tasks.o - 0x20008544 - 0x00000004 Zero RW 2158 .bss.xNumberOfSuccessfulAllocations heap_4.o - 0x20008548 - 0x00000004 Zero RW 2159 .bss.xNumberOfSuccessfulFrees heap_4.o - 0x2000854c - 0x00000004 Zero RW 1874 .bss.xPendedTicks tasks.o - 0x20008550 - 0x00000014 Zero RW 1869 .bss.xPendingReadyList tasks.o - 0x20008564 - 0x00000040 Zero RW 1655 .bss.xQueueRegistry queue.o - 0x200085a4 - 0x00000004 Zero RW 1861 .bss.xSchedulerRunning tasks.o - 0x200085a8 - 0x00000008 Zero RW 2156 .bss.xStart heap_4.o - 0x200085b0 - 0x00000014 Zero RW 1866 .bss.xSuspendedTaskList tasks.o - 0x200085c4 - 0x00000014 Zero RW 1858 .bss.xTasksWaitingTermination tasks.o - 0x200085d8 - 0x00000004 Zero RW 1863 .bss.xTickCount tasks.o - 0x200085dc - 0x00000004 Zero RW 1941 .bss.xTimerQueue timers.o - 0x200085e0 - 0x00000004 Zero RW 1943 .bss.xTimerTaskHandle timers.o - 0x200085e4 - 0x00000004 Zero RW 1873 .bss.xYieldPending tasks.o - 0x200085e8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o - 0x200087e8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o + 0x20000c00 - 0x00000060 Zero RW 153 .bss.hdma_usart6_rx usart.o + 0x20000c60 - 0x00000060 Zero RW 154 .bss.hdma_usart6_tx usart.o + 0x20000cc0 - 0x00000054 Zero RW 87 .bss.hi2c1 i2c.o + 0x20000d14 - 0x00000054 Zero RW 88 .bss.hi2c2 i2c.o + 0x20000d68 - 0x00000058 Zero RW 104 .bss.hspi1 spi.o + 0x20000dc0 - 0x00000058 Zero RW 105 .bss.hspi2 spi.o + 0x20000e18 - 0x00000048 Zero RW 126 .bss.htim10 tim.o + 0x20000e60 - 0x00000048 Zero RW 125 .bss.htim7 tim.o + 0x20000ea8 - 0x00000048 Zero RW 146 .bss.huart1 usart.o + 0x20000ef0 - 0x00000048 Zero RW 147 .bss.huart2 usart.o + 0x20000f38 - 0x00000048 Zero RW 148 .bss.huart3 usart.o + 0x20000f80 - 0x00000048 Zero RW 149 .bss.huart6 usart.o + 0x20000fc8 - 0x00000004 Zero RW 2288 .bss.id_parser can_1.o + 0x20000fcc - 0x00000034 Zero RW 3051 .bss.imu remote.o + 0x20001000 - 0x0000003c Zero RW 3034 .bss.imu_temp_ctrl_pid atti_esti.o + 0x2000103c - 0x00000001 Zero RW 2287 .bss.inited can_1.o + 0x2000103d - 0x00000001 Zero RW 2811 .bss.inited bmi088.o + 0x2000103e COMPRESSED 0x00000002 PAD + 0x20001040 - 0x00000020 Zero RW 3040 .bss.ist8310 atti_esti.o + 0x20001060 - 0x00000004 Zero RW 3030 .bss.jiaozhun atti_esti.o + 0x20001064 - 0x0000000c Zero RW 3033 .bss.magn atti_esti.o + 0x20001070 - 0x000000a0 Zero RW 1956 .bss.prvCheckForValidListAndQueue.ucStaticTimerQueueStorage timers.o + 0x20001110 - 0x00000050 Zero RW 1955 .bss.prvCheckForValidListAndQueue.xStaticTimerQueue timers.o + 0x20001160 - 0x00000004 Zero RW 1952 .bss.prvSampleTimeNow.xLastTime timers.o + 0x20001164 - 0x00000004 Zero RW 1862 .bss.pxCurrentTCB tasks.o + 0x20001168 - 0x00000004 Zero RW 1950 .bss.pxCurrentTimerList timers.o + 0x2000116c - 0x00000004 Zero RW 1870 .bss.pxDelayedTaskList tasks.o + 0x20001170 - 0x00000004 Zero RW 2159 .bss.pxEnd heap_4.o + 0x20001174 - 0x00000004 Zero RW 1871 .bss.pxOverflowDelayedTaskList tasks.o + 0x20001178 - 0x00000004 Zero RW 1951 .bss.pxOverflowTimerList timers.o + 0x2000117c - 0x00000460 Zero RW 1873 .bss.pxReadyTasksLists tasks.o + 0x200015dc - 0x00000004 Zero RW 2291 .bss.queue_list can_1.o + 0x200015e0 - 0x00000004 Zero RW 2289 .bss.queue_mutex can_1.o + 0x200015e4 - 0x00000018 Zero RW 2952 .bss.rc_ctrl remote_control.o + 0x200015fc - 0x00000014 Zero RW 3050 .bss.remote_cmd remote.o + 0x20001610 - 0x00000019 Zero RW 2951 .bss.sbus_rx_buf remote_control.o + 0x20001629 COMPRESSED 0x00000003 PAD + 0x2000162c - 0x0000006c Zero RW 3064 .bss.task_runtime user_task.o + 0x20001698 - 0x00000004 Zero RW 2812 .bss.thread_alert bmi088.o + 0x2000169c - 0x00000810 Zero RW 2290 .bss.tx_queues can_1.o + 0x20001eac - 0x00006000 Zero RW 2166 .bss.ucHeap heap_4.o + 0x20007eac - 0x00000001 Zero RW 2200 .bss.ucMaxSysCallPriority port.o + 0x20007ead COMPRESSED 0x00000003 PAD + 0x20007eb0 - 0x00000004 Zero RW 2201 .bss.ulMaxPRIGROUPValue port.o + 0x20007eb4 - 0x00000004 Zero RW 1883 .bss.ulTaskSwitchedInTime tasks.o + 0x20007eb8 - 0x00000004 Zero RW 1882 .bss.ulTotalRunTime tasks.o + 0x20007ebc - 0x00000004 Zero RW 723 .bss.uwTick stm32f4xx_hal.o + 0x20007ec0 - 0x00000004 Zero RW 1866 .bss.uxCurrentNumberOfTasks tasks.o + 0x20007ec4 - 0x00000004 Zero RW 1865 .bss.uxDeletedTasksWaitingCleanUp tasks.o + 0x20007ec8 - 0x00000004 Zero RW 1868 .bss.uxSchedulerSuspended tasks.o + 0x20007ecc - 0x00000004 Zero RW 1863 .bss.uxTaskNumber tasks.o + 0x20007ed0 - 0x00000004 Zero RW 1874 .bss.uxTopReadyPriority tasks.o + 0x20007ed4 - 0x00000200 Zero RW 2133 .bss.vApplicationGetIdleTaskMemory.Idle_Stack cmsis_os2.o + 0x200080d4 - 0x00000064 Zero RW 2132 .bss.vApplicationGetIdleTaskMemory.Idle_TCB cmsis_os2.o + 0x20008138 - 0x00000400 Zero RW 2135 .bss.vApplicationGetTimerTaskMemory.Timer_Stack cmsis_os2.o + 0x20008538 - 0x00000064 Zero RW 2134 .bss.vApplicationGetTimerTaskMemory.Timer_TCB cmsis_os2.o + 0x2000859c - 0x00000014 Zero RW 1953 .bss.xActiveTimerList1 timers.o + 0x200085b0 - 0x00000014 Zero RW 1954 .bss.xActiveTimerList2 timers.o + 0x200085c4 - 0x00000004 Zero RW 2160 .bss.xBlockAllocatedBit heap_4.o + 0x200085c8 - 0x00000014 Zero RW 1884 .bss.xDelayedTaskList1 tasks.o + 0x200085dc - 0x00000014 Zero RW 1885 .bss.xDelayedTaskList2 tasks.o + 0x200085f0 - 0x00000004 Zero RW 2161 .bss.xFreeBytesRemaining heap_4.o + 0x200085f4 - 0x00000004 Zero RW 1877 .bss.xIdleTaskHandle tasks.o + 0x200085f8 - 0x00000004 Zero RW 2163 .bss.xMinimumEverFreeBytesRemaining heap_4.o + 0x200085fc - 0x00000004 Zero RW 1878 .bss.xNextTaskUnblockTime tasks.o + 0x20008600 - 0x00000004 Zero RW 1881 .bss.xNumOfOverflows tasks.o + 0x20008604 - 0x00000004 Zero RW 2164 .bss.xNumberOfSuccessfulAllocations heap_4.o + 0x20008608 - 0x00000004 Zero RW 2165 .bss.xNumberOfSuccessfulFrees heap_4.o + 0x2000860c - 0x00000004 Zero RW 1880 .bss.xPendedTicks tasks.o + 0x20008610 - 0x00000014 Zero RW 1875 .bss.xPendingReadyList tasks.o + 0x20008624 - 0x00000040 Zero RW 1661 .bss.xQueueRegistry queue.o + 0x20008664 - 0x00000004 Zero RW 1867 .bss.xSchedulerRunning tasks.o + 0x20008668 - 0x00000008 Zero RW 2162 .bss.xStart heap_4.o + 0x20008670 - 0x00000014 Zero RW 1872 .bss.xSuspendedTaskList tasks.o + 0x20008684 - 0x00000014 Zero RW 1864 .bss.xTasksWaitingTermination tasks.o + 0x20008698 - 0x00000004 Zero RW 1869 .bss.xTickCount tasks.o + 0x2000869c - 0x00000004 Zero RW 1947 .bss.xTimerQueue timers.o + 0x200086a0 - 0x00000004 Zero RW 1949 .bss.xTimerTaskHandle timers.o + 0x200086a4 - 0x00000004 Zero RW 1879 .bss.xYieldPending tasks.o + 0x200086a8 - 0x00000200 Zero RW 2 HEAP startup_stm32f407xx.o + 0x200088a8 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x080178c8, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x080179a8, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -9112,8 +9131,8 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug Object Name 5618 16 0 4 0 7763 ahrs.o - 400 0 0 0 0 2917 ai.o - 208 8 0 0 197 2531 ai_1.o + 400 0 0 0 0 2951 ai.o + 208 8 0 0 197 2563 ai_1.o 700 20 32 12 255 3504 atti_esti.o 1604 16 0 0 26 5141 bmi088.o 62 0 0 0 5 1553 bsp_delay.o @@ -9124,11 +9143,11 @@ Image component sizes 2968 0 0 0 1740 35191 cmsis_os2.o 10 0 0 648 0 4666 config.o 184 0 512 0 0 1246 crc16.o - 170 0 0 0 0 3286 dma.o + 206 0 0 0 0 3290 dma.o 780 8 0 0 0 3397 filter.o 98 0 48 0 4 3069 freertos.o 3960 112 0 0 0 11122 gimbal.o - 372 12 0 0 877 6643 gimbal_ctrl.o + 372 12 0 0 877 6623 gimbal_ctrl.o 554 0 0 0 0 4149 gpio.o 576 12 56 0 64 4707 gpio_1.o 1084 0 0 0 24608 4419 heap_4.o @@ -9162,21 +9181,21 @@ Image component sizes 3036 14 0 0 0 36010 stm32f4xx_hal_tim.o 306 0 0 0 0 15294 stm32f4xx_hal_tim_ex.o 3880 0 0 0 0 20379 stm32f4xx_hal_uart.o - 430 0 0 0 0 3256 stm32f4xx_it.o + 462 0 0 0 0 3458 stm32f4xx_it.o 18 0 24 4 0 2467 system_stm32f4xx.o 6624 12 5 0 1288 26697 tasks.o 476 0 0 0 144 7887 tim.o 312 0 0 0 0 1625 time.o 1692 10 13 0 300 11626 timers.o 984 4 0 0 144 6390 uart.o - 1204 0 0 0 576 8009 usart.o + 1372 0 0 0 768 8193 usart.o 586 0 0 0 0 2589 user_math.o 0 0 222 0 108 3190 user_task.o ---------------------------------------------------------------------- - 82472 390 1352 680 35040 468925 Object Totals + 82696 378 1352 680 35232 469361 Object Totals 0 0 32 0 0 0 (incl. Generated) - 434 20 0 3 21 0 (incl. Padding) + 422 8 0 3 21 0 (incl. Padding) ---------------------------------------------------------------------- @@ -9274,15 +9293,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 94480 1466 1680 680 35136 471213 Grand Totals - 94480 1466 1680 296 35136 471213 ELF Image Totals (compressed) - 94480 1466 1680 296 0 0 ROM Totals + 94704 1454 1680 680 35328 471649 Grand Totals + 94704 1454 1680 296 35328 471649 ELF Image Totals (compressed) + 94704 1454 1680 296 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 96160 ( 93.91kB) - Total RW Size (RW Data + ZI Data) 35816 ( 34.98kB) - Total ROM Size (Code + RO Data + RW Data) 96456 ( 94.20kB) + Total RO Size (Code + RO Data) 96384 ( 94.13kB) + Total RW Size (RW Data + ZI Data) 36008 ( 35.16kB) + Total ROM Size (Code + RO Data + RW Data) 96680 ( 94.41kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal_ctrl.d b/MDK-ARM/gimbal/gimbal_ctrl.d index e7d3ede..06745d9 100644 --- a/MDK-ARM/gimbal/gimbal_ctrl.d +++ b/MDK-ARM/gimbal/gimbal_ctrl.d @@ -56,7 +56,6 @@ gimbal/gimbal_ctrl.o: ..\User\task\gimbal_ctrl.c ..\User\task\user_task.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h \ ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \ ..\User\device\motor_rm.h ..\User\device\motor.h \ - ..\User\device\remote_control.h ..\User\module\struct_typedef.h \ - ..\User\component\bsp_rc.h ..\User\module\config.h \ - ..\User\device\motor_lz.h ..\User\device\motor_lk.h \ - ..\User\module\gimbal.h ..\User\module\shoot.h ..\Core\Inc\main.h + ..\User\module\config.h ..\User\device\motor_lz.h \ + ..\User\device\motor_lk.h ..\User\module\gimbal.h \ + ..\User\module\shoot.h ..\Core\Inc\main.h diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o index 215e75b..0a7d04b 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 f57dbfc..c0c8ff2 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -1,6 +1,6 @@ Dependencies for Project 'gimbal', Target 'gimbal': (DO NOT MODIFY !) CompilerVersion: 6160000::V6.16::ARMCLANG -F (startup_stm32f407xx.s)(0x69400251)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -I ../Core/Inc -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 -Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -o gimbal/startup_stm32f407xx.o) +F (startup_stm32f407xx.s)(0x6941B6B8)(--target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -masm=auto -c -gdwarf-3 -I ../Core/Inc -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 -Wa,armasm,--pd,"__UVISION_VERSION SETA 534" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32F407xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -o gimbal/startup_stm32f407xx.o) F (../Core/Src/main.c)(0x69400250)(-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/main.o -MD) I (..\Core\Inc\main.h)(0x693FEFE9) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645) @@ -177,7 +177,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) -F (../Core/Src/dma.c)(0x693FEFE7)(-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/dma.o -MD) +F (../Core/Src/dma.c)(0x6941B6B4)(-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/dma.o -MD) I (..\Core\Inc\dma.h)(0x693FEFE7) I (..\Core\Inc\main.h)(0x693FEFE9) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645) @@ -325,7 +325,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) -F (../Core/Src/usart.c)(0x6940024F)(-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/usart.o -MD) +F (../Core/Src/usart.c)(0x6941B6B5)(-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/usart.o -MD) I (..\Core\Inc\usart.h)(0x6940024F) I (..\Core\Inc\main.h)(0x693FEFE9) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645) @@ -362,7 +362,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) -F (../Core/Src/stm32f4xx_it.c)(0x69402101)(-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/stm32f4xx_it.o -MD) +F (../Core/Src/stm32f4xx_it.c)(0x6941B6B5)(-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/stm32f4xx_it.o -MD) I (..\Core\Inc\main.h)(0x693FEFE9) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68B05645) I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x693FEFE9) @@ -398,7 +398,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) -I (..\Core\Inc\stm32f4xx_it.h)(0x6940024F) +I (..\Core\Inc\stm32f4xx_it.h)(0x6941B6B5) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68B055DB) I (..\Core\Inc\FreeRTOSConfig.h)(0x693FEFE7) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68B055DB) @@ -2118,8 +2118,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68B05645) I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68B05645) I (..\User\component\calc_lib.h)(0x693AB321) -F (..\User\device\ai.c)(0x6941B431)(-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/ai.o -MD) -I (..\User\device\ai.h)(0x6941B3AA) +F (..\User\device\ai.c)(0x6941B6F9)(-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/ai.o -MD) +I (..\User\device\ai.h)(0x6941B613) I (..\User\component\user_math.h)(0x69402102) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) @@ -2182,9 +2182,6 @@ 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_rm.h)(0x69402102) -I (..\User\device\remote_control.h)(0x693AB322) -I (..\User\module\struct_typedef.h)(0x693AB322) -I (..\User\component\bsp_rc.h)(0x693AB321) I (..\User\bsp\uart.h)(0x69402101) I (..\Core\Inc\usart.h)(0x6940024F) F (..\User\device\motor_dm.c)(0x69402102)(-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/motor_dm.o -MD) @@ -2314,7 +2311,7 @@ I (..\User\device\motor_rm.h)(0x69402102) I (..\User\device\remote_control.h)(0x693AB322) I (..\User\module\struct_typedef.h)(0x693AB322) I (..\User\component\bsp_rc.h)(0x693AB321) -I (..\User\device\ai.h)(0x6941B3AA) +I (..\User\device\ai.h)(0x6941B613) F (..\User\task\atti_esti.c)(0x69404EA9)(-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/atti_esti.o -MD) I (..\User\task\user_task.h)(0x694103DE) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB) @@ -2479,7 +2476,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) -I (..\User\device\ai.h)(0x6941B3AA) +I (..\User\device\ai.h)(0x6941B613) I (..\User\component\user_math.h)(0x69402102) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) @@ -2530,9 +2527,6 @@ I (..\User\bsp\bsp.h)(0x69402101) I (..\User\bsp\mm.h)(0x69402101) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x69402102) -I (..\User\device\remote_control.h)(0x693AB322) -I (..\User\module\struct_typedef.h)(0x693AB322) -I (..\User\component\bsp_rc.h)(0x693AB321) I (..\User\module\config.h)(0x693FC3A8) I (..\User\device\motor_lz.h)(0x69402102) I (..\User\device\motor_lk.h)(0x69402102) @@ -2551,7 +2545,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB) I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB) -I (..\User\device\ai.h)(0x6941B3AA) +I (..\User\device\ai.h)(0x6941B613) I (..\User\component\user_math.h)(0x69402102) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8) @@ -2602,9 +2596,6 @@ I (..\User\bsp\bsp.h)(0x69402101) I (..\User\bsp\mm.h)(0x69402101) I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68B055DB) I (..\User\device\motor_rm.h)(0x69402102) -I (..\User\device\remote_control.h)(0x693AB322) -I (..\User\module\struct_typedef.h)(0x693AB322) -I (..\User\component\bsp_rc.h)(0x693AB321) F (..\User\module\config.c)(0x69414C7E)(-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)(0x69402102) I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0) diff --git a/MDK-ARM/gimbal/init.d b/MDK-ARM/gimbal/init.d index 3e9ef81..3b9e504 100644 --- a/MDK-ARM/gimbal/init.d +++ b/MDK-ARM/gimbal/init.d @@ -58,5 +58,4 @@ gimbal/init.o: ..\User\task\init.c ..\User\task\user_task.h \ ..\User\device\motor_rm.h ..\User\device\motor.h \ ..\User\device\remote_control.h ..\User\module\struct_typedef.h \ ..\User\component\bsp_rc.h ..\User\device\ai.h \ - ..\User\component\user_math.h ..\User\module\gimbal.h \ - ..\User\device\remote_control.h + ..\User\component\user_math.h ..\User\module\gimbal.h diff --git a/MDK-ARM/gimbal/stm32f4xx_it.o b/MDK-ARM/gimbal/stm32f4xx_it.o index 8e3455b..dff569f 100644 Binary files a/MDK-ARM/gimbal/stm32f4xx_it.o and b/MDK-ARM/gimbal/stm32f4xx_it.o differ diff --git a/MDK-ARM/gimbal/usart.o b/MDK-ARM/gimbal/usart.o index 2d6be34..34c3e7d 100644 Binary files a/MDK-ARM/gimbal/usart.o and b/MDK-ARM/gimbal/usart.o differ diff --git a/User/device/ai.c b/User/device/ai.c index 11ca961..88c4d4f 100644 --- a/User/device/ai.c +++ b/User/device/ai.c @@ -1,4 +1,5 @@ #include "device/ai.h" +#include "device/device.h" #include "bsp/uart.h" int8_t AI_StartReceiving(AI_t *ai) { diff --git a/User/device/ai.h b/User/device/ai.h index c1ab5a2..e83f8df 100644 --- a/User/device/ai.h +++ b/User/device/ai.h @@ -1,5 +1,5 @@ /* - * 云台模组 + * 自瞄模组 */ #pragma once @@ -11,7 +11,6 @@ extern "C" { /* Includes ----------------------------------------------------------------- */ #include "component\user_math.h" #include "gimbal.h" -#include "remote_control.h" struct __attribute__((packed)) GimbalToVision { uint8_t head[2]; diff --git a/gimbal.ioc b/gimbal.ioc index 301be69..e8393e2 100644 --- a/gimbal.ioc +++ b/gimbal.ioc @@ -23,7 +23,9 @@ Dma.Request1=SPI1_RX Dma.Request2=SPI1_TX Dma.Request3=USART2_RX Dma.Request4=USART2_TX -Dma.RequestsNb=5 +Dma.Request5=USART6_RX +Dma.Request6=USART6_TX +Dma.RequestsNb=7 Dma.SPI1_RX.1.Direction=DMA_PERIPH_TO_MEMORY Dma.SPI1_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE Dma.SPI1_RX.1.Instance=DMA2_Stream2 @@ -74,6 +76,26 @@ Dma.USART3_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE Dma.USART3_RX.0.PeriphInc=DMA_PINC_DISABLE Dma.USART3_RX.0.Priority=DMA_PRIORITY_LOW Dma.USART3_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_RX.5.Direction=DMA_PERIPH_TO_MEMORY +Dma.USART6_RX.5.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_RX.5.Instance=DMA2_Stream1 +Dma.USART6_RX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART6_RX.5.MemInc=DMA_MINC_ENABLE +Dma.USART6_RX.5.Mode=DMA_NORMAL +Dma.USART6_RX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART6_RX.5.PeriphInc=DMA_PINC_DISABLE +Dma.USART6_RX.5.Priority=DMA_PRIORITY_LOW +Dma.USART6_RX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode +Dma.USART6_TX.6.Direction=DMA_MEMORY_TO_PERIPH +Dma.USART6_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE +Dma.USART6_TX.6.Instance=DMA2_Stream6 +Dma.USART6_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE +Dma.USART6_TX.6.MemInc=DMA_MINC_ENABLE +Dma.USART6_TX.6.Mode=DMA_NORMAL +Dma.USART6_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE +Dma.USART6_TX.6.PeriphInc=DMA_PINC_DISABLE +Dma.USART6_TX.6.Priority=DMA_PRIORITY_LOW +Dma.USART6_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode FREERTOS.INCLUDE_pcTaskGetTaskName=1 FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark2=1 FREERTOS.INCLUDE_vTaskCleanUpResources=1 @@ -167,8 +189,10 @@ NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.DMA1_Stream1_IRQn=true\:7\:0\:true\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true +NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false NVIC.EXTI0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.EXTI3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true @@ -337,7 +361,7 @@ ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= ProjectManager.UnderRoot=false -ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true,10-MX_TIM10_Init-TIM10-false-HAL-true,11-MX_I2C1_Init-I2C1-false-HAL-true,12-MX_I2C2_Init-I2C2-false-HAL-true,13-MX_USART1_UART_Init-USART1-false-HAL-true,14-MX_USART2_UART_Init-USART2-false-HAL-true +ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_CAN1_Init-CAN1-false-HAL-true,5-MX_CAN2_Init-CAN2-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM7_Init-TIM7-false-HAL-true,9-MX_USART3_UART_Init-USART3-false-HAL-true,10-MX_TIM10_Init-TIM10-false-HAL-true,11-MX_I2C1_Init-I2C1-false-HAL-true,12-MX_I2C2_Init-I2C2-false-HAL-true,13-MX_USART1_UART_Init-USART1-false-HAL-true,14-MX_USART2_UART_Init-USART2-false-HAL-true,15-MX_USART6_UART_Init-USART6-false-HAL-true RCC.48MHZClocksFreq_Value=84000000 RCC.AHBFreq_Value=168000000 RCC.APB1CLKDivider=RCC_HCLK_DIV4