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更新代码，小车大约能平衡一分钟

main
詹力 2024-02-26 00:22:50 +08:00
parent f5aa5d3c73
commit 5d9cbcef40
12 changed files with 4711 additions and 4646 deletions
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8
4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map
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@ -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
==============================================================================

4
GeBalanceBot_Firmware v1.0 - TestHardware/DRV/bsp_timer.c
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@ -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

11
GeBalanceBot_Firmware v1.0 - TestHardware/HARDWARE/MOTO/car.c
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@ -41,6 +41,7 @@ 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)
{
@ -48,6 +49,14 @@ void TIM6_IRQHandler(void)
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
Encoder_Right = -(Read_Encoder(4) - 30000); // 读取右轮编码器的值，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)

996
GeBalanceBot_Firmware v1.0 - TestHardware/Listing/Project.map
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File diff suppressed because it is too large Load Diff

3455
GeBalanceBot_Firmware v1.0 - TestHardware/Output/Project.hex
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File diff suppressed because it is too large Load Diff

246
GeBalanceBot_Firmware v1.0 - TestHardware/Project/Project.uvguix.admin
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File diff suppressed because one or more lines are too long

22
GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c
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@ -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);

6
GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c
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@ -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

2
GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h
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@ -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);

842
GeBalanceBot_Firmware v1.0/Listing/Project.map
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@ -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)
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../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/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 __rtentry.o ABSOLUTE
../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.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 __rtentry.o ABSOLUTE
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../clib/angel/kernel.s 0x00000000 Number 0 rtexit.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/rt.s 0x00000000 Number 0 rt_div0.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/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
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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/sysapp.c 0x00000000 Number 0 sys_wrch.o ABSOLUTE
../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE
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../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE
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../clib/angel/sysapp.c 0x00000000 Number 0 sys_wrch.o ABSOLUTE
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../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
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../clib/printf.c 0x00000000 Number 0 _printf_char_common.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 __2printf.o ABSOLUTE
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../clib/printf.c 0x00000000 Number 0 __printf_flags_ss.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
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../clib/printf.c 0x00000000 Number 0 noretval__2printf.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 _printf_intcommon.o ABSOLUTE
../clib/printf_percent.s 0x00000000 Number 0 _printf_percent_end.o ABSOLUTE
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../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 __printf_ss.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 noretval__2printf.o ABSOLUTE
../clib/printf.c 0x00000000 Number 0 _printf_char_file.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/printf_percent.s 0x00000000 Number 0 _printf_percent_end.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
@ -565,8 +565,8 @@ Image Symbol Table
../fplib/usenofp.s 0x00000000 Number 0 usenofp.o ABSOLUTE
../mathlib/atan.c 0x00000000 Number 0 atan.o ABSOLUTE
../mathlib/atan.c 0x00000000 Number 0 atan_x.o ABSOLUTE
../mathlib/atan2.c 0x00000000 Number 0 atan2_x.o ABSOLUTE
../mathlib/atan2.c 0x00000000 Number 0 atan2.o ABSOLUTE
../mathlib/atan2.c 0x00000000 Number 0 atan2_x.o ABSOLUTE
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../mathlib/fpclassify.c 0x00000000 Number 0 fpclassify.o ABSOLUTE
../mathlib/poly.c 0x00000000 Number 0 poly.o ABSOLUTE
@ -690,96 +690,95 @@ Image Symbol Table
.text 0x080020d4 Section 0 bsp_iic.o(.text)
.text 0x080022ec Section 0 bsp_timer.o(.text)
.text 0x0800262c Section 0 car.o(.text)
.text 0x08002958 Section 0 bluetooth.o(.text)
itoa 0x08002a8b Thumb Code 98 bluetooth.o(.text)
.text 0x08002c80 Section 0 motor.o(.text)
.text 0x08002d84 Section 0 ioi2c.o(.text)
IIC_Start 0x08002dad Thumb Code 96 ioi2c.o(.text)
IIC_Stop 0x08002e0d Thumb Code 68 ioi2c.o(.text)
IIC_Wait_Ack 0x08002e51 Thumb Code 96 ioi2c.o(.text)
IIC_Ack 0x08002eb1 Thumb Code 72 ioi2c.o(.text)
IIC_NAck 0x08002ef9 Thumb Code 70 ioi2c.o(.text)
IIC_Send_Byte 0x08002f3f Thumb Code 94 ioi2c.o(.text)
IIC_Read_Byte 0x08002ffd Thumb Code 104 ioi2c.o(.text)
.text 0x080032ac Section 0 mpu6050.o(.text)
inv_row_2_scale 0x080032ad Thumb Code 78 mpu6050.o(.text)
inv_orientation_matrix_to_scalar 0x080032fb Thumb Code 40 mpu6050.o(.text)
run_self_test 0x08003323 Thumb Code 172 mpu6050.o(.text)
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get_accel_prod_shift 0x08004af5 Thumb Code 168 inv_mpu.o(.text)
accel_self_test 0x08004b9d Thumb Code 164 inv_mpu.o(.text)
gyro_self_test 0x08004c41 Thumb Code 280 inv_mpu.o(.text)
get_st_biases 0x08004d59 Thumb Code 1136 inv_mpu.o(.text)
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decode_gesture 0x0800624d Thumb Code 94 inv_mpu_dmp_motion_driver.o(.text)
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@ -1170,224 +1169,222 @@ Image Symbol Table
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mpu_get_compass_fsr 0x0800558b Thumb Code 8 inv_mpu.o(.text)
mpu_lp_motion_interrupt 0x08005593 Thumb Code 512 inv_mpu.o(.text)
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dmp_set_orientation 0x080057ad Thumb Code 290 inv_mpu_dmp_motion_driver.o(.text)
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dmp_register_android_orient_cb 0x080064f9 Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text)
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__printf 0x0800670d Thumb Code 104 __printf.o(.text)
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__rt_heap_escrow$2region 0x08006857 Thumb Code 2 heapauxi.o(.text)
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atan2 0x08006e5d Thumb Code 346 atan2.o(i.atan2)
__aeabi_d2f 0x08006fdd Thumb Code 0 d2f.o(x$fpl$d2f)
_d2f 0x08006fdd Thumb Code 98 d2f.o(x$fpl$d2f)
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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)
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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)
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IICwriteBytes 0x080031a9 Thumb Code 70 ioi2c.o(.text)
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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)
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__printf 0x08006725 Thumb Code 104 __printf.o(.text)
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__rt_heap_escrow$2region 0x0800686f Thumb Code 2 heapauxi.o(.text)
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ferror 0x08006aad Thumb Code 8 ferror.o(.text)
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atan 0x08006c55 Thumb Code 474 atan.o(i.atan)
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__aeabi_f2d 0x08007851 Thumb Code 0 f2d.o(x$fpl$f2d)
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__fpl_cmpreturn 0x0800804f Thumb Code 48 trapv.o(x$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)
@ -1518,84 +1515,83 @@ Memory Map of the image
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 0x0000032c Code RO 614 .text car.o
0x08002958 0x00000328 Code RO 638 .text bluetooth.o
0x08002c80 0x00000104 Code RO 660 .text motor.o
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@ -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
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430 8 0 0 0 168 faddsub_clz.o
24 0 0 0 0 68 fcmpi.o
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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
==============================================================================

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GeBalanceBot_Firmware v1.0/Output/Project.hex
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GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin
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