diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map
index 9103e74..2290c56 100644
--- a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map
+++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map
@@ -1620,7 +1620,7 @@ Image component sizes
856 118 0 20 0 2960 control.o
0 0 0 0 0 32 core_cm3.o
212 18 0 4 0 1123 delay.o
- 440 16 0 0 0 1599 encoder.o
+ 440 16 0 0 0 1587 encoder.o
112 4 0 0 0 680 exti.o
7824 172 158 44 0 21791 inv_mpu.o
3440 126 3062 0 16 15299 inv_mpu_dmp_motion_driver.o
@@ -1646,7 +1646,7 @@ Image component sizes
164 10 0 4 0 2938 usart.o
----------------------------------------------------------------------
- 26336 1064 6154 192 2724 599972 Object Totals
+ 26336 1064 6154 192 2724 599960 Object Totals
0 0 32 0 0 0 (incl. Generated)
8 0 6 3 2 0 (incl. Padding)
@@ -1742,8 +1742,8 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 33110 1512 6314 192 2824 599596 Grand Totals
- 33110 1512 6314 192 2824 599596 ELF Image Totals
+ 33110 1512 6314 192 2824 599584 Grand Totals
+ 33110 1512 6314 192 2824 599584 ELF Image Totals
33110 1512 6314 192 0 0 ROM Totals
==============================================================================
diff --git a/GeBalanceBot_Firmware v1.0 - TestHardware/DRV/bsp_timer.c b/GeBalanceBot_Firmware v1.0 - TestHardware/DRV/bsp_timer.c
index 85dc027..70c183e 100644
--- a/GeBalanceBot_Firmware v1.0 - TestHardware/DRV/bsp_timer.c
+++ b/GeBalanceBot_Firmware v1.0 - TestHardware/DRV/bsp_timer.c
@@ -136,7 +136,7 @@ void Encoder_Init_TIM2(void)
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
+ TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV4;//选择时钟分频：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
@@ -169,7 +169,7 @@ void Encoder_Init_TIM4(void)
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器
TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频
+ TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV4;//选择时钟分频：不分频
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3
diff --git a/GeBalanceBot_Firmware v1.0 - TestHardware/HARDWARE/MOTO/car.c b/GeBalanceBot_Firmware v1.0 - TestHardware/HARDWARE/MOTO/car.c
index 9744056..885a694 100644
--- a/GeBalanceBot_Firmware v1.0 - TestHardware/HARDWARE/MOTO/car.c
+++ b/GeBalanceBot_Firmware v1.0 - TestHardware/HARDWARE/MOTO/car.c
@@ -41,12 +41,21 @@ int Motor_Left, Motor_Right; // 电机PWM变量 应是Motor的 向Moto致敬
void TIM6_IRQHandler(void)
{
+ static int count = 0;
// 到达定时器周期
if (TIM_GetFlagStatus(TIM6, TIM_IT_Update) != RESET)
{
TIM_ClearITPendingBit(TIM6, TIM_FLAG_Update); // 清中断
LED_Flash(5); // 500ms闪烁一次
+
+// count++;
+//
+// if(count < 10){
+// return;
+// }
+//
+// count = 0;
// wheel写法
Encoder_Left = -(Read_Encoder(2) - 30000); // 读取左轮编码器的值，前进为正，后退为负
@@ -56,7 +65,7 @@ void TIM6_IRQHandler(void)
Get_Angle(); // 更新姿态, 5ms读取一次
// PB_USART_printf(USART2, (u8 *)"Ctl::Pitch = %d\r\n", (int)Pitch);
-// PB_USART_printf(USART2, (u8 *)"Encoder Left = %d Right = %d\r\n", (int)Encoder_Left, (int)Encoder_Right);
+ PB_USART_printf(USART2, (u8 *)"Encoder Left = %d Right = %d\r\n", (int)Encoder_Left, (int)Encoder_Right);
// // 通过Flag_Target调整控制小车的频率
// if(Flag_Target==1)
diff --git a/GeBalanceBot_Firmware v1.0 - TestHardware/Listing/Project.map b/GeBalanceBot_Firmware v1.0 - TestHardware/Listing/Project.map
index a25ff93..2330ab6 100644
--- a/GeBalanceBot_Firmware v1.0 - TestHardware/Listing/Project.map
+++ b/GeBalanceBot_Firmware v1.0 - TestHardware/Listing/Project.map
@@ -74,8 +74,8 @@ Section Cross References
car.o(.text) refers to stm32f10x_tim.o(.text) for TIM_GetFlagStatus
car.o(.text) refers to bsp_gpio.o(.text) for LED_Flash
car.o(.text) refers to bsp_timer.o(.text) for Read_Encoder
- car.o(.text) refers to motor.o(.text) for Car_Stop
car.o(.text) refers to bluetooth.o(.text) for PB_USART_printf
+ car.o(.text) refers to motor.o(.text) for Car_Stop
car.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d
car.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul
car.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f
@@ -458,81 +458,81 @@ Image Symbol Table
Symbol Name Value Ov Type Size Object(Section)
../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE
- ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE
../clib/angel/boardlib.s 0x00000000 Number 0 boardinit1.o ABSOLUTE
../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE
+ ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE
../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE
../clib/angel/handlers.s 0x00000000 Number 0 __scatter_copy.o ABSOLUTE
+ ../clib/angel/kernel.s 0x00000000 Number 0 rtexit2.o ABSOLUTE
../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE
+ ../clib/angel/kernel.s 0x00000000 Number 0 rtexit.o ABSOLUTE
../clib/angel/kernel.s 0x00000000 Number 0 __rtentry4.o ABSOLUTE
../clib/angel/kernel.s 0x00000000 Number 0 __rtentry2.o ABSOLUTE
- ../clib/angel/kernel.s 0x00000000 Number 0 rtexit2.o ABSOLUTE
- ../clib/angel/kernel.s 0x00000000 Number 0 rtexit.o ABSOLUTE
+ ../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE
+ ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr_intlibspace.o ABSOLUTE
+ ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr.o ABSOLUTE
../clib/angel/rt.s 0x00000000 Number 0 aeabi_ldiv0_sigfpe.o ABSOLUTE
../clib/angel/rt.s 0x00000000 Number 0 aeabi_ldiv0.o ABSOLUTE
- ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr_intlibspace.o ABSOLUTE
../clib/angel/rt.s 0x00000000 Number 0 rt_div0.o ABSOLUTE
- ../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE
- ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr.o ABSOLUTE
../clib/angel/scatter.s 0x00000000 Number 0 __scatter.o ABSOLUTE
../clib/angel/startup.s 0x00000000 Number 0 __main.o ABSOLUTE
- ../clib/angel/sys.s 0x00000000 Number 0 indicate_semi.o ABSOLUTE
../clib/angel/sys.s 0x00000000 Number 0 use_no_semi.o ABSOLUTE
- ../clib/angel/sys.s 0x00000000 Number 0 sys_stackheap_outer.o ABSOLUTE
+ ../clib/angel/sys.s 0x00000000 Number 0 indicate_semi.o ABSOLUTE
../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE
+ ../clib/angel/sys.s 0x00000000 Number 0 sys_stackheap_outer.o ABSOLUTE
../clib/angel/sys.s 0x00000000 Number 0 use_no_semi_2.o ABSOLUTE
- ../clib/angel/sysapp.c 0x00000000 Number 0 sys_wrch.o ABSOLUTE
../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE
+ ../clib/angel/sysapp.c 0x00000000 Number 0 sys_wrch.o ABSOLUTE
+ ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE
../clib/armsys.c 0x00000000 Number 0 no_argv.o ABSOLUTE
../clib/armsys.c 0x00000000 Number 0 _get_argv_nomalloc.o ABSOLUTE
../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE
- ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE
../clib/fenv.c 0x00000000 Number 0 _rserrno.o ABSOLUTE
../clib/heapalloc.c 0x00000000 Number 0 hrguard.o ABSOLUTE
../clib/heapaux.c 0x00000000 Number 0 heapauxi.o ABSOLUTE
- ../clib/libinit.s 0x00000000 Number 0 libinit2.o ABSOLUTE
- ../clib/libinit.s 0x00000000 Number 0 libinit.o ABSOLUTE
- ../clib/libinit.s 0x00000000 Number 0 libshutdown2.o ABSOLUTE
../clib/libinit.s 0x00000000 Number 0 libshutdown.o ABSOLUTE
- ../clib/longlong.s 0x00000000 Number 0 lludivv7m.o ABSOLUTE
+ ../clib/libinit.s 0x00000000 Number 0 libinit.o ABSOLUTE
+ ../clib/libinit.s 0x00000000 Number 0 libinit2.o ABSOLUTE
+ ../clib/libinit.s 0x00000000 Number 0 libshutdown2.o ABSOLUTE
../clib/longlong.s 0x00000000 Number 0 llsdiv.o ABSOLUTE
+ ../clib/longlong.s 0x00000000 Number 0 lludivv7m.o ABSOLUTE
../clib/memcpset.s 0x00000000 Number 0 rt_memclr.o ABSOLUTE
../clib/memcpset.s 0x00000000 Number 0 aeabi_memset.o ABSOLUTE
../clib/memcpset.s 0x00000000 Number 0 rt_memclr_w.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 _printf_char_file.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 __printf_nopercent.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __printf.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 __printf_flags.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 noretval__2printf.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 _printf_char_common.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 _printf_dec.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __2printf.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __printf_flags_ss.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 __printf_nopercent.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __printf_wp.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __printf_flags_wp.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 _printf_char_common.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __printf_ss_wp.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 __printf_ss.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __printf_flags_ss_wp.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 __printf_flags.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 _printf_dec.o ABSOLUTE
- ../clib/printf.c 0x00000000 Number 0 noretval__2printf.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 __printf_ss.o ABSOLUTE
+ ../clib/printf.c 0x00000000 Number 0 _printf_char_file.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 _printf_intcommon.o ABSOLUTE
- ../clib/printf_percent.s 0x00000000 Number 0 _printf_percent_end.o ABSOLUTE
../clib/printf_percent.s 0x00000000 Number 0 _printf_d.o ABSOLUTE
../clib/printf_percent.s 0x00000000 Number 0 _printf_percent.o ABSOLUTE
- ../clib/signal.c 0x00000000 Number 0 defsig_pvfn_inner.o ABSOLUTE
- ../clib/signal.c 0x00000000 Number 0 defsig_general.o ABSOLUTE
- ../clib/signal.c 0x00000000 Number 0 __raise.o ABSOLUTE
+ ../clib/printf_percent.s 0x00000000 Number 0 _printf_percent_end.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_cppl_inner.o ABSOLUTE
+ ../clib/signal.c 0x00000000 Number 0 defsig_general.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_segv_inner.o ABSOLUTE
+ ../clib/signal.c 0x00000000 Number 0 __raise.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_other.o ABSOLUTE
- ../clib/signal.c 0x00000000 Number 0 defsig_fpe_formal.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_fpe_outer.o ABSOLUTE
+ ../clib/signal.c 0x00000000 Number 0 defsig_fpe_formal.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_rtmem_outer.o ABSOLUTE
- ../clib/signal.c 0x00000000 Number 0 defsig_fpe_inner.o ABSOLUTE
- ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_formal.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_exit.o ABSOLUTE
+ ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_formal.o ABSOLUTE
+ ../clib/signal.c 0x00000000 Number 0 defsig_fpe_inner.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_abrt_inner.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_rtred_inner.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_rtmem_inner.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_stak_inner.o ABSOLUTE
+ ../clib/signal.c 0x00000000 Number 0 defsig_pvfn_inner.o ABSOLUTE
../clib/signal.s 0x00000000 Number 0 defsig.o ABSOLUTE
../clib/stdio.c 0x00000000 Number 0 ferror_locked.o ABSOLUTE
../clib/stdio.c 0x00000000 Number 0 ferror.o ABSOLUTE
@@ -689,104 +689,104 @@ Image Symbol Table
.text 0x08002028 Section 0 delay.o(.text)
.text 0x080020d4 Section 0 bsp_iic.o(.text)
.text 0x080022ec Section 0 bsp_timer.o(.text)
- .text 0x0800262c Section 0 car.o(.text)
- .text 0x0800294c Section 0 bluetooth.o(.text)
- itoa 0x08002a7f Thumb Code 98 bluetooth.o(.text)
- .text 0x08002c74 Section 0 motor.o(.text)
- .text 0x08002d78 Section 0 ioi2c.o(.text)
- IIC_Start 0x08002da1 Thumb Code 96 ioi2c.o(.text)
- IIC_Stop 0x08002e01 Thumb Code 68 ioi2c.o(.text)
- IIC_Wait_Ack 0x08002e45 Thumb Code 96 ioi2c.o(.text)
- IIC_Ack 0x08002ea5 Thumb Code 72 ioi2c.o(.text)
- IIC_NAck 0x08002eed Thumb Code 70 ioi2c.o(.text)
- IIC_Send_Byte 0x08002f33 Thumb Code 94 ioi2c.o(.text)
- IIC_Read_Byte 0x08002ff1 Thumb Code 104 ioi2c.o(.text)
- .text 0x080032a0 Section 0 mpu6050.o(.text)
- inv_row_2_scale 0x080032a1 Thumb Code 78 mpu6050.o(.text)
- inv_orientation_matrix_to_scalar 0x080032ef Thumb Code 40 mpu6050.o(.text)
- run_self_test 0x08003317 Thumb Code 172 mpu6050.o(.text)
- .text 0x080038a0 Section 0 inv_mpu.o(.text)
- set_int_enable 0x080038a1 Thumb Code 138 inv_mpu.o(.text)
- get_accel_prod_shift 0x08004ae9 Thumb Code 168 inv_mpu.o(.text)
- accel_self_test 0x08004b91 Thumb Code 164 inv_mpu.o(.text)
- gyro_self_test 0x08004c35 Thumb Code 280 inv_mpu.o(.text)
- get_st_biases 0x08004d4d Thumb Code 1136 inv_mpu.o(.text)
- .text 0x0800578c Section 0 inv_mpu_dmp_motion_driver.o(.text)
- decode_gesture 0x08006241 Thumb Code 94 inv_mpu_dmp_motion_driver.o(.text)
- .text 0x080064fc Section 0 main.o(.text)
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+ inv_orientation_matrix_to_scalar 0x08003327 Thumb Code 40 mpu6050.o(.text)
+ run_self_test 0x0800334f Thumb Code 172 mpu6050.o(.text)
+ .text 0x080038d8 Section 0 inv_mpu.o(.text)
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+ .text 0x0800688c Section 238 lludivv7m.o(.text)
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+ .text 0x08006ac4 Section 0 ferror.o(.text)
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+ .text 0x08006b1c Section 8 libspace.o(.text)
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+ .text 0x08006b6e Section 0 exit.o(.text)
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+ .constdata 0x080080fc Section 3062 inv_mpu_dmp_motion_driver.o(.constdata)
+ dmp_memory 0x080080fc Data 3062 inv_mpu_dmp_motion_driver.o(.constdata)
+ .constdata 0x08008cf8 Section 152 atan.o(.constdata)
+ atanhi 0x08008cf8 Data 32 atan.o(.constdata)
+ atanlo 0x08008d18 Data 32 atan.o(.constdata)
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+ .conststring 0x08008d98 Section 78 inv_mpu.o(.conststring)
.data 0x20000000 Section 20 system_stm32f10x.o(.data)
.data 0x20000014 Section 20 stm32f10x_rcc.o(.data)
APBAHBPrescTable 0x20000014 Data 16 stm32f10x_rcc.o(.data)
@@ -797,27 +797,28 @@ Image Symbol Table
.data 0x2000003c Section 4 delay.o(.data)
fac_us 0x2000003c Data 1 delay.o(.data)
fac_ms 0x2000003e Data 2 delay.o(.data)
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+ .data 0x20000040 Section 104 car.o(.data)
Flag_Target 0x20000081 Data 1 car.o(.data)
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- .data 0x200000a4 Section 12 bluetooth.o(.data)
- .data 0x200000b0 Section 56 mpu6050.o(.data)
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Global Symbols
@@ -1171,226 +1172,226 @@ Image Symbol Table
MOTO_PWM_Init 0x080022ed Thumb Code 196 bsp_timer.o(.text)
Motor_PWMOut 0x080023b1 Thumb Code 68 bsp_timer.o(.text)
Timer6_Init 0x080023f5 Thumb Code 114 bsp_timer.o(.text)
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- mpu_get_compass_fsr 0x0800557f Thumb Code 8 inv_mpu.o(.text)
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- dmp_get_fifo_rate 0x08005b9d Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
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- dmp_set_tap_time_multi 0x08005dc7 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
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- dmp_set_shake_reject_time 0x08005e25 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_shake_reject_timeout 0x08005e4b Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_get_pedometer_step_count 0x08005e71 Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_pedometer_step_count 0x08005eb3 Thumb Code 42 inv_mpu_dmp_motion_driver.o(.text)
- dmp_get_pedometer_walk_time 0x08005edd Thumb Code 72 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_pedometer_walk_time 0x08005f25 Thumb Code 48 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_6x_lp_quat 0x08005f55 Thumb Code 84 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_lp_quat 0x08005fa9 Thumb Code 60 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_gyro_cal 0x08005fe5 Thumb Code 62 inv_mpu_dmp_motion_driver.o(.text)
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- dmp_register_android_orient_cb 0x080064ed Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
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- BusFault_Handler 0x08006693 Thumb Code 4 stm32f10x_it.o(.text)
- UsageFault_Handler 0x08006697 Thumb Code 4 stm32f10x_it.o(.text)
- SVC_Handler 0x0800669b Thumb Code 2 stm32f10x_it.o(.text)
- DebugMon_Handler 0x0800669d Thumb Code 2 stm32f10x_it.o(.text)
- PendSV_Handler 0x0800669f Thumb Code 2 stm32f10x_it.o(.text)
- __use_no_semihosting 0x080066a1 Thumb Code 2 use_no_semi_2.o(.text)
- __aeabi_ldivmod 0x080066a3 Thumb Code 0 llsdiv.o(.text)
- _ll_sdiv 0x080066a3 Thumb Code 72 llsdiv.o(.text)
- __2printf 0x080066ed Thumb Code 20 noretval__2printf.o(.text)
- __printf 0x08006705 Thumb Code 104 __printf.o(.text)
- _printf_int_dec 0x0800676d Thumb Code 104 _printf_dec.o(.text)
- memcmp 0x080067e5 Thumb Code 88 memcmp.o(.text)
- __aeabi_memset 0x0800683d Thumb Code 16 aeabi_memset.o(.text)
- __use_two_region_memory 0x0800684d Thumb Code 2 heapauxi.o(.text)
- __rt_heap_escrow$2region 0x0800684f Thumb Code 2 heapauxi.o(.text)
- __rt_heap_expand$2region 0x08006851 Thumb Code 2 heapauxi.o(.text)
- __I$use$semihosting 0x08006853 Thumb Code 0 use_no_semi.o(.text)
- __use_no_semihosting_swi 0x08006853 Thumb Code 2 use_no_semi.o(.text)
- __aeabi_uldivmod 0x08006855 Thumb Code 0 lludivv7m.o(.text)
- _ll_udiv 0x08006855 Thumb Code 238 lludivv7m.o(.text)
- _printf_int_common 0x08006943 Thumb Code 178 _printf_intcommon.o(.text)
- _printf_char_file 0x080069f5 Thumb Code 32 _printf_char_file.o(.text)
- __aeabi_memclr 0x08006a19 Thumb Code 0 rt_memclr.o(.text)
- __rt_memclr 0x08006a19 Thumb Code 68 rt_memclr.o(.text)
- _memset 0x08006a1d Thumb Code 0 rt_memclr.o(.text)
- _printf_char_common 0x08006a67 Thumb Code 32 _printf_char_common.o(.text)
- ferror 0x08006a8d Thumb Code 8 ferror.o(.text)
- __aeabi_memclr4 0x08006a95 Thumb Code 0 rt_memclr_w.o(.text)
- __aeabi_memclr8 0x08006a95 Thumb Code 0 rt_memclr_w.o(.text)
- __rt_memclr_w 0x08006a95 Thumb Code 78 rt_memclr_w.o(.text)
- _memset_w 0x08006a99 Thumb Code 0 rt_memclr_w.o(.text)
- __user_libspace 0x08006ae5 Thumb Code 8 libspace.o(.text)
- __user_perproc_libspace 0x08006ae5 Thumb Code 0 libspace.o(.text)
- __user_perthread_libspace 0x08006ae5 Thumb Code 0 libspace.o(.text)
- __user_setup_stackheap 0x08006aed Thumb Code 74 sys_stackheap_outer.o(.text)
- exit 0x08006b37 Thumb Code 18 exit.o(.text)
- __ARM_fpclassify 0x08006b49 Thumb Code 40 fpclassify.o(i.__ARM_fpclassify)
- __kernel_poly 0x08006b71 Thumb Code 170 poly.o(i.__kernel_poly)
- __mathlib_dbl_infnan 0x08006c1b Thumb Code 6 dunder.o(i.__mathlib_dbl_infnan)
- __mathlib_dbl_infnan2 0x08006c21 Thumb Code 4 dunder.o(i.__mathlib_dbl_infnan2)
- __mathlib_dbl_underflow 0x08006c25 Thumb Code 10 dunder.o(i.__mathlib_dbl_underflow)
- atan 0x08006c35 Thumb Code 474 atan.o(i.atan)
- atan2 0x08006e55 Thumb Code 346 atan2.o(i.atan2)
- __aeabi_d2f 0x08006fd5 Thumb Code 0 d2f.o(x$fpl$d2f)
- _d2f 0x08006fd5 Thumb Code 98 d2f.o(x$fpl$d2f)
- __aeabi_dadd 0x08007039 Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
- _dadd 0x08007039 Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
- __fpl_dcheck_NaN1 0x08007189 Thumb Code 10 dcheck1.o(x$fpl$dcheck1)
- __aeabi_ddiv 0x08007199 Thumb Code 0 ddiv.o(x$fpl$ddiv)
- _ddiv 0x08007199 Thumb Code 552 ddiv.o(x$fpl$ddiv)
- __aeabi_dmul 0x08007449 Thumb Code 0 dmul.o(x$fpl$dmul)
- _dmul 0x08007449 Thumb Code 332 dmul.o(x$fpl$dmul)
- __fpl_dnaninf 0x0800759d Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
- __fpl_dretinf 0x08007639 Thumb Code 12 dretinf.o(x$fpl$dretinf)
- __aeabi_drsub 0x08007645 Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
- _drsb 0x08007645 Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
- __aeabi_dsub 0x0800765d Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
- _dsub 0x0800765d Thumb Code 464 daddsub_clz.o(x$fpl$dsub)
- __aeabi_f2d 0x08007831 Thumb Code 0 f2d.o(x$fpl$f2d)
- _f2d 0x08007831 Thumb Code 86 f2d.o(x$fpl$f2d)
- __aeabi_fadd 0x08007889 Thumb Code 0 faddsub_clz.o(x$fpl$fadd)
- _fadd 0x08007889 Thumb Code 196 faddsub_clz.o(x$fpl$fadd)
- __fpl_fcmp_Inf 0x0800794d Thumb Code 24 fcmpi.o(x$fpl$fcmpinf)
- __aeabi_fdiv 0x08007965 Thumb Code 0 fdiv.o(x$fpl$fdiv)
- _fdiv 0x08007965 Thumb Code 384 fdiv.o(x$fpl$fdiv)
- __aeabi_cfcmpeq 0x08007ae9 Thumb Code 0 feqf.o(x$fpl$feqf)
- _fcmpeq 0x08007ae9 Thumb Code 104 feqf.o(x$fpl$feqf)
- __aeabi_f2iz 0x08007b51 Thumb Code 0 ffix.o(x$fpl$ffix)
- _ffix 0x08007b51 Thumb Code 54 ffix.o(x$fpl$ffix)
- __aeabi_f2uiz 0x08007b89 Thumb Code 0 ffixu.o(x$fpl$ffixu)
- _ffixu 0x08007b89 Thumb Code 62 ffixu.o(x$fpl$ffixu)
- __aeabi_i2f 0x08007bc9 Thumb Code 0 fflt_clz.o(x$fpl$fflt)
- _fflt 0x08007bc9 Thumb Code 48 fflt_clz.o(x$fpl$fflt)
- __aeabi_ui2f 0x08007bf9 Thumb Code 0 fflt_clz.o(x$fpl$ffltu)
- _ffltu 0x08007bf9 Thumb Code 38 fflt_clz.o(x$fpl$ffltu)
- __aeabi_cfcmple 0x08007c21 Thumb Code 0 fleqf.o(x$fpl$fleqf)
- _fcmple 0x08007c21 Thumb Code 104 fleqf.o(x$fpl$fleqf)
- __fpl_fcmple_InfNaN 0x08007c73 Thumb Code 0 fleqf.o(x$fpl$fleqf)
- __aeabi_fmul 0x08007c89 Thumb Code 0 fmul.o(x$fpl$fmul)
- _fmul 0x08007c89 Thumb Code 258 fmul.o(x$fpl$fmul)
- __fpl_fnaninf 0x08007d8b Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
- __fpl_fretinf 0x08007e17 Thumb Code 10 fretinf.o(x$fpl$fretinf)
- __aeabi_cfrcmple 0x08007e21 Thumb Code 0 frleqf.o(x$fpl$frleqf)
- _frcmple 0x08007e21 Thumb Code 98 frleqf.o(x$fpl$frleqf)
- __aeabi_frsub 0x08007e83 Thumb Code 0 faddsub_clz.o(x$fpl$frsb)
- _frsb 0x08007e83 Thumb Code 20 faddsub_clz.o(x$fpl$frsb)
- __aeabi_fsub 0x08007e99 Thumb Code 0 faddsub_clz.o(x$fpl$fsub)
- _fsub 0x08007e99 Thumb Code 234 faddsub_clz.o(x$fpl$fsub)
- __fpl_return_NaN 0x08007f83 Thumb Code 100 retnan.o(x$fpl$retnan)
- __ARM_scalbn 0x08007fe7 Thumb Code 92 scalbn.o(x$fpl$scalbn)
- __fpl_cmpreturn 0x08008043 Thumb Code 48 trapv.o(x$fpl$trapveneer)
- __I$use$fp 0x08008072 Number 0 usenofp.o(x$fpl$usenofp)
- hw 0x08008074 Data 12 inv_mpu.o(.constdata)
- reg 0x08008080 Data 27 inv_mpu.o(.constdata)
- test 0x0800809c Data 40 inv_mpu.o(.constdata)
- __mathlib_zero 0x08008d58 Data 8 qnan.o(.constdata)
- Region$$Table$$Base 0x08008db0 Number 0 anon$$obj.o(Region$$Table)
- Region$$Table$$Limit 0x08008dd0 Number 0 anon$$obj.o(Region$$Table)
+ Encoder_Init_TIM2 0x08002467 Thumb Code 158 bsp_timer.o(.text)
+ Encoder_Init_TIM4 0x08002505 Thumb Code 152 bsp_timer.o(.text)
+ Read_Encoder 0x0800259d Thumb Code 84 bsp_timer.o(.text)
+ TIM4_IRQHandler 0x080025f1 Thumb Code 24 bsp_timer.o(.text)
+ TIM2_IRQHandler 0x08002609 Thumb Code 24 bsp_timer.o(.text)
+ MotorPwmLimit 0x08002635 Thumb Code 18 car.o(.text)
+ Turn_Off 0x08002647 Thumb Code 34 car.o(.text)
+ Balance 0x08002669 Thumb Code 76 car.o(.text)
+ Get_Angle 0x080026b5 Thumb Code 30 car.o(.text)
+ TIM6_IRQHandler 0x080026d3 Thumb Code 184 car.o(.text)
+ Velocity 0x0800278b Thumb Code 242 car.o(.text)
+ myabs 0x0800287d Thumb Code 14 car.o(.text)
+ Motor_SetPwm 0x0800288b Thumb Code 66 car.o(.text)
+ Key 0x080028cd Thumb Code 22 car.o(.text)
+ Bluetooth_Init 0x08002985 Thumb Code 162 bluetooth.o(.text)
+ USART2_Send 0x08002a27 Thumb Code 74 bluetooth.o(.text)
+ USART2_SendStr 0x08002a71 Thumb Code 70 bluetooth.o(.text)
+ PB_USART_printf 0x08002b19 Thumb Code 296 bluetooth.o(.text)
+ USART2_Receive 0x08002c41 Thumb Code 16 bluetooth.o(.text)
+ USART2_IRQHandler 0x08002c51 Thumb Code 72 bluetooth.o(.text)
+ Motor_Init 0x08002cad Thumb Code 40 motor.o(.text)
+ Motor_CtlLeft 0x08002cd5 Thumb Code 68 motor.o(.text)
+ Motor_CtlRight 0x08002d19 Thumb Code 68 motor.o(.text)
+ Car_Go 0x08002d5d Thumb Code 16 motor.o(.text)
+ Car_Back 0x08002d6d Thumb Code 16 motor.o(.text)
+ Car_TurnLeft 0x08002d7d Thumb Code 16 motor.o(.text)
+ Car_TurnRight 0x08002d8d Thumb Code 16 motor.o(.text)
+ Car_Stop 0x08002d9d Thumb Code 16 motor.o(.text)
+ IIC_MPU6050_Init 0x08002db1 Thumb Code 40 ioi2c.o(.text)
+ i2cWrite 0x08002fc9 Thumb Code 96 ioi2c.o(.text)
+ i2cRead 0x08003091 Thumb Code 118 ioi2c.o(.text)
+ I2C_ReadOneByte 0x08003107 Thumb Code 70 ioi2c.o(.text)
+ IICreadBytes 0x0800314d Thumb Code 112 ioi2c.o(.text)
+ IICwriteBytes 0x080031bd Thumb Code 70 ioi2c.o(.text)
+ IICreadByte 0x08003203 Thumb Code 22 ioi2c.o(.text)
+ IICwriteByte 0x08003219 Thumb Code 20 ioi2c.o(.text)
+ IICwriteBits 0x0800322d Thumb Code 106 ioi2c.o(.text)
+ IICwriteBit 0x08003297 Thumb Code 64 ioi2c.o(.text)
+ MPU6050_newValues 0x080033fb Thumb Code 494 mpu6050.o(.text)
+ MPU6050_setClockSource 0x080035e9 Thumb Code 20 mpu6050.o(.text)
+ MPU6050_setFullScaleGyroRange 0x080035fd Thumb Code 20 mpu6050.o(.text)
+ MPU6050_setFullScaleAccelRange 0x08003611 Thumb Code 20 mpu6050.o(.text)
+ MPU6050_setSleepEnabled 0x08003625 Thumb Code 18 mpu6050.o(.text)
+ MPU6050_getDeviceID 0x08003637 Thumb Code 20 mpu6050.o(.text)
+ MPU6050_testConnection 0x0800364b Thumb Code 18 mpu6050.o(.text)
+ MPU6050_setI2CMasterModeEnabled 0x0800365d Thumb Code 18 mpu6050.o(.text)
+ MPU6050_setI2CBypassEnabled 0x0800366f Thumb Code 18 mpu6050.o(.text)
+ MPU6050_initialize 0x08003681 Thumb Code 40 mpu6050.o(.text)
+ DMP_Init 0x080036a9 Thumb Code 220 mpu6050.o(.text)
+ Read_DMP 0x08003785 Thumb Code 304 mpu6050.o(.text)
+ mpu_reg_dump 0x08003963 Thumb Code 72 inv_mpu.o(.text)
+ mpu_read_reg 0x080039ab Thumb Code 66 inv_mpu.o(.text)
+ mpu_set_int_latched 0x080039ed Thumb Code 102 inv_mpu.o(.text)
+ mpu_set_sensors 0x08003a53 Thumb Code 202 inv_mpu.o(.text)
+ mpu_set_bypass 0x08003b1d Thumb Code 328 inv_mpu.o(.text)
+ mpu_reset_fifo 0x08003c65 Thumb Code 444 inv_mpu.o(.text)
+ mpu_configure_fifo 0x08003e21 Thumb Code 106 inv_mpu.o(.text)
+ mpu_set_lpf 0x08003e8b Thumb Code 126 inv_mpu.o(.text)
+ mpu_lp_accel_mode 0x08003f09 Thumb Code 218 inv_mpu.o(.text)
+ mpu_set_sample_rate 0x08003fe3 Thumb Code 152 inv_mpu.o(.text)
+ mpu_set_accel_fsr 0x0800407b Thumb Code 132 inv_mpu.o(.text)
+ mpu_set_gyro_fsr 0x080040ff Thumb Code 132 inv_mpu.o(.text)
+ mpu_init 0x08004183 Thumb Code 416 inv_mpu.o(.text)
+ myget_ms 0x08004323 Thumb Code 2 inv_mpu.o(.text)
+ mpu_get_gyro_reg 0x08004325 Thumb Code 110 inv_mpu.o(.text)
+ mpu_get_accel_reg 0x08004393 Thumb Code 110 inv_mpu.o(.text)
+ mpu_get_temperature 0x08004401 Thumb Code 150 inv_mpu.o(.text)
+ mpu_set_accel_bias 0x08004497 Thumb Code 468 inv_mpu.o(.text)
+ mpu_get_gyro_fsr 0x0800466b Thumb Code 64 inv_mpu.o(.text)
+ mpu_get_accel_fsr 0x080046ab Thumb Code 72 inv_mpu.o(.text)
+ mpu_get_lpf 0x080046f3 Thumb Code 74 inv_mpu.o(.text)
+ mpu_get_sample_rate 0x0800473d Thumb Code 26 inv_mpu.o(.text)
+ mpu_get_compass_sample_rate 0x08004757 Thumb Code 10 inv_mpu.o(.text)
+ mpu_set_compass_sample_rate 0x08004761 Thumb Code 8 inv_mpu.o(.text)
+ mpu_get_gyro_sens 0x08004769 Thumb Code 58 inv_mpu.o(.text)
+ mpu_get_accel_sens 0x080047a3 Thumb Code 78 inv_mpu.o(.text)
+ mpu_get_fifo_config 0x080047f1 Thumb Code 12 inv_mpu.o(.text)
+ mpu_get_power_state 0x080047fd Thumb Code 22 inv_mpu.o(.text)
+ mpu_get_int_status 0x08004813 Thumb Code 64 inv_mpu.o(.text)
+ mpu_read_fifo 0x08004853 Thumb Code 520 inv_mpu.o(.text)
+ mpu_read_fifo_stream 0x08004a5b Thumb Code 186 inv_mpu.o(.text)
+ mpu_set_int_level 0x08004b15 Thumb Code 12 inv_mpu.o(.text)
+ mpu_set_dmp_state 0x080051f5 Thumb Code 146 inv_mpu.o(.text)
+ mpu_run_self_test 0x08005287 Thumb Code 298 inv_mpu.o(.text)
+ mpu_write_mem 0x080053b1 Thumb Code 122 inv_mpu.o(.text)
+ mpu_read_mem 0x0800542b Thumb Code 122 inv_mpu.o(.text)
+ mpu_load_firmware 0x080054a5 Thumb Code 252 inv_mpu.o(.text)
+ mpu_get_dmp_state 0x080055a1 Thumb Code 14 inv_mpu.o(.text)
+ mpu_get_compass_reg 0x080055af Thumb Code 8 inv_mpu.o(.text)
+ mpu_get_compass_fsr 0x080055b7 Thumb Code 8 inv_mpu.o(.text)
+ mpu_lp_motion_interrupt 0x080055bf Thumb Code 512 inv_mpu.o(.text)
+ dmp_load_motion_driver_firmware 0x080057c5 Thumb Code 20 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_orientation 0x080057d9 Thumb Code 290 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_gyro_bias 0x080058fb Thumb Code 294 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_accel_bias 0x08005a21 Thumb Code 300 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_fifo_rate 0x08005b4d Thumb Code 136 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_fifo_rate 0x08005bd5 Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_thresh 0x08005be1 Thumb Code 396 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_axes 0x08005d6d Thumb Code 70 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_count 0x08005db3 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_time 0x08005dd9 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_time_multi 0x08005dff Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_shake_reject_thresh 0x08005e25 Thumb Code 56 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_shake_reject_time 0x08005e5d Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_shake_reject_timeout 0x08005e83 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_pedometer_step_count 0x08005ea9 Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_pedometer_step_count 0x08005eeb Thumb Code 42 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_pedometer_walk_time 0x08005f15 Thumb Code 72 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_pedometer_walk_time 0x08005f5d Thumb Code 48 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_6x_lp_quat 0x08005f8d Thumb Code 84 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_lp_quat 0x08005fe1 Thumb Code 60 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_gyro_cal 0x0800601d Thumb Code 62 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_feature 0x0800605b Thumb Code 530 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_enabled_features 0x0800626d Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_interrupt_mode 0x080062d7 Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_read_fifo 0x08006319 Thumb Code 514 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_register_tap_cb 0x0800651b Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_register_android_orient_cb 0x08006525 Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
+ main 0x08006535 Thumb Code 332 main.o(.text)
+ NMI_Handler 0x080066c1 Thumb Code 2 stm32f10x_it.o(.text)
+ HardFault_Handler 0x080066c3 Thumb Code 4 stm32f10x_it.o(.text)
+ MemManage_Handler 0x080066c7 Thumb Code 4 stm32f10x_it.o(.text)
+ BusFault_Handler 0x080066cb Thumb Code 4 stm32f10x_it.o(.text)
+ UsageFault_Handler 0x080066cf Thumb Code 4 stm32f10x_it.o(.text)
+ SVC_Handler 0x080066d3 Thumb Code 2 stm32f10x_it.o(.text)
+ DebugMon_Handler 0x080066d5 Thumb Code 2 stm32f10x_it.o(.text)
+ PendSV_Handler 0x080066d7 Thumb Code 2 stm32f10x_it.o(.text)
+ __use_no_semihosting 0x080066d9 Thumb Code 2 use_no_semi_2.o(.text)
+ __aeabi_ldivmod 0x080066db Thumb Code 0 llsdiv.o(.text)
+ _ll_sdiv 0x080066db Thumb Code 72 llsdiv.o(.text)
+ __2printf 0x08006725 Thumb Code 20 noretval__2printf.o(.text)
+ __printf 0x0800673d Thumb Code 104 __printf.o(.text)
+ _printf_int_dec 0x080067a5 Thumb Code 104 _printf_dec.o(.text)
+ memcmp 0x0800681d Thumb Code 88 memcmp.o(.text)
+ __aeabi_memset 0x08006875 Thumb Code 16 aeabi_memset.o(.text)
+ __use_two_region_memory 0x08006885 Thumb Code 2 heapauxi.o(.text)
+ __rt_heap_escrow$2region 0x08006887 Thumb Code 2 heapauxi.o(.text)
+ __rt_heap_expand$2region 0x08006889 Thumb Code 2 heapauxi.o(.text)
+ __I$use$semihosting 0x0800688b Thumb Code 0 use_no_semi.o(.text)
+ __use_no_semihosting_swi 0x0800688b Thumb Code 2 use_no_semi.o(.text)
+ __aeabi_uldivmod 0x0800688d Thumb Code 0 lludivv7m.o(.text)
+ _ll_udiv 0x0800688d Thumb Code 238 lludivv7m.o(.text)
+ _printf_int_common 0x0800697b Thumb Code 178 _printf_intcommon.o(.text)
+ _printf_char_file 0x08006a2d Thumb Code 32 _printf_char_file.o(.text)
+ __aeabi_memclr 0x08006a51 Thumb Code 0 rt_memclr.o(.text)
+ __rt_memclr 0x08006a51 Thumb Code 68 rt_memclr.o(.text)
+ _memset 0x08006a55 Thumb Code 0 rt_memclr.o(.text)
+ _printf_char_common 0x08006a9f Thumb Code 32 _printf_char_common.o(.text)
+ ferror 0x08006ac5 Thumb Code 8 ferror.o(.text)
+ __aeabi_memclr4 0x08006acd Thumb Code 0 rt_memclr_w.o(.text)
+ __aeabi_memclr8 0x08006acd Thumb Code 0 rt_memclr_w.o(.text)
+ __rt_memclr_w 0x08006acd Thumb Code 78 rt_memclr_w.o(.text)
+ _memset_w 0x08006ad1 Thumb Code 0 rt_memclr_w.o(.text)
+ __user_libspace 0x08006b1d Thumb Code 8 libspace.o(.text)
+ __user_perproc_libspace 0x08006b1d Thumb Code 0 libspace.o(.text)
+ __user_perthread_libspace 0x08006b1d Thumb Code 0 libspace.o(.text)
+ __user_setup_stackheap 0x08006b25 Thumb Code 74 sys_stackheap_outer.o(.text)
+ exit 0x08006b6f Thumb Code 18 exit.o(.text)
+ __ARM_fpclassify 0x08006b81 Thumb Code 40 fpclassify.o(i.__ARM_fpclassify)
+ __kernel_poly 0x08006ba9 Thumb Code 170 poly.o(i.__kernel_poly)
+ __mathlib_dbl_infnan 0x08006c53 Thumb Code 6 dunder.o(i.__mathlib_dbl_infnan)
+ __mathlib_dbl_infnan2 0x08006c59 Thumb Code 4 dunder.o(i.__mathlib_dbl_infnan2)
+ __mathlib_dbl_underflow 0x08006c5d Thumb Code 10 dunder.o(i.__mathlib_dbl_underflow)
+ atan 0x08006c6d Thumb Code 474 atan.o(i.atan)
+ atan2 0x08006e8d Thumb Code 346 atan2.o(i.atan2)
+ __aeabi_d2f 0x0800700d Thumb Code 0 d2f.o(x$fpl$d2f)
+ _d2f 0x0800700d Thumb Code 98 d2f.o(x$fpl$d2f)
+ __aeabi_dadd 0x08007071 Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
+ _dadd 0x08007071 Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
+ __fpl_dcheck_NaN1 0x080071c1 Thumb Code 10 dcheck1.o(x$fpl$dcheck1)
+ __aeabi_ddiv 0x080071d1 Thumb Code 0 ddiv.o(x$fpl$ddiv)
+ _ddiv 0x080071d1 Thumb Code 552 ddiv.o(x$fpl$ddiv)
+ __aeabi_dmul 0x08007481 Thumb Code 0 dmul.o(x$fpl$dmul)
+ _dmul 0x08007481 Thumb Code 332 dmul.o(x$fpl$dmul)
+ __fpl_dnaninf 0x080075d5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
+ __fpl_dretinf 0x08007671 Thumb Code 12 dretinf.o(x$fpl$dretinf)
+ __aeabi_drsub 0x0800767d Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
+ _drsb 0x0800767d Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
+ __aeabi_dsub 0x08007695 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
+ _dsub 0x08007695 Thumb Code 464 daddsub_clz.o(x$fpl$dsub)
+ __aeabi_f2d 0x08007869 Thumb Code 0 f2d.o(x$fpl$f2d)
+ _f2d 0x08007869 Thumb Code 86 f2d.o(x$fpl$f2d)
+ __aeabi_fadd 0x080078c1 Thumb Code 0 faddsub_clz.o(x$fpl$fadd)
+ _fadd 0x080078c1 Thumb Code 196 faddsub_clz.o(x$fpl$fadd)
+ __fpl_fcmp_Inf 0x08007985 Thumb Code 24 fcmpi.o(x$fpl$fcmpinf)
+ __aeabi_fdiv 0x0800799d Thumb Code 0 fdiv.o(x$fpl$fdiv)
+ _fdiv 0x0800799d Thumb Code 384 fdiv.o(x$fpl$fdiv)
+ __aeabi_cfcmpeq 0x08007b21 Thumb Code 0 feqf.o(x$fpl$feqf)
+ _fcmpeq 0x08007b21 Thumb Code 104 feqf.o(x$fpl$feqf)
+ __aeabi_f2iz 0x08007b89 Thumb Code 0 ffix.o(x$fpl$ffix)
+ _ffix 0x08007b89 Thumb Code 54 ffix.o(x$fpl$ffix)
+ __aeabi_f2uiz 0x08007bc1 Thumb Code 0 ffixu.o(x$fpl$ffixu)
+ _ffixu 0x08007bc1 Thumb Code 62 ffixu.o(x$fpl$ffixu)
+ __aeabi_i2f 0x08007c01 Thumb Code 0 fflt_clz.o(x$fpl$fflt)
+ _fflt 0x08007c01 Thumb Code 48 fflt_clz.o(x$fpl$fflt)
+ __aeabi_ui2f 0x08007c31 Thumb Code 0 fflt_clz.o(x$fpl$ffltu)
+ _ffltu 0x08007c31 Thumb Code 38 fflt_clz.o(x$fpl$ffltu)
+ __aeabi_cfcmple 0x08007c59 Thumb Code 0 fleqf.o(x$fpl$fleqf)
+ _fcmple 0x08007c59 Thumb Code 104 fleqf.o(x$fpl$fleqf)
+ __fpl_fcmple_InfNaN 0x08007cab Thumb Code 0 fleqf.o(x$fpl$fleqf)
+ __aeabi_fmul 0x08007cc1 Thumb Code 0 fmul.o(x$fpl$fmul)
+ _fmul 0x08007cc1 Thumb Code 258 fmul.o(x$fpl$fmul)
+ __fpl_fnaninf 0x08007dc3 Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
+ __fpl_fretinf 0x08007e4f Thumb Code 10 fretinf.o(x$fpl$fretinf)
+ __aeabi_cfrcmple 0x08007e59 Thumb Code 0 frleqf.o(x$fpl$frleqf)
+ _frcmple 0x08007e59 Thumb Code 98 frleqf.o(x$fpl$frleqf)
+ __aeabi_frsub 0x08007ebb Thumb Code 0 faddsub_clz.o(x$fpl$frsb)
+ _frsb 0x08007ebb Thumb Code 20 faddsub_clz.o(x$fpl$frsb)
+ __aeabi_fsub 0x08007ed1 Thumb Code 0 faddsub_clz.o(x$fpl$fsub)
+ _fsub 0x08007ed1 Thumb Code 234 faddsub_clz.o(x$fpl$fsub)
+ __fpl_return_NaN 0x08007fbb Thumb Code 100 retnan.o(x$fpl$retnan)
+ __ARM_scalbn 0x0800801f Thumb Code 92 scalbn.o(x$fpl$scalbn)
+ __fpl_cmpreturn 0x0800807b Thumb Code 48 trapv.o(x$fpl$trapveneer)
+ __I$use$fp 0x080080aa Number 0 usenofp.o(x$fpl$usenofp)
+ hw 0x080080ac Data 12 inv_mpu.o(.constdata)
+ reg 0x080080b8 Data 27 inv_mpu.o(.constdata)
+ test 0x080080d4 Data 40 inv_mpu.o(.constdata)
+ __mathlib_zero 0x08008d90 Data 8 qnan.o(.constdata)
+ Region$$Table$$Base 0x08008de8 Number 0 anon$$obj.o(Region$$Table)
+ Region$$Table$$Limit 0x08008e08 Number 0 anon$$obj.o(Region$$Table)
SystemCoreClock 0x20000000 Data 4 system_stm32f10x.o(.data)
AHBPrescTable 0x20000004 Data 16 system_stm32f10x.o(.data)
rx_address 0x2000002c Data 4 bsp_usart.o(.data)
@@ -1417,26 +1418,26 @@ Image Symbol Table
Velocity_Pwm 0x20000088 Data 4 car.o(.data)
Motor_Left 0x2000008c Data 4 car.o(.data)
Motor_Right 0x20000090 Data 4 car.o(.data)
- rx2_address 0x200000a4 Data 4 bluetooth.o(.data)
- rx2_count 0x200000a8 Data 4 bluetooth.o(.data)
- rx2_length 0x200000ac Data 4 bluetooth.o(.data)
- gyro 0x200000b0 Data 6 mpu6050.o(.data)
- accel 0x200000b6 Data 6 mpu6050.o(.data)
- sensors 0x200000bc Data 2 mpu6050.o(.data)
- Roll 0x200000c0 Data 4 mpu6050.o(.data)
- Pitch 0x200000c4 Data 4 mpu6050.o(.data)
- q0 0x200000c8 Data 4 mpu6050.o(.data)
- q1 0x200000cc Data 4 mpu6050.o(.data)
- q2 0x200000d0 Data 4 mpu6050.o(.data)
- q3 0x200000d4 Data 4 mpu6050.o(.data)
- Gx_offset 0x200000e2 Data 2 mpu6050.o(.data)
- Gy_offset 0x200000e4 Data 2 mpu6050.o(.data)
- Gz_offset 0x200000e6 Data 2 mpu6050.o(.data)
- buffer 0x20000114 Data 14 mpu6050.o(.bss)
- MPU6050_FIFO 0x20000122 Data 132 mpu6050.o(.bss)
- BLE_RX 0x200001b8 Data 64 main.o(.bss)
- __libspace_start 0x200001f8 Data 96 libspace.o(.bss)
- __temporary_stack_top$libspace 0x20000258 Data 0 libspace.o(.bss)
+ rx2_address 0x200000a8 Data 4 bluetooth.o(.data)
+ rx2_count 0x200000ac Data 4 bluetooth.o(.data)
+ rx2_length 0x200000b0 Data 4 bluetooth.o(.data)
+ gyro 0x200000b4 Data 6 mpu6050.o(.data)
+ accel 0x200000ba Data 6 mpu6050.o(.data)
+ sensors 0x200000c0 Data 2 mpu6050.o(.data)
+ Roll 0x200000c4 Data 4 mpu6050.o(.data)
+ Pitch 0x200000c8 Data 4 mpu6050.o(.data)
+ q0 0x200000cc Data 4 mpu6050.o(.data)
+ q1 0x200000d0 Data 4 mpu6050.o(.data)
+ q2 0x200000d4 Data 4 mpu6050.o(.data)
+ q3 0x200000d8 Data 4 mpu6050.o(.data)
+ Gx_offset 0x200000e6 Data 2 mpu6050.o(.data)
+ Gy_offset 0x200000e8 Data 2 mpu6050.o(.data)
+ Gz_offset 0x200000ea Data 2 mpu6050.o(.data)
+ buffer 0x20000118 Data 14 mpu6050.o(.bss)
+ MPU6050_FIFO 0x20000126 Data 132 mpu6050.o(.bss)
+ BLE_RX 0x200001bc Data 64 main.o(.bss)
+ __libspace_start 0x200001fc Data 96 libspace.o(.bss)
+ __temporary_stack_top$libspace 0x2000025c Data 0 libspace.o(.bss)
@@ -1446,9 +1447,9 @@ Memory Map of the image
Image Entry point : 0x08000131
- Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008ee4, Max: 0x00040000, ABSOLUTE)
+ Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00008f20, Max: 0x00040000, ABSOLUTE)
- Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x00008dd0, Max: 0x00040000, ABSOLUTE)
+ Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x00008e08, Max: 0x00040000, ABSOLUTE)
Base Addr Size Type Attr Idx E Section Name Object
@@ -1517,93 +1518,93 @@ Memory Map of the image
0x08001ec0 0x00000168 Code RO 536 .text bsp_usart.o
0x08002028 0x000000ac Code RO 555 .text delay.o
0x080020d4 0x00000218 Code RO 569 .text bsp_iic.o
- 0x080022ec 0x00000340 Code RO 584 .text bsp_timer.o
- 0x0800262c 0x00000320 Code RO 614 .text car.o
- 0x0800294c 0x00000328 Code RO 638 .text bluetooth.o
- 0x08002c74 0x00000104 Code RO 660 .text motor.o
- 0x08002d78 0x00000526 Code RO 672 .text ioi2c.o
- 0x0800329e 0x00000002 PAD
- 0x080032a0 0x00000600 Code RO 696 .text mpu6050.o
- 0x080038a0 0x00001eec Code RO 719 .text inv_mpu.o
- 0x0800578c 0x00000d70 Code RO 743 .text inv_mpu_dmp_motion_driver.o
- 0x080064fc 0x0000018c Code RO 758 .text main.o
- 0x08006688 0x00000018 Code RO 777 .text stm32f10x_it.o
- 0x080066a0 0x00000002 Code RO 794 .text c_w.l(use_no_semi_2.o)
- 0x080066a2 0x00000048 Code RO 796 .text c_w.l(llsdiv.o)
- 0x080066ea 0x00000002 PAD
- 0x080066ec 0x00000018 Code RO 800 .text c_w.l(noretval__2printf.o)
- 0x08006704 0x00000068 Code RO 802 .text c_w.l(__printf.o)
- 0x0800676c 0x00000078 Code RO 804 .text c_w.l(_printf_dec.o)
- 0x080067e4 0x00000058 Code RO 828 .text c_w.l(memcmp.o)
- 0x0800683c 0x00000010 Code RO 830 .text c_w.l(aeabi_memset.o)
- 0x0800684c 0x00000006 Code RO 832 .text c_w.l(heapauxi.o)
- 0x08006852 0x00000002 Code RO 888 .text c_w.l(use_no_semi.o)
- 0x08006854 0x000000ee Code RO 891 .text c_w.l(lludivv7m.o)
- 0x08006942 0x000000b2 Code RO 895 .text c_w.l(_printf_intcommon.o)
- 0x080069f4 0x00000024 Code RO 897 .text c_w.l(_printf_char_file.o)
- 0x08006a18 0x00000044 Code RO 900 .text c_w.l(rt_memclr.o)
- 0x08006a5c 0x00000030 Code RO 966 .text c_w.l(_printf_char_common.o)
- 0x08006a8c 0x00000008 Code RO 968 .text c_w.l(ferror.o)
- 0x08006a94 0x0000004e Code RO 972 .text c_w.l(rt_memclr_w.o)
- 0x08006ae2 0x00000002 PAD
- 0x08006ae4 0x00000008 Code RO 980 .text c_w.l(libspace.o)
- 0x08006aec 0x0000004a Code RO 983 .text c_w.l(sys_stackheap_outer.o)
- 0x08006b36 0x00000012 Code RO 989 .text c_w.l(exit.o)
- 0x08006b48 0x00000028 Code RO 976 i.__ARM_fpclassify m_ws.l(fpclassify.o)
- 0x08006b70 0x000000aa Code RO 978 i.__kernel_poly m_ws.l(poly.o)
- 0x08006c1a 0x00000006 Code RO 928 i.__mathlib_dbl_infnan m_ws.l(dunder.o)
- 0x08006c20 0x00000004 Code RO 929 i.__mathlib_dbl_infnan2 m_ws.l(dunder.o)
- 0x08006c24 0x00000010 Code RO 933 i.__mathlib_dbl_underflow m_ws.l(dunder.o)
- 0x08006c34 0x00000220 Code RO 918 i.atan m_ws.l(atan.o)
- 0x08006e54 0x00000180 Code RO 881 i.atan2 m_ws.l(atan2.o)
- 0x08006fd4 0x00000062 Code RO 836 x$fpl$d2f fz_ws.l(d2f.o)
- 0x08007036 0x00000002 PAD
- 0x08007038 0x00000150 Code RO 838 x$fpl$dadd fz_ws.l(daddsub_clz.o)
- 0x08007188 0x00000010 Code RO 997 x$fpl$dcheck1 fz_ws.l(dcheck1.o)
- 0x08007198 0x000002b0 Code RO 903 x$fpl$ddiv fz_ws.l(ddiv.o)
- 0x08007448 0x00000154 Code RO 844 x$fpl$dmul fz_ws.l(dmul.o)
- 0x0800759c 0x0000009c Code RO 906 x$fpl$dnaninf fz_ws.l(dnaninf.o)
- 0x08007638 0x0000000c Code RO 908 x$fpl$dretinf fz_ws.l(dretinf.o)
- 0x08007644 0x00000016 Code RO 839 x$fpl$drsb fz_ws.l(daddsub_clz.o)
- 0x0800765a 0x00000002 PAD
- 0x0800765c 0x000001d4 Code RO 840 x$fpl$dsub fz_ws.l(daddsub_clz.o)
- 0x08007830 0x00000056 Code RO 846 x$fpl$f2d fz_ws.l(f2d.o)
- 0x08007886 0x00000002 PAD
- 0x08007888 0x000000c4 Code RO 848 x$fpl$fadd fz_ws.l(faddsub_clz.o)
- 0x0800794c 0x00000018 Code RO 910 x$fpl$fcmpinf fz_ws.l(fcmpi.o)
- 0x08007964 0x00000184 Code RO 855 x$fpl$fdiv fz_ws.l(fdiv.o)
- 0x08007ae8 0x00000068 Code RO 858 x$fpl$feqf fz_ws.l(feqf.o)
- 0x08007b50 0x00000036 Code RO 860 x$fpl$ffix fz_ws.l(ffix.o)
- 0x08007b86 0x00000002 PAD
- 0x08007b88 0x0000003e Code RO 864 x$fpl$ffixu fz_ws.l(ffixu.o)
- 0x08007bc6 0x00000002 PAD
- 0x08007bc8 0x00000030 Code RO 869 x$fpl$fflt fz_ws.l(fflt_clz.o)
- 0x08007bf8 0x00000026 Code RO 868 x$fpl$ffltu fz_ws.l(fflt_clz.o)
- 0x08007c1e 0x00000002 PAD
- 0x08007c20 0x00000068 Code RO 874 x$fpl$fleqf fz_ws.l(fleqf.o)
- 0x08007c88 0x00000102 Code RO 876 x$fpl$fmul fz_ws.l(fmul.o)
- 0x08007d8a 0x0000008c Code RO 912 x$fpl$fnaninf fz_ws.l(fnaninf.o)
- 0x08007e16 0x0000000a Code RO 914 x$fpl$fretinf fz_ws.l(fretinf.o)
- 0x08007e20 0x00000062 Code RO 878 x$fpl$frleqf fz_ws.l(frleqf.o)
- 0x08007e82 0x00000014 Code RO 849 x$fpl$frsb fz_ws.l(faddsub_clz.o)
- 0x08007e96 0x00000002 PAD
- 0x08007e98 0x000000ea Code RO 850 x$fpl$fsub fz_ws.l(faddsub_clz.o)
- 0x08007f82 0x00000064 Code RO 1050 x$fpl$retnan fz_ws.l(retnan.o)
- 0x08007fe6 0x0000005c Code RO 974 x$fpl$scalbn fz_ws.l(scalbn.o)
- 0x08008042 0x00000030 Code RO 1069 x$fpl$trapveneer fz_ws.l(trapv.o)
- 0x08008072 0x00000000 Code RO 916 x$fpl$usenofp fz_ws.l(usenofp.o)
- 0x08008072 0x00000002 PAD
- 0x08008074 0x00000050 Data RO 720 .constdata inv_mpu.o
- 0x080080c4 0x00000bf6 Data RO 745 .constdata inv_mpu_dmp_motion_driver.o
- 0x08008cba 0x00000006 PAD
- 0x08008cc0 0x00000098 Data RO 919 .constdata m_ws.l(atan.o)
- 0x08008d58 0x00000008 Data RO 941 .constdata m_ws.l(qnan.o)
- 0x08008d60 0x0000004e Data RO 721 .conststring inv_mpu.o
- 0x08008dae 0x00000002 PAD
- 0x08008db0 0x00000020 Data RO 1127 Region$$Table anon$$obj.o
+ 0x080022ec 0x00000348 Code RO 584 .text bsp_timer.o
+ 0x08002634 0x00000350 Code RO 614 .text car.o
+ 0x08002984 0x00000328 Code RO 638 .text bluetooth.o
+ 0x08002cac 0x00000104 Code RO 660 .text motor.o
+ 0x08002db0 0x00000526 Code RO 672 .text ioi2c.o
+ 0x080032d6 0x00000002 PAD
+ 0x080032d8 0x00000600 Code RO 696 .text mpu6050.o
+ 0x080038d8 0x00001eec Code RO 719 .text inv_mpu.o
+ 0x080057c4 0x00000d70 Code RO 743 .text inv_mpu_dmp_motion_driver.o
+ 0x08006534 0x0000018c Code RO 758 .text main.o
+ 0x080066c0 0x00000018 Code RO 777 .text stm32f10x_it.o
+ 0x080066d8 0x00000002 Code RO 794 .text c_w.l(use_no_semi_2.o)
+ 0x080066da 0x00000048 Code RO 796 .text c_w.l(llsdiv.o)
+ 0x08006722 0x00000002 PAD
+ 0x08006724 0x00000018 Code RO 800 .text c_w.l(noretval__2printf.o)
+ 0x0800673c 0x00000068 Code RO 802 .text c_w.l(__printf.o)
+ 0x080067a4 0x00000078 Code RO 804 .text c_w.l(_printf_dec.o)
+ 0x0800681c 0x00000058 Code RO 828 .text c_w.l(memcmp.o)
+ 0x08006874 0x00000010 Code RO 830 .text c_w.l(aeabi_memset.o)
+ 0x08006884 0x00000006 Code RO 832 .text c_w.l(heapauxi.o)
+ 0x0800688a 0x00000002 Code RO 888 .text c_w.l(use_no_semi.o)
+ 0x0800688c 0x000000ee Code RO 891 .text c_w.l(lludivv7m.o)
+ 0x0800697a 0x000000b2 Code RO 895 .text c_w.l(_printf_intcommon.o)
+ 0x08006a2c 0x00000024 Code RO 897 .text c_w.l(_printf_char_file.o)
+ 0x08006a50 0x00000044 Code RO 900 .text c_w.l(rt_memclr.o)
+ 0x08006a94 0x00000030 Code RO 966 .text c_w.l(_printf_char_common.o)
+ 0x08006ac4 0x00000008 Code RO 968 .text c_w.l(ferror.o)
+ 0x08006acc 0x0000004e Code RO 972 .text c_w.l(rt_memclr_w.o)
+ 0x08006b1a 0x00000002 PAD
+ 0x08006b1c 0x00000008 Code RO 980 .text c_w.l(libspace.o)
+ 0x08006b24 0x0000004a Code RO 983 .text c_w.l(sys_stackheap_outer.o)
+ 0x08006b6e 0x00000012 Code RO 989 .text c_w.l(exit.o)
+ 0x08006b80 0x00000028 Code RO 976 i.__ARM_fpclassify m_ws.l(fpclassify.o)
+ 0x08006ba8 0x000000aa Code RO 978 i.__kernel_poly m_ws.l(poly.o)
+ 0x08006c52 0x00000006 Code RO 928 i.__mathlib_dbl_infnan m_ws.l(dunder.o)
+ 0x08006c58 0x00000004 Code RO 929 i.__mathlib_dbl_infnan2 m_ws.l(dunder.o)
+ 0x08006c5c 0x00000010 Code RO 933 i.__mathlib_dbl_underflow m_ws.l(dunder.o)
+ 0x08006c6c 0x00000220 Code RO 918 i.atan m_ws.l(atan.o)
+ 0x08006e8c 0x00000180 Code RO 881 i.atan2 m_ws.l(atan2.o)
+ 0x0800700c 0x00000062 Code RO 836 x$fpl$d2f fz_ws.l(d2f.o)
+ 0x0800706e 0x00000002 PAD
+ 0x08007070 0x00000150 Code RO 838 x$fpl$dadd fz_ws.l(daddsub_clz.o)
+ 0x080071c0 0x00000010 Code RO 997 x$fpl$dcheck1 fz_ws.l(dcheck1.o)
+ 0x080071d0 0x000002b0 Code RO 903 x$fpl$ddiv fz_ws.l(ddiv.o)
+ 0x08007480 0x00000154 Code RO 844 x$fpl$dmul fz_ws.l(dmul.o)
+ 0x080075d4 0x0000009c Code RO 906 x$fpl$dnaninf fz_ws.l(dnaninf.o)
+ 0x08007670 0x0000000c Code RO 908 x$fpl$dretinf fz_ws.l(dretinf.o)
+ 0x0800767c 0x00000016 Code RO 839 x$fpl$drsb fz_ws.l(daddsub_clz.o)
+ 0x08007692 0x00000002 PAD
+ 0x08007694 0x000001d4 Code RO 840 x$fpl$dsub fz_ws.l(daddsub_clz.o)
+ 0x08007868 0x00000056 Code RO 846 x$fpl$f2d fz_ws.l(f2d.o)
+ 0x080078be 0x00000002 PAD
+ 0x080078c0 0x000000c4 Code RO 848 x$fpl$fadd fz_ws.l(faddsub_clz.o)
+ 0x08007984 0x00000018 Code RO 910 x$fpl$fcmpinf fz_ws.l(fcmpi.o)
+ 0x0800799c 0x00000184 Code RO 855 x$fpl$fdiv fz_ws.l(fdiv.o)
+ 0x08007b20 0x00000068 Code RO 858 x$fpl$feqf fz_ws.l(feqf.o)
+ 0x08007b88 0x00000036 Code RO 860 x$fpl$ffix fz_ws.l(ffix.o)
+ 0x08007bbe 0x00000002 PAD
+ 0x08007bc0 0x0000003e Code RO 864 x$fpl$ffixu fz_ws.l(ffixu.o)
+ 0x08007bfe 0x00000002 PAD
+ 0x08007c00 0x00000030 Code RO 869 x$fpl$fflt fz_ws.l(fflt_clz.o)
+ 0x08007c30 0x00000026 Code RO 868 x$fpl$ffltu fz_ws.l(fflt_clz.o)
+ 0x08007c56 0x00000002 PAD
+ 0x08007c58 0x00000068 Code RO 874 x$fpl$fleqf fz_ws.l(fleqf.o)
+ 0x08007cc0 0x00000102 Code RO 876 x$fpl$fmul fz_ws.l(fmul.o)
+ 0x08007dc2 0x0000008c Code RO 912 x$fpl$fnaninf fz_ws.l(fnaninf.o)
+ 0x08007e4e 0x0000000a Code RO 914 x$fpl$fretinf fz_ws.l(fretinf.o)
+ 0x08007e58 0x00000062 Code RO 878 x$fpl$frleqf fz_ws.l(frleqf.o)
+ 0x08007eba 0x00000014 Code RO 849 x$fpl$frsb fz_ws.l(faddsub_clz.o)
+ 0x08007ece 0x00000002 PAD
+ 0x08007ed0 0x000000ea Code RO 850 x$fpl$fsub fz_ws.l(faddsub_clz.o)
+ 0x08007fba 0x00000064 Code RO 1050 x$fpl$retnan fz_ws.l(retnan.o)
+ 0x0800801e 0x0000005c Code RO 974 x$fpl$scalbn fz_ws.l(scalbn.o)
+ 0x0800807a 0x00000030 Code RO 1069 x$fpl$trapveneer fz_ws.l(trapv.o)
+ 0x080080aa 0x00000000 Code RO 916 x$fpl$usenofp fz_ws.l(usenofp.o)
+ 0x080080aa 0x00000002 PAD
+ 0x080080ac 0x00000050 Data RO 720 .constdata inv_mpu.o
+ 0x080080fc 0x00000bf6 Data RO 745 .constdata inv_mpu_dmp_motion_driver.o
+ 0x08008cf2 0x00000006 PAD
+ 0x08008cf8 0x00000098 Data RO 919 .constdata m_ws.l(atan.o)
+ 0x08008d90 0x00000008 Data RO 941 .constdata m_ws.l(qnan.o)
+ 0x08008d98 0x0000004e Data RO 721 .conststring inv_mpu.o
+ 0x08008de6 0x00000002 PAD
+ 0x08008de8 0x00000020 Data RO 1127 Region$$Table anon$$obj.o
- Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000858, Max: 0x0000c000, ABSOLUTE)
+ Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000860, Max: 0x0000c000, ABSOLUTE)
Base Addr Size Type Attr Idx E Section Name Object
@@ -1612,17 +1613,18 @@ Memory Map of the image
0x20000028 0x00000004 Data RW 512 .data bsp_gpio.o
0x2000002c 0x00000010 Data RW 537 .data bsp_usart.o
0x2000003c 0x00000004 Data RW 556 .data delay.o
- 0x20000040 0x00000064 Data RW 615 .data car.o
- 0x200000a4 0x0000000c Data RW 639 .data bluetooth.o
- 0x200000b0 0x00000038 Data RW 698 .data mpu6050.o
- 0x200000e8 0x0000002c Data RW 722 .data inv_mpu.o
- 0x20000114 0x00000092 Zero RW 697 .bss mpu6050.o
- 0x200001a6 0x00000002 PAD
- 0x200001a8 0x00000010 Zero RW 744 .bss inv_mpu_dmp_motion_driver.o
- 0x200001b8 0x00000040 Zero RW 759 .bss main.o
- 0x200001f8 0x00000060 Zero RW 981 .bss c_w.l(libspace.o)
- 0x20000258 0x00000200 Zero RW 2 HEAP startup_stm32f10x_hd.o
- 0x20000458 0x00000400 Zero RW 1 STACK startup_stm32f10x_hd.o
+ 0x20000040 0x00000068 Data RW 615 .data car.o
+ 0x200000a8 0x0000000c Data RW 639 .data bluetooth.o
+ 0x200000b4 0x00000038 Data RW 698 .data mpu6050.o
+ 0x200000ec 0x0000002c Data RW 722 .data inv_mpu.o
+ 0x20000118 0x00000092 Zero RW 697 .bss mpu6050.o
+ 0x200001aa 0x00000002 PAD
+ 0x200001ac 0x00000010 Zero RW 744 .bss inv_mpu_dmp_motion_driver.o
+ 0x200001bc 0x00000040 Zero RW 759 .bss main.o
+ 0x200001fc 0x00000060 Zero RW 981 .bss c_w.l(libspace.o)
+ 0x2000025c 0x00000004 PAD
+ 0x20000260 0x00000200 Zero RW 2 HEAP startup_stm32f10x_hd.o
+ 0x20000460 0x00000400 Zero RW 1 STACK startup_stm32f10x_hd.o
==============================================================================
@@ -1637,9 +1639,9 @@ Image component sizes
536 6 0 0 0 2158 bsp_iic.o
2 0 0 0 0 426 bsp_nvic.o
96 8 0 0 0 558 bsp_sys.o
- 832 20 0 0 0 2470 bsp_timer.o
+ 840 20 0 0 0 2470 bsp_timer.o
360 20 0 16 0 3869 bsp_usart.o
- 800 130 0 100 0 4045 car.o
+ 848 162 0 104 0 4065 car.o
0 0 0 0 0 4532 core_cm3.o
172 8 0 4 0 1095 delay.o
7916 238 158 44 0 21707 inv_mpu.o
@@ -1658,7 +1660,7 @@ Image component sizes
480 38 0 20 0 250415 system_stm32f10x.o
----------------------------------------------------------------------
- 25804 1074 3564 276 1764 375399 Object Totals
+ 25860 1106 3564 280 1764 375419 Object Totals
0 0 32 0 0 0 (incl. Generated)
6 0 8 0 2 0 (incl. Padding)
@@ -1733,8 +1735,8 @@ Image component sizes
0 0 8 0 0 0 qnan.o
----------------------------------------------------------------------
- 6776 448 160 0 96 4724 Library Totals
- 22 0 0 0 0 0 (incl. Padding)
+ 6776 448 160 0 100 4724 Library Totals
+ 22 0 0 0 4 0 (incl. Padding)
----------------------------------------------------------------------
@@ -1745,7 +1747,7 @@ Image component sizes
1164 114 160 0 0 636 m_ws.l
----------------------------------------------------------------------
- 6776 448 160 0 96 4724 Library Totals
+ 6776 448 160 0 100 4724 Library Totals
----------------------------------------------------------------------
@@ -1754,15 +1756,15 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 32580 1522 3724 276 1860 375647 Grand Totals
- 32580 1522 3724 276 1860 375647 ELF Image Totals
- 32580 1522 3724 276 0 0 ROM Totals
+ 32636 1554 3724 280 1864 375667 Grand Totals
+ 32636 1554 3724 280 1864 375667 ELF Image Totals
+ 32636 1554 3724 280 0 0 ROM Totals
==============================================================================
- Total RO Size (Code + RO Data) 36304 ( 35.45kB)
- Total RW Size (RW Data + ZI Data) 2136 ( 2.09kB)
- Total ROM Size (Code + RO Data + RW Data) 36580 ( 35.72kB)
+ Total RO Size (Code + RO Data) 36360 ( 35.51kB)
+ Total RW Size (RW Data + ZI Data) 2144 ( 2.09kB)
+ Total ROM Size (Code + RO Data + RW Data) 36640 ( 35.78kB)
==============================================================================
diff --git a/GeBalanceBot_Firmware v1.0 - TestHardware/Output/Project.hex b/GeBalanceBot_Firmware v1.0 - TestHardware/Output/Project.hex
index 38a7395..0720202 100644
--- a/GeBalanceBot_Firmware v1.0 - TestHardware/Output/Project.hex
+++ b/GeBalanceBot_Firmware v1.0 - TestHardware/Output/Project.hex
@@ -1,8 +1,8 @@
:020000040800F2
-:1000000058080020D5010008896600088B660008A2
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-:100030009D660008000000009F660008ED010008B2
+:1000000060080020D5010008C1660008C36600082A
+:10001000C7660008CB660008CF6600080000000035
+:10002000000000000000000000000000D36600088F
+:10003000D566000800000000D7660008ED01000842
:10004000EF010008EF010008EF010008EF010008D0
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@@ -10,29 +10,29 @@
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@@ -479,9 +479,9 @@
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diff --git a/GeBalanceBot_Firmware v1.0 - TestHardware/Project/Project.uvguix.admin b/GeBalanceBot_Firmware v1.0 - TestHardware/Project/Project.uvguix.admin
index c487836..87edcd0 100644
--- a/GeBalanceBot_Firmware v1.0 - TestHardware/Project/Project.uvguix.admin
+++ b/GeBalanceBot_Firmware v1.0 - TestHardware/Project/Project.uvguix.admin
@@ -11,7 +11,7 @@
38003
Registers
- 115 172
+ 115 131
346
@@ -77,8 +77,8 @@
2
3
- -32000
- -32000
+ -1
+ -1
-1
@@ -94,8 +94,8 @@
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59392
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1423
@@ -1722,7 +1722,7 @@
Debug
2373
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898
@@ -1746,29 +1746,47 @@
0
100
- 0
+ 1
+
+ ..\DRV\bsp_timer.h
+ 39
+ 1
+ 8
+ 1
+
+ 0
+
+
+ ..\DRV\bsp_timer.c
+ 51
+ 148
+ 169
+ 1
+
+ 0
+
..\HARDWARE\MOTO\car.c
- 11
- 83
- 107
+ 36
+ 38
+ 62
1
0
..\User\main.c
- 15
+ 4
23
- 36
+ 38
1
0
..\MiniBalance\MPU6050\MPU6050.c
- 8
- 345
+ 20
+ 344
376
1
@@ -1776,8 +1794,8 @@
..\DRV\bsp_sys.c
- 4
- 8
+ 10
+ 7
33
1
@@ -1786,7 +1804,7 @@
..\HARDWARE\MOTO\motor.c
0
- 65
+ 64
91
1
diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c
index 85dc027..d291f87 100644
--- a/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c
+++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c
@@ -97,12 +97,22 @@ void Timer6_Init(void)
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
- TIM_TimeBaseStructure.TIM_Period = 9999;//自动重新装载寄存器周期的值澹ㄥ计数值澹)
- TIM_TimeBaseStructure.TIM_Prescaler = 719;//时钟分频系数
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//对外部时钟进行采样的时钟分频
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数
- TIM_TimeBaseStructure.TIM_RepetitionCounter=0; //高级定时器1是用定时器功能配置这个才可以是正常的计数频率一开始的72mhz 值得注意的地方
- TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure);//参数初始化
+
+ // 计数是从0开始，所以9999即是0~9999计数10000个
+ TIM_TimeBaseStructure.TIM_Period = 2999; //自动重新装载寄存器周期)
+
+ // STM32晶振是72Mhz，每计算一个count的时间 = 72Mhz / (Prescaler + 1)
+ // 所以1us计算时间就是72Mhz/(71+1)=1Mhz, 1Khz = 1ms 1Mhz = 1us
+ // Tim6的周期实际是72Mhz/(TIM_Prescaler + 1) * (1 + TIM_Period)
+
+ // 100ms配置, 72Mhz / (719 + 1) * (9999 + 1) = 10us * 10000 = 100ms
+ // 5ms配置，72Mhz / (71 + 1) * (4999 + 1) = 1us * 5000 = 5ms
+
+ TIM_TimeBaseStructure.TIM_Prescaler = 71; // 时钟分频系数
+ TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; // 对外部时钟进行采样的时钟分频
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数
+ TIM_TimeBaseStructure.TIM_RepetitionCounter=0; //高级定时器1是用定时器功能配置这个才可以是正常的计数频率一开始的72mhz 值得注意的地方
+ TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure); // 参数初始化
TIM_ClearFlag(TIM6, TIM_FLAG_Update);
TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c
index d661850..414f8d1 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c
@@ -80,8 +80,8 @@ void TIM6_IRQHandler(void)
Motor_Right = Balance_Pwm + Velocity_Pwm; // 计算右轮电机最终PWM
// PWM限幅
- Motor_Left = MotorPwmLimit(Motor_Left, 1900, -1900);
- Motor_Right = MotorPwmLimit(Motor_Right, 1900, -1900);
+ Motor_Left = MotorPwmLimit(Motor_Left, 5500, -5500);
+ Motor_Right = MotorPwmLimit(Motor_Right, 5500, -5500);
// 设置电机的速度
Motor_SetPwm(Motor_Left, Motor_Right); // 赋值给PWM寄存器
}
@@ -97,7 +97,7 @@ void TIM6_IRQHandler(void)
int Balance(float Angle, float Gyro)
{
// 直立环PD参数
- float Balance_Kp = 100, Balance_Kd = 1.08;
+ float Balance_Kp = 360, Balance_Kd = 0.2;
float Angle_bias, Gyro_bias;
int balance;
// 求出平衡的角度中值 和机械相关
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h
index 0464a2f..9a7b952 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h
@@ -7,7 +7,7 @@
#include "sys.h"
-#define Middle_angle 0
+#define Middle_angle 0.6
int EXTI15_10_IRQHandler(void);
int Balance(float angle,float gyro);
int Velocity(int encoder_left,int encoder_right);
diff --git a/GeBalanceBot_Firmware v1.0/Listing/Project.map b/GeBalanceBot_Firmware v1.0/Listing/Project.map
index 721139a..aab0ff6 100644
--- a/GeBalanceBot_Firmware v1.0/Listing/Project.map
+++ b/GeBalanceBot_Firmware v1.0/Listing/Project.map
@@ -66,7 +66,9 @@ Section Cross References
car.o(.text) refers to motor.o(.text) for Motor_CtlLeft
car.o(.text) refers to fleqf.o(x$fpl$fleqf) for __aeabi_cfcmple
car.o(.text) refers to frleqf.o(x$fpl$frleqf) for __aeabi_cfrcmple
- car.o(.text) refers to faddsub_clz.o(x$fpl$frsb) for __aeabi_frsub
+ car.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d
+ car.o(.text) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub
+ car.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f
car.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub
car.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul
car.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz
@@ -76,9 +78,7 @@ Section Cross References
car.o(.text) refers to bsp_gpio.o(.text) for LED_Flash
car.o(.text) refers to bsp_timer.o(.text) for Read_Encoder
car.o(.text) refers to bluetooth.o(.text) for PB_USART_printf
- car.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d
car.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul
- car.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f
car.o(.text) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd
car.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd
car.o(.text) refers to mpu6050.o(.data) for Pitch
@@ -457,66 +457,66 @@ Image Symbol Table
Symbol Name Value Ov Type Size Object(Section)
+ ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit1.o ABSOLUTE
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+ ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE
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+ ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE
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../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE
../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr.o ABSOLUTE
+ ../clib/angel/rt.s 0x00000000 Number 0 rt_div0.o ABSOLUTE
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../clib/angel/sys.s 0x00000000 Number 0 sys_stackheap_outer.o ABSOLUTE
- ../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE
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../clib/angel/sys.s 0x00000000 Number 0 use_no_semi_2.o ABSOLUTE
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../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE
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../clib/libinit.s 0x00000000 Number 0 libshutdown.o ABSOLUTE
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../clib/printf_percent.s 0x00000000 Number 0 _printf_d.o ABSOLUTE
../clib/printf_percent.s 0x00000000 Number 0 _printf_percent.o ABSOLUTE
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../clib/signal.c 0x00000000 Number 0 defsig_pvfn_inner.o ABSOLUTE
../clib/signal.c 0x00000000 Number 0 defsig_general.o ABSOLUTE
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../mathlib/atan2.c 0x00000000 Number 0 atan2.o ABSOLUTE
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MOTO_PWM_Init 0x080022ed Thumb Code 196 bsp_timer.o(.text)
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- TIM2_IRQHandler 0x08002601 Thumb Code 24 bsp_timer.o(.text)
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+ Encoder_Init_TIM4 0x080024ff Thumb Code 148 bsp_timer.o(.text)
+ Read_Encoder 0x08002593 Thumb Code 84 bsp_timer.o(.text)
+ TIM4_IRQHandler 0x080025e7 Thumb Code 24 bsp_timer.o(.text)
+ TIM2_IRQHandler 0x080025ff Thumb Code 24 bsp_timer.o(.text)
myabs 0x0800262d Thumb Code 14 car.o(.text)
Motor_SetPwm 0x0800263b Thumb Code 66 car.o(.text)
MotorPwmLimit 0x0800267d Thumb Code 18 car.o(.text)
Turn_Off 0x0800268f Thumb Code 34 car.o(.text)
- Balance 0x080026b1 Thumb Code 76 car.o(.text)
- Get_Angle 0x080026fd Thumb Code 30 car.o(.text)
- TIM6_IRQHandler 0x0800271b Thumb Code 180 car.o(.text)
- Velocity 0x080027cf Thumb Code 242 car.o(.text)
- Key 0x080028c1 Thumb Code 22 car.o(.text)
- Bluetooth_Init 0x08002959 Thumb Code 162 bluetooth.o(.text)
- USART2_Send 0x080029fb Thumb Code 74 bluetooth.o(.text)
- USART2_SendStr 0x08002a45 Thumb Code 70 bluetooth.o(.text)
- PB_USART_printf 0x08002aed Thumb Code 296 bluetooth.o(.text)
- USART2_Receive 0x08002c15 Thumb Code 16 bluetooth.o(.text)
- USART2_IRQHandler 0x08002c25 Thumb Code 72 bluetooth.o(.text)
- Motor_Init 0x08002c81 Thumb Code 40 motor.o(.text)
- Motor_CtlLeft 0x08002ca9 Thumb Code 68 motor.o(.text)
- Motor_CtlRight 0x08002ced Thumb Code 68 motor.o(.text)
- Car_Go 0x08002d31 Thumb Code 16 motor.o(.text)
- Car_Back 0x08002d41 Thumb Code 16 motor.o(.text)
- Car_TurnLeft 0x08002d51 Thumb Code 16 motor.o(.text)
- Car_TurnRight 0x08002d61 Thumb Code 16 motor.o(.text)
- Car_Stop 0x08002d71 Thumb Code 16 motor.o(.text)
- IIC_MPU6050_Init 0x08002d85 Thumb Code 40 ioi2c.o(.text)
- i2cWrite 0x08002f9d Thumb Code 96 ioi2c.o(.text)
- i2cRead 0x08003065 Thumb Code 118 ioi2c.o(.text)
- I2C_ReadOneByte 0x080030db Thumb Code 70 ioi2c.o(.text)
- IICreadBytes 0x08003121 Thumb Code 112 ioi2c.o(.text)
- IICwriteBytes 0x08003191 Thumb Code 70 ioi2c.o(.text)
- IICreadByte 0x080031d7 Thumb Code 22 ioi2c.o(.text)
- IICwriteByte 0x080031ed Thumb Code 20 ioi2c.o(.text)
- IICwriteBits 0x08003201 Thumb Code 106 ioi2c.o(.text)
- IICwriteBit 0x0800326b Thumb Code 64 ioi2c.o(.text)
- MPU6050_newValues 0x080033cf Thumb Code 494 mpu6050.o(.text)
- MPU6050_setClockSource 0x080035bd Thumb Code 20 mpu6050.o(.text)
- MPU6050_setFullScaleGyroRange 0x080035d1 Thumb Code 20 mpu6050.o(.text)
- MPU6050_setFullScaleAccelRange 0x080035e5 Thumb Code 20 mpu6050.o(.text)
- MPU6050_setSleepEnabled 0x080035f9 Thumb Code 18 mpu6050.o(.text)
- MPU6050_getDeviceID 0x0800360b Thumb Code 20 mpu6050.o(.text)
- MPU6050_testConnection 0x0800361f Thumb Code 18 mpu6050.o(.text)
- MPU6050_setI2CMasterModeEnabled 0x08003631 Thumb Code 18 mpu6050.o(.text)
- MPU6050_setI2CBypassEnabled 0x08003643 Thumb Code 18 mpu6050.o(.text)
- MPU6050_initialize 0x08003655 Thumb Code 40 mpu6050.o(.text)
- DMP_Init 0x0800367d Thumb Code 220 mpu6050.o(.text)
- Read_DMP 0x08003759 Thumb Code 304 mpu6050.o(.text)
- mpu_reg_dump 0x08003937 Thumb Code 72 inv_mpu.o(.text)
- mpu_read_reg 0x0800397f Thumb Code 66 inv_mpu.o(.text)
- mpu_set_int_latched 0x080039c1 Thumb Code 102 inv_mpu.o(.text)
- mpu_set_sensors 0x08003a27 Thumb Code 202 inv_mpu.o(.text)
- mpu_set_bypass 0x08003af1 Thumb Code 328 inv_mpu.o(.text)
- mpu_reset_fifo 0x08003c39 Thumb Code 444 inv_mpu.o(.text)
- mpu_configure_fifo 0x08003df5 Thumb Code 106 inv_mpu.o(.text)
- mpu_set_lpf 0x08003e5f Thumb Code 126 inv_mpu.o(.text)
- mpu_lp_accel_mode 0x08003edd Thumb Code 218 inv_mpu.o(.text)
- mpu_set_sample_rate 0x08003fb7 Thumb Code 152 inv_mpu.o(.text)
- mpu_set_accel_fsr 0x0800404f Thumb Code 132 inv_mpu.o(.text)
- mpu_set_gyro_fsr 0x080040d3 Thumb Code 132 inv_mpu.o(.text)
- mpu_init 0x08004157 Thumb Code 416 inv_mpu.o(.text)
- myget_ms 0x080042f7 Thumb Code 2 inv_mpu.o(.text)
- mpu_get_gyro_reg 0x080042f9 Thumb Code 110 inv_mpu.o(.text)
- mpu_get_accel_reg 0x08004367 Thumb Code 110 inv_mpu.o(.text)
- mpu_get_temperature 0x080043d5 Thumb Code 150 inv_mpu.o(.text)
- mpu_set_accel_bias 0x0800446b Thumb Code 468 inv_mpu.o(.text)
- mpu_get_gyro_fsr 0x0800463f Thumb Code 64 inv_mpu.o(.text)
- mpu_get_accel_fsr 0x0800467f Thumb Code 72 inv_mpu.o(.text)
- mpu_get_lpf 0x080046c7 Thumb Code 74 inv_mpu.o(.text)
- mpu_get_sample_rate 0x08004711 Thumb Code 26 inv_mpu.o(.text)
- mpu_get_compass_sample_rate 0x0800472b Thumb Code 10 inv_mpu.o(.text)
- mpu_set_compass_sample_rate 0x08004735 Thumb Code 8 inv_mpu.o(.text)
- mpu_get_gyro_sens 0x0800473d Thumb Code 58 inv_mpu.o(.text)
- mpu_get_accel_sens 0x08004777 Thumb Code 78 inv_mpu.o(.text)
- mpu_get_fifo_config 0x080047c5 Thumb Code 12 inv_mpu.o(.text)
- mpu_get_power_state 0x080047d1 Thumb Code 22 inv_mpu.o(.text)
- mpu_get_int_status 0x080047e7 Thumb Code 64 inv_mpu.o(.text)
- mpu_read_fifo 0x08004827 Thumb Code 520 inv_mpu.o(.text)
- mpu_read_fifo_stream 0x08004a2f Thumb Code 186 inv_mpu.o(.text)
- mpu_set_int_level 0x08004ae9 Thumb Code 12 inv_mpu.o(.text)
- mpu_set_dmp_state 0x080051c9 Thumb Code 146 inv_mpu.o(.text)
- mpu_run_self_test 0x0800525b Thumb Code 298 inv_mpu.o(.text)
- mpu_write_mem 0x08005385 Thumb Code 122 inv_mpu.o(.text)
- mpu_read_mem 0x080053ff Thumb Code 122 inv_mpu.o(.text)
- mpu_load_firmware 0x08005479 Thumb Code 252 inv_mpu.o(.text)
- mpu_get_dmp_state 0x08005575 Thumb Code 14 inv_mpu.o(.text)
- mpu_get_compass_reg 0x08005583 Thumb Code 8 inv_mpu.o(.text)
- mpu_get_compass_fsr 0x0800558b Thumb Code 8 inv_mpu.o(.text)
- mpu_lp_motion_interrupt 0x08005593 Thumb Code 512 inv_mpu.o(.text)
- dmp_load_motion_driver_firmware 0x08005799 Thumb Code 20 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_orientation 0x080057ad Thumb Code 290 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_gyro_bias 0x080058cf Thumb Code 294 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_accel_bias 0x080059f5 Thumb Code 300 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_fifo_rate 0x08005b21 Thumb Code 136 inv_mpu_dmp_motion_driver.o(.text)
- dmp_get_fifo_rate 0x08005ba9 Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_tap_thresh 0x08005bb5 Thumb Code 396 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_tap_axes 0x08005d41 Thumb Code 70 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_tap_count 0x08005d87 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_tap_time 0x08005dad Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_tap_time_multi 0x08005dd3 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_shake_reject_thresh 0x08005df9 Thumb Code 56 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_shake_reject_time 0x08005e31 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_shake_reject_timeout 0x08005e57 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
- dmp_get_pedometer_step_count 0x08005e7d Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_pedometer_step_count 0x08005ebf Thumb Code 42 inv_mpu_dmp_motion_driver.o(.text)
- dmp_get_pedometer_walk_time 0x08005ee9 Thumb Code 72 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_pedometer_walk_time 0x08005f31 Thumb Code 48 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_6x_lp_quat 0x08005f61 Thumb Code 84 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_lp_quat 0x08005fb5 Thumb Code 60 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_gyro_cal 0x08005ff1 Thumb Code 62 inv_mpu_dmp_motion_driver.o(.text)
- dmp_enable_feature 0x0800602f Thumb Code 530 inv_mpu_dmp_motion_driver.o(.text)
- dmp_get_enabled_features 0x08006241 Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
- dmp_set_interrupt_mode 0x080062ab Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
- dmp_read_fifo 0x080062ed Thumb Code 514 inv_mpu_dmp_motion_driver.o(.text)
- dmp_register_tap_cb 0x080064ef Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
- dmp_register_android_orient_cb 0x080064f9 Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
- main 0x08006509 Thumb Code 328 main.o(.text)
- NMI_Handler 0x08006691 Thumb Code 2 stm32f10x_it.o(.text)
- HardFault_Handler 0x08006693 Thumb Code 4 stm32f10x_it.o(.text)
- MemManage_Handler 0x08006697 Thumb Code 4 stm32f10x_it.o(.text)
- BusFault_Handler 0x0800669b Thumb Code 4 stm32f10x_it.o(.text)
- UsageFault_Handler 0x0800669f Thumb Code 4 stm32f10x_it.o(.text)
- SVC_Handler 0x080066a3 Thumb Code 2 stm32f10x_it.o(.text)
- DebugMon_Handler 0x080066a5 Thumb Code 2 stm32f10x_it.o(.text)
- PendSV_Handler 0x080066a7 Thumb Code 2 stm32f10x_it.o(.text)
- __use_no_semihosting 0x080066a9 Thumb Code 2 use_no_semi_2.o(.text)
- __aeabi_ldivmod 0x080066ab Thumb Code 0 llsdiv.o(.text)
- _ll_sdiv 0x080066ab Thumb Code 72 llsdiv.o(.text)
- __2printf 0x080066f5 Thumb Code 20 noretval__2printf.o(.text)
- __printf 0x0800670d Thumb Code 104 __printf.o(.text)
- _printf_int_dec 0x08006775 Thumb Code 104 _printf_dec.o(.text)
- memcmp 0x080067ed Thumb Code 88 memcmp.o(.text)
- __aeabi_memset 0x08006845 Thumb Code 16 aeabi_memset.o(.text)
- __use_two_region_memory 0x08006855 Thumb Code 2 heapauxi.o(.text)
- __rt_heap_escrow$2region 0x08006857 Thumb Code 2 heapauxi.o(.text)
- __rt_heap_expand$2region 0x08006859 Thumb Code 2 heapauxi.o(.text)
- __I$use$semihosting 0x0800685b Thumb Code 0 use_no_semi.o(.text)
- __use_no_semihosting_swi 0x0800685b Thumb Code 2 use_no_semi.o(.text)
- __aeabi_uldivmod 0x0800685d Thumb Code 0 lludivv7m.o(.text)
- _ll_udiv 0x0800685d Thumb Code 238 lludivv7m.o(.text)
- _printf_int_common 0x0800694b Thumb Code 178 _printf_intcommon.o(.text)
- _printf_char_file 0x080069fd Thumb Code 32 _printf_char_file.o(.text)
- __aeabi_memclr 0x08006a21 Thumb Code 0 rt_memclr.o(.text)
- __rt_memclr 0x08006a21 Thumb Code 68 rt_memclr.o(.text)
- _memset 0x08006a25 Thumb Code 0 rt_memclr.o(.text)
- _printf_char_common 0x08006a6f Thumb Code 32 _printf_char_common.o(.text)
- ferror 0x08006a95 Thumb Code 8 ferror.o(.text)
- __aeabi_memclr4 0x08006a9d Thumb Code 0 rt_memclr_w.o(.text)
- __aeabi_memclr8 0x08006a9d Thumb Code 0 rt_memclr_w.o(.text)
- __rt_memclr_w 0x08006a9d Thumb Code 78 rt_memclr_w.o(.text)
- _memset_w 0x08006aa1 Thumb Code 0 rt_memclr_w.o(.text)
- __user_libspace 0x08006aed Thumb Code 8 libspace.o(.text)
- __user_perproc_libspace 0x08006aed Thumb Code 0 libspace.o(.text)
- __user_perthread_libspace 0x08006aed Thumb Code 0 libspace.o(.text)
- __user_setup_stackheap 0x08006af5 Thumb Code 74 sys_stackheap_outer.o(.text)
- exit 0x08006b3f Thumb Code 18 exit.o(.text)
- __ARM_fpclassify 0x08006b51 Thumb Code 40 fpclassify.o(i.__ARM_fpclassify)
- __kernel_poly 0x08006b79 Thumb Code 170 poly.o(i.__kernel_poly)
- __mathlib_dbl_infnan 0x08006c23 Thumb Code 6 dunder.o(i.__mathlib_dbl_infnan)
- __mathlib_dbl_infnan2 0x08006c29 Thumb Code 4 dunder.o(i.__mathlib_dbl_infnan2)
- __mathlib_dbl_underflow 0x08006c2d Thumb Code 10 dunder.o(i.__mathlib_dbl_underflow)
- atan 0x08006c3d Thumb Code 474 atan.o(i.atan)
- atan2 0x08006e5d Thumb Code 346 atan2.o(i.atan2)
- __aeabi_d2f 0x08006fdd Thumb Code 0 d2f.o(x$fpl$d2f)
- _d2f 0x08006fdd Thumb Code 98 d2f.o(x$fpl$d2f)
- __aeabi_dadd 0x08007041 Thumb Code 0 daddsub_clz.o(x$fpl$dadd)
- _dadd 0x08007041 Thumb Code 332 daddsub_clz.o(x$fpl$dadd)
- __fpl_dcheck_NaN1 0x08007191 Thumb Code 10 dcheck1.o(x$fpl$dcheck1)
- __aeabi_ddiv 0x080071a1 Thumb Code 0 ddiv.o(x$fpl$ddiv)
- _ddiv 0x080071a1 Thumb Code 552 ddiv.o(x$fpl$ddiv)
- __aeabi_dmul 0x08007451 Thumb Code 0 dmul.o(x$fpl$dmul)
- _dmul 0x08007451 Thumb Code 332 dmul.o(x$fpl$dmul)
- __fpl_dnaninf 0x080075a5 Thumb Code 156 dnaninf.o(x$fpl$dnaninf)
- __fpl_dretinf 0x08007641 Thumb Code 12 dretinf.o(x$fpl$dretinf)
- __aeabi_drsub 0x0800764d Thumb Code 0 daddsub_clz.o(x$fpl$drsb)
- _drsb 0x0800764d Thumb Code 22 daddsub_clz.o(x$fpl$drsb)
- __aeabi_dsub 0x08007665 Thumb Code 0 daddsub_clz.o(x$fpl$dsub)
- _dsub 0x08007665 Thumb Code 464 daddsub_clz.o(x$fpl$dsub)
- __aeabi_f2d 0x08007839 Thumb Code 0 f2d.o(x$fpl$f2d)
- _f2d 0x08007839 Thumb Code 86 f2d.o(x$fpl$f2d)
- __aeabi_fadd 0x08007891 Thumb Code 0 faddsub_clz.o(x$fpl$fadd)
- _fadd 0x08007891 Thumb Code 196 faddsub_clz.o(x$fpl$fadd)
- __fpl_fcmp_Inf 0x08007955 Thumb Code 24 fcmpi.o(x$fpl$fcmpinf)
- __aeabi_fdiv 0x0800796d Thumb Code 0 fdiv.o(x$fpl$fdiv)
- _fdiv 0x0800796d Thumb Code 384 fdiv.o(x$fpl$fdiv)
- __aeabi_cfcmpeq 0x08007af1 Thumb Code 0 feqf.o(x$fpl$feqf)
- _fcmpeq 0x08007af1 Thumb Code 104 feqf.o(x$fpl$feqf)
- __aeabi_f2iz 0x08007b59 Thumb Code 0 ffix.o(x$fpl$ffix)
- _ffix 0x08007b59 Thumb Code 54 ffix.o(x$fpl$ffix)
- __aeabi_f2uiz 0x08007b91 Thumb Code 0 ffixu.o(x$fpl$ffixu)
- _ffixu 0x08007b91 Thumb Code 62 ffixu.o(x$fpl$ffixu)
- __aeabi_i2f 0x08007bd1 Thumb Code 0 fflt_clz.o(x$fpl$fflt)
- _fflt 0x08007bd1 Thumb Code 48 fflt_clz.o(x$fpl$fflt)
- __aeabi_ui2f 0x08007c01 Thumb Code 0 fflt_clz.o(x$fpl$ffltu)
- _ffltu 0x08007c01 Thumb Code 38 fflt_clz.o(x$fpl$ffltu)
- __aeabi_cfcmple 0x08007c29 Thumb Code 0 fleqf.o(x$fpl$fleqf)
- _fcmple 0x08007c29 Thumb Code 104 fleqf.o(x$fpl$fleqf)
- __fpl_fcmple_InfNaN 0x08007c7b Thumb Code 0 fleqf.o(x$fpl$fleqf)
- __aeabi_fmul 0x08007c91 Thumb Code 0 fmul.o(x$fpl$fmul)
- _fmul 0x08007c91 Thumb Code 258 fmul.o(x$fpl$fmul)
- __fpl_fnaninf 0x08007d93 Thumb Code 140 fnaninf.o(x$fpl$fnaninf)
- __fpl_fretinf 0x08007e1f Thumb Code 10 fretinf.o(x$fpl$fretinf)
- __aeabi_cfrcmple 0x08007e29 Thumb Code 0 frleqf.o(x$fpl$frleqf)
- _frcmple 0x08007e29 Thumb Code 98 frleqf.o(x$fpl$frleqf)
- __aeabi_frsub 0x08007e8b Thumb Code 0 faddsub_clz.o(x$fpl$frsb)
- _frsb 0x08007e8b Thumb Code 20 faddsub_clz.o(x$fpl$frsb)
- __aeabi_fsub 0x08007ea1 Thumb Code 0 faddsub_clz.o(x$fpl$fsub)
- _fsub 0x08007ea1 Thumb Code 234 faddsub_clz.o(x$fpl$fsub)
- __fpl_return_NaN 0x08007f8b Thumb Code 100 retnan.o(x$fpl$retnan)
- __ARM_scalbn 0x08007fef Thumb Code 92 scalbn.o(x$fpl$scalbn)
- __fpl_cmpreturn 0x0800804b Thumb Code 48 trapv.o(x$fpl$trapveneer)
- __I$use$fp 0x0800807a Number 0 usenofp.o(x$fpl$usenofp)
- hw 0x0800807c Data 12 inv_mpu.o(.constdata)
- reg 0x08008088 Data 27 inv_mpu.o(.constdata)
- test 0x080080a4 Data 40 inv_mpu.o(.constdata)
+ Balance 0x080026b1 Thumb Code 96 car.o(.text)
+ Get_Angle 0x08002711 Thumb Code 30 car.o(.text)
+ TIM6_IRQHandler 0x0800272f Thumb Code 180 car.o(.text)
+ Velocity 0x080027e3 Thumb Code 242 car.o(.text)
+ Key 0x080028d5 Thumb Code 22 car.o(.text)
+ Bluetooth_Init 0x08002971 Thumb Code 162 bluetooth.o(.text)
+ USART2_Send 0x08002a13 Thumb Code 74 bluetooth.o(.text)
+ USART2_SendStr 0x08002a5d Thumb Code 70 bluetooth.o(.text)
+ PB_USART_printf 0x08002b05 Thumb Code 296 bluetooth.o(.text)
+ USART2_Receive 0x08002c2d Thumb Code 16 bluetooth.o(.text)
+ USART2_IRQHandler 0x08002c3d Thumb Code 72 bluetooth.o(.text)
+ Motor_Init 0x08002c99 Thumb Code 40 motor.o(.text)
+ Motor_CtlLeft 0x08002cc1 Thumb Code 68 motor.o(.text)
+ Motor_CtlRight 0x08002d05 Thumb Code 68 motor.o(.text)
+ Car_Go 0x08002d49 Thumb Code 16 motor.o(.text)
+ Car_Back 0x08002d59 Thumb Code 16 motor.o(.text)
+ Car_TurnLeft 0x08002d69 Thumb Code 16 motor.o(.text)
+ Car_TurnRight 0x08002d79 Thumb Code 16 motor.o(.text)
+ Car_Stop 0x08002d89 Thumb Code 16 motor.o(.text)
+ IIC_MPU6050_Init 0x08002d9d Thumb Code 40 ioi2c.o(.text)
+ i2cWrite 0x08002fb5 Thumb Code 96 ioi2c.o(.text)
+ i2cRead 0x0800307d Thumb Code 118 ioi2c.o(.text)
+ I2C_ReadOneByte 0x080030f3 Thumb Code 70 ioi2c.o(.text)
+ IICreadBytes 0x08003139 Thumb Code 112 ioi2c.o(.text)
+ IICwriteBytes 0x080031a9 Thumb Code 70 ioi2c.o(.text)
+ IICreadByte 0x080031ef Thumb Code 22 ioi2c.o(.text)
+ IICwriteByte 0x08003205 Thumb Code 20 ioi2c.o(.text)
+ IICwriteBits 0x08003219 Thumb Code 106 ioi2c.o(.text)
+ IICwriteBit 0x08003283 Thumb Code 64 ioi2c.o(.text)
+ MPU6050_newValues 0x080033e7 Thumb Code 494 mpu6050.o(.text)
+ MPU6050_setClockSource 0x080035d5 Thumb Code 20 mpu6050.o(.text)
+ MPU6050_setFullScaleGyroRange 0x080035e9 Thumb Code 20 mpu6050.o(.text)
+ MPU6050_setFullScaleAccelRange 0x080035fd Thumb Code 20 mpu6050.o(.text)
+ MPU6050_setSleepEnabled 0x08003611 Thumb Code 18 mpu6050.o(.text)
+ MPU6050_getDeviceID 0x08003623 Thumb Code 20 mpu6050.o(.text)
+ MPU6050_testConnection 0x08003637 Thumb Code 18 mpu6050.o(.text)
+ MPU6050_setI2CMasterModeEnabled 0x08003649 Thumb Code 18 mpu6050.o(.text)
+ MPU6050_setI2CBypassEnabled 0x0800365b Thumb Code 18 mpu6050.o(.text)
+ MPU6050_initialize 0x0800366d Thumb Code 40 mpu6050.o(.text)
+ DMP_Init 0x08003695 Thumb Code 220 mpu6050.o(.text)
+ Read_DMP 0x08003771 Thumb Code 304 mpu6050.o(.text)
+ mpu_reg_dump 0x0800394f Thumb Code 72 inv_mpu.o(.text)
+ mpu_read_reg 0x08003997 Thumb Code 66 inv_mpu.o(.text)
+ mpu_set_int_latched 0x080039d9 Thumb Code 102 inv_mpu.o(.text)
+ mpu_set_sensors 0x08003a3f Thumb Code 202 inv_mpu.o(.text)
+ mpu_set_bypass 0x08003b09 Thumb Code 328 inv_mpu.o(.text)
+ mpu_reset_fifo 0x08003c51 Thumb Code 444 inv_mpu.o(.text)
+ mpu_configure_fifo 0x08003e0d Thumb Code 106 inv_mpu.o(.text)
+ mpu_set_lpf 0x08003e77 Thumb Code 126 inv_mpu.o(.text)
+ mpu_lp_accel_mode 0x08003ef5 Thumb Code 218 inv_mpu.o(.text)
+ mpu_set_sample_rate 0x08003fcf Thumb Code 152 inv_mpu.o(.text)
+ mpu_set_accel_fsr 0x08004067 Thumb Code 132 inv_mpu.o(.text)
+ mpu_set_gyro_fsr 0x080040eb Thumb Code 132 inv_mpu.o(.text)
+ mpu_init 0x0800416f Thumb Code 416 inv_mpu.o(.text)
+ myget_ms 0x0800430f Thumb Code 2 inv_mpu.o(.text)
+ mpu_get_gyro_reg 0x08004311 Thumb Code 110 inv_mpu.o(.text)
+ mpu_get_accel_reg 0x0800437f Thumb Code 110 inv_mpu.o(.text)
+ mpu_get_temperature 0x080043ed Thumb Code 150 inv_mpu.o(.text)
+ mpu_set_accel_bias 0x08004483 Thumb Code 468 inv_mpu.o(.text)
+ mpu_get_gyro_fsr 0x08004657 Thumb Code 64 inv_mpu.o(.text)
+ mpu_get_accel_fsr 0x08004697 Thumb Code 72 inv_mpu.o(.text)
+ mpu_get_lpf 0x080046df Thumb Code 74 inv_mpu.o(.text)
+ mpu_get_sample_rate 0x08004729 Thumb Code 26 inv_mpu.o(.text)
+ mpu_get_compass_sample_rate 0x08004743 Thumb Code 10 inv_mpu.o(.text)
+ mpu_set_compass_sample_rate 0x0800474d Thumb Code 8 inv_mpu.o(.text)
+ mpu_get_gyro_sens 0x08004755 Thumb Code 58 inv_mpu.o(.text)
+ mpu_get_accel_sens 0x0800478f Thumb Code 78 inv_mpu.o(.text)
+ mpu_get_fifo_config 0x080047dd Thumb Code 12 inv_mpu.o(.text)
+ mpu_get_power_state 0x080047e9 Thumb Code 22 inv_mpu.o(.text)
+ mpu_get_int_status 0x080047ff Thumb Code 64 inv_mpu.o(.text)
+ mpu_read_fifo 0x0800483f Thumb Code 520 inv_mpu.o(.text)
+ mpu_read_fifo_stream 0x08004a47 Thumb Code 186 inv_mpu.o(.text)
+ mpu_set_int_level 0x08004b01 Thumb Code 12 inv_mpu.o(.text)
+ mpu_set_dmp_state 0x080051e1 Thumb Code 146 inv_mpu.o(.text)
+ mpu_run_self_test 0x08005273 Thumb Code 298 inv_mpu.o(.text)
+ mpu_write_mem 0x0800539d Thumb Code 122 inv_mpu.o(.text)
+ mpu_read_mem 0x08005417 Thumb Code 122 inv_mpu.o(.text)
+ mpu_load_firmware 0x08005491 Thumb Code 252 inv_mpu.o(.text)
+ mpu_get_dmp_state 0x0800558d Thumb Code 14 inv_mpu.o(.text)
+ mpu_get_compass_reg 0x0800559b Thumb Code 8 inv_mpu.o(.text)
+ mpu_get_compass_fsr 0x080055a3 Thumb Code 8 inv_mpu.o(.text)
+ mpu_lp_motion_interrupt 0x080055ab Thumb Code 512 inv_mpu.o(.text)
+ dmp_load_motion_driver_firmware 0x080057b1 Thumb Code 20 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_orientation 0x080057c5 Thumb Code 290 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_gyro_bias 0x080058e7 Thumb Code 294 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_accel_bias 0x08005a0d Thumb Code 300 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_fifo_rate 0x08005b39 Thumb Code 136 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_fifo_rate 0x08005bc1 Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_thresh 0x08005bcd Thumb Code 396 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_axes 0x08005d59 Thumb Code 70 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_count 0x08005d9f Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_time 0x08005dc5 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_tap_time_multi 0x08005deb Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_shake_reject_thresh 0x08005e11 Thumb Code 56 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_shake_reject_time 0x08005e49 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_shake_reject_timeout 0x08005e6f Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_pedometer_step_count 0x08005e95 Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_pedometer_step_count 0x08005ed7 Thumb Code 42 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_pedometer_walk_time 0x08005f01 Thumb Code 72 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_pedometer_walk_time 0x08005f49 Thumb Code 48 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_6x_lp_quat 0x08005f79 Thumb Code 84 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_lp_quat 0x08005fcd Thumb Code 60 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_gyro_cal 0x08006009 Thumb Code 62 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_enable_feature 0x08006047 Thumb Code 530 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_get_enabled_features 0x08006259 Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_set_interrupt_mode 0x080062c3 Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_read_fifo 0x08006305 Thumb Code 514 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_register_tap_cb 0x08006507 Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
+ dmp_register_android_orient_cb 0x08006511 Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
+ main 0x08006521 Thumb Code 328 main.o(.text)
+ NMI_Handler 0x080066a9 Thumb Code 2 stm32f10x_it.o(.text)
+ HardFault_Handler 0x080066ab Thumb Code 4 stm32f10x_it.o(.text)
+ MemManage_Handler 0x080066af Thumb Code 4 stm32f10x_it.o(.text)
+ BusFault_Handler 0x080066b3 Thumb Code 4 stm32f10x_it.o(.text)
+ UsageFault_Handler 0x080066b7 Thumb Code 4 stm32f10x_it.o(.text)
+ SVC_Handler 0x080066bb Thumb Code 2 stm32f10x_it.o(.text)
+ DebugMon_Handler 0x080066bd Thumb Code 2 stm32f10x_it.o(.text)
+ PendSV_Handler 0x080066bf Thumb Code 2 stm32f10x_it.o(.text)
+ __use_no_semihosting 0x080066c1 Thumb Code 2 use_no_semi_2.o(.text)
+ __aeabi_ldivmod 0x080066c3 Thumb Code 0 llsdiv.o(.text)
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+ __2printf 0x0800670d Thumb Code 20 noretval__2printf.o(.text)
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+ memcmp 0x08006805 Thumb Code 88 memcmp.o(.text)
+ __aeabi_memset 0x0800685d Thumb Code 16 aeabi_memset.o(.text)
+ __use_two_region_memory 0x0800686d Thumb Code 2 heapauxi.o(.text)
+ __rt_heap_escrow$2region 0x0800686f Thumb Code 2 heapauxi.o(.text)
+ __rt_heap_expand$2region 0x08006871 Thumb Code 2 heapauxi.o(.text)
+ __I$use$semihosting 0x08006873 Thumb Code 0 use_no_semi.o(.text)
+ __use_no_semihosting_swi 0x08006873 Thumb Code 2 use_no_semi.o(.text)
+ __aeabi_uldivmod 0x08006875 Thumb Code 0 lludivv7m.o(.text)
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+ __aeabi_memclr 0x08006a39 Thumb Code 0 rt_memclr.o(.text)
+ __rt_memclr 0x08006a39 Thumb Code 68 rt_memclr.o(.text)
+ _memset 0x08006a3d Thumb Code 0 rt_memclr.o(.text)
+ _printf_char_common 0x08006a87 Thumb Code 32 _printf_char_common.o(.text)
+ ferror 0x08006aad Thumb Code 8 ferror.o(.text)
+ __aeabi_memclr4 0x08006ab5 Thumb Code 0 rt_memclr_w.o(.text)
+ __aeabi_memclr8 0x08006ab5 Thumb Code 0 rt_memclr_w.o(.text)
+ __rt_memclr_w 0x08006ab5 Thumb Code 78 rt_memclr_w.o(.text)
+ _memset_w 0x08006ab9 Thumb Code 0 rt_memclr_w.o(.text)
+ __user_libspace 0x08006b05 Thumb Code 8 libspace.o(.text)
+ __user_perproc_libspace 0x08006b05 Thumb Code 0 libspace.o(.text)
+ __user_perthread_libspace 0x08006b05 Thumb Code 0 libspace.o(.text)
+ __user_setup_stackheap 0x08006b0d Thumb Code 74 sys_stackheap_outer.o(.text)
+ exit 0x08006b57 Thumb Code 18 exit.o(.text)
+ __ARM_fpclassify 0x08006b69 Thumb Code 40 fpclassify.o(i.__ARM_fpclassify)
+ __kernel_poly 0x08006b91 Thumb Code 170 poly.o(i.__kernel_poly)
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+ __ARM_scalbn 0x08007ff3 Thumb Code 92 scalbn.o(x$fpl$scalbn)
+ __fpl_cmpreturn 0x0800804f Thumb Code 48 trapv.o(x$fpl$trapveneer)
+ __I$use$fp 0x0800807e Number 0 usenofp.o(x$fpl$usenofp)
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__mathlib_zero 0x08008d60 Data 8 qnan.o(.constdata)
Region$$Table$$Base 0x08008db8 Number 0 anon$$obj.o(Region$$Table)
Region$$Table$$Limit 0x08008dd8 Number 0 anon$$obj.o(Region$$Table)
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+ 0x08007ea2 0x00000002 PAD
+ 0x08007ea4 0x000000ea Code RO 850 x$fpl$fsub fz_ws.l(faddsub_clz.o)
+ 0x08007f8e 0x00000064 Code RO 1050 x$fpl$retnan fz_ws.l(retnan.o)
+ 0x08007ff2 0x0000005c Code RO 974 x$fpl$scalbn fz_ws.l(scalbn.o)
+ 0x0800804e 0x00000030 Code RO 1069 x$fpl$trapveneer fz_ws.l(trapv.o)
+ 0x0800807e 0x00000000 Code RO 916 x$fpl$usenofp fz_ws.l(usenofp.o)
+ 0x0800807e 0x00000002 PAD
+ 0x08008080 0x00000050 Data RO 720 .constdata inv_mpu.o
+ 0x080080d0 0x00000bf6 Data RO 745 .constdata inv_mpu_dmp_motion_driver.o
+ 0x08008cc6 0x00000002 PAD
0x08008cc8 0x00000098 Data RO 919 .constdata m_ws.l(atan.o)
0x08008d60 0x00000008 Data RO 941 .constdata m_ws.l(qnan.o)
0x08008d68 0x0000004e Data RO 721 .conststring inv_mpu.o
@@ -1637,9 +1633,9 @@ Image component sizes
536 6 0 0 0 2142 bsp_iic.o
2 0 0 0 0 414 bsp_nvic.o
96 8 0 0 0 542 bsp_sys.o
- 832 20 0 0 0 2454 bsp_timer.o
+ 832 22 0 0 0 2458 bsp_timer.o
360 20 0 16 0 3821 bsp_usart.o
- 812 130 0 100 0 4001 car.o
+ 836 134 0 100 0 4009 car.o
0 0 0 0 0 4532 core_cm3.o
172 8 0 4 0 1063 delay.o
7916 238 158 44 0 21659 inv_mpu.o
@@ -1658,9 +1654,9 @@ Image component sizes
480 38 0 20 0 250275 system_stm32f10x.o
----------------------------------------------------------------------
- 25812 1074 3564 276 1764 374587 Object Totals
+ 25836 1080 3560 276 1764 374599 Object Totals
0 0 32 0 0 0 (incl. Generated)
- 6 0 8 0 2 0 (incl. Padding)
+ 6 0 4 0 2 0 (incl. Padding)
----------------------------------------------------------------------
@@ -1709,7 +1705,7 @@ Image component sizes
156 4 0 0 0 92 dnaninf.o
12 0 0 0 0 68 dretinf.o
86 4 0 0 0 84 f2d.o
- 450 8 0 0 0 236 faddsub_clz.o
+ 430 8 0 0 0 168 faddsub_clz.o
24 0 0 0 0 68 fcmpi.o
388 76 0 0 0 96 fdiv.o
104 4 0 0 0 84 feqf.o
@@ -1733,7 +1729,7 @@ Image component sizes
0 0 8 0 0 0 qnan.o
----------------------------------------------------------------------
- 6776 448 160 0 96 4724 Library Totals
+ 6756 448 160 0 96 4656 Library Totals
22 0 0 0 0 0 (incl. Padding)
----------------------------------------------------------------------
@@ -1741,11 +1737,11 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug Library Name
1350 42 0 0 96 1644 c_w.l
- 4240 292 0 0 0 2444 fz_ws.l
+ 4220 292 0 0 0 2376 fz_ws.l
1164 114 160 0 0 636 m_ws.l
----------------------------------------------------------------------
- 6776 448 160 0 96 4724 Library Totals
+ 6756 448 160 0 96 4656 Library Totals
----------------------------------------------------------------------
@@ -1754,9 +1750,9 @@ Image component sizes
Code (inc. data) RO Data RW Data ZI Data Debug
- 32588 1522 3724 276 1860 374835 Grand Totals
- 32588 1522 3724 276 1860 374835 ELF Image Totals
- 32588 1522 3724 276 0 0 ROM Totals
+ 32592 1528 3720 276 1860 374831 Grand Totals
+ 32592 1528 3720 276 1860 374831 ELF Image Totals
+ 32592 1528 3720 276 0 0 ROM Totals
==============================================================================
diff --git a/GeBalanceBot_Firmware v1.0/Output/Project.hex b/GeBalanceBot_Firmware v1.0/Output/Project.hex
index c0a15bc..935b51f 100644
--- a/GeBalanceBot_Firmware v1.0/Output/Project.hex
+++ b/GeBalanceBot_Firmware v1.0/Output/Project.hex
@@ -1,8 +1,8 @@
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diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin
index c487836..fde54e0 100644
--- a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin
@@ -11,7 +11,7 @@
38003
Registers
- 115 172
+ 115 57
346
@@ -94,8 +94,8 @@
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+ 24
+ 1
+ 10
1
0