From ffb26fc9e365f5e717a70c6b8ae58211268e7752 Mon Sep 17 00:00:00 2001 From: yunhai8432 Date: Sat, 1 Nov 2025 22:12:39 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=88=E7=95=99=E7=9D=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/gimbal.uvguix.yunha | 122 +- MDK-ARM/gimbal/ai.o | Bin 3376 -> 3376 bytes MDK-ARM/gimbal/atti_esti.o | Bin 7908 -> 7908 bytes MDK-ARM/gimbal/config.o | Bin 5288 -> 5384 bytes MDK-ARM/gimbal/gimbal.axf | Bin 583772 -> 584092 bytes MDK-ARM/gimbal/gimbal.build_log.htm | 8 +- MDK-ARM/gimbal/gimbal.htm | 8 +- MDK-ARM/gimbal/gimbal.map | 3059 +++++++++++++-------------- MDK-ARM/gimbal/gimbal.o | Bin 16736 -> 16948 bytes MDK-ARM/gimbal/gimbal_ctrl.o | Bin 9188 -> 9224 bytes MDK-ARM/gimbal/gimbal_gimbal.dep | 18 +- MDK-ARM/gimbal/remote.o | Bin 3820 -> 3820 bytes User/module/config.c | 8 +- User/module/gimbal.c | 20 +- User/module/gimbal.h | 4 +- 15 files changed, 1611 insertions(+), 1636 deletions(-) diff --git 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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]
      • >>   Task_gimbal_ctrl
      -

      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 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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 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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) + __kernel_poly 0x08013cc9 Thumb Code 248 poly.o(i.__kernel_poly) + __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) + atan 0x08013f89 Thumb Code 16 atan.o(i.atan) + fabs 0x08013f99 Thumb Code 24 fabs.o(i.fabs) + sqrtf 0x08013fb1 Thumb Code 62 sqrtf.o(i.sqrtf) + __aeabi_dneg 0x08013fef Thumb Code 0 basic.o(x$fpl$basic) + _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 - 0x0800bbd8 0x0800bbd8 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o - 0x0800bc08 0x0800bc08 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o - 0x0800bc5a 0x0800bc5a 0x00000002 PAD - 0x0800bc5c 0x0800bc5c 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o - 0x0800bcdc 0x0800bcdc 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o - 0x0800bd54 0x0800bd54 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o - 0x0800bda4 0x0800bda4 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o - 0x0800bec4 0x0800bec4 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o - 0x0800bfde 0x0800bfde 0x00000002 PAD - 0x0800bfe0 0x0800bfe0 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o - 0x0800c0e2 0x0800c0e2 0x00000002 PAD - 0x0800c0e4 0x0800c0e4 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o - 0x0800c132 0x0800c132 0x00000002 PAD - 0x0800c134 0x0800c134 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o - 0x0800c182 0x0800c182 0x00000002 PAD - 0x0800c184 0x0800c184 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o - 0x0800c20a 0x0800c20a 0x00000002 PAD - 0x0800c20c 0x0800c20c 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o - 0x0800c24c 0x0800c24c 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o - 0x0800c476 0x0800c476 0x00000002 PAD - 0x0800c478 0x0800c478 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o - 0x0800c4c0 0x0800c4c0 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o - 0x0800c508 0x0800c508 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o - 0x0800c55a 0x0800c55a 0x00000002 PAD - 0x0800c55c 0x0800c55c 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o - 0x0800c5b0 0x0800c5b0 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o - 0x0800c63e 0x0800c63e 0x00000002 PAD - 0x0800c640 0x0800c640 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o - 0x0800c698 0x0800c698 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o - 0x0800c6d8 0x0800c6d8 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o - 0x0800c724 0x0800c724 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o - 0x0800c728 0x0800c728 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o - 0x0800c944 0x0800c944 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o - 0x0800c948 0x0800c948 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o - 0x0800c9b4 0x0800c9b4 0x000002f0 Code RO 2638 .text.PID_Calc pid.o - 0x0800cca4 0x0800cca4 0x00000196 Code RO 2630 .text.PID_Init pid.o - 0x0800ce3a 0x0800ce3a 0x00000002 PAD - 0x0800ce3c 0x0800ce3c 0x00000048 Code RO 2636 .text.PID_Reset pid.o - 0x0800ce84 0x0800ce84 0x0000000c PAD - 0x0800ce90 0x0800ce90 0x00000064 Code RO 2170 .text.PendSV_Handler port.o - 0x0800cef4 0x0800cef4 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o - 0x0800cf88 0x0800cf88 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o - 0x0800cfe2 0x0800cfe2 0x00000002 PAD - 0x0800cfe4 0x0800cfe4 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o - 0x0800d018 0x0800d018 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o - 0x0800d02e 0x0800d02e 0x00000002 PAD - 0x0800d030 0x0800d030 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o - 0x0800d046 0x0800d046 0x00000002 PAD - 0x0800d048 0x0800d048 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d05e 0x0800d05e 0x00000002 PAD - 0x0800d060 0x0800d060 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o - 0x0800d102 0x0800d102 0x00000002 PAD - 0x0800d104 0x0800d104 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o - 0x0800d1aa 0x0800d1aa 0x00000002 PAD - 0x0800d1ac 0x0800d1ac 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o - 0x0800d232 0x0800d232 0x00000002 PAD - 0x0800d234 0x0800d234 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o - 0x0800d318 0x0800d318 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o - 0x0800d3e4 0x0800d3e4 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o - 0x0800d412 0x0800d412 0x00000002 PAD - 0x0800d414 0x0800d414 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o - 0x0800d540 0x0800d540 0x00000024 Code RO 2154 .text.SVC_Handler port.o - 0x0800d564 0x0800d564 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o - 0x0800d572 0x0800d572 0x00000002 PAD - 0x0800d574 0x0800d574 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o - 0x0800d586 0x0800d586 0x00000002 PAD - 0x0800d588 0x0800d588 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o - 0x0800d5da 0x0800d5da 0x00000002 PAD - 0x0800d5dc 0x0800d5dc 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o - 0x0800d5f4 0x0800d5f4 0x000000bc Code RO 13 .text.SystemClock_Config main.o - 0x0800d6b0 0x0800d6b0 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o - 0x0800d6c2 0x0800d6c2 0x00000002 PAD - 0x0800d6c4 0x0800d6c4 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o - 0x0800d6d4 0x0800d6d4 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o - 0x0800d878 0x0800d878 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o - 0x0800d8ae 0x0800d8ae 0x00000002 PAD - 0x0800d8b0 0x0800d8b0 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o - 0x0800d99a 0x0800d99a 0x00000002 PAD - 0x0800d99c 0x0800d99c 0x000000f4 Code RO 1171 .text.TIM_OC2_SetConfig stm32f4xx_hal_tim.o - 0x0800da90 0x0800da90 0x000000f2 Code RO 1173 .text.TIM_OC3_SetConfig stm32f4xx_hal_tim.o - 0x0800db82 0x0800db82 0x00000002 PAD - 0x0800db84 0x0800db84 0x000000a4 Code RO 1175 .text.TIM_OC4_SetConfig stm32f4xx_hal_tim.o - 0x0800dc28 0x0800dc28 0x000000b8 Code RO 2986 .text.Task_Init init.o - 0x0800dce0 0x0800dce0 0x00000190 Code RO 2994 .text.Task_atti_esti atti_esti.o - 0x0800de70 0x0800de70 0x000000dc Code RO 3032 .text.Task_gimbal_ctrl gimbal_ctrl.o - 0x0800df4c 0x0800df4c 0x00000004 PAD - 0x0800df50 0x0800df50 0x000000a0 Code RO 3011 .text.Task_remote remote.o - 0x0800dff0 0x0800dff0 0x0000001c Code RO 1445 .text.UART_DMAAbortOnError stm32f4xx_hal_uart.o - 0x0800e00c 0x0800e00c 0x00000094 Code RO 1405 .text.UART_EndRxTransfer stm32f4xx_hal_uart.o - 0x0800e0a0 0x0800e0a0 0x00000026 Code RO 1453 .text.UART_EndTransmit_IT stm32f4xx_hal_uart.o - 0x0800e0c6 0x0800e0c6 0x00000002 PAD - 0x0800e0c8 0x0800e0c8 0x0000002e Code RO 2440 .text.UART_Get uart.o - 0x0800e0f6 0x0800e0f6 0x00000002 PAD - 0x0800e0f8 0x0800e0f8 0x00000168 Code RO 1443 .text.UART_Receive_IT stm32f4xx_hal_uart.o - 0x0800e260 0x0800e260 0x0000013a Code RO 1361 .text.UART_SetConfig stm32f4xx_hal_uart.o - 0x0800e39a 0x0800e39a 0x00000002 PAD - 0x0800e39c 0x0800e39c 0x00000094 Code RO 1451 .text.UART_Transmit_IT stm32f4xx_hal_uart.o - 0x0800e430 0x0800e430 0x00000020 Code RO 186 .text.USART3_IRQHandler stm32f4xx_it.o - 0x0800e450 0x0800e450 0x00000022 Code RO 2919 .text.USART3_IRQHandler1 remote_control.o - 0x0800e472 0x0800e472 0x00000002 PAD - 0x0800e474 0x0800e474 0x00000004 Code RO 160 .text.UsageFault_Handler stm32f4xx_it.o - 0x0800e478 0x0800e478 0x0000001e Code RO 2537 .text.__ARM_isfinite filter.o - 0x0800e496 0x0800e496 0x00000002 PAD - 0x0800e498 0x0800e498 0x0000001e Code RO 2634 .text.__ARM_isfinite pid.o - 0x0800e4b6 0x0800e4b6 0x00000002 PAD - 0x0800e4b8 0x0800e4b8 0x00000018 Code RO 2535 .text.__ARM_isfinitef filter.o - 0x0800e4d0 0x0800e4d0 0x00000018 Code RO 2632 .text.__ARM_isfinitef pid.o - 0x0800e4e8 0x0800e4e8 0x00000034 Code RO 2531 .text.__ARM_isinf filter.o - 0x0800e51c 0x0800e51c 0x0000001c Code RO 2529 .text.__ARM_isinff filter.o - 0x0800e538 0x0800e538 0x00000038 Code RO 584 .text.__NVIC_DisableIRQ stm32f4xx_hal_cortex.o - 0x0800e570 0x0800e570 0x00000030 Code RO 580 .text.__NVIC_EnableIRQ stm32f4xx_hal_cortex.o - 0x0800e5a0 0x0800e5a0 0x00000010 Code RO 572 .text.__NVIC_GetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800e5b0 0x0800e5b0 0x00000042 Code RO 574 .text.__NVIC_SetPriority stm32f4xx_hal_cortex.o - 0x0800e5f2 0x0800e5f2 0x00000002 PAD - 0x0800e5f4 0x0800e5f4 0x00000042 Code RO 2104 .text.__NVIC_SetPriority cmsis_os2.o - 0x0800e636 0x0800e636 0x00000002 PAD - 0x0800e638 0x0800e638 0x0000003c Code RO 568 .text.__NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o - 0x0800e674 0x0800e674 0x00000002 Code RO 33 .text.configureTimerForRunTimeStats freertos.o + 0x08003854 0x08003854 0x000003e8 Code RO 3049 .text.Gimbal_Control gimbal.o + 0x08003c3c 0x08003c3c 0x000001d8 Code RO 3043 .text.Gimbal_Init gimbal.o + 0x08003e14 0x08003e14 0x00000112 Code RO 3053 .text.Gimbal_Output gimbal.o + 0x08003f26 0x08003f26 0x00000002 PAD + 0x08003f28 0x08003f28 0x000000b4 Code RO 3051 .text.Gimbal_SetMode gimbal.o + 0x08003fdc 0x08003fdc 0x00000168 Code RO 3045 .text.Gimbal_UpdateFeedback gimbal.o + 0x08004144 0x08004144 0x0000004a Code RO 3047 .text.Gimbal_UpdateIMU gimbal.o + 0x0800418e 0x0800418e 0x00000002 PAD + 0x08004190 0x08004190 0x00000052 Code RO 249 .text.HAL_CAN_ActivateNotification stm32f4xx_hal_can.o + 0x080041e2 0x080041e2 0x00000002 PAD + 0x080041e4 0x080041e4 0x00000156 Code RO 235 .text.HAL_CAN_AddTxMessage stm32f4xx_hal_can.o + 0x0800433a 0x0800433a 0x00000002 PAD + 0x0800433c 0x0800433c 0x0000019e Code RO 225 .text.HAL_CAN_ConfigFilter stm32f4xx_hal_can.o + 0x080044da 0x080044da 0x00000002 PAD + 0x080044dc 0x080044dc 0x00000050 Code RO 2212 .text.HAL_CAN_ErrorCallback can_1.o + 0x0800452c 0x0800452c 0x00000052 Code RO 247 .text.HAL_CAN_GetRxFifoFillLevel stm32f4xx_hal_can.o + 0x0800457e 0x0800457e 0x00000002 PAD + 0x08004580 0x08004580 0x00000212 Code RO 245 .text.HAL_CAN_GetRxMessage stm32f4xx_hal_can.o + 0x08004792 0x08004792 0x00000002 PAD + 0x08004794 0x08004794 0x00000070 Code RO 239 .text.HAL_CAN_GetTxMailboxesFreeLevel stm32f4xx_hal_can.o + 0x08004804 0x08004804 0x000003f2 Code RO 253 .text.HAL_CAN_IRQHandler stm32f4xx_hal_can.o + 0x08004bf6 0x08004bf6 0x00000002 PAD + 0x08004bf8 0x08004bf8 0x000001de Code RO 215 .text.HAL_CAN_Init stm32f4xx_hal_can.o + 0x08004dd6 0x08004dd6 0x00000002 PAD + 0x08004dd8 0x08004dd8 0x000001d0 Code RO 57 .text.HAL_CAN_MspInit can.o + 0x08004fa8 0x08004fa8 0x00000050 Code RO 2202 .text.HAL_CAN_RxFifo0FullCallback can_1.o + 0x08004ff8 0x08004ff8 0x00000050 Code RO 2200 .text.HAL_CAN_RxFifo0MsgPendingCallback can_1.o + 0x08005048 0x08005048 0x00000050 Code RO 2206 .text.HAL_CAN_RxFifo1FullCallback can_1.o + 0x08005098 0x08005098 0x00000050 Code RO 2204 .text.HAL_CAN_RxFifo1MsgPendingCallback can_1.o + 0x080050e8 0x080050e8 0x00000050 Code RO 2208 .text.HAL_CAN_SleepCallback can_1.o + 0x08005138 0x08005138 0x0000008a Code RO 227 .text.HAL_CAN_Start stm32f4xx_hal_can.o + 0x080051c2 0x080051c2 0x00000002 PAD + 0x080051c4 0x080051c4 0x00000050 Code RO 2194 .text.HAL_CAN_TxMailbox0AbortCallback can_1.o + 0x08005214 0x08005214 0x0000004c Code RO 2186 .text.HAL_CAN_TxMailbox0CompleteCallback can_1.o + 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 + 0x08005300 0x08005300 0x00000050 Code RO 2198 .text.HAL_CAN_TxMailbox2AbortCallback can_1.o + 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 + 0x080053f0 0x080053f0 0x000000ec Code RO 482 .text.HAL_DMA_Abort stm32f4xx_hal_dma.o + 0x080054dc 0x080054dc 0x00000044 Code RO 484 .text.HAL_DMA_Abort_IT stm32f4xx_hal_dma.o + 0x08005520 0x08005520 0x0000000e Code RO 494 .text.HAL_DMA_GetState stm32f4xx_hal_dma.o + 0x0800552e 0x0800552e 0x00000002 PAD + 0x08005530 0x08005530 0x0000031e Code RO 488 .text.HAL_DMA_IRQHandler stm32f4xx_hal_dma.o + 0x0800584e 0x0800584e 0x00000002 PAD + 0x08005850 0x08005850 0x0000016e Code RO 468 .text.HAL_DMA_Init stm32f4xx_hal_dma.o + 0x080059be 0x080059be 0x00000002 PAD + 0x080059c0 0x080059c0 0x000000c2 Code RO 480 .text.HAL_DMA_Start_IT stm32f4xx_hal_dma.o + 0x08005a82 0x08005a82 0x00000002 PAD + 0x08005a84 0x08005a84 0x00000042 Code RO 663 .text.HAL_Delay stm32f4xx_hal.o + 0x08005ac6 0x08005ac6 0x00000002 PAD + 0x08005ac8 0x08005ac8 0x00000066 Code RO 2275 .text.HAL_GPIO_EXTI_Callback gpio_1.o + 0x08005b2e 0x08005b2e 0x00000002 PAD + 0x08005b30 0x08005b30 0x00000038 Code RO 442 .text.HAL_GPIO_EXTI_IRQHandler stm32f4xx_hal_gpio.o + 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 + 0x08005f4e 0x08005f4e 0x00000002 PAD + 0x08005f50 0x08005f50 0x0000002e Code RO 436 .text.HAL_GPIO_WritePin stm32f4xx_hal_gpio.o + 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 + 0x0800616a 0x0800616a 0x00000002 PAD + 0x0800616c 0x0800616c 0x000003ca Code RO 826 .text.HAL_I2C_EV_IRQHandler stm32f4xx_hal_i2c.o + 0x08006536 0x08006536 0x00000002 PAD + 0x08006538 0x08006538 0x00000054 Code RO 2314 .text.HAL_I2C_ErrorCallback i2c_1.o + 0x0800658c 0x0800658c 0x000002a4 Code RO 732 .text.HAL_I2C_Init stm32f4xx_hal_i2c.o + 0x08006830 0x08006830 0x00000054 Code RO 2308 .text.HAL_I2C_ListenCpltCallback i2c_1.o + 0x08006884 0x08006884 0x00000054 Code RO 2302 .text.HAL_I2C_MasterRxCpltCallback i2c_1.o + 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 + 0x08006b04 0x08006b04 0x00000054 Code RO 2306 .text.HAL_I2C_SlaveRxCpltCallback i2c_1.o + 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 + 0x08006bc6 0x08006bc6 0x00000002 PAD + 0x08006bc8 0x08006bc8 0x00000036 Code RO 643 .text.HAL_Init stm32f4xx_hal.o + 0x08006bfe 0x08006bfe 0x00000002 PAD + 0x08006c00 0x08006c00 0x00000070 Code RO 645 .text.HAL_InitTick stm32f4xx_hal.o + 0x08006c70 0x08006c70 0x00000058 Code RO 207 .text.HAL_MspInit stm32f4xx_hal_msp.o + 0x08006cc8 0x08006cc8 0x00000014 Code RO 582 .text.HAL_NVIC_DisableIRQ stm32f4xx_hal_cortex.o + 0x08006cdc 0x08006cdc 0x00000014 Code RO 578 .text.HAL_NVIC_EnableIRQ stm32f4xx_hal_cortex.o + 0x08006cf0 0x08006cf0 0x00000032 Code RO 570 .text.HAL_NVIC_SetPriority stm32f4xx_hal_cortex.o + 0x08006d22 0x08006d22 0x00000002 PAD + 0x08006d24 0x08006d24 0x00000010 Code RO 566 .text.HAL_NVIC_SetPriorityGrouping stm32f4xx_hal_cortex.o + 0x08006d34 0x08006d34 0x00000262 Code RO 298 .text.HAL_RCC_ClockConfig stm32f4xx_hal_rcc.o + 0x08006f96 0x08006f96 0x00000002 PAD + 0x08006f98 0x08006f98 0x0000000c Code RO 308 .text.HAL_RCC_GetHCLKFreq stm32f4xx_hal_rcc.o + 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 + 0x08007d46 0x08007d46 0x00000002 PAD + 0x08007d48 0x08007d48 0x00000198 Code RO 952 .text.HAL_SPI_Receive_DMA stm32f4xx_hal_spi.o + 0x08007ee0 0x08007ee0 0x00000054 Code RO 2383 .text.HAL_SPI_RxCpltCallback spi_1.o + 0x08007f34 0x08007f34 0x00000054 Code RO 2389 .text.HAL_SPI_RxHalfCpltCallback spi_1.o + 0x08007f88 0x08007f88 0x000002a2 Code RO 912 .text.HAL_SPI_Transmit stm32f4xx_hal_spi.o + 0x0800822a 0x0800822a 0x00000002 PAD + 0x0800822c 0x0800822c 0x000003a2 Code RO 918 .text.HAL_SPI_TransmitReceive stm32f4xx_hal_spi.o + 0x080085ce 0x080085ce 0x00000002 PAD + 0x080085d0 0x080085d0 0x00000214 Code RO 954 .text.HAL_SPI_TransmitReceive_DMA stm32f4xx_hal_spi.o + 0x080087e4 0x080087e4 0x0000016c Code RO 944 .text.HAL_SPI_Transmit_DMA stm32f4xx_hal_spi.o + 0x08008950 0x08008950 0x00000048 Code RO 2379 .text.HAL_SPI_TxCpltCallback spi_1.o + 0x08008998 0x08008998 0x00000054 Code RO 2387 .text.HAL_SPI_TxHalfCpltCallback spi_1.o + 0x080089ec 0x080089ec 0x00000054 Code RO 2385 .text.HAL_SPI_TxRxCpltCallback spi_1.o + 0x08008a40 0x08008a40 0x00000054 Code RO 2391 .text.HAL_SPI_TxRxHalfCpltCallback spi_1.o + 0x08008a94 0x08008a94 0x00000010 Code RO 590 .text.HAL_SYSTICK_Config stm32f4xx_hal_cortex.o + 0x08008aa4 0x08008aa4 0x00000008 Code RO 1344 .text.HAL_TIMEx_BreakCallback stm32f4xx_hal_tim_ex.o + 0x08008aac 0x08008aac 0x00000008 Code RO 1340 .text.HAL_TIMEx_CommutCallback stm32f4xx_hal_tim_ex.o + 0x08008ab4 0x08008ab4 0x00000122 Code RO 1334 .text.HAL_TIMEx_MasterConfigSynchronization stm32f4xx_hal_tim_ex.o + 0x08008bd6 0x08008bd6 0x00000002 PAD + 0x08008bd8 0x08008bd8 0x0000009c Code RO 1021 .text.HAL_TIM_Base_Init stm32f4xx_hal_tim.o + 0x08008c74 0x08008c74 0x0000008a Code RO 121 .text.HAL_TIM_Base_MspInit tim.o + 0x08008cfe 0x08008cfe 0x00000002 PAD + 0x08008d00 0x08008d00 0x00000008 Code RO 1157 .text.HAL_TIM_IC_CaptureCallback stm32f4xx_hal_tim.o + 0x08008d08 0x08008d08 0x0000021a Code RO 1155 .text.HAL_TIM_IRQHandler stm32f4xx_hal_tim.o + 0x08008f22 0x08008f22 0x00000002 PAD + 0x08008f24 0x08008f24 0x0000006c Code RO 119 .text.HAL_TIM_MspPostInit tim.o + 0x08008f90 0x08008f90 0x00000008 Code RO 1159 .text.HAL_TIM_OC_DelayElapsedCallback stm32f4xx_hal_tim.o + 0x08008f98 0x08008f98 0x00000142 Code RO 1187 .text.HAL_TIM_PWM_ConfigChannel stm32f4xx_hal_tim.o + 0x080090da 0x080090da 0x00000002 PAD + 0x080090dc 0x080090dc 0x0000009c Code RO 1075 .text.HAL_TIM_PWM_Init stm32f4xx_hal_tim.o + 0x08009178 0x08009178 0x00000008 Code RO 1077 .text.HAL_TIM_PWM_MspInit stm32f4xx_hal_tim.o + 0x08009180 0x08009180 0x00000008 Code RO 1161 .text.HAL_TIM_PWM_PulseFinishedCallback stm32f4xx_hal_tim.o + 0x08009188 0x08009188 0x000001ca Code RO 1083 .text.HAL_TIM_PWM_Start stm32f4xx_hal_tim.o + 0x08009352 0x08009352 0x00000002 PAD + 0x08009354 0x08009354 0x00000008 Code RO 1163 .text.HAL_TIM_PeriodElapsedCallback stm32f4xx_hal_tim.o + 0x0800935c 0x0800935c 0x00000008 Code RO 1165 .text.HAL_TIM_TriggerCallback stm32f4xx_hal_tim.o + 0x08009364 0x08009364 0x0000000c Code RO 1449 .text.HAL_UARTEx_RxEventCallback stm32f4xx_hal_uart.o + 0x08009370 0x08009370 0x00000054 Code RO 2448 .text.HAL_UART_ErrorCallback uart.o + 0x080093c4 0x080093c4 0x0000045c Code RO 1441 .text.HAL_UART_IRQHandler stm32f4xx_hal_uart.o + 0x08009820 0x08009820 0x0000009e Code RO 1357 .text.HAL_UART_Init stm32f4xx_hal_uart.o + 0x080098be 0x080098be 0x00000002 PAD + 0x080098c0 0x080098c0 0x000001cc Code RO 138 .text.HAL_UART_MspInit usart.o + 0x08009a8c 0x08009a8c 0x00000054 Code RO 2444 .text.HAL_UART_RxCpltCallback uart.o + 0x08009ae0 0x08009ae0 0x00000054 Code RO 2438 .text.HAL_UART_TxCpltCallback uart.o + 0x08009b34 0x08009b34 0x00000004 Code RO 154 .text.HardFault_Handler stm32f4xx_it.o + 0x08009b38 0x08009b38 0x00000010 Code RO 184 .text.I2C1_ER_IRQHandler stm32f4xx_it.o + 0x08009b48 0x08009b48 0x00000010 Code RO 182 .text.I2C1_EV_IRQHandler stm32f4xx_it.o + 0x08009b58 0x08009b58 0x00000034 Code RO 828 .text.I2C_ConvertOtherXferOptions stm32f4xx_hal_i2c.o + 0x08009b8c 0x08009b8c 0x00000156 Code RO 812 .text.I2C_DMAAbort stm32f4xx_hal_i2c.o + 0x08009ce2 0x08009ce2 0x00000002 PAD + 0x08009ce4 0x08009ce4 0x00000024 Code RO 888 .text.I2C_Flush_DR stm32f4xx_hal_i2c.o + 0x08009d08 0x08009d08 0x00000048 Code RO 2300 .text.I2C_Get i2c_1.o + 0x08009d50 0x08009d50 0x0000027a Code RO 824 .text.I2C_ITError stm32f4xx_hal_i2c.o + 0x08009fca 0x08009fca 0x00000002 PAD + 0x08009fcc 0x08009fcc 0x000001ac Code RO 844 .text.I2C_MasterReceive_BTF stm32f4xx_hal_i2c.o + 0x0800a178 0x0800a178 0x0000016a Code RO 842 .text.I2C_MasterReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800a2e2 0x0800a2e2 0x00000002 PAD + 0x0800a2e4 0x0800a2e4 0x000000de Code RO 838 .text.I2C_MasterTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800a3c2 0x0800a3c2 0x00000002 PAD + 0x0800a3c4 0x0800a3c4 0x0000013e Code RO 836 .text.I2C_MasterTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800a502 0x0800a502 0x00000002 PAD + 0x0800a504 0x0800a504 0x00000046 Code RO 832 .text.I2C_Master_ADD10 stm32f4xx_hal_i2c.o + 0x0800a54a 0x0800a54a 0x00000002 PAD + 0x0800a54c 0x0800a54c 0x0000033e Code RO 834 .text.I2C_Master_ADDR stm32f4xx_hal_i2c.o + 0x0800a88a 0x0800a88a 0x00000002 PAD + 0x0800a88c 0x0800a88c 0x000000f0 Code RO 830 .text.I2C_Master_SB stm32f4xx_hal_i2c.o + 0x0800a97c 0x0800a97c 0x00000128 Code RO 840 .text.I2C_MemoryTransmit_TXE_BTF stm32f4xx_hal_i2c.o + 0x0800aaa4 0x0800aaa4 0x0000002e Code RO 856 .text.I2C_SlaveReceive_BTF stm32f4xx_hal_i2c.o + 0x0800aad2 0x0800aad2 0x00000002 PAD + 0x0800aad4 0x0800aad4 0x0000006e Code RO 854 .text.I2C_SlaveReceive_RXNE stm32f4xx_hal_i2c.o + 0x0800ab42 0x0800ab42 0x00000002 PAD + 0x0800ab44 0x0800ab44 0x0000002c Code RO 852 .text.I2C_SlaveTransmit_BTF stm32f4xx_hal_i2c.o + 0x0800ab70 0x0800ab70 0x0000006c Code RO 850 .text.I2C_SlaveTransmit_TXE stm32f4xx_hal_i2c.o + 0x0800abdc 0x0800abdc 0x000000ae Code RO 846 .text.I2C_Slave_ADDR stm32f4xx_hal_i2c.o + 0x0800ac8a 0x0800ac8a 0x00000002 PAD + 0x0800ac8c 0x0800ac8c 0x000000e4 Code RO 860 .text.I2C_Slave_AF stm32f4xx_hal_i2c.o + 0x0800ad70 0x0800ad70 0x0000024a Code RO 848 .text.I2C_Slave_STOPF stm32f4xx_hal_i2c.o + 0x0800afba 0x0800afba 0x00000002 PAD + 0x0800afbc 0x0800afbc 0x00000078 Code RO 890 .text.I2C_WaitOnSTOPRequestThroughIT stm32f4xx_hal_i2c.o + 0x0800b034 0x0800b034 0x00000076 Code RO 2675 .text.InvSqrt user_math.o + 0x0800b0aa 0x0800b0aa 0x00000002 PAD + 0x0800b0ac 0x0800b0ac 0x000000b8 Code RO 2527 .text.LowPassFilter2p_Apply filter.o + 0x0800b164 0x0800b164 0x0000013c Code RO 2525 .text.LowPassFilter2p_Init filter.o + 0x0800b2a0 0x0800b2a0 0x00000092 Code RO 2533 .text.LowPassFilter2p_Reset filter.o + 0x0800b332 0x0800b332 0x00000002 PAD + 0x0800b334 0x0800b334 0x00000096 Code RO 2944 .text.MOTOR_DM_CreateCANManager motor_dm.o + 0x0800b3ca 0x0800b3ca 0x00000002 PAD + 0x0800b3cc 0x0800b3cc 0x0000007a Code RO 2968 .text.MOTOR_DM_Enable motor_dm.o + 0x0800b446 0x0800b446 0x00000002 PAD + 0x0800b448 0x0800b448 0x00000030 Code RO 2946 .text.MOTOR_DM_GetCANManager motor_dm.o + 0x0800b478 0x0800b478 0x00000086 Code RO 2956 .text.MOTOR_DM_GetMotor motor_dm.o + 0x0800b4fe 0x0800b4fe 0x00000002 PAD + 0x0800b500 0x0800b500 0x00000048 Code RO 2954 .text.MOTOR_DM_MITCtrl motor_dm.o + 0x0800b548 0x0800b548 0x00000158 Code RO 2950 .text.MOTOR_DM_ParseFeedbackFrame motor_dm.o + 0x0800b6a0 0x0800b6a0 0x0000012c Code RO 2942 .text.MOTOR_DM_Register motor_dm.o + 0x0800b7cc 0x0800b7cc 0x00000144 Code RO 2958 .text.MOTOR_DM_SendMITCmd motor_dm.o + 0x0800b910 0x0800b910 0x0000010c Code RO 2948 .text.MOTOR_DM_Update motor_dm.o + 0x0800ba1c 0x0800ba1c 0x00000096 Code RO 2843 .text.MOTOR_RM_CreateCANManager motor_rm.o + 0x0800bab2 0x0800bab2 0x00000002 PAD + 0x0800bab4 0x0800bab4 0x00000170 Code RO 2861 .text.MOTOR_RM_Ctrl motor_rm.o + 0x0800bc24 0x0800bc24 0x00000030 Code RO 2845 .text.MOTOR_RM_GetCANManager motor_rm.o + 0x0800bc54 0x0800bc54 0x00000052 Code RO 2859 .text.MOTOR_RM_GetLSB motor_rm.o + 0x0800bca6 0x0800bca6 0x00000002 PAD + 0x0800bca8 0x0800bca8 0x00000080 Code RO 2857 .text.MOTOR_RM_GetLogicalIndex motor_rm.o + 0x0800bd28 0x0800bd28 0x00000078 Code RO 2855 .text.MOTOR_RM_GetMotor motor_rm.o + 0x0800bda0 0x0800bda0 0x00000050 Code RO 2867 .text.MOTOR_RM_GetRatio motor_rm.o + 0x0800bdf0 0x0800bdf0 0x00000120 Code RO 2841 .text.MOTOR_RM_Register motor_rm.o + 0x0800bf10 0x0800bf10 0x0000011a Code RO 2853 .text.MOTOR_RM_SetOutput motor_rm.o + 0x0800c02a 0x0800c02a 0x00000002 PAD + 0x0800c02c 0x0800c02c 0x00000102 Code RO 2847 .text.MOTOR_RM_Update motor_rm.o + 0x0800c12e 0x0800c12e 0x00000002 PAD + 0x0800c130 0x0800c130 0x0000004e Code RO 53 .text.MX_CAN1_Init can.o + 0x0800c17e 0x0800c17e 0x00000002 PAD + 0x0800c180 0x0800c180 0x0000004e Code RO 55 .text.MX_CAN2_Init can.o + 0x0800c1ce 0x0800c1ce 0x00000002 PAD + 0x0800c1d0 0x0800c1d0 0x00000086 Code RO 71 .text.MX_DMA_Init dma.o + 0x0800c256 0x0800c256 0x00000002 PAD + 0x0800c258 0x0800c258 0x00000040 Code RO 39 .text.MX_FREERTOS_Init freertos.o + 0x0800c298 0x0800c298 0x0000022a Code RO 25 .text.MX_GPIO_Init gpio.o + 0x0800c4c2 0x0800c4c2 0x00000002 PAD + 0x0800c4c4 0x0800c4c4 0x00000048 Code RO 79 .text.MX_I2C1_Init i2c.o + 0x0800c50c 0x0800c50c 0x00000048 Code RO 81 .text.MX_I2C2_Init i2c.o + 0x0800c554 0x0800c554 0x00000052 Code RO 96 .text.MX_SPI1_Init spi.o + 0x0800c5a6 0x0800c5a6 0x00000002 PAD + 0x0800c5a8 0x0800c5a8 0x00000054 Code RO 98 .text.MX_SPI2_Init spi.o + 0x0800c5fc 0x0800c5fc 0x0000008e Code RO 117 .text.MX_TIM10_Init tim.o + 0x0800c68a 0x0800c68a 0x00000002 PAD + 0x0800c68c 0x0800c68c 0x00000058 Code RO 115 .text.MX_TIM7_Init tim.o + 0x0800c6e4 0x0800c6e4 0x00000040 Code RO 134 .text.MX_USART1_UART_Init usart.o + 0x0800c724 0x0800c724 0x0000004c Code RO 136 .text.MX_USART3_UART_Init usart.o + 0x0800c770 0x0800c770 0x00000004 Code RO 156 .text.MemManage_Handler stm32f4xx_it.o + 0x0800c774 0x0800c774 0x0000021c Code RO 2849 .text.Motor_RM_Decode motor_rm.o + 0x0800c990 0x0800c990 0x00000004 Code RO 152 .text.NMI_Handler stm32f4xx_it.o + 0x0800c994 0x0800c994 0x0000006c Code RO 576 .text.NVIC_EncodePriority stm32f4xx_hal_cortex.o + 0x0800ca00 0x0800ca00 0x000002f0 Code RO 2638 .text.PID_Calc pid.o + 0x0800ccf0 0x0800ccf0 0x00000196 Code RO 2630 .text.PID_Init pid.o + 0x0800ce86 0x0800ce86 0x00000002 PAD + 0x0800ce88 0x0800ce88 0x00000048 Code RO 2636 .text.PID_Reset pid.o + 0x0800ced0 0x0800ced0 0x00000064 Code RO 2170 .text.PendSV_Handler port.o + 0x0800cf34 0x0800cf34 0x00000094 Code RO 2717 .text.RC_Init bsp_rc.o + 0x0800cfc8 0x0800cfc8 0x0000005a Code RO 2721 .text.RC_restart bsp_rc.o + 0x0800d022 0x0800d022 0x00000002 PAD + 0x0800d024 0x0800d024 0x00000034 Code RO 950 .text.SPI_DMAError stm32f4xx_hal_spi.o + 0x0800d058 0x0800d058 0x00000016 Code RO 956 .text.SPI_DMAHalfReceiveCplt stm32f4xx_hal_spi.o + 0x0800d06e 0x0800d06e 0x00000002 PAD + 0x0800d070 0x0800d070 0x00000016 Code RO 946 .text.SPI_DMAHalfTransmitCplt stm32f4xx_hal_spi.o + 0x0800d086 0x0800d086 0x00000002 PAD + 0x0800d088 0x0800d088 0x00000016 Code RO 960 .text.SPI_DMAHalfTransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d09e 0x0800d09e 0x00000002 PAD + 0x0800d0a0 0x0800d0a0 0x000000a2 Code RO 958 .text.SPI_DMAReceiveCplt stm32f4xx_hal_spi.o + 0x0800d142 0x0800d142 0x00000002 PAD + 0x0800d144 0x0800d144 0x000000a6 Code RO 948 .text.SPI_DMATransmitCplt stm32f4xx_hal_spi.o + 0x0800d1ea 0x0800d1ea 0x00000002 PAD + 0x0800d1ec 0x0800d1ec 0x00000086 Code RO 962 .text.SPI_DMATransmitReceiveCplt stm32f4xx_hal_spi.o + 0x0800d272 0x0800d272 0x00000002 PAD + 0x0800d274 0x0800d274 0x000000e4 Code RO 920 .text.SPI_EndRxTransaction stm32f4xx_hal_spi.o + 0x0800d358 0x0800d358 0x000000cc Code RO 914 .text.SPI_EndRxTxTransaction stm32f4xx_hal_spi.o + 0x0800d424 0x0800d424 0x0000002e Code RO 2381 .text.SPI_Get spi_1.o + 0x0800d452 0x0800d452 0x00000002 PAD + 0x0800d454 0x0800d454 0x0000012c Code RO 1012 .text.SPI_WaitFlagStateUntilTimeout stm32f4xx_hal_spi.o + 0x0800d580 0x0800d580 0x00000024 Code RO 2154 .text.SVC_Handler port.o + 0x0800d5a4 0x0800d5a4 0x0000000e Code RO 1948 .text.SVC_Setup cmsis_os2.o + 0x0800d5b2 0x0800d5b2 0x00000002 PAD + 0x0800d5b4 0x0800d5b4 0x00000012 Code RO 41 .text.StartDefaultTask freertos.o + 0x0800d5c6 0x0800d5c6 0x00000002 PAD + 0x0800d5c8 0x0800d5c8 0x00000052 Code RO 592 .text.SysTick_Config stm32f4xx_hal_cortex.o + 0x0800d61a 0x0800d61a 0x00000002 PAD + 0x0800d61c 0x0800d61c 0x00000018 Code RO 164 .text.SysTick_Handler stm32f4xx_it.o + 0x0800d634 0x0800d634 0x000000bc Code RO 13 .text.SystemClock_Config main.o + 0x0800d6f0 0x0800d6f0 0x00000012 Code RO 1488 .text.SystemInit system_stm32f4xx.o + 0x0800d702 0x0800d702 0x00000002 PAD + 0x0800d704 0x0800d704 0x00000010 Code RO 188 .text.TIM7_IRQHandler stm32f4xx_it.o + 0x0800d714 0x0800d714 0x000001a4 Code RO 1025 .text.TIM_Base_SetConfig stm32f4xx_hal_tim.o + 0x0800d8b8 0x0800d8b8 0x00000036 Code RO 1059 .text.TIM_CCxChannelCmd stm32f4xx_hal_tim.o + 0x0800d8ee 0x0800d8ee 0x00000002 PAD + 0x0800d8f0 0x0800d8f0 0x000000ea Code RO 1169 .text.TIM_OC1_SetConfig stm32f4xx_hal_tim.o + 0x0800d9da 0x0800d9da 0x00000002 PAD + 0x0800d9dc 0x0800d9dc 0x000000f4 Code RO 1171 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.text.xQueueCreateMutexStatic queue.o + 0x08011722 0x08011722 0x00000002 PAD + 0x08011724 0x08011724 0x00000074 Code RO 1563 .text.xQueueGenericCreate queue.o + 0x08011798 0x08011798 0x0000010e Code RO 1559 .text.xQueueGenericCreateStatic queue.o + 0x080118a6 0x080118a6 0x00000002 PAD + 0x080118a8 0x080118a8 0x000000ba Code RO 1557 .text.xQueueGenericReset queue.o + 0x08011962 0x08011962 0x00000002 PAD + 0x08011964 0x08011964 0x0000022c Code RO 1577 .text.xQueueGenericSend queue.o + 0x08011b90 0x08011b90 0x0000014c Code RO 1593 .text.xQueueGenericSendFromISR queue.o + 0x08011cdc 0x08011cdc 0x0000006c Code RO 1575 .text.xQueueGiveMutexRecursive queue.o + 0x08011d48 0x08011d48 0x000001dc Code RO 1597 .text.xQueueReceive queue.o + 0x08011f24 0x08011f24 0x00000108 Code RO 1607 .text.xQueueReceiveFromISR queue.o + 0x0801202c 0x0801202c 0x0000022c Code RO 1581 .text.xQueueSemaphoreTake queue.o + 0x08012258 0x08012258 0x0000006e Code RO 1579 .text.xQueueTakeMutexRecursive queue.o + 0x080122c6 0x080122c6 0x00000002 PAD + 0x080122c8 0x080122c8 0x000000cc Code RO 1784 .text.xTaskCheckForTimeOut tasks.o + 0x08012394 0x08012394 0x0000009e Code RO 1708 .text.xTaskCreate tasks.o + 0x08012432 0x08012432 0x00000002 PAD + 0x08012434 0x08012434 0x000000ce Code RO 1702 .text.xTaskCreateStatic tasks.o + 0x08012502 0x08012502 0x00000002 PAD + 0x08012504 0x08012504 0x00000178 Code RO 1824 .text.xTaskGenericNotify tasks.o + 0x0801267c 0x0801267c 0x000001c4 Code RO 1826 .text.xTaskGenericNotifyFromISR tasks.o + 0x08012840 0x08012840 0x00000014 Code RO 1800 .text.xTaskGetCurrentTaskHandle tasks.o + 0x08012854 0x08012854 0x00000038 Code RO 1802 .text.xTaskGetSchedulerState tasks.o + 0x0801288c 0x0801288c 0x00000014 Code RO 1752 .text.xTaskGetTickCount tasks.o + 0x080128a0 0x080128a0 0x0000001e Code RO 1754 .text.xTaskGetTickCountFromISR tasks.o + 0x080128be 0x080128be 0x00000002 PAD + 0x080128c0 0x080128c0 0x000001c4 Code RO 1750 .text.xTaskIncrementTick tasks.o + 0x08012a84 0x08012a84 0x000000d6 Code RO 1822 .text.xTaskNotifyWait tasks.o + 0x08012b5a 0x08012b5a 0x00000002 PAD + 0x08012b5c 0x08012b5c 0x000000ec Code RO 1806 .text.xTaskPriorityDisinherit tasks.o + 0x08012c48 0x08012c48 0x0000010e Code RO 1804 .text.xTaskPriorityInherit tasks.o + 0x08012d56 0x08012d56 0x00000002 PAD + 0x08012d58 0x08012d58 0x000000ce Code RO 1776 .text.xTaskRemoveFromEventList tasks.o + 0x08012e26 0x08012e26 0x00000002 PAD + 0x08012e28 0x08012e28 0x00000186 Code RO 1722 .text.xTaskResumeAll tasks.o + 0x08012fae 0x08012fae 0x00000002 PAD + 0x08012fb0 0x08012fb0 0x00000094 Code RO 1869 .text.xTimerCreateTimerTask timers.o + 0x08013044 0x08013044 0x000000b0 Code RO 1881 .text.xTimerGenericCommand timers.o + 0x080130f4 0x080130f4 0x00000030 Code RO 3382 i.__ARM_fpclassify m_wm.l(fpclassify.o) + 0x08013124 0x08013124 0x00000026 Code RO 3312 i.__ARM_fpclassifyf m_wm.l(fpclassifyf.o) + 0x0801314a 0x0801314a 0x00000002 PAD + 0x0801314c 0x0801314c 0x0000012c Code RO 3126 i.__hardfp_asinf m_wm.l(asinf.o) + 0x08013278 0x08013278 0x000002d8 Code RO 3285 i.__hardfp_atan m_wm.l(atan.o) + 0x08013550 0x08013550 0x00000200 Code RO 3132 i.__hardfp_atan2 m_wm.l(atan2.o) + 0x08013750 0x08013750 0x000002ac Code RO 3138 i.__hardfp_atan2f m_wm.l(atan2f.o) + 0x080139fc 0x080139fc 0x00000150 Code RO 3144 i.__hardfp_cosf m_wm.l(cosf.o) + 0x08013b4c 0x08013b4c 0x0000017c Code RO 3150 i.__hardfp_tanf m_wm.l(tanf.o) + 0x08013cc8 0x08013cc8 0x000000f8 Code RO 3384 i.__kernel_poly m_wm.l(poly.o) + 0x08013dc0 0x08013dc0 0x00000014 Code RO 3293 i.__mathlib_dbl_infnan m_wm.l(dunder.o) + 0x08013dd4 0x08013dd4 0x00000014 Code RO 3294 i.__mathlib_dbl_infnan2 m_wm.l(dunder.o) + 0x08013de8 0x08013de8 0x00000020 Code RO 3298 i.__mathlib_dbl_underflow m_wm.l(dunder.o) + 0x08013e08 0x08013e08 0x00000006 Code RO 3315 i.__mathlib_flt_infnan m_wm.l(funder.o) + 0x08013e0e 0x08013e0e 0x00000006 Code RO 3316 i.__mathlib_flt_infnan2 m_wm.l(funder.o) + 0x08013e14 0x08013e14 0x00000010 Code RO 3317 i.__mathlib_flt_invalid m_wm.l(funder.o) + 0x08013e24 0x08013e24 0x00000010 Code RO 3320 i.__mathlib_flt_underflow m_wm.l(funder.o) + 0x08013e34 0x08013e34 0x00000154 Code RO 3329 i.__mathlib_rredf2 m_wm.l(rredf.o) + 0x08013f88 0x08013f88 0x00000010 Code RO 3287 i.atan m_wm.l(atan.o) + 0x08013f98 0x08013f98 0x00000018 Code RO 3308 i.fabs m_wm.l(fabs.o) + 0x08013fb0 0x08013fb0 0x0000003e Code RO 3334 i.sqrtf m_wm.l(sqrtf.o) + 0x08013fee 0x08013fee 0x00000018 Code RO 3258 x$fpl$basic fz_wm.l(basic.o) + 0x08014006 0x08014006 0x00000002 PAD + 0x08014008 0x08014008 0x00000062 Code RO 3100 x$fpl$d2f fz_wm.l(d2f.o) + 0x0801406a 0x0801406a 0x00000002 PAD + 0x0801406c 0x0801406c 0x00000150 Code RO 3260 x$fpl$dadd fz_wm.l(daddsub_clz.o) + 0x080141bc 0x080141bc 0x00000018 Code RO 3380 x$fpl$dcmpinf fz_wm.l(dcmpi.o) + 0x080141d4 0x080141d4 0x000002b4 Code RO 3103 x$fpl$ddiv fz_wm.l(ddiv.o) + 0x08014488 0x08014488 0x00000078 Code RO 3266 x$fpl$deqf fz_wm.l(deqf.o) + 0x08014500 0x08014500 0x0000005e Code RO 3106 x$fpl$dfix fz_wm.l(dfix.o) + 0x0801455e 0x0801455e 0x00000002 PAD + 0x08014560 0x08014560 0x0000005a Code RO 3110 x$fpl$dfixu fz_wm.l(dfixu.o) + 0x080145ba 0x080145ba 0x0000002e Code RO 3115 x$fpl$dflt fz_wm.l(dflt_clz.o) + 0x080145e8 0x080145e8 0x00000026 Code RO 3114 x$fpl$dfltu fz_wm.l(dflt_clz.o) + 0x0801460e 0x0801460e 0x00000002 PAD + 0x08014610 0x08014610 0x00000154 Code RO 3120 x$fpl$dmul fz_wm.l(dmul.o) + 0x08014764 0x08014764 0x0000009c Code RO 3268 x$fpl$dnaninf fz_wm.l(dnaninf.o) + 0x08014800 0x08014800 0x0000000c Code RO 3270 x$fpl$dretinf fz_wm.l(dretinf.o) + 0x0801480c 0x0801480c 0x00000016 Code RO 3261 x$fpl$drsb fz_wm.l(daddsub_clz.o) + 0x08014822 0x08014822 0x00000002 PAD + 0x08014824 0x08014824 0x000001dc Code RO 3262 x$fpl$dsub fz_wm.l(daddsub_clz.o) + 0x08014a00 0x08014a00 0x00000056 Code RO 3122 x$fpl$f2d fz_wm.l(f2d.o) + 0x08014a56 0x08014a56 0x00000060 Code RO 3124 x$fpl$ffltll fz_wm.l(ffltll_clz.o) + 0x08014ab6 0x08014ab6 0x0000008c Code RO 3272 x$fpl$fnaninf fz_wm.l(fnaninf.o) + 0x08014b42 0x08014b42 0x0000001a Code RO 3523 x$fpl$fpinit fz_wm.l(fpinit.o) + 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 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zk^^4+hY{-%zr3q!$&v*ty1EByQrAd+W?*qerAX-CcY)v|ac`zn72rl|D{Zx4wGb3f~)ty!ctRA=en$@?go{BrFD!Gd1RkcmM3sp;#HWGfT#gel5OsfRd^p=M zug6*sTis$+f9*QzDXY(0)gQ9VK@hWA(#$YIQ?XgT7ISo@{lx)gM@$ZM8G* zt!_&kwbtL_L5xjcoF1F8T4S|nwPbZ#T*y@>Zn4(VxFgpvv)@`rtp3&N>sC)&J!kcT z)vv9lQ55vM$He<`ZH0%dwaMxeR{N|T8W?%$F^~7egZXa$k9cNb4*yI1SfQDpiC-<8 xfTy>%nIDP|*4FW5@msYGyf5Z;x@|)1$Je1<6t6(r67N8}EIx@gjL+6pegne}u=M}{ 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 3c506e1eddb4d61ef52c9217d70ddf6486aefdf0..ced6e3bafe997639003ed0fc19e9ff62aa597d04 100644 GIT binary patch delta 41 ucmaDO`$l$y2a`-Civ(jCD=Q-d!z~5|2F7v*Rv93h4~Q8nHm5Lk@BjeAtOw}; delta 41 ucmaDO`$l$y2a`-Wiv(i{D=Q-d!z~5|2F6kbRv93h4~QAdHm5Lk@BjeA00-d! 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 {