diff --git a/MDK-ARM/gimbal.uvguix.yunha b/MDK-ARM/gimbal.uvguix.yunha index 266801f..0732d62 100644 --- a/MDK-ARM/gimbal.uvguix.yunha +++ b/MDK-ARM/gimbal.uvguix.yunha @@ -1806,7 +1806,7 @@ File 2896 - 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898 @@ -3606,27 +3606,27 @@ 0 ..\User\module\gimbal.c - 15 - 247 - 261 + 78 + 286 + 300 1 0 ..\User\module\gimbal.h - 0 + 17 46 - 57 + 48 1 0 ..\User\module\config.c - 15 + 6 34 - 42 + 43 1 0 diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf index d05da8d..e53b01d 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 7f097ab..f8e93a6 100644 --- a/MDK-ARM/gimbal/gimbal.build_log.htm +++ b/MDK-ARM/gimbal/gimbal.build_log.htm @@ -31,9 +31,6 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o' Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'. Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'. Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'. -compiling gimbal.c... -linking... -Program Size: Code=84864 RO-data=996 RW-data=404 ZI-data=34268 "gimbal\gimbal.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

diff --git a/MDK-ARM/gimbal/gimbal.htm b/MDK-ARM/gimbal/gimbal.htm index 9551481..b26a67f 100644 --- a/MDK-ARM/gimbal/gimbal.htm +++ b/MDK-ARM/gimbal/gimbal.htm @@ -3,7 +3,7 @@ Static Call Graph - [gimbal\gimbal.axf]

Static Call Graph for image gimbal\gimbal.axf

-

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Fri Nov 14 21:15:44 2025 +

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Fri Nov 14 21:27:19 2025

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

Call chain for Maximum Stack Depth:

@@ -1114,7 +1114,7 @@ Global Symbols
  • >>   MX_CAN1_Init -

    Gimbal_Control (Thumb, 1348 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control)) +

    Gimbal_Control (Thumb, 1340 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))

    [Stack]

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

    [Calls]
    • >>   Clip diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map index 8151d08..31fe738 100644 --- a/MDK-ARM/gimbal/gimbal.map +++ b/MDK-ARM/gimbal/gimbal.map @@ -6471,557 +6471,557 @@ Image Symbol Table [Anonymous Symbol] 0x08003840 Section 0 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) [Anonymous Symbol] 0x0800384c Section 0 main.o(.text.Error_Handler) [Anonymous Symbol] 0x08003854 Section 0 gimbal.o(.text.Gimbal_Control) - __arm_cp.3_5 0x08003c1c Number 4 gimbal.o(.text.Gimbal_Control) - [Anonymous Symbol] 0x08003d98 Section 0 gimbal.o(.text.Gimbal_Init) - [Anonymous Symbol] 0x08003f28 Section 0 gimbal.o(.text.Gimbal_Output) - Gimbal_SetMode 0x0800403d Thumb Code 164 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x0800403c Section 0 gimbal.o(.text.Gimbal_SetMode) - [Anonymous Symbol] 0x080040e0 Section 0 gimbal.o(.text.Gimbal_UpdateFeedback) - [Anonymous Symbol] 0x08004248 Section 0 gimbal.o(.text.Gimbal_UpdateIMU) - [Anonymous Symbol] 0x08004294 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) - [Anonymous Symbol] 0x080042e8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) - [Anonymous Symbol] 0x08004440 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) - [Anonymous Symbol] 0x080045e0 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback) - [Anonymous Symbol] 0x08004630 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) - [Anonymous Symbol] 0x08004684 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) - [Anonymous Symbol] 0x08004898 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) - [Anonymous Symbol] 0x08004908 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) - [Anonymous Symbol] 0x08004cfc Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) - [Anonymous Symbol] 0x08004edc Section 0 can.o(.text.HAL_CAN_MspInit) - [Anonymous Symbol] 0x080050ac Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) - [Anonymous Symbol] 0x080050fc Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) - [Anonymous Symbol] 0x0800514c Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) - [Anonymous Symbol] 0x0800519c Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) - [Anonymous Symbol] 0x080051ec Section 0 can_1.o(.text.HAL_CAN_SleepCallback) - [Anonymous Symbol] 0x0800523c Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - [Anonymous Symbol] 0x080052c8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - [Anonymous Symbol] 0x08005318 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - [Anonymous Symbol] 0x08005364 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - [Anonymous Symbol] 0x080053b4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - [Anonymous Symbol] 0x08005404 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - [Anonymous Symbol] 0x08005454 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - [Anonymous Symbol] 0x080054a4 Section 0 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Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) - HAL_CAN_TxMailbox0AbortCallback 0x080052c9 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) - HAL_CAN_TxMailbox0CompleteCallback 0x08005319 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) - HAL_CAN_TxMailbox1AbortCallback 0x08005365 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) - HAL_CAN_TxMailbox1CompleteCallback 0x080053b5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) - HAL_CAN_TxMailbox2AbortCallback 0x08005405 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) - HAL_CAN_TxMailbox2CompleteCallback 0x08005455 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) - HAL_CAN_WakeUpFromRxMsgCallback 0x080054a5 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) - HAL_DMA_Abort 0x080054f5 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) - HAL_DMA_Abort_IT 0x080055e1 Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) - HAL_DMA_GetState 0x08005625 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) - HAL_DMA_IRQHandler 0x08005635 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) - HAL_DMA_Init 0x08005955 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) - HAL_DMA_Start_IT 0x08005ac5 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) - HAL_Delay 0x08005b89 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) - HAL_GPIO_EXTI_Callback 0x08005bcd Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) - HAL_GPIO_EXTI_IRQHandler 0x08005c35 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) - HAL_GPIO_Init 0x08005c6d Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) - HAL_GPIO_ReadPin 0x08006025 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) - HAL_GPIO_WritePin 0x08006055 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) - HAL_GetTick 0x08006085 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) - HAL_I2C_AbortCpltCallback 0x08006091 Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) - HAL_I2C_AddrCallback 0x080060e5 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) - HAL_I2C_ER_IRQHandler 0x080060f5 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) - HAL_I2C_EV_IRQHandler 0x08006271 Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) - HAL_I2C_ErrorCallback 0x0800663d Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) - HAL_I2C_Init 0x08006691 Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) - HAL_I2C_ListenCpltCallback 0x08006935 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) - HAL_I2C_MasterRxCpltCallback 0x08006989 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) - HAL_I2C_MasterTxCpltCallback 0x080069dd Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) - HAL_I2C_MemRxCpltCallback 0x08006a2d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) - HAL_I2C_MemTxCpltCallback 0x08006a81 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) - HAL_I2C_MspInit 0x08006ad5 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) - HAL_I2C_SlaveRxCpltCallback 0x08006c09 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) - HAL_I2C_SlaveTxCpltCallback 0x08006c5d Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) - HAL_IncTick 0x08006cb1 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) - HAL_Init 0x08006ccd Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) - HAL_InitTick 0x08006d05 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) - HAL_MspInit 0x08006d75 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) - HAL_NVIC_DisableIRQ 0x08006dcd Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) - HAL_NVIC_EnableIRQ 0x08006de1 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) - HAL_NVIC_SetPriority 0x08006df5 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) - HAL_NVIC_SetPriorityGrouping 0x08006e29 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) - HAL_RCC_ClockConfig 0x08006e39 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) - HAL_RCC_GetHCLKFreq 0x0800709d Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) - HAL_RCC_GetPCLK1Freq 0x080070a9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) - HAL_RCC_GetPCLK2Freq 0x080070cd Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) - HAL_RCC_GetSysClockFreq 0x080070f1 Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) - HAL_RCC_OscConfig 0x080071d9 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) - HAL_SPI_ErrorCallback 0x08007899 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) - HAL_SPI_Init 0x080078ed Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) - HAL_SPI_MspInit 0x080079ed Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) - HAL_SPI_Receive 0x08007bfd Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) - HAL_SPI_Receive_DMA 0x08007e4d Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) - HAL_SPI_RxCpltCallback 0x08007fe5 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) - HAL_SPI_RxHalfCpltCallback 0x08008039 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) - HAL_SPI_Transmit 0x0800808d Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) - HAL_SPI_TransmitReceive 0x08008331 Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) - HAL_SPI_TransmitReceive_DMA 0x080086d5 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) - HAL_SPI_Transmit_DMA 0x080088e9 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) - HAL_SPI_TxCpltCallback 0x08008a55 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) - HAL_SPI_TxHalfCpltCallback 0x08008a9d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) - HAL_SPI_TxRxCpltCallback 0x08008af1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) - HAL_SPI_TxRxHalfCpltCallback 0x08008b45 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) - HAL_SYSTICK_Config 0x08008b99 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) - HAL_TIMEx_BreakCallback 0x08008ba9 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) - HAL_TIMEx_CommutCallback 0x08008bb1 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) - HAL_TIMEx_MasterConfigSynchronization 0x08008bb9 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) - HAL_TIM_Base_Init 0x08008cdd Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) - HAL_TIM_Base_MspInit 0x08008d79 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) - HAL_TIM_IC_CaptureCallback 0x08008e05 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) - HAL_TIM_IRQHandler 0x08008e0d Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) - HAL_TIM_MspPostInit 0x08009029 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) - HAL_TIM_OC_DelayElapsedCallback 0x08009095 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) - HAL_TIM_PWM_ConfigChannel 0x0800909d Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) - HAL_TIM_PWM_Init 0x080091e1 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) - HAL_TIM_PWM_MspInit 0x0800927d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) - HAL_TIM_PWM_PulseFinishedCallback 0x08009285 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) - HAL_TIM_PWM_Start 0x0800928d Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) - HAL_TIM_PeriodElapsedCallback 0x08009459 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) - HAL_TIM_TriggerCallback 0x08009461 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) - HAL_UARTEx_RxEventCallback 0x08009469 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) - HAL_UART_ErrorCallback 0x08009475 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) - HAL_UART_IRQHandler 0x080094c9 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) - HAL_UART_Init 0x08009925 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) - HAL_UART_MspInit 0x080099c5 Thumb Code 460 usart.o(.text.HAL_UART_MspInit) - HAL_UART_RxCpltCallback 0x08009b91 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) - HAL_UART_TxCpltCallback 0x08009be5 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) - HardFault_Handler 0x08009c39 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) - I2C1_ER_IRQHandler 0x08009c3d Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) - I2C1_EV_IRQHandler 0x08009c4d Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) - InvSqrt 0x0800b139 Thumb Code 118 user_math.o(.text.InvSqrt) - LowPassFilter2p_Apply 0x0800b1b1 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) - LowPassFilter2p_Init 0x0800b269 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) - LowPassFilter2p_Reset 0x0800b3a5 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) - MOTOR_DM_Enable 0x0800b4d1 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) - MOTOR_DM_GetMotor 0x0800b57d Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) - MOTOR_DM_MITCtrl 0x0800b605 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) - MOTOR_DM_Register 0x0800b7a5 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) - MOTOR_DM_Update 0x0800ba15 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) - MOTOR_RM_Ctrl 0x0800bbb9 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) - MOTOR_RM_GetMotor 0x0800be2d Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) - MOTOR_RM_Register 0x0800bef5 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) - MOTOR_RM_SetOutput 0x0800c015 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) - MOTOR_RM_Update 0x0800c131 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) - MX_CAN1_Init 0x0800c235 Thumb Code 78 can.o(.text.MX_CAN1_Init) - MX_CAN2_Init 0x0800c285 Thumb Code 78 can.o(.text.MX_CAN2_Init) - MX_DMA_Init 0x0800c2d5 Thumb Code 134 dma.o(.text.MX_DMA_Init) - MX_FREERTOS_Init 0x0800c35d Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) - MX_GPIO_Init 0x0800c39d Thumb Code 554 gpio.o(.text.MX_GPIO_Init) - MX_I2C1_Init 0x0800c5c9 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) - MX_I2C2_Init 0x0800c611 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) - MX_SPI1_Init 0x0800c659 Thumb Code 82 spi.o(.text.MX_SPI1_Init) - MX_SPI2_Init 0x0800c6ad Thumb Code 84 spi.o(.text.MX_SPI2_Init) - MX_TIM10_Init 0x0800c701 Thumb Code 142 tim.o(.text.MX_TIM10_Init) - MX_TIM7_Init 0x0800c791 Thumb Code 88 tim.o(.text.MX_TIM7_Init) - MX_USART1_UART_Init 0x0800c7e9 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) - MX_USART3_UART_Init 0x0800c829 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) - MemManage_Handler 0x0800c875 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) - NMI_Handler 0x0800ca95 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) - PID_Calc 0x0800cb05 Thumb Code 752 pid.o(.text.PID_Calc) - PID_Init 0x0800cdf5 Thumb Code 406 pid.o(.text.PID_Init) - PID_Reset 0x0800cf8d Thumb Code 72 pid.o(.text.PID_Reset) - PendSV_Handler 0x0800cfe1 Thumb Code 100 port.o(.text.PendSV_Handler) - RC_Init 0x0800d045 Thumb Code 148 bsp_rc.o(.text.RC_Init) - RC_restart 0x0800d0d9 Thumb Code 90 bsp_rc.o(.text.RC_restart) - SVC_Handler 0x0800d691 Thumb Code 36 port.o(.text.SVC_Handler) - StartDefaultTask 0x0800d6c5 Thumb Code 18 freertos.o(.text.StartDefaultTask) - SysTick_Handler 0x0800d72d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) - SystemClock_Config 0x0800d745 Thumb Code 188 main.o(.text.SystemClock_Config) - SystemInit 0x0800d801 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) - TIM7_IRQHandler 0x0800d815 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) - TIM_Base_SetConfig 0x0800d825 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) - TIM_CCxChannelCmd 0x0800d9c9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) - TIM_OC2_SetConfig 0x0800daed Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) - Task_Init 0x0800dd79 Thumb Code 184 init.o(.text.Task_Init) - Task_atti_esti 0x0800de31 Thumb Code 400 atti_esti.o(.text.Task_atti_esti) - Task_gimbal_ctrl 0x0800dfc1 Thumb Code 236 gimbal_ctrl.o(.text.Task_gimbal_ctrl) - Task_remote 0x0800e0b1 Thumb Code 160 remote.o(.text.Task_remote) - USART3_IRQHandler 0x0800e591 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) - USART3_IRQHandler1 0x0800e5b1 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) - UsageFault_Handler 0x0800e5d5 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) - configureTimerForRunTimeStats 0x0800e7d5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) - delay_init 0x0800e7f9 Thumb Code 62 bsp_delay.o(.text.delay_init) - eTaskGetState 0x0800e839 Thumb Code 246 tasks.o(.text.eTaskGetState) - getRunTimeCounterValue 0x0800e989 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) - main 0x0800e98d Thumb Code 80 main.o(.text.main) - map 0x0800e9dd Thumb Code 42 calc_lib.o(.text.map) - osDelay 0x0800ea89 Thumb Code 52 cmsis_os2.o(.text.osDelay) - osDelayUntil 0x0800eabd Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) - osKernelGetState 0x0800eb15 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) - osKernelGetTickCount 0x0800eb69 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) - osKernelGetTickFreq 0x0800eb91 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) - osKernelInitialize 0x0800eb99 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) - osKernelLock 0x0800ebe1 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) - osKernelStart 0x0800ec39 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) - osKernelUnlock 0x0800ec8d Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) - osMessageQueueGet 0x0800ecfd Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) - osMessageQueueNew 0x0800edbd Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) - osMessageQueuePut 0x0800eebd Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) - osMessageQueueReset 0x0800ef81 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) - osMutexAcquire 0x0800efc1 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) - osMutexNew 0x0800f061 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) - osMutexRelease 0x0800f189 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) - osThreadFlagsSet 0x0800f209 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) - osThreadFlagsWait 0x0800f2ad Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) - osThreadGetId 0x0800f3c9 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) - osThreadNew 0x0800f3d9 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) - osThreadTerminate 0x0800f535 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) - pvPortMalloc 0x08010495 Thumb Code 492 heap_4.o(.text.pvPortMalloc) - pvTaskIncrementMutexHeldCount 0x08010681 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) - pxPortInitialiseStack 0x080106ad Thumb Code 94 port.o(.text.pxPortInitialiseStack) - remote_ParseHost 0x08010711 Thumb Code 176 ai.o(.text.remote_ParseHost) - remote_control_init 0x080107c1 Thumb Code 18 remote_control.o(.text.remote_control_init) - user_delay_ms 0x08010abd Thumb Code 46 calc_lib.o(.text.user_delay_ms) - user_delay_us 0x08010aed Thumb Code 68 calc_lib.o(.text.user_delay_us) - uxListRemove 0x08010b31 Thumb Code 72 list.o(.text.uxListRemove) - vApplicationGetIdleTaskMemory 0x08010b79 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) - vApplicationGetTimerTaskMemory 0x08010ba5 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) - vApplicationStackOverflowHook 0x08010bd1 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) - vListInitialise 0x08010bdd Thumb Code 46 list.o(.text.vListInitialise) - vListInitialiseItem 0x08010c0d Thumb Code 14 list.o(.text.vListInitialiseItem) - vListInsert 0x08010c1d Thumb Code 106 list.o(.text.vListInsert) - vListInsertEnd 0x08010c89 Thumb Code 58 list.o(.text.vListInsertEnd) - vPortEnterCritical 0x08010cd9 Thumb Code 86 port.o(.text.vPortEnterCritical) - vPortExitCritical 0x08010d31 Thumb Code 74 port.o(.text.vPortExitCritical) - vPortFree 0x08010d7d Thumb Code 206 heap_4.o(.text.vPortFree) - vPortSetupTimerInterrupt 0x08010e4d Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) - vPortValidateInterruptPriority 0x08010e91 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) - vQueueAddToRegistry 0x08010f15 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) - vQueueWaitForMessageRestricted 0x08010f69 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) - vTaskDelay 0x08010fcd Thumb Code 110 tasks.o(.text.vTaskDelay) - vTaskDelayUntil 0x0801103d Thumb Code 276 tasks.o(.text.vTaskDelayUntil) - vTaskDelete 0x08011151 Thumb Code 270 tasks.o(.text.vTaskDelete) - vTaskInternalSetTimeOutState 0x08011261 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) - vTaskMissedYield 0x08011285 Thumb Code 14 tasks.o(.text.vTaskMissedYield) - vTaskPlaceOnEventList 0x08011295 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) - vTaskPlaceOnEventListRestricted 0x080112d9 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) - vTaskPriorityDisinheritAfterTimeout 0x0801132d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) - vTaskStartScheduler 0x08011461 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) - vTaskSuspendAll 0x08011545 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) - vTaskSwitchContext 0x08011555 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) - xPortStartScheduler 0x080116d5 Thumb Code 342 port.o(.text.xPortStartScheduler) - xPortSysTickHandler 0x0801182d Thumb Code 60 port.o(.text.xPortSysTickHandler) - xQueueCreateMutex 0x08011869 Thumb Code 38 queue.o(.text.xQueueCreateMutex) - xQueueCreateMutexStatic 0x08011891 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) - xQueueGenericCreate 0x080118c5 Thumb Code 116 queue.o(.text.xQueueGenericCreate) - xQueueGenericCreateStatic 0x08011939 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) - xQueueGenericReset 0x08011a49 Thumb Code 186 queue.o(.text.xQueueGenericReset) - xQueueGenericSend 0x08011b05 Thumb Code 556 queue.o(.text.xQueueGenericSend) - xQueueGenericSendFromISR 0x08011d31 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) - xQueueGiveMutexRecursive 0x08011e7d Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) - xQueueReceive 0x08011ee9 Thumb Code 476 queue.o(.text.xQueueReceive) - xQueueReceiveFromISR 0x080120c5 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) - xQueueSemaphoreTake 0x080121cd Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) - xQueueTakeMutexRecursive 0x080123f9 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) - xTaskCheckForTimeOut 0x08012469 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) - xTaskCreate 0x08012535 Thumb Code 158 tasks.o(.text.xTaskCreate) - xTaskCreateStatic 0x080125d5 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) - xTaskGenericNotify 0x080126a5 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) - xTaskGenericNotifyFromISR 0x0801281d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) - xTaskGetCurrentTaskHandle 0x080129e1 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) - xTaskGetSchedulerState 0x080129f5 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) - xTaskGetTickCount 0x08012a2d Thumb Code 20 tasks.o(.text.xTaskGetTickCount) - xTaskGetTickCountFromISR 0x08012a41 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) - xTaskIncrementTick 0x08012a61 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) - xTaskNotifyWait 0x08012c25 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) - xTaskPriorityDisinherit 0x08012cfd Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) - xTaskPriorityInherit 0x08012de9 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) - xTaskRemoveFromEventList 0x08012ef9 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) - xTaskResumeAll 0x08012fc9 Thumb Code 390 tasks.o(.text.xTaskResumeAll) - xTimerCreateTimerTask 0x08013151 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) - xTimerGenericCommand 0x080131e5 Thumb Code 176 timers.o(.text.xTimerGenericCommand) - 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Code 6 funder.o(i.__mathlib_flt_infnan2) - __mathlib_flt_invalid 0x08013fb5 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) - __mathlib_flt_underflow 0x08013fc5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) - __mathlib_rredf2 0x08013fd5 Thumb Code 316 rredf.o(i.__mathlib_rredf2) - atan 0x08014129 Thumb Code 16 atan.o(i.atan) - fabs 0x08014139 Thumb Code 24 fabs.o(i.fabs) - sqrtf 0x08014151 Thumb Code 62 sqrtf.o(i.sqrtf) - __aeabi_dneg 0x0801418f Thumb Code 0 basic.o(x$fpl$basic) - _dneg 0x0801418f Thumb Code 6 basic.o(x$fpl$basic) - __aeabi_fneg 0x08014195 Thumb Code 0 basic.o(x$fpl$basic) - _fneg 0x08014195 Thumb Code 6 basic.o(x$fpl$basic) - _dabs 0x0801419b Thumb Code 6 basic.o(x$fpl$basic) - _fabs 0x080141a1 Thumb Code 6 basic.o(x$fpl$basic) - __aeabi_d2f 0x080141a9 Thumb Code 0 d2f.o(x$fpl$d2f) - _d2f 0x080141a9 Thumb Code 98 d2f.o(x$fpl$d2f) - __aeabi_dadd 0x0801420d Thumb Code 0 daddsub_clz.o(x$fpl$dadd) - _dadd 0x0801420d Thumb Code 332 daddsub_clz.o(x$fpl$dadd) - 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__aeabi_drsub 0x080149ad Thumb Code 0 daddsub_clz.o(x$fpl$drsb) - _drsb 0x080149ad Thumb Code 22 daddsub_clz.o(x$fpl$drsb) - __aeabi_dsub 0x080149c5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) - _dsub 0x080149c5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) - __aeabi_f2d 0x08014ba1 Thumb Code 0 f2d.o(x$fpl$f2d) - _f2d 0x08014ba1 Thumb Code 86 f2d.o(x$fpl$f2d) - __aeabi_ul2f 0x08014bf7 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_uto_f 0x08014bf7 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) - __aeabi_l2f 0x08014bfd Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) - _ll_sto_f 0x08014bfd Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) - __fpl_fnaninf 0x08014c57 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) - _fp_init 0x08014ce3 Thumb Code 26 fpinit.o(x$fpl$fpinit) - __fplib_config_fpu_vfp 0x08014cfb Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fplib_config_pureend_doubles 0x08014cfb Thumb Code 0 fpinit.o(x$fpl$fpinit) - __fpl_fretinf 0x08014cfd Thumb Code 10 fretinf.o(x$fpl$fretinf) - __I$use$fp 0x08014d06 Number 0 usenofp.o(x$fpl$usenofp) - __mathlib_zero 0x08014da0 Data 8 qnan.o(.constdata) - AHBPrescTable 0x08014dc8 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08014dd8 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) - attr_atti_esti 0x08014e28 Data 36 user_task.o(.rodata.attr_atti_esti) - attr_gimbal_ctrl 0x08014e4c Data 36 user_task.o(.rodata.attr_gimbal_ctrl) - attr_init 0x08014e70 Data 36 user_task.o(.rodata.attr_init) - attr_remote 0x08014e94 Data 36 user_task.o(.rodata.attr_remote) - defaultTask_attributes 0x08014eb8 Data 36 freertos.o(.rodata.defaultTask_attributes) - Region$$Table$$Base 0x08014f44 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08014f64 Number 0 anon$$obj.o(Region$$Table) + Gimbal_Control 0x08003855 Thumb Code 1340 gimbal.o(.text.Gimbal_Control) + Gimbal_Init 0x08003d91 Thumb Code 400 gimbal.o(.text.Gimbal_Init) + Gimbal_Output 0x08003f21 Thumb Code 274 gimbal.o(.text.Gimbal_Output) + Gimbal_UpdateFeedback 0x080040d9 Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback) + Gimbal_UpdateIMU 0x08004241 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU) + HAL_CAN_ActivateNotification 0x0800428d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification) + HAL_CAN_AddTxMessage 0x080042e1 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage) + HAL_CAN_ConfigFilter 0x08004439 Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter) + HAL_CAN_ErrorCallback 0x080045d9 Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback) + HAL_CAN_GetRxFifoFillLevel 0x08004629 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel) + HAL_CAN_GetRxMessage 0x0800467d Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage) + HAL_CAN_GetTxMailboxesFreeLevel 0x08004891 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel) + HAL_CAN_IRQHandler 0x08004901 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler) + HAL_CAN_Init 0x08004cf5 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init) + HAL_CAN_MspInit 0x08004ed5 Thumb Code 464 can.o(.text.HAL_CAN_MspInit) + HAL_CAN_RxFifo0FullCallback 0x080050a5 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback) + HAL_CAN_RxFifo0MsgPendingCallback 0x080050f5 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback) + HAL_CAN_RxFifo1FullCallback 0x08005145 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback) + HAL_CAN_RxFifo1MsgPendingCallback 0x08005195 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback) + HAL_CAN_SleepCallback 0x080051e5 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback) + HAL_CAN_Start 0x08005235 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start) + HAL_CAN_TxMailbox0AbortCallback 0x080052c1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback) + HAL_CAN_TxMailbox0CompleteCallback 0x08005311 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback) + HAL_CAN_TxMailbox1AbortCallback 0x0800535d Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback) + HAL_CAN_TxMailbox1CompleteCallback 0x080053ad Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback) + HAL_CAN_TxMailbox2AbortCallback 0x080053fd Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback) + HAL_CAN_TxMailbox2CompleteCallback 0x0800544d Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback) + HAL_CAN_WakeUpFromRxMsgCallback 0x0800549d Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback) + HAL_DMA_Abort 0x080054ed Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort) + HAL_DMA_Abort_IT 0x080055d9 Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT) + HAL_DMA_GetState 0x0800561d Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState) + HAL_DMA_IRQHandler 0x0800562d Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler) + HAL_DMA_Init 0x0800594d Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init) + HAL_DMA_Start_IT 0x08005abd Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT) + HAL_Delay 0x08005b81 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay) + HAL_GPIO_EXTI_Callback 0x08005bc5 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback) + HAL_GPIO_EXTI_IRQHandler 0x08005c2d Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler) + HAL_GPIO_Init 0x08005c65 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init) + HAL_GPIO_ReadPin 0x0800601d Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin) + HAL_GPIO_WritePin 0x0800604d Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin) + HAL_GetTick 0x0800607d Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick) + HAL_I2C_AbortCpltCallback 0x08006089 Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback) + HAL_I2C_AddrCallback 0x080060dd Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback) + HAL_I2C_ER_IRQHandler 0x080060ed Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler) + HAL_I2C_EV_IRQHandler 0x08006269 Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler) + HAL_I2C_ErrorCallback 0x08006635 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback) + HAL_I2C_Init 0x08006689 Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init) + HAL_I2C_ListenCpltCallback 0x0800692d Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback) + HAL_I2C_MasterRxCpltCallback 0x08006981 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback) + HAL_I2C_MasterTxCpltCallback 0x080069d5 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback) + HAL_I2C_MemRxCpltCallback 0x08006a25 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback) + HAL_I2C_MemTxCpltCallback 0x08006a79 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback) + HAL_I2C_MspInit 0x08006acd Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit) + HAL_I2C_SlaveRxCpltCallback 0x08006c01 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback) + HAL_I2C_SlaveTxCpltCallback 0x08006c55 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback) + HAL_IncTick 0x08006ca9 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick) + HAL_Init 0x08006cc5 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init) + HAL_InitTick 0x08006cfd Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick) + HAL_MspInit 0x08006d6d Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit) + HAL_NVIC_DisableIRQ 0x08006dc5 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ) + HAL_NVIC_EnableIRQ 0x08006dd9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ) + HAL_NVIC_SetPriority 0x08006ded Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority) + HAL_NVIC_SetPriorityGrouping 0x08006e21 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping) + HAL_RCC_ClockConfig 0x08006e31 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig) + HAL_RCC_GetHCLKFreq 0x08007095 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq) + HAL_RCC_GetPCLK1Freq 0x080070a1 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq) + HAL_RCC_GetPCLK2Freq 0x080070c5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq) + HAL_RCC_GetSysClockFreq 0x080070e9 Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq) + HAL_RCC_OscConfig 0x080071d1 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig) + HAL_SPI_ErrorCallback 0x08007891 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback) + HAL_SPI_Init 0x080078e5 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init) + HAL_SPI_MspInit 0x080079e5 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit) + HAL_SPI_Receive 0x08007bf5 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive) + HAL_SPI_Receive_DMA 0x08007e45 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA) + HAL_SPI_RxCpltCallback 0x08007fdd Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback) + HAL_SPI_RxHalfCpltCallback 0x08008031 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback) + HAL_SPI_Transmit 0x08008085 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit) + HAL_SPI_TransmitReceive 0x08008329 Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive) + HAL_SPI_TransmitReceive_DMA 0x080086cd Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA) + HAL_SPI_Transmit_DMA 0x080088e1 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA) + HAL_SPI_TxCpltCallback 0x08008a4d Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback) + HAL_SPI_TxHalfCpltCallback 0x08008a95 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback) + HAL_SPI_TxRxCpltCallback 0x08008ae9 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback) + HAL_SPI_TxRxHalfCpltCallback 0x08008b3d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback) + HAL_SYSTICK_Config 0x08008b91 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config) + HAL_TIMEx_BreakCallback 0x08008ba1 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback) + HAL_TIMEx_CommutCallback 0x08008ba9 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback) + HAL_TIMEx_MasterConfigSynchronization 0x08008bb1 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization) + HAL_TIM_Base_Init 0x08008cd5 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init) + HAL_TIM_Base_MspInit 0x08008d71 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit) + HAL_TIM_IC_CaptureCallback 0x08008dfd Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback) + HAL_TIM_IRQHandler 0x08008e05 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler) + HAL_TIM_MspPostInit 0x08009021 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit) + HAL_TIM_OC_DelayElapsedCallback 0x0800908d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback) + HAL_TIM_PWM_ConfigChannel 0x08009095 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel) + HAL_TIM_PWM_Init 0x080091d9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init) + HAL_TIM_PWM_MspInit 0x08009275 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit) + HAL_TIM_PWM_PulseFinishedCallback 0x0800927d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback) + HAL_TIM_PWM_Start 0x08009285 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start) + HAL_TIM_PeriodElapsedCallback 0x08009451 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback) + HAL_TIM_TriggerCallback 0x08009459 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback) + HAL_UARTEx_RxEventCallback 0x08009461 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback) + HAL_UART_ErrorCallback 0x0800946d Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback) + HAL_UART_IRQHandler 0x080094c1 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler) + HAL_UART_Init 0x0800991d Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init) + HAL_UART_MspInit 0x080099bd Thumb Code 460 usart.o(.text.HAL_UART_MspInit) + HAL_UART_RxCpltCallback 0x08009b89 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback) + HAL_UART_TxCpltCallback 0x08009bdd Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback) + HardFault_Handler 0x08009c31 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler) + I2C1_ER_IRQHandler 0x08009c35 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler) + I2C1_EV_IRQHandler 0x08009c45 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler) + InvSqrt 0x0800b131 Thumb Code 118 user_math.o(.text.InvSqrt) + LowPassFilter2p_Apply 0x0800b1a9 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply) + LowPassFilter2p_Init 0x0800b261 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init) + LowPassFilter2p_Reset 0x0800b39d Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset) + MOTOR_DM_Enable 0x0800b4c9 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable) + MOTOR_DM_GetMotor 0x0800b575 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor) + MOTOR_DM_MITCtrl 0x0800b5fd Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl) + MOTOR_DM_Register 0x0800b79d Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register) + MOTOR_DM_Update 0x0800ba0d Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update) + MOTOR_RM_Ctrl 0x0800bbb1 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl) + MOTOR_RM_GetMotor 0x0800be25 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor) + MOTOR_RM_Register 0x0800beed Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register) + MOTOR_RM_SetOutput 0x0800c00d Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput) + MOTOR_RM_Update 0x0800c129 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update) + MX_CAN1_Init 0x0800c22d Thumb Code 78 can.o(.text.MX_CAN1_Init) + MX_CAN2_Init 0x0800c27d Thumb Code 78 can.o(.text.MX_CAN2_Init) + MX_DMA_Init 0x0800c2cd Thumb Code 134 dma.o(.text.MX_DMA_Init) + MX_FREERTOS_Init 0x0800c355 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init) + MX_GPIO_Init 0x0800c395 Thumb Code 554 gpio.o(.text.MX_GPIO_Init) + MX_I2C1_Init 0x0800c5c1 Thumb Code 72 i2c.o(.text.MX_I2C1_Init) + MX_I2C2_Init 0x0800c609 Thumb Code 72 i2c.o(.text.MX_I2C2_Init) + MX_SPI1_Init 0x0800c651 Thumb Code 82 spi.o(.text.MX_SPI1_Init) + MX_SPI2_Init 0x0800c6a5 Thumb Code 84 spi.o(.text.MX_SPI2_Init) + MX_TIM10_Init 0x0800c6f9 Thumb Code 142 tim.o(.text.MX_TIM10_Init) + MX_TIM7_Init 0x0800c789 Thumb Code 88 tim.o(.text.MX_TIM7_Init) + MX_USART1_UART_Init 0x0800c7e1 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init) + MX_USART3_UART_Init 0x0800c821 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init) + MemManage_Handler 0x0800c86d Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler) + NMI_Handler 0x0800ca8d Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler) + PID_Calc 0x0800cafd Thumb Code 752 pid.o(.text.PID_Calc) + PID_Init 0x0800cded Thumb Code 406 pid.o(.text.PID_Init) + PID_Reset 0x0800cf85 Thumb Code 72 pid.o(.text.PID_Reset) + PendSV_Handler 0x0800cfd1 Thumb Code 100 port.o(.text.PendSV_Handler) + RC_Init 0x0800d035 Thumb Code 148 bsp_rc.o(.text.RC_Init) + RC_restart 0x0800d0c9 Thumb Code 90 bsp_rc.o(.text.RC_restart) + SVC_Handler 0x0800d681 Thumb Code 36 port.o(.text.SVC_Handler) + StartDefaultTask 0x0800d6b5 Thumb Code 18 freertos.o(.text.StartDefaultTask) + SysTick_Handler 0x0800d71d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler) + SystemClock_Config 0x0800d735 Thumb Code 188 main.o(.text.SystemClock_Config) + SystemInit 0x0800d7f1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit) + TIM7_IRQHandler 0x0800d805 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler) + TIM_Base_SetConfig 0x0800d815 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig) + TIM_CCxChannelCmd 0x0800d9b9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd) + TIM_OC2_SetConfig 0x0800dadd Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig) + Task_Init 0x0800dd69 Thumb Code 184 init.o(.text.Task_Init) + Task_atti_esti 0x0800de21 Thumb Code 400 atti_esti.o(.text.Task_atti_esti) + Task_gimbal_ctrl 0x0800dfb1 Thumb Code 236 gimbal_ctrl.o(.text.Task_gimbal_ctrl) + Task_remote 0x0800e0a1 Thumb Code 160 remote.o(.text.Task_remote) + USART3_IRQHandler 0x0800e581 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler) + USART3_IRQHandler1 0x0800e5a1 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1) + UsageFault_Handler 0x0800e5c5 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler) + configureTimerForRunTimeStats 0x0800e7c5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats) + delay_init 0x0800e7e9 Thumb Code 62 bsp_delay.o(.text.delay_init) + eTaskGetState 0x0800e829 Thumb Code 246 tasks.o(.text.eTaskGetState) + getRunTimeCounterValue 0x0800e979 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue) + main 0x0800e97d Thumb Code 80 main.o(.text.main) + map 0x0800e9cd Thumb Code 42 calc_lib.o(.text.map) + osDelay 0x0800ea79 Thumb Code 52 cmsis_os2.o(.text.osDelay) + osDelayUntil 0x0800eaad Thumb Code 88 cmsis_os2.o(.text.osDelayUntil) + osKernelGetState 0x0800eb05 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState) + osKernelGetTickCount 0x0800eb59 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount) + osKernelGetTickFreq 0x0800eb81 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq) + osKernelInitialize 0x0800eb89 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize) + osKernelLock 0x0800ebd1 Thumb Code 86 cmsis_os2.o(.text.osKernelLock) + osKernelStart 0x0800ec29 Thumb Code 82 cmsis_os2.o(.text.osKernelStart) + osKernelUnlock 0x0800ec7d Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock) + osMessageQueueGet 0x0800eced Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet) + osMessageQueueNew 0x0800edad Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew) + osMessageQueuePut 0x0800eead Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut) + osMessageQueueReset 0x0800ef71 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset) + osMutexAcquire 0x0800efb1 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire) + osMutexNew 0x0800f051 Thumb Code 296 cmsis_os2.o(.text.osMutexNew) + osMutexRelease 0x0800f179 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease) + osThreadFlagsSet 0x0800f1f9 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet) + osThreadFlagsWait 0x0800f29d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait) + osThreadGetId 0x0800f3b9 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId) + osThreadNew 0x0800f3c9 Thumb Code 346 cmsis_os2.o(.text.osThreadNew) + osThreadTerminate 0x0800f525 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate) + pvPortMalloc 0x08010485 Thumb Code 492 heap_4.o(.text.pvPortMalloc) + pvTaskIncrementMutexHeldCount 0x08010671 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount) + pxPortInitialiseStack 0x0801069d Thumb Code 94 port.o(.text.pxPortInitialiseStack) + remote_ParseHost 0x08010701 Thumb Code 176 ai.o(.text.remote_ParseHost) + remote_control_init 0x080107b1 Thumb Code 18 remote_control.o(.text.remote_control_init) + user_delay_ms 0x08010aad Thumb Code 46 calc_lib.o(.text.user_delay_ms) + user_delay_us 0x08010add Thumb Code 68 calc_lib.o(.text.user_delay_us) + uxListRemove 0x08010b21 Thumb Code 72 list.o(.text.uxListRemove) + vApplicationGetIdleTaskMemory 0x08010b69 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory) + vApplicationGetTimerTaskMemory 0x08010b95 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory) + vApplicationStackOverflowHook 0x08010bc1 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook) + vListInitialise 0x08010bcd Thumb Code 46 list.o(.text.vListInitialise) + vListInitialiseItem 0x08010bfd Thumb Code 14 list.o(.text.vListInitialiseItem) + vListInsert 0x08010c0d Thumb Code 106 list.o(.text.vListInsert) + vListInsertEnd 0x08010c79 Thumb Code 58 list.o(.text.vListInsertEnd) + vPortEnterCritical 0x08010cc9 Thumb Code 86 port.o(.text.vPortEnterCritical) + vPortExitCritical 0x08010d21 Thumb Code 74 port.o(.text.vPortExitCritical) + vPortFree 0x08010d6d Thumb Code 206 heap_4.o(.text.vPortFree) + vPortSetupTimerInterrupt 0x08010e3d Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt) + vPortValidateInterruptPriority 0x08010e81 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority) + vQueueAddToRegistry 0x08010f05 Thumb Code 82 queue.o(.text.vQueueAddToRegistry) + vQueueWaitForMessageRestricted 0x08010f59 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted) + vTaskDelay 0x08010fbd Thumb Code 110 tasks.o(.text.vTaskDelay) + vTaskDelayUntil 0x0801102d Thumb Code 276 tasks.o(.text.vTaskDelayUntil) + vTaskDelete 0x08011141 Thumb Code 270 tasks.o(.text.vTaskDelete) + vTaskInternalSetTimeOutState 0x08011251 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState) + vTaskMissedYield 0x08011275 Thumb Code 14 tasks.o(.text.vTaskMissedYield) + vTaskPlaceOnEventList 0x08011285 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList) + vTaskPlaceOnEventListRestricted 0x080112c9 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted) + vTaskPriorityDisinheritAfterTimeout 0x0801131d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout) + vTaskStartScheduler 0x08011451 Thumb Code 228 tasks.o(.text.vTaskStartScheduler) + vTaskSuspendAll 0x08011535 Thumb Code 16 tasks.o(.text.vTaskSuspendAll) + vTaskSwitchContext 0x08011545 Thumb Code 384 tasks.o(.text.vTaskSwitchContext) + xPortStartScheduler 0x080116c5 Thumb Code 342 port.o(.text.xPortStartScheduler) + xPortSysTickHandler 0x0801181d Thumb Code 60 port.o(.text.xPortSysTickHandler) + xQueueCreateMutex 0x08011859 Thumb Code 38 queue.o(.text.xQueueCreateMutex) + xQueueCreateMutexStatic 0x08011881 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic) + xQueueGenericCreate 0x080118b5 Thumb Code 116 queue.o(.text.xQueueGenericCreate) + xQueueGenericCreateStatic 0x08011929 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic) + xQueueGenericReset 0x08011a39 Thumb Code 186 queue.o(.text.xQueueGenericReset) + xQueueGenericSend 0x08011af5 Thumb Code 556 queue.o(.text.xQueueGenericSend) + xQueueGenericSendFromISR 0x08011d21 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR) + xQueueGiveMutexRecursive 0x08011e6d Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive) + xQueueReceive 0x08011ed9 Thumb Code 476 queue.o(.text.xQueueReceive) + xQueueReceiveFromISR 0x080120b5 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR) + xQueueSemaphoreTake 0x080121bd Thumb Code 556 queue.o(.text.xQueueSemaphoreTake) + xQueueTakeMutexRecursive 0x080123e9 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive) + xTaskCheckForTimeOut 0x08012459 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut) + xTaskCreate 0x08012525 Thumb Code 158 tasks.o(.text.xTaskCreate) + xTaskCreateStatic 0x080125c5 Thumb Code 206 tasks.o(.text.xTaskCreateStatic) + xTaskGenericNotify 0x08012695 Thumb Code 376 tasks.o(.text.xTaskGenericNotify) + xTaskGenericNotifyFromISR 0x0801280d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR) + xTaskGetCurrentTaskHandle 0x080129d1 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle) + xTaskGetSchedulerState 0x080129e5 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState) + xTaskGetTickCount 0x08012a1d Thumb Code 20 tasks.o(.text.xTaskGetTickCount) + xTaskGetTickCountFromISR 0x08012a31 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR) + xTaskIncrementTick 0x08012a51 Thumb Code 452 tasks.o(.text.xTaskIncrementTick) + xTaskNotifyWait 0x08012c15 Thumb Code 214 tasks.o(.text.xTaskNotifyWait) + xTaskPriorityDisinherit 0x08012ced Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit) + xTaskPriorityInherit 0x08012dd9 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit) + xTaskRemoveFromEventList 0x08012ee9 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList) + xTaskResumeAll 0x08012fb9 Thumb Code 390 tasks.o(.text.xTaskResumeAll) + xTimerCreateTimerTask 0x08013141 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask) + xTimerGenericCommand 0x080131d5 Thumb Code 176 timers.o(.text.xTimerGenericCommand) + __ARM_fpclassify 0x08013285 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify) + __ARM_fpclassifyf 0x080132b5 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf) + __hardfp_asinf 0x080132dd Thumb Code 258 asinf.o(i.__hardfp_asinf) + __hardfp_atan 0x08013409 Thumb Code 622 atan.o(i.__hardfp_atan) + __hardfp_atan2 0x080136e1 Thumb Code 448 atan2.o(i.__hardfp_atan2) + __hardfp_atan2f 0x080138e1 Thumb Code 594 atan2f.o(i.__hardfp_atan2f) + __hardfp_cosf 0x08013b8d Thumb Code 280 cosf.o(i.__hardfp_cosf) + __hardfp_tanf 0x08013cdd Thumb Code 322 tanf.o(i.__hardfp_tanf) + __kernel_poly 0x08013e59 Thumb Code 248 poly.o(i.__kernel_poly) + __mathlib_dbl_infnan 0x08013f51 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x08013f65 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_underflow 0x08013f79 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow) + __mathlib_flt_infnan 0x08013f99 Thumb Code 6 funder.o(i.__mathlib_flt_infnan) + __mathlib_flt_infnan2 0x08013f9f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2) + __mathlib_flt_invalid 0x08013fa5 Thumb Code 10 funder.o(i.__mathlib_flt_invalid) + __mathlib_flt_underflow 0x08013fb5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow) + __mathlib_rredf2 0x08013fc5 Thumb Code 316 rredf.o(i.__mathlib_rredf2) + atan 0x08014119 Thumb Code 16 atan.o(i.atan) + fabs 0x08014129 Thumb Code 24 fabs.o(i.fabs) + sqrtf 0x08014141 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x0801417f Thumb Code 0 basic.o(x$fpl$basic) + _dneg 0x0801417f Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_fneg 0x08014185 Thumb Code 0 basic.o(x$fpl$basic) + _fneg 0x08014185 Thumb Code 6 basic.o(x$fpl$basic) + _dabs 0x0801418b Thumb Code 6 basic.o(x$fpl$basic) + _fabs 0x08014191 Thumb Code 6 basic.o(x$fpl$basic) + __aeabi_d2f 0x08014199 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x08014199 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x080141fd Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x080141fd Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcmp_Inf 0x0801434d Thumb Code 24 dcmpi.o(x$fpl$dcmpinf) + __aeabi_ddiv 0x08014365 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08014365 Thumb Code 556 ddiv.o(x$fpl$ddiv) + __aeabi_cdcmpeq 0x08014619 Thumb Code 0 deqf.o(x$fpl$deqf) + _dcmpeq 0x08014619 Thumb Code 120 deqf.o(x$fpl$deqf) + __aeabi_d2iz 0x08014691 Thumb Code 0 dfix.o(x$fpl$dfix) + _dfix 0x08014691 Thumb Code 94 dfix.o(x$fpl$dfix) + __aeabi_d2uiz 0x080146f1 Thumb Code 0 dfixu.o(x$fpl$dfixu) + _dfixu 0x080146f1 Thumb Code 90 dfixu.o(x$fpl$dfixu) + __aeabi_i2d 0x0801474b Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x0801474b Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_ui2d 0x08014779 Thumb Code 0 dflt_clz.o(x$fpl$dfltu) + _dfltu 0x08014779 Thumb Code 38 dflt_clz.o(x$fpl$dfltu) + __aeabi_dmul 0x080147a1 Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x080147a1 Thumb Code 332 dmul.o(x$fpl$dmul) + __fpl_dnaninf 0x080148f5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf) + __fpl_dretinf 0x08014991 Thumb Code 12 dretinf.o(x$fpl$dretinf) + __aeabi_drsub 0x0801499d Thumb Code 0 daddsub_clz.o(x$fpl$drsb) + _drsb 0x0801499d Thumb Code 22 daddsub_clz.o(x$fpl$drsb) + __aeabi_dsub 0x080149b5 Thumb Code 0 daddsub_clz.o(x$fpl$dsub) + _dsub 0x080149b5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub) + __aeabi_f2d 0x08014b91 Thumb Code 0 f2d.o(x$fpl$f2d) + _f2d 0x08014b91 Thumb Code 86 f2d.o(x$fpl$f2d) + __aeabi_ul2f 0x08014be7 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_uto_f 0x08014be7 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll) + __aeabi_l2f 0x08014bed Thumb Code 0 ffltll_clz.o(x$fpl$ffltll) + _ll_sto_f 0x08014bed Thumb Code 90 ffltll_clz.o(x$fpl$ffltll) + __fpl_fnaninf 0x08014c47 Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + _fp_init 0x08014cd3 Thumb Code 26 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x08014ceb Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x08014ceb Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fpl_fretinf 0x08014ced Thumb Code 10 fretinf.o(x$fpl$fretinf) + __I$use$fp 0x08014cf6 Number 0 usenofp.o(x$fpl$usenofp) + __mathlib_zero 0x08014d90 Data 8 qnan.o(.constdata) + AHBPrescTable 0x08014db8 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08014dc8 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable) + attr_atti_esti 0x08014e18 Data 36 user_task.o(.rodata.attr_atti_esti) + attr_gimbal_ctrl 0x08014e3c Data 36 user_task.o(.rodata.attr_gimbal_ctrl) + attr_init 0x08014e60 Data 36 user_task.o(.rodata.attr_init) + attr_remote 0x08014e84 Data 36 user_task.o(.rodata.attr_remote) + defaultTask_attributes 0x08014ea8 Data 36 freertos.o(.rodata.defaultTask_attributes) + Region$$Table$$Base 0x08014f34 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08014f54 Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock) robot_config 0x20000008 Data 384 config.o(.data.robot_config) uwTickFreq 0x20000188 Data 1 stm32f4xx_hal.o(.data.uwTickFreq) @@ -7784,9 +7784,9 @@ Memory Map of the image Image Entry point : 0x08000189 - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00015100, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014fe0]) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x000150f0, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014fd0]) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014f64, Max: 0x00100000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014f54, Max: 0x00100000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object @@ -7970,589 +7970,589 @@ Memory Map of the image 0x0800384a 0x0800384a 0x00000002 PAD 0x0800384c 0x0800384c 0x00000006 Code RO 15 .text.Error_Handler main.o 0x08003852 0x08003852 0x00000002 PAD - 0x08003854 0x08003854 0x00000544 Code RO 3049 .text.Gimbal_Control gimbal.o - 0x08003d98 0x08003d98 0x00000190 Code RO 3043 .text.Gimbal_Init gimbal.o - 0x08003f28 0x08003f28 0x00000112 Code RO 3055 .text.Gimbal_Output gimbal.o - 0x0800403a 0x0800403a 0x00000002 PAD - 0x0800403c 0x0800403c 0x000000a4 Code RO 3051 .text.Gimbal_SetMode gimbal.o - 0x080040e0 0x080040e0 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o - 0x08004248 0x08004248 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o - 0x08004292 0x08004292 0x00000002 PAD - 0x08004294 0x08004294 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o - 0x080042e6 0x080042e6 0x00000002 PAD - 0x080042e8 0x080042e8 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o - 0x0800443e 0x0800443e 0x00000002 PAD - 0x08004440 0x08004440 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o - 0x080045de 0x080045de 0x00000002 PAD - 0x080045e0 0x080045e0 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o - 0x08004630 0x08004630 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o - 0x08004682 0x08004682 0x00000002 PAD - 0x08004684 0x08004684 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o - 0x08004896 0x08004896 0x00000002 PAD - 0x08004898 0x08004898 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o - 0x08004908 0x08004908 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o - 0x08004cfa 0x08004cfa 0x00000002 PAD - 0x08004cfc 0x08004cfc 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o - 0x08004eda 0x08004eda 0x00000002 PAD - 0x08004edc 0x08004edc 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o - 0x080050ac 0x080050ac 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o - 0x080050fc 0x080050fc 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o - 0x0800514c 0x0800514c 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o - 0x0800519c 0x0800519c 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o - 0x080051ec 0x080051ec 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o - 0x0800523c 0x0800523c 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o - 0x080052c6 0x080052c6 0x00000002 PAD - 0x080052c8 0x080052c8 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o - 0x08005318 0x08005318 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o - 0x08005364 0x08005364 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o - 0x080053b4 0x080053b4 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o - 0x08005404 0x08005404 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o - 0x08005454 0x08005454 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o - 0x080054a4 0x080054a4 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o - 0x080054f4 0x080054f4 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o - 0x080055e0 0x080055e0 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o - 0x08005624 0x08005624 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o - 0x08005632 0x08005632 0x00000002 PAD - 0x08005634 0x08005634 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o - 0x08005952 0x08005952 0x00000002 PAD - 0x08005954 0x08005954 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o - 0x08005ac2 0x08005ac2 0x00000002 PAD - 0x08005ac4 0x08005ac4 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o - 0x08005b86 0x08005b86 0x00000002 PAD - 0x08005b88 0x08005b88 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o - 0x08005bca 0x08005bca 0x00000002 PAD - 0x08005bcc 0x08005bcc 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o - 0x08005c32 0x08005c32 0x00000002 PAD - 0x08005c34 0x08005c34 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o - 0x08005c6c 0x08005c6c 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o - 0x08006022 0x08006022 0x00000002 PAD - 0x08006024 0x08006024 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o - 0x08006052 0x08006052 0x00000002 PAD - 0x08006054 0x08006054 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o - 0x08006082 0x08006082 0x00000002 PAD - 0x08006084 0x08006084 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o - 0x08006090 0x08006090 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o - 0x080060e4 0x080060e4 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o - 0x080060f4 0x080060f4 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o - 0x0800626e 0x0800626e 0x00000002 PAD - 0x08006270 0x08006270 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o - 0x0800663a 0x0800663a 0x00000002 PAD - 0x0800663c 0x0800663c 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o - 0x08006690 0x08006690 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o - 0x08006934 0x08006934 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o - 0x08006988 0x08006988 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o - 0x080069dc 0x080069dc 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o - 0x08006a2c 0x08006a2c 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o - 0x08006a80 0x08006a80 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o - 0x08006ad4 0x08006ad4 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o - 0x08006c08 0x08006c08 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o - 0x08006c5c 0x08006c5c 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o - 0x08006cb0 0x08006cb0 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o - 0x08006cca 0x08006cca 0x00000002 PAD - 0x08006ccc 0x08006ccc 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o - 0x08006d02 0x08006d02 0x00000002 PAD - 0x08006d04 0x08006d04 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o - 0x08006d74 0x08006d74 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o - 0x08006dcc 0x08006dcc 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x08006de0 0x08006de0 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x08006df4 0x08006df4 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x08006e26 0x08006e26 0x00000002 PAD - 0x08006e28 0x08006e28 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x08006e38 0x08006e38 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o - 0x0800709a 0x0800709a 0x00000002 PAD - 0x0800709c 0x0800709c 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o - 0x080070a8 0x080070a8 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o - 0x080070ca 0x080070ca 0x00000002 PAD - 0x080070cc 0x080070cc 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o - 0x080070ee 0x080070ee 0x00000002 PAD - 0x080070f0 0x080070f0 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o - 0x080071d6 0x080071d6 0x00000002 PAD - 0x080071d8 0x080071d8 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o - 0x08007896 0x08007896 0x00000002 PAD - 0x08007898 0x08007898 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o - 0x080078ec 0x080078ec 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o - 0x080079ec 0x080079ec 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o - 0x08007bfc 0x08007bfc 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o - 0x08007e4a 0x08007e4a 0x00000002 PAD - 0x08007e4c 0x08007e4c 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o - 0x08007fe4 0x08007fe4 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o - 0x08008038 0x08008038 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o - 0x0800808c 0x0800808c 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o - 0x0800832e 0x0800832e 0x00000002 PAD - 0x08008330 0x08008330 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o - 0x080086d2 0x080086d2 0x00000002 PAD - 0x080086d4 0x080086d4 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o - 0x080088e8 0x080088e8 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o - 0x08008a54 0x08008a54 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o - 0x08008a9c 0x08008a9c 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o - 0x08008af0 0x08008af0 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o - 0x08008b44 0x08008b44 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o - 0x08008b98 0x08008b98 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o - 0x08008ba8 0x08008ba8 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o - 0x08008bb0 0x08008bb0 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o - 0x08008bb8 0x08008bb8 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o - 0x08008cda 0x08008cda 0x00000002 PAD - 0x08008cdc 0x08008cdc 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o - 0x08008d78 0x08008d78 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o - 0x08008e02 0x08008e02 0x00000002 PAD - 0x08008e04 0x08008e04 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o - 0x08008e0c 0x08008e0c 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o - 0x08009026 0x08009026 0x00000002 PAD - 0x08009028 0x08009028 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o - 0x08009094 0x08009094 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o - 0x0800909c 0x0800909c 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o - 0x080091de 0x080091de 0x00000002 PAD - 0x080091e0 0x080091e0 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o - 0x0800927c 0x0800927c 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o - 0x08009284 0x08009284 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o - 0x0800928c 0x0800928c 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o - 0x08009456 0x08009456 0x00000002 PAD - 0x08009458 0x08009458 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o - 0x08009460 0x08009460 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o - 0x08009468 0x08009468 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o - 0x08009474 0x08009474 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o - 0x080094c8 0x080094c8 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o - 0x08009924 0x08009924 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o - 0x080099c2 0x080099c2 0x00000002 PAD - 0x080099c4 0x080099c4 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o - 0x08009b90 0x08009b90 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o - 0x08009be4 0x08009be4 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o - 0x08009c38 0x08009c38 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o - 0x08009c3c 0x08009c3c 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o - 0x08009c4c 0x08009c4c 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o - 0x08009c5c 0x08009c5c 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o - 0x08009c90 0x08009c90 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o - 0x08009de6 0x08009de6 0x00000002 PAD - 0x08009de8 0x08009de8 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o - 0x08009e0c 0x08009e0c 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o - 0x08009e54 0x08009e54 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o - 0x0800a0ce 0x0800a0ce 0x00000002 PAD - 0x0800a0d0 0x0800a0d0 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o - 0x0800a27c 0x0800a27c 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800a3e6 0x0800a3e6 0x00000002 PAD - 0x0800a3e8 0x0800a3e8 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800a4c6 0x0800a4c6 0x00000002 PAD - 0x0800a4c8 0x0800a4c8 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800a606 0x0800a606 0x00000002 PAD - 0x0800a608 0x0800a608 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o - 0x0800a64e 0x0800a64e 0x00000002 PAD - 0x0800a650 0x0800a650 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o - 0x0800a98e 0x0800a98e 0x00000002 PAD - 0x0800a990 0x0800a990 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o - 0x0800aa80 0x0800aa80 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o - 0x0800aba8 0x0800aba8 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o - 0x0800abd6 0x0800abd6 0x00000002 PAD - 0x0800abd8 0x0800abd8 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o - 0x0800ac46 0x0800ac46 0x00000002 PAD - 0x0800ac48 0x0800ac48 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o - 0x0800ac74 0x0800ac74 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o - 0x0800ace0 0x0800ace0 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o - 0x0800ad8e 0x0800ad8e 0x00000002 PAD - 0x0800ad90 0x0800ad90 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o - 0x0800ae74 0x0800ae74 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o - 0x0800b0be 0x0800b0be 0x00000002 PAD - 0x0800b0c0 0x0800b0c0 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o - 0x0800b138 0x0800b138 0x00000076 Code RO 2675 .text.InvSqrt user_math.o - 0x0800b1ae 0x0800b1ae 0x00000002 PAD - 0x0800b1b0 0x0800b1b0 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o - 0x0800b268 0x0800b268 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o - 0x0800b3a4 0x0800b3a4 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o - 0x0800b436 0x0800b436 0x00000002 PAD - 0x0800b438 0x0800b438 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o - 0x0800b4ce 0x0800b4ce 0x00000002 PAD - 0x0800b4d0 0x0800b4d0 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o - 0x0800b54a 0x0800b54a 0x00000002 PAD - 0x0800b54c 0x0800b54c 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o - 0x0800b57c 0x0800b57c 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o - 0x0800b602 0x0800b602 0x00000002 PAD - 0x0800b604 0x0800b604 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o - 0x0800b64c 0x0800b64c 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o - 0x0800b7a4 0x0800b7a4 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o - 0x0800b8d0 0x0800b8d0 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o - 0x0800ba14 0x0800ba14 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o - 0x0800bb20 0x0800bb20 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o - 0x0800bbb6 0x0800bbb6 0x00000002 PAD - 0x0800bbb8 0x0800bbb8 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o - 0x0800bd28 0x0800bd28 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800bd58 0x0800bd58 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800bdaa 0x0800bdaa 0x00000002 PAD - 0x0800bdac 0x0800bdac 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x0800be2c 0x0800be2c 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800bea4 0x0800bea4 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800bef4 0x0800bef4 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o - 0x0800c014 0x0800c014 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800c12e 0x0800c12e 0x00000002 PAD - 0x0800c130 0x0800c130 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o - 0x0800c232 0x0800c232 0x00000002 PAD - 0x0800c234 0x0800c234 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800c282 0x0800c282 0x00000002 PAD - 0x0800c284 0x0800c284 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800c2d2 0x0800c2d2 0x00000002 PAD - 0x0800c2d4 0x0800c2d4 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o - 0x0800c35a 0x0800c35a 0x00000002 PAD - 0x0800c35c 0x0800c35c 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800c39c 0x0800c39c 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800c5c6 0x0800c5c6 0x00000002 PAD - 0x0800c5c8 0x0800c5c8 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800c610 0x0800c610 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800c658 0x0800c658 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800c6aa 0x0800c6aa 0x00000002 PAD - 0x0800c6ac 0x0800c6ac 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800c700 0x0800c700 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800c78e 0x0800c78e 0x00000002 PAD - 0x0800c790 0x0800c790 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o - 0x0800c7e8 0x0800c7e8 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x0800c828 0x0800c828 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o - 0x0800c874 0x0800c874 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o - 0x0800c878 0x0800c878 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o - 0x0800ca94 0x0800ca94 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o - 0x0800ca98 0x0800ca98 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800cb04 0x0800cb04 0x000002f0 Code RO 2638 .text.PID_Calc pid.o - 0x0800cdf4 0x0800cdf4 0x00000196 Code RO 2630 .text.PID_Init pid.o - 0x0800cf8a 0x0800cf8a 0x00000002 PAD - 0x0800cf8c 0x0800cf8c 0x00000048 Code RO 2636 .text.PID_Reset pid.o - 0x0800cfd4 0x0800cfd4 0x0000000c PAD - 0x0800cfe0 0x0800cfe0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o - 0x0800d044 0x0800d044 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o - 0x0800d0d8 0x0800d0d8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o - 0x0800d132 0x0800d132 0x00000002 PAD - 0x0800d134 0x0800d134 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800d168 0x0800d168 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800d17e 0x0800d17e 0x00000002 PAD - 0x0800d180 0x0800d180 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800d196 0x0800d196 0x00000002 PAD - 0x0800d198 0x0800d198 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d1ae 0x0800d1ae 0x00000002 PAD - 0x0800d1b0 0x0800d1b0 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800d252 0x0800d252 0x00000002 PAD - 0x0800d254 0x0800d254 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800d2fa 0x0800d2fa 0x00000002 PAD - 0x0800d2fc 0x0800d2fc 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d382 0x0800d382 0x00000002 PAD - 0x0800d384 0x0800d384 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x0800d468 0x0800d468 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800d534 0x0800d534 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o - 0x0800d562 0x0800d562 0x00000002 PAD - 0x0800d564 0x0800d564 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800d690 0x0800d690 0x00000024 Code RO 2154 .text.SVC_Handler port.o - 0x0800d6b4 0x0800d6b4 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o - 0x0800d6c2 0x0800d6c2 0x00000002 PAD - 0x0800d6c4 0x0800d6c4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800d6d6 0x0800d6d6 0x00000002 PAD - 0x0800d6d8 0x0800d6d8 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800d72a 0x0800d72a 0x00000002 PAD - 0x0800d72c 0x0800d72c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o - 0x0800d744 0x0800d744 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800d800 0x0800d800 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o - 0x0800d812 0x0800d812 0x00000002 PAD - 0x0800d814 0x0800d814 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800d824 0x0800d824 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800d9c8 0x0800d9c8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800d9fe 0x0800d9fe 0x00000002 PAD - 0x0800da00 0x0800da00 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800daea 0x0800daea 0x00000002 PAD - 0x0800daec 0x0800daec 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800dbe0 0x0800dbe0 0x000000f2 Code RO 1173 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800dcd2 0x0800dcd2 0x00000002 PAD - 0x0800dcd4 0x0800dcd4 0x000000a4 Code RO 1175 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x0800dd78 0x0800dd78 0x000000b8 Code RO 2986 .text.Task_Init init.o - 0x0800de30 0x0800de30 0x00000190 Code RO 2994 .text.Task_atti_esti atti_esti.o - 0x0800dfc0 0x0800dfc0 0x000000ec Code RO 3032 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x0800e0ac 0x0800e0ac 0x00000004 PAD - 0x0800e0b0 0x0800e0b0 0x000000a0 Code RO 3011 .text.Task_remote remote.o - 0x0800e150 0x0800e150 0x0000001c Code RO 1445 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x0800e16c 0x0800e16c 0x00000094 Code RO 1405 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x0800e200 0x0800e200 0x00000026 Code RO 1453 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x0800e226 0x0800e226 0x00000002 PAD - 0x0800e228 0x0800e228 0x0000002e Code RO 2440 .text.UART_Get uart.o - 0x0800e256 0x0800e256 0x00000002 PAD - 0x0800e258 0x0800e258 0x00000168 Code RO 1443 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800e3c0 0x0800e3c0 0x0000013a Code RO 1361 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800e4fa 0x0800e4fa 0x00000002 PAD - 0x0800e4fc 0x0800e4fc 0x00000094 Code RO 1451 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800e590 0x0800e590 0x00000020 Code RO 186 .text.USART3_IRQHandler stm32f4xx_it.o - 0x0800e5b0 0x0800e5b0 0x00000022 Code RO 2919 .text.USART3_IRQHandler1 remote_control.o - 0x0800e5d2 0x0800e5d2 0x00000002 PAD - 0x0800e5d4 0x0800e5d4 0x00000004 Code RO 160 .text.UsageFault_Handler stm32f4xx_it.o - 0x0800e5d8 0x0800e5d8 0x0000001e Code RO 2537 .text.__ARM_isfinite filter.o - 0x0800e5f6 0x0800e5f6 0x00000002 PAD - 0x0800e5f8 0x0800e5f8 0x0000001e Code RO 2634 .text.__ARM_isfinite pid.o - 0x0800e616 0x0800e616 0x00000002 PAD - 0x0800e618 0x0800e618 0x00000018 Code RO 2535 .text.__ARM_isfinitef filter.o - 0x0800e630 0x0800e630 0x00000018 Code RO 2632 .text.__ARM_isfinitef pid.o - 0x0800e648 0x0800e648 0x00000034 Code RO 2531 .text.__ARM_isinf filter.o - 0x0800e67c 0x0800e67c 0x0000001c Code RO 2529 .text.__ARM_isinff filter.o - 0x0800e698 0x0800e698 0x00000038 Code RO 584 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800e6d0 0x0800e6d0 0x00000030 Code RO 580 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800e700 0x0800e700 0x00000010 Code RO 572 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800e710 0x0800e710 0x00000042 Code RO 574 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800e752 0x0800e752 0x00000002 PAD - 0x0800e754 0x0800e754 0x00000042 Code RO 2104 .text.__NVIC_SetPriority cmsis_os2.o - 0x0800e796 0x0800e796 0x00000002 PAD - 0x0800e798 0x0800e798 0x0000003c Code RO 568 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800e7d4 0x0800e7d4 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o - 0x0800e7d6 0x0800e7d6 0x00000002 PAD - 0x0800e7d8 0x0800e7d8 0x0000001e Code RO 2482 .text.copysignf ahrs.o - 0x0800e7f6 0x0800e7f6 0x00000002 PAD - 0x0800e7f8 0x0800e7f8 0x0000003e Code RO 2702 .text.delay_init bsp_delay.o - 0x0800e836 0x0800e836 0x00000002 PAD - 0x0800e838 0x0800e838 0x000000f6 Code RO 1726 .text.eTaskGetState tasks.o - 0x0800e92e 0x0800e92e 0x00000002 PAD - 0x0800e930 0x0800e930 0x00000058 Code RO 2976 .text.float_to_uint motor_dm.o - 0x0800e988 0x0800e988 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o - 0x0800e98c 0x0800e98c 0x00000050 Code RO 11 .text.main main.o - 0x0800e9dc 0x0800e9dc 0x0000002a Code RO 2742 .text.map calc_lib.o - 0x0800ea06 0x0800ea06 0x00000002 PAD - 0x0800ea08 0x0800ea08 0x00000080 Code RO 3053 .text.motor_imu_offset gimbal.o - 0x0800ea88 0x0800ea88 0x00000034 Code RO 2006 .text.osDelay cmsis_os2.o - 0x0800eabc 0x0800eabc 0x00000058 Code RO 2008 .text.osDelayUntil cmsis_os2.o - 0x0800eb14 0x0800eb14 0x00000052 Code RO 1944 .text.osKernelGetState cmsis_os2.o - 0x0800eb66 0x0800eb66 0x00000002 PAD - 0x0800eb68 0x0800eb68 0x00000026 Code RO 1956 .text.osKernelGetTickCount cmsis_os2.o - 0x0800eb8e 0x0800eb8e 0x00000002 PAD - 0x0800eb90 0x0800eb90 0x00000006 Code RO 1958 .text.osKernelGetTickFreq cmsis_os2.o - 0x0800eb96 0x0800eb96 0x00000002 PAD - 0x0800eb98 0x0800eb98 0x00000046 Code RO 1940 .text.osKernelInitialize cmsis_os2.o - 0x0800ebde 0x0800ebde 0x00000002 PAD - 0x0800ebe0 0x0800ebe0 0x00000056 Code RO 1950 .text.osKernelLock cmsis_os2.o - 0x0800ec36 0x0800ec36 0x00000002 PAD - 0x0800ec38 0x0800ec38 0x00000052 Code RO 1946 .text.osKernelStart cmsis_os2.o - 0x0800ec8a 0x0800ec8a 0x00000002 PAD - 0x0800ec8c 0x0800ec8c 0x0000006e Code RO 1952 .text.osKernelUnlock cmsis_os2.o - 0x0800ecfa 0x0800ecfa 0x00000002 PAD - 0x0800ecfc 0x0800ecfc 0x000000c0 Code RO 2060 .text.osMessageQueueGet cmsis_os2.o - 0x0800edbc 0x0800edbc 0x000000fe Code RO 2056 .text.osMessageQueueNew cmsis_os2.o - 0x0800eeba 0x0800eeba 0x00000002 PAD - 0x0800eebc 0x0800eebc 0x000000c4 Code RO 2058 .text.osMessageQueuePut cmsis_os2.o - 0x0800ef80 0x0800ef80 0x00000040 Code RO 2070 .text.osMessageQueueReset cmsis_os2.o - 0x0800efc0 0x0800efc0 0x0000009e Code RO 2038 .text.osMutexAcquire cmsis_os2.o - 0x0800f05e 0x0800f05e 0x00000002 PAD - 0x0800f060 0x0800f060 0x00000128 Code RO 2036 .text.osMutexNew cmsis_os2.o - 0x0800f188 0x0800f188 0x0000007e Code RO 2040 .text.osMutexRelease cmsis_os2.o - 0x0800f206 0x0800f206 0x00000002 PAD - 0x0800f208 0x0800f208 0x000000a4 Code RO 1998 .text.osThreadFlagsSet cmsis_os2.o - 0x0800f2ac 0x0800f2ac 0x0000011a Code RO 2004 .text.osThreadFlagsWait cmsis_os2.o - 0x0800f3c6 0x0800f3c6 0x00000002 PAD - 0x0800f3c8 0x0800f3c8 0x00000010 Code RO 1974 .text.osThreadGetId cmsis_os2.o - 0x0800f3d8 0x0800f3d8 0x0000015a Code RO 1970 .text.osThreadNew cmsis_os2.o - 0x0800f532 0x0800f532 0x00000002 PAD - 0x0800f534 0x0800f534 0x0000005e Code RO 1992 .text.osThreadTerminate cmsis_os2.o - 0x0800f592 0x0800f592 0x00000002 PAD - 0x0800f594 0x0800f594 0x000000d4 Code RO 1720 .text.prvAddCurrentTaskToDelayedList tasks.o - 0x0800f668 0x0800f668 0x00000122 Code RO 1706 .text.prvAddNewTaskToReadyList tasks.o - 0x0800f78a 0x0800f78a 0x00000002 PAD - 0x0800f78c 0x0800f78c 0x000000a2 Code RO 1871 .text.prvCheckForValidListAndQueue timers.o - 0x0800f82e 0x0800f82e 0x00000002 PAD - 0x0800f830 0x0800f830 0x0000005a Code RO 1836 .text.prvCheckTasksWaitingTermination tasks.o - 0x0800f88a 0x0800f88a 0x00000002 PAD - 0x0800f88c 0x0800f88c 0x00000042 Code RO 1599 .text.prvCopyDataFromQueue queue.o - 0x0800f8ce 0x0800f8ce 0x00000002 PAD - 0x0800f8d0 0x0800f8d0 0x000000cc Code RO 1587 .text.prvCopyDataToQueue queue.o - 0x0800f99c 0x0800f99c 0x0000005e Code RO 1712 .text.prvDeleteTCB tasks.o - 0x0800f9fa 0x0800f9fa 0x00000002 PAD - 0x0800f9fc 0x0800f9fc 0x00000026 Code RO 1603 .text.prvGetDisinheritPriorityAfterTimeout queue.o - 0x0800fa22 0x0800fa22 0x00000002 PAD - 0x0800fa24 0x0800fa24 0x00000040 Code RO 1909 .text.prvGetNextExpireTime timers.o - 0x0800fa64 0x0800fa64 0x000000bc Code RO 2121 .text.prvHeapInit heap_4.o - 0x0800fb20 0x0800fb20 0x00000038 Code RO 1746 .text.prvIdleTask tasks.o - 0x0800fb58 0x0800fb58 0x0000002c Code RO 1567 .text.prvInitialiseMutex queue.o - 0x0800fb84 0x0800fb84 0x00000048 Code RO 1561 .text.prvInitialiseNewQueue queue.o - 0x0800fbcc 0x0800fbcc 0x0000012c Code RO 1704 .text.prvInitialiseNewTask tasks.o - 0x0800fcf8 0x0800fcf8 0x0000008e Code RO 1834 .text.prvInitialiseTaskLists tasks.o - 0x0800fd86 0x0800fd86 0x00000002 PAD - 0x0800fd88 0x0800fd88 0x000000c6 Code RO 2123 .text.prvInsertBlockIntoFreeList heap_4.o - 0x0800fe4e 0x0800fe4e 0x00000002 PAD - 0x0800fe50 0x0800fe50 0x00000086 Code RO 1921 .text.prvInsertTimerInActiveList timers.o - 0x0800fed6 0x0800fed6 0x00000002 PAD - 0x0800fed8 0x0800fed8 0x00000028 Code RO 1601 .text.prvIsQueueEmpty queue.o - 0x0800ff00 0x0800ff00 0x0000002e Code RO 1589 .text.prvIsQueueFull queue.o - 0x0800ff2e 0x0800ff2e 0x00000002 PAD - 0x0800ff30 0x0800ff30 0x00000028 Code RO 2162 .text.prvPortStartFirstTask port.o - 0x0800ff58 0x0800ff58 0x0000008e Code RO 1917 .text.prvProcessExpiredTimer timers.o - 0x0800ffe6 0x0800ffe6 0x00000002 PAD - 0x0800ffe8 0x0800ffe8 0x00000192 Code RO 1913 .text.prvProcessReceivedCommands timers.o - 0x0801017a 0x0801017a 0x00000002 PAD - 0x0801017c 0x0801017c 0x0000009a Code RO 1911 .text.prvProcessTimerOrBlockTask timers.o - 0x08010216 0x08010216 0x00000002 PAD - 0x08010218 0x08010218 0x00000046 Code RO 1714 .text.prvResetNextTaskUnblockTime tasks.o - 0x0801025e 0x0801025e 0x00000002 PAD - 0x08010260 0x08010260 0x00000044 Code RO 1915 .text.prvSampleTimeNow timers.o - 0x080102a4 0x080102a4 0x000000d4 Code RO 1919 .text.prvSwitchTimerLists timers.o - 0x08010378 0x08010378 0x0000004c Code RO 2152 .text.prvTaskExitError port.o - 0x080103c4 0x080103c4 0x0000001e Code RO 1873 .text.prvTimerTask timers.o - 0x080103e2 0x080103e2 0x00000002 PAD - 0x080103e4 0x080103e4 0x000000ae Code RO 1591 .text.prvUnlockQueue queue.o - 0x08010492 0x08010492 0x00000002 PAD - 0x08010494 0x08010494 0x000001ec Code RO 2119 .text.pvPortMalloc heap_4.o - 0x08010680 0x08010680 0x0000002c Code RO 1818 .text.pvTaskIncrementMutexHeldCount tasks.o - 0x080106ac 0x080106ac 0x0000005e Code RO 2150 .text.pxPortInitialiseStack port.o - 0x0801070a 0x0801070a 0x00000006 PAD - 0x08010710 0x08010710 0x000000b0 Code RO 2934 .text.remote_ParseHost ai.o - 0x080107c0 0x080107c0 0x00000012 Code RO 2915 .text.remote_control_init remote_control.o - 0x080107d2 0x080107d2 0x00000006 PAD - 0x080107d8 0x080107d8 0x00000290 Code RO 2923 .text.sbus_to_rc remote_control.o - 0x08010a68 0x08010a68 0x00000052 Code RO 2974 .text.uint_to_float motor_dm.o - 0x08010aba 0x08010aba 0x00000002 PAD - 0x08010abc 0x08010abc 0x0000002e Code RO 2732 .text.user_delay_ms calc_lib.o - 0x08010aea 0x08010aea 0x00000002 PAD - 0x08010aec 0x08010aec 0x00000044 Code RO 2730 .text.user_delay_us calc_lib.o - 0x08010b30 0x08010b30 0x00000048 Code RO 1548 .text.uxListRemove list.o - 0x08010b78 0x08010b78 0x0000002a Code RO 2100 .text.vApplicationGetIdleTaskMemory cmsis_os2.o - 0x08010ba2 0x08010ba2 0x00000002 PAD - 0x08010ba4 0x08010ba4 0x0000002c Code RO 2102 .text.vApplicationGetTimerTaskMemory cmsis_os2.o - 0x08010bd0 0x08010bd0 0x0000000a Code RO 37 .text.vApplicationStackOverflowHook freertos.o - 0x08010bda 0x08010bda 0x00000002 PAD - 0x08010bdc 0x08010bdc 0x0000002e Code RO 1540 .text.vListInitialise list.o + 0x08003854 0x08003854 0x0000053c Code RO 3049 .text.Gimbal_Control gimbal.o + 0x08003d90 0x08003d90 0x00000190 Code RO 3043 .text.Gimbal_Init gimbal.o + 0x08003f20 0x08003f20 0x00000112 Code RO 3055 .text.Gimbal_Output gimbal.o + 0x08004032 0x08004032 0x00000002 PAD + 0x08004034 0x08004034 0x000000a4 Code RO 3051 .text.Gimbal_SetMode gimbal.o + 0x080040d8 0x080040d8 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o + 0x08004240 0x08004240 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o + 0x0800428a 0x0800428a 0x00000002 PAD + 0x0800428c 0x0800428c 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080042de 0x080042de 0x00000002 PAD + 0x080042e0 0x080042e0 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x08004436 0x08004436 0x00000002 PAD + 0x08004438 0x08004438 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x080045d6 0x080045d6 0x00000002 PAD + 0x080045d8 0x080045d8 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o + 0x08004628 0x08004628 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x0800467a 0x0800467a 0x00000002 PAD + 0x0800467c 0x0800467c 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x0800488e 0x0800488e 0x00000002 PAD + 0x08004890 0x08004890 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x08004900 0x08004900 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08004cf2 0x08004cf2 0x00000002 PAD + 0x08004cf4 0x08004cf4 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08004ed2 0x08004ed2 0x00000002 PAD + 0x08004ed4 0x08004ed4 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x080050a4 0x080050a4 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x080050f4 0x080050f4 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08005144 0x08005144 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08005194 0x08005194 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x080051e4 0x080051e4 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o + 0x08005234 0x08005234 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080052be 0x080052be 0x00000002 PAD + 0x080052c0 0x080052c0 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08005310 0x08005310 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 0x0800535c 0x0800535c 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o + 0x080053ac 0x080053ac 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o + 0x080053fc 0x080053fc 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 0x0800544c 0x0800544c 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o + 0x0800549c 0x0800549c 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o + 0x080054ec 0x080054ec 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x080055d8 0x080055d8 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x0800561c 0x0800561c 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x0800562a 0x0800562a 0x00000002 PAD + 0x0800562c 0x0800562c 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x0800594a 0x0800594a 0x00000002 PAD + 0x0800594c 0x0800594c 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x08005aba 0x08005aba 0x00000002 PAD + 0x08005abc 0x08005abc 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08005b7e 0x08005b7e 0x00000002 PAD + 0x08005b80 0x08005b80 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o + 0x08005bc2 0x08005bc2 0x00000002 PAD + 0x08005bc4 0x08005bc4 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08005c2a 0x08005c2a 0x00000002 PAD + 0x08005c2c 0x08005c2c 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 0x08005c64 0x08005c64 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o + 0x0800601a 0x0800601a 0x00000002 PAD + 0x0800601c 0x0800601c 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o + 0x0800604a 0x0800604a 0x00000002 PAD + 0x0800604c 0x0800604c 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 0x0800607a 0x0800607a 0x00000002 PAD + 0x0800607c 0x0800607c 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o + 0x08006088 0x08006088 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o + 0x080060dc 0x080060dc 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o + 0x080060ec 0x080060ec 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o + 0x08006266 0x08006266 0x00000002 PAD + 0x08006268 0x08006268 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o + 0x08006632 0x08006632 0x00000002 PAD + 0x08006634 0x08006634 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o + 0x08006688 0x08006688 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x0800692c 0x0800692c 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o + 0x08006980 0x08006980 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 0x080069d4 0x080069d4 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o + 0x08006a24 0x08006a24 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o + 0x08006a78 0x08006a78 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o + 0x08006acc 0x08006acc 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o + 0x08006c00 0x08006c00 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 0x08006c54 0x08006c54 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o + 0x08006ca8 0x08006ca8 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o + 0x08006cc2 0x08006cc2 0x00000002 PAD + 0x08006cc4 0x08006cc4 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o + 0x08006cfa 0x08006cfa 0x00000002 PAD + 0x08006cfc 0x08006cfc 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o + 0x08006d6c 0x08006d6c 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08006dc4 0x08006dc4 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x08006dd8 0x08006dd8 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08006dec 0x08006dec 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x08006e1e 0x08006e1e 0x00000002 PAD + 0x08006e20 0x08006e20 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08006e30 0x08006e30 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08007092 0x08007092 0x00000002 PAD + 0x08007094 0x08007094 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 0x080070a0 0x080070a0 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o + 0x080070c2 0x080070c2 0x00000002 PAD + 0x080070c4 0x080070c4 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o + 0x080070e6 0x080070e6 0x00000002 PAD + 0x080070e8 0x080070e8 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o + 0x080071ce 0x080071ce 0x00000002 PAD + 0x080071d0 0x080071d0 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o + 0x0800788e 0x0800788e 0x00000002 PAD + 0x08007890 0x08007890 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o + 0x080078e4 0x080078e4 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o + 0x080079e4 0x080079e4 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o + 0x08007bf4 0x08007bf4 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o + 0x08007e42 0x08007e42 0x00000002 PAD + 0x08007e44 0x08007e44 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08007fdc 0x08007fdc 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08008030 0x08008030 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08008084 0x08008084 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x08008326 0x08008326 0x00000002 PAD + 0x08008328 0x08008328 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x080086ca 0x080086ca 0x00000002 PAD + 0x080086cc 0x080086cc 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x080088e0 0x080088e0 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x08008a4c 0x08008a4c 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08008a94 0x08008a94 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x08008ae8 0x08008ae8 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x08008b3c 0x08008b3c 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08008b90 0x08008b90 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08008ba0 0x08008ba0 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x08008ba8 0x08008ba8 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08008bb0 0x08008bb0 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08008cd2 0x08008cd2 0x00000002 PAD + 0x08008cd4 0x08008cd4 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08008d70 0x08008d70 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x08008dfa 0x08008dfa 0x00000002 PAD + 0x08008dfc 0x08008dfc 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x08008e04 0x08008e04 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x0800901e 0x0800901e 0x00000002 PAD + 0x08009020 0x08009020 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x0800908c 0x0800908c 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x08009094 0x08009094 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x080091d6 0x080091d6 0x00000002 PAD + 0x080091d8 0x080091d8 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08009274 0x08009274 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x0800927c 0x0800927c 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x08009284 0x08009284 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x0800944e 0x0800944e 0x00000002 PAD + 0x08009450 0x08009450 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x08009458 0x08009458 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08009460 0x08009460 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x0800946c 0x0800946c 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o + 0x080094c0 0x080094c0 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x0800991c 0x0800991c 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x080099ba 0x080099ba 0x00000002 PAD + 0x080099bc 0x080099bc 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o + 0x08009b88 0x08009b88 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o + 0x08009bdc 0x08009bdc 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o + 0x08009c30 0x08009c30 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o + 0x08009c34 0x08009c34 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x08009c44 0x08009c44 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x08009c54 0x08009c54 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x08009c88 0x08009c88 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x08009dde 0x08009dde 0x00000002 PAD + 0x08009de0 0x08009de0 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x08009e04 0x08009e04 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o + 0x08009e4c 0x08009e4c 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x0800a0c6 0x0800a0c6 0x00000002 PAD + 0x0800a0c8 0x0800a0c8 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800a274 0x0800a274 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800a3de 0x0800a3de 0x00000002 PAD + 0x0800a3e0 0x0800a3e0 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800a4be 0x0800a4be 0x00000002 PAD + 0x0800a4c0 0x0800a4c0 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800a5fe 0x0800a5fe 0x00000002 PAD + 0x0800a600 0x0800a600 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800a646 0x0800a646 0x00000002 PAD + 0x0800a648 0x0800a648 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800a986 0x0800a986 0x00000002 PAD + 0x0800a988 0x0800a988 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800aa78 0x0800aa78 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800aba0 0x0800aba0 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800abce 0x0800abce 0x00000002 PAD + 0x0800abd0 0x0800abd0 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ac3e 0x0800ac3e 0x00000002 PAD + 0x0800ac40 0x0800ac40 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ac6c 0x0800ac6c 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800acd8 0x0800acd8 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800ad86 0x0800ad86 0x00000002 PAD + 0x0800ad88 0x0800ad88 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800ae6c 0x0800ae6c 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800b0b6 0x0800b0b6 0x00000002 PAD + 0x0800b0b8 0x0800b0b8 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800b130 0x0800b130 0x00000076 Code RO 2675 .text.InvSqrt user_math.o + 0x0800b1a6 0x0800b1a6 0x00000002 PAD + 0x0800b1a8 0x0800b1a8 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o + 0x0800b260 0x0800b260 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o + 0x0800b39c 0x0800b39c 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o + 0x0800b42e 0x0800b42e 0x00000002 PAD + 0x0800b430 0x0800b430 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800b4c6 0x0800b4c6 0x00000002 PAD + 0x0800b4c8 0x0800b4c8 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o + 0x0800b542 0x0800b542 0x00000002 PAD + 0x0800b544 0x0800b544 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800b574 0x0800b574 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800b5fa 0x0800b5fa 0x00000002 PAD + 0x0800b5fc 0x0800b5fc 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800b644 0x0800b644 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800b79c 0x0800b79c 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o + 0x0800b8c8 0x0800b8c8 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800ba0c 0x0800ba0c 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o + 0x0800bb18 0x0800bb18 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800bbae 0x0800bbae 0x00000002 PAD + 0x0800bbb0 0x0800bbb0 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800bd20 0x0800bd20 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800bd50 0x0800bd50 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800bda2 0x0800bda2 0x00000002 PAD + 0x0800bda4 0x0800bda4 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800be24 0x0800be24 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800be9c 0x0800be9c 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800beec 0x0800beec 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o + 0x0800c00c 0x0800c00c 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800c126 0x0800c126 0x00000002 PAD + 0x0800c128 0x0800c128 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o + 0x0800c22a 0x0800c22a 0x00000002 PAD + 0x0800c22c 0x0800c22c 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800c27a 0x0800c27a 0x00000002 PAD + 0x0800c27c 0x0800c27c 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800c2ca 0x0800c2ca 0x00000002 PAD + 0x0800c2cc 0x0800c2cc 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800c352 0x0800c352 0x00000002 PAD + 0x0800c354 0x0800c354 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800c394 0x0800c394 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800c5be 0x0800c5be 0x00000002 PAD + 0x0800c5c0 0x0800c5c0 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800c608 0x0800c608 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800c650 0x0800c650 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800c6a2 0x0800c6a2 0x00000002 PAD + 0x0800c6a4 0x0800c6a4 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800c6f8 0x0800c6f8 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800c786 0x0800c786 0x00000002 PAD + 0x0800c788 0x0800c788 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800c7e0 0x0800c7e0 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800c820 0x0800c820 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o + 0x0800c86c 0x0800c86c 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o + 0x0800c870 0x0800c870 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o + 0x0800ca8c 0x0800ca8c 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o + 0x0800ca90 0x0800ca90 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800cafc 0x0800cafc 0x000002f0 Code RO 2638 .text.PID_Calc pid.o + 0x0800cdec 0x0800cdec 0x00000196 Code RO 2630 .text.PID_Init pid.o + 0x0800cf82 0x0800cf82 0x00000002 PAD + 0x0800cf84 0x0800cf84 0x00000048 Code RO 2636 .text.PID_Reset pid.o + 0x0800cfcc 0x0800cfcc 0x00000004 PAD + 0x0800cfd0 0x0800cfd0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o + 0x0800d034 0x0800d034 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o + 0x0800d0c8 0x0800d0c8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o + 0x0800d122 0x0800d122 0x00000002 PAD + 0x0800d124 0x0800d124 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x0800d158 0x0800d158 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x0800d16e 0x0800d16e 0x00000002 PAD + 0x0800d170 0x0800d170 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800d186 0x0800d186 0x00000002 PAD + 0x0800d188 0x0800d188 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d19e 0x0800d19e 0x00000002 PAD + 0x0800d1a0 0x0800d1a0 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x0800d242 0x0800d242 0x00000002 PAD + 0x0800d244 0x0800d244 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x0800d2ea 0x0800d2ea 0x00000002 PAD + 0x0800d2ec 0x0800d2ec 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d372 0x0800d372 0x00000002 PAD + 0x0800d374 0x0800d374 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x0800d458 0x0800d458 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x0800d524 0x0800d524 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o + 0x0800d552 0x0800d552 0x00000002 PAD + 0x0800d554 0x0800d554 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x0800d680 0x0800d680 0x00000024 Code RO 2154 .text.SVC_Handler port.o + 0x0800d6a4 0x0800d6a4 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o + 0x0800d6b2 0x0800d6b2 0x00000002 PAD + 0x0800d6b4 0x0800d6b4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o + 0x0800d6c6 0x0800d6c6 0x00000002 PAD + 0x0800d6c8 0x0800d6c8 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x0800d71a 0x0800d71a 0x00000002 PAD + 0x0800d71c 0x0800d71c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o + 0x0800d734 0x0800d734 0x000000bc Code RO 13 .text.SystemClock_Config main.o + 0x0800d7f0 0x0800d7f0 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o + 0x0800d802 0x0800d802 0x00000002 PAD + 0x0800d804 0x0800d804 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o + 0x0800d814 0x0800d814 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800d9b8 0x0800d9b8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x0800d9ee 0x0800d9ee 0x00000002 PAD + 0x0800d9f0 0x0800d9f0 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x0800dada 0x0800dada 0x00000002 PAD + 0x0800dadc 0x0800dadc 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o + 0x0800dbd0 0x0800dbd0 0x000000f2 Code RO 1173 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o + 0x0800dcc2 0x0800dcc2 0x00000002 PAD + 0x0800dcc4 0x0800dcc4 0x000000a4 Code RO 1175 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o + 0x0800dd68 0x0800dd68 0x000000b8 Code RO 2986 .text.Task_Init init.o + 0x0800de20 0x0800de20 0x00000190 Code RO 2994 .text.Task_atti_esti atti_esti.o + 0x0800dfb0 0x0800dfb0 0x000000ec Code RO 3032 .text.Task_gimbal_ctrl gimbal_ctrl.o + 0x0800e09c 0x0800e09c 0x00000004 PAD + 0x0800e0a0 0x0800e0a0 0x000000a0 Code RO 3011 .text.Task_remote remote.o + 0x0800e140 0x0800e140 0x0000001c Code RO 1445 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o + 0x0800e15c 0x0800e15c 0x00000094 Code RO 1405 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o + 0x0800e1f0 0x0800e1f0 0x00000026 Code RO 1453 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o + 0x0800e216 0x0800e216 0x00000002 PAD + 0x0800e218 0x0800e218 0x0000002e Code RO 2440 .text.UART_Get uart.o + 0x0800e246 0x0800e246 0x00000002 PAD + 0x0800e248 0x0800e248 0x00000168 Code RO 1443 .text.UART_Receive_IT stm32f4xx_hal_uart.o + 0x0800e3b0 0x0800e3b0 0x0000013a Code RO 1361 .text.UART_SetConfig stm32f4xx_hal_uart.o + 0x0800e4ea 0x0800e4ea 0x00000002 PAD + 0x0800e4ec 0x0800e4ec 0x00000094 Code RO 1451 .text.UART_Transmit_IT stm32f4xx_hal_uart.o + 0x0800e580 0x0800e580 0x00000020 Code RO 186 .text.USART3_IRQHandler stm32f4xx_it.o + 0x0800e5a0 0x0800e5a0 0x00000022 Code RO 2919 .text.USART3_IRQHandler1 remote_control.o + 0x0800e5c2 0x0800e5c2 0x00000002 PAD + 0x0800e5c4 0x0800e5c4 0x00000004 Code RO 160 .text.UsageFault_Handler stm32f4xx_it.o + 0x0800e5c8 0x0800e5c8 0x0000001e Code RO 2537 .text.__ARM_isfinite filter.o + 0x0800e5e6 0x0800e5e6 0x00000002 PAD + 0x0800e5e8 0x0800e5e8 0x0000001e Code RO 2634 .text.__ARM_isfinite pid.o + 0x0800e606 0x0800e606 0x00000002 PAD + 0x0800e608 0x0800e608 0x00000018 Code RO 2535 .text.__ARM_isfinitef filter.o + 0x0800e620 0x0800e620 0x00000018 Code RO 2632 .text.__ARM_isfinitef pid.o + 0x0800e638 0x0800e638 0x00000034 Code RO 2531 .text.__ARM_isinf filter.o + 0x0800e66c 0x0800e66c 0x0000001c Code RO 2529 .text.__ARM_isinff filter.o + 0x0800e688 0x0800e688 0x00000038 Code RO 584 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x0800e6c0 0x0800e6c0 0x00000030 Code RO 580 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x0800e6f0 0x0800e6f0 0x00000010 Code RO 572 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800e700 0x0800e700 0x00000042 Code RO 574 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x0800e742 0x0800e742 0x00000002 PAD + 0x0800e744 0x0800e744 0x00000042 Code RO 2104 .text.__NVIC_SetPriority cmsis_os2.o + 0x0800e786 0x0800e786 0x00000002 PAD + 0x0800e788 0x0800e788 0x0000003c Code RO 568 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x0800e7c4 0x0800e7c4 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o + 0x0800e7c6 0x0800e7c6 0x00000002 PAD + 0x0800e7c8 0x0800e7c8 0x0000001e Code RO 2482 .text.copysignf ahrs.o + 0x0800e7e6 0x0800e7e6 0x00000002 PAD + 0x0800e7e8 0x0800e7e8 0x0000003e Code RO 2702 .text.delay_init bsp_delay.o + 0x0800e826 0x0800e826 0x00000002 PAD + 0x0800e828 0x0800e828 0x000000f6 Code RO 1726 .text.eTaskGetState tasks.o + 0x0800e91e 0x0800e91e 0x00000002 PAD + 0x0800e920 0x0800e920 0x00000058 Code RO 2976 .text.float_to_uint motor_dm.o + 0x0800e978 0x0800e978 0x00000004 Code RO 35 .text.getRunTimeCounterValue freertos.o + 0x0800e97c 0x0800e97c 0x00000050 Code RO 11 .text.main main.o + 0x0800e9cc 0x0800e9cc 0x0000002a Code RO 2742 .text.map calc_lib.o + 0x0800e9f6 0x0800e9f6 0x00000002 PAD + 0x0800e9f8 0x0800e9f8 0x00000080 Code RO 3053 .text.motor_imu_offset gimbal.o + 0x0800ea78 0x0800ea78 0x00000034 Code RO 2006 .text.osDelay cmsis_os2.o + 0x0800eaac 0x0800eaac 0x00000058 Code RO 2008 .text.osDelayUntil cmsis_os2.o + 0x0800eb04 0x0800eb04 0x00000052 Code RO 1944 .text.osKernelGetState cmsis_os2.o + 0x0800eb56 0x0800eb56 0x00000002 PAD + 0x0800eb58 0x0800eb58 0x00000026 Code RO 1956 .text.osKernelGetTickCount cmsis_os2.o + 0x0800eb7e 0x0800eb7e 0x00000002 PAD + 0x0800eb80 0x0800eb80 0x00000006 Code RO 1958 .text.osKernelGetTickFreq cmsis_os2.o + 0x0800eb86 0x0800eb86 0x00000002 PAD + 0x0800eb88 0x0800eb88 0x00000046 Code RO 1940 .text.osKernelInitialize cmsis_os2.o + 0x0800ebce 0x0800ebce 0x00000002 PAD + 0x0800ebd0 0x0800ebd0 0x00000056 Code RO 1950 .text.osKernelLock cmsis_os2.o + 0x0800ec26 0x0800ec26 0x00000002 PAD + 0x0800ec28 0x0800ec28 0x00000052 Code RO 1946 .text.osKernelStart cmsis_os2.o + 0x0800ec7a 0x0800ec7a 0x00000002 PAD + 0x0800ec7c 0x0800ec7c 0x0000006e Code RO 1952 .text.osKernelUnlock cmsis_os2.o + 0x0800ecea 0x0800ecea 0x00000002 PAD + 0x0800ecec 0x0800ecec 0x000000c0 Code RO 2060 .text.osMessageQueueGet cmsis_os2.o + 0x0800edac 0x0800edac 0x000000fe Code RO 2056 .text.osMessageQueueNew cmsis_os2.o + 0x0800eeaa 0x0800eeaa 0x00000002 PAD + 0x0800eeac 0x0800eeac 0x000000c4 Code RO 2058 .text.osMessageQueuePut cmsis_os2.o + 0x0800ef70 0x0800ef70 0x00000040 Code RO 2070 .text.osMessageQueueReset cmsis_os2.o + 0x0800efb0 0x0800efb0 0x0000009e Code RO 2038 .text.osMutexAcquire cmsis_os2.o + 0x0800f04e 0x0800f04e 0x00000002 PAD + 0x0800f050 0x0800f050 0x00000128 Code RO 2036 .text.osMutexNew cmsis_os2.o + 0x0800f178 0x0800f178 0x0000007e Code RO 2040 .text.osMutexRelease cmsis_os2.o + 0x0800f1f6 0x0800f1f6 0x00000002 PAD + 0x0800f1f8 0x0800f1f8 0x000000a4 Code RO 1998 .text.osThreadFlagsSet cmsis_os2.o + 0x0800f29c 0x0800f29c 0x0000011a Code RO 2004 .text.osThreadFlagsWait cmsis_os2.o + 0x0800f3b6 0x0800f3b6 0x00000002 PAD + 0x0800f3b8 0x0800f3b8 0x00000010 Code RO 1974 .text.osThreadGetId cmsis_os2.o + 0x0800f3c8 0x0800f3c8 0x0000015a Code RO 1970 .text.osThreadNew cmsis_os2.o + 0x0800f522 0x0800f522 0x00000002 PAD + 0x0800f524 0x0800f524 0x0000005e Code RO 1992 .text.osThreadTerminate cmsis_os2.o + 0x0800f582 0x0800f582 0x00000002 PAD + 0x0800f584 0x0800f584 0x000000d4 Code RO 1720 .text.prvAddCurrentTaskToDelayedList tasks.o + 0x0800f658 0x0800f658 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startup_stm32f407xx.o - Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014fe0, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) + Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014fd0, Size: 0x00000000, Max: 0x00004000, ABSOLUTE) **** No section assigned to this execution region **** @@ -8699,7 +8699,7 @@ Image component sizes 134 0 0 0 0 3297 dma.o 780 8 0 0 0 3412 filter.o 98 0 48 0 4 3084 freertos.o - 2748 52 0 0 0 8738 gimbal.o + 2740 48 0 0 0 8732 gimbal.o 236 12 0 0 772 5081 gimbal_ctrl.o 554 0 0 0 0 4164 gpio.o 576 12 56 0 64 4722 gpio_1.o @@ -8745,9 +8745,9 @@ Image component sizes 0 0 183 0 80 3063 user_task.o ---------------------------------------------------------------------- - 77144 326 804 404 34172 454355 Object Totals + 77128 314 804 404 34172 454349 Object Totals 0 0 32 0 0 0 (incl. Generated) - 402 16 3 3 30 0 (incl. Padding) + 394 8 3 3 30 0 (incl. Padding) ---------------------------------------------------------------------- @@ -8836,15 +8836,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 84864 1002 996 404 34268 456119 Grand Totals - 84864 1002 996 120 34268 456119 ELF Image Totals (compressed) - 84864 1002 996 120 0 0 ROM Totals + 84848 990 996 404 34268 456113 Grand Totals + 84848 990 996 120 34268 456113 ELF Image Totals (compressed) + 84848 990 996 120 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 85860 ( 83.85kB) + Total RO Size (Code + RO Data) 85844 ( 83.83kB) Total RW Size (RW Data + ZI Data) 34672 ( 33.86kB) - Total ROM Size (Code + RO Data + RW Data) 85980 ( 83.96kB) + Total ROM Size (Code + RO Data + RW Data) 85964 ( 83.95kB) ============================================================================== diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o index dd19404..be6871a 100644 Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep index 01f72a0..692bda7 100644 --- a/MDK-ARM/gimbal/gimbal_gimbal.dep +++ b/MDK-ARM/gimbal/gimbal_gimbal.dep @@ -2534,7 +2534,7 @@ I (..\User\device\motor_rm.h)(0x68F22F87) I (..\User\module\config.h)(0x68DD3463) I (..\User\device\motor_lz.h)(0x68F22F87) I (..\User\device\motor_lk.h)(0x68F22F87) -F (..\User\module\gimbal.c)(0x69172B7F)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) +F (..\User\module\gimbal.c)(0x69172E35)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module -I./RTE/_gimbal -ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include -ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include -D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx -o gimbal/gimbal.o -MD) I (..\User\module\gimbal.h)(0x6917284C) I (..\User\component\ahrs.h)(0x68F3410E) I (..\User\component\user_math.h)(0x68F22FA9) diff --git a/User/module/gimbal.c b/User/module/gimbal.c index be975aa..c535ba2 100644 --- a/User/module/gimbal.c +++ b/User/module/gimbal.c @@ -297,8 +297,8 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) { break; case GIMBAL_MODE_RELATIVE: /*计算零点*/ - g->zero.travel.yaw=motor_imu_offset(&g->param->zero.yaw_encoder,&g->feedback.imu.eulr.yaw); - g->zero.travel.yaw=motor_imu_offset(&g->param->zero.pit_encoder,&g->feedback.imu.eulr.pit); + g->zero.travel.yaw=motor_imu_offset(&g->feedback.motor.yaw.rotor_abs_angle,&g->feedback.imu.eulr.yaw); + g->zero.travel.yaw=motor_imu_offset(&g->feedback.motor.pit.rotor_abs_angle,&g->feedback.imu.eulr.pit); g->zero.yaw = g->param->zero.yaw_encoder - g->zero.travel.yaw; g->zero.pit = g->param->zero.pit_encoder - g->zero.travel.pit;