- ..\User\device\motor.h
- 14
- 19
- 32
+ ..\User\task\gimbal_ctrl.c
+ 0
+ 31
+ 1
1
0
diff --git a/MDK-ARM/gimbal/ai.o b/MDK-ARM/gimbal/ai.o
index d3761d3..39c89a8 100644
Binary files a/MDK-ARM/gimbal/ai.o and b/MDK-ARM/gimbal/ai.o differ
diff --git a/MDK-ARM/gimbal/atti_esti.o b/MDK-ARM/gimbal/atti_esti.o
index 2f534b3..de5ac50 100644
Binary files a/MDK-ARM/gimbal/atti_esti.o and b/MDK-ARM/gimbal/atti_esti.o differ
diff --git a/MDK-ARM/gimbal/config.o b/MDK-ARM/gimbal/config.o
index 049ea02..a4a5db9 100644
Binary files a/MDK-ARM/gimbal/config.o and b/MDK-ARM/gimbal/config.o differ
diff --git a/MDK-ARM/gimbal/gimbal.axf b/MDK-ARM/gimbal/gimbal.axf
index eb1698b..6465221 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 ff399a8..6939acc 100644
--- a/MDK-ARM/gimbal/gimbal.build_log.htm
+++ b/MDK-ARM/gimbal/gimbal.build_log.htm
@@ -31,15 +31,9 @@ Note: source file '..\User\bsp\can.c' - object file renamed from 'gimbal\can.o'
Note: source file '..\User\bsp\gpio.c' - object file renamed from 'gimbal\gpio.o' to 'gimbal\gpio_1.o'.
Note: source file '..\User\bsp\i2c.c' - object file renamed from 'gimbal\i2c.o' to 'gimbal\i2c_1.o'.
Note: source file '..\User\bsp\spi.c' - object file renamed from 'gimbal\spi.o' to 'gimbal\spi_1.o'.
-compiling gimbal_ctrl.c...
-compiling ai.c...
-compiling init.c...
-compiling remote.c...
compiling config.c...
-compiling gimbal.c...
-compiling atti_esti.c...
linking...
-Program Size: Code=84384 RO-data=996 RW-data=416 ZI-data=34280
+Program Size: Code=84448 RO-data=996 RW-data=424 ZI-data=34272
"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 687ea59..fa82f9a 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: Tue Oct 28 22:17:10 2025
+
#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Sat Nov 1 22:06:33 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, 1016 bytes, Stack size 88 bytes, gimbal.o(.text.Gimbal_Control))
+
Gimbal_Control (Thumb, 1000 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
@@ -1142,7 +1142,7 @@ Global Symbols
[Called By]
-Gimbal_Output (Thumb, 174 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Output))
+
Gimbal_Output (Thumb, 274 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Output))
[Stack]
- Max Depth = 248
- Call Chain = Gimbal_Output ⇒ MOTOR_DM_MITCtrl ⇒ MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
[Calls]- >> MOTOR_DM_MITCtrl
@@ -4974,7 +4974,7 @@ Local Symbols
[Called By]- >> MOTOR_DM_ParseFeedbackFrame
-Gimbal_SetMode (Thumb, 188 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
+
Gimbal_SetMode (Thumb, 180 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
[Stack]
- Max Depth = 120
- Call Chain = Gimbal_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
[Calls]- >> PID_Reset
diff --git a/MDK-ARM/gimbal/gimbal.map b/MDK-ARM/gimbal/gimbal.map
index 677be3e..4e5eef2 100644
--- a/MDK-ARM/gimbal/gimbal.map
+++ b/MDK-ARM/gimbal/gimbal.map
@@ -6467,585 +6467,585 @@ 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)
- [Anonymous Symbol] 0x08003c4c Section 0 gimbal.o(.text.Gimbal_Init)
- [Anonymous Symbol] 0x08003e24 Section 0 gimbal.o(.text.Gimbal_Output)
- Gimbal_SetMode 0x08003ed5 Thumb Code 188 gimbal.o(.text.Gimbal_SetMode)
- [Anonymous Symbol] 0x08003ed4 Section 0 gimbal.o(.text.Gimbal_SetMode)
- [Anonymous Symbol] 0x08003f90 Section 0 gimbal.o(.text.Gimbal_UpdateFeedback)
- [Anonymous Symbol] 0x080040f8 Section 0 gimbal.o(.text.Gimbal_UpdateIMU)
- [Anonymous Symbol] 0x08004144 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- [Anonymous Symbol] 0x08004198 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- [Anonymous Symbol] 0x080042f0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- [Anonymous Symbol] 0x08004490 Section 0 can_1.o(.text.HAL_CAN_ErrorCallback)
- [Anonymous Symbol] 0x080044e0 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- [Anonymous Symbol] 0x08004534 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- [Anonymous Symbol] 0x08004748 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- [Anonymous Symbol] 0x080047b8 Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- [Anonymous Symbol] 0x08004bac Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- [Anonymous Symbol] 0x08004d8c Section 0 can.o(.text.HAL_CAN_MspInit)
- [Anonymous Symbol] 0x08004f5c Section 0 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- [Anonymous Symbol] 0x08004fac Section 0 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- [Anonymous Symbol] 0x08004ffc Section 0 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- [Anonymous Symbol] 0x0800504c Section 0 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- [Anonymous Symbol] 0x0800509c Section 0 can_1.o(.text.HAL_CAN_SleepCallback)
- [Anonymous Symbol] 0x080050ec Section 0 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- [Anonymous Symbol] 0x08005178 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- [Anonymous Symbol] 0x080051c8 Section 0 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- [Anonymous Symbol] 0x08005214 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- [Anonymous Symbol] 0x08005264 Section 0 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- [Anonymous Symbol] 0x080052b4 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- [Anonymous Symbol] 0x08005304 Section 0 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- [Anonymous Symbol] 0x08005354 Section 0 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- [Anonymous Symbol] 0x080053a4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
- [Anonymous Symbol] 0x08005490 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
- [Anonymous Symbol] 0x080054d4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)
- [Anonymous Symbol] 0x080054e4 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- [Anonymous Symbol] 0x08005804 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- [Anonymous Symbol] 0x08005974 Section 0 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- [Anonymous Symbol] 0x08005a38 Section 0 stm32f4xx_hal.o(.text.HAL_Delay)
- [Anonymous Symbol] 0x08005a7c Section 0 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
- [Anonymous Symbol] 0x08005ae4 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
- [Anonymous Symbol] 0x08005b1c Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- [Anonymous Symbol] 0x08005ed4 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
- [Anonymous Symbol] 0x08005f04 Section 0 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
- [Anonymous Symbol] 0x08005f34 Section 0 stm32f4xx_hal.o(.text.HAL_GetTick)
- [Anonymous Symbol] 0x08005f40 Section 0 i2c_1.o(.text.HAL_I2C_AbortCpltCallback)
- [Anonymous Symbol] 0x08005f94 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback)
- [Anonymous Symbol] 0x08005fa4 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler)
- [Anonymous Symbol] 0x08006120 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler)
- [Anonymous Symbol] 0x080064ec Section 0 i2c_1.o(.text.HAL_I2C_ErrorCallback)
- [Anonymous Symbol] 0x08006540 Section 0 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
- [Anonymous Symbol] 0x080067e4 Section 0 i2c_1.o(.text.HAL_I2C_ListenCpltCallback)
- [Anonymous Symbol] 0x08006838 Section 0 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback)
- [Anonymous Symbol] 0x0800688c Section 0 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback)
- [Anonymous Symbol] 0x080068dc Section 0 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback)
- [Anonymous Symbol] 0x08006930 Section 0 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback)
- [Anonymous Symbol] 0x08006984 Section 0 i2c.o(.text.HAL_I2C_MspInit)
- [Anonymous Symbol] 0x08006ab8 Section 0 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback)
- [Anonymous Symbol] 0x08006b0c Section 0 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback)
- [Anonymous Symbol] 0x08006b60 Section 0 stm32f4xx_hal.o(.text.HAL_IncTick)
- [Anonymous Symbol] 0x08006b7c Section 0 stm32f4xx_hal.o(.text.HAL_Init)
- [Anonymous Symbol] 0x08006bb4 Section 0 stm32f4xx_hal.o(.text.HAL_InitTick)
- [Anonymous Symbol] 0x08006c24 Section 0 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- [Anonymous Symbol] 0x08006c7c Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
- [Anonymous Symbol] 0x08006c90 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- [Anonymous Symbol] 0x08006ca4 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- [Anonymous Symbol] 0x08006cd8 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- [Anonymous Symbol] 0x08006ce8 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- [Anonymous Symbol] 0x08006f4c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- [Anonymous Symbol] 0x08006f58 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- [Anonymous Symbol] 0x08006f7c Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- [Anonymous Symbol] 0x08006fa0 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- [Anonymous Symbol] 0x08007088 Section 0 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- [Anonymous Symbol] 0x08007748 Section 0 spi_1.o(.text.HAL_SPI_ErrorCallback)
- [Anonymous Symbol] 0x0800779c Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
- [Anonymous Symbol] 0x0800789c Section 0 spi.o(.text.HAL_SPI_MspInit)
- [Anonymous Symbol] 0x08007aac Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
- [Anonymous Symbol] 0x08007cfc Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
- [Anonymous Symbol] 0x08007e94 Section 0 spi_1.o(.text.HAL_SPI_RxCpltCallback)
- [Anonymous Symbol] 0x08007ee8 Section 0 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
- [Anonymous Symbol] 0x08007f3c Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
- [Anonymous Symbol] 0x080081e0 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
- [Anonymous Symbol] 0x08008584 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
- [Anonymous Symbol] 0x08008798 Section 0 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
- [Anonymous Symbol] 0x08008904 Section 0 spi_1.o(.text.HAL_SPI_TxCpltCallback)
- [Anonymous Symbol] 0x0800894c Section 0 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
- [Anonymous Symbol] 0x080089a0 Section 0 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
- [Anonymous Symbol] 0x080089f4 Section 0 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
- [Anonymous Symbol] 0x08008a48 Section 0 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
- [Anonymous Symbol] 0x08008a58 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
- [Anonymous Symbol] 0x08008a60 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
- [Anonymous Symbol] 0x08008a68 Section 0 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
- [Anonymous Symbol] 0x08008b8c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
- [Anonymous Symbol] 0x08008c28 Section 0 tim.o(.text.HAL_TIM_Base_MspInit)
- [Anonymous Symbol] 0x08008cb4 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
- [Anonymous Symbol] 0x08008cbc Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
- [Anonymous Symbol] 0x08008ed8 Section 0 tim.o(.text.HAL_TIM_MspPostInit)
- [Anonymous Symbol] 0x08008f44 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
- [Anonymous Symbol] 0x08008f4c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
- [Anonymous Symbol] 0x08009090 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
- [Anonymous Symbol] 0x0800912c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
- [Anonymous Symbol] 0x08009134 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
- [Anonymous Symbol] 0x0800913c Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
- [Anonymous Symbol] 0x08009308 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
- [Anonymous Symbol] 0x08009310 Section 0 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
- [Anonymous Symbol] 0x08009318 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
- [Anonymous Symbol] 0x08009324 Section 0 uart.o(.text.HAL_UART_ErrorCallback)
- [Anonymous Symbol] 0x08009378 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
- [Anonymous Symbol] 0x080097d4 Section 0 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
- [Anonymous Symbol] 0x08009874 Section 0 usart.o(.text.HAL_UART_MspInit)
- [Anonymous Symbol] 0x08009a40 Section 0 uart.o(.text.HAL_UART_RxCpltCallback)
- [Anonymous Symbol] 0x08009a94 Section 0 uart.o(.text.HAL_UART_TxCpltCallback)
- [Anonymous Symbol] 0x08009ae8 Section 0 stm32f4xx_it.o(.text.HardFault_Handler)
- [Anonymous Symbol] 0x08009aec Section 0 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler)
- [Anonymous Symbol] 0x08009afc Section 0 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler)
- I2C_ConvertOtherXferOptions 0x08009b0d Thumb Code 52 stm32f4xx_hal_i2c.o(.text.I2C_ConvertOtherXferOptions)
- [Anonymous Symbol] 0x08009b0c Section 0 stm32f4xx_hal_i2c.o(.text.I2C_ConvertOtherXferOptions)
- I2C_DMAAbort 0x08009b41 Thumb Code 342 stm32f4xx_hal_i2c.o(.text.I2C_DMAAbort)
- [Anonymous Symbol] 0x08009b40 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_DMAAbort)
- I2C_Flush_DR 0x08009c99 Thumb Code 36 stm32f4xx_hal_i2c.o(.text.I2C_Flush_DR)
- [Anonymous Symbol] 0x08009c98 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Flush_DR)
- I2C_Get 0x08009cbd Thumb Code 72 i2c_1.o(.text.I2C_Get)
- [Anonymous Symbol] 0x08009cbc Section 0 i2c_1.o(.text.I2C_Get)
- I2C_ITError 0x08009d05 Thumb Code 634 stm32f4xx_hal_i2c.o(.text.I2C_ITError)
- [Anonymous Symbol] 0x08009d04 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_ITError)
- I2C_MasterReceive_BTF 0x08009f81 Thumb Code 428 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_BTF)
- [Anonymous Symbol] 0x08009f80 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_BTF)
- I2C_MasterReceive_RXNE 0x0800a12d Thumb Code 362 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_RXNE)
- [Anonymous Symbol] 0x0800a12c Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MasterReceive_RXNE)
- I2C_MasterTransmit_BTF 0x0800a299 Thumb Code 222 stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_BTF)
- [Anonymous Symbol] 0x0800a298 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_BTF)
- I2C_MasterTransmit_TXE 0x0800a379 Thumb Code 318 stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_TXE)
- [Anonymous Symbol] 0x0800a378 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MasterTransmit_TXE)
- I2C_Master_ADD10 0x0800a4b9 Thumb Code 70 stm32f4xx_hal_i2c.o(.text.I2C_Master_ADD10)
- [Anonymous Symbol] 0x0800a4b8 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Master_ADD10)
- I2C_Master_ADDR 0x0800a501 Thumb Code 830 stm32f4xx_hal_i2c.o(.text.I2C_Master_ADDR)
- [Anonymous Symbol] 0x0800a500 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Master_ADDR)
- I2C_Master_SB 0x0800a841 Thumb Code 240 stm32f4xx_hal_i2c.o(.text.I2C_Master_SB)
- [Anonymous Symbol] 0x0800a840 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Master_SB)
- I2C_MemoryTransmit_TXE_BTF 0x0800a931 Thumb Code 296 stm32f4xx_hal_i2c.o(.text.I2C_MemoryTransmit_TXE_BTF)
- [Anonymous Symbol] 0x0800a930 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_MemoryTransmit_TXE_BTF)
- I2C_SlaveReceive_BTF 0x0800aa59 Thumb Code 46 stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_BTF)
- [Anonymous Symbol] 0x0800aa58 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_BTF)
- I2C_SlaveReceive_RXNE 0x0800aa89 Thumb Code 110 stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_RXNE)
- [Anonymous Symbol] 0x0800aa88 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_SlaveReceive_RXNE)
- I2C_SlaveTransmit_BTF 0x0800aaf9 Thumb Code 44 stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_BTF)
- [Anonymous Symbol] 0x0800aaf8 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_BTF)
- I2C_SlaveTransmit_TXE 0x0800ab25 Thumb Code 108 stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_TXE)
- [Anonymous Symbol] 0x0800ab24 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_SlaveTransmit_TXE)
- I2C_Slave_ADDR 0x0800ab91 Thumb Code 174 stm32f4xx_hal_i2c.o(.text.I2C_Slave_ADDR)
- [Anonymous Symbol] 0x0800ab90 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Slave_ADDR)
- I2C_Slave_AF 0x0800ac41 Thumb Code 228 stm32f4xx_hal_i2c.o(.text.I2C_Slave_AF)
- [Anonymous Symbol] 0x0800ac40 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Slave_AF)
- I2C_Slave_STOPF 0x0800ad25 Thumb Code 586 stm32f4xx_hal_i2c.o(.text.I2C_Slave_STOPF)
- [Anonymous Symbol] 0x0800ad24 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_Slave_STOPF)
- I2C_WaitOnSTOPRequestThroughIT 0x0800af71 Thumb Code 120 stm32f4xx_hal_i2c.o(.text.I2C_WaitOnSTOPRequestThroughIT)
- [Anonymous Symbol] 0x0800af70 Section 0 stm32f4xx_hal_i2c.o(.text.I2C_WaitOnSTOPRequestThroughIT)
- [Anonymous Symbol] 0x0800afe8 Section 0 user_math.o(.text.InvSqrt)
- [Anonymous Symbol] 0x0800b060 Section 0 filter.o(.text.LowPassFilter2p_Apply)
- [Anonymous Symbol] 0x0800b118 Section 0 filter.o(.text.LowPassFilter2p_Init)
- [Anonymous Symbol] 0x0800b254 Section 0 filter.o(.text.LowPassFilter2p_Reset)
- MOTOR_DM_CreateCANManager 0x0800b2e9 Thumb Code 150 motor_dm.o(.text.MOTOR_DM_CreateCANManager)
- [Anonymous Symbol] 0x0800b2e8 Section 0 motor_dm.o(.text.MOTOR_DM_CreateCANManager)
- [Anonymous Symbol] 0x0800b380 Section 0 motor_dm.o(.text.MOTOR_DM_Enable)
- MOTOR_DM_GetCANManager 0x0800b3fd Thumb Code 48 motor_dm.o(.text.MOTOR_DM_GetCANManager)
- [Anonymous Symbol] 0x0800b3fc Section 0 motor_dm.o(.text.MOTOR_DM_GetCANManager)
- [Anonymous Symbol] 0x0800b42c Section 0 motor_dm.o(.text.MOTOR_DM_GetMotor)
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+ [Anonymous Symbol] 0x200003dc Section 0 bsp_delay.o(.bss.fac_ms)
+ fac_us 0x200003e0 Data 1 bsp_delay.o(.bss.fac_us)
+ [Anonymous Symbol] 0x200003e0 Section 0 bsp_delay.o(.bss.fac_us)
id_parser 0x20000b08 Data 4 can_1.o(.bss.id_parser)
[Anonymous Symbol] 0x20000b08 Section 0 can_1.o(.bss.id_parser)
inited 0x20000b60 Data 1 can_1.o(.bss.inited)
@@ -7405,343 +7405,343 @@ Image Symbol Table
EXTI4_IRQHandler 0x08003835 Thumb Code 10 stm32f4xx_it.o(.text.EXTI4_IRQHandler)
EXTI9_5_IRQHandler 0x08003841 Thumb Code 10 stm32f4xx_it.o(.text.EXTI9_5_IRQHandler)
Error_Handler 0x0800384d Thumb Code 6 main.o(.text.Error_Handler)
- Gimbal_Control 0x08003855 Thumb Code 1016 gimbal.o(.text.Gimbal_Control)
- Gimbal_Init 0x08003c4d Thumb Code 472 gimbal.o(.text.Gimbal_Init)
- Gimbal_Output 0x08003e25 Thumb Code 174 gimbal.o(.text.Gimbal_Output)
- Gimbal_UpdateFeedback 0x08003f91 Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback)
- Gimbal_UpdateIMU 0x080040f9 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU)
- HAL_CAN_ActivateNotification 0x08004145 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
- HAL_CAN_AddTxMessage 0x08004199 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
- HAL_CAN_ConfigFilter 0x080042f1 Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
- HAL_CAN_ErrorCallback 0x08004491 Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback)
- HAL_CAN_GetRxFifoFillLevel 0x080044e1 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
- HAL_CAN_GetRxMessage 0x08004535 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
- HAL_CAN_GetTxMailboxesFreeLevel 0x08004749 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
- HAL_CAN_IRQHandler 0x080047b9 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
- HAL_CAN_Init 0x08004bad Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
- HAL_CAN_MspInit 0x08004d8d Thumb Code 464 can.o(.text.HAL_CAN_MspInit)
- HAL_CAN_RxFifo0FullCallback 0x08004f5d Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
- HAL_CAN_RxFifo0MsgPendingCallback 0x08004fad Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
- HAL_CAN_RxFifo1FullCallback 0x08004ffd Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
- HAL_CAN_RxFifo1MsgPendingCallback 0x0800504d Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
- HAL_CAN_SleepCallback 0x0800509d Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback)
- HAL_CAN_Start 0x080050ed Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
- HAL_CAN_TxMailbox0AbortCallback 0x08005179 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
- HAL_CAN_TxMailbox0CompleteCallback 0x080051c9 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
- HAL_CAN_TxMailbox1AbortCallback 0x08005215 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
- HAL_CAN_TxMailbox1CompleteCallback 0x08005265 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
- HAL_CAN_TxMailbox2AbortCallback 0x080052b5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
- HAL_CAN_TxMailbox2CompleteCallback 0x08005305 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
- HAL_CAN_WakeUpFromRxMsgCallback 0x08005355 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
- HAL_DMA_Abort 0x080053a5 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
- HAL_DMA_Abort_IT 0x08005491 Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
- HAL_DMA_GetState 0x080054d5 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)
- HAL_DMA_IRQHandler 0x080054e5 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
- HAL_DMA_Init 0x08005805 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
- HAL_DMA_Start_IT 0x08005975 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
- HAL_Delay 0x08005a39 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay)
- HAL_GPIO_EXTI_Callback 0x08005a7d Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
- HAL_GPIO_EXTI_IRQHandler 0x08005ae5 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
- HAL_GPIO_Init 0x08005b1d Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
- HAL_GPIO_ReadPin 0x08005ed5 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
- HAL_GPIO_WritePin 0x08005f05 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
- HAL_GetTick 0x08005f35 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
- HAL_I2C_AbortCpltCallback 0x08005f41 Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback)
- HAL_I2C_AddrCallback 0x08005f95 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback)
- HAL_I2C_ER_IRQHandler 0x08005fa5 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler)
- HAL_I2C_EV_IRQHandler 0x08006121 Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler)
- HAL_I2C_ErrorCallback 0x080064ed Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback)
- HAL_I2C_Init 0x08006541 Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
- HAL_I2C_ListenCpltCallback 0x080067e5 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback)
- HAL_I2C_MasterRxCpltCallback 0x08006839 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback)
- HAL_I2C_MasterTxCpltCallback 0x0800688d Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback)
- HAL_I2C_MemRxCpltCallback 0x080068dd Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback)
- HAL_I2C_MemTxCpltCallback 0x08006931 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback)
- HAL_I2C_MspInit 0x08006985 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit)
- HAL_I2C_SlaveRxCpltCallback 0x08006ab9 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback)
- HAL_I2C_SlaveTxCpltCallback 0x08006b0d Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback)
- HAL_IncTick 0x08006b61 Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
- HAL_Init 0x08006b7d Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
- HAL_InitTick 0x08006bb5 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick)
- HAL_MspInit 0x08006c25 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
- HAL_NVIC_DisableIRQ 0x08006c7d Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
- HAL_NVIC_EnableIRQ 0x08006c91 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
- HAL_NVIC_SetPriority 0x08006ca5 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
- HAL_NVIC_SetPriorityGrouping 0x08006cd9 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
- HAL_RCC_ClockConfig 0x08006ce9 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
- HAL_RCC_GetHCLKFreq 0x08006f4d Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
- HAL_RCC_GetPCLK1Freq 0x08006f59 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
- HAL_RCC_GetPCLK2Freq 0x08006f7d Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
- HAL_RCC_GetSysClockFreq 0x08006fa1 Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
- HAL_RCC_OscConfig 0x08007089 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
- HAL_SPI_ErrorCallback 0x08007749 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback)
- HAL_SPI_Init 0x0800779d Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
- HAL_SPI_MspInit 0x0800789d Thumb Code 528 spi.o(.text.HAL_SPI_MspInit)
- HAL_SPI_Receive 0x08007aad Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
- HAL_SPI_Receive_DMA 0x08007cfd Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
- HAL_SPI_RxCpltCallback 0x08007e95 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback)
- HAL_SPI_RxHalfCpltCallback 0x08007ee9 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
- HAL_SPI_Transmit 0x08007f3d Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
- HAL_SPI_TransmitReceive 0x080081e1 Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
- HAL_SPI_TransmitReceive_DMA 0x08008585 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
- HAL_SPI_Transmit_DMA 0x08008799 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
- HAL_SPI_TxCpltCallback 0x08008905 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback)
- HAL_SPI_TxHalfCpltCallback 0x0800894d Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
- HAL_SPI_TxRxCpltCallback 0x080089a1 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
- HAL_SPI_TxRxHalfCpltCallback 0x080089f5 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
- HAL_SYSTICK_Config 0x08008a49 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
- HAL_TIMEx_BreakCallback 0x08008a59 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
- HAL_TIMEx_CommutCallback 0x08008a61 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
- HAL_TIMEx_MasterConfigSynchronization 0x08008a69 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
- HAL_TIM_Base_Init 0x08008b8d Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
- HAL_TIM_Base_MspInit 0x08008c29 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit)
- HAL_TIM_IC_CaptureCallback 0x08008cb5 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
- HAL_TIM_IRQHandler 0x08008cbd Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
- HAL_TIM_MspPostInit 0x08008ed9 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit)
- HAL_TIM_OC_DelayElapsedCallback 0x08008f45 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
- HAL_TIM_PWM_ConfigChannel 0x08008f4d Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
- HAL_TIM_PWM_Init 0x08009091 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
- HAL_TIM_PWM_MspInit 0x0800912d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
- HAL_TIM_PWM_PulseFinishedCallback 0x08009135 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
- HAL_TIM_PWM_Start 0x0800913d Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
- HAL_TIM_PeriodElapsedCallback 0x08009309 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
- HAL_TIM_TriggerCallback 0x08009311 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
- HAL_UARTEx_RxEventCallback 0x08009319 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
- HAL_UART_ErrorCallback 0x08009325 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback)
- HAL_UART_IRQHandler 0x08009379 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
- HAL_UART_Init 0x080097d5 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
- HAL_UART_MspInit 0x08009875 Thumb Code 460 usart.o(.text.HAL_UART_MspInit)
- HAL_UART_RxCpltCallback 0x08009a41 Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback)
- HAL_UART_TxCpltCallback 0x08009a95 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback)
- HardFault_Handler 0x08009ae9 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler)
- I2C1_ER_IRQHandler 0x08009aed Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler)
- I2C1_EV_IRQHandler 0x08009afd Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler)
- InvSqrt 0x0800afe9 Thumb Code 118 user_math.o(.text.InvSqrt)
- LowPassFilter2p_Apply 0x0800b061 Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply)
- LowPassFilter2p_Init 0x0800b119 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init)
- LowPassFilter2p_Reset 0x0800b255 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset)
- MOTOR_DM_Enable 0x0800b381 Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable)
- MOTOR_DM_GetMotor 0x0800b42d Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor)
- MOTOR_DM_MITCtrl 0x0800b4b5 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl)
- MOTOR_DM_Register 0x0800b655 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register)
- MOTOR_DM_Update 0x0800b8c5 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update)
- MOTOR_RM_Ctrl 0x0800ba69 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl)
- MOTOR_RM_GetMotor 0x0800bcdd Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor)
- MOTOR_RM_Register 0x0800bda5 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register)
- MOTOR_RM_SetOutput 0x0800bec5 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput)
- MOTOR_RM_Update 0x0800bfe1 Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update)
- MX_CAN1_Init 0x0800c0e5 Thumb Code 78 can.o(.text.MX_CAN1_Init)
- MX_CAN2_Init 0x0800c135 Thumb Code 78 can.o(.text.MX_CAN2_Init)
- MX_DMA_Init 0x0800c185 Thumb Code 134 dma.o(.text.MX_DMA_Init)
- MX_FREERTOS_Init 0x0800c20d Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init)
- MX_GPIO_Init 0x0800c24d Thumb Code 554 gpio.o(.text.MX_GPIO_Init)
- MX_I2C1_Init 0x0800c479 Thumb Code 72 i2c.o(.text.MX_I2C1_Init)
- MX_I2C2_Init 0x0800c4c1 Thumb Code 72 i2c.o(.text.MX_I2C2_Init)
- MX_SPI1_Init 0x0800c509 Thumb Code 82 spi.o(.text.MX_SPI1_Init)
- MX_SPI2_Init 0x0800c55d Thumb Code 84 spi.o(.text.MX_SPI2_Init)
- MX_TIM10_Init 0x0800c5b1 Thumb Code 142 tim.o(.text.MX_TIM10_Init)
- MX_TIM7_Init 0x0800c641 Thumb Code 88 tim.o(.text.MX_TIM7_Init)
- MX_USART1_UART_Init 0x0800c699 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init)
- MX_USART3_UART_Init 0x0800c6d9 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init)
- MemManage_Handler 0x0800c725 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler)
- NMI_Handler 0x0800c945 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler)
- PID_Calc 0x0800c9b5 Thumb Code 752 pid.o(.text.PID_Calc)
- PID_Init 0x0800cca5 Thumb Code 406 pid.o(.text.PID_Init)
- PID_Reset 0x0800ce3d Thumb Code 72 pid.o(.text.PID_Reset)
- PendSV_Handler 0x0800ce91 Thumb Code 100 port.o(.text.PendSV_Handler)
- RC_Init 0x0800cef5 Thumb Code 148 bsp_rc.o(.text.RC_Init)
- RC_restart 0x0800cf89 Thumb Code 90 bsp_rc.o(.text.RC_restart)
- SVC_Handler 0x0800d541 Thumb Code 36 port.o(.text.SVC_Handler)
- StartDefaultTask 0x0800d575 Thumb Code 18 freertos.o(.text.StartDefaultTask)
- SysTick_Handler 0x0800d5dd Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler)
- SystemClock_Config 0x0800d5f5 Thumb Code 188 main.o(.text.SystemClock_Config)
- SystemInit 0x0800d6b1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
- TIM7_IRQHandler 0x0800d6c5 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler)
- TIM_Base_SetConfig 0x0800d6d5 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
- TIM_CCxChannelCmd 0x0800d879 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
- TIM_OC2_SetConfig 0x0800d99d Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
- Task_Init 0x0800dc29 Thumb Code 184 init.o(.text.Task_Init)
- Task_atti_esti 0x0800dce1 Thumb Code 400 atti_esti.o(.text.Task_atti_esti)
- Task_gimbal_ctrl 0x0800de71 Thumb Code 220 gimbal_ctrl.o(.text.Task_gimbal_ctrl)
- Task_remote 0x0800df51 Thumb Code 160 remote.o(.text.Task_remote)
- USART3_IRQHandler 0x0800e431 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler)
- USART3_IRQHandler1 0x0800e451 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1)
- UsageFault_Handler 0x0800e475 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler)
- configureTimerForRunTimeStats 0x0800e675 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats)
- delay_init 0x0800e699 Thumb Code 62 bsp_delay.o(.text.delay_init)
- eTaskGetState 0x0800e6d9 Thumb Code 246 tasks.o(.text.eTaskGetState)
- getRunTimeCounterValue 0x0800e829 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue)
- main 0x0800e82d Thumb Code 80 main.o(.text.main)
- map 0x0800e87d Thumb Code 42 calc_lib.o(.text.map)
- osDelay 0x0800e8a9 Thumb Code 52 cmsis_os2.o(.text.osDelay)
- osDelayUntil 0x0800e8dd Thumb Code 88 cmsis_os2.o(.text.osDelayUntil)
- osKernelGetState 0x0800e935 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState)
- osKernelGetTickCount 0x0800e989 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount)
- osKernelGetTickFreq 0x0800e9b1 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
- osKernelInitialize 0x0800e9b9 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize)
- osKernelLock 0x0800ea01 Thumb Code 86 cmsis_os2.o(.text.osKernelLock)
- osKernelStart 0x0800ea59 Thumb Code 82 cmsis_os2.o(.text.osKernelStart)
- osKernelUnlock 0x0800eaad Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock)
- osMessageQueueGet 0x0800eb1d Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet)
- osMessageQueueNew 0x0800ebdd Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew)
- osMessageQueuePut 0x0800ecdd Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut)
- osMessageQueueReset 0x0800eda1 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset)
- osMutexAcquire 0x0800ede1 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire)
- osMutexNew 0x0800ee81 Thumb Code 296 cmsis_os2.o(.text.osMutexNew)
- osMutexRelease 0x0800efa9 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease)
- osThreadFlagsSet 0x0800f029 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet)
- osThreadFlagsWait 0x0800f0cd Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait)
- osThreadGetId 0x0800f1e9 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId)
- osThreadNew 0x0800f1f9 Thumb Code 346 cmsis_os2.o(.text.osThreadNew)
- osThreadTerminate 0x0800f355 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate)
- pvPortMalloc 0x080102b5 Thumb Code 492 heap_4.o(.text.pvPortMalloc)
- pvTaskIncrementMutexHeldCount 0x080104a1 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount)
- pxPortInitialiseStack 0x080104cd Thumb Code 94 port.o(.text.pxPortInitialiseStack)
- remote_ParseHost 0x08010531 Thumb Code 176 ai.o(.text.remote_ParseHost)
- remote_control_init 0x080105e1 Thumb Code 18 remote_control.o(.text.remote_control_init)
- user_delay_ms 0x080108dd Thumb Code 46 calc_lib.o(.text.user_delay_ms)
- user_delay_us 0x0801090d Thumb Code 68 calc_lib.o(.text.user_delay_us)
- uxListRemove 0x08010951 Thumb Code 72 list.o(.text.uxListRemove)
- vApplicationGetIdleTaskMemory 0x08010999 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
- vApplicationGetTimerTaskMemory 0x080109c5 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
- vApplicationStackOverflowHook 0x080109f1 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook)
- vListInitialise 0x080109fd Thumb Code 46 list.o(.text.vListInitialise)
- vListInitialiseItem 0x08010a2d Thumb Code 14 list.o(.text.vListInitialiseItem)
- vListInsert 0x08010a3d Thumb Code 106 list.o(.text.vListInsert)
- vListInsertEnd 0x08010aa9 Thumb Code 58 list.o(.text.vListInsertEnd)
- vPortEnterCritical 0x08010af9 Thumb Code 86 port.o(.text.vPortEnterCritical)
- vPortExitCritical 0x08010b51 Thumb Code 74 port.o(.text.vPortExitCritical)
- vPortFree 0x08010b9d Thumb Code 206 heap_4.o(.text.vPortFree)
- vPortSetupTimerInterrupt 0x08010c6d Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt)
- vPortValidateInterruptPriority 0x08010cb1 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority)
- vQueueAddToRegistry 0x08010d35 Thumb Code 82 queue.o(.text.vQueueAddToRegistry)
- vQueueWaitForMessageRestricted 0x08010d89 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted)
- vTaskDelay 0x08010ded Thumb Code 110 tasks.o(.text.vTaskDelay)
- vTaskDelayUntil 0x08010e5d Thumb Code 276 tasks.o(.text.vTaskDelayUntil)
- vTaskDelete 0x08010f71 Thumb Code 270 tasks.o(.text.vTaskDelete)
- vTaskInternalSetTimeOutState 0x08011081 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState)
- vTaskMissedYield 0x080110a5 Thumb Code 14 tasks.o(.text.vTaskMissedYield)
- vTaskPlaceOnEventList 0x080110b5 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList)
- vTaskPlaceOnEventListRestricted 0x080110f9 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted)
- vTaskPriorityDisinheritAfterTimeout 0x0801114d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
- vTaskStartScheduler 0x08011281 Thumb Code 228 tasks.o(.text.vTaskStartScheduler)
- vTaskSuspendAll 0x08011365 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
- vTaskSwitchContext 0x08011375 Thumb Code 384 tasks.o(.text.vTaskSwitchContext)
- xPortStartScheduler 0x080114f5 Thumb Code 342 port.o(.text.xPortStartScheduler)
- xPortSysTickHandler 0x0801164d Thumb Code 60 port.o(.text.xPortSysTickHandler)
- xQueueCreateMutex 0x08011689 Thumb Code 38 queue.o(.text.xQueueCreateMutex)
- xQueueCreateMutexStatic 0x080116b1 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic)
- xQueueGenericCreate 0x080116e5 Thumb Code 116 queue.o(.text.xQueueGenericCreate)
- xQueueGenericCreateStatic 0x08011759 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic)
- xQueueGenericReset 0x08011869 Thumb Code 186 queue.o(.text.xQueueGenericReset)
- xQueueGenericSend 0x08011925 Thumb Code 556 queue.o(.text.xQueueGenericSend)
- xQueueGenericSendFromISR 0x08011b51 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR)
- xQueueGiveMutexRecursive 0x08011c9d Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive)
- xQueueReceive 0x08011d09 Thumb Code 476 queue.o(.text.xQueueReceive)
- xQueueReceiveFromISR 0x08011ee5 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR)
- xQueueSemaphoreTake 0x08011fed Thumb Code 556 queue.o(.text.xQueueSemaphoreTake)
- xQueueTakeMutexRecursive 0x08012219 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive)
- xTaskCheckForTimeOut 0x08012289 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut)
- xTaskCreate 0x08012355 Thumb Code 158 tasks.o(.text.xTaskCreate)
- xTaskCreateStatic 0x080123f5 Thumb Code 206 tasks.o(.text.xTaskCreateStatic)
- xTaskGenericNotify 0x080124c5 Thumb Code 376 tasks.o(.text.xTaskGenericNotify)
- xTaskGenericNotifyFromISR 0x0801263d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR)
- xTaskGetCurrentTaskHandle 0x08012801 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle)
- xTaskGetSchedulerState 0x08012815 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState)
- xTaskGetTickCount 0x0801284d Thumb Code 20 tasks.o(.text.xTaskGetTickCount)
- xTaskGetTickCountFromISR 0x08012861 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR)
- xTaskIncrementTick 0x08012881 Thumb Code 452 tasks.o(.text.xTaskIncrementTick)
- xTaskNotifyWait 0x08012a45 Thumb Code 214 tasks.o(.text.xTaskNotifyWait)
- xTaskPriorityDisinherit 0x08012b1d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit)
- xTaskPriorityInherit 0x08012c09 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit)
- xTaskRemoveFromEventList 0x08012d19 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList)
- xTaskResumeAll 0x08012de9 Thumb Code 390 tasks.o(.text.xTaskResumeAll)
- xTimerCreateTimerTask 0x08012f71 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask)
- xTimerGenericCommand 0x08013005 Thumb Code 176 timers.o(.text.xTimerGenericCommand)
- __ARM_fpclassify 0x080130b5 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify)
- __ARM_fpclassifyf 0x080130e5 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
- __hardfp_asinf 0x0801310d Thumb Code 258 asinf.o(i.__hardfp_asinf)
- __hardfp_atan 0x08013239 Thumb Code 622 atan.o(i.__hardfp_atan)
- __hardfp_atan2 0x08013511 Thumb Code 448 atan2.o(i.__hardfp_atan2)
- __hardfp_atan2f 0x08013711 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
- __hardfp_cosf 0x080139bd Thumb Code 280 cosf.o(i.__hardfp_cosf)
- __hardfp_tanf 0x08013b0d Thumb Code 322 tanf.o(i.__hardfp_tanf)
- __kernel_poly 0x08013c89 Thumb Code 248 poly.o(i.__kernel_poly)
- __mathlib_dbl_infnan 0x08013d81 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
- __mathlib_dbl_infnan2 0x08013d95 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
- __mathlib_dbl_underflow 0x08013da9 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
- __mathlib_flt_infnan 0x08013dc9 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
- __mathlib_flt_infnan2 0x08013dcf Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
- __mathlib_flt_invalid 0x08013dd5 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
- __mathlib_flt_underflow 0x08013de5 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
- __mathlib_rredf2 0x08013df5 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
- atan 0x08013f49 Thumb Code 16 atan.o(i.atan)
- fabs 0x08013f59 Thumb Code 24 fabs.o(i.fabs)
- sqrtf 0x08013f71 Thumb Code 62 sqrtf.o(i.sqrtf)
- __aeabi_dneg 0x08013faf Thumb Code 0 basic.o(x$fpl$basic)
- _dneg 0x08013faf Thumb Code 6 basic.o(x$fpl$basic)
- __aeabi_fneg 0x08013fb5 Thumb Code 0 basic.o(x$fpl$basic)
- _fneg 0x08013fb5 Thumb Code 6 basic.o(x$fpl$basic)
- _dabs 0x08013fbb Thumb Code 6 basic.o(x$fpl$basic)
- _fabs 0x08013fc1 Thumb Code 6 basic.o(x$fpl$basic)
- __aeabi_d2f 0x08013fc9 Thumb Code 0 d2f.o(x$fpl$d2f)
- _d2f 0x08013fc9 Thumb Code 98 d2f.o(x$fpl$d2f)
- __aeabi_dadd 0x0801402d Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
- _dadd 0x0801402d Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
- __fpl_dcmp_Inf 0x0801417d Thumb Code 24 dcmpi.o(x$fpl$dcmpinf)
- __aeabi_ddiv 0x08014195 Thumb Code 0 ddiv.o(x$fpl$ddiv)
- _ddiv 0x08014195 Thumb Code 556 ddiv.o(x$fpl$ddiv)
- __aeabi_cdcmpeq 0x08014449 Thumb Code 0 deqf.o(x$fpl$deqf)
- _dcmpeq 0x08014449 Thumb Code 120 deqf.o(x$fpl$deqf)
- __aeabi_d2iz 0x080144c1 Thumb Code 0 dfix.o(x$fpl$dfix)
- _dfix 0x080144c1 Thumb Code 94 dfix.o(x$fpl$dfix)
- __aeabi_d2uiz 0x08014521 Thumb Code 0 dfixu.o(x$fpl$dfixu)
- _dfixu 0x08014521 Thumb Code 90 dfixu.o(x$fpl$dfixu)
- __aeabi_i2d 0x0801457b Thumb Code 0 dflt_clz.o(x$fpl$dflt)
- _dflt 0x0801457b Thumb Code 46 dflt_clz.o(x$fpl$dflt)
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- _dfltu 0x080145a9 Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
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- _dmul 0x080145d1 Thumb Code 332 dmul.o(x$fpl$dmul)
- __fpl_dnaninf 0x08014725 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
- __fpl_dretinf 0x080147c1 Thumb Code 12 dretinf.o(x$fpl$dretinf)
- __aeabi_drsub 0x080147cd Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
- _drsb 0x080147cd Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
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- _dsub 0x080147e5 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
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- _f2d 0x080149c1 Thumb Code 86 f2d.o(x$fpl$f2d)
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- _ll_uto_f 0x08014a17 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
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- _ll_sto_f 0x08014a1d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
- __fpl_fnaninf 0x08014a77 Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
- _fp_init 0x08014b03 Thumb Code 26 fpinit.o(x$fpl$fpinit)
- __fplib_config_fpu_vfp 0x08014b1b Thumb Code 0 fpinit.o(x$fpl$fpinit)
- __fplib_config_pureend_doubles 0x08014b1b Thumb Code 0 fpinit.o(x$fpl$fpinit)
- __fpl_fretinf 0x08014b1d Thumb Code 10 fretinf.o(x$fpl$fretinf)
- __I$use$fp 0x08014b26 Number 0 usenofp.o(x$fpl$usenofp)
- __mathlib_zero 0x08014bc0 Data 8 qnan.o(.constdata)
- AHBPrescTable 0x08014be8 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
- APBPrescTable 0x08014bf8 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
- attr_atti_esti 0x08014c48 Data 36 user_task.o(.rodata.attr_atti_esti)
- attr_gimbal_ctrl 0x08014c6c Data 36 user_task.o(.rodata.attr_gimbal_ctrl)
- attr_init 0x08014c90 Data 36 user_task.o(.rodata.attr_init)
- attr_remote 0x08014cb4 Data 36 user_task.o(.rodata.attr_remote)
- defaultTask_attributes 0x08014cd8 Data 36 freertos.o(.rodata.defaultTask_attributes)
- Region$$Table$$Base 0x08014d64 Number 0 anon$$obj.o(Region$$Table)
- Region$$Table$$Limit 0x08014d84 Number 0 anon$$obj.o(Region$$Table)
+ Gimbal_Control 0x08003855 Thumb Code 1000 gimbal.o(.text.Gimbal_Control)
+ Gimbal_Init 0x08003c3d Thumb Code 472 gimbal.o(.text.Gimbal_Init)
+ Gimbal_Output 0x08003e15 Thumb Code 274 gimbal.o(.text.Gimbal_Output)
+ Gimbal_UpdateFeedback 0x08003fdd Thumb Code 360 gimbal.o(.text.Gimbal_UpdateFeedback)
+ Gimbal_UpdateIMU 0x08004145 Thumb Code 74 gimbal.o(.text.Gimbal_UpdateIMU)
+ HAL_CAN_ActivateNotification 0x08004191 Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification)
+ HAL_CAN_AddTxMessage 0x080041e5 Thumb Code 342 stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage)
+ HAL_CAN_ConfigFilter 0x0800433d Thumb Code 414 stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter)
+ HAL_CAN_ErrorCallback 0x080044dd Thumb Code 80 can_1.o(.text.HAL_CAN_ErrorCallback)
+ HAL_CAN_GetRxFifoFillLevel 0x0800452d Thumb Code 82 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel)
+ HAL_CAN_GetRxMessage 0x08004581 Thumb Code 530 stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage)
+ HAL_CAN_GetTxMailboxesFreeLevel 0x08004795 Thumb Code 112 stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel)
+ HAL_CAN_IRQHandler 0x08004805 Thumb Code 1010 stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler)
+ HAL_CAN_Init 0x08004bf9 Thumb Code 478 stm32f4xx_hal_can.o(.text.HAL_CAN_Init)
+ HAL_CAN_MspInit 0x08004dd9 Thumb Code 464 can.o(.text.HAL_CAN_MspInit)
+ HAL_CAN_RxFifo0FullCallback 0x08004fa9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0FullCallback)
+ HAL_CAN_RxFifo0MsgPendingCallback 0x08004ff9 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback)
+ HAL_CAN_RxFifo1FullCallback 0x08005049 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1FullCallback)
+ HAL_CAN_RxFifo1MsgPendingCallback 0x08005099 Thumb Code 80 can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback)
+ HAL_CAN_SleepCallback 0x080050e9 Thumb Code 80 can_1.o(.text.HAL_CAN_SleepCallback)
+ HAL_CAN_Start 0x08005139 Thumb Code 138 stm32f4xx_hal_can.o(.text.HAL_CAN_Start)
+ HAL_CAN_TxMailbox0AbortCallback 0x080051c5 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback)
+ HAL_CAN_TxMailbox0CompleteCallback 0x08005215 Thumb Code 76 can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback)
+ HAL_CAN_TxMailbox1AbortCallback 0x08005261 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback)
+ HAL_CAN_TxMailbox1CompleteCallback 0x080052b1 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback)
+ HAL_CAN_TxMailbox2AbortCallback 0x08005301 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback)
+ HAL_CAN_TxMailbox2CompleteCallback 0x08005351 Thumb Code 80 can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback)
+ HAL_CAN_WakeUpFromRxMsgCallback 0x080053a1 Thumb Code 80 can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback)
+ HAL_DMA_Abort 0x080053f1 Thumb Code 236 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort)
+ HAL_DMA_Abort_IT 0x080054dd Thumb Code 68 stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT)
+ HAL_DMA_GetState 0x08005521 Thumb Code 14 stm32f4xx_hal_dma.o(.text.HAL_DMA_GetState)
+ HAL_DMA_IRQHandler 0x08005531 Thumb Code 798 stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler)
+ HAL_DMA_Init 0x08005851 Thumb Code 366 stm32f4xx_hal_dma.o(.text.HAL_DMA_Init)
+ HAL_DMA_Start_IT 0x080059c1 Thumb Code 194 stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT)
+ HAL_Delay 0x08005a85 Thumb Code 66 stm32f4xx_hal.o(.text.HAL_Delay)
+ HAL_GPIO_EXTI_Callback 0x08005ac9 Thumb Code 102 gpio_1.o(.text.HAL_GPIO_EXTI_Callback)
+ HAL_GPIO_EXTI_IRQHandler 0x08005b31 Thumb Code 56 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler)
+ HAL_GPIO_Init 0x08005b69 Thumb Code 950 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init)
+ HAL_GPIO_ReadPin 0x08005f21 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin)
+ HAL_GPIO_WritePin 0x08005f51 Thumb Code 46 stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin)
+ HAL_GetTick 0x08005f81 Thumb Code 12 stm32f4xx_hal.o(.text.HAL_GetTick)
+ HAL_I2C_AbortCpltCallback 0x08005f8d Thumb Code 84 i2c_1.o(.text.HAL_I2C_AbortCpltCallback)
+ HAL_I2C_AddrCallback 0x08005fe1 Thumb Code 16 stm32f4xx_hal_i2c.o(.text.HAL_I2C_AddrCallback)
+ HAL_I2C_ER_IRQHandler 0x08005ff1 Thumb Code 378 stm32f4xx_hal_i2c.o(.text.HAL_I2C_ER_IRQHandler)
+ HAL_I2C_EV_IRQHandler 0x0800616d Thumb Code 970 stm32f4xx_hal_i2c.o(.text.HAL_I2C_EV_IRQHandler)
+ HAL_I2C_ErrorCallback 0x08006539 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ErrorCallback)
+ HAL_I2C_Init 0x0800658d Thumb Code 676 stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init)
+ HAL_I2C_ListenCpltCallback 0x08006831 Thumb Code 84 i2c_1.o(.text.HAL_I2C_ListenCpltCallback)
+ HAL_I2C_MasterRxCpltCallback 0x08006885 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MasterRxCpltCallback)
+ HAL_I2C_MasterTxCpltCallback 0x080068d9 Thumb Code 80 i2c_1.o(.text.HAL_I2C_MasterTxCpltCallback)
+ HAL_I2C_MemRxCpltCallback 0x08006929 Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemRxCpltCallback)
+ HAL_I2C_MemTxCpltCallback 0x0800697d Thumb Code 84 i2c_1.o(.text.HAL_I2C_MemTxCpltCallback)
+ HAL_I2C_MspInit 0x080069d1 Thumb Code 308 i2c.o(.text.HAL_I2C_MspInit)
+ HAL_I2C_SlaveRxCpltCallback 0x08006b05 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveRxCpltCallback)
+ HAL_I2C_SlaveTxCpltCallback 0x08006b59 Thumb Code 84 i2c_1.o(.text.HAL_I2C_SlaveTxCpltCallback)
+ HAL_IncTick 0x08006bad Thumb Code 26 stm32f4xx_hal.o(.text.HAL_IncTick)
+ HAL_Init 0x08006bc9 Thumb Code 54 stm32f4xx_hal.o(.text.HAL_Init)
+ HAL_InitTick 0x08006c01 Thumb Code 112 stm32f4xx_hal.o(.text.HAL_InitTick)
+ HAL_MspInit 0x08006c71 Thumb Code 88 stm32f4xx_hal_msp.o(.text.HAL_MspInit)
+ HAL_NVIC_DisableIRQ 0x08006cc9 Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ)
+ HAL_NVIC_EnableIRQ 0x08006cdd Thumb Code 20 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ)
+ HAL_NVIC_SetPriority 0x08006cf1 Thumb Code 50 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority)
+ HAL_NVIC_SetPriorityGrouping 0x08006d25 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping)
+ HAL_RCC_ClockConfig 0x08006d35 Thumb Code 610 stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig)
+ HAL_RCC_GetHCLKFreq 0x08006f99 Thumb Code 12 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq)
+ HAL_RCC_GetPCLK1Freq 0x08006fa5 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq)
+ HAL_RCC_GetPCLK2Freq 0x08006fc9 Thumb Code 34 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq)
+ HAL_RCC_GetSysClockFreq 0x08006fed Thumb Code 230 stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq)
+ HAL_RCC_OscConfig 0x080070d5 Thumb Code 1726 stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig)
+ HAL_SPI_ErrorCallback 0x08007795 Thumb Code 84 spi_1.o(.text.HAL_SPI_ErrorCallback)
+ HAL_SPI_Init 0x080077e9 Thumb Code 256 stm32f4xx_hal_spi.o(.text.HAL_SPI_Init)
+ HAL_SPI_MspInit 0x080078e9 Thumb Code 528 spi.o(.text.HAL_SPI_MspInit)
+ HAL_SPI_Receive 0x08007af9 Thumb Code 590 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive)
+ HAL_SPI_Receive_DMA 0x08007d49 Thumb Code 408 stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
+ HAL_SPI_RxCpltCallback 0x08007ee1 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxCpltCallback)
+ HAL_SPI_RxHalfCpltCallback 0x08007f35 Thumb Code 84 spi_1.o(.text.HAL_SPI_RxHalfCpltCallback)
+ HAL_SPI_Transmit 0x08007f89 Thumb Code 674 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit)
+ HAL_SPI_TransmitReceive 0x0800822d Thumb Code 930 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive)
+ HAL_SPI_TransmitReceive_DMA 0x080085d1 Thumb Code 532 stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
+ HAL_SPI_Transmit_DMA 0x080087e5 Thumb Code 364 stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
+ HAL_SPI_TxCpltCallback 0x08008951 Thumb Code 72 spi_1.o(.text.HAL_SPI_TxCpltCallback)
+ HAL_SPI_TxHalfCpltCallback 0x08008999 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxHalfCpltCallback)
+ HAL_SPI_TxRxCpltCallback 0x080089ed Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxCpltCallback)
+ HAL_SPI_TxRxHalfCpltCallback 0x08008a41 Thumb Code 84 spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback)
+ HAL_SYSTICK_Config 0x08008a95 Thumb Code 16 stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config)
+ HAL_TIMEx_BreakCallback 0x08008aa5 Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback)
+ HAL_TIMEx_CommutCallback 0x08008aad Thumb Code 8 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback)
+ HAL_TIMEx_MasterConfigSynchronization 0x08008ab5 Thumb Code 290 stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization)
+ HAL_TIM_Base_Init 0x08008bd9 Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init)
+ HAL_TIM_Base_MspInit 0x08008c75 Thumb Code 138 tim.o(.text.HAL_TIM_Base_MspInit)
+ HAL_TIM_IC_CaptureCallback 0x08008d01 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback)
+ HAL_TIM_IRQHandler 0x08008d09 Thumb Code 538 stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler)
+ HAL_TIM_MspPostInit 0x08008f25 Thumb Code 108 tim.o(.text.HAL_TIM_MspPostInit)
+ HAL_TIM_OC_DelayElapsedCallback 0x08008f91 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback)
+ HAL_TIM_PWM_ConfigChannel 0x08008f99 Thumb Code 322 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel)
+ HAL_TIM_PWM_Init 0x080090dd Thumb Code 156 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init)
+ HAL_TIM_PWM_MspInit 0x08009179 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit)
+ HAL_TIM_PWM_PulseFinishedCallback 0x08009181 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback)
+ HAL_TIM_PWM_Start 0x08009189 Thumb Code 458 stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start)
+ HAL_TIM_PeriodElapsedCallback 0x08009355 Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback)
+ HAL_TIM_TriggerCallback 0x0800935d Thumb Code 8 stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback)
+ HAL_UARTEx_RxEventCallback 0x08009365 Thumb Code 12 stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback)
+ HAL_UART_ErrorCallback 0x08009371 Thumb Code 84 uart.o(.text.HAL_UART_ErrorCallback)
+ HAL_UART_IRQHandler 0x080093c5 Thumb Code 1116 stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
+ HAL_UART_Init 0x08009821 Thumb Code 158 stm32f4xx_hal_uart.o(.text.HAL_UART_Init)
+ HAL_UART_MspInit 0x080098c1 Thumb Code 460 usart.o(.text.HAL_UART_MspInit)
+ HAL_UART_RxCpltCallback 0x08009a8d Thumb Code 84 uart.o(.text.HAL_UART_RxCpltCallback)
+ HAL_UART_TxCpltCallback 0x08009ae1 Thumb Code 84 uart.o(.text.HAL_UART_TxCpltCallback)
+ HardFault_Handler 0x08009b35 Thumb Code 4 stm32f4xx_it.o(.text.HardFault_Handler)
+ I2C1_ER_IRQHandler 0x08009b39 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_ER_IRQHandler)
+ I2C1_EV_IRQHandler 0x08009b49 Thumb Code 16 stm32f4xx_it.o(.text.I2C1_EV_IRQHandler)
+ InvSqrt 0x0800b035 Thumb Code 118 user_math.o(.text.InvSqrt)
+ LowPassFilter2p_Apply 0x0800b0ad Thumb Code 184 filter.o(.text.LowPassFilter2p_Apply)
+ LowPassFilter2p_Init 0x0800b165 Thumb Code 316 filter.o(.text.LowPassFilter2p_Init)
+ LowPassFilter2p_Reset 0x0800b2a1 Thumb Code 146 filter.o(.text.LowPassFilter2p_Reset)
+ MOTOR_DM_Enable 0x0800b3cd Thumb Code 122 motor_dm.o(.text.MOTOR_DM_Enable)
+ MOTOR_DM_GetMotor 0x0800b479 Thumb Code 134 motor_dm.o(.text.MOTOR_DM_GetMotor)
+ MOTOR_DM_MITCtrl 0x0800b501 Thumb Code 72 motor_dm.o(.text.MOTOR_DM_MITCtrl)
+ MOTOR_DM_Register 0x0800b6a1 Thumb Code 300 motor_dm.o(.text.MOTOR_DM_Register)
+ MOTOR_DM_Update 0x0800b911 Thumb Code 268 motor_dm.o(.text.MOTOR_DM_Update)
+ MOTOR_RM_Ctrl 0x0800bab5 Thumb Code 368 motor_rm.o(.text.MOTOR_RM_Ctrl)
+ MOTOR_RM_GetMotor 0x0800bd29 Thumb Code 120 motor_rm.o(.text.MOTOR_RM_GetMotor)
+ MOTOR_RM_Register 0x0800bdf1 Thumb Code 288 motor_rm.o(.text.MOTOR_RM_Register)
+ MOTOR_RM_SetOutput 0x0800bf11 Thumb Code 282 motor_rm.o(.text.MOTOR_RM_SetOutput)
+ MOTOR_RM_Update 0x0800c02d Thumb Code 258 motor_rm.o(.text.MOTOR_RM_Update)
+ MX_CAN1_Init 0x0800c131 Thumb Code 78 can.o(.text.MX_CAN1_Init)
+ MX_CAN2_Init 0x0800c181 Thumb Code 78 can.o(.text.MX_CAN2_Init)
+ MX_DMA_Init 0x0800c1d1 Thumb Code 134 dma.o(.text.MX_DMA_Init)
+ MX_FREERTOS_Init 0x0800c259 Thumb Code 64 freertos.o(.text.MX_FREERTOS_Init)
+ MX_GPIO_Init 0x0800c299 Thumb Code 554 gpio.o(.text.MX_GPIO_Init)
+ MX_I2C1_Init 0x0800c4c5 Thumb Code 72 i2c.o(.text.MX_I2C1_Init)
+ MX_I2C2_Init 0x0800c50d Thumb Code 72 i2c.o(.text.MX_I2C2_Init)
+ MX_SPI1_Init 0x0800c555 Thumb Code 82 spi.o(.text.MX_SPI1_Init)
+ MX_SPI2_Init 0x0800c5a9 Thumb Code 84 spi.o(.text.MX_SPI2_Init)
+ MX_TIM10_Init 0x0800c5fd Thumb Code 142 tim.o(.text.MX_TIM10_Init)
+ MX_TIM7_Init 0x0800c68d Thumb Code 88 tim.o(.text.MX_TIM7_Init)
+ MX_USART1_UART_Init 0x0800c6e5 Thumb Code 64 usart.o(.text.MX_USART1_UART_Init)
+ MX_USART3_UART_Init 0x0800c725 Thumb Code 76 usart.o(.text.MX_USART3_UART_Init)
+ MemManage_Handler 0x0800c771 Thumb Code 4 stm32f4xx_it.o(.text.MemManage_Handler)
+ NMI_Handler 0x0800c991 Thumb Code 4 stm32f4xx_it.o(.text.NMI_Handler)
+ PID_Calc 0x0800ca01 Thumb Code 752 pid.o(.text.PID_Calc)
+ PID_Init 0x0800ccf1 Thumb Code 406 pid.o(.text.PID_Init)
+ PID_Reset 0x0800ce89 Thumb Code 72 pid.o(.text.PID_Reset)
+ PendSV_Handler 0x0800ced1 Thumb Code 100 port.o(.text.PendSV_Handler)
+ RC_Init 0x0800cf35 Thumb Code 148 bsp_rc.o(.text.RC_Init)
+ RC_restart 0x0800cfc9 Thumb Code 90 bsp_rc.o(.text.RC_restart)
+ SVC_Handler 0x0800d581 Thumb Code 36 port.o(.text.SVC_Handler)
+ StartDefaultTask 0x0800d5b5 Thumb Code 18 freertos.o(.text.StartDefaultTask)
+ SysTick_Handler 0x0800d61d Thumb Code 24 stm32f4xx_it.o(.text.SysTick_Handler)
+ SystemClock_Config 0x0800d635 Thumb Code 188 main.o(.text.SystemClock_Config)
+ SystemInit 0x0800d6f1 Thumb Code 18 system_stm32f4xx.o(.text.SystemInit)
+ TIM7_IRQHandler 0x0800d705 Thumb Code 16 stm32f4xx_it.o(.text.TIM7_IRQHandler)
+ TIM_Base_SetConfig 0x0800d715 Thumb Code 420 stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig)
+ TIM_CCxChannelCmd 0x0800d8b9 Thumb Code 54 stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd)
+ TIM_OC2_SetConfig 0x0800d9dd Thumb Code 244 stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig)
+ Task_Init 0x0800dc69 Thumb Code 184 init.o(.text.Task_Init)
+ Task_atti_esti 0x0800dd21 Thumb Code 400 atti_esti.o(.text.Task_atti_esti)
+ Task_gimbal_ctrl 0x0800deb1 Thumb Code 220 gimbal_ctrl.o(.text.Task_gimbal_ctrl)
+ Task_remote 0x0800df91 Thumb Code 160 remote.o(.text.Task_remote)
+ USART3_IRQHandler 0x0800e471 Thumb Code 32 stm32f4xx_it.o(.text.USART3_IRQHandler)
+ USART3_IRQHandler1 0x0800e491 Thumb Code 34 remote_control.o(.text.USART3_IRQHandler1)
+ UsageFault_Handler 0x0800e4b5 Thumb Code 4 stm32f4xx_it.o(.text.UsageFault_Handler)
+ configureTimerForRunTimeStats 0x0800e6b5 Thumb Code 2 freertos.o(.text.configureTimerForRunTimeStats)
+ delay_init 0x0800e6d9 Thumb Code 62 bsp_delay.o(.text.delay_init)
+ eTaskGetState 0x0800e719 Thumb Code 246 tasks.o(.text.eTaskGetState)
+ getRunTimeCounterValue 0x0800e869 Thumb Code 4 freertos.o(.text.getRunTimeCounterValue)
+ main 0x0800e86d Thumb Code 80 main.o(.text.main)
+ map 0x0800e8bd Thumb Code 42 calc_lib.o(.text.map)
+ osDelay 0x0800e8e9 Thumb Code 52 cmsis_os2.o(.text.osDelay)
+ osDelayUntil 0x0800e91d Thumb Code 88 cmsis_os2.o(.text.osDelayUntil)
+ osKernelGetState 0x0800e975 Thumb Code 82 cmsis_os2.o(.text.osKernelGetState)
+ osKernelGetTickCount 0x0800e9c9 Thumb Code 38 cmsis_os2.o(.text.osKernelGetTickCount)
+ osKernelGetTickFreq 0x0800e9f1 Thumb Code 6 cmsis_os2.o(.text.osKernelGetTickFreq)
+ osKernelInitialize 0x0800e9f9 Thumb Code 70 cmsis_os2.o(.text.osKernelInitialize)
+ osKernelLock 0x0800ea41 Thumb Code 86 cmsis_os2.o(.text.osKernelLock)
+ osKernelStart 0x0800ea99 Thumb Code 82 cmsis_os2.o(.text.osKernelStart)
+ osKernelUnlock 0x0800eaed Thumb Code 110 cmsis_os2.o(.text.osKernelUnlock)
+ osMessageQueueGet 0x0800eb5d Thumb Code 192 cmsis_os2.o(.text.osMessageQueueGet)
+ osMessageQueueNew 0x0800ec1d Thumb Code 254 cmsis_os2.o(.text.osMessageQueueNew)
+ osMessageQueuePut 0x0800ed1d Thumb Code 196 cmsis_os2.o(.text.osMessageQueuePut)
+ osMessageQueueReset 0x0800ede1 Thumb Code 64 cmsis_os2.o(.text.osMessageQueueReset)
+ osMutexAcquire 0x0800ee21 Thumb Code 158 cmsis_os2.o(.text.osMutexAcquire)
+ osMutexNew 0x0800eec1 Thumb Code 296 cmsis_os2.o(.text.osMutexNew)
+ osMutexRelease 0x0800efe9 Thumb Code 126 cmsis_os2.o(.text.osMutexRelease)
+ osThreadFlagsSet 0x0800f069 Thumb Code 164 cmsis_os2.o(.text.osThreadFlagsSet)
+ osThreadFlagsWait 0x0800f10d Thumb Code 282 cmsis_os2.o(.text.osThreadFlagsWait)
+ osThreadGetId 0x0800f229 Thumb Code 16 cmsis_os2.o(.text.osThreadGetId)
+ osThreadNew 0x0800f239 Thumb Code 346 cmsis_os2.o(.text.osThreadNew)
+ osThreadTerminate 0x0800f395 Thumb Code 94 cmsis_os2.o(.text.osThreadTerminate)
+ pvPortMalloc 0x080102f5 Thumb Code 492 heap_4.o(.text.pvPortMalloc)
+ pvTaskIncrementMutexHeldCount 0x080104e1 Thumb Code 44 tasks.o(.text.pvTaskIncrementMutexHeldCount)
+ pxPortInitialiseStack 0x0801050d Thumb Code 94 port.o(.text.pxPortInitialiseStack)
+ remote_ParseHost 0x08010571 Thumb Code 176 ai.o(.text.remote_ParseHost)
+ remote_control_init 0x08010621 Thumb Code 18 remote_control.o(.text.remote_control_init)
+ user_delay_ms 0x0801091d Thumb Code 46 calc_lib.o(.text.user_delay_ms)
+ user_delay_us 0x0801094d Thumb Code 68 calc_lib.o(.text.user_delay_us)
+ uxListRemove 0x08010991 Thumb Code 72 list.o(.text.uxListRemove)
+ vApplicationGetIdleTaskMemory 0x080109d9 Thumb Code 42 cmsis_os2.o(.text.vApplicationGetIdleTaskMemory)
+ vApplicationGetTimerTaskMemory 0x08010a05 Thumb Code 44 cmsis_os2.o(.text.vApplicationGetTimerTaskMemory)
+ vApplicationStackOverflowHook 0x08010a31 Thumb Code 10 freertos.o(.text.vApplicationStackOverflowHook)
+ vListInitialise 0x08010a3d Thumb Code 46 list.o(.text.vListInitialise)
+ vListInitialiseItem 0x08010a6d Thumb Code 14 list.o(.text.vListInitialiseItem)
+ vListInsert 0x08010a7d Thumb Code 106 list.o(.text.vListInsert)
+ vListInsertEnd 0x08010ae9 Thumb Code 58 list.o(.text.vListInsertEnd)
+ vPortEnterCritical 0x08010b39 Thumb Code 86 port.o(.text.vPortEnterCritical)
+ vPortExitCritical 0x08010b91 Thumb Code 74 port.o(.text.vPortExitCritical)
+ vPortFree 0x08010bdd Thumb Code 206 heap_4.o(.text.vPortFree)
+ vPortSetupTimerInterrupt 0x08010cad Thumb Code 68 port.o(.text.vPortSetupTimerInterrupt)
+ vPortValidateInterruptPriority 0x08010cf1 Thumb Code 132 port.o(.text.vPortValidateInterruptPriority)
+ vQueueAddToRegistry 0x08010d75 Thumb Code 82 queue.o(.text.vQueueAddToRegistry)
+ vQueueWaitForMessageRestricted 0x08010dc9 Thumb Code 100 queue.o(.text.vQueueWaitForMessageRestricted)
+ vTaskDelay 0x08010e2d Thumb Code 110 tasks.o(.text.vTaskDelay)
+ vTaskDelayUntil 0x08010e9d Thumb Code 276 tasks.o(.text.vTaskDelayUntil)
+ vTaskDelete 0x08010fb1 Thumb Code 270 tasks.o(.text.vTaskDelete)
+ vTaskInternalSetTimeOutState 0x080110c1 Thumb Code 36 tasks.o(.text.vTaskInternalSetTimeOutState)
+ vTaskMissedYield 0x080110e5 Thumb Code 14 tasks.o(.text.vTaskMissedYield)
+ vTaskPlaceOnEventList 0x080110f5 Thumb Code 66 tasks.o(.text.vTaskPlaceOnEventList)
+ vTaskPlaceOnEventListRestricted 0x08011139 Thumb Code 82 tasks.o(.text.vTaskPlaceOnEventListRestricted)
+ vTaskPriorityDisinheritAfterTimeout 0x0801118d Thumb Code 308 tasks.o(.text.vTaskPriorityDisinheritAfterTimeout)
+ vTaskStartScheduler 0x080112c1 Thumb Code 228 tasks.o(.text.vTaskStartScheduler)
+ vTaskSuspendAll 0x080113a5 Thumb Code 16 tasks.o(.text.vTaskSuspendAll)
+ vTaskSwitchContext 0x080113b5 Thumb Code 384 tasks.o(.text.vTaskSwitchContext)
+ xPortStartScheduler 0x08011535 Thumb Code 342 port.o(.text.xPortStartScheduler)
+ xPortSysTickHandler 0x0801168d Thumb Code 60 port.o(.text.xPortSysTickHandler)
+ xQueueCreateMutex 0x080116c9 Thumb Code 38 queue.o(.text.xQueueCreateMutex)
+ xQueueCreateMutexStatic 0x080116f1 Thumb Code 50 queue.o(.text.xQueueCreateMutexStatic)
+ xQueueGenericCreate 0x08011725 Thumb Code 116 queue.o(.text.xQueueGenericCreate)
+ xQueueGenericCreateStatic 0x08011799 Thumb Code 270 queue.o(.text.xQueueGenericCreateStatic)
+ xQueueGenericReset 0x080118a9 Thumb Code 186 queue.o(.text.xQueueGenericReset)
+ xQueueGenericSend 0x08011965 Thumb Code 556 queue.o(.text.xQueueGenericSend)
+ xQueueGenericSendFromISR 0x08011b91 Thumb Code 332 queue.o(.text.xQueueGenericSendFromISR)
+ xQueueGiveMutexRecursive 0x08011cdd Thumb Code 108 queue.o(.text.xQueueGiveMutexRecursive)
+ xQueueReceive 0x08011d49 Thumb Code 476 queue.o(.text.xQueueReceive)
+ xQueueReceiveFromISR 0x08011f25 Thumb Code 264 queue.o(.text.xQueueReceiveFromISR)
+ xQueueSemaphoreTake 0x0801202d Thumb Code 556 queue.o(.text.xQueueSemaphoreTake)
+ xQueueTakeMutexRecursive 0x08012259 Thumb Code 110 queue.o(.text.xQueueTakeMutexRecursive)
+ xTaskCheckForTimeOut 0x080122c9 Thumb Code 204 tasks.o(.text.xTaskCheckForTimeOut)
+ xTaskCreate 0x08012395 Thumb Code 158 tasks.o(.text.xTaskCreate)
+ xTaskCreateStatic 0x08012435 Thumb Code 206 tasks.o(.text.xTaskCreateStatic)
+ xTaskGenericNotify 0x08012505 Thumb Code 376 tasks.o(.text.xTaskGenericNotify)
+ xTaskGenericNotifyFromISR 0x0801267d Thumb Code 452 tasks.o(.text.xTaskGenericNotifyFromISR)
+ xTaskGetCurrentTaskHandle 0x08012841 Thumb Code 20 tasks.o(.text.xTaskGetCurrentTaskHandle)
+ xTaskGetSchedulerState 0x08012855 Thumb Code 56 tasks.o(.text.xTaskGetSchedulerState)
+ xTaskGetTickCount 0x0801288d Thumb Code 20 tasks.o(.text.xTaskGetTickCount)
+ xTaskGetTickCountFromISR 0x080128a1 Thumb Code 30 tasks.o(.text.xTaskGetTickCountFromISR)
+ xTaskIncrementTick 0x080128c1 Thumb Code 452 tasks.o(.text.xTaskIncrementTick)
+ xTaskNotifyWait 0x08012a85 Thumb Code 214 tasks.o(.text.xTaskNotifyWait)
+ xTaskPriorityDisinherit 0x08012b5d Thumb Code 236 tasks.o(.text.xTaskPriorityDisinherit)
+ xTaskPriorityInherit 0x08012c49 Thumb Code 270 tasks.o(.text.xTaskPriorityInherit)
+ xTaskRemoveFromEventList 0x08012d59 Thumb Code 206 tasks.o(.text.xTaskRemoveFromEventList)
+ xTaskResumeAll 0x08012e29 Thumb Code 390 tasks.o(.text.xTaskResumeAll)
+ xTimerCreateTimerTask 0x08012fb1 Thumb Code 148 timers.o(.text.xTimerCreateTimerTask)
+ xTimerGenericCommand 0x08013045 Thumb Code 176 timers.o(.text.xTimerGenericCommand)
+ __ARM_fpclassify 0x080130f5 Thumb Code 48 fpclassify.o(i.__ARM_fpclassify)
+ __ARM_fpclassifyf 0x08013125 Thumb Code 38 fpclassifyf.o(i.__ARM_fpclassifyf)
+ __hardfp_asinf 0x0801314d Thumb Code 258 asinf.o(i.__hardfp_asinf)
+ __hardfp_atan 0x08013279 Thumb Code 622 atan.o(i.__hardfp_atan)
+ __hardfp_atan2 0x08013551 Thumb Code 448 atan2.o(i.__hardfp_atan2)
+ __hardfp_atan2f 0x08013751 Thumb Code 594 atan2f.o(i.__hardfp_atan2f)
+ __hardfp_cosf 0x080139fd Thumb Code 280 cosf.o(i.__hardfp_cosf)
+ __hardfp_tanf 0x08013b4d Thumb Code 322 tanf.o(i.__hardfp_tanf)
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+ __mathlib_dbl_infnan 0x08013dc1 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan)
+ __mathlib_dbl_infnan2 0x08013dd5 Thumb Code 20 dunder.o(i.__mathlib_dbl_infnan2)
+ __mathlib_dbl_underflow 0x08013de9 Thumb Code 24 dunder.o(i.__mathlib_dbl_underflow)
+ __mathlib_flt_infnan 0x08013e09 Thumb Code 6 funder.o(i.__mathlib_flt_infnan)
+ __mathlib_flt_infnan2 0x08013e0f Thumb Code 6 funder.o(i.__mathlib_flt_infnan2)
+ __mathlib_flt_invalid 0x08013e15 Thumb Code 10 funder.o(i.__mathlib_flt_invalid)
+ __mathlib_flt_underflow 0x08013e25 Thumb Code 10 funder.o(i.__mathlib_flt_underflow)
+ __mathlib_rredf2 0x08013e35 Thumb Code 316 rredf.o(i.__mathlib_rredf2)
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+ sqrtf 0x08013fb1 Thumb Code 62 sqrtf.o(i.sqrtf)
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+ _dneg 0x08013fef Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_fneg 0x08013ff5 Thumb Code 0 basic.o(x$fpl$basic)
+ _fneg 0x08013ff5 Thumb Code 6 basic.o(x$fpl$basic)
+ _dabs 0x08013ffb Thumb Code 6 basic.o(x$fpl$basic)
+ _fabs 0x08014001 Thumb Code 6 basic.o(x$fpl$basic)
+ __aeabi_d2f 0x08014009 Thumb Code 0 d2f.o(x$fpl$d2f)
+ _d2f 0x08014009 Thumb Code 98 d2f.o(x$fpl$d2f)
+ __aeabi_dadd 0x0801406d Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
+ _dadd 0x0801406d Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
+ __fpl_dcmp_Inf 0x080141bd Thumb Code 24 dcmpi.o(x$fpl$dcmpinf)
+ __aeabi_ddiv 0x080141d5 Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ _ddiv 0x080141d5 Thumb Code 556 ddiv.o(x$fpl$ddiv)
+ __aeabi_cdcmpeq 0x08014489 Thumb Code 0 deqf.o(x$fpl$deqf)
+ _dcmpeq 0x08014489 Thumb Code 120 deqf.o(x$fpl$deqf)
+ __aeabi_d2iz 0x08014501 Thumb Code 0 dfix.o(x$fpl$dfix)
+ _dfix 0x08014501 Thumb Code 94 dfix.o(x$fpl$dfix)
+ __aeabi_d2uiz 0x08014561 Thumb Code 0 dfixu.o(x$fpl$dfixu)
+ _dfixu 0x08014561 Thumb Code 90 dfixu.o(x$fpl$dfixu)
+ __aeabi_i2d 0x080145bb Thumb Code 0 dflt_clz.o(x$fpl$dflt)
+ _dflt 0x080145bb Thumb Code 46 dflt_clz.o(x$fpl$dflt)
+ __aeabi_ui2d 0x080145e9 Thumb Code 0 dflt_clz.o(x$fpl$dfltu)
+ _dfltu 0x080145e9 Thumb Code 38 dflt_clz.o(x$fpl$dfltu)
+ __aeabi_dmul 0x08014611 Thumb Code 0 dmul.o(x$fpl$dmul)
+ _dmul 0x08014611 Thumb Code 332 dmul.o(x$fpl$dmul)
+ __fpl_dnaninf 0x08014765 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
+ __fpl_dretinf 0x08014801 Thumb Code 12 dretinf.o(x$fpl$dretinf)
+ __aeabi_drsub 0x0801480d Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
+ _drsb 0x0801480d Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
+ __aeabi_dsub 0x08014825 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
+ _dsub 0x08014825 Thumb Code 472 daddsub_clz.o(x$fpl$dsub)
+ __aeabi_f2d 0x08014a01 Thumb Code 0 f2d.o(x$fpl$f2d)
+ _f2d 0x08014a01 Thumb Code 86 f2d.o(x$fpl$f2d)
+ __aeabi_ul2f 0x08014a57 Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_uto_f 0x08014a57 Thumb Code 6 ffltll_clz.o(x$fpl$ffltll)
+ __aeabi_l2f 0x08014a5d Thumb Code 0 ffltll_clz.o(x$fpl$ffltll)
+ _ll_sto_f 0x08014a5d Thumb Code 90 ffltll_clz.o(x$fpl$ffltll)
+ __fpl_fnaninf 0x08014ab7 Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
+ _fp_init 0x08014b43 Thumb Code 26 fpinit.o(x$fpl$fpinit)
+ __fplib_config_fpu_vfp 0x08014b5b Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fplib_config_pureend_doubles 0x08014b5b Thumb Code 0 fpinit.o(x$fpl$fpinit)
+ __fpl_fretinf 0x08014b5d Thumb Code 10 fretinf.o(x$fpl$fretinf)
+ __I$use$fp 0x08014b66 Number 0 usenofp.o(x$fpl$usenofp)
+ __mathlib_zero 0x08014c00 Data 8 qnan.o(.constdata)
+ AHBPrescTable 0x08014c28 Data 16 system_stm32f4xx.o(.rodata.AHBPrescTable)
+ APBPrescTable 0x08014c38 Data 8 system_stm32f4xx.o(.rodata.APBPrescTable)
+ attr_atti_esti 0x08014c88 Data 36 user_task.o(.rodata.attr_atti_esti)
+ attr_gimbal_ctrl 0x08014cac Data 36 user_task.o(.rodata.attr_gimbal_ctrl)
+ attr_init 0x08014cd0 Data 36 user_task.o(.rodata.attr_init)
+ attr_remote 0x08014cf4 Data 36 user_task.o(.rodata.attr_remote)
+ defaultTask_attributes 0x08014d18 Data 36 freertos.o(.rodata.defaultTask_attributes)
+ Region$$Table$$Base 0x08014da4 Number 0 anon$$obj.o(Region$$Table)
+ Region$$Table$$Limit 0x08014dc4 Number 0 anon$$obj.o(Region$$Table)
SystemCoreClock 0x20000000 Data 4 system_stm32f4xx.o(.data.SystemCoreClock)
- robot_config 0x20000008 Data 396 config.o(.data.robot_config)
- uwTickFreq 0x20000194 Data 1 stm32f4xx_hal.o(.data.uwTickFreq)
- uwTickPrio 0x20000198 Data 4 stm32f4xx_hal.o(.data.uwTickPrio)
- __libspace_start 0x200001a0 Data 96 libspace.o(.bss)
- __temporary_stack_top$libspace 0x20000200 Data 0 libspace.o(.bss)
- bmi088 0x20000360 Data 48 atti_esti.o(.bss.bmi088)
- cali_bmi088 0x200003a8 Data 12 atti_esti.o(.bss.cali_bmi088)
- defaultTaskHandle 0x200003c4 Data 4 freertos.o(.bss.defaultTaskHandle)
- eulr_to_send 0x200003c8 Data 12 atti_esti.o(.bss.eulr_to_send)
- gimbal 0x200003e0 Data 752 gimbal_ctrl.o(.bss.gimbal)
+ robot_config 0x20000008 Data 404 config.o(.data.robot_config)
+ uwTickFreq 0x2000019c Data 1 stm32f4xx_hal.o(.data.uwTickFreq)
+ uwTickPrio 0x200001a0 Data 4 stm32f4xx_hal.o(.data.uwTickPrio)
+ __libspace_start 0x200001a8 Data 96 libspace.o(.bss)
+ __temporary_stack_top$libspace 0x20000208 Data 0 libspace.o(.bss)
+ bmi088 0x20000368 Data 48 atti_esti.o(.bss.bmi088)
+ cali_bmi088 0x200003b0 Data 12 atti_esti.o(.bss.cali_bmi088)
+ defaultTaskHandle 0x200003cc Data 4 freertos.o(.bss.defaultTaskHandle)
+ eulr_to_send 0x200003d0 Data 12 atti_esti.o(.bss.eulr_to_send)
+ gimbal 0x200003e8 Data 744 gimbal_ctrl.o(.bss.gimbal)
gimbal_ahrs 0x200006d0 Data 20 atti_esti.o(.bss.gimbal_ahrs)
gimbal_cmd 0x200006e4 Data 12 gimbal_ctrl.o(.bss.gimbal_cmd)
gimbal_imu 0x200006f0 Data 24 gimbal_ctrl.o(.bss.gimbal_imu)
@@ -7777,9 +7777,9 @@ Memory Map of the image
Image Entry point : 0x08000189
- Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00014f28, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014e00])
+ Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00014f70, Max: 0x00100000, ABSOLUTE, COMPRESSED[0x00014e50])
- Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014d84, Max: 0x00100000, ABSOLUTE)
+ Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014dc4, Max: 0x00100000, ABSOLUTE)
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
@@ -7963,620 +7963,619 @@ 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 0x000003f8 Code RO 3049 .text.Gimbal_Control gimbal.o
- 0x08003c4c 0x08003c4c 0x000001d8 Code RO 3043 .text.Gimbal_Init gimbal.o
- 0x08003e24 0x08003e24 0x000000ae Code RO 3053 .text.Gimbal_Output gimbal.o
- 0x08003ed2 0x08003ed2 0x00000002 PAD
- 0x08003ed4 0x08003ed4 0x000000bc Code RO 3051 .text.Gimbal_SetMode gimbal.o
- 0x08003f90 0x08003f90 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o
- 0x080040f8 0x080040f8 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o
- 0x08004142 0x08004142 0x00000002 PAD
- 0x08004144 0x08004144 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o
- 0x08004196 0x08004196 0x00000002 PAD
- 0x08004198 0x08004198 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o
- 0x080042ee 0x080042ee 0x00000002 PAD
- 0x080042f0 0x080042f0 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o
- 0x0800448e 0x0800448e 0x00000002 PAD
- 0x08004490 0x08004490 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o
- 0x080044e0 0x080044e0 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o
- 0x08004532 0x08004532 0x00000002 PAD
- 0x08004534 0x08004534 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o
- 0x08004746 0x08004746 0x00000002 PAD
- 0x08004748 0x08004748 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o
- 0x080047b8 0x080047b8 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o
- 0x08004baa 0x08004baa 0x00000002 PAD
- 0x08004bac 0x08004bac 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o
- 0x08004d8a 0x08004d8a 0x00000002 PAD
- 0x08004d8c 0x08004d8c 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o
- 0x08004f5c 0x08004f5c 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o
- 0x08004fac 0x08004fac 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o
- 0x08004ffc 0x08004ffc 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o
- 0x0800504c 0x0800504c 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o
- 0x0800509c 0x0800509c 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o
- 0x080050ec 0x080050ec 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o
- 0x08005176 0x08005176 0x00000002 PAD
- 0x08005178 0x08005178 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o
- 0x080051c8 0x080051c8 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o
- 0x08005214 0x08005214 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o
- 0x08005264 0x08005264 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o
- 0x080052b4 0x080052b4 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o
- 0x08005304 0x08005304 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o
- 0x08005354 0x08005354 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o
- 0x080053a4 0x080053a4 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o
- 0x08005490 0x08005490 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o
- 0x080054d4 0x080054d4 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o
- 0x080054e2 0x080054e2 0x00000002 PAD
- 0x080054e4 0x080054e4 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o
- 0x08005802 0x08005802 0x00000002 PAD
- 0x08005804 0x08005804 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o
- 0x08005972 0x08005972 0x00000002 PAD
- 0x08005974 0x08005974 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o
- 0x08005a36 0x08005a36 0x00000002 PAD
- 0x08005a38 0x08005a38 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o
- 0x08005a7a 0x08005a7a 0x00000002 PAD
- 0x08005a7c 0x08005a7c 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o
- 0x08005ae2 0x08005ae2 0x00000002 PAD
- 0x08005ae4 0x08005ae4 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o
- 0x08005b1c 0x08005b1c 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o
- 0x08005ed2 0x08005ed2 0x00000002 PAD
- 0x08005ed4 0x08005ed4 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o
- 0x08005f02 0x08005f02 0x00000002 PAD
- 0x08005f04 0x08005f04 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o
- 0x08005f32 0x08005f32 0x00000002 PAD
- 0x08005f34 0x08005f34 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o
- 0x08005f40 0x08005f40 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o
- 0x08005f94 0x08005f94 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o
- 0x08005fa4 0x08005fa4 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o
- 0x0800611e 0x0800611e 0x00000002 PAD
- 0x08006120 0x08006120 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o
- 0x080064ea 0x080064ea 0x00000002 PAD
- 0x080064ec 0x080064ec 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o
- 0x08006540 0x08006540 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o
- 0x080067e4 0x080067e4 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o
- 0x08006838 0x08006838 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o
- 0x0800688c 0x0800688c 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o
- 0x080068dc 0x080068dc 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o
- 0x08006930 0x08006930 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o
- 0x08006984 0x08006984 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o
- 0x08006ab8 0x08006ab8 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o
- 0x08006b0c 0x08006b0c 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o
- 0x08006b60 0x08006b60 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o
- 0x08006b7a 0x08006b7a 0x00000002 PAD
- 0x08006b7c 0x08006b7c 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o
- 0x08006bb2 0x08006bb2 0x00000002 PAD
- 0x08006bb4 0x08006bb4 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o
- 0x08006c24 0x08006c24 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o
- 0x08006c7c 0x08006c7c 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o
- 0x08006c90 0x08006c90 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o
- 0x08006ca4 0x08006ca4 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o
- 0x08006cd6 0x08006cd6 0x00000002 PAD
- 0x08006cd8 0x08006cd8 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o
- 0x08006ce8 0x08006ce8 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o
- 0x08006f4a 0x08006f4a 0x00000002 PAD
- 0x08006f4c 0x08006f4c 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o
- 0x08006f58 0x08006f58 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o
- 0x08006f7a 0x08006f7a 0x00000002 PAD
- 0x08006f7c 0x08006f7c 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o
- 0x08006f9e 0x08006f9e 0x00000002 PAD
- 0x08006fa0 0x08006fa0 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o
- 0x08007086 0x08007086 0x00000002 PAD
- 0x08007088 0x08007088 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o
- 0x08007746 0x08007746 0x00000002 PAD
- 0x08007748 0x08007748 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o
- 0x0800779c 0x0800779c 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o
- 0x0800789c 0x0800789c 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o
- 0x08007aac 0x08007aac 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o
- 0x08007cfa 0x08007cfa 0x00000002 PAD
- 0x08007cfc 0x08007cfc 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o
- 0x08007e94 0x08007e94 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o
- 0x08007ee8 0x08007ee8 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o
- 0x08007f3c 0x08007f3c 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o
- 0x080081de 0x080081de 0x00000002 PAD
- 0x080081e0 0x080081e0 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o
- 0x08008582 0x08008582 0x00000002 PAD
- 0x08008584 0x08008584 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o
- 0x08008798 0x08008798 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o
- 0x08008904 0x08008904 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o
- 0x0800894c 0x0800894c 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o
- 0x080089a0 0x080089a0 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o
- 0x080089f4 0x080089f4 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o
- 0x08008a48 0x08008a48 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o
- 0x08008a58 0x08008a58 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o
- 0x08008a60 0x08008a60 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o
- 0x08008a68 0x08008a68 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o
- 0x08008b8a 0x08008b8a 0x00000002 PAD
- 0x08008b8c 0x08008b8c 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o
- 0x08008c28 0x08008c28 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o
- 0x08008cb2 0x08008cb2 0x00000002 PAD
- 0x08008cb4 0x08008cb4 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o
- 0x08008cbc 0x08008cbc 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o
- 0x08008ed6 0x08008ed6 0x00000002 PAD
- 0x08008ed8 0x08008ed8 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o
- 0x08008f44 0x08008f44 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o
- 0x08008f4c 0x08008f4c 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o
- 0x0800908e 0x0800908e 0x00000002 PAD
- 0x08009090 0x08009090 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o
- 0x0800912c 0x0800912c 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o
- 0x08009134 0x08009134 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o
- 0x0800913c 0x0800913c 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o
- 0x08009306 0x08009306 0x00000002 PAD
- 0x08009308 0x08009308 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o
- 0x08009310 0x08009310 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o
- 0x08009318 0x08009318 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o
- 0x08009324 0x08009324 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o
- 0x08009378 0x08009378 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o
- 0x080097d4 0x080097d4 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o
- 0x08009872 0x08009872 0x00000002 PAD
- 0x08009874 0x08009874 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o
- 0x08009a40 0x08009a40 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o
- 0x08009a94 0x08009a94 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o
- 0x08009ae8 0x08009ae8 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o
- 0x08009aec 0x08009aec 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o
- 0x08009afc 0x08009afc 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o
- 0x08009b0c 0x08009b0c 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o
- 0x08009b40 0x08009b40 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o
- 0x08009c96 0x08009c96 0x00000002 PAD
- 0x08009c98 0x08009c98 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o
- 0x08009cbc 0x08009cbc 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o
- 0x08009d04 0x08009d04 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o
- 0x08009f7e 0x08009f7e 0x00000002 PAD
- 0x08009f80 0x08009f80 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o
- 0x0800a12c 0x0800a12c 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o
- 0x0800a296 0x0800a296 0x00000002 PAD
- 0x0800a298 0x0800a298 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o
- 0x0800a376 0x0800a376 0x00000002 PAD
- 0x0800a378 0x0800a378 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o
- 0x0800a4b6 0x0800a4b6 0x00000002 PAD
- 0x0800a4b8 0x0800a4b8 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o
- 0x0800a4fe 0x0800a4fe 0x00000002 PAD
- 0x0800a500 0x0800a500 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o
- 0x0800a83e 0x0800a83e 0x00000002 PAD
- 0x0800a840 0x0800a840 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o
- 0x0800a930 0x0800a930 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o
- 0x0800aa58 0x0800aa58 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o
- 0x0800aa86 0x0800aa86 0x00000002 PAD
- 0x0800aa88 0x0800aa88 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o
- 0x0800aaf6 0x0800aaf6 0x00000002 PAD
- 0x0800aaf8 0x0800aaf8 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o
- 0x0800ab24 0x0800ab24 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o
- 0x0800ab90 0x0800ab90 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o
- 0x0800ac3e 0x0800ac3e 0x00000002 PAD
- 0x0800ac40 0x0800ac40 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o
- 0x0800ad24 0x0800ad24 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o
- 0x0800af6e 0x0800af6e 0x00000002 PAD
- 0x0800af70 0x0800af70 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o
- 0x0800afe8 0x0800afe8 0x00000076 Code RO 2675 .text.InvSqrt user_math.o
- 0x0800b05e 0x0800b05e 0x00000002 PAD
- 0x0800b060 0x0800b060 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o
- 0x0800b118 0x0800b118 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o
- 0x0800b254 0x0800b254 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o
- 0x0800b2e6 0x0800b2e6 0x00000002 PAD
- 0x0800b2e8 0x0800b2e8 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o
- 0x0800b37e 0x0800b37e 0x00000002 PAD
- 0x0800b380 0x0800b380 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o
- 0x0800b3fa 0x0800b3fa 0x00000002 PAD
- 0x0800b3fc 0x0800b3fc 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o
- 0x0800b42c 0x0800b42c 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o
- 0x0800b4b2 0x0800b4b2 0x00000002 PAD
- 0x0800b4b4 0x0800b4b4 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o
- 0x0800b4fc 0x0800b4fc 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o
- 0x0800b654 0x0800b654 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o
- 0x0800b780 0x0800b780 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o
- 0x0800b8c4 0x0800b8c4 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o
- 0x0800b9d0 0x0800b9d0 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o
- 0x0800ba66 0x0800ba66 0x00000002 PAD
- 0x0800ba68 0x0800ba68 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o
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- 0x0800c478 0x0800c478 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o
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- 0x0800c508 0x0800c508 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o
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- 0x0800d234 0x0800d234 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o
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+ 0x08005260 0x08005260 0x00000050 Code RO 2196 .text.HAL_CAN_TxMailbox1AbortCallback can_1.o
+ 0x080052b0 0x080052b0 0x00000050 Code RO 2190 .text.HAL_CAN_TxMailbox1CompleteCallback can_1.o
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+ 0x08005350 0x08005350 0x00000050 Code RO 2192 .text.HAL_CAN_TxMailbox2CompleteCallback can_1.o
+ 0x080053a0 0x080053a0 0x00000050 Code RO 2210 .text.HAL_CAN_WakeUpFromRxMsgCallback can_1.o
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+ 0x08005b68 0x08005b68 0x000003b6 Code RO 430 .text.HAL_GPIO_Init stm32f4xx_hal_gpio.o
+ 0x08005f1e 0x08005f1e 0x00000002 PAD
+ 0x08005f20 0x08005f20 0x0000002e Code RO 434 .text.HAL_GPIO_ReadPin stm32f4xx_hal_gpio.o
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+ 0x08005f7e 0x08005f7e 0x00000002 PAD
+ 0x08005f80 0x08005f80 0x0000000c Code RO 655 .text.HAL_GetTick stm32f4xx_hal.o
+ 0x08005f8c 0x08005f8c 0x00000054 Code RO 2316 .text.HAL_I2C_AbortCpltCallback i2c_1.o
+ 0x08005fe0 0x08005fe0 0x00000010 Code RO 870 .text.HAL_I2C_AddrCallback stm32f4xx_hal_i2c.o
+ 0x08005ff0 0x08005ff0 0x0000017a Code RO 858 .text.HAL_I2C_ER_IRQHandler stm32f4xx_hal_i2c.o
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+ 0x08006830 0x08006830 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o
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+ 0x080068d8 0x080068d8 0x00000050 Code RO 2298 .text.HAL_I2C_MasterTxCpltCallback i2c_1.o
+ 0x08006928 0x08006928 0x00000054 Code RO 2312 .text.HAL_I2C_MemRxCpltCallback i2c_1.o
+ 0x0800697c 0x0800697c 0x00000054 Code RO 2310 .text.HAL_I2C_MemTxCpltCallback i2c_1.o
+ 0x080069d0 0x080069d0 0x00000134 Code RO 83 .text.HAL_I2C_MspInit i2c.o
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+ 0x08006b58 0x08006b58 0x00000054 Code RO 2304 .text.HAL_I2C_SlaveTxCpltCallback i2c_1.o
+ 0x08006bac 0x08006bac 0x0000001a Code RO 653 .text.HAL_IncTick stm32f4xx_hal.o
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+ 0x08006d34 0x08006d34 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o
+ 0x08006f96 0x08006f96 0x00000002 PAD
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+ 0x08006fa4 0x08006fa4 0x00000022 Code RO 310 .text.HAL_RCC_GetPCLK1Freq stm32f4xx_hal_rcc.o
+ 0x08006fc6 0x08006fc6 0x00000002 PAD
+ 0x08006fc8 0x08006fc8 0x00000022 Code RO 312 .text.HAL_RCC_GetPCLK2Freq stm32f4xx_hal_rcc.o
+ 0x08006fea 0x08006fea 0x00000002 PAD
+ 0x08006fec 0x08006fec 0x000000e6 Code RO 300 .text.HAL_RCC_GetSysClockFreq stm32f4xx_hal_rcc.o
+ 0x080070d2 0x080070d2 0x00000002 PAD
+ 0x080070d4 0x080070d4 0x000006be Code RO 296 .text.HAL_RCC_OscConfig stm32f4xx_hal_rcc.o
+ 0x08007792 0x08007792 0x00000002 PAD
+ 0x08007794 0x08007794 0x00000054 Code RO 2393 .text.HAL_SPI_ErrorCallback spi_1.o
+ 0x080077e8 0x080077e8 0x00000100 Code RO 904 .text.HAL_SPI_Init stm32f4xx_hal_spi.o
+ 0x080078e8 0x080078e8 0x00000210 Code RO 100 .text.HAL_SPI_MspInit spi.o
+ 0x08007af8 0x08007af8 0x0000024e Code RO 916 .text.HAL_SPI_Receive stm32f4xx_hal_spi.o
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0x0800e676 0x0800e676 0x00000002 PAD
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+ 0x08014b5c 0x08014b5c 0x0000000a Code RO 3274 x$fpl$fretinf fz_wm.l(fretinf.o)
+ 0x08014b66 0x08014b66 0x00000000 Code RO 3284 x$fpl$usenofp fz_wm.l(usenofp.o)
+ 0x08014b66 0x08014b66 0x00000002 PAD
+ 0x08014b68 0x08014b68 0x00000098 Data RO 3288 .constdata m_wm.l(atan.o)
+ 0x08014c00 0x08014c00 0x00000008 Data RO 3328 .constdata m_wm.l(qnan.o)
+ 0x08014c08 0x08014c08 0x00000020 Data RO 3330 .constdata m_wm.l(rredf.o)
+ 0x08014c28 0x08014c28 0x00000010 Data RO 1493 .rodata.AHBPrescTable system_stm32f4xx.o
+ 0x08014c38 0x08014c38 0x00000008 Data RO 1494 .rodata.APBPrescTable system_stm32f4xx.o
+ 0x08014c40 0x08014c40 0x00000008 Data RO 498 .rodata.DMA_CalcBaseAndBitshift.flagBitshiftOffset stm32f4xx_hal_dma.o
+ 0x08014c48 0x08014c48 0x00000038 Data RO 2290 .rodata.GPIO_Map gpio_1.o
+ 0x08014c80 0x08014c80 0x00000008 Data RO 2371 .rodata.PWM_Map pwm.o
+ 0x08014c88 0x08014c88 0x00000024 Data RO 3023 .rodata.attr_atti_esti user_task.o
+ 0x08014cac 0x08014cac 0x00000024 Data RO 3024 .rodata.attr_gimbal_ctrl user_task.o
+ 0x08014cd0 0x08014cd0 0x00000024 Data RO 3022 .rodata.attr_init user_task.o
+ 0x08014cf4 0x08014cf4 0x00000024 Data RO 3025 .rodata.attr_remote user_task.o
+ 0x08014d18 0x08014d18 0x00000024 Data RO 44 .rodata.defaultTask_attributes freertos.o
+ 0x08014d3c 0x08014d3c 0x00000020 Data RO 3001 .rodata.imu_temp_ctrl_pid_param atti_esti.o
+ 0x08014d5c 0x08014d5c 0x0000000c Data RO 43 .rodata.str1.1 freertos.o
+ 0x08014d68 0x08014d68 0x00000005 Data RO 1852 .rodata.str1.1 tasks.o
+ 0x08014d6d 0x08014d6d 0x0000000d Data RO 1924 .rodata.str1.1 timers.o
+ 0x08014d7a 0x08014d7a 0x00000027 Data RO 3021 .rodata.str1.1 user_task.o
+ 0x08014da1 0x08014da1 0x00000003 PAD
+ 0x08014da4 0x08014da4 0x00000020 Data RO 3584 Region$$Table anon$$obj.o
- Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014d88, Size: 0x00008788, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000078])
+ Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014dc8, Size: 0x00008788, Max: 0x0001c000, ABSOLUTE, COMPRESSED[0x00000088])
Exec Addr Load Addr Size Type Attr Idx E Section Name Object
0x20000000 COMPRESSED 0x00000004 Data RW 1492 .data.SystemCoreClock system_stm32f4xx.o
0x20000004 COMPRESSED 0x00000004 Data RW 2486 .data.beta ahrs.o
- 0x20000008 COMPRESSED 0x0000018c Data RW 3064 .data.robot_config config.o
- 0x20000194 COMPRESSED 0x00000001 Data RW 698 .data.uwTickFreq stm32f4xx_hal.o
- 0x20000195 COMPRESSED 0x00000003 PAD
- 0x20000198 COMPRESSED 0x00000004 Data RW 697 .data.uwTickPrio stm32f4xx_hal.o
- 0x2000019c COMPRESSED 0x00000004 Data RW 2178 .data.uxCriticalNesting port.o
- 0x200001a0 - 0x00000060 Zero RW 3387 .bss c_w.l(libspace.o)
- 0x20000200 - 0x00000068 Zero RW 2262 .bss.CAN_Callback can_1.o
- 0x20000268 - 0x00000040 Zero RW 2289 .bss.GPIO_Callback gpio_1.o
- 0x200002a8 - 0x00000004 Zero RW 63 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o
- 0x200002ac - 0x00000048 Zero RW 2334 .bss.I2C_Callback i2c_1.o
- 0x200002f4 - 0x00000004 Zero RW 2106 .bss.KernelState cmsis_os2.o
- 0x200002f8 - 0x00000040 Zero RW 2415 .bss.SPI_Callback spi_1.o
- 0x20000338 - 0x00000024 Zero RW 2466 .bss.UART_Callback uart.o
- 0x2000035c COMPRESSED 0x00000004 PAD
- 0x20000360 - 0x00000030 Zero RW 2997 .bss.bmi088 atti_esti.o
- 0x20000390 - 0x00000013 Zero RW 2787 .bss.bmi088_rxbuf bmi088.o
- 0x200003a3 - 0x00000002 Zero RW 2788 .bss.buffer bmi088.o
- 0x200003a5 COMPRESSED 0x00000003 PAD
- 0x200003a8 - 0x0000000c Zero RW 2996 .bss.cali_bmi088 atti_esti.o
- 0x200003b4 - 0x00000008 Zero RW 2869 .bss.can_managers motor_rm.o
- 0x200003bc - 0x00000008 Zero RW 2978 .bss.can_managers motor_dm.o
- 0x200003c4 - 0x00000004 Zero RW 45 .bss.defaultTaskHandle freertos.o
- 0x200003c8 - 0x0000000c Zero RW 3002 .bss.eulr_to_send atti_esti.o
- 0x200003d4 - 0x00000004 Zero RW 2709 .bss.fac_ms bsp_delay.o
- 0x200003d8 - 0x00000001 Zero RW 2708 .bss.fac_us bsp_delay.o
- 0x200003d9 COMPRESSED 0x00000007 PAD
- 0x200003e0 - 0x000002f0 Zero RW 3034 .bss.gimbal gimbal_ctrl.o
+ 0x20000008 COMPRESSED 0x00000194 Data RW 3064 .data.robot_config config.o
+ 0x2000019c COMPRESSED 0x00000001 Data RW 698 .data.uwTickFreq stm32f4xx_hal.o
+ 0x2000019d COMPRESSED 0x00000003 PAD
+ 0x200001a0 COMPRESSED 0x00000004 Data RW 697 .data.uwTickPrio stm32f4xx_hal.o
+ 0x200001a4 COMPRESSED 0x00000004 Data RW 2178 .data.uxCriticalNesting port.o
+ 0x200001a8 - 0x00000060 Zero RW 3387 .bss c_w.l(libspace.o)
+ 0x20000208 - 0x00000068 Zero RW 2262 .bss.CAN_Callback can_1.o
+ 0x20000270 - 0x00000040 Zero RW 2289 .bss.GPIO_Callback gpio_1.o
+ 0x200002b0 - 0x00000004 Zero RW 63 .bss.HAL_RCC_CAN1_CLK_ENABLED can.o
+ 0x200002b4 - 0x00000048 Zero RW 2334 .bss.I2C_Callback i2c_1.o
+ 0x200002fc - 0x00000004 Zero RW 2106 .bss.KernelState cmsis_os2.o
+ 0x20000300 - 0x00000040 Zero RW 2415 .bss.SPI_Callback spi_1.o
+ 0x20000340 - 0x00000024 Zero RW 2466 .bss.UART_Callback uart.o
+ 0x20000364 COMPRESSED 0x00000004 PAD
+ 0x20000368 - 0x00000030 Zero RW 2997 .bss.bmi088 atti_esti.o
+ 0x20000398 - 0x00000013 Zero RW 2787 .bss.bmi088_rxbuf bmi088.o
+ 0x200003ab - 0x00000002 Zero RW 2788 .bss.buffer bmi088.o
+ 0x200003ad COMPRESSED 0x00000003 PAD
+ 0x200003b0 - 0x0000000c Zero RW 2996 .bss.cali_bmi088 atti_esti.o
+ 0x200003bc - 0x00000008 Zero RW 2869 .bss.can_managers motor_rm.o
+ 0x200003c4 - 0x00000008 Zero RW 2978 .bss.can_managers motor_dm.o
+ 0x200003cc - 0x00000004 Zero RW 45 .bss.defaultTaskHandle freertos.o
+ 0x200003d0 - 0x0000000c Zero RW 3002 .bss.eulr_to_send atti_esti.o
+ 0x200003dc - 0x00000004 Zero RW 2709 .bss.fac_ms bsp_delay.o
+ 0x200003e0 - 0x00000001 Zero RW 2708 .bss.fac_us bsp_delay.o
+ 0x200003e1 COMPRESSED 0x00000007 PAD
+ 0x200003e8 - 0x000002e8 Zero RW 3034 .bss.gimbal gimbal_ctrl.o
0x200006d0 - 0x00000014 Zero RW 2998 .bss.gimbal_ahrs atti_esti.o
0x200006e4 - 0x0000000c Zero RW 3036 .bss.gimbal_cmd gimbal_ctrl.o
0x200006f0 - 0x00000018 Zero RW 3035 .bss.gimbal_imu gimbal_ctrl.o
@@ -8664,7 +8663,7 @@ Memory Map of the image
0x20008388 - 0x00000400 Zero RW 1 STACK startup_stm32f407xx.o
- Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014e00, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
+ Execution Region RW_IRAM2 (Exec base: 0x2001c000, Load base: 0x08014e50, Size: 0x00000000, Max: 0x00004000, ABSOLUTE)
**** No section assigned to this execution region ****
@@ -8686,12 +8685,12 @@ Image component sizes
620 0 0 0 84 6422 can.o
3946 4 0 0 2181 14234 can_1.o
2968 0 0 0 1740 35206 cmsis_os2.o
- 10 0 0 396 0 2614 config.o
+ 10 0 0 404 0 2684 config.o
134 0 0 0 0 3297 dma.o
780 8 0 0 0 3412 filter.o
98 0 48 0 4 3084 freertos.o
- 2284 28 0 0 0 8095 gimbal.o
- 220 12 0 0 788 4953 gimbal_ctrl.o
+ 2360 28 0 0 0 8229 gimbal.o
+ 220 12 0 0 780 4989 gimbal_ctrl.o
554 0 0 0 0 4164 gpio.o
576 12 56 0 64 4722 gpio_1.o
1084 0 0 0 24608 4434 heap_4.o
@@ -8736,9 +8735,9 @@ Image component sizes
0 0 183 0 80 3063 user_task.o
----------------------------------------------------------------------
- 76664 302 804 416 34184 453509 Object Totals
+ 76728 290 804 424 34176 453749 Object Totals
0 0 32 0 0 0 (incl. Generated)
- 402 16 3 3 26 0 (incl. Padding)
+ 390 4 3 3 26 0 (incl. Padding)
----------------------------------------------------------------------
@@ -8827,15 +8826,15 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 84384 978 996 416 34280 455273 Grand Totals
- 84384 978 996 120 34280 455273 ELF Image Totals (compressed)
- 84384 978 996 120 0 0 ROM Totals
+ 84448 966 996 424 34272 455513 Grand Totals
+ 84448 966 996 136 34272 455513 ELF Image Totals (compressed)
+ 84448 966 996 136 0 0 ROM Totals
==============================================================================
- Total RO Size (Code + RO Data) 85380 ( 83.38kB)
+ Total RO Size (Code + RO Data) 85444 ( 83.44kB)
Total RW Size (RW Data + ZI Data) 34696 ( 33.88kB)
- Total ROM Size (Code + RO Data + RW Data) 85500 ( 83.50kB)
+ Total ROM Size (Code + RO Data + RW Data) 85580 ( 83.57kB)
==============================================================================
diff --git a/MDK-ARM/gimbal/gimbal.o b/MDK-ARM/gimbal/gimbal.o
index fc99e81..238a75d 100644
Binary files a/MDK-ARM/gimbal/gimbal.o and b/MDK-ARM/gimbal/gimbal.o differ
diff --git a/MDK-ARM/gimbal/gimbal_ctrl.o b/MDK-ARM/gimbal/gimbal_ctrl.o
index 1aa8dd8..cca7eab 100644
Binary files a/MDK-ARM/gimbal/gimbal_ctrl.o and b/MDK-ARM/gimbal/gimbal_ctrl.o differ
diff --git a/MDK-ARM/gimbal/gimbal_gimbal.dep b/MDK-ARM/gimbal/gimbal_gimbal.dep
index 2558a68..a6d35eb 100644
--- a/MDK-ARM/gimbal/gimbal_gimbal.dep
+++ b/MDK-ARM/gimbal/gimbal_gimbal.dep
@@ -2126,7 +2126,7 @@ I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6900D064)
+I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@@ -2264,7 +2264,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\gimbal.h)(0x6900D064)
+I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2376,7 +2376,7 @@ I (..\User\component\pid.h)(0x68F22FA9)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\device\bmi088.h)(0x68F22F87)
I (..\User\device\device.h)(0x68F22FA9)
-I (..\User\module\gimbal.h)(0x6900D064)
+I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\device\motor.h)(0x68F22F87)
I (..\User\device\motor_dm.h)(0x68F22F87)
I (..\User\bsp\can.h)(0x68F22FA9)
@@ -2407,7 +2407,7 @@ I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
I (D:\Keil_v5\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\module\gimbal.h)(0x6900D064)
+I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
@@ -2481,7 +2481,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
-I (..\User\module\gimbal.h)(0x6900D064)
+I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2534,8 +2534,8 @@ 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)(0x6900D050)(-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)(0x6900D064)
+F (..\User\module\gimbal.c)(0x690613C5)(-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)(0x690613C5)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
@@ -2598,7 +2598,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_rm.h)(0x68F22F87)
I (..\User\bsp\time.h)(0x68F22FA9)
-F (..\User\module\config.c)(0x6900D050)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module
-I./RTE/_gimbal
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o gimbal/config.o -MD)
+F (..\User\module\config.c)(0x690613E7)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-gdwarf-3 -O0 -ffunction-sections -w -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User/bsp -I ../User/component -I ../User/device -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../User/task -I ../User -I ../User/module
-I./RTE/_gimbal
-ID:/Keil_v5/Arm/Packs/ARM/CMSIS/5.7.0/CMSIS/Core/Include
-ID:/Keil_v5/Arm/Packs/Keil/STM32F4xx_DFP/2.17.1/Drivers/CMSIS/Device/ST/STM32F4xx/Include
-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx
-o gimbal/config.o -MD)
I (..\User\component\user_math.h)(0x68F22FA9)
I (D:\Keil_v5\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
I (D:\Keil_v5\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
@@ -2658,7 +2658,7 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68B055DB)
I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68B055DB)
I (..\User\device\motor_lk.h)(0x68F22F87)
-I (..\User\module\gimbal.h)(0x6900D064)
+I (..\User\module\gimbal.h)(0x690613C5)
I (..\User\component\ahrs.h)(0x68F3410E)
I (..\User\component\filter.h)(0x68F22FA9)
I (..\User\component\pid.h)(0x68F22FA9)
diff --git a/MDK-ARM/gimbal/remote.o b/MDK-ARM/gimbal/remote.o
index 3c506e1..ced6e3b 100644
Binary files a/MDK-ARM/gimbal/remote.o and b/MDK-ARM/gimbal/remote.o differ
diff --git a/User/module/config.c b/User/module/config.c
index 344bf9a..6adc2a4 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -57,7 +57,13 @@ Config_RobotParam_t robot_config = {
.pit_dm_motor={},
.yaw_dm_motor={},
},
-
+ .dm_Params_t={
+ .yaw_dm={.kd=0.3,},
+ .yaw_dm_Reduction_ratio=8.0f,//减速比
+ .pit_dm={.kd=1.0,},
+ .pit_dm_Reduction_ratio=5.0f,
+ },
+
.low_pass_cutoff_freq = {
.out = -1.0f,
.gyro = 1000.0f,
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index 0bd1507..4fcdd93 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -61,7 +61,6 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
g->setpoint.eulr.pit = g->feedback.imu.eulr.pit;
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
- g->setpoint.small_yaw = g->feedback.imu.eulr.yaw;
g->setpoint.ecd.pit=g->feedback.motor.pit.rotor_abs_angle;
g->setpoint.ecd.yaw=g->feedback.motor.yaw.rotor_abs_angle;
@@ -260,7 +259,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
case GIMBAL_MODE_ABSOLUTE:/*绝对模式*/
g->setpoint.eulr.yaw+=delta_yaw;
- g->setpoint.small_yaw+=delta_yaw;
if (g->param->travel.yaw > 0)
Clip(&(g->setpoint.eulr.yaw),delta_min,delta_max);
else{
@@ -345,12 +343,26 @@ void Gimbal_Output(Gimbal_t *g){
/*达妙电机输出*/
if(g->param->motor.pit==DM){
- g->out.pit_dm.torque= g->out.pit * 5.0f; // 乘以减速比
+
+ g->out.pit_dm.angle=g->param->dm_Params_t.pit_dm.angle;
+ g->out.pit_dm.kd=g->param->dm_Params_t.pit_dm.kd;
+ g->out.pit_dm.kp=g->param->dm_Params_t.pit_dm.kp;
+ g->out.pit_dm.velocity=g->param->dm_Params_t.pit_dm.velocity;
+
+ g->out.pit_dm.torque= g->out.pit * g->param->dm_Params_t.pit_dm_Reduction_ratio; // 乘以减速比
+
MOTOR_DM_MITCtrl(&g->param->motor.pit_dm_motor,&(g->out.pit_dm));
}
if(g->param->motor.yaw==DM){
- g->out.yaw_dm.torque= g->out.yaw * 5.0f; // 乘以减速比
+ g->out.yaw_dm.angle=g->param->dm_Params_t.yaw_dm.angle;
+ g->out.yaw_dm.kd=g->param->dm_Params_t.yaw_dm.kd;
+ g->out.yaw_dm.kp=g->param->dm_Params_t.yaw_dm.kp;
+ g->out.yaw_dm.velocity=g->param->dm_Params_t.yaw_dm.velocity;
+
+ g->out.yaw_dm.torque= g->out.yaw * g->param->dm_Params_t.yaw_dm_Reduction_ratio; // 乘以减速比
+
MOTOR_DM_MITCtrl(&g->param->motor.yaw_dm_motor,&(g->out.yaw_dm));
}
}
+
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 717ca58..569e0a9 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -110,6 +110,8 @@ typedef struct {
struct {
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
MOTOR_MIT_Output_t pit_dm;
+ float yaw_dm_Reduction_ratio;
+ float pit_dm_Reduction_ratio;
}dm_Params_t;
} Gimbal_Params_t;
@@ -130,7 +132,6 @@ typedef struct {
typedef struct {
float yaw; /* yaw轴电机输出 */
float pit; /* pitch轴电机输出 */
- float small_yaw; /* 小yaw轴电机输出 */
MOTOR_MIT_Output_t yaw_dm; /*达妙的参数*/
MOTOR_MIT_Output_t pit_dm;
@@ -153,7 +154,6 @@ typedef struct {
struct {
AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
AHRS_Eulr_t ecd;
- float small_yaw
} setpoint;
struct {