diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance.hex b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance.hex
new file mode 100644
index 0000000..ed6219f
--- /dev/null
+++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance.hex	
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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 77e1e64..9305cbe 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	
@@ -97,7 +97,6 @@ Section Cross References
     show.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz
     show.o(.text) refers to control.o(.text) for myabs
     show.o(.text) refers to minibalance.o(.data) for Encoder_Left
-    show.o(.text) refers to control.o(.data) for Angle_Balance
     inv_mpu.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent
     inv_mpu.o(.text) refers to _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) for _printf_d
     inv_mpu.o(.text) refers to _printf_dec.o(.text) for _printf_int_dec
@@ -413,3 +412,1345 @@ Section Cross References
     defsig_segv_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display
     defsig_other.o(.text) refers to defsig_general.o(.text) for __default_signal_display
 
+
+==============================================================================
+
+Removing Unused input sections from the image.
+
+    Removing core_cm3.o(.emb_text), (32 bytes).
+    Removing stm32f10x_adc.o(.text), (1102 bytes).
+    Removing stm32f10x_can.o(.text), (2544 bytes).
+    Removing stm32f10x_cec.o(.text), (288 bytes).
+    Removing stm32f10x_crc.o(.text), (72 bytes).
+    Removing stm32f10x_dac.o(.text), (396 bytes).
+    Removing stm32f10x_dbgmcu.o(.text), (48 bytes).
+    Removing stm32f10x_dma.o(.text), (596 bytes).
+    Removing stm32f10x_flash.o(.text), (1468 bytes).
+    Removing stm32f10x_fsmc.o(.text), (1548 bytes).
+    Removing stm32f10x_i2c.o(.text), (1028 bytes).
+    Removing stm32f10x_iwdg.o(.text), (64 bytes).
+    Removing stm32f10x_rtc.o(.text), (328 bytes).
+    Removing stm32f10x_sdio.o(.text), (468 bytes).
+    Removing stm32f10x_spi.o(.text), (780 bytes).
+    Removing stm32f10x_wwdg.o(.text), (136 bytes).
+
+16 unused section(s) (total 10898 bytes) removed from the image.
+
+==============================================================================
+
+Image Symbol Table
+
+    Local Symbols
+
+    Symbol Name                              Value     Ov Type        Size  Object(Section)
+
+    ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit3.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  boardshut.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  rtexit.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  rtexit2.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry2.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry4.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  aeabi_ldiv0_sigfpe.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  rt_raise.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  rt_div0.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  aeabi_ldiv0.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  rt_errno_addr.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  rt_errno_addr_intlibspace.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  sys_stackheap_outer.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  use_no_semi.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  use_no_semi_2.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  libspace.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  indicate_semi.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  _get_argv_nomalloc.o ABSOLUTE
+    ../clib/armsys.c                         0x00000000   Number         0  no_argv.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  libshutdown2.o ABSOLUTE
+    ../clib/libinit.s                        0x00000000   Number         0  libshutdown.o ABSOLUTE
+    ../clib/libinit.s                        0x00000000   Number         0  libinit.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  aeabi_memset.o ABSOLUTE
+    ../clib/memcpset.s                       0x00000000   Number         0  rt_memclr.o ABSOLUTE
+    ../clib/memcpset.s                       0x00000000   Number         0  rt_memclr_w.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _printf_char_common.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __printf_flags_ss_wp.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __2printf.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  noretval__2printf.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __printf.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _printf_dec.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  _printf_char_file.o ABSOLUTE
+    ../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_ss_wp.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __printf_flags_wp.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __printf_nopercent.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _printf_intcommon.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_fpe_formal.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_formal.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_other.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_fpe_outer.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_outer.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_exit.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  __raise.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_fpe_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_stak_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_general.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_pvfn_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_segv_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_cppl_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
+    ../clib/stdlib.c                         0x00000000   Number         0  exit.o ABSOLUTE
+    ../clib/string.c                         0x00000000   Number         0  memcmp.o ABSOLUTE
+    ../fplib/d2f.s                           0x00000000   Number         0  d2f.o ABSOLUTE
+    ../fplib/daddsub.s                       0x00000000   Number         0  daddsub_clz.o ABSOLUTE
+    ../fplib/dcheck1.s                       0x00000000   Number         0  dcheck1.o ABSOLUTE
+    ../fplib/ddiv.s                          0x00000000   Number         0  ddiv.o ABSOLUTE
+    ../fplib/dmul.s                          0x00000000   Number         0  dmul.o ABSOLUTE
+    ../fplib/dnaninf.s                       0x00000000   Number         0  dnaninf.o ABSOLUTE
+    ../fplib/dretinf.s                       0x00000000   Number         0  dretinf.o ABSOLUTE
+    ../fplib/f2d.s                           0x00000000   Number         0  f2d.o ABSOLUTE
+    ../fplib/faddsub.s                       0x00000000   Number         0  faddsub_clz.o ABSOLUTE
+    ../fplib/fcmpi.s                         0x00000000   Number         0  fcmpi.o ABSOLUTE
+    ../fplib/fdiv.s                          0x00000000   Number         0  fdiv.o ABSOLUTE
+    ../fplib/feqf.s                          0x00000000   Number         0  feqf.o ABSOLUTE
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+    .constdata                               0x08008ca8   Section       80  inv_mpu.o(.constdata)
+    .constdata                               0x08008cf8   Section     3062  inv_mpu_dmp_motion_driver.o(.constdata)
+    dmp_memory                               0x08008cf8   Data        3062  inv_mpu_dmp_motion_driver.o(.constdata)
+    .constdata                               0x080098f0   Section      152  atan.o(.constdata)
+    atanhi                                   0x080098f0   Data          32  atan.o(.constdata)
+    atanlo                                   0x08009910   Data          32  atan.o(.constdata)
+    aTodd                                    0x08009930   Data          40  atan.o(.constdata)
+    aTeven                                   0x08009958   Data          48  atan.o(.constdata)
+    .constdata                               0x08009988   Section        8  qnan.o(.constdata)
+    .conststring                             0x08009990   Section       78  inv_mpu.o(.conststring)
+    .data                                    0x20000000   Section       20  system_stm32f10x.o(.data)
+    .data                                    0x20000014   Section       20  minibalance.o(.data)
+    .data                                    0x20000028   Section       20  stm32f10x_rcc.o(.data)
+    APBAHBPrescTable                         0x20000028   Data          16  stm32f10x_rcc.o(.data)
+    ADCPrescTable                            0x20000038   Data           4  stm32f10x_rcc.o(.data)
+    .data                                    0x2000003c   Section        4  delay.o(.data)
+    fac_us                                   0x2000003c   Data           1  delay.o(.data)
+    fac_ms                                   0x2000003e   Data           2  delay.o(.data)
+    .data                                    0x20000040   Section        4  usart.o(.data)
+    .data                                    0x20000044   Section        1  key.o(.data)
+    flag_key                                 0x20000044   Data           1  key.o(.data)
+    .data                                    0x20000048   Section       20  control.o(.data)
+    Flag_Target                              0x20000048   Data           1  control.o(.data)
+    velocity                                 0x2000004c   Data           4  control.o(.data)
+    Encoder_Least                            0x20000050   Data           4  control.o(.data)
+    Encoder_bias                             0x20000054   Data           4  control.o(.data)
+    Encoder_Integral                         0x20000058   Data           4  control.o(.data)
+    .data                                    0x2000005c   Section       44  inv_mpu.o(.data)
+    st                                       0x2000005c   Data          44  inv_mpu.o(.data)
+    .data                                    0x20000088   Section       56  mpu6050.o(.data)
+    gyro_orientation                         0x200000b0   Data           9  mpu6050.o(.data)
+    .bss                                     0x200000c0   Section     1024  oled.o(.bss)
+    .bss                                     0x200004c0   Section       16  inv_mpu_dmp_motion_driver.o(.bss)
+    dmp                                      0x200004c0   Data          16  inv_mpu_dmp_motion_driver.o(.bss)
+    .bss                                     0x200004d0   Section      146  mpu6050.o(.bss)
+    .bss                                     0x20000564   Section       96  libspace.o(.bss)
+    HEAP                                     0x200005c8   Section      512  startup_stm32f10x_md.o(HEAP)
+    Heap_Mem                                 0x200005c8   Data         512  startup_stm32f10x_md.o(HEAP)
+    STACK                                    0x200007c8   Section     1024  startup_stm32f10x_md.o(STACK)
+    Stack_Mem                                0x200007c8   Data        1024  startup_stm32f10x_md.o(STACK)
+    __initial_sp                             0x20000bc8   Data           0  startup_stm32f10x_md.o(STACK)
+
+    Global Symbols
+
+    Symbol Name                              Value     Ov Type        Size  Object(Section)
+
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+    __ARM_use_no_argv                        0x00000000   Number         0  minibalance.o ABSOLUTE
+    __ARM_exceptions_init                     - Undefined Weak Reference
+    __alloca_initialize                       - Undefined Weak Reference
+    __arm_preinit_                            - Undefined Weak Reference
+    __cpp_initialize__aeabi_                  - Undefined Weak Reference
+    __cxa_finalize                            - Undefined Weak Reference
+    __rt_locale                               - Undefined Weak Reference
+    __sigvec_lookup                           - Undefined Weak Reference
+    _atexit_init                              - Undefined Weak Reference
+    _call_atexit_fns                          - Undefined Weak Reference
+    _clock_init                               - Undefined Weak Reference
+    _fp_trap_init                             - Undefined Weak Reference
+    _fp_trap_shutdown                         - Undefined Weak Reference
+    _get_lc_collate                           - Undefined Weak Reference
+    _get_lc_ctype                             - Undefined Weak Reference
+    _get_lc_monetary                          - Undefined Weak Reference
+    _get_lc_numeric                           - Undefined Weak Reference
+    _get_lc_time                              - Undefined Weak Reference
+    _getenv_init                              - Undefined Weak Reference
+    _handle_redirection                       - Undefined Weak Reference
+    _init_alloc                               - Undefined Weak Reference
+    _init_user_alloc                          - Undefined Weak Reference
+    _initio                                   - Undefined Weak Reference
+    _mutex_acquire                            - Undefined Weak Reference
+    _mutex_release                            - Undefined Weak Reference
+    _printf_post_padding                      - Undefined Weak Reference
+    _printf_pre_padding                       - Undefined Weak Reference
+    _printf_truncate_signed                   - Undefined Weak Reference
+    _printf_truncate_unsigned                 - Undefined Weak Reference
+    _rand_init                                - Undefined Weak Reference
+    _signal_finish                            - Undefined Weak Reference
+    _signal_init                              - Undefined Weak Reference
+    _terminate_alloc                          - Undefined Weak Reference
+    _terminate_user_alloc                     - Undefined Weak Reference
+    _terminateio                              - Undefined Weak Reference
+    __Vectors_Size                           0x000000ec   Number         0  startup_stm32f10x_md.o ABSOLUTE
+    __Vectors                                0x08000000   Data           4  startup_stm32f10x_md.o(RESET)
+    __Vectors_End                            0x080000ec   Data           0  startup_stm32f10x_md.o(RESET)
+    __main                                   0x080000ed   Thumb Code     8  __main.o(!!!main)
+    __scatterload                            0x080000f5   Thumb Code     0  __scatter.o(!!!scatter)
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+    __scatterload_null                       0x08000103   Thumb Code     0  __scatter.o(!!!scatter)
+    __scatterload_copy                       0x08000129   Thumb Code    26  __scatter_copy.o(!!handler_copy)
+    __scatterload_zeroinit                   0x08000145   Thumb Code    28  __scatter_zi.o(!!handler_zi)
+    _printf_d                                0x08000161   Thumb Code     0  _printf_d.o(.ARM.Collect$$_printf_percent$$00000009)
+    _printf_percent                          0x08000161   Thumb Code     0  _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000)
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+    WFI_SET                                  0x08000191   Thumb Code     2  sys.o(.emb_text)
+    INTX_DISABLE                             0x08000193   Thumb Code     2  sys.o(.emb_text)
+    INTX_ENABLE                              0x08000195   Thumb Code     2  sys.o(.emb_text)
+    MSR_MSP                                  0x08000197   Thumb Code     6  sys.o(.emb_text)
+    NMI_Handler                              0x0800019d   Thumb Code     2  stm32f10x_it.o(.text)
+    HardFault_Handler                        0x0800019f   Thumb Code     4  stm32f10x_it.o(.text)
+    MemManage_Handler                        0x080001a3   Thumb Code     4  stm32f10x_it.o(.text)
+    BusFault_Handler                         0x080001a7   Thumb Code     4  stm32f10x_it.o(.text)
+    UsageFault_Handler                       0x080001ab   Thumb Code     4  stm32f10x_it.o(.text)
+    SVC_Handler                              0x080001af   Thumb Code     2  stm32f10x_it.o(.text)
+    DebugMon_Handler                         0x080001b1   Thumb Code     2  stm32f10x_it.o(.text)
+    PendSV_Handler                           0x080001b3   Thumb Code     2  stm32f10x_it.o(.text)
+    SysTick_Handler                          0x080001b5   Thumb Code     2  stm32f10x_it.o(.text)
+    SystemInit                               0x08000297   Thumb Code    78  system_stm32f10x.o(.text)
+    SystemCoreClockUpdate                    0x080002e5   Thumb Code   142  system_stm32f10x.o(.text)
+    main                                     0x08000399   Thumb Code    72  minibalance.o(.text)
+    Reset_Handler                            0x080003e1   Thumb Code     8  startup_stm32f10x_md.o(.text)
+    ADC1_2_IRQHandler                        0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    CAN1_RX1_IRQHandler                      0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    CAN1_SCE_IRQHandler                      0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel1_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel2_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel3_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel4_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel5_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel6_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    DMA1_Channel7_IRQHandler                 0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI0_IRQHandler                         0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI1_IRQHandler                         0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI2_IRQHandler                         0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI3_IRQHandler                         0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI4_IRQHandler                         0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    EXTI9_5_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    FLASH_IRQHandler                         0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C1_ER_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C1_EV_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C2_ER_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    I2C2_EV_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    PVD_IRQHandler                           0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    RCC_IRQHandler                           0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    RTCAlarm_IRQHandler                      0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    RTC_IRQHandler                           0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    SPI1_IRQHandler                          0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    SPI2_IRQHandler                          0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TAMPER_IRQHandler                        0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_BRK_IRQHandler                      0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_CC_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_TRG_COM_IRQHandler                  0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM1_UP_IRQHandler                       0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    TIM3_IRQHandler                          0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USART1_IRQHandler                        0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USART2_IRQHandler                        0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USART3_IRQHandler                        0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USBWakeUp_IRQHandler                     0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USB_HP_CAN1_TX_IRQHandler                0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    USB_LP_CAN1_RX0_IRQHandler               0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    WWDG_IRQHandler                          0x080003fb   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    __user_initial_stackheap                 0x080003fd   Thumb Code     0  startup_stm32f10x_md.o(.text)
+    NVIC_PriorityGroupConfig                 0x08000421   Thumb Code    10  misc.o(.text)
+    NVIC_Init                                0x0800042b   Thumb Code   100  misc.o(.text)
+    NVIC_SetVectorTable                      0x0800048f   Thumb Code    14  misc.o(.text)
+    NVIC_SystemLPConfig                      0x0800049d   Thumb Code    34  misc.o(.text)
+    SysTick_CLKSourceConfig                  0x080004bf   Thumb Code    40  misc.o(.text)
+    BKP_DeInit                               0x080004fd   Thumb Code    16  stm32f10x_bkp.o(.text)
+    BKP_TamperPinLevelConfig                 0x0800050d   Thumb Code     6  stm32f10x_bkp.o(.text)
+    BKP_TamperPinCmd                         0x08000513   Thumb Code     8  stm32f10x_bkp.o(.text)
+    BKP_ITConfig                             0x0800051b   Thumb Code     8  stm32f10x_bkp.o(.text)
+    BKP_RTCOutputConfig                      0x08000523   Thumb Code    22  stm32f10x_bkp.o(.text)
+    BKP_SetRTCCalibrationValue               0x08000539   Thumb Code    22  stm32f10x_bkp.o(.text)
+    BKP_WriteBackupRegister                  0x0800054f   Thumb Code    24  stm32f10x_bkp.o(.text)
+    BKP_ReadBackupRegister                   0x08000567   Thumb Code    26  stm32f10x_bkp.o(.text)
+    BKP_GetFlagStatus                        0x08000581   Thumb Code    10  stm32f10x_bkp.o(.text)
+    BKP_ClearFlag                            0x0800058b   Thumb Code    18  stm32f10x_bkp.o(.text)
+    BKP_GetITStatus                          0x0800059d   Thumb Code    10  stm32f10x_bkp.o(.text)
+    BKP_ClearITPendingBit                    0x080005a7   Thumb Code    18  stm32f10x_bkp.o(.text)
+    EXTI_DeInit                              0x080005c1   Thumb Code    28  stm32f10x_exti.o(.text)
+    EXTI_Init                                0x080005dd   Thumb Code   142  stm32f10x_exti.o(.text)
+    EXTI_StructInit                          0x0800066b   Thumb Code    16  stm32f10x_exti.o(.text)
+    EXTI_GenerateSWInterrupt                 0x0800067b   Thumb Code    16  stm32f10x_exti.o(.text)
+    EXTI_GetFlagStatus                       0x0800068b   Thumb Code    22  stm32f10x_exti.o(.text)
+    EXTI_ClearFlag                           0x080006a1   Thumb Code     8  stm32f10x_exti.o(.text)
+    EXTI_GetITStatus                         0x080006a9   Thumb Code    34  stm32f10x_exti.o(.text)
+    EXTI_ClearITPendingBit                   0x080006cb   Thumb Code     8  stm32f10x_exti.o(.text)
+    GPIO_DeInit                              0x080006dd   Thumb Code   172  stm32f10x_gpio.o(.text)
+    GPIO_AFIODeInit                          0x08000789   Thumb Code    20  stm32f10x_gpio.o(.text)
+    GPIO_Init                                0x0800079d   Thumb Code   278  stm32f10x_gpio.o(.text)
+    GPIO_StructInit                          0x080008b3   Thumb Code    16  stm32f10x_gpio.o(.text)
+    GPIO_ReadInputDataBit                    0x080008c3   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_ReadInputData                       0x080008d5   Thumb Code     8  stm32f10x_gpio.o(.text)
+    GPIO_ReadOutputDataBit                   0x080008dd   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_ReadOutputData                      0x080008ef   Thumb Code     8  stm32f10x_gpio.o(.text)
+    GPIO_SetBits                             0x080008f7   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_ResetBits                           0x080008fb   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_WriteBit                            0x080008ff   Thumb Code    10  stm32f10x_gpio.o(.text)
+    GPIO_Write                               0x08000909   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_PinLockConfig                       0x0800090d   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_EventOutputConfig                   0x0800091f   Thumb Code    26  stm32f10x_gpio.o(.text)
+    GPIO_EventOutputCmd                      0x08000939   Thumb Code     6  stm32f10x_gpio.o(.text)
+    GPIO_PinRemapConfig                      0x0800093f   Thumb Code   138  stm32f10x_gpio.o(.text)
+    GPIO_EXTILineConfig                      0x080009c9   Thumb Code    66  stm32f10x_gpio.o(.text)
+    GPIO_ETH_MediaInterfaceConfig            0x08000a0b   Thumb Code     8  stm32f10x_gpio.o(.text)
+    PWR_DeInit                               0x08000a39   Thumb Code    22  stm32f10x_pwr.o(.text)
+    PWR_BackupAccessCmd                      0x08000a4f   Thumb Code     6  stm32f10x_pwr.o(.text)
+    PWR_PVDCmd                               0x08000a55   Thumb Code     6  stm32f10x_pwr.o(.text)
+    PWR_PVDLevelConfig                       0x08000a5b   Thumb Code    18  stm32f10x_pwr.o(.text)
+    PWR_WakeUpPinCmd                         0x08000a6d   Thumb Code     8  stm32f10x_pwr.o(.text)
+    PWR_EnterSTOPMode                        0x08000a75   Thumb Code    54  stm32f10x_pwr.o(.text)
+    PWR_EnterSTANDBYMode                     0x08000aab   Thumb Code    42  stm32f10x_pwr.o(.text)
+    PWR_GetFlagStatus                        0x08000ad5   Thumb Code    20  stm32f10x_pwr.o(.text)
+    PWR_ClearFlag                            0x08000ae9   Thumb Code    14  stm32f10x_pwr.o(.text)
+    RCC_DeInit                               0x08000b05   Thumb Code    64  stm32f10x_rcc.o(.text)
+    RCC_HSEConfig                            0x08000b45   Thumb Code    70  stm32f10x_rcc.o(.text)
+    RCC_GetFlagStatus                        0x08000b8b   Thumb Code    56  stm32f10x_rcc.o(.text)
+    RCC_WaitForHSEStartUp                    0x08000bc3   Thumb Code    56  stm32f10x_rcc.o(.text)
+    RCC_AdjustHSICalibrationValue            0x08000bfb   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_HSICmd                               0x08000c0f   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_PLLConfig                            0x08000c15   Thumb Code    24  stm32f10x_rcc.o(.text)
+    RCC_PLLCmd                               0x08000c2d   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_SYSCLKConfig                         0x08000c33   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_GetSYSCLKSource                      0x08000c45   Thumb Code    10  stm32f10x_rcc.o(.text)
+    RCC_HCLKConfig                           0x08000c4f   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_PCLK1Config                          0x08000c61   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_PCLK2Config                          0x08000c73   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_ITConfig                             0x08000c87   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_USBCLKConfig                         0x08000ca1   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_ADCCLKConfig                         0x08000ca9   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_LSEConfig                            0x08000cbb   Thumb Code    50  stm32f10x_rcc.o(.text)
+    RCC_LSICmd                               0x08000ced   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_RTCCLKConfig                         0x08000cf3   Thumb Code    12  stm32f10x_rcc.o(.text)
+    RCC_RTCCLKCmd                            0x08000cff   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_GetClocksFreq                        0x08000d07   Thumb Code   192  stm32f10x_rcc.o(.text)
+    RCC_AHBPeriphClockCmd                    0x08000dc7   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB2PeriphClockCmd                   0x08000de1   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB1PeriphClockCmd                   0x08000dfb   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB2PeriphResetCmd                   0x08000e15   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB1PeriphResetCmd                   0x08000e2f   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_BackupResetCmd                       0x08000e49   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_ClockSecuritySystemCmd               0x08000e51   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_MCOConfig                            0x08000e57   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_ClearFlag                            0x08000e5d   Thumb Code    14  stm32f10x_rcc.o(.text)
+    RCC_GetITStatus                          0x08000e6b   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_ClearITPendingBit                    0x08000e7f   Thumb Code     6  stm32f10x_rcc.o(.text)
+    TIM_DeInit                               0x08000ea9   Thumb Code   424  stm32f10x_tim.o(.text)
+    TIM_TimeBaseInit                         0x08001051   Thumb Code   122  stm32f10x_tim.o(.text)
+    TIM_OC1Init                              0x080010cb   Thumb Code   132  stm32f10x_tim.o(.text)
+    TIM_OC2Init                              0x0800114f   Thumb Code   154  stm32f10x_tim.o(.text)
+    TIM_OC3Init                              0x080011e9   Thumb Code   150  stm32f10x_tim.o(.text)
+    TIM_OC4Init                              0x0800127f   Thumb Code   182  stm32f10x_tim.o(.text)
+    TIM_SetIC4Prescaler                      0x08001335   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SetIC3Prescaler                      0x080013d1   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SetIC2Prescaler                      0x0800145d   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SetIC1Prescaler                      0x080014f9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ICInit                               0x08001577   Thumb Code   150  stm32f10x_tim.o(.text)
+    TIM_PWMIConfig                           0x0800160d   Thumb Code   124  stm32f10x_tim.o(.text)
+    TIM_BDTRConfig                           0x08001689   Thumb Code    32  stm32f10x_tim.o(.text)
+    TIM_TimeBaseStructInit                   0x080016a9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OCStructInit                         0x080016bb   Thumb Code    20  stm32f10x_tim.o(.text)
+    TIM_ICStructInit                         0x080016cf   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_BDTRStructInit                       0x080016e1   Thumb Code    40  stm32f10x_tim.o(.text)
+    TIM_Cmd                                  0x08001709   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_CtrlPWMOutputs                       0x08001721   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_ITConfig                             0x0800173f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_GenerateEvent                        0x08001751   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_DMAConfig                            0x08001755   Thumb Code    10  stm32f10x_tim.o(.text)
+    TIM_DMACmd                               0x0800175f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_InternalClockConfig                  0x08001771   Thumb Code    12  stm32f10x_tim.o(.text)
+    TIM_SelectInputTrigger                   0x0800177d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ITRxExternalClockConfig              0x0800178f   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_TIxExternalClockConfig               0x080017a7   Thumb Code    62  stm32f10x_tim.o(.text)
+    TIM_ETRConfig                            0x080017e5   Thumb Code    28  stm32f10x_tim.o(.text)
+    TIM_ETRClockMode1Config                  0x08001801   Thumb Code    54  stm32f10x_tim.o(.text)
+    TIM_ETRClockMode2Config                  0x08001837   Thumb Code    32  stm32f10x_tim.o(.text)
+    TIM_PrescalerConfig                      0x08001857   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_CounterModeConfig                    0x0800185d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_EncoderInterfaceConfig               0x0800186f   Thumb Code    66  stm32f10x_tim.o(.text)
+    TIM_ForcedOC1Config                      0x080018b1   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC2Config                      0x080018c3   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ForcedOC3Config                      0x080018dd   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC4Config                      0x080018ef   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ARRPreloadConfig                     0x08001909   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectCOM                            0x08001921   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectCCDMA                          0x08001939   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_CCPreloadControl                     0x08001951   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_OC1PreloadConfig                     0x08001969   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2PreloadConfig                     0x0800197b   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3PreloadConfig                     0x08001995   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC4PreloadConfig                     0x080019a7   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC1FastConfig                        0x080019c1   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2FastConfig                        0x080019d3   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3FastConfig                        0x080019ed   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC4FastConfig                        0x080019ff   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ClearOC1Ref                          0x08001a19   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearOC2Ref                          0x08001a2b   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_ClearOC3Ref                          0x08001a43   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearOC4Ref                          0x08001a55   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_OC1PolarityConfig                    0x08001a6d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC1NPolarityConfig                   0x08001a7f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2PolarityConfig                    0x08001a91   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC2NPolarityConfig                   0x08001aab   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3PolarityConfig                    0x08001ac5   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3NPolarityConfig                   0x08001adf   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC4PolarityConfig                    0x08001af9   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_CCxCmd                               0x08001b13   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_CCxNCmd                              0x08001b31   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_SelectOCxM                           0x08001b4f   Thumb Code    82  stm32f10x_tim.o(.text)
+    TIM_UpdateDisableConfig                  0x08001ba1   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_UpdateRequestConfig                  0x08001bb9   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectHallSensor                     0x08001bd1   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectOnePulseMode                   0x08001be9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectOutputTrigger                  0x08001bfb   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectSlaveMode                      0x08001c0d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectMasterSlaveMode                0x08001c1f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SetCounter                           0x08001c31   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetAutoreload                        0x08001c35   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare1                          0x08001c39   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare2                          0x08001c3d   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare3                          0x08001c41   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare4                          0x08001c45   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_SetClockDivision                     0x08001c4b   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_GetCapture1                          0x08001c5d   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture2                          0x08001c63   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture3                          0x08001c69   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture4                          0x08001c6f   Thumb Code     8  stm32f10x_tim.o(.text)
+    TIM_GetCounter                           0x08001c77   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetPrescaler                         0x08001c7d   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetFlagStatus                        0x08001c83   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearFlag                            0x08001c95   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetITStatus                          0x08001c9b   Thumb Code    34  stm32f10x_tim.o(.text)
+    TIM_ClearITPendingBit                    0x08001cbd   Thumb Code     6  stm32f10x_tim.o(.text)
+    USART_DeInit                             0x08001cc5   Thumb Code   134  stm32f10x_usart.o(.text)
+    USART_Init                               0x08001d4b   Thumb Code   210  stm32f10x_usart.o(.text)
+    USART_StructInit                         0x08001e1d   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_ClockInit                          0x08001e35   Thumb Code    34  stm32f10x_usart.o(.text)
+    USART_ClockStructInit                    0x08001e57   Thumb Code    12  stm32f10x_usart.o(.text)
+    USART_Cmd                                0x08001e63   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_ITConfig                           0x08001e7b   Thumb Code    74  stm32f10x_usart.o(.text)
+    USART_DMACmd                             0x08001ec5   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_SetAddress                         0x08001ed7   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_WakeUpConfig                       0x08001ee9   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_ReceiverWakeUpCmd                  0x08001efb   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_LINBreakDetectLengthConfig         0x08001f13   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_LINCmd                             0x08001f25   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_SendData                           0x08001f3d   Thumb Code     8  stm32f10x_usart.o(.text)
+    USART_ReceiveData                        0x08001f45   Thumb Code    10  stm32f10x_usart.o(.text)
+    USART_SendBreak                          0x08001f4f   Thumb Code    10  stm32f10x_usart.o(.text)
+    USART_SetGuardTime                       0x08001f59   Thumb Code    16  stm32f10x_usart.o(.text)
+    USART_SetPrescaler                       0x08001f69   Thumb Code    16  stm32f10x_usart.o(.text)
+    USART_SmartCardCmd                       0x08001f79   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_SmartCardNACKCmd                   0x08001f91   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_HalfDuplexCmd                      0x08001fa9   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_OverSampling8Cmd                   0x08001fc1   Thumb Code    22  stm32f10x_usart.o(.text)
+    USART_OneBitMethodCmd                    0x08001fd7   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_IrDAConfig                         0x08001fef   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_IrDACmd                            0x08002001   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_GetFlagStatus                      0x08002019   Thumb Code    26  stm32f10x_usart.o(.text)
+    USART_ClearFlag                          0x08002033   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_GetITStatus                        0x08002045   Thumb Code    84  stm32f10x_usart.o(.text)
+    USART_ClearITPendingBit                  0x08002099   Thumb Code    52  stm32f10x_usart.o(.text)
+    delay_init                               0x080020cd   Thumb Code    50  delay.o(.text)
+    delay_us                                 0x080020ff   Thumb Code    72  delay.o(.text)
+    delay_ms                                 0x08002147   Thumb Code    72  delay.o(.text)
+    MY_NVIC_SetVectorTable                   0x080021a1   Thumb Code    12  sys.o(.text)
+    MY_NVIC_PriorityGroupConfig              0x080021ad   Thumb Code    36  sys.o(.text)
+    MY_NVIC_Init                             0x080021d1   Thumb Code   116  sys.o(.text)
+    Ex_NVIC_Config                           0x08002245   Thumb Code   146  sys.o(.text)
+    MYRCC_DeInit                             0x080022d7   Thumb Code    90  sys.o(.text)
+    Sys_Standby                              0x08002331   Thumb Code    68  sys.o(.text)
+    Sys_Soft_Reset                           0x08002375   Thumb Code    12  sys.o(.text)
+    JTAG_Set                                 0x08002381   Thumb Code    42  sys.o(.text)
+    Stm32_Clock_Init                         0x080023ab   Thumb Code   134  sys.o(.text)
+    _sys_exit                                0x0800245d   Thumb Code     6  usart.o(.text)
+    fputc                                    0x08002463   Thumb Code    24  usart.o(.text)
+    uart_init                                0x0800247b   Thumb Code   124  usart.o(.text)
+    KEY_Init                                 0x08002501   Thumb Code    32  key.o(.text)
+    click                                    0x08002521   Thumb Code    38  key.o(.text)
+    OLED_WR_Byte                             0x08002555   Thumb Code    78  oled.o(.text)
+    OLED_Refresh_Gram                        0x080025a3   Thumb Code    70  oled.o(.text)
+    OLED_Display_On                          0x080025e9   Thumb Code    28  oled.o(.text)
+    OLED_Display_Off                         0x08002605   Thumb Code    28  oled.o(.text)
+    OLED_Clear                               0x08002621   Thumb Code    42  oled.o(.text)
+    OLED_DrawPoint                           0x0800264b   Thumb Code   100  oled.o(.text)
+    OLED_ShowChar                            0x080026af   Thumb Code   158  oled.o(.text)
+    oled_pow                                 0x0800274d   Thumb Code    22  oled.o(.text)
+    OLED_ShowNumber                          0x08002763   Thumb Code   148  oled.o(.text)
+    OLED_ShowString                          0x080027f7   Thumb Code    68  oled.o(.text)
+    OLED_Init                                0x0800283b   Thumb Code   360  oled.o(.text)
+    Motor_Init                               0x080029a5   Thumb Code    40  motor.o(.text)
+    MiniBalance_PWM_Init                     0x080029cd   Thumb Code   164  motor.o(.text)
+    Encoder_Init_TIM2                        0x08002a7d   Thumb Code   154  encoder.o(.text)
+    Encoder_Init_TIM4                        0x08002b17   Thumb Code   148  encoder.o(.text)
+    Read_Encoder                             0x08002bab   Thumb Code    74  encoder.o(.text)
+    TIM4_IRQHandler                          0x08002bf5   Thumb Code    24  encoder.o(.text)
+    TIM2_IRQHandler                          0x08002c0d   Thumb Code    24  encoder.o(.text)
+    IIC_Init                                 0x08002c35   Thumb Code    40  ioi2c.o(.text)
+    IIC_Start                                0x08002c5d   Thumb Code    96  ioi2c.o(.text)
+    IIC_Stop                                 0x08002cbd   Thumb Code    68  ioi2c.o(.text)
+    IIC_Wait_Ack                             0x08002d01   Thumb Code    96  ioi2c.o(.text)
+    IIC_Ack                                  0x08002d61   Thumb Code    72  ioi2c.o(.text)
+    IIC_NAck                                 0x08002da9   Thumb Code    70  ioi2c.o(.text)
+    IIC_Send_Byte                            0x08002def   Thumb Code    94  ioi2c.o(.text)
+    i2cWrite                                 0x08002e4d   Thumb Code    96  ioi2c.o(.text)
+    IIC_Read_Byte                            0x08002ead   Thumb Code   104  ioi2c.o(.text)
+    i2cRead                                  0x08002f15   Thumb Code   118  ioi2c.o(.text)
+    I2C_ReadOneByte                          0x08002f8b   Thumb Code    70  ioi2c.o(.text)
+    IICreadBytes                             0x08002fd1   Thumb Code   112  ioi2c.o(.text)
+    IICwriteBytes                            0x08003041   Thumb Code    70  ioi2c.o(.text)
+    IICreadByte                              0x08003087   Thumb Code    22  ioi2c.o(.text)
+    IICwriteByte                             0x0800309d   Thumb Code    20  ioi2c.o(.text)
+    IICwriteBits                             0x080030b1   Thumb Code   106  ioi2c.o(.text)
+    IICwriteBit                              0x0800311b   Thumb Code    64  ioi2c.o(.text)
+    MiniBalance_EXTI_Init                    0x0800315d   Thumb Code   108  exti.o(.text)
+    myabs                                    0x080031cd   Thumb Code    14  control.o(.text)
+    Motor_PWMSet                             0x080031db   Thumb Code   102  control.o(.text)
+    Turn_Off                                 0x08003241   Thumb Code    66  control.o(.text)
+    Motor_PWMLimit                           0x08003283   Thumb Code    18  control.o(.text)
+    Velocity                                 0x08003295   Thumb Code   242  control.o(.text)
+    Balance                                  0x08003387   Thumb Code    76  control.o(.text)
+    Key                                      0x080033d3   Thumb Code    30  control.o(.text)
+    IMU_GetAngle                             0x080033f1   Thumb Code    30  control.o(.text)
+    EXTI15_10_IRQHandler                     0x0800340f   Thumb Code   160  control.o(.text)
+    oled_show                                0x08003525   Thumb Code   306  show.o(.text)
+    mpu_reg_dump                             0x0800372f   Thumb Code    72  inv_mpu.o(.text)
+    mpu_read_reg                             0x08003777   Thumb Code    66  inv_mpu.o(.text)
+    mpu_set_int_latched                      0x080037b9   Thumb Code   102  inv_mpu.o(.text)
+    mpu_set_sensors                          0x0800381f   Thumb Code   202  inv_mpu.o(.text)
+    mpu_set_bypass                           0x080038e9   Thumb Code   328  inv_mpu.o(.text)
+    mpu_reset_fifo                           0x08003a31   Thumb Code   444  inv_mpu.o(.text)
+    mpu_configure_fifo                       0x08003bed   Thumb Code   106  inv_mpu.o(.text)
+    mpu_set_lpf                              0x08003c57   Thumb Code   126  inv_mpu.o(.text)
+    mpu_lp_accel_mode                        0x08003cd5   Thumb Code   218  inv_mpu.o(.text)
+    mpu_set_sample_rate                      0x08003daf   Thumb Code   152  inv_mpu.o(.text)
+    mpu_set_accel_fsr                        0x08003e47   Thumb Code   132  inv_mpu.o(.text)
+    mpu_set_gyro_fsr                         0x08003ecb   Thumb Code   132  inv_mpu.o(.text)
+    mpu_init                                 0x08003f4f   Thumb Code   416  inv_mpu.o(.text)
+    myget_ms                                 0x080040ef   Thumb Code     2  inv_mpu.o(.text)
+    mpu_get_gyro_reg                         0x080040f1   Thumb Code   110  inv_mpu.o(.text)
+    mpu_get_accel_reg                        0x0800415f   Thumb Code   110  inv_mpu.o(.text)
+    mpu_get_temperature                      0x080041cd   Thumb Code   150  inv_mpu.o(.text)
+    mpu_set_accel_bias                       0x08004263   Thumb Code   468  inv_mpu.o(.text)
+    mpu_get_gyro_fsr                         0x08004437   Thumb Code    64  inv_mpu.o(.text)
+    mpu_get_accel_fsr                        0x08004477   Thumb Code    72  inv_mpu.o(.text)
+    mpu_get_lpf                              0x080044bf   Thumb Code    74  inv_mpu.o(.text)
+    mpu_get_sample_rate                      0x08004509   Thumb Code    26  inv_mpu.o(.text)
+    mpu_get_compass_sample_rate              0x08004523   Thumb Code    10  inv_mpu.o(.text)
+    mpu_set_compass_sample_rate              0x0800452d   Thumb Code     8  inv_mpu.o(.text)
+    mpu_get_gyro_sens                        0x08004535   Thumb Code    58  inv_mpu.o(.text)
+    mpu_get_accel_sens                       0x0800456f   Thumb Code    78  inv_mpu.o(.text)
+    mpu_get_fifo_config                      0x080045bd   Thumb Code    12  inv_mpu.o(.text)
+    mpu_get_power_state                      0x080045c9   Thumb Code    22  inv_mpu.o(.text)
+    mpu_get_int_status                       0x080045df   Thumb Code    64  inv_mpu.o(.text)
+    mpu_read_fifo                            0x0800461f   Thumb Code   520  inv_mpu.o(.text)
+    mpu_read_fifo_stream                     0x08004827   Thumb Code   186  inv_mpu.o(.text)
+    mpu_set_int_level                        0x080048e1   Thumb Code    12  inv_mpu.o(.text)
+    mpu_set_dmp_state                        0x08004fc1   Thumb Code   138  inv_mpu.o(.text)
+    mpu_run_self_test                        0x0800504b   Thumb Code   278  inv_mpu.o(.text)
+    mpu_write_mem                            0x08005161   Thumb Code   122  inv_mpu.o(.text)
+    mpu_read_mem                             0x080051db   Thumb Code   122  inv_mpu.o(.text)
+    mpu_load_firmware                        0x08005255   Thumb Code   190  inv_mpu.o(.text)
+    mpu_get_dmp_state                        0x08005313   Thumb Code    14  inv_mpu.o(.text)
+    mpu_get_compass_reg                      0x08005321   Thumb Code     8  inv_mpu.o(.text)
+    mpu_get_compass_fsr                      0x08005329   Thumb Code     8  inv_mpu.o(.text)
+    mpu_lp_motion_interrupt                  0x08005331   Thumb Code   512  inv_mpu.o(.text)
+    dmp_load_motion_driver_firmware          0x08005535   Thumb Code    20  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_orientation                      0x08005549   Thumb Code   290  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_gyro_bias                        0x0800566b   Thumb Code   294  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_accel_bias                       0x08005791   Thumb Code   300  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_fifo_rate                        0x080058bd   Thumb Code   136  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_fifo_rate                        0x08005945   Thumb Code    12  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_thresh                       0x08005951   Thumb Code   396  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_axes                         0x08005add   Thumb Code    70  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_count                        0x08005b23   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_time                         0x08005b49   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_time_multi                   0x08005b6f   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_shake_reject_thresh              0x08005b95   Thumb Code    56  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_shake_reject_time                0x08005bcd   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_shake_reject_timeout             0x08005bf3   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_pedometer_step_count             0x08005c19   Thumb Code    66  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_pedometer_step_count             0x08005c5b   Thumb Code    42  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_pedometer_walk_time              0x08005c85   Thumb Code    72  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_pedometer_walk_time              0x08005ccd   Thumb Code    48  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_6x_lp_quat                    0x08005cfd   Thumb Code    84  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_lp_quat                       0x08005d51   Thumb Code    60  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_gyro_cal                      0x08005d8d   Thumb Code    62  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_feature                       0x08005dcb   Thumb Code   530  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_enabled_features                 0x08005fdd   Thumb Code    12  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_interrupt_mode                   0x08006047   Thumb Code    66  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_read_fifo                            0x08006089   Thumb Code   514  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_register_tap_cb                      0x0800628b   Thumb Code    10  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_register_android_orient_cb           0x08006295   Thumb Code    10  inv_mpu_dmp_motion_driver.o(.text)
+    MPU6050_newValues                        0x080063b1   Thumb Code   494  mpu6050.o(.text)
+    MPU6050_setClockSource                   0x0800659f   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_setFullScaleGyroRange            0x080065b3   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_setFullScaleAccelRange           0x080065c7   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_setSleepEnabled                  0x080065db   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_getDeviceID                      0x080065ed   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_testConnection                   0x08006601   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_setI2CMasterModeEnabled          0x08006613   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_setI2CBypassEnabled              0x08006625   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_initialize                       0x08006637   Thumb Code    40  mpu6050.o(.text)
+    DMP_Init                                 0x0800665f   Thumb Code   122  mpu6050.o(.text)
+    Read_DMP                                 0x080066d9   Thumb Code   388  mpu6050.o(.text)
+    __use_no_semihosting                     0x08006871   Thumb Code     2  use_no_semi_2.o(.text)
+    __aeabi_ldivmod                          0x08006873   Thumb Code     0  llsdiv.o(.text)
+    _ll_sdiv                                 0x08006873   Thumb Code    72  llsdiv.o(.text)
+    __2printf                                0x080068bd   Thumb Code    20  noretval__2printf.o(.text)
+    __printf                                 0x080068d5   Thumb Code   104  __printf.o(.text)
+    _printf_int_dec                          0x0800693d   Thumb Code   104  _printf_dec.o(.text)
+    memcmp                                   0x080069b5   Thumb Code    88  memcmp.o(.text)
+    __aeabi_memset                           0x08006a0d   Thumb Code    16  aeabi_memset.o(.text)
+    __use_two_region_memory                  0x08006a1d   Thumb Code     2  heapauxi.o(.text)
+    __rt_heap_escrow$2region                 0x08006a1f   Thumb Code     2  heapauxi.o(.text)
+    __rt_heap_expand$2region                 0x08006a21   Thumb Code     2  heapauxi.o(.text)
+    __I$use$semihosting                      0x08006a23   Thumb Code     0  use_no_semi.o(.text)
+    __use_no_semihosting_swi                 0x08006a23   Thumb Code     2  use_no_semi.o(.text)
+    __aeabi_uldivmod                         0x08006a25   Thumb Code     0  lludivv7m.o(.text)
+    _ll_udiv                                 0x08006a25   Thumb Code   238  lludivv7m.o(.text)
+    _printf_int_common                       0x08006b13   Thumb Code   178  _printf_intcommon.o(.text)
+    _printf_char_file                        0x08006bc5   Thumb Code    32  _printf_char_file.o(.text)
+    __aeabi_memclr                           0x08006be9   Thumb Code     0  rt_memclr.o(.text)
+    __rt_memclr                              0x08006be9   Thumb Code    68  rt_memclr.o(.text)
+    _memset                                  0x08006bed   Thumb Code     0  rt_memclr.o(.text)
+    _printf_char_common                      0x08006c37   Thumb Code    32  _printf_char_common.o(.text)
+    ferror                                   0x08006c5d   Thumb Code     8  ferror.o(.text)
+    __aeabi_memclr4                          0x08006c65   Thumb Code     0  rt_memclr_w.o(.text)
+    __aeabi_memclr8                          0x08006c65   Thumb Code     0  rt_memclr_w.o(.text)
+    __rt_memclr_w                            0x08006c65   Thumb Code    78  rt_memclr_w.o(.text)
+    _memset_w                                0x08006c69   Thumb Code     0  rt_memclr_w.o(.text)
+    __user_libspace                          0x08006cb5   Thumb Code     8  libspace.o(.text)
+    __user_perproc_libspace                  0x08006cb5   Thumb Code     0  libspace.o(.text)
+    __user_perthread_libspace                0x08006cb5   Thumb Code     0  libspace.o(.text)
+    __user_setup_stackheap                   0x08006cbd   Thumb Code    74  sys_stackheap_outer.o(.text)
+    exit                                     0x08006d07   Thumb Code    18  exit.o(.text)
+    __ARM_fpclassify                         0x08006d19   Thumb Code    40  fpclassify.o(i.__ARM_fpclassify)
+    __kernel_poly                            0x08006d41   Thumb Code   170  poly.o(i.__kernel_poly)
+    __mathlib_dbl_infnan                     0x08006deb   Thumb Code     6  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_infnan2                    0x08006df1   Thumb Code     4  dunder.o(i.__mathlib_dbl_infnan2)
+    __mathlib_dbl_underflow                  0x08006df5   Thumb Code    10  dunder.o(i.__mathlib_dbl_underflow)
+    atan                                     0x08006e05   Thumb Code   474  atan.o(i.atan)
+    atan2                                    0x08007025   Thumb Code   346  atan2.o(i.atan2)
+    __aeabi_d2f                              0x080071a5   Thumb Code     0  d2f.o(x$fpl$d2f)
+    _d2f                                     0x080071a5   Thumb Code    98  d2f.o(x$fpl$d2f)
+    __aeabi_dadd                             0x08007209   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    _dadd                                    0x08007209   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
+    __fpl_dcheck_NaN1                        0x08007359   Thumb Code    10  dcheck1.o(x$fpl$dcheck1)
+    __aeabi_ddiv                             0x08007369   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    _ddiv                                    0x08007369   Thumb Code   552  ddiv.o(x$fpl$ddiv)
+    __aeabi_dmul                             0x08007619   Thumb Code     0  dmul.o(x$fpl$dmul)
+    _dmul                                    0x08007619   Thumb Code   332  dmul.o(x$fpl$dmul)
+    __fpl_dnaninf                            0x0800776d   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
+    __fpl_dretinf                            0x08007809   Thumb Code    12  dretinf.o(x$fpl$dretinf)
+    __aeabi_drsub                            0x08007815   Thumb Code     0  daddsub_clz.o(x$fpl$drsb)
+    _drsb                                    0x08007815   Thumb Code    22  daddsub_clz.o(x$fpl$drsb)
+    __aeabi_dsub                             0x0800782d   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    _dsub                                    0x0800782d   Thumb Code   464  daddsub_clz.o(x$fpl$dsub)
+    __aeabi_f2d                              0x08007a01   Thumb Code     0  f2d.o(x$fpl$f2d)
+    _f2d                                     0x08007a01   Thumb Code    86  f2d.o(x$fpl$f2d)
+    __aeabi_fadd                             0x08007a59   Thumb Code     0  faddsub_clz.o(x$fpl$fadd)
+    _fadd                                    0x08007a59   Thumb Code   196  faddsub_clz.o(x$fpl$fadd)
+    __fpl_fcmp_Inf                           0x08007b1d   Thumb Code    24  fcmpi.o(x$fpl$fcmpinf)
+    __aeabi_fdiv                             0x08007b35   Thumb Code     0  fdiv.o(x$fpl$fdiv)
+    _fdiv                                    0x08007b35   Thumb Code   384  fdiv.o(x$fpl$fdiv)
+    __aeabi_cfcmpeq                          0x08007cb9   Thumb Code     0  feqf.o(x$fpl$feqf)
+    _fcmpeq                                  0x08007cb9   Thumb Code   104  feqf.o(x$fpl$feqf)
+    __aeabi_f2iz                             0x08007d21   Thumb Code     0  ffix.o(x$fpl$ffix)
+    _ffix                                    0x08007d21   Thumb Code    54  ffix.o(x$fpl$ffix)
+    __aeabi_f2uiz                            0x08007d59   Thumb Code     0  ffixu.o(x$fpl$ffixu)
+    _ffixu                                   0x08007d59   Thumb Code    62  ffixu.o(x$fpl$ffixu)
+    __aeabi_i2f                              0x08007d99   Thumb Code     0  fflt_clz.o(x$fpl$fflt)
+    _fflt                                    0x08007d99   Thumb Code    48  fflt_clz.o(x$fpl$fflt)
+    __aeabi_ui2f                             0x08007dc9   Thumb Code     0  fflt_clz.o(x$fpl$ffltu)
+    _ffltu                                   0x08007dc9   Thumb Code    38  fflt_clz.o(x$fpl$ffltu)
+    __aeabi_cfcmple                          0x08007df1   Thumb Code     0  fleqf.o(x$fpl$fleqf)
+    _fcmple                                  0x08007df1   Thumb Code   104  fleqf.o(x$fpl$fleqf)
+    __fpl_fcmple_InfNaN                      0x08007e43   Thumb Code     0  fleqf.o(x$fpl$fleqf)
+    __aeabi_fmul                             0x08007e59   Thumb Code     0  fmul.o(x$fpl$fmul)
+    _fmul                                    0x08007e59   Thumb Code   258  fmul.o(x$fpl$fmul)
+    __fpl_fnaninf                            0x08007f5b   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
+    __fpl_fretinf                            0x08007fe7   Thumb Code    10  fretinf.o(x$fpl$fretinf)
+    __aeabi_cfrcmple                         0x08007ff1   Thumb Code     0  frleqf.o(x$fpl$frleqf)
+    _frcmple                                 0x08007ff1   Thumb Code    98  frleqf.o(x$fpl$frleqf)
+    __aeabi_frsub                            0x08008053   Thumb Code     0  faddsub_clz.o(x$fpl$frsb)
+    _frsb                                    0x08008053   Thumb Code    20  faddsub_clz.o(x$fpl$frsb)
+    __aeabi_fsub                             0x08008069   Thumb Code     0  faddsub_clz.o(x$fpl$fsub)
+    _fsub                                    0x08008069   Thumb Code   234  faddsub_clz.o(x$fpl$fsub)
+    __fpl_return_NaN                         0x08008153   Thumb Code   100  retnan.o(x$fpl$retnan)
+    __ARM_scalbn                             0x080081b7   Thumb Code    92  scalbn.o(x$fpl$scalbn)
+    __fpl_cmpreturn                          0x08008213   Thumb Code    48  trapv.o(x$fpl$trapveneer)
+    __I$use$fp                               0x08008242   Number         0  usenofp.o(x$fpl$usenofp)
+    oled_asc2_1206                           0x08008242   Data        1140  oled.o(.constdata)
+    oled_asc2_1608                           0x080086b6   Data        1520  oled.o(.constdata)
+    hw                                       0x08008ca8   Data          12  inv_mpu.o(.constdata)
+    reg                                      0x08008cb4   Data          27  inv_mpu.o(.constdata)
+    test                                     0x08008cd0   Data          40  inv_mpu.o(.constdata)
+    __mathlib_zero                           0x08009988   Data           8  qnan.o(.constdata)
+    Region$$Table$$Base                      0x080099e0   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x08009a00   Number         0  anon$$obj.o(Region$$Table)
+    SystemCoreClock                          0x20000000   Data           4  system_stm32f10x.o(.data)
+    AHBPrescTable                            0x20000004   Data          16  system_stm32f10x.o(.data)
+    Flag_Stop                                0x20000014   Data           1  minibalance.o(.data)
+    Encoder_Left                             0x20000018   Data           4  minibalance.o(.data)
+    Encoder_Right                            0x2000001c   Data           4  minibalance.o(.data)
+    Angle_Balance                            0x20000020   Data           4  minibalance.o(.data)
+    Gyro_Balance                             0x20000024   Data           4  minibalance.o(.data)
+    __stdout                                 0x20000040   Data           4  usart.o(.data)
+    gyro                                     0x20000088   Data           6  mpu6050.o(.data)
+    accel                                    0x2000008e   Data           6  mpu6050.o(.data)
+    sensors                                  0x20000094   Data           2  mpu6050.o(.data)
+    Roll                                     0x20000098   Data           4  mpu6050.o(.data)
+    Pitch                                    0x2000009c   Data           4  mpu6050.o(.data)
+    q0                                       0x200000a0   Data           4  mpu6050.o(.data)
+    q1                                       0x200000a4   Data           4  mpu6050.o(.data)
+    q2                                       0x200000a8   Data           4  mpu6050.o(.data)
+    q3                                       0x200000ac   Data           4  mpu6050.o(.data)
+    Gx_offset                                0x200000ba   Data           2  mpu6050.o(.data)
+    Gy_offset                                0x200000bc   Data           2  mpu6050.o(.data)
+    Gz_offset                                0x200000be   Data           2  mpu6050.o(.data)
+    OLED_GRAM                                0x200000c0   Data        1024  oled.o(.bss)
+    buffer                                   0x200004d0   Data          14  mpu6050.o(.bss)
+    MPU6050_FIFO                             0x200004de   Data         132  mpu6050.o(.bss)
+    __libspace_start                         0x20000564   Data          96  libspace.o(.bss)
+    __temporary_stack_top$libspace           0x200005c4   Data           0  libspace.o(.bss)
+
+
+
+==============================================================================
+
+Memory Map of the image
+
+  Image Entry point : 0x080000ed
+
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00009ac0, Max: 0x00010000, ABSOLUTE)
+
+    Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x00009a00, Max: 0x00010000, ABSOLUTE)
+
+    Base Addr    Size         Type   Attr      Idx    E Section Name        Object
+
+    0x08000000   0x000000ec   Data   RO          213    RESET               startup_stm32f10x_md.o
+    0x080000ec   0x00000008   Code   RO          788  * !!!main             c_w.l(__main.o)
+    0x080000f4   0x00000034   Code   RO         1083    !!!scatter          c_w.l(__scatter.o)
+    0x08000128   0x0000001a   Code   RO         1085    !!handler_copy      c_w.l(__scatter_copy.o)
+    0x08000142   0x00000002   PAD
+    0x08000144   0x0000001c   Code   RO         1087    !!handler_zi        c_w.l(__scatter_zi.o)
+    0x08000160   0x00000000   Code   RO          781    .ARM.Collect$$_printf_percent$$00000000  c_w.l(_printf_percent.o)
+    0x08000160   0x00000006   Code   RO          780    .ARM.Collect$$_printf_percent$$00000009  c_w.l(_printf_d.o)
+    0x08000166   0x00000004   Code   RO          853    .ARM.Collect$$_printf_percent$$00000017  c_w.l(_printf_percent_end.o)
+    0x0800016a   0x00000002   Code   RO          950    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
+    0x0800016c   0x00000000   Code   RO          960    .ARM.Collect$$libinit$$00000002  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          962    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          965    .ARM.Collect$$libinit$$0000000A  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          967    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          969    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          972    .ARM.Collect$$libinit$$00000011  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          974    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          976    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          978    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          980    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          982    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          984    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          986    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          988    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          990    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          992    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          996    .ARM.Collect$$libinit$$0000002C  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO          998    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO         1000    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
+    0x0800016c   0x00000000   Code   RO         1002    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
+    0x0800016c   0x00000002   Code   RO         1003    .ARM.Collect$$libinit$$00000033  c_w.l(libinit2.o)
+    0x0800016e   0x00000002   Code   RO         1035    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
+    0x08000170   0x00000000   Code   RO         1049    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
+    0x08000170   0x00000000   Code   RO         1051    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
+    0x08000170   0x00000000   Code   RO         1054    .ARM.Collect$$libshutdown$$00000007  c_w.l(libshutdown2.o)
+    0x08000170   0x00000000   Code   RO         1057    .ARM.Collect$$libshutdown$$0000000A  c_w.l(libshutdown2.o)
+    0x08000170   0x00000000   Code   RO         1059    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
+    0x08000170   0x00000000   Code   RO         1062    .ARM.Collect$$libshutdown$$0000000F  c_w.l(libshutdown2.o)
+    0x08000170   0x00000002   Code   RO         1063    .ARM.Collect$$libshutdown$$00000010  c_w.l(libshutdown2.o)
+    0x08000172   0x00000000   Code   RO          844    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
+    0x08000172   0x00000000   Code   RO          897    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
+    0x08000172   0x00000006   Code   RO          909    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
+    0x08000178   0x00000000   Code   RO          899    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
+    0x08000178   0x00000004   Code   RO          900    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
+    0x0800017c   0x00000000   Code   RO          902    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
+    0x0800017c   0x00000008   Code   RO          903    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
+    0x08000184   0x00000002   Code   RO          953    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
+    0x08000186   0x00000000   Code   RO         1007    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
+    0x08000186   0x00000004   Code   RO         1008    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
+    0x0800018a   0x00000006   Code   RO         1009    .ARM.Collect$$rtexit$$00000004  c_w.l(rtexit2.o)
+    0x08000190   0x0000000c   Code   RO          540    .emb_text           sys.o
+    0x0800019c   0x0000001a   Code   RO            1    .text               stm32f10x_it.o
+    0x080001b6   0x00000002   PAD
+    0x080001b8   0x000001e0   Code   RO          104    .text               system_stm32f10x.o
+    0x08000398   0x00000048   Code   RO          122    .text               minibalance.o
+    0x080003e0   0x00000040   Code   RO          214    .text               startup_stm32f10x_md.o
+    0x08000420   0x000000dc   Code   RO          218    .text               misc.o
+    0x080004fc   0x000000c4   Code   RO          268    .text               stm32f10x_bkp.o
+    0x080005c0   0x0000011c   Code   RO          352    .text               stm32f10x_exti.o
+    0x080006dc   0x0000035c   Code   RO          388    .text               stm32f10x_gpio.o
+    0x08000a38   0x000000cc   Code   RO          424    .text               stm32f10x_pwr.o
+    0x08000b04   0x000003a4   Code   RO          436    .text               stm32f10x_rcc.o
+    0x08000ea8   0x00000e1a   Code   RO          486    .text               stm32f10x_tim.o
+    0x08001cc2   0x00000002   PAD
+    0x08001cc4   0x00000408   Code   RO          498    .text               stm32f10x_usart.o
+    0x080020cc   0x000000d4   Code   RO          522    .text               delay.o
+    0x080021a0   0x000002bc   Code   RO          541    .text               sys.o
+    0x0800245c   0x000000a4   Code   RO          556    .text               usart.o
+    0x08002500   0x00000054   Code   RO          575    .text               key.o
+    0x08002554   0x0000044e   Code   RO          588    .text               oled.o
+    0x080029a2   0x00000002   PAD
+    0x080029a4   0x000000d8   Code   RO          607    .text               motor.o
+    0x08002a7c   0x000001b8   Code   RO          619    .text               encoder.o
+    0x08002c34   0x00000526   Code   RO          631    .text               ioi2c.o
+    0x0800315a   0x00000002   PAD
+    0x0800315c   0x00000070   Code   RO          643    .text               exti.o
+    0x080031cc   0x00000358   Code   RO          658    .text               control.o
+    0x08003524   0x00000180   Code   RO          671    .text               show.o
+    0x080036a4   0x00001e90   Code   RO          683    .text               inv_mpu.o
+    0x08005534   0x00000d70   Code   RO          707    .text               inv_mpu_dmp_motion_driver.o
+    0x080062a4   0x000005cc   Code   RO          722    .text               mpu6050.o
+    0x08006870   0x00000002   Code   RO          748    .text               c_w.l(use_no_semi_2.o)
+    0x08006872   0x00000048   Code   RO          750    .text               c_w.l(llsdiv.o)
+    0x080068ba   0x00000002   PAD
+    0x080068bc   0x00000018   Code   RO          754    .text               c_w.l(noretval__2printf.o)
+    0x080068d4   0x00000068   Code   RO          756    .text               c_w.l(__printf.o)
+    0x0800693c   0x00000078   Code   RO          758    .text               c_w.l(_printf_dec.o)
+    0x080069b4   0x00000058   Code   RO          782    .text               c_w.l(memcmp.o)
+    0x08006a0c   0x00000010   Code   RO          784    .text               c_w.l(aeabi_memset.o)
+    0x08006a1c   0x00000006   Code   RO          786    .text               c_w.l(heapauxi.o)
+    0x08006a22   0x00000002   Code   RO          842    .text               c_w.l(use_no_semi.o)
+    0x08006a24   0x000000ee   Code   RO          845    .text               c_w.l(lludivv7m.o)
+    0x08006b12   0x000000b2   Code   RO          849    .text               c_w.l(_printf_intcommon.o)
+    0x08006bc4   0x00000024   Code   RO          851    .text               c_w.l(_printf_char_file.o)
+    0x08006be8   0x00000044   Code   RO          854    .text               c_w.l(rt_memclr.o)
+    0x08006c2c   0x00000030   Code   RO          920    .text               c_w.l(_printf_char_common.o)
+    0x08006c5c   0x00000008   Code   RO          922    .text               c_w.l(ferror.o)
+    0x08006c64   0x0000004e   Code   RO          926    .text               c_w.l(rt_memclr_w.o)
+    0x08006cb2   0x00000002   PAD
+    0x08006cb4   0x00000008   Code   RO          934    .text               c_w.l(libspace.o)
+    0x08006cbc   0x0000004a   Code   RO          937    .text               c_w.l(sys_stackheap_outer.o)
+    0x08006d06   0x00000012   Code   RO          943    .text               c_w.l(exit.o)
+    0x08006d18   0x00000028   Code   RO          930    i.__ARM_fpclassify  m_ws.l(fpclassify.o)
+    0x08006d40   0x000000aa   Code   RO          932    i.__kernel_poly     m_ws.l(poly.o)
+    0x08006dea   0x00000006   Code   RO          882    i.__mathlib_dbl_infnan  m_ws.l(dunder.o)
+    0x08006df0   0x00000004   Code   RO          883    i.__mathlib_dbl_infnan2  m_ws.l(dunder.o)
+    0x08006df4   0x00000010   Code   RO          887    i.__mathlib_dbl_underflow  m_ws.l(dunder.o)
+    0x08006e04   0x00000220   Code   RO          872    i.atan              m_ws.l(atan.o)
+    0x08007024   0x00000180   Code   RO          835    i.atan2             m_ws.l(atan2.o)
+    0x080071a4   0x00000062   Code   RO          790    x$fpl$d2f           fz_ws.l(d2f.o)
+    0x08007206   0x00000002   PAD
+    0x08007208   0x00000150   Code   RO          792    x$fpl$dadd          fz_ws.l(daddsub_clz.o)
+    0x08007358   0x00000010   Code   RO          951    x$fpl$dcheck1       fz_ws.l(dcheck1.o)
+    0x08007368   0x000002b0   Code   RO          857    x$fpl$ddiv          fz_ws.l(ddiv.o)
+    0x08007618   0x00000154   Code   RO          798    x$fpl$dmul          fz_ws.l(dmul.o)
+    0x0800776c   0x0000009c   Code   RO          860    x$fpl$dnaninf       fz_ws.l(dnaninf.o)
+    0x08007808   0x0000000c   Code   RO          862    x$fpl$dretinf       fz_ws.l(dretinf.o)
+    0x08007814   0x00000016   Code   RO          793    x$fpl$drsb          fz_ws.l(daddsub_clz.o)
+    0x0800782a   0x00000002   PAD
+    0x0800782c   0x000001d4   Code   RO          794    x$fpl$dsub          fz_ws.l(daddsub_clz.o)
+    0x08007a00   0x00000056   Code   RO          800    x$fpl$f2d           fz_ws.l(f2d.o)
+    0x08007a56   0x00000002   PAD
+    0x08007a58   0x000000c4   Code   RO          802    x$fpl$fadd          fz_ws.l(faddsub_clz.o)
+    0x08007b1c   0x00000018   Code   RO          864    x$fpl$fcmpinf       fz_ws.l(fcmpi.o)
+    0x08007b34   0x00000184   Code   RO          809    x$fpl$fdiv          fz_ws.l(fdiv.o)
+    0x08007cb8   0x00000068   Code   RO          812    x$fpl$feqf          fz_ws.l(feqf.o)
+    0x08007d20   0x00000036   Code   RO          814    x$fpl$ffix          fz_ws.l(ffix.o)
+    0x08007d56   0x00000002   PAD
+    0x08007d58   0x0000003e   Code   RO          818    x$fpl$ffixu         fz_ws.l(ffixu.o)
+    0x08007d96   0x00000002   PAD
+    0x08007d98   0x00000030   Code   RO          823    x$fpl$fflt          fz_ws.l(fflt_clz.o)
+    0x08007dc8   0x00000026   Code   RO          822    x$fpl$ffltu         fz_ws.l(fflt_clz.o)
+    0x08007dee   0x00000002   PAD
+    0x08007df0   0x00000068   Code   RO          828    x$fpl$fleqf         fz_ws.l(fleqf.o)
+    0x08007e58   0x00000102   Code   RO          830    x$fpl$fmul          fz_ws.l(fmul.o)
+    0x08007f5a   0x0000008c   Code   RO          866    x$fpl$fnaninf       fz_ws.l(fnaninf.o)
+    0x08007fe6   0x0000000a   Code   RO          868    x$fpl$fretinf       fz_ws.l(fretinf.o)
+    0x08007ff0   0x00000062   Code   RO          832    x$fpl$frleqf        fz_ws.l(frleqf.o)
+    0x08008052   0x00000014   Code   RO          803    x$fpl$frsb          fz_ws.l(faddsub_clz.o)
+    0x08008066   0x00000002   PAD
+    0x08008068   0x000000ea   Code   RO          804    x$fpl$fsub          fz_ws.l(faddsub_clz.o)
+    0x08008152   0x00000064   Code   RO         1004    x$fpl$retnan        fz_ws.l(retnan.o)
+    0x080081b6   0x0000005c   Code   RO          928    x$fpl$scalbn        fz_ws.l(scalbn.o)
+    0x08008212   0x00000030   Code   RO         1023    x$fpl$trapveneer    fz_ws.l(trapv.o)
+    0x08008242   0x00000000   Code   RO          870    x$fpl$usenofp       fz_ws.l(usenofp.o)
+    0x08008242   0x00000a64   Data   RO          590    .constdata          oled.o
+    0x08008ca6   0x00000002   PAD
+    0x08008ca8   0x00000050   Data   RO          684    .constdata          inv_mpu.o
+    0x08008cf8   0x00000bf6   Data   RO          709    .constdata          inv_mpu_dmp_motion_driver.o
+    0x080098ee   0x00000002   PAD
+    0x080098f0   0x00000098   Data   RO          873    .constdata          m_ws.l(atan.o)
+    0x08009988   0x00000008   Data   RO          895    .constdata          m_ws.l(qnan.o)
+    0x08009990   0x0000004e   Data   RO          685    .conststring        inv_mpu.o
+    0x080099de   0x00000002   PAD
+    0x080099e0   0x00000020   Data   RO         1081    Region$$Table       anon$$obj.o
+
+
+    Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000bc8, Max: 0x00005000, ABSOLUTE)
+
+    Base Addr    Size         Type   Attr      Idx    E Section Name        Object
+
+    0x20000000   0x00000014   Data   RW          105    .data               system_stm32f10x.o
+    0x20000014   0x00000014   Data   RW          123    .data               minibalance.o
+    0x20000028   0x00000014   Data   RW          437    .data               stm32f10x_rcc.o
+    0x2000003c   0x00000004   Data   RW          523    .data               delay.o
+    0x20000040   0x00000004   Data   RW          557    .data               usart.o
+    0x20000044   0x00000001   Data   RW          576    .data               key.o
+    0x20000045   0x00000003   PAD
+    0x20000048   0x00000014   Data   RW          659    .data               control.o
+    0x2000005c   0x0000002c   Data   RW          686    .data               inv_mpu.o
+    0x20000088   0x00000038   Data   RW          724    .data               mpu6050.o
+    0x200000c0   0x00000400   Zero   RW          589    .bss                oled.o
+    0x200004c0   0x00000010   Zero   RW          708    .bss                inv_mpu_dmp_motion_driver.o
+    0x200004d0   0x00000092   Zero   RW          723    .bss                mpu6050.o
+    0x20000562   0x00000002   PAD
+    0x20000564   0x00000060   Zero   RW          935    .bss                c_w.l(libspace.o)
+    0x200005c4   0x00000004   PAD
+    0x200005c8   0x00000200   Zero   RW          212    HEAP                startup_stm32f10x_md.o
+    0x200007c8   0x00000400   Zero   RW          211    STACK               startup_stm32f10x_md.o
+
+
+==============================================================================
+
+Image component sizes
+
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
+
+       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
+       112          4          0          0          0        680   exti.o
+      7824        172        158         44          0      21791   inv_mpu.o
+      3440        126       3062          0         16      15291   inv_mpu_dmp_motion_driver.o
+      1318         12          0          0          0       5886   ioi2c.o
+        84         14          0          1          0        773   key.o
+        72          0          0         20          0        957   minibalance.o
+       220         22          0          0          0     207573   misc.o
+       216         12          0          0          0        998   motor.o
+      1484        104          0         56        146      20837   mpu6050.o
+      1102         34       2660          0       1024       4883   oled.o
+       384         78          0          0          0        616   show.o
+        64         26        236          0       1536        848   startup_stm32f10x_md.o
+       196          8          0          0          0       3576   stm32f10x_bkp.o
+       284         10          0          0          0       2335   stm32f10x_exti.o
+       860         38          0          0          0       5813   stm32f10x_gpio.o
+        26          0          0          0          0     251166   stm32f10x_it.o
+       204         14          0          0          0       1995   stm32f10x_pwr.o
+       932         36          0         20          0       9028   stm32f10x_rcc.o
+      3610         88          0          0          0      22920   stm32f10x_tim.o
+      1032         22          0          0          0       8536   stm32f10x_usart.o
+       712         44          0          0          0       2899   sys.o
+       480         38          0         20          0       1859   system_stm32f10x.o
+       164         10          0          4          0       2934   usart.o
+
+    ----------------------------------------------------------------------
+     26336       1064       6154        192       2724     599908   Object Totals
+         0          0         32          0          0          0   (incl. Generated)
+         8          0          6          3          2          0   (incl. Padding)
+
+    ----------------------------------------------------------------------
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Member Name
+
+         8          0          0          0          0         68   __main.o
+       104          0          0          0          0         84   __printf.o
+         0          0          0          0          0          0   __rtentry.o
+        12          0          0          0          0          0   __rtentry2.o
+         6          0          0          0          0          0   __rtentry4.o
+        52          8          0          0          0          0   __scatter.o
+        26          0          0          0          0          0   __scatter_copy.o
+        28          0          0          0          0          0   __scatter_zi.o
+        48          6          0          0          0         96   _printf_char_common.o
+        36          4          0          0          0         80   _printf_char_file.o
+         6          0          0          0          0          0   _printf_d.o
+       120         16          0          0          0         92   _printf_dec.o
+       178          0          0          0          0         88   _printf_intcommon.o
+         0          0          0          0          0          0   _printf_percent.o
+         4          0          0          0          0          0   _printf_percent_end.o
+        16          0          0          0          0         68   aeabi_memset.o
+        18          0          0          0          0         80   exit.o
+         8          0          0          0          0         68   ferror.o
+         6          0          0          0          0        152   heapauxi.o
+         2          0          0          0          0          0   libinit.o
+         2          0          0          0          0          0   libinit2.o
+         2          0          0          0          0          0   libshutdown.o
+         2          0          0          0          0          0   libshutdown2.o
+         8          4          0          0         96         68   libspace.o
+        72          0          0          0          0         76   llsdiv.o
+       238          0          0          0          0        100   lludivv7m.o
+        88          0          0          0          0         76   memcmp.o
+        24          4          0          0          0         84   noretval__2printf.o
+        68          0          0          0          0         68   rt_memclr.o
+        78          0          0          0          0         80   rt_memclr_w.o
+         2          0          0          0          0          0   rtexit.o
+        10          0          0          0          0          0   rtexit2.o
+        74          0          0          0          0         80   sys_stackheap_outer.o
+         2          0          0          0          0         68   use_no_semi.o
+         2          0          0          0          0         68   use_no_semi_2.o
+        98          4          0          0          0         92   d2f.o
+       826         16          0          0          0        348   daddsub_clz.o
+        16          4          0          0          0         68   dcheck1.o
+       688        140          0          0          0        208   ddiv.o
+       340         12          0          0          0        104   dmul.o
+       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
+        24          0          0          0          0         68   fcmpi.o
+       388         76          0          0          0         96   fdiv.o
+       104          4          0          0          0         84   feqf.o
+        54          4          0          0          0         84   ffix.o
+        62          4          0          0          0         84   ffixu.o
+        86          0          0          0          0        136   fflt_clz.o
+       104          4          0          0          0         84   fleqf.o
+       258          4          0          0          0         84   fmul.o
+       140          4          0          0          0         84   fnaninf.o
+        10          0          0          0          0         68   fretinf.o
+        98          0          0          0          0         68   frleqf.o
+       100          0          0          0          0         68   retnan.o
+        92          0          0          0          0         68   scalbn.o
+        48          0          0          0          0         68   trapv.o
+         0          0          0          0          0          0   usenofp.o
+       544         70        152          0          0        124   atan.o
+       384         38          0          0          0        144   atan2.o
+        26          6          0          0          0        204   dunder.o
+        40          0          0          0          0         68   fpclassify.o
+       170          0          0          0          0         96   poly.o
+         0          0          8          0          0          0   qnan.o
+
+    ----------------------------------------------------------------------
+      6774        448        160          0        100       4724   Library Totals
+        20          0          0          0          4          0   (incl. Padding)
+
+    ----------------------------------------------------------------------
+
+      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
+      1164        114        160          0          0        636   m_ws.l
+
+    ----------------------------------------------------------------------
+      6774        448        160          0        100       4724   Library Totals
+
+    ----------------------------------------------------------------------
+
+==============================================================================
+
+
+      Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
+
+     33110       1512       6314        192       2824     599532   Grand Totals
+     33110       1512       6314        192       2824     599532   ELF Image Totals
+     33110       1512       6314        192          0          0   ROM Totals
+
+==============================================================================
+
+    Total RO  Size (Code + RO Data)                39424 (  38.50kB)
+    Total RW  Size (RW Data + ZI Data)              3016 (   2.95kB)
+    Total ROM Size (Code + RO Data + RW Data)      39616 (  38.69kB)
+
+==============================================================================
+
diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst
index 53cf7ca..0f70b39 100644
--- a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst	
+++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst	
@@ -476,13 +476,13 @@ ARM Macro Assembler    Page 8
               00000200 
               00000000 
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
-ork --depend=..\obj\startup_stm32f10x_md.d -o..\obj\startup_stm32f10x_md.o -I"D
-:\Hardware Project\GeBalanceBot\4.WHEELTEC B570 ƽ��С��Դ�루�⺯���������Ű�
-�\USER\RTE" -I"D:\Program Files\Keilv5\ARM\PACK\ARM\CMSIS\4.5.0\CMSIS\Include" 
--I"D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include" --
-predefine="__UVISION_VERSION SETA 521" --predefine="_RTE_ SETA 1" --predefine="
-STM32F10X_MD SETA 1" --list=.\startup_stm32f10x_md.lst ..\MiniBalance_COER\star
-tup_stm32f10x_md.s
+ork --depend=..\obj\startup_stm32f10x_md.d -o..\obj\startup_stm32f10x_md.o -I"E
+:\HardwareProject\GeBalanceBot\4.WHEELTEC B570 ƽ��С��Դ�루�⺯���������Ű棩
+\USER\RTE" -I"D:\Program Files\Keilv5\ARM\PACK\ARM\CMSIS\4.5.0\CMSIS\Include" -
+I"D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include" --p
+redefine="__UVISION_VERSION SETA 521" --predefine="_RTE_ SETA 1" --predefine="S
+TM32F10X_MD SETA 1" --list=.\startup_stm32f10x_md.lst ..\MiniBalance_COER\start
+up_stm32f10x_md.s
 
 
 
diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c
index 5c27701..282c22b 100644
--- a/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c	
+++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c	
@@ -1,5 +1,5 @@
 #include "bsp_iic.h"
-
+#include "bluetooth.h"  
 /*
 *********************************************************************************************************
 *	�� �� ��: i2c_Delay
@@ -207,6 +207,7 @@ void IIC_NAck(void)
 */
 void IIC_Init(void)
 {
+	PB_USART_printf(USART2, (u8*)"IIC Init..\r\n");
 	GPIO_InitTypeDef GPIO_InitStructure;
 
 	RCC_APB2PeriphClockCmd(RCC_I2C_PORT, ENABLE);	/* ��GPIOʱ�� */
@@ -218,6 +219,10 @@ void IIC_Init(void)
 
 	/* ��һ��ֹͣ�ź�, ��λI2C�����ϵ������豸������ģʽ */
 	IIC_Stop();
+	
+	
+//	uint8_t data = i2c_CheckDevice(0x75);
+//	PB_USART_printf(USART2, (u8*)"IIC Init Res = %d\r\n", (int)data);
 }
 
 /*
diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c
index 59aa29e..b8345c7 100644
--- a/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c	
+++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c	
@@ -19,20 +19,19 @@ void System_Init(void)
 	NVIC_Config();                   
 	LED_GPIO_Config();              
 	USART1_Init(115200);             
-	IIC_Init();                                                   
+	//IIC_Init();                                                   
 	Motor_Init();                   
 	MOTO_PWM_Init(3599,0);          
 	
-	OLED_Init();
-	OLED_Clear();
-	OLED_ShowCHinese(0,0,2);                                 
-	OLED_ShowCHinese(16,0,3);                                
-	OLED_ShowString(88,0,(u8*)"m/min",16);                   
-	OLED_ShowString(0, 2,(u8*)"Left :    RPM",12);           
-	OLED_ShowString(0, 3,(u8*)"Right:    RPM",12);           
-	OLED_ShowString(0, 4,(u8*)"P:   I:   D:   ",16);         
-	OLED_ShowString(0, 6,(u8*)"Set_C:    RPM",12);           
-	OLED_ShowString(0, 7,(u8*)"Set_P:    m/min",12);         
+//	OLED_Init();
+//	OLED_Clear();
+//	OLED_ShowCHinese(0,0,2);                                 
+//	OLED_ShowCHinese(16,0,3);                                
+//	OLED_ShowString(88,0,(u8*)"m/min",16);                   
+//	OLED_ShowString(0, 2,(u8*)"Left :    RPM",12);           
+//	OLED_ShowString(0, 3,(u8*)"Right:    RPM",12);           
+//	OLED_ShowString(0, 4,(u8*)"P:   I:   D:   ",16);         
+//	OLED_ShowString(0, 6,(u8*)"Set_C:    RPM",12);                  
 	
 	Encoder_Init_TIM2();
 	TIM2 -> CNT=30000;
diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c
index f208932..d0ef77c 100644
--- a/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c	
+++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c	
@@ -84,11 +84,15 @@ void _sys_exit(int x)
 /// �ض���c�⺯��printf��USART1
 int fputc(int ch, FILE *f)
 {
-    /* ����һ���ֽ����ݵ�USART1 */
-    USART_SendData(USART1, (uint8_t)ch);
-    /* �ȴ�������� */
-    while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
-    return (ch);
+//    /* ����һ���ֽ����ݵ�USART1 */
+//    USART_SendData(USART2, (uint8_t)ch);
+//    /* �ȴ�������� */
+//    while(USART_GetFlagStatus(USART2, USART_FLAG_TXE) == RESET);
+//    return (ch);
+	
+	while((USART1->SR&0X40)==0);// ʹ�ô���1   
+	USART1->DR = (u8) ch;      
+	return ch;
 }
 
 /// �ض���c�⺯��scanf��USART1
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c
index 1baef14..9c9ee3f 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c	
@@ -21,6 +21,7 @@ All rights reserved
 #include "sys.h"
 #include "delay.h"
 
+
 /**************************************************************************
 Function: IIC_MPU6050_Init
 Input   : none
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h
index 926eb0a..50c1ef3 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h	
@@ -57,13 +57,13 @@ All rights reserved
 
 
 //IO方向设置
-#define SDA_IN()  {GPIOB->CRH&=0XFFFFFF0F;GPIOB->CRH|=8<<4;}
-#define SDA_OUT() {GPIOB->CRH&=0XFFFFFF0F;GPIOB->CRH|=3<<4;}
+#define SDA_IN()  {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=8<<4;}
+#define SDA_OUT() {GPIOB->CRH&=0XFFFF0FFF;GPIOB->CRH|=3<<4;}
 
 //IO操作函数	 
-#define IIC_SCL    PBout(8) //SCL
-#define IIC_SDA    PBout(9) //SDA	 
-#define READ_SDA   PBin(9)  //输入SDA 
+#define IIC_SCL    PBout(10) //SCL
+#define IIC_SDA    PBout(11) //SDA	 
+#define READ_SDA   PBin(11)  //输入SDA 
 
 //IIC所有操作函数
 void IIC_MPU6050_Init(void);            // 初始化IIC的IO口				 
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c
index f451ae3..e150abc 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c	
@@ -8,9 +8,12 @@
 					   ���ӿڣ�TXD��RXD��5V��GND
                        1. PA2 -> ����RXD   2.PA3 -> ����TXD
 ********************************************************************************/
+#include "stdarg.h"	 	 
+#include "stdio.h"	
 #include "bluetooth.h"
 #include <stdio.h>
 
+
 volatile unsigned char *rx2_address;
 volatile unsigned int   rx2_count;
 volatile unsigned int   rx2_length;
@@ -88,6 +91,145 @@ void USART2_Send(unsigned char *tx_buf, int len)
 }
 
 
+/**----------------------------------------------------------------------
+* Function    : USART2_Send
+* Description : ����ͨ��USART2���͵��ֻ�
+* Author      : zhanli&719901725@qq.com
+* Date        : 2023/05/20 zhanli
+*---------------------------------------------------------------------**/ 
+void USART2_SendStr(unsigned char *tx_buf)
+{
+	USART_ClearFlag(USART2, USART_FLAG_TC);
+	USART_ClearITPendingBit(USART2, USART_FLAG_TXE);
+	while(*tx_buf != 0)
+	{
+		USART_SendData(USART2, *tx_buf++);
+		while(USART_GetFlagStatus(USART2, USART_FLAG_TC) != 1);
+		USART_ClearFlag(USART2, USART_FLAG_TC);
+		USART_ClearITPendingBit(USART2, USART_FLAG_TXE);
+	}
+}
+
+static char *itoa(int value, char *string, int radix)
+{
+    int     i, d;
+    int     flag = 0;
+    char    *ptr = string;
+    
+    /* This implementation only works for decimal numbers. */
+    if (radix != 10)
+    {
+        *ptr = 0;
+        return string;
+    }
+    
+    if (!value)
+    {
+        *ptr++ = 0x30;
+        *ptr = 0;
+        return string;
+    }
+    
+    /* if this is a negative value insert the minus sign. */
+    if (value < 0)
+    {
+        *ptr++ = '-';
+        
+        /* Make the value positive. */
+        value *= -1;
+    }
+    
+    for (i = 10000; i > 0; i /= 10)
+    {
+        d = value / i;
+        
+        if (d || flag)
+        {
+            *ptr++ = (char)(d + 0x30);
+            value -= (d * i);
+            flag = 1;
+        }
+    }
+    
+    /* Null terminate the string. */
+    *ptr = 0;
+    
+    return string;
+    
+} /* NCL_Itoa */
+
+void PB_USART_printf(USART_TypeDef* USARTx, uint8_t *Data,...)
+{
+    const char *s;
+    int d;
+    char buf[18];
+    
+    va_list ap;
+    va_start(ap, Data);
+	
+	USART_ClearFlag(USART2, USART_FLAG_TC);
+	USART_ClearITPendingBit(USART2, USART_FLAG_TXE);
+    
+    while ( *Data != 0)     
+    {
+        if ( *Data == 0x5c )  //'\'
+        {
+            switch ( *++Data )
+            {
+            case 'r':							         
+                USART_SendData(USARTx, 0x0d);
+                Data ++;
+                break;
+                
+            case 'n':							          
+                USART_SendData(USARTx, 0x0a);
+                Data ++;
+                break;
+                
+            default:
+                Data ++;
+                break;
+            }
+        }
+        else if ( *Data == '%')
+        {
+            switch ( *++Data )
+            {
+            case 's':										 
+                s = va_arg(ap, const char *);
+                for ( ; *s; s++)
+                {
+                    USART_SendData(USARTx,*s);
+                    while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
+                }
+                Data++;
+                break;
+                
+            case 'd':										
+                d = va_arg(ap, int);
+                itoa(d, buf, 10);
+                for (s = buf; *s; s++)
+                {
+                    USART_SendData(USARTx,*s);
+                    while( USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
+                }
+                Data++;
+                break;
+            default:
+                Data++;
+                break;
+            }
+        } /* end of else if */
+        else 
+		{
+			USART_SendData(USARTx, *Data++);
+		}
+        while(USART_GetFlagStatus(USARTx, USART_FLAG_TC) == RESET );
+		USART_ClearFlag(USART2, USART_FLAG_TC);
+		USART_ClearITPendingBit(USART2, USART_FLAG_TXE);
+    }
+}
+
 /**----------------------------------------------------------------------
 * Function    : USART2_Receive
 * Description : �������ܣ����ֻ�����
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h
index 842c7f7..62fc4d5 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h	
@@ -28,4 +28,8 @@ void USART2_Send(unsigned char *tx_buf, int len);
 *---------------------------------------------------------------------**/ 
 void USART2_Receive(unsigned char *rx_buf, int len);
 
+void USART2_SendStr(unsigned char *tx_buf);
+
+void PB_USART_printf(USART_TypeDef* USARTx, uint8_t *Data,...);
+
 #endif
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c
index a5c2044..cda1448 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c	
@@ -47,7 +47,7 @@ void TIM6_IRQHandler(void)
 		//���㳵�٣����ֺ������ٶȺͳ���2 ��λ m/min
 		temp3 = (Encoder_Right + Encoder_Left) / 2*600/2496 *0.065*3.1415;
 		sprintf(speed,"%2.2f",temp3);
-		OLED_ShowString(48,0, (u8*)speed,16);  //OLED��ʾ����
+		//OLED_ShowString(48,0, (u8*)speed,16);  //OLED��ʾ����
 		
 		if(Encoder_Left < 0)//��������ת��
 		{
@@ -81,12 +81,12 @@ void TIM6_IRQHandler(void)
 		showPID();
 		//��ʾ���ֺ����ֵ����ת�� ��λRPM 
 		temp1 = Encoder_Left*600/2496;
-		OLED_ShowNum(56,2,temp1,3,12);      //����ʵ�ʼ��������ת��  ��λRPM
+		//OLED_ShowNum(56,2,temp1,3,12);      //����ʵ�ʼ��������ת��  ��λRPM
 		temp2 = Encoder_Right*600/2496;
-		OLED_ShowNum(56,3,temp2,3,12);      //����ʵ�ʼ��������ת��  ��λRPM
+		//OLED_ShowNum(56,3,temp2,3,12);      //����ʵ�ʼ��������ת��  ��λRPM
 			
 		//�趨ֵ��ʾ
-		OLED_ShowNum(48,6,SetPoint,3,12);    //��ʾ�趨�ij���ת�� ��λRPM
+		//OLED_ShowNum(48,6,SetPoint,3,12);    //��ʾ�趨�ij���ת�� ��λRPM
 		//temp4 = SetPoint*3.1415*0.065;       //�����趨�����ٶ�
 		//sprintf(set_speed,"%2.2f",temp4);
 		//OLED_ShowString(48,7, set_speed,12);  //�趨�����ٶ� ��λm/min
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c
index 44b5100..b986f67 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c	
@@ -12,7 +12,7 @@ void Motor_Init(void)
 {	
 	GPIO_InitTypeDef GPIO_InitStructure;
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);                                	    /*开启GPIO的外设时钟*/																   
-	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;	    /*选择要控制的GPIO引脚*/	
+	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;	    /*选择要控制的GPIO引脚*/	
 	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                                            /*设置引脚模式为通用推挽输出*/   
 	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;                                           /*设置引脚速率为50MHz */ 
 	GPIO_Init(GPIOB, &GPIO_InitStructure);                                			            /*调用库函数，初始化GPIO*/			
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c
index bedfcf9..78d8509 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c	
@@ -1,302 +1,302 @@
-/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
-* File Name          : oled.c
-* Current Version    : V1.0 & ST 3.5.0
-* Author             : zhanli 719901725@qq.com
-* Date of Issued     : 2024.01.09
-* Comments           : oled的iic方式驱动
-                       SCL -> PA10，SDA -> PA11
-********************************************************************************/
-#include "oled.h"
-#include "stdlib.h"
-#include "oledfont.h"
-#include "delay.h"
-#include "bsp_iic.h"
-// OLED的显存
-// 存放格式如下.
-//[0]0 1 2 3 ... 127
-//[1]0 1 2 3 ... 127
-//[2]0 1 2 3 ... 127
-//[3]0 1 2 3 ... 127
-//[4]0 1 2 3 ... 127
-//[5]0 1 2 3 ... 127
-//[6]0 1 2 3 ... 127
-//[7]0 1 2 3 ... 127
+///******************** (C) COPYRIGHT 2023 GeekRebot *****************************
+//* File Name          : oled.c
+//* Current Version    : V1.0 & ST 3.5.0
+//* Author             : zhanli 719901725@qq.com
+//* Date of Issued     : 2024.01.09
+//* Comments           : oled的iic方式驱动
+//                       SCL -> PA10，SDA -> PA11
+//********************************************************************************/
+//#include "oled.h"
+//#include "stdlib.h"
+//#include "oledfont.h"
+//#include "delay.h"
+//#include "bsp_iic.h"
+//// OLED的显存
+//// 存放格式如下.
+////[0]0 1 2 3 ... 127
+////[1]0 1 2 3 ... 127
+////[2]0 1 2 3 ... 127
+////[3]0 1 2 3 ... 127
+////[4]0 1 2 3 ... 127
+////[5]0 1 2 3 ... 127
+////[6]0 1 2 3 ... 127
+////[7]0 1 2 3 ... 127
 
-void Write_IIC_Command(unsigned char IIC_Command)
-{
-    IIC_Start();
-    IIC_Send_Byte(0x78); // Slave address,SA0=0
-    IIC_Wait_Ack();
-    IIC_Send_Byte(0x00); // write command
-    IIC_Wait_Ack();
-    IIC_Send_Byte(IIC_Command);
-    IIC_Wait_Ack();
-    IIC_Stop();
-}
-/**********************************************
-// IIC Write Data
-**********************************************/
-void Write_IIC_Data(unsigned char IIC_Data)
-{
-    IIC_Start();
-    IIC_Send_Byte(0x78); // D/C#=0; R/W#=0
-    IIC_Wait_Ack();
-    IIC_Send_Byte(0x40); // write data
-    IIC_Wait_Ack();
-    IIC_Send_Byte(IIC_Data);
-    IIC_Wait_Ack();
-    IIC_Stop();
-}
+//void Write_IIC_Command(unsigned char IIC_Command)
+//{
+//    IIC_Start();
+//    IIC_Send_Byte(0x78); // Slave address,SA0=0
+//    IIC_Wait_Ack();
+//    IIC_Send_Byte(0x00); // write command
+//    IIC_Wait_Ack();
+//    IIC_Send_Byte(IIC_Command);
+//    IIC_Wait_Ack();
+//    IIC_Stop();
+//}
+///**********************************************
+//// IIC Write Data
+//**********************************************/
+//void Write_IIC_Data(unsigned char IIC_Data)
+//{
+//    IIC_Start();
+//    IIC_Send_Byte(0x78); // D/C#=0; R/W#=0
+//    IIC_Wait_Ack();
+//    IIC_Send_Byte(0x40); // write data
+//    IIC_Wait_Ack();
+//    IIC_Send_Byte(IIC_Data);
+//    IIC_Wait_Ack();
+//    IIC_Stop();
+//}
 
-void OLED_WR_Byte(unsigned dat, unsigned cmd)
-{
-    if (cmd)
-    {
-        Write_IIC_Data(dat);
-    }
-    else
-    {
-        Write_IIC_Command(dat);
-    }
-}
+//void OLED_WR_Byte(unsigned dat, unsigned cmd)
+//{
+//    if (cmd)
+//    {
+//        Write_IIC_Data(dat);
+//    }
+//    else
+//    {
+//        Write_IIC_Command(dat);
+//    }
+//}
 
-/********************************************
-// fill_Picture
-********************************************/
-void fill_picture(unsigned char fill_Data)
-{
-    unsigned char m, n;
-    for (m = 0; m < 8; m++)
-    {
-        OLED_WR_Byte(0xb0 + m, 0); // page0-page1
-        OLED_WR_Byte(0x00, 0);     // low column start address
-        OLED_WR_Byte(0x10, 0);     // high column start address
-        for (n = 0; n < 128; n++)
-        {
-            OLED_WR_Byte(fill_Data, 1);
-        }
-    }
-}
+///********************************************
+//// fill_Picture
+//********************************************/
+//void fill_picture(unsigned char fill_Data)
+//{
+//    unsigned char m, n;
+//    for (m = 0; m < 8; m++)
+//    {
+//        OLED_WR_Byte(0xb0 + m, 0); // page0-page1
+//        OLED_WR_Byte(0x00, 0);     // low column start address
+//        OLED_WR_Byte(0x10, 0);     // high column start address
+//        for (n = 0; n < 128; n++)
+//        {
+//            OLED_WR_Byte(fill_Data, 1);
+//        }
+//    }
+//}
 
-/***********************Delay****************************************/
-void Delay_50ms(unsigned int Del_50ms)
-{
-    unsigned int m;
-    for (; Del_50ms > 0; Del_50ms--)
-        for (m = 6245; m > 0; m--);
-}
+///***********************Delay****************************************/
+//void Delay_50ms(unsigned int Del_50ms)
+//{
+//    unsigned int m;
+//    for (; Del_50ms > 0; Del_50ms--)
+//        for (m = 6245; m > 0; m--);
+//}
 
-void Delay_1ms(unsigned int Del_1ms)
-{
-    unsigned char j;
-    while (Del_1ms--)
-    {
-        for (j = 0; j < 123; j++);
-    }
-}
+//void Delay_1ms(unsigned int Del_1ms)
+//{
+//    unsigned char j;
+//    while (Del_1ms--)
+//    {
+//        for (j = 0; j < 123; j++);
+//    }
+//}
 
-// 坐标设置
+//// 坐标设置
 
-void OLED_Set_Pos(unsigned char x, unsigned char y)
-{
-    OLED_WR_Byte(0xb0 + y, OLED_CMD);
-    OLED_WR_Byte(((x & 0xf0) >> 4) | 0x10, OLED_CMD);
-    OLED_WR_Byte((x & 0x0f), OLED_CMD);
-}
-// 开启OLED显示
-void OLED_Display_On(void)
-{
-    OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令
-    OLED_WR_Byte(0X14, OLED_CMD); // DCDC ON
-    OLED_WR_Byte(0XAF, OLED_CMD); // DISPLAY ON
-}
-// 关闭OLED显示
-void OLED_Display_Off(void)
-{
-    OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令
-    OLED_WR_Byte(0X10, OLED_CMD); // DCDC OFF
-    OLED_WR_Byte(0XAE, OLED_CMD); // DISPLAY OFF
-}
+//void OLED_Set_Pos(unsigned char x, unsigned char y)
+//{
+//    OLED_WR_Byte(0xb0 + y, OLED_CMD);
+//    OLED_WR_Byte(((x & 0xf0) >> 4) | 0x10, OLED_CMD);
+//    OLED_WR_Byte((x & 0x0f), OLED_CMD);
+//}
+//// 开启OLED显示
+//void OLED_Display_On(void)
+//{
+//    OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令
+//    OLED_WR_Byte(0X14, OLED_CMD); // DCDC ON
+//    OLED_WR_Byte(0XAF, OLED_CMD); // DISPLAY ON
+//}
+//// 关闭OLED显示
+//void OLED_Display_Off(void)
+//{
+//    OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令
+//    OLED_WR_Byte(0X10, OLED_CMD); // DCDC OFF
+//    OLED_WR_Byte(0XAE, OLED_CMD); // DISPLAY OFF
+//}
 
-// 清屏函数,清完屏,整个屏幕是黑色的!和没点亮一样!!!
-void OLED_Clear(void)
-{
-    u8 i, n;
-    for (i = 0; i < 8; i++)
-    {
-        OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7）
-        OLED_WR_Byte(0x00, OLED_CMD);     // 设置显示位置—列低地址
-        OLED_WR_Byte(0x10, OLED_CMD);     // 设置显示位置—列高地址
-        for (n = 0; n < 128; n++)
-            OLED_WR_Byte(0, OLED_DATA);
-    } // 更新显示
-}
+//// 清屏函数,清完屏,整个屏幕是黑色的!和没点亮一样!!!
+//void OLED_Clear(void)
+//{
+//    u8 i, n;
+//    for (i = 0; i < 8; i++)
+//    {
+//        OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7）
+//        OLED_WR_Byte(0x00, OLED_CMD);     // 设置显示位置—列低地址
+//        OLED_WR_Byte(0x10, OLED_CMD);     // 设置显示位置—列高地址
+//        for (n = 0; n < 128; n++)
+//            OLED_WR_Byte(0, OLED_DATA);
+//    } // 更新显示
+//}
 
-void OLED_On(void)
-{
-    u8 i, n;
-    for (i = 0; i < 8; i++)
-    {
-        OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7）
-        OLED_WR_Byte(0x00, OLED_CMD);     // 设置显示位置—列低地址
-        OLED_WR_Byte(0x10, OLED_CMD);     // 设置显示位置—列高地址
-        for (n = 0; n < 128; n++)
-            OLED_WR_Byte(1, OLED_DATA);
-    } // 更新显示
-}
-// 在指定位置显示一个字符,包括部分字符
-// x:0~127
-// y:0~63
-// mode:0,反白显示;1,正常显示
-// size:选择字体 16/12
-void OLED_ShowChar(u8 x, u8 y, u8 chr, u8 Char_Size)
-{
-    unsigned char c = 0, i = 0;
-    c = chr - ' '; // 得到偏移后的值
-    if (x > Max_Column - 1)
-    {
-        x = 0;
-        y = y + 2;
-    }
-    if (Char_Size == 16)
-    {
-        OLED_Set_Pos(x, y);
-        for (i = 0; i < 8; i++)
-            OLED_WR_Byte(F8X16[c * 16 + i], OLED_DATA);
-        OLED_Set_Pos(x, y + 1);
-        for (i = 0; i < 8; i++)
-            OLED_WR_Byte(F8X16[c * 16 + i + 8], OLED_DATA);
-    }
-    else
-    {
-        OLED_Set_Pos(x, y);
-        for (i = 0; i < 6; i++)
-            OLED_WR_Byte(F6x8[c][i], OLED_DATA);
-    }
-}
-// m^n函数
-u32 oled_pow(u8 m, u8 n)
-{
-    u32 result = 1;
-    while (n--)
-        result *= m;
-    return result;
-}
-// 显示2个数字
-// x,y :起点坐标
-// len :数字的位数
-// size:字体大小
-// mode:模式	0,填充模式;1,叠加模式
-// num:数值(0~4294967295);
-void OLED_ShowNum(u8 x, u8 y, u32 num, u8 len, u8 size2)
-{
-    u8 t, temp;
-    u8 enshow = 0;
-    for (t = 0; t < len; t++)
-    {
-        temp = (num / oled_pow(10, len - t - 1)) % 10;
-        if (enshow == 0 && t < (len - 1))
-        {
-            if (temp == 0)
-            {
-                OLED_ShowChar(x + (size2 / 2) * t, y, ' ', size2);
-                continue;
-            }
-            else
-                enshow = 1;
-        }
-        OLED_ShowChar(x + (size2 / 2) * t, y, temp + '0', size2);
-    }
-}
-// 显示一个字符号串
-void OLED_ShowString(u8 x, u8 y, u8 *chr, u8 Char_Size)
-{
-    unsigned char j = 0;
-    while (chr[j] != '\0')
-    {
-        OLED_ShowChar(x, y, chr[j], Char_Size);
-        x += 8;
-        if (x > 120)
-        {
-            x = 0;
-            y += 2;
-        }
-        j++;
-    }
-}
-// 显示汉字
-void OLED_ShowCHinese(u8 x, u8 y, u8 no)
-{
-    u8 t, adder = 0;
-    OLED_Set_Pos(x, y);
-    for (t = 0; t < 16; t++)
-    {
-        OLED_WR_Byte(Hzk[2 * no][t], OLED_DATA);
-        adder += 1;
-    }
-    OLED_Set_Pos(x, y + 1);
-    for (t = 0; t < 16; t++)
-    {
-        OLED_WR_Byte(Hzk[2 * no + 1][t], OLED_DATA);
-        adder += 1;
-    }
-}
-/***********功能描述：显示显示BMP图片128×64起始点坐标(x,y),x的范围0～127，y为页的范围0～7*****************/
-void OLED_DrawBMP(unsigned char x0, unsigned char y0, unsigned char x1, unsigned char y1, unsigned char BMP[])
-{
-    unsigned int j = 0;
-    unsigned char x, y;
-    if (y1 % 8 == 0)
-        y = y1 / 8;
-    else
-        y = y1 / 8 + 1;
-    for (y = y0; y < y1; y++)
-    {
-        OLED_Set_Pos(x0, y);
-        for (x = x0; x < x1; x++)
-        {
-            OLED_WR_Byte(BMP[j++], OLED_DATA);
-        }
-    }
-}
+//void OLED_On(void)
+//{
+//    u8 i, n;
+//    for (i = 0; i < 8; i++)
+//    {
+//        OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7）
+//        OLED_WR_Byte(0x00, OLED_CMD);     // 设置显示位置—列低地址
+//        OLED_WR_Byte(0x10, OLED_CMD);     // 设置显示位置—列高地址
+//        for (n = 0; n < 128; n++)
+//            OLED_WR_Byte(1, OLED_DATA);
+//    } // 更新显示
+//}
+//// 在指定位置显示一个字符,包括部分字符
+//// x:0~127
+//// y:0~63
+//// mode:0,反白显示;1,正常显示
+//// size:选择字体 16/12
+//void OLED_ShowChar(u8 x, u8 y, u8 chr, u8 Char_Size)
+//{
+//    unsigned char c = 0, i = 0;
+//    c = chr - ' '; // 得到偏移后的值
+//    if (x > Max_Column - 1)
+//    {
+//        x = 0;
+//        y = y + 2;
+//    }
+//    if (Char_Size == 16)
+//    {
+//        OLED_Set_Pos(x, y);
+//        for (i = 0; i < 8; i++)
+//            OLED_WR_Byte(F8X16[c * 16 + i], OLED_DATA);
+//        OLED_Set_Pos(x, y + 1);
+//        for (i = 0; i < 8; i++)
+//            OLED_WR_Byte(F8X16[c * 16 + i + 8], OLED_DATA);
+//    }
+//    else
+//    {
+//        OLED_Set_Pos(x, y);
+//        for (i = 0; i < 6; i++)
+//            OLED_WR_Byte(F6x8[c][i], OLED_DATA);
+//    }
+//}
+//// m^n函数
+//u32 oled_pow(u8 m, u8 n)
+//{
+//    u32 result = 1;
+//    while (n--)
+//        result *= m;
+//    return result;
+//}
+//// 显示2个数字
+//// x,y :起点坐标
+//// len :数字的位数
+//// size:字体大小
+//// mode:模式	0,填充模式;1,叠加模式
+//// num:数值(0~4294967295);
+//void OLED_ShowNum(u8 x, u8 y, u32 num, u8 len, u8 size2)
+//{
+//    u8 t, temp;
+//    u8 enshow = 0;
+//    for (t = 0; t < len; t++)
+//    {
+//        temp = (num / oled_pow(10, len - t - 1)) % 10;
+//        if (enshow == 0 && t < (len - 1))
+//        {
+//            if (temp == 0)
+//            {
+//                OLED_ShowChar(x + (size2 / 2) * t, y, ' ', size2);
+//                continue;
+//            }
+//            else
+//                enshow = 1;
+//        }
+//        OLED_ShowChar(x + (size2 / 2) * t, y, temp + '0', size2);
+//    }
+//}
+//// 显示一个字符号串
+//void OLED_ShowString(u8 x, u8 y, u8 *chr, u8 Char_Size)
+//{
+//    unsigned char j = 0;
+//    while (chr[j] != '\0')
+//    {
+//        OLED_ShowChar(x, y, chr[j], Char_Size);
+//        x += 8;
+//        if (x > 120)
+//        {
+//            x = 0;
+//            y += 2;
+//        }
+//        j++;
+//    }
+//}
+//// 显示汉字
+//void OLED_ShowCHinese(u8 x, u8 y, u8 no)
+//{
+//    u8 t, adder = 0;
+//    OLED_Set_Pos(x, y);
+//    for (t = 0; t < 16; t++)
+//    {
+//        OLED_WR_Byte(Hzk[2 * no][t], OLED_DATA);
+//        adder += 1;
+//    }
+//    OLED_Set_Pos(x, y + 1);
+//    for (t = 0; t < 16; t++)
+//    {
+//        OLED_WR_Byte(Hzk[2 * no + 1][t], OLED_DATA);
+//        adder += 1;
+//    }
+//}
+///***********功能描述：显示显示BMP图片128×64起始点坐标(x,y),x的范围0～127，y为页的范围0～7*****************/
+//void OLED_DrawBMP(unsigned char x0, unsigned char y0, unsigned char x1, unsigned char y1, unsigned char BMP[])
+//{
+//    unsigned int j = 0;
+//    unsigned char x, y;
+//    if (y1 % 8 == 0)
+//        y = y1 / 8;
+//    else
+//        y = y1 / 8 + 1;
+//    for (y = y0; y < y1; y++)
+//    {
+//        OLED_Set_Pos(x0, y);
+//        for (x = x0; x < x1; x++)
+//        {
+//            OLED_WR_Byte(BMP[j++], OLED_DATA);
+//        }
+//    }
+//}
 
-// 初始化SSD1306
-void OLED_Init(void)
-{
-    IIC_Init();
-    Delay_ms(800);
-    OLED_WR_Byte(0xAE, OLED_CMD); // Display off
-    OLED_WR_Byte(0x00, OLED_CMD); // set low column address
-    OLED_WR_Byte(0x10, OLED_CMD); // set high column address
-    OLED_WR_Byte(0x40, OLED_CMD); // set start line address
-    OLED_WR_Byte(0xB0, OLED_CMD); // set page address
-    OLED_WR_Byte(0x81, OLED_CMD); // contract control
-    OLED_WR_Byte(0xFF, OLED_CMD); // 128
-    OLED_WR_Byte(0xA1, OLED_CMD); // set segment remap
-    OLED_WR_Byte(0xA6, OLED_CMD); // normal / reverse
-    OLED_WR_Byte(0xA8, OLED_CMD); // set multiplex ratio(1 to 64)
-    OLED_WR_Byte(0x3F, OLED_CMD); // 1/32 duty
-    OLED_WR_Byte(0xC8, OLED_CMD); // Com scan direction
-    OLED_WR_Byte(0xD3, OLED_CMD); // Set display offset
-    OLED_WR_Byte(0x00, OLED_CMD);
+//// 初始化SSD1306
+//void OLED_Init(void)
+//{
+//    IIC_Init();
+//    Delay_ms(800);
+//    OLED_WR_Byte(0xAE, OLED_CMD); // Display off
+//    OLED_WR_Byte(0x00, OLED_CMD); // set low column address
+//    OLED_WR_Byte(0x10, OLED_CMD); // set high column address
+//    OLED_WR_Byte(0x40, OLED_CMD); // set start line address
+//    OLED_WR_Byte(0xB0, OLED_CMD); // set page address
+//    OLED_WR_Byte(0x81, OLED_CMD); // contract control
+//    OLED_WR_Byte(0xFF, OLED_CMD); // 128
+//    OLED_WR_Byte(0xA1, OLED_CMD); // set segment remap
+//    OLED_WR_Byte(0xA6, OLED_CMD); // normal / reverse
+//    OLED_WR_Byte(0xA8, OLED_CMD); // set multiplex ratio(1 to 64)
+//    OLED_WR_Byte(0x3F, OLED_CMD); // 1/32 duty
+//    OLED_WR_Byte(0xC8, OLED_CMD); // Com scan direction
+//    OLED_WR_Byte(0xD3, OLED_CMD); // Set display offset
+//    OLED_WR_Byte(0x00, OLED_CMD);
 
-    OLED_WR_Byte(0xD5, OLED_CMD); // set osc division
-    OLED_WR_Byte(0x80, OLED_CMD); //
+//    OLED_WR_Byte(0xD5, OLED_CMD); // set osc division
+//    OLED_WR_Byte(0x80, OLED_CMD); //
 
-    OLED_WR_Byte(0xD8, OLED_CMD); // set area color mode off
-    OLED_WR_Byte(0x05, OLED_CMD); //
+//    OLED_WR_Byte(0xD8, OLED_CMD); // set area color mode off
+//    OLED_WR_Byte(0x05, OLED_CMD); //
 
-    OLED_WR_Byte(0xD9, OLED_CMD); // Set Pre-Charge Period
-    OLED_WR_Byte(0xF1, OLED_CMD); //
+//    OLED_WR_Byte(0xD9, OLED_CMD); // Set Pre-Charge Period
+//    OLED_WR_Byte(0xF1, OLED_CMD); //
 
-    OLED_WR_Byte(0xDA, OLED_CMD); // set com pin configuartion
-    OLED_WR_Byte(0x12, OLED_CMD); //
+//    OLED_WR_Byte(0xDA, OLED_CMD); // set com pin configuartion
+//    OLED_WR_Byte(0x12, OLED_CMD); //
 
-    OLED_WR_Byte(0xDB, OLED_CMD); // set Vcomh
-    OLED_WR_Byte(0x30, OLED_CMD); //
+//    OLED_WR_Byte(0xDB, OLED_CMD); // set Vcomh
+//    OLED_WR_Byte(0x30, OLED_CMD); //
 
-    OLED_WR_Byte(0x8D, OLED_CMD); // set charge pump enable
-    OLED_WR_Byte(0x14, OLED_CMD);
+//    OLED_WR_Byte(0x8D, OLED_CMD); // set charge pump enable
+//    OLED_WR_Byte(0x14, OLED_CMD);
 
-    OLED_WR_Byte(0xAF, OLED_CMD); // turn on oled panel
-}
+//    OLED_WR_Byte(0xAF, OLED_CMD); // turn on oled panel
+//}
diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c b/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c
index d1d73bb..cf2a5b0 100644
--- a/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c	
+++ b/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c	
@@ -15,19 +15,19 @@ float   Derivative = 0;                                 // ΢
 //��ʾpid������OLED��
 void showPID(void)
 {
-	float temp1,temp2,temp3;
-	char PID_P[3],PID_I[3],PID_D[3];
-	temp1 = Proportion;
-	sprintf(PID_P,"%1.1f",temp1);
-	OLED_ShowString(16,4, (u8*)PID_P,16);  
+//	float temp1,temp2,temp3;
+//	char PID_P[3],PID_I[3],PID_D[3];
+//	temp1 = Proportion;
+//	sprintf(PID_P,"%1.1f",temp1);
+//	OLED_ShowString(16,4, (u8*)PID_P,16);  
 
-	temp2 = Integral;
-	sprintf(PID_I,"%1.1f",temp2);
-	OLED_ShowString(56,4, (u8*)PID_I,16); 
+//	temp2 = Integral;
+//	sprintf(PID_I,"%1.1f",temp2);
+//	OLED_ShowString(56,4, (u8*)PID_I,16); 
 
-	temp3 = Derivative;
-	sprintf(PID_D,"%1.1f",temp3);
-	OLED_ShowString(104,4, (u8*)PID_D,16); 
+//	temp3 = Derivative;
+//	sprintf(PID_D,"%1.1f",temp3);
+//	OLED_ShowString(104,4, (u8*)PID_D,16); 
 }
 
 /********************����ʽPID�������************************************/
diff --git a/GeBalanceBot_Firmware v1.0/Listing/Project.map b/GeBalanceBot_Firmware v1.0/Listing/Project.map
index 4fa5b81..210020d 100644
--- a/GeBalanceBot_Firmware v1.0/Listing/Project.map	
+++ b/GeBalanceBot_Firmware v1.0/Listing/Project.map	
@@ -39,10 +39,8 @@ Section Cross References
     bsp_sys.o(.text) refers to bsp_nvic.o(.text) for NVIC_Config
     bsp_sys.o(.text) refers to bsp_gpio.o(.text) for LED_GPIO_Config
     bsp_sys.o(.text) refers to bsp_usart.o(.text) for USART1_Init
-    bsp_sys.o(.text) refers to bsp_iic.o(.text) for IIC_Init
     bsp_sys.o(.text) refers to motor.o(.text) for Motor_Init
     bsp_sys.o(.text) refers to bsp_timer.o(.text) for MOTO_PWM_Init
-    bsp_sys.o(.text) refers to oled.o(.text) for OLED_Init
     bsp_gpio.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd
     bsp_gpio.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init
     bsp_gpio.o(.text) refers to bsp_gpio.o(.data) for temp
@@ -55,28 +53,18 @@ Section Cross References
     delay.o(.text) refers to misc.o(.text) for SysTick_CLKSourceConfig
     delay.o(.text) refers to delay.o(.data) for fac_us
     bsp_iic.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_SetBits
+    bsp_iic.o(.text) refers to bluetooth.o(.text) for PB_USART_printf
     bsp_iic.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd
     bsp_timer.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphClockCmd
     bsp_timer.o(.text) refers to stm32f10x_tim.o(.text) for TIM_TimeBaseInit
     bsp_timer.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init
     bsp_timer.o(.text) refers to misc.o(.text) for NVIC_PriorityGroupConfig
-    oled.o(.text) refers to bsp_iic.o(.text) for IIC_Start
-    oled.o(.text) refers to delay.o(.text) for Delay_ms
-    oled.o(.text) refers to oled.o(.constdata) for F8X16
-    oled.o(.text) refers to oled.o(.data) for Hzk
-    pid.o(.text) refers to _printf_pad.o(.text) for _printf_pre_padding
-    pid.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent
-    pid.o(.text) refers to _printf_f.o(.ARM.Collect$$_printf_percent$$00000003) for _printf_f
-    pid.o(.text) refers to printf1.o(x$fpl$printf1) for _printf_fp_dec
-    pid.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d
-    pid.o(.text) refers to noretval__2sprintf.o(.text) for __2sprintf
-    pid.o(.text) refers to oled.o(.text) for OLED_ShowString
     pid.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f
     pid.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul
     pid.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub
     pid.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd
     pid.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz
-    pid.o(.text) refers to pid.o(.data) for Proportion
+    pid.o(.text) refers to pid.o(.data) for PrevError
     car.o(.text) refers to _printf_pad.o(.text) for _printf_pre_padding
     car.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent
     car.o(.text) refers to _printf_f.o(.ARM.Collect$$_printf_percent$$00000003) for _printf_f
@@ -89,7 +77,6 @@ Section Cross References
     car.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f
     car.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d
     car.o(.text) refers to noretval__2sprintf.o(.text) for __2sprintf
-    car.o(.text) refers to oled.o(.text) for OLED_ShowString
     car.o(.text) refers to pid.o(.text) for PID_Calc_Left
     car.o(.text) refers to car.o(.data) for Encoder_Left
     bluetooth.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd
@@ -102,21 +89,19 @@ Section Cross References
     ioi2c.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd
     ioi2c.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init
     ioi2c.o(.text) refers to delay.o(.text) for Delay_us
-    show.o(.text) refers to oled.o(.text) for OLED_Display_On
-    show.o(.text) refers to car.o(.data) for Encoder_Left
     mpu6050.o(.text) refers to inv_mpu.o(.text) for mpu_run_self_test
     mpu6050.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f
     mpu6050.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul
     mpu6050.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz
     mpu6050.o(.text) refers to inv_mpu_dmp_motion_driver.o(.text) for dmp_set_gyro_bias
-    mpu6050.o(.text) refers to noretval__2printf.o(.text) for __2printf
+    mpu6050.o(.text) refers to bluetooth.o(.text) for PB_USART_printf
     mpu6050.o(.text) refers to ioi2c.o(.text) for IICwriteBits
     mpu6050.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv
+    mpu6050.o(.text) refers to mpu6050.o(.bss) for MPU6050_FIFO
+    mpu6050.o(.text) refers to mpu6050.o(.data) for gyro_orientation
     mpu6050.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub
     mpu6050.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd
     mpu6050.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d
-    mpu6050.o(.text) refers to mpu6050.o(.bss) for MPU6050_FIFO
-    mpu6050.o(.text) refers to mpu6050.o(.data) for gyro_orientation
     mpu6050.o(.text) refers to atan2.o(i.atan2) for atan2
     mpu6050.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul
     mpu6050.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f
@@ -169,6 +154,8 @@ Section Cross References
     main.o(.text) refers to bsp_sys.o(.text) for System_Init
     main.o(.text) refers to bluetooth.o(.text) for Bluetooth_Init
     main.o(.text) refers to motor.o(.text) for Car_Stop
+    main.o(.text) refers to bsp_iic.o(.text) for IIC_Init
+    main.o(.text) refers to mpu6050.o(.text) for MPU6050_initialize
     main.o(.text) refers to delay.o(.text) for Delay_ms
     main.o(.text) refers to main.o(.bss) for BLE_RX
     use_no_semi_2.o(.text) refers (Special) to use_no_semi.o(.text) for __use_no_semihosting_swi
@@ -529,9 +516,9 @@ Removing Unused input sections from the image.
     Removing stm32f10x_wwdg.o(.text), (136 bytes).
     Removing sys.o(.emb_text), (12 bytes).
     Removing sys.o(.text), (700 bytes).
-    Removing show.o(.text), (272 bytes).
+    Removing show.o(.text), (2 bytes).
 
-22 unused section(s) (total 12566 bytes) removed from the image.
+22 unused section(s) (total 12296 bytes) removed from the image.
 
 ==============================================================================
 
@@ -541,38 +528,38 @@ Image Symbol Table
 
     Symbol Name                              Value     Ov Type        Size  Object(Section)
 
-    ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit1.o ABSOLUTE
-    ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit2.o ABSOLUTE
     ../clib/angel/boardlib.s                 0x00000000   Number         0  boardshut.o ABSOLUTE
     ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit3.o ABSOLUTE
-    ../clib/angel/dczerorl2.s                0x00000000   Number         0  __dczerorl2.o ABSOLUTE
+    ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit2.o ABSOLUTE
+    ../clib/angel/boardlib.s                 0x00000000   Number         0  boardinit1.o ABSOLUTE
     ../clib/angel/handlers.s                 0x00000000   Number         0  __scatter_zi.o ABSOLUTE
-    ../clib/angel/kernel.s                   0x00000000   Number         0  rtexit.o ABSOLUTE
-    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry2.o ABSOLUTE
-    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry4.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  __rtentry2.o ABSOLUTE
     ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry.o ABSOLUTE
-    ../clib/angel/rt.s                       0x00000000   Number         0  aeabi_ldiv0.o ABSOLUTE
+    ../clib/angel/kernel.s                   0x00000000   Number         0  __rtentry4.o ABSOLUTE
+    ../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  rt_div0.o ABSOLUTE
     ../clib/angel/rt.s                       0x00000000   Number         0  rt_locale.o ABSOLUTE
-    ../clib/angel/rt.s                       0x00000000   Number         0  rt_locale_intlibspace.o ABSOLUTE
-    ../clib/angel/rt.s                       0x00000000   Number         0  rt_errno_addr.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_div0.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  rt_errno_addr.o ABSOLUTE
+    ../clib/angel/rt.s                       0x00000000   Number         0  rt_locale_intlibspace.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  sys_stackheap_outer.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  use_no_semi_2.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  sys_stackheap_outer.o ABSOLUTE
     ../clib/angel/sys.s                      0x00000000   Number         0  libspace.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  use_no_semi_2.o ABSOLUTE
+    ../clib/angel/sys.s                      0x00000000   Number         0  use_no_semi.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/armsys.c                         0x00000000   Number         0  argv_veneer.o ABSOLUTE
-    ../clib/armsys.c                         0x00000000   Number         0  argv_veneer.o ABSOLUTE
     ../clib/armsys.c                         0x00000000   Number         0  _get_argv_nomalloc.o ABSOLUTE
     ../clib/armsys.c                         0x00000000   Number         0  no_argv.o ABSOLUTE
+    ../clib/armsys.c                         0x00000000   Number         0  argv_veneer.o ABSOLUTE
     ../clib/bigflt.c                         0x00000000   Number         0  bigflt0.o ABSOLUTE
     ../clib/btod.s                           0x00000000   Number         0  btod.o ABSOLUTE
     ../clib/fenv.c                           0x00000000   Number         0  _rserrno.o ABSOLUTE
@@ -583,58 +570,58 @@ Image Symbol Table
     ../clib/libinit.s                        0x00000000   Number         0  libinit2.o ABSOLUTE
     ../clib/libinit.s                        0x00000000   Number         0  libshutdown.o ABSOLUTE
     ../clib/locale.s                         0x00000000   Number         0  lc_numeric_c.o ABSOLUTE
-    ../clib/longlong.s                       0x00000000   Number         0  lludivv7m.o ABSOLUTE
     ../clib/longlong.s                       0x00000000   Number         0  lludiv10.o ABSOLUTE
     ../clib/longlong.s                       0x00000000   Number         0  llsdiv.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/longlong.s                       0x00000000   Number         0  lludivv7m.o ABSOLUTE
     ../clib/memcpset.s                       0x00000000   Number         0  strcmpv7m.o ABSOLUTE
+    ../clib/memcpset.s                       0x00000000   Number         0  rt_memclr_w.o ABSOLUTE
+    ../clib/memcpset.s                       0x00000000   Number         0  aeabi_memset.o ABSOLUTE
+    ../clib/memcpset.s                       0x00000000   Number         0  rt_memclr.o ABSOLUTE
     ../clib/misc.s                           0x00000000   Number         0  printf_stubs.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  __printf_ss.o ABSOLUTE
-    ../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_ss_wp.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  __printf_flags_ss_wp.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  __printf_flags_wp.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  _printf_char_file.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _printf_fp_dec.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  _printf_intcommon.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __2printf.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  __printf_nopercent.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  _printf_fp_infnan.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  __2printf.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  _sputc.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  __2sprintf.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  _printf_char_common.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  noretval__2printf.o ABSOLUTE
-    ../clib/printf.c                         0x00000000   Number         0  _printf_fp_dec.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  noretval__2sprintf.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  __printf.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  _printf_pad.o ABSOLUTE
     ../clib/printf.c                         0x00000000   Number         0  _printf_dec.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  __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_ss_wp.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  __printf_flags_ss_wp.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _printf_char_file.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _sputc.o ABSOLUTE
+    ../clib/printf.c                         0x00000000   Number         0  _printf_char_common.o ABSOLUTE
+    ../clib/printf_percent.s                 0x00000000   Number         0  _printf_percent_end.o ABSOLUTE
+    ../clib/printf_percent.s                 0x00000000   Number         0  _printf_percent.o ABSOLUTE
     ../clib/printf_percent.s                 0x00000000   Number         0  _printf_f.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_fpe_formal.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_pvfn_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_cppl_inner.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_rtmem_formal.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_abrt_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_outer.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_general.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_exit.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_fpe_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_general.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_fpe_outer.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_other.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  __raise.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_rtred_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_other.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_segv_inner.o ABSOLUTE
-    ../clib/signal.c                         0x00000000   Number         0  defsig_rtmem_outer.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_cppl_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_pvfn_inner.o ABSOLUTE
     ../clib/signal.c                         0x00000000   Number         0  defsig_stak_inner.o ABSOLUTE
+    ../clib/signal.c                         0x00000000   Number         0  defsig_abrt_inner.o ABSOLUTE
     ../clib/signal.s                         0x00000000   Number         0  defsig.o ABSOLUTE
-    ../clib/stdio.c                          0x00000000   Number         0  ferror.o ABSOLUTE
     ../clib/stdio.c                          0x00000000   Number         0  ferror_locked.o ABSOLUTE
+    ../clib/stdio.c                          0x00000000   Number         0  ferror.o ABSOLUTE
     ../clib/stdlib.c                         0x00000000   Number         0  exit.o ABSOLUTE
     ../clib/string.c                         0x00000000   Number         0  memcmp.o ABSOLUTE
     ../fplib/d2f.s                           0x00000000   Number         0  d2f.o ABSOLUTE
@@ -667,8 +654,8 @@ 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
     ../mathlib/dunder.c                      0x00000000   Number         0  dunder.o ABSOLUTE
     ../mathlib/fpclassify.c                  0x00000000   Number         0  fpclassify.o ABSOLUTE
     ../mathlib/poly.c                        0x00000000   Number         0  poly.o ABSOLUTE
@@ -726,208 +713,207 @@ Image Symbol Table
     RESET                                    0x08000000   Section      304  startup_stm32f10x_hd.o(RESET)
     !!!main                                  0x08000130   Section        8  __main.o(!!!main)
     !!!scatter                               0x08000138   Section       52  __scatter.o(!!!scatter)
-    !!dczerorl2                              0x0800016c   Section       90  __dczerorl2.o(!!dczerorl2)
-    !!handler_zi                             0x080001c8   Section       28  __scatter_zi.o(!!handler_zi)
-    .ARM.Collect$$_printf_percent$$00000000  0x080001e4   Section        0  _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000)
-    .ARM.Collect$$_printf_percent$$00000003  0x080001e4   Section        6  _printf_f.o(.ARM.Collect$$_printf_percent$$00000003)
-    .ARM.Collect$$_printf_percent$$00000009  0x080001ea   Section        6  _printf_d.o(.ARM.Collect$$_printf_percent$$00000009)
-    .ARM.Collect$$_printf_percent$$00000017  0x080001f0   Section        4  _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017)
-    .ARM.Collect$$libinit$$00000000          0x080001f4   Section        2  libinit.o(.ARM.Collect$$libinit$$00000000)
-    .ARM.Collect$$libinit$$00000002          0x080001f6   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000002)
-    .ARM.Collect$$libinit$$00000004          0x080001f6   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000004)
-    .ARM.Collect$$libinit$$0000000A          0x080001f6   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000000A)
-    .ARM.Collect$$libinit$$0000000C          0x080001f6   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000000C)
-    .ARM.Collect$$libinit$$0000000E          0x080001f6   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000000E)
-    .ARM.Collect$$libinit$$0000000F          0x080001f6   Section        6  libinit2.o(.ARM.Collect$$libinit$$0000000F)
-    .ARM.Collect$$libinit$$00000011          0x080001fc   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000011)
-    .ARM.Collect$$libinit$$00000013          0x080001fc   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000013)
-    .ARM.Collect$$libinit$$00000015          0x080001fc   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000015)
-    .ARM.Collect$$libinit$$00000016          0x080001fc   Section       10  libinit2.o(.ARM.Collect$$libinit$$00000016)
-    .ARM.Collect$$libinit$$00000017          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000017)
-    .ARM.Collect$$libinit$$00000019          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000019)
-    .ARM.Collect$$libinit$$0000001B          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000001B)
-    .ARM.Collect$$libinit$$0000001D          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000001D)
-    .ARM.Collect$$libinit$$0000001F          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000001F)
-    .ARM.Collect$$libinit$$00000021          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000021)
-    .ARM.Collect$$libinit$$00000023          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000023)
-    .ARM.Collect$$libinit$$00000025          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000025)
-    .ARM.Collect$$libinit$$0000002C          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000002C)
-    .ARM.Collect$$libinit$$0000002E          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$0000002E)
-    .ARM.Collect$$libinit$$00000030          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000030)
-    .ARM.Collect$$libinit$$00000032          0x08000206   Section        0  libinit2.o(.ARM.Collect$$libinit$$00000032)
-    .ARM.Collect$$libinit$$00000033          0x08000206   Section        2  libinit2.o(.ARM.Collect$$libinit$$00000033)
-    .ARM.Collect$$libshutdown$$00000000      0x08000208   Section        2  libshutdown.o(.ARM.Collect$$libshutdown$$00000000)
-    .ARM.Collect$$libshutdown$$00000002      0x0800020a   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000002)
-    .ARM.Collect$$libshutdown$$00000004      0x0800020a   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000004)
-    .ARM.Collect$$libshutdown$$00000007      0x0800020a   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$00000007)
-    .ARM.Collect$$libshutdown$$0000000A      0x0800020a   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A)
-    .ARM.Collect$$libshutdown$$0000000C      0x0800020a   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C)
-    .ARM.Collect$$libshutdown$$0000000F      0x0800020a   Section        0  libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F)
-    .ARM.Collect$$libshutdown$$00000010      0x0800020a   Section        2  libshutdown2.o(.ARM.Collect$$libshutdown$$00000010)
-    .ARM.Collect$$rtentry$$00000000          0x0800020c   Section        0  __rtentry.o(.ARM.Collect$$rtentry$$00000000)
-    .ARM.Collect$$rtentry$$00000002          0x0800020c   Section        0  __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
-    .ARM.Collect$$rtentry$$00000004          0x0800020c   Section        6  __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
-    .ARM.Collect$$rtentry$$00000009          0x08000212   Section        0  __rtentry2.o(.ARM.Collect$$rtentry$$00000009)
-    .ARM.Collect$$rtentry$$0000000A          0x08000212   Section        4  __rtentry2.o(.ARM.Collect$$rtentry$$0000000A)
-    .ARM.Collect$$rtentry$$0000000C          0x08000216   Section        0  __rtentry2.o(.ARM.Collect$$rtentry$$0000000C)
-    .ARM.Collect$$rtentry$$0000000D          0x08000216   Section        8  __rtentry2.o(.ARM.Collect$$rtentry$$0000000D)
-    .ARM.Collect$$rtexit$$00000000           0x0800021e   Section        2  rtexit.o(.ARM.Collect$$rtexit$$00000000)
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+    .bss                                     0x200001b4   Section       16  inv_mpu_dmp_motion_driver.o(.bss)
+    dmp                                      0x200001b4   Data          16  inv_mpu_dmp_motion_driver.o(.bss)
+    .bss                                     0x200001c4   Section       64  main.o(.bss)
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-    __rt_entry                               0x0800020d   Thumb Code     0  __rtentry.o(.ARM.Collect$$rtentry$$00000000)
-    __rt_entry_presh_1                       0x0800020d   Thumb Code     0  __rtentry2.o(.ARM.Collect$$rtentry$$00000002)
-    __rt_entry_sh                            0x0800020d   Thumb Code     0  __rtentry4.o(.ARM.Collect$$rtentry$$00000004)
-    __rt_entry_li                            0x08000213   Thumb Code     0  __rtentry2.o(.ARM.Collect$$rtentry$$0000000A)
-    __rt_entry_postsh_1                      0x08000213   Thumb Code     0  __rtentry2.o(.ARM.Collect$$rtentry$$00000009)
-    __rt_entry_main                          0x08000217   Thumb Code     0  __rtentry2.o(.ARM.Collect$$rtentry$$0000000D)
-    __rt_entry_postli_1                      0x08000217   Thumb Code     0  __rtentry2.o(.ARM.Collect$$rtentry$$0000000C)
-    __rt_exit                                0x0800021f   Thumb Code     0  rtexit.o(.ARM.Collect$$rtexit$$00000000)
-    __rt_exit_ls                             0x08000221   Thumb Code     0  rtexit2.o(.ARM.Collect$$rtexit$$00000003)
-    __rt_exit_prels_1                        0x08000221   Thumb Code     0  rtexit2.o(.ARM.Collect$$rtexit$$00000002)
-    __rt_exit_exit                           0x08000225   Thumb Code     0  rtexit2.o(.ARM.Collect$$rtexit$$00000004)
-    Reset_Handler                            0x0800022d   Thumb Code     8  startup_stm32f10x_hd.o(.text)
-    SysTick_Handler                          0x08000245   Thumb Code     2  startup_stm32f10x_hd.o(.text)
-    ADC1_2_IRQHandler                        0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    ADC3_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    CAN1_RX1_IRQHandler                      0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    CAN1_SCE_IRQHandler                      0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel1_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel2_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel3_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel4_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel5_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel6_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA1_Channel7_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA2_Channel1_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA2_Channel2_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA2_Channel3_IRQHandler                 0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    DMA2_Channel4_5_IRQHandler               0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    EXTI0_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    EXTI1_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    EXTI2_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    EXTI3_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    EXTI4_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    EXTI9_5_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    FLASH_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    FSMC_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    I2C1_ER_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    I2C1_EV_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    I2C2_ER_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    I2C2_EV_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    PVD_IRQHandler                           0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    RCC_IRQHandler                           0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    RTCAlarm_IRQHandler                      0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    RTC_IRQHandler                           0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    SDIO_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    SPI1_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    SPI2_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    SPI3_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TAMPER_IRQHandler                        0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM1_BRK_IRQHandler                      0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM1_CC_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM1_TRG_COM_IRQHandler                  0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM1_UP_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM3_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM5_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM7_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM8_BRK_IRQHandler                      0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM8_CC_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM8_TRG_COM_IRQHandler                  0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    TIM8_UP_IRQHandler                       0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    UART4_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    UART5_IRQHandler                         0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    USART3_IRQHandler                        0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    USBWakeUp_IRQHandler                     0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    USB_HP_CAN1_TX_IRQHandler                0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    USB_LP_CAN1_RX0_IRQHandler               0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    WWDG_IRQHandler                          0x08000247   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    __user_initial_stackheap                 0x08000249   Thumb Code     0  startup_stm32f10x_hd.o(.text)
-    SystemInit                               0x0800034b   Thumb Code    78  system_stm32f10x.o(.text)
-    SystemCoreClockUpdate                    0x08000399   Thumb Code   142  system_stm32f10x.o(.text)
-    NVIC_PriorityGroupConfig                 0x0800044d   Thumb Code    10  misc.o(.text)
-    NVIC_Init                                0x08000457   Thumb Code   100  misc.o(.text)
-    NVIC_SetVectorTable                      0x080004bb   Thumb Code    14  misc.o(.text)
-    NVIC_SystemLPConfig                      0x080004c9   Thumb Code    34  misc.o(.text)
-    SysTick_CLKSourceConfig                  0x080004eb   Thumb Code    40  misc.o(.text)
-    GPIO_DeInit                              0x08000529   Thumb Code   172  stm32f10x_gpio.o(.text)
-    GPIO_AFIODeInit                          0x080005d5   Thumb Code    20  stm32f10x_gpio.o(.text)
-    GPIO_Init                                0x080005e9   Thumb Code   278  stm32f10x_gpio.o(.text)
-    GPIO_StructInit                          0x080006ff   Thumb Code    16  stm32f10x_gpio.o(.text)
-    GPIO_ReadInputDataBit                    0x0800070f   Thumb Code    18  stm32f10x_gpio.o(.text)
-    GPIO_ReadInputData                       0x08000721   Thumb Code     8  stm32f10x_gpio.o(.text)
-    GPIO_ReadOutputDataBit                   0x08000729   Thumb Code    18  stm32f10x_gpio.o(.text)
-    GPIO_ReadOutputData                      0x0800073b   Thumb Code     8  stm32f10x_gpio.o(.text)
-    GPIO_SetBits                             0x08000743   Thumb Code     4  stm32f10x_gpio.o(.text)
-    GPIO_ResetBits                           0x08000747   Thumb Code     4  stm32f10x_gpio.o(.text)
-    GPIO_WriteBit                            0x0800074b   Thumb Code    10  stm32f10x_gpio.o(.text)
-    GPIO_Write                               0x08000755   Thumb Code     4  stm32f10x_gpio.o(.text)
-    GPIO_PinLockConfig                       0x08000759   Thumb Code    18  stm32f10x_gpio.o(.text)
-    GPIO_EventOutputConfig                   0x0800076b   Thumb Code    26  stm32f10x_gpio.o(.text)
-    GPIO_EventOutputCmd                      0x08000785   Thumb Code     6  stm32f10x_gpio.o(.text)
-    GPIO_PinRemapConfig                      0x0800078b   Thumb Code   138  stm32f10x_gpio.o(.text)
-    GPIO_EXTILineConfig                      0x08000815   Thumb Code    66  stm32f10x_gpio.o(.text)
-    GPIO_ETH_MediaInterfaceConfig            0x08000857   Thumb Code     8  stm32f10x_gpio.o(.text)
-    RCC_DeInit                               0x08000885   Thumb Code    64  stm32f10x_rcc.o(.text)
-    RCC_HSEConfig                            0x080008c5   Thumb Code    70  stm32f10x_rcc.o(.text)
-    RCC_GetFlagStatus                        0x0800090b   Thumb Code    56  stm32f10x_rcc.o(.text)
-    RCC_WaitForHSEStartUp                    0x08000943   Thumb Code    56  stm32f10x_rcc.o(.text)
-    RCC_AdjustHSICalibrationValue            0x0800097b   Thumb Code    20  stm32f10x_rcc.o(.text)
-    RCC_HSICmd                               0x0800098f   Thumb Code     6  stm32f10x_rcc.o(.text)
-    RCC_PLLConfig                            0x08000995   Thumb Code    24  stm32f10x_rcc.o(.text)
-    RCC_PLLCmd                               0x080009ad   Thumb Code     6  stm32f10x_rcc.o(.text)
-    RCC_SYSCLKConfig                         0x080009b3   Thumb Code    18  stm32f10x_rcc.o(.text)
-    RCC_GetSYSCLKSource                      0x080009c5   Thumb Code    10  stm32f10x_rcc.o(.text)
-    RCC_HCLKConfig                           0x080009cf   Thumb Code    18  stm32f10x_rcc.o(.text)
-    RCC_PCLK1Config                          0x080009e1   Thumb Code    18  stm32f10x_rcc.o(.text)
-    RCC_PCLK2Config                          0x080009f3   Thumb Code    20  stm32f10x_rcc.o(.text)
-    RCC_ITConfig                             0x08000a07   Thumb Code    26  stm32f10x_rcc.o(.text)
-    RCC_USBCLKConfig                         0x08000a21   Thumb Code     8  stm32f10x_rcc.o(.text)
-    RCC_ADCCLKConfig                         0x08000a29   Thumb Code    18  stm32f10x_rcc.o(.text)
-    RCC_LSEConfig                            0x08000a3b   Thumb Code    50  stm32f10x_rcc.o(.text)
-    RCC_LSICmd                               0x08000a6d   Thumb Code     6  stm32f10x_rcc.o(.text)
-    RCC_RTCCLKConfig                         0x08000a73   Thumb Code    12  stm32f10x_rcc.o(.text)
-    RCC_RTCCLKCmd                            0x08000a7f   Thumb Code     8  stm32f10x_rcc.o(.text)
-    RCC_GetClocksFreq                        0x08000a87   Thumb Code   192  stm32f10x_rcc.o(.text)
-    RCC_AHBPeriphClockCmd                    0x08000b47   Thumb Code    26  stm32f10x_rcc.o(.text)
-    RCC_APB2PeriphClockCmd                   0x08000b61   Thumb Code    26  stm32f10x_rcc.o(.text)
-    RCC_APB1PeriphClockCmd                   0x08000b7b   Thumb Code    26  stm32f10x_rcc.o(.text)
-    RCC_APB2PeriphResetCmd                   0x08000b95   Thumb Code    26  stm32f10x_rcc.o(.text)
-    RCC_APB1PeriphResetCmd                   0x08000baf   Thumb Code    26  stm32f10x_rcc.o(.text)
-    RCC_BackupResetCmd                       0x08000bc9   Thumb Code     8  stm32f10x_rcc.o(.text)
-    RCC_ClockSecuritySystemCmd               0x08000bd1   Thumb Code     6  stm32f10x_rcc.o(.text)
-    RCC_MCOConfig                            0x08000bd7   Thumb Code     6  stm32f10x_rcc.o(.text)
-    RCC_ClearFlag                            0x08000bdd   Thumb Code    14  stm32f10x_rcc.o(.text)
-    RCC_GetITStatus                          0x08000beb   Thumb Code    20  stm32f10x_rcc.o(.text)
-    RCC_ClearITPendingBit                    0x08000bff   Thumb Code     6  stm32f10x_rcc.o(.text)
-    TIM_DeInit                               0x08000c29   Thumb Code   424  stm32f10x_tim.o(.text)
-    TIM_TimeBaseInit                         0x08000dd1   Thumb Code   122  stm32f10x_tim.o(.text)
-    TIM_OC1Init                              0x08000e4b   Thumb Code   132  stm32f10x_tim.o(.text)
-    TIM_OC2Init                              0x08000ecf   Thumb Code   154  stm32f10x_tim.o(.text)
-    TIM_OC3Init                              0x08000f69   Thumb Code   150  stm32f10x_tim.o(.text)
-    TIM_OC4Init                              0x08000fff   Thumb Code   182  stm32f10x_tim.o(.text)
-    TIM_SetIC4Prescaler                      0x080010b5   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_SetIC3Prescaler                      0x08001151   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_SetIC2Prescaler                      0x080011dd   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_SetIC1Prescaler                      0x08001279   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ICInit                               0x080012f7   Thumb Code   150  stm32f10x_tim.o(.text)
-    TIM_PWMIConfig                           0x0800138d   Thumb Code   124  stm32f10x_tim.o(.text)
-    TIM_BDTRConfig                           0x08001409   Thumb Code    32  stm32f10x_tim.o(.text)
-    TIM_TimeBaseStructInit                   0x08001429   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OCStructInit                         0x0800143b   Thumb Code    20  stm32f10x_tim.o(.text)
-    TIM_ICStructInit                         0x0800144f   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_BDTRStructInit                       0x08001461   Thumb Code    40  stm32f10x_tim.o(.text)
-    TIM_Cmd                                  0x08001489   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_CtrlPWMOutputs                       0x080014a1   Thumb Code    30  stm32f10x_tim.o(.text)
-    TIM_ITConfig                             0x080014bf   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_GenerateEvent                        0x080014d1   Thumb Code     4  stm32f10x_tim.o(.text)
-    TIM_DMAConfig                            0x080014d5   Thumb Code    10  stm32f10x_tim.o(.text)
-    TIM_DMACmd                               0x080014df   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_InternalClockConfig                  0x080014f1   Thumb Code    12  stm32f10x_tim.o(.text)
-    TIM_SelectInputTrigger                   0x080014fd   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ITRxExternalClockConfig              0x0800150f   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_TIxExternalClockConfig               0x08001527   Thumb Code    62  stm32f10x_tim.o(.text)
-    TIM_ETRConfig                            0x08001565   Thumb Code    28  stm32f10x_tim.o(.text)
-    TIM_ETRClockMode1Config                  0x08001581   Thumb Code    54  stm32f10x_tim.o(.text)
-    TIM_ETRClockMode2Config                  0x080015b7   Thumb Code    32  stm32f10x_tim.o(.text)
-    TIM_PrescalerConfig                      0x080015d7   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_CounterModeConfig                    0x080015dd   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_EncoderInterfaceConfig               0x080015ef   Thumb Code    66  stm32f10x_tim.o(.text)
-    TIM_ForcedOC1Config                      0x08001631   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ForcedOC2Config                      0x08001643   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_ForcedOC3Config                      0x0800165d   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ForcedOC4Config                      0x0800166f   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_ARRPreloadConfig                     0x08001689   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_SelectCOM                            0x080016a1   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_SelectCCDMA                          0x080016b9   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_CCPreloadControl                     0x080016d1   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_OC1PreloadConfig                     0x080016e9   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OC2PreloadConfig                     0x080016fb   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC3PreloadConfig                     0x08001715   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OC4PreloadConfig                     0x08001727   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC1FastConfig                        0x08001741   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OC2FastConfig                        0x08001753   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC3FastConfig                        0x0800176d   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OC4FastConfig                        0x0800177f   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_ClearOC1Ref                          0x08001799   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ClearOC2Ref                          0x080017ab   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_ClearOC3Ref                          0x080017c3   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ClearOC4Ref                          0x080017d5   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_OC1PolarityConfig                    0x080017ed   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OC1NPolarityConfig                   0x080017ff   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_OC2PolarityConfig                    0x08001811   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC2NPolarityConfig                   0x0800182b   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC3PolarityConfig                    0x08001845   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC3NPolarityConfig                   0x0800185f   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_OC4PolarityConfig                    0x08001879   Thumb Code    26  stm32f10x_tim.o(.text)
-    TIM_CCxCmd                               0x08001893   Thumb Code    30  stm32f10x_tim.o(.text)
-    TIM_CCxNCmd                              0x080018b1   Thumb Code    30  stm32f10x_tim.o(.text)
-    TIM_SelectOCxM                           0x080018cf   Thumb Code    82  stm32f10x_tim.o(.text)
-    TIM_UpdateDisableConfig                  0x08001921   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_UpdateRequestConfig                  0x08001939   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_SelectHallSensor                     0x08001951   Thumb Code    24  stm32f10x_tim.o(.text)
-    TIM_SelectOnePulseMode                   0x08001969   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_SelectOutputTrigger                  0x0800197b   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_SelectSlaveMode                      0x0800198d   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_SelectMasterSlaveMode                0x0800199f   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_SetCounter                           0x080019b1   Thumb Code     4  stm32f10x_tim.o(.text)
-    TIM_SetAutoreload                        0x080019b5   Thumb Code     4  stm32f10x_tim.o(.text)
-    TIM_SetCompare1                          0x080019b9   Thumb Code     4  stm32f10x_tim.o(.text)
-    TIM_SetCompare2                          0x080019bd   Thumb Code     4  stm32f10x_tim.o(.text)
-    TIM_SetCompare3                          0x080019c1   Thumb Code     4  stm32f10x_tim.o(.text)
-    TIM_SetCompare4                          0x080019c5   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_SetClockDivision                     0x080019cb   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_GetCapture1                          0x080019dd   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_GetCapture2                          0x080019e3   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_GetCapture3                          0x080019e9   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_GetCapture4                          0x080019ef   Thumb Code     8  stm32f10x_tim.o(.text)
-    TIM_GetCounter                           0x080019f7   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_GetPrescaler                         0x080019fd   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_GetFlagStatus                        0x08001a03   Thumb Code    18  stm32f10x_tim.o(.text)
-    TIM_ClearFlag                            0x08001a15   Thumb Code     6  stm32f10x_tim.o(.text)
-    TIM_GetITStatus                          0x08001a1b   Thumb Code    34  stm32f10x_tim.o(.text)
-    TIM_ClearITPendingBit                    0x08001a3d   Thumb Code     6  stm32f10x_tim.o(.text)
-    USART_DeInit                             0x08001a45   Thumb Code   134  stm32f10x_usart.o(.text)
-    USART_Init                               0x08001acb   Thumb Code   210  stm32f10x_usart.o(.text)
-    USART_StructInit                         0x08001b9d   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_ClockInit                          0x08001bb5   Thumb Code    34  stm32f10x_usart.o(.text)
-    USART_ClockStructInit                    0x08001bd7   Thumb Code    12  stm32f10x_usart.o(.text)
-    USART_Cmd                                0x08001be3   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_ITConfig                           0x08001bfb   Thumb Code    74  stm32f10x_usart.o(.text)
-    USART_DMACmd                             0x08001c45   Thumb Code    18  stm32f10x_usart.o(.text)
-    USART_SetAddress                         0x08001c57   Thumb Code    18  stm32f10x_usart.o(.text)
-    USART_WakeUpConfig                       0x08001c69   Thumb Code    18  stm32f10x_usart.o(.text)
-    USART_ReceiverWakeUpCmd                  0x08001c7b   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_LINBreakDetectLengthConfig         0x08001c93   Thumb Code    18  stm32f10x_usart.o(.text)
-    USART_LINCmd                             0x08001ca5   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_SendData                           0x08001cbd   Thumb Code     8  stm32f10x_usart.o(.text)
-    USART_ReceiveData                        0x08001cc5   Thumb Code    10  stm32f10x_usart.o(.text)
-    USART_SendBreak                          0x08001ccf   Thumb Code    10  stm32f10x_usart.o(.text)
-    USART_SetGuardTime                       0x08001cd9   Thumb Code    16  stm32f10x_usart.o(.text)
-    USART_SetPrescaler                       0x08001ce9   Thumb Code    16  stm32f10x_usart.o(.text)
-    USART_SmartCardCmd                       0x08001cf9   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_SmartCardNACKCmd                   0x08001d11   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_HalfDuplexCmd                      0x08001d29   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_OverSampling8Cmd                   0x08001d41   Thumb Code    22  stm32f10x_usart.o(.text)
-    USART_OneBitMethodCmd                    0x08001d57   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_IrDAConfig                         0x08001d6f   Thumb Code    18  stm32f10x_usart.o(.text)
-    USART_IrDACmd                            0x08001d81   Thumb Code    24  stm32f10x_usart.o(.text)
-    USART_GetFlagStatus                      0x08001d99   Thumb Code    26  stm32f10x_usart.o(.text)
-    USART_ClearFlag                          0x08001db3   Thumb Code    18  stm32f10x_usart.o(.text)
-    USART_GetITStatus                        0x08001dc5   Thumb Code    84  stm32f10x_usart.o(.text)
-    USART_ClearITPendingBit                  0x08001e19   Thumb Code    52  stm32f10x_usart.o(.text)
-    System_Init                              0x08001e4d   Thumb Code   202  bsp_sys.o(.text)
-    LED_GPIO_Config                          0x08001f79   Thumb Code    40  bsp_gpio.o(.text)
-    LED_Flash                                0x08001fa1   Thumb Code    54  bsp_gpio.o(.text)
-    NVIC_Config                              0x08001fe1   Thumb Code     2  bsp_nvic.o(.text)
-    USART1_Init                              0x08001fe5   Thumb Code   124  bsp_usart.o(.text)
-    _sys_exit                                0x08002061   Thumb Code     4  bsp_usart.o(.text)
-    fputc                                    0x08002065   Thumb Code    32  bsp_usart.o(.text)
-    fgetc                                    0x08002085   Thumb Code    26  bsp_usart.o(.text)
-    USART1_Send                              0x0800209f   Thumb Code    74  bsp_usart.o(.text)
-    USART1_Receive                           0x080020e9   Thumb Code    16  bsp_usart.o(.text)
-    USART1_IRQHandler                        0x080020f9   Thumb Code    72  bsp_usart.o(.text)
-    Delay_Init                               0x08002155   Thumb Code    52  delay.o(.text)
-    Delay_ms                                 0x08002189   Thumb Code    56  delay.o(.text)
-    Delay_us                                 0x080021c1   Thumb Code    56  delay.o(.text)
-    i2c_Delay                                0x08002201   Thumb Code    14  bsp_iic.o(.text)
-    IIC_Start                                0x0800220f   Thumb Code    56  bsp_iic.o(.text)
-    IIC_Stop                                 0x08002247   Thumb Code    38  bsp_iic.o(.text)
-    IIC_Send_Byte                            0x0800226d   Thumb Code    96  bsp_iic.o(.text)
-    IIC_Ack                                  0x080022cd   Thumb Code    56  bsp_iic.o(.text)
-    IIC_NAck                                 0x08002305   Thumb Code    46  bsp_iic.o(.text)
-    IIC_Read_Byte                            0x08002333   Thumb Code    82  bsp_iic.o(.text)
-    IIC_Wait_Ack                             0x08002385   Thumb Code    66  bsp_iic.o(.text)
-    IIC_Init                                 0x080023c7   Thumb Code    44  bsp_iic.o(.text)
-    i2c_CheckDevice                          0x080023f3   Thumb Code    32  bsp_iic.o(.text)
-    MOTO_PWM_Init                            0x08002419   Thumb Code   196  bsp_timer.o(.text)
-    Motor_PWMOut                             0x080024dd   Thumb Code    68  bsp_timer.o(.text)
-    Timer6_Init                              0x08002521   Thumb Code   114  bsp_timer.o(.text)
-    Encoder_Init_TIM2                        0x08002593   Thumb Code   154  bsp_timer.o(.text)
-    Encoder_Init_TIM4                        0x0800262d   Thumb Code   148  bsp_timer.o(.text)
-    Read_Encoder                             0x080026c1   Thumb Code    84  bsp_timer.o(.text)
-    TIM4_IRQHandler                          0x08002715   Thumb Code    24  bsp_timer.o(.text)
-    TIM2_IRQHandler                          0x0800272d   Thumb Code    24  bsp_timer.o(.text)
-    Write_IIC_Command                        0x08002759   Thumb Code    44  oled.o(.text)
-    Write_IIC_Data                           0x08002785   Thumb Code    44  oled.o(.text)
-    OLED_WR_Byte                             0x080027b1   Thumb Code    24  oled.o(.text)
-    fill_picture                             0x080027c9   Thumb Code    64  oled.o(.text)
-    Delay_50ms                               0x08002809   Thumb Code    22  oled.o(.text)
-    Delay_1ms                                0x0800281f   Thumb Code    26  oled.o(.text)
-    OLED_Set_Pos                             0x08002839   Thumb Code    40  oled.o(.text)
-    OLED_Display_On                          0x08002861   Thumb Code    28  oled.o(.text)
-    OLED_Display_Off                         0x0800287d   Thumb Code    28  oled.o(.text)
-    OLED_Clear                               0x08002899   Thumb Code    62  oled.o(.text)
-    OLED_On                                  0x080028d7   Thumb Code    62  oled.o(.text)
-    OLED_ShowChar                            0x08002915   Thumb Code   154  oled.o(.text)
-    oled_pow                                 0x080029af   Thumb Code    22  oled.o(.text)
-    OLED_ShowNum                             0x080029c5   Thumb Code   136  oled.o(.text)
-    OLED_ShowString                          0x08002a4d   Thumb Code    58  oled.o(.text)
-    OLED_ShowCHinese                         0x08002a87   Thumb Code    98  oled.o(.text)
-    OLED_DrawBMP                             0x08002ae9   Thumb Code   118  oled.o(.text)
-    OLED_Init                                0x08002b5f   Thumb Code   232  oled.o(.text)
-    showPID                                  0x08002c55   Thumb Code   118  pid.o(.text)
-    PID_Calc_Left                            0x08002ccb   Thumb Code   114  pid.o(.text)
-    PID_Calc_Right                           0x08002d3d   Thumb Code   114  pid.o(.text)
-    TIM6_IRQHandler                          0x08002dd5   Thumb Code   506  car.o(.text)
-    Bluetooth_Init                           0x0800301d   Thumb Code   162  bluetooth.o(.text)
-    USART2_Send                              0x080030bf   Thumb Code    74  bluetooth.o(.text)
-    USART2_Receive                           0x08003109   Thumb Code    16  bluetooth.o(.text)
-    USART2_IRQHandler                        0x08003119   Thumb Code    72  bluetooth.o(.text)
-    Motor_Init                               0x08003175   Thumb Code    40  motor.o(.text)
-    Motor_CtlLeft                            0x0800319d   Thumb Code    68  motor.o(.text)
-    Motor_CtlRight                           0x080031e1   Thumb Code    68  motor.o(.text)
-    Car_Go                                   0x08003225   Thumb Code    16  motor.o(.text)
-    Car_Back                                 0x08003235   Thumb Code    16  motor.o(.text)
-    Car_TurnLeft                             0x08003245   Thumb Code    16  motor.o(.text)
-    Car_TurnRight                            0x08003255   Thumb Code    16  motor.o(.text)
-    Car_Stop                                 0x08003265   Thumb Code    16  motor.o(.text)
-    IIC_MPU6050_Init                         0x08003279   Thumb Code    40  ioi2c.o(.text)
-    i2cWrite                                 0x08003491   Thumb Code    96  ioi2c.o(.text)
-    i2cRead                                  0x08003559   Thumb Code   118  ioi2c.o(.text)
-    I2C_ReadOneByte                          0x080035cf   Thumb Code    70  ioi2c.o(.text)
-    IICreadBytes                             0x08003615   Thumb Code   112  ioi2c.o(.text)
-    IICwriteBytes                            0x08003685   Thumb Code    70  ioi2c.o(.text)
-    IICreadByte                              0x080036cb   Thumb Code    22  ioi2c.o(.text)
-    IICwriteByte                             0x080036e1   Thumb Code    20  ioi2c.o(.text)
-    IICwriteBits                             0x080036f5   Thumb Code   106  ioi2c.o(.text)
-    IICwriteBit                              0x0800375f   Thumb Code    64  ioi2c.o(.text)
-    MPU6050_newValues                        0x080038ad   Thumb Code   494  mpu6050.o(.text)
-    MPU6050_setClockSource                   0x08003a9b   Thumb Code    20  mpu6050.o(.text)
-    MPU6050_setFullScaleGyroRange            0x08003aaf   Thumb Code    20  mpu6050.o(.text)
-    MPU6050_setFullScaleAccelRange           0x08003ac3   Thumb Code    20  mpu6050.o(.text)
-    MPU6050_setSleepEnabled                  0x08003ad7   Thumb Code    18  mpu6050.o(.text)
-    MPU6050_getDeviceID                      0x08003ae9   Thumb Code    20  mpu6050.o(.text)
-    MPU6050_testConnection                   0x08003afd   Thumb Code    18  mpu6050.o(.text)
-    MPU6050_setI2CMasterModeEnabled          0x08003b0f   Thumb Code    18  mpu6050.o(.text)
-    MPU6050_setI2CBypassEnabled              0x08003b21   Thumb Code    18  mpu6050.o(.text)
-    MPU6050_initialize                       0x08003b33   Thumb Code    40  mpu6050.o(.text)
-    DMP_Init                                 0x08003b5b   Thumb Code   122  mpu6050.o(.text)
-    Read_DMP                                 0x08003bd5   Thumb Code   388  mpu6050.o(.text)
-    mpu_reg_dump                             0x08003df7   Thumb Code    72  inv_mpu.o(.text)
-    mpu_read_reg                             0x08003e3f   Thumb Code    66  inv_mpu.o(.text)
-    mpu_set_int_latched                      0x08003e81   Thumb Code   102  inv_mpu.o(.text)
-    mpu_set_sensors                          0x08003ee7   Thumb Code   202  inv_mpu.o(.text)
-    mpu_set_bypass                           0x08003fb1   Thumb Code   328  inv_mpu.o(.text)
-    mpu_reset_fifo                           0x080040f9   Thumb Code   444  inv_mpu.o(.text)
-    mpu_configure_fifo                       0x080042b5   Thumb Code   106  inv_mpu.o(.text)
-    mpu_set_lpf                              0x0800431f   Thumb Code   126  inv_mpu.o(.text)
-    mpu_lp_accel_mode                        0x0800439d   Thumb Code   218  inv_mpu.o(.text)
-    mpu_set_sample_rate                      0x08004477   Thumb Code   152  inv_mpu.o(.text)
-    mpu_set_accel_fsr                        0x0800450f   Thumb Code   132  inv_mpu.o(.text)
-    mpu_set_gyro_fsr                         0x08004593   Thumb Code   132  inv_mpu.o(.text)
-    mpu_init                                 0x08004617   Thumb Code   416  inv_mpu.o(.text)
-    myget_ms                                 0x080047b7   Thumb Code     2  inv_mpu.o(.text)
-    mpu_get_gyro_reg                         0x080047b9   Thumb Code   110  inv_mpu.o(.text)
-    mpu_get_accel_reg                        0x08004827   Thumb Code   110  inv_mpu.o(.text)
-    mpu_get_temperature                      0x08004895   Thumb Code   150  inv_mpu.o(.text)
-    mpu_set_accel_bias                       0x0800492b   Thumb Code   468  inv_mpu.o(.text)
-    mpu_get_gyro_fsr                         0x08004aff   Thumb Code    64  inv_mpu.o(.text)
-    mpu_get_accel_fsr                        0x08004b3f   Thumb Code    72  inv_mpu.o(.text)
-    mpu_get_lpf                              0x08004b87   Thumb Code    74  inv_mpu.o(.text)
-    mpu_get_sample_rate                      0x08004bd1   Thumb Code    26  inv_mpu.o(.text)
-    mpu_get_compass_sample_rate              0x08004beb   Thumb Code    10  inv_mpu.o(.text)
-    mpu_set_compass_sample_rate              0x08004bf5   Thumb Code     8  inv_mpu.o(.text)
-    mpu_get_gyro_sens                        0x08004bfd   Thumb Code    58  inv_mpu.o(.text)
-    mpu_get_accel_sens                       0x08004c37   Thumb Code    78  inv_mpu.o(.text)
-    mpu_get_fifo_config                      0x08004c85   Thumb Code    12  inv_mpu.o(.text)
-    mpu_get_power_state                      0x08004c91   Thumb Code    22  inv_mpu.o(.text)
-    mpu_get_int_status                       0x08004ca7   Thumb Code    64  inv_mpu.o(.text)
-    mpu_read_fifo                            0x08004ce7   Thumb Code   520  inv_mpu.o(.text)
-    mpu_read_fifo_stream                     0x08004eef   Thumb Code   186  inv_mpu.o(.text)
-    mpu_set_int_level                        0x08004fa9   Thumb Code    12  inv_mpu.o(.text)
-    mpu_set_dmp_state                        0x08005689   Thumb Code   138  inv_mpu.o(.text)
-    mpu_run_self_test                        0x08005713   Thumb Code   278  inv_mpu.o(.text)
-    mpu_write_mem                            0x08005829   Thumb Code   122  inv_mpu.o(.text)
-    mpu_read_mem                             0x080058a3   Thumb Code   122  inv_mpu.o(.text)
-    mpu_load_firmware                        0x0800591d   Thumb Code   190  inv_mpu.o(.text)
-    mpu_get_dmp_state                        0x080059db   Thumb Code    14  inv_mpu.o(.text)
-    mpu_get_compass_reg                      0x080059e9   Thumb Code     8  inv_mpu.o(.text)
-    mpu_get_compass_fsr                      0x080059f1   Thumb Code     8  inv_mpu.o(.text)
-    mpu_lp_motion_interrupt                  0x080059f9   Thumb Code   512  inv_mpu.o(.text)
-    dmp_load_motion_driver_firmware          0x08005bfd   Thumb Code    20  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_orientation                      0x08005c11   Thumb Code   290  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_gyro_bias                        0x08005d33   Thumb Code   294  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_accel_bias                       0x08005e59   Thumb Code   300  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_fifo_rate                        0x08005f85   Thumb Code   136  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_get_fifo_rate                        0x0800600d   Thumb Code    12  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_tap_thresh                       0x08006019   Thumb Code   396  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_tap_axes                         0x080061a5   Thumb Code    70  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_tap_count                        0x080061eb   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_tap_time                         0x08006211   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_tap_time_multi                   0x08006237   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_shake_reject_thresh              0x0800625d   Thumb Code    56  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_shake_reject_time                0x08006295   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_shake_reject_timeout             0x080062bb   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_get_pedometer_step_count             0x080062e1   Thumb Code    66  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_pedometer_step_count             0x08006323   Thumb Code    42  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_get_pedometer_walk_time              0x0800634d   Thumb Code    72  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_pedometer_walk_time              0x08006395   Thumb Code    48  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_enable_6x_lp_quat                    0x080063c5   Thumb Code    84  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_enable_lp_quat                       0x08006419   Thumb Code    60  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_enable_gyro_cal                      0x08006455   Thumb Code    62  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_enable_feature                       0x08006493   Thumb Code   530  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_get_enabled_features                 0x080066a5   Thumb Code    12  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_set_interrupt_mode                   0x0800670f   Thumb Code    66  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_read_fifo                            0x08006751   Thumb Code   514  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_register_tap_cb                      0x08006953   Thumb Code    10  inv_mpu_dmp_motion_driver.o(.text)
-    dmp_register_android_orient_cb           0x0800695d   Thumb Code    10  inv_mpu_dmp_motion_driver.o(.text)
-    Set_Pwm                                  0x0800696d   Thumb Code     2  control.o(.text)
-    Turn_Off                                 0x0800696f   Thumb Code    42  control.o(.text)
-    PWM_Limit                                0x08006999   Thumb Code    18  control.o(.text)
-    Velocity                                 0x080069ab   Thumb Code   242  control.o(.text)
-    Balance                                  0x08006a9d   Thumb Code    76  control.o(.text)
-    Get_Angle                                0x08006ae9   Thumb Code    30  control.o(.text)
-    EXTI15_10_IRQHandler                     0x08006b07   Thumb Code   124  control.o(.text)
-    Key                                      0x08006b83   Thumb Code    22  control.o(.text)
-    myabs                                    0x08006b99   Thumb Code    14  control.o(.text)
-    main                                     0x08006c0d   Thumb Code   222  main.o(.text)
-    NMI_Handler                              0x08006cf1   Thumb Code     2  stm32f10x_it.o(.text)
-    HardFault_Handler                        0x08006cf3   Thumb Code     4  stm32f10x_it.o(.text)
-    MemManage_Handler                        0x08006cf7   Thumb Code     4  stm32f10x_it.o(.text)
-    BusFault_Handler                         0x08006cfb   Thumb Code     4  stm32f10x_it.o(.text)
-    UsageFault_Handler                       0x08006cff   Thumb Code     4  stm32f10x_it.o(.text)
-    SVC_Handler                              0x08006d03   Thumb Code     2  stm32f10x_it.o(.text)
-    DebugMon_Handler                         0x08006d05   Thumb Code     2  stm32f10x_it.o(.text)
-    PendSV_Handler                           0x08006d07   Thumb Code     2  stm32f10x_it.o(.text)
-    __use_no_semihosting                     0x08006d09   Thumb Code     2  use_no_semi_2.o(.text)
-    __aeabi_ldivmod                          0x08006d0b   Thumb Code     0  llsdiv.o(.text)
-    _ll_sdiv                                 0x08006d0b   Thumb Code    72  llsdiv.o(.text)
-    __2printf                                0x08006d55   Thumb Code    20  noretval__2printf.o(.text)
-    __2sprintf                               0x08006d6d   Thumb Code    34  noretval__2sprintf.o(.text)
-    _printf_pre_padding                      0x08006d95   Thumb Code    44  _printf_pad.o(.text)
-    _printf_post_padding                     0x08006dc1   Thumb Code    34  _printf_pad.o(.text)
-    _printf_int_dec                          0x08006de5   Thumb Code   104  _printf_dec.o(.text)
-    __printf                                 0x08006e5d   Thumb Code   270  __printf_wp.o(.text)
-    memcmp                                   0x08006f6b   Thumb Code    88  memcmp.o(.text)
-    __aeabi_memset                           0x08006fc3   Thumb Code    16  aeabi_memset.o(.text)
-    __use_two_region_memory                  0x08006fd3   Thumb Code     2  heapauxi.o(.text)
-    __rt_heap_escrow$2region                 0x08006fd5   Thumb Code     2  heapauxi.o(.text)
-    __rt_heap_expand$2region                 0x08006fd7   Thumb Code     2  heapauxi.o(.text)
-    __I$use$semihosting                      0x08006fd9   Thumb Code     0  use_no_semi.o(.text)
-    __use_no_semihosting_swi                 0x08006fd9   Thumb Code     2  use_no_semi.o(.text)
-    __aeabi_uldivmod                         0x08006fdb   Thumb Code     0  lludivv7m.o(.text)
-    _ll_udiv                                 0x08006fdb   Thumb Code   238  lludivv7m.o(.text)
-    _printf_int_common                       0x080070c9   Thumb Code   178  _printf_intcommon.o(.text)
-    __lib_sel_fp_printf                      0x0800717b   Thumb Code     2  _printf_fp_dec.o(.text)
-    _printf_fp_dec_real                      0x08007329   Thumb Code   620  _printf_fp_dec.o(.text)
-    _printf_char_common                      0x0800759f   Thumb Code    32  _printf_char_common.o(.text)
-    _sputc                                   0x080075c5   Thumb Code    10  _sputc.o(.text)
-    _printf_char_file                        0x080075d1   Thumb Code    32  _printf_char_file.o(.text)
-    __aeabi_memclr                           0x080075f5   Thumb Code     0  rt_memclr.o(.text)
-    __rt_memclr                              0x080075f5   Thumb Code    68  rt_memclr.o(.text)
-    _memset                                  0x080075f9   Thumb Code     0  rt_memclr.o(.text)
-    __rt_locale                              0x08007639   Thumb Code     8  rt_locale_intlibspace.o(.text)
-    _ll_udiv10                               0x08007641   Thumb Code   138  lludiv10.o(.text)
-    _printf_fp_infnan                        0x080076cd   Thumb Code   112  _printf_fp_infnan.o(.text)
-    _btod_etento                             0x0800774d   Thumb Code   216  bigflt0.o(.text)
-    ferror                                   0x08007829   Thumb Code     8  ferror.o(.text)
-    __aeabi_memclr4                          0x08007831   Thumb Code     0  rt_memclr_w.o(.text)
-    __aeabi_memclr8                          0x08007831   Thumb Code     0  rt_memclr_w.o(.text)
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-    exit                                     0x080078d3   Thumb Code    18  exit.o(.text)
-    strcmp                                   0x080078e5   Thumb Code   128  strcmpv7m.o(.text)
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-    _get_lc_numeric                          0x08008579   Thumb Code    44  lc_numeric_c.o(locale$$code)
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-    _dflt                                    0x08008a19   Thumb Code    46  dflt_clz.o(x$fpl$dflt)
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-    _dsub                                    0x08008c5d   Thumb Code   464  daddsub_clz.o(x$fpl$dsub)
-    __aeabi_f2d                              0x08008e31   Thumb Code     0  f2d.o(x$fpl$f2d)
-    _f2d                                     0x08008e31   Thumb Code    86  f2d.o(x$fpl$f2d)
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-    _fadd                                    0x08008e89   Thumb Code   196  faddsub_clz.o(x$fpl$fadd)
-    __fpl_fcmp_Inf                           0x08008f4d   Thumb Code    24  fcmpi.o(x$fpl$fcmpinf)
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-    _fdiv                                    0x08008f65   Thumb Code   384  fdiv.o(x$fpl$fdiv)
-    __aeabi_cfcmpeq                          0x080090e9   Thumb Code     0  feqf.o(x$fpl$feqf)
-    _fcmpeq                                  0x080090e9   Thumb Code   104  feqf.o(x$fpl$feqf)
-    __aeabi_f2iz                             0x08009151   Thumb Code     0  ffix.o(x$fpl$ffix)
-    _ffix                                    0x08009151   Thumb Code    54  ffix.o(x$fpl$ffix)
-    __aeabi_f2uiz                            0x08009189   Thumb Code     0  ffixu.o(x$fpl$ffixu)
-    _ffixu                                   0x08009189   Thumb Code    62  ffixu.o(x$fpl$ffixu)
-    __aeabi_i2f                              0x080091c9   Thumb Code     0  fflt_clz.o(x$fpl$fflt)
-    _fflt                                    0x080091c9   Thumb Code    48  fflt_clz.o(x$fpl$fflt)
-    __aeabi_ui2f                             0x080091f9   Thumb Code     0  fflt_clz.o(x$fpl$ffltu)
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-    __aeabi_cfcmple                          0x08009221   Thumb Code     0  fleqf.o(x$fpl$fleqf)
-    _fcmple                                  0x08009221   Thumb Code   104  fleqf.o(x$fpl$fleqf)
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-    __aeabi_fmul                             0x08009289   Thumb Code     0  fmul.o(x$fpl$fmul)
-    _fmul                                    0x08009289   Thumb Code   258  fmul.o(x$fpl$fmul)
-    __fpl_fnaninf                            0x0800938b   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
-    __fpl_fretinf                            0x08009417   Thumb Code    10  fretinf.o(x$fpl$fretinf)
-    __aeabi_cfrcmple                         0x08009421   Thumb Code     0  frleqf.o(x$fpl$frleqf)
-    _frcmple                                 0x08009421   Thumb Code    98  frleqf.o(x$fpl$frleqf)
-    __aeabi_frsub                            0x08009483   Thumb Code     0  faddsub_clz.o(x$fpl$frsb)
-    _frsb                                    0x08009483   Thumb Code    20  faddsub_clz.o(x$fpl$frsb)
-    __aeabi_fsub                             0x08009499   Thumb Code     0  faddsub_clz.o(x$fpl$fsub)
-    _fsub                                    0x08009499   Thumb Code   234  faddsub_clz.o(x$fpl$fsub)
-    _printf_fp_dec                           0x08009583   Thumb Code     4  printf1.o(x$fpl$printf1)
-    __fpl_return_NaN                         0x08009587   Thumb Code   100  retnan.o(x$fpl$retnan)
-    __ARM_scalbn                             0x080095eb   Thumb Code    92  scalbn.o(x$fpl$scalbn)
-    __fpl_cmpreturn                          0x08009647   Thumb Code    48  trapv.o(x$fpl$trapveneer)
-    F6x8                                     0x08009676   Data         552  oled.o(.constdata)
-    __I$use$fp                               0x08009676   Number         0  usenofp.o(x$fpl$usenofp)
-    F8X16                                    0x0800989e   Data        1520  oled.o(.constdata)
-    hw                                       0x08009e90   Data          12  inv_mpu.o(.constdata)
-    reg                                      0x08009e9c   Data          27  inv_mpu.o(.constdata)
-    test                                     0x08009eb8   Data          40  inv_mpu.o(.constdata)
-    __mathlib_zero                           0x0800ab70   Data           8  qnan.o(.constdata)
-    Region$$Table$$Base                      0x0800ac5c   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x0800ac7c   Number         0  anon$$obj.o(Region$$Table)
+    __scatterload_copy                       0x0800016d   Thumb Code    26  __scatter_copy.o(!!handler_copy)
+    __scatterload_zeroinit                   0x08000189   Thumb Code    28  __scatter_zi.o(!!handler_zi)
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+    Reset_Handler                            0x080001ed   Thumb Code     8  startup_stm32f10x_hd.o(.text)
+    SysTick_Handler                          0x08000205   Thumb Code     2  startup_stm32f10x_hd.o(.text)
+    ADC1_2_IRQHandler                        0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    ADC3_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    CAN1_RX1_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    CAN1_SCE_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel1_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel2_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel3_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel4_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel5_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel6_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA1_Channel7_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA2_Channel1_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA2_Channel2_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA2_Channel3_IRQHandler                 0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    DMA2_Channel4_5_IRQHandler               0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    EXTI0_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    EXTI1_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    EXTI2_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    EXTI3_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    EXTI4_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    EXTI9_5_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    FLASH_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    FSMC_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    I2C1_ER_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    I2C1_EV_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    I2C2_ER_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    I2C2_EV_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    PVD_IRQHandler                           0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    RCC_IRQHandler                           0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    RTCAlarm_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    RTC_IRQHandler                           0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    SDIO_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    SPI1_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    SPI2_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    SPI3_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TAMPER_IRQHandler                        0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM1_BRK_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM1_CC_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM1_TRG_COM_IRQHandler                  0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM1_UP_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM3_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM5_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM7_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM8_BRK_IRQHandler                      0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM8_CC_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM8_TRG_COM_IRQHandler                  0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    TIM8_UP_IRQHandler                       0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    UART4_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    UART5_IRQHandler                         0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    USART3_IRQHandler                        0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    USBWakeUp_IRQHandler                     0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    USB_HP_CAN1_TX_IRQHandler                0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    USB_LP_CAN1_RX0_IRQHandler               0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    WWDG_IRQHandler                          0x08000207   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    __user_initial_stackheap                 0x08000209   Thumb Code     0  startup_stm32f10x_hd.o(.text)
+    SystemInit                               0x0800030b   Thumb Code    78  system_stm32f10x.o(.text)
+    SystemCoreClockUpdate                    0x08000359   Thumb Code   142  system_stm32f10x.o(.text)
+    NVIC_PriorityGroupConfig                 0x0800040d   Thumb Code    10  misc.o(.text)
+    NVIC_Init                                0x08000417   Thumb Code   100  misc.o(.text)
+    NVIC_SetVectorTable                      0x0800047b   Thumb Code    14  misc.o(.text)
+    NVIC_SystemLPConfig                      0x08000489   Thumb Code    34  misc.o(.text)
+    SysTick_CLKSourceConfig                  0x080004ab   Thumb Code    40  misc.o(.text)
+    GPIO_DeInit                              0x080004e9   Thumb Code   172  stm32f10x_gpio.o(.text)
+    GPIO_AFIODeInit                          0x08000595   Thumb Code    20  stm32f10x_gpio.o(.text)
+    GPIO_Init                                0x080005a9   Thumb Code   278  stm32f10x_gpio.o(.text)
+    GPIO_StructInit                          0x080006bf   Thumb Code    16  stm32f10x_gpio.o(.text)
+    GPIO_ReadInputDataBit                    0x080006cf   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_ReadInputData                       0x080006e1   Thumb Code     8  stm32f10x_gpio.o(.text)
+    GPIO_ReadOutputDataBit                   0x080006e9   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_ReadOutputData                      0x080006fb   Thumb Code     8  stm32f10x_gpio.o(.text)
+    GPIO_SetBits                             0x08000703   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_ResetBits                           0x08000707   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_WriteBit                            0x0800070b   Thumb Code    10  stm32f10x_gpio.o(.text)
+    GPIO_Write                               0x08000715   Thumb Code     4  stm32f10x_gpio.o(.text)
+    GPIO_PinLockConfig                       0x08000719   Thumb Code    18  stm32f10x_gpio.o(.text)
+    GPIO_EventOutputConfig                   0x0800072b   Thumb Code    26  stm32f10x_gpio.o(.text)
+    GPIO_EventOutputCmd                      0x08000745   Thumb Code     6  stm32f10x_gpio.o(.text)
+    GPIO_PinRemapConfig                      0x0800074b   Thumb Code   138  stm32f10x_gpio.o(.text)
+    GPIO_EXTILineConfig                      0x080007d5   Thumb Code    66  stm32f10x_gpio.o(.text)
+    GPIO_ETH_MediaInterfaceConfig            0x08000817   Thumb Code     8  stm32f10x_gpio.o(.text)
+    RCC_DeInit                               0x08000845   Thumb Code    64  stm32f10x_rcc.o(.text)
+    RCC_HSEConfig                            0x08000885   Thumb Code    70  stm32f10x_rcc.o(.text)
+    RCC_GetFlagStatus                        0x080008cb   Thumb Code    56  stm32f10x_rcc.o(.text)
+    RCC_WaitForHSEStartUp                    0x08000903   Thumb Code    56  stm32f10x_rcc.o(.text)
+    RCC_AdjustHSICalibrationValue            0x0800093b   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_HSICmd                               0x0800094f   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_PLLConfig                            0x08000955   Thumb Code    24  stm32f10x_rcc.o(.text)
+    RCC_PLLCmd                               0x0800096d   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_SYSCLKConfig                         0x08000973   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_GetSYSCLKSource                      0x08000985   Thumb Code    10  stm32f10x_rcc.o(.text)
+    RCC_HCLKConfig                           0x0800098f   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_PCLK1Config                          0x080009a1   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_PCLK2Config                          0x080009b3   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_ITConfig                             0x080009c7   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_USBCLKConfig                         0x080009e1   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_ADCCLKConfig                         0x080009e9   Thumb Code    18  stm32f10x_rcc.o(.text)
+    RCC_LSEConfig                            0x080009fb   Thumb Code    50  stm32f10x_rcc.o(.text)
+    RCC_LSICmd                               0x08000a2d   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_RTCCLKConfig                         0x08000a33   Thumb Code    12  stm32f10x_rcc.o(.text)
+    RCC_RTCCLKCmd                            0x08000a3f   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_GetClocksFreq                        0x08000a47   Thumb Code   192  stm32f10x_rcc.o(.text)
+    RCC_AHBPeriphClockCmd                    0x08000b07   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB2PeriphClockCmd                   0x08000b21   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB1PeriphClockCmd                   0x08000b3b   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB2PeriphResetCmd                   0x08000b55   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_APB1PeriphResetCmd                   0x08000b6f   Thumb Code    26  stm32f10x_rcc.o(.text)
+    RCC_BackupResetCmd                       0x08000b89   Thumb Code     8  stm32f10x_rcc.o(.text)
+    RCC_ClockSecuritySystemCmd               0x08000b91   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_MCOConfig                            0x08000b97   Thumb Code     6  stm32f10x_rcc.o(.text)
+    RCC_ClearFlag                            0x08000b9d   Thumb Code    14  stm32f10x_rcc.o(.text)
+    RCC_GetITStatus                          0x08000bab   Thumb Code    20  stm32f10x_rcc.o(.text)
+    RCC_ClearITPendingBit                    0x08000bbf   Thumb Code     6  stm32f10x_rcc.o(.text)
+    TIM_DeInit                               0x08000be9   Thumb Code   424  stm32f10x_tim.o(.text)
+    TIM_TimeBaseInit                         0x08000d91   Thumb Code   122  stm32f10x_tim.o(.text)
+    TIM_OC1Init                              0x08000e0b   Thumb Code   132  stm32f10x_tim.o(.text)
+    TIM_OC2Init                              0x08000e8f   Thumb Code   154  stm32f10x_tim.o(.text)
+    TIM_OC3Init                              0x08000f29   Thumb Code   150  stm32f10x_tim.o(.text)
+    TIM_OC4Init                              0x08000fbf   Thumb Code   182  stm32f10x_tim.o(.text)
+    TIM_SetIC4Prescaler                      0x08001075   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SetIC3Prescaler                      0x08001111   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SetIC2Prescaler                      0x0800119d   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_SetIC1Prescaler                      0x08001239   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ICInit                               0x080012b7   Thumb Code   150  stm32f10x_tim.o(.text)
+    TIM_PWMIConfig                           0x0800134d   Thumb Code   124  stm32f10x_tim.o(.text)
+    TIM_BDTRConfig                           0x080013c9   Thumb Code    32  stm32f10x_tim.o(.text)
+    TIM_TimeBaseStructInit                   0x080013e9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OCStructInit                         0x080013fb   Thumb Code    20  stm32f10x_tim.o(.text)
+    TIM_ICStructInit                         0x0800140f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_BDTRStructInit                       0x08001421   Thumb Code    40  stm32f10x_tim.o(.text)
+    TIM_Cmd                                  0x08001449   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_CtrlPWMOutputs                       0x08001461   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_ITConfig                             0x0800147f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_GenerateEvent                        0x08001491   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_DMAConfig                            0x08001495   Thumb Code    10  stm32f10x_tim.o(.text)
+    TIM_DMACmd                               0x0800149f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_InternalClockConfig                  0x080014b1   Thumb Code    12  stm32f10x_tim.o(.text)
+    TIM_SelectInputTrigger                   0x080014bd   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ITRxExternalClockConfig              0x080014cf   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_TIxExternalClockConfig               0x080014e7   Thumb Code    62  stm32f10x_tim.o(.text)
+    TIM_ETRConfig                            0x08001525   Thumb Code    28  stm32f10x_tim.o(.text)
+    TIM_ETRClockMode1Config                  0x08001541   Thumb Code    54  stm32f10x_tim.o(.text)
+    TIM_ETRClockMode2Config                  0x08001577   Thumb Code    32  stm32f10x_tim.o(.text)
+    TIM_PrescalerConfig                      0x08001597   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_CounterModeConfig                    0x0800159d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_EncoderInterfaceConfig               0x080015af   Thumb Code    66  stm32f10x_tim.o(.text)
+    TIM_ForcedOC1Config                      0x080015f1   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC2Config                      0x08001603   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ForcedOC3Config                      0x0800161d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ForcedOC4Config                      0x0800162f   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ARRPreloadConfig                     0x08001649   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectCOM                            0x08001661   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectCCDMA                          0x08001679   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_CCPreloadControl                     0x08001691   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_OC1PreloadConfig                     0x080016a9   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2PreloadConfig                     0x080016bb   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3PreloadConfig                     0x080016d5   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC4PreloadConfig                     0x080016e7   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC1FastConfig                        0x08001701   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2FastConfig                        0x08001713   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3FastConfig                        0x0800172d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC4FastConfig                        0x0800173f   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_ClearOC1Ref                          0x08001759   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearOC2Ref                          0x0800176b   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_ClearOC3Ref                          0x08001783   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearOC4Ref                          0x08001795   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_OC1PolarityConfig                    0x080017ad   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC1NPolarityConfig                   0x080017bf   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_OC2PolarityConfig                    0x080017d1   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC2NPolarityConfig                   0x080017eb   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3PolarityConfig                    0x08001805   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC3NPolarityConfig                   0x0800181f   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_OC4PolarityConfig                    0x08001839   Thumb Code    26  stm32f10x_tim.o(.text)
+    TIM_CCxCmd                               0x08001853   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_CCxNCmd                              0x08001871   Thumb Code    30  stm32f10x_tim.o(.text)
+    TIM_SelectOCxM                           0x0800188f   Thumb Code    82  stm32f10x_tim.o(.text)
+    TIM_UpdateDisableConfig                  0x080018e1   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_UpdateRequestConfig                  0x080018f9   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectHallSensor                     0x08001911   Thumb Code    24  stm32f10x_tim.o(.text)
+    TIM_SelectOnePulseMode                   0x08001929   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectOutputTrigger                  0x0800193b   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectSlaveMode                      0x0800194d   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SelectMasterSlaveMode                0x0800195f   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_SetCounter                           0x08001971   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetAutoreload                        0x08001975   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare1                          0x08001979   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare2                          0x0800197d   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare3                          0x08001981   Thumb Code     4  stm32f10x_tim.o(.text)
+    TIM_SetCompare4                          0x08001985   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_SetClockDivision                     0x0800198b   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_GetCapture1                          0x0800199d   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture2                          0x080019a3   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture3                          0x080019a9   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetCapture4                          0x080019af   Thumb Code     8  stm32f10x_tim.o(.text)
+    TIM_GetCounter                           0x080019b7   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetPrescaler                         0x080019bd   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetFlagStatus                        0x080019c3   Thumb Code    18  stm32f10x_tim.o(.text)
+    TIM_ClearFlag                            0x080019d5   Thumb Code     6  stm32f10x_tim.o(.text)
+    TIM_GetITStatus                          0x080019db   Thumb Code    34  stm32f10x_tim.o(.text)
+    TIM_ClearITPendingBit                    0x080019fd   Thumb Code     6  stm32f10x_tim.o(.text)
+    USART_DeInit                             0x08001a05   Thumb Code   134  stm32f10x_usart.o(.text)
+    USART_Init                               0x08001a8b   Thumb Code   210  stm32f10x_usart.o(.text)
+    USART_StructInit                         0x08001b5d   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_ClockInit                          0x08001b75   Thumb Code    34  stm32f10x_usart.o(.text)
+    USART_ClockStructInit                    0x08001b97   Thumb Code    12  stm32f10x_usart.o(.text)
+    USART_Cmd                                0x08001ba3   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_ITConfig                           0x08001bbb   Thumb Code    74  stm32f10x_usart.o(.text)
+    USART_DMACmd                             0x08001c05   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_SetAddress                         0x08001c17   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_WakeUpConfig                       0x08001c29   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_ReceiverWakeUpCmd                  0x08001c3b   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_LINBreakDetectLengthConfig         0x08001c53   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_LINCmd                             0x08001c65   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_SendData                           0x08001c7d   Thumb Code     8  stm32f10x_usart.o(.text)
+    USART_ReceiveData                        0x08001c85   Thumb Code    10  stm32f10x_usart.o(.text)
+    USART_SendBreak                          0x08001c8f   Thumb Code    10  stm32f10x_usart.o(.text)
+    USART_SetGuardTime                       0x08001c99   Thumb Code    16  stm32f10x_usart.o(.text)
+    USART_SetPrescaler                       0x08001ca9   Thumb Code    16  stm32f10x_usart.o(.text)
+    USART_SmartCardCmd                       0x08001cb9   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_SmartCardNACKCmd                   0x08001cd1   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_HalfDuplexCmd                      0x08001ce9   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_OverSampling8Cmd                   0x08001d01   Thumb Code    22  stm32f10x_usart.o(.text)
+    USART_OneBitMethodCmd                    0x08001d17   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_IrDAConfig                         0x08001d2f   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_IrDACmd                            0x08001d41   Thumb Code    24  stm32f10x_usart.o(.text)
+    USART_GetFlagStatus                      0x08001d59   Thumb Code    26  stm32f10x_usart.o(.text)
+    USART_ClearFlag                          0x08001d73   Thumb Code    18  stm32f10x_usart.o(.text)
+    USART_GetITStatus                        0x08001d85   Thumb Code    84  stm32f10x_usart.o(.text)
+    USART_ClearITPendingBit                  0x08001dd9   Thumb Code    52  stm32f10x_usart.o(.text)
+    System_Init                              0x08001e0d   Thumb Code    98  bsp_sys.o(.text)
+    LED_GPIO_Config                          0x08001e79   Thumb Code    40  bsp_gpio.o(.text)
+    LED_Flash                                0x08001ea1   Thumb Code    54  bsp_gpio.o(.text)
+    NVIC_Config                              0x08001ee1   Thumb Code     2  bsp_nvic.o(.text)
+    USART1_Init                              0x08001ee5   Thumb Code   124  bsp_usart.o(.text)
+    _sys_exit                                0x08001f61   Thumb Code     4  bsp_usart.o(.text)
+    fputc                                    0x08001f65   Thumb Code    24  bsp_usart.o(.text)
+    fgetc                                    0x08001f7d   Thumb Code    26  bsp_usart.o(.text)
+    USART1_Send                              0x08001f97   Thumb Code    74  bsp_usart.o(.text)
+    USART1_Receive                           0x08001fe1   Thumb Code    16  bsp_usart.o(.text)
+    USART1_IRQHandler                        0x08001ff1   Thumb Code    72  bsp_usart.o(.text)
+    Delay_Init                               0x0800204d   Thumb Code    52  delay.o(.text)
+    Delay_ms                                 0x08002081   Thumb Code    56  delay.o(.text)
+    Delay_us                                 0x080020b9   Thumb Code    56  delay.o(.text)
+    i2c_Delay                                0x080020f9   Thumb Code    14  bsp_iic.o(.text)
+    IIC_Start                                0x08002107   Thumb Code    56  bsp_iic.o(.text)
+    IIC_Stop                                 0x0800213f   Thumb Code    38  bsp_iic.o(.text)
+    IIC_Send_Byte                            0x08002165   Thumb Code    96  bsp_iic.o(.text)
+    IIC_Ack                                  0x080021c5   Thumb Code    56  bsp_iic.o(.text)
+    IIC_NAck                                 0x080021fd   Thumb Code    46  bsp_iic.o(.text)
+    IIC_Read_Byte                            0x0800222b   Thumb Code    82  bsp_iic.o(.text)
+    IIC_Wait_Ack                             0x0800227d   Thumb Code    66  bsp_iic.o(.text)
+    IIC_Init                                 0x080022bf   Thumb Code    52  bsp_iic.o(.text)
+    i2c_CheckDevice                          0x080022f3   Thumb Code    32  bsp_iic.o(.text)
+    MOTO_PWM_Init                            0x0800232d   Thumb Code   196  bsp_timer.o(.text)
+    Motor_PWMOut                             0x080023f1   Thumb Code    68  bsp_timer.o(.text)
+    Timer6_Init                              0x08002435   Thumb Code   114  bsp_timer.o(.text)
+    Encoder_Init_TIM2                        0x080024a7   Thumb Code   154  bsp_timer.o(.text)
+    Encoder_Init_TIM4                        0x08002541   Thumb Code   148  bsp_timer.o(.text)
+    Read_Encoder                             0x080025d5   Thumb Code    84  bsp_timer.o(.text)
+    TIM4_IRQHandler                          0x08002629   Thumb Code    24  bsp_timer.o(.text)
+    TIM2_IRQHandler                          0x08002641   Thumb Code    24  bsp_timer.o(.text)
+    showPID                                  0x0800266d   Thumb Code     2  pid.o(.text)
+    PID_Calc_Left                            0x0800266f   Thumb Code   114  pid.o(.text)
+    PID_Calc_Right                           0x080026e1   Thumb Code   114  pid.o(.text)
+    TIM6_IRQHandler                          0x08002771   Thumb Code   440  car.o(.text)
+    Bluetooth_Init                           0x08002975   Thumb Code   162  bluetooth.o(.text)
+    USART2_Send                              0x08002a17   Thumb Code    74  bluetooth.o(.text)
+    USART2_SendStr                           0x08002a61   Thumb Code    70  bluetooth.o(.text)
+    PB_USART_printf                          0x08002b09   Thumb Code   296  bluetooth.o(.text)
+    USART2_Receive                           0x08002c31   Thumb Code    16  bluetooth.o(.text)
+    USART2_IRQHandler                        0x08002c41   Thumb Code    72  bluetooth.o(.text)
+    Motor_Init                               0x08002c9d   Thumb Code    40  motor.o(.text)
+    Motor_CtlLeft                            0x08002cc5   Thumb Code    68  motor.o(.text)
+    Motor_CtlRight                           0x08002d09   Thumb Code    68  motor.o(.text)
+    Car_Go                                   0x08002d4d   Thumb Code    16  motor.o(.text)
+    Car_Back                                 0x08002d5d   Thumb Code    16  motor.o(.text)
+    Car_TurnLeft                             0x08002d6d   Thumb Code    16  motor.o(.text)
+    Car_TurnRight                            0x08002d7d   Thumb Code    16  motor.o(.text)
+    Car_Stop                                 0x08002d8d   Thumb Code    16  motor.o(.text)
+    IIC_MPU6050_Init                         0x08002da1   Thumb Code    40  ioi2c.o(.text)
+    i2cWrite                                 0x08002fb9   Thumb Code    96  ioi2c.o(.text)
+    i2cRead                                  0x08003081   Thumb Code   118  ioi2c.o(.text)
+    I2C_ReadOneByte                          0x080030f7   Thumb Code    70  ioi2c.o(.text)
+    IICreadBytes                             0x0800313d   Thumb Code   112  ioi2c.o(.text)
+    IICwriteBytes                            0x080031ad   Thumb Code    70  ioi2c.o(.text)
+    IICreadByte                              0x080031f3   Thumb Code    22  ioi2c.o(.text)
+    IICwriteByte                             0x08003209   Thumb Code    20  ioi2c.o(.text)
+    IICwriteBits                             0x0800321d   Thumb Code   106  ioi2c.o(.text)
+    IICwriteBit                              0x08003287   Thumb Code    64  ioi2c.o(.text)
+    MPU6050_newValues                        0x080033df   Thumb Code   494  mpu6050.o(.text)
+    MPU6050_setClockSource                   0x080035cd   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_setFullScaleGyroRange            0x080035e1   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_setFullScaleAccelRange           0x080035f5   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_setSleepEnabled                  0x08003609   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_getDeviceID                      0x0800361b   Thumb Code    20  mpu6050.o(.text)
+    MPU6050_testConnection                   0x0800362f   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_setI2CMasterModeEnabled          0x08003641   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_setI2CBypassEnabled              0x08003653   Thumb Code    18  mpu6050.o(.text)
+    MPU6050_initialize                       0x08003665   Thumb Code    52  mpu6050.o(.text)
+    DMP_Init                                 0x08003699   Thumb Code   104  mpu6050.o(.text)
+    Read_DMP                                 0x08003701   Thumb Code   432  mpu6050.o(.text)
+    mpu_reg_dump                             0x08003953   Thumb Code    72  inv_mpu.o(.text)
+    mpu_read_reg                             0x0800399b   Thumb Code    66  inv_mpu.o(.text)
+    mpu_set_int_latched                      0x080039dd   Thumb Code   102  inv_mpu.o(.text)
+    mpu_set_sensors                          0x08003a43   Thumb Code   202  inv_mpu.o(.text)
+    mpu_set_bypass                           0x08003b0d   Thumb Code   328  inv_mpu.o(.text)
+    mpu_reset_fifo                           0x08003c55   Thumb Code   444  inv_mpu.o(.text)
+    mpu_configure_fifo                       0x08003e11   Thumb Code   106  inv_mpu.o(.text)
+    mpu_set_lpf                              0x08003e7b   Thumb Code   126  inv_mpu.o(.text)
+    mpu_lp_accel_mode                        0x08003ef9   Thumb Code   218  inv_mpu.o(.text)
+    mpu_set_sample_rate                      0x08003fd3   Thumb Code   152  inv_mpu.o(.text)
+    mpu_set_accel_fsr                        0x0800406b   Thumb Code   132  inv_mpu.o(.text)
+    mpu_set_gyro_fsr                         0x080040ef   Thumb Code   132  inv_mpu.o(.text)
+    mpu_init                                 0x08004173   Thumb Code   416  inv_mpu.o(.text)
+    myget_ms                                 0x08004313   Thumb Code     2  inv_mpu.o(.text)
+    mpu_get_gyro_reg                         0x08004315   Thumb Code   110  inv_mpu.o(.text)
+    mpu_get_accel_reg                        0x08004383   Thumb Code   110  inv_mpu.o(.text)
+    mpu_get_temperature                      0x080043f1   Thumb Code   150  inv_mpu.o(.text)
+    mpu_set_accel_bias                       0x08004487   Thumb Code   468  inv_mpu.o(.text)
+    mpu_get_gyro_fsr                         0x0800465b   Thumb Code    64  inv_mpu.o(.text)
+    mpu_get_accel_fsr                        0x0800469b   Thumb Code    72  inv_mpu.o(.text)
+    mpu_get_lpf                              0x080046e3   Thumb Code    74  inv_mpu.o(.text)
+    mpu_get_sample_rate                      0x0800472d   Thumb Code    26  inv_mpu.o(.text)
+    mpu_get_compass_sample_rate              0x08004747   Thumb Code    10  inv_mpu.o(.text)
+    mpu_set_compass_sample_rate              0x08004751   Thumb Code     8  inv_mpu.o(.text)
+    mpu_get_gyro_sens                        0x08004759   Thumb Code    58  inv_mpu.o(.text)
+    mpu_get_accel_sens                       0x08004793   Thumb Code    78  inv_mpu.o(.text)
+    mpu_get_fifo_config                      0x080047e1   Thumb Code    12  inv_mpu.o(.text)
+    mpu_get_power_state                      0x080047ed   Thumb Code    22  inv_mpu.o(.text)
+    mpu_get_int_status                       0x08004803   Thumb Code    64  inv_mpu.o(.text)
+    mpu_read_fifo                            0x08004843   Thumb Code   520  inv_mpu.o(.text)
+    mpu_read_fifo_stream                     0x08004a4b   Thumb Code   186  inv_mpu.o(.text)
+    mpu_set_int_level                        0x08004b05   Thumb Code    12  inv_mpu.o(.text)
+    mpu_set_dmp_state                        0x080051e5   Thumb Code   138  inv_mpu.o(.text)
+    mpu_run_self_test                        0x0800526f   Thumb Code   278  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   190  inv_mpu.o(.text)
+    mpu_get_dmp_state                        0x08005537   Thumb Code    14  inv_mpu.o(.text)
+    mpu_get_compass_reg                      0x08005545   Thumb Code     8  inv_mpu.o(.text)
+    mpu_get_compass_fsr                      0x0800554d   Thumb Code     8  inv_mpu.o(.text)
+    mpu_lp_motion_interrupt                  0x08005555   Thumb Code   512  inv_mpu.o(.text)
+    dmp_load_motion_driver_firmware          0x08005759   Thumb Code    20  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_orientation                      0x0800576d   Thumb Code   290  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_gyro_bias                        0x0800588f   Thumb Code   294  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_accel_bias                       0x080059b5   Thumb Code   300  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_fifo_rate                        0x08005ae1   Thumb Code   136  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_fifo_rate                        0x08005b69   Thumb Code    12  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_thresh                       0x08005b75   Thumb Code   396  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_axes                         0x08005d01   Thumb Code    70  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_count                        0x08005d47   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_time                         0x08005d6d   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_tap_time_multi                   0x08005d93   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_shake_reject_thresh              0x08005db9   Thumb Code    56  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_shake_reject_time                0x08005df1   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_shake_reject_timeout             0x08005e17   Thumb Code    38  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_pedometer_step_count             0x08005e3d   Thumb Code    66  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_pedometer_step_count             0x08005e7f   Thumb Code    42  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_pedometer_walk_time              0x08005ea9   Thumb Code    72  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_pedometer_walk_time              0x08005ef1   Thumb Code    48  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_6x_lp_quat                    0x08005f21   Thumb Code    84  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_lp_quat                       0x08005f75   Thumb Code    60  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_gyro_cal                      0x08005fb1   Thumb Code    62  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_enable_feature                       0x08005fef   Thumb Code   530  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_get_enabled_features                 0x08006201   Thumb Code    12  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_set_interrupt_mode                   0x0800626b   Thumb Code    66  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_read_fifo                            0x080062ad   Thumb Code   514  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_register_tap_cb                      0x080064af   Thumb Code    10  inv_mpu_dmp_motion_driver.o(.text)
+    dmp_register_android_orient_cb           0x080064b9   Thumb Code    10  inv_mpu_dmp_motion_driver.o(.text)
+    Set_Pwm                                  0x080064c9   Thumb Code     2  control.o(.text)
+    Turn_Off                                 0x080064cb   Thumb Code    42  control.o(.text)
+    PWM_Limit                                0x080064f5   Thumb Code    18  control.o(.text)
+    Velocity                                 0x08006507   Thumb Code   242  control.o(.text)
+    Balance                                  0x080065f9   Thumb Code    76  control.o(.text)
+    Get_Angle                                0x08006645   Thumb Code    30  control.o(.text)
+    EXTI15_10_IRQHandler                     0x08006663   Thumb Code   124  control.o(.text)
+    Key                                      0x080066df   Thumb Code    22  control.o(.text)
+    myabs                                    0x080066f5   Thumb Code    14  control.o(.text)
+    main                                     0x08006769   Thumb Code   242  main.o(.text)
+    NMI_Handler                              0x08006891   Thumb Code     2  stm32f10x_it.o(.text)
+    HardFault_Handler                        0x08006893   Thumb Code     4  stm32f10x_it.o(.text)
+    MemManage_Handler                        0x08006897   Thumb Code     4  stm32f10x_it.o(.text)
+    BusFault_Handler                         0x0800689b   Thumb Code     4  stm32f10x_it.o(.text)
+    UsageFault_Handler                       0x0800689f   Thumb Code     4  stm32f10x_it.o(.text)
+    SVC_Handler                              0x080068a3   Thumb Code     2  stm32f10x_it.o(.text)
+    DebugMon_Handler                         0x080068a5   Thumb Code     2  stm32f10x_it.o(.text)
+    PendSV_Handler                           0x080068a7   Thumb Code     2  stm32f10x_it.o(.text)
+    __use_no_semihosting                     0x080068a9   Thumb Code     2  use_no_semi_2.o(.text)
+    __aeabi_ldivmod                          0x080068ab   Thumb Code     0  llsdiv.o(.text)
+    _ll_sdiv                                 0x080068ab   Thumb Code    72  llsdiv.o(.text)
+    __2printf                                0x080068f5   Thumb Code    20  noretval__2printf.o(.text)
+    __2sprintf                               0x0800690d   Thumb Code    34  noretval__2sprintf.o(.text)
+    _printf_pre_padding                      0x08006935   Thumb Code    44  _printf_pad.o(.text)
+    _printf_post_padding                     0x08006961   Thumb Code    34  _printf_pad.o(.text)
+    _printf_int_dec                          0x08006985   Thumb Code   104  _printf_dec.o(.text)
+    __printf                                 0x080069fd   Thumb Code   270  __printf_wp.o(.text)
+    memcmp                                   0x08006b0b   Thumb Code    88  memcmp.o(.text)
+    __aeabi_memset                           0x08006b63   Thumb Code    16  aeabi_memset.o(.text)
+    __use_two_region_memory                  0x08006b73   Thumb Code     2  heapauxi.o(.text)
+    __rt_heap_escrow$2region                 0x08006b75   Thumb Code     2  heapauxi.o(.text)
+    __rt_heap_expand$2region                 0x08006b77   Thumb Code     2  heapauxi.o(.text)
+    __I$use$semihosting                      0x08006b79   Thumb Code     0  use_no_semi.o(.text)
+    __use_no_semihosting_swi                 0x08006b79   Thumb Code     2  use_no_semi.o(.text)
+    __aeabi_uldivmod                         0x08006b7b   Thumb Code     0  lludivv7m.o(.text)
+    _ll_udiv                                 0x08006b7b   Thumb Code   238  lludivv7m.o(.text)
+    _printf_int_common                       0x08006c69   Thumb Code   178  _printf_intcommon.o(.text)
+    __lib_sel_fp_printf                      0x08006d1b   Thumb Code     2  _printf_fp_dec.o(.text)
+    _printf_fp_dec_real                      0x08006ec9   Thumb Code   620  _printf_fp_dec.o(.text)
+    _printf_char_common                      0x0800713f   Thumb Code    32  _printf_char_common.o(.text)
+    _sputc                                   0x08007165   Thumb Code    10  _sputc.o(.text)
+    _printf_char_file                        0x08007171   Thumb Code    32  _printf_char_file.o(.text)
+    __aeabi_memclr                           0x08007195   Thumb Code     0  rt_memclr.o(.text)
+    __rt_memclr                              0x08007195   Thumb Code    68  rt_memclr.o(.text)
+    _memset                                  0x08007199   Thumb Code     0  rt_memclr.o(.text)
+    __rt_locale                              0x080071d9   Thumb Code     8  rt_locale_intlibspace.o(.text)
+    _ll_udiv10                               0x080071e1   Thumb Code   138  lludiv10.o(.text)
+    _printf_fp_infnan                        0x0800726d   Thumb Code   112  _printf_fp_infnan.o(.text)
+    _btod_etento                             0x080072ed   Thumb Code   216  bigflt0.o(.text)
+    ferror                                   0x080073c9   Thumb Code     8  ferror.o(.text)
+    __aeabi_memclr4                          0x080073d1   Thumb Code     0  rt_memclr_w.o(.text)
+    __aeabi_memclr8                          0x080073d1   Thumb Code     0  rt_memclr_w.o(.text)
+    __rt_memclr_w                            0x080073d1   Thumb Code    78  rt_memclr_w.o(.text)
+    _memset_w                                0x080073d5   Thumb Code     0  rt_memclr_w.o(.text)
+    __user_libspace                          0x08007421   Thumb Code     8  libspace.o(.text)
+    __user_perproc_libspace                  0x08007421   Thumb Code     0  libspace.o(.text)
+    __user_perthread_libspace                0x08007421   Thumb Code     0  libspace.o(.text)
+    __user_setup_stackheap                   0x08007429   Thumb Code    74  sys_stackheap_outer.o(.text)
+    exit                                     0x08007473   Thumb Code    18  exit.o(.text)
+    strcmp                                   0x08007485   Thumb Code   128  strcmpv7m.o(.text)
+    _btod_d2e                                0x08007505   Thumb Code    62  btod.o(CL$$btod_d2e)
+    _d2e_denorm_low                          0x08007543   Thumb Code    70  btod.o(CL$$btod_d2e_denorm_low)
+    _d2e_norm_op1                            0x08007589   Thumb Code    96  btod.o(CL$$btod_d2e_norm_op1)
+    __btod_div_common                        0x080075e9   Thumb Code   696  btod.o(CL$$btod_div_common)
+    _e2e                                     0x08007921   Thumb Code   198  btod.o(CL$$btod_e2e)
+    _btod_ediv                               0x080079e7   Thumb Code    40  btod.o(CL$$btod_ediv)
+    _btod_emul                               0x08007a0f   Thumb Code    40  btod.o(CL$$btod_emul)
+    __btod_mult_common                       0x08007a37   Thumb Code   580  btod.o(CL$$btod_mult_common)
+    __ARM_fpclassify                         0x08007c7b   Thumb Code    40  fpclassify.o(i.__ARM_fpclassify)
+    __kernel_poly                            0x08007ca3   Thumb Code   170  poly.o(i.__kernel_poly)
+    __mathlib_dbl_infnan                     0x08007d4d   Thumb Code     6  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_infnan2                    0x08007d53   Thumb Code     4  dunder.o(i.__mathlib_dbl_infnan2)
+    __mathlib_dbl_underflow                  0x08007d59   Thumb Code    10  dunder.o(i.__mathlib_dbl_underflow)
+    _is_digit                                0x08007d69   Thumb Code    14  __printf_wp.o(i._is_digit)
+    atan                                     0x08007d79   Thumb Code   474  atan.o(i.atan)
+    atan2                                    0x08007f99   Thumb Code   346  atan2.o(i.atan2)
+    _get_lc_numeric                          0x08008119   Thumb Code    44  lc_numeric_c.o(locale$$code)
+    __aeabi_d2f                              0x08008145   Thumb Code     0  d2f.o(x$fpl$d2f)
+    _d2f                                     0x08008145   Thumb Code    98  d2f.o(x$fpl$d2f)
+    __aeabi_dadd                             0x080081a9   Thumb Code     0  daddsub_clz.o(x$fpl$dadd)
+    _dadd                                    0x080081a9   Thumb Code   332  daddsub_clz.o(x$fpl$dadd)
+    __fpl_dcheck_NaN1                        0x080082f9   Thumb Code    10  dcheck1.o(x$fpl$dcheck1)
+    __aeabi_ddiv                             0x08008309   Thumb Code     0  ddiv.o(x$fpl$ddiv)
+    _ddiv                                    0x08008309   Thumb Code   552  ddiv.o(x$fpl$ddiv)
+    __aeabi_i2d                              0x080085b9   Thumb Code     0  dflt_clz.o(x$fpl$dflt)
+    _dflt                                    0x080085b9   Thumb Code    46  dflt_clz.o(x$fpl$dflt)
+    __aeabi_dmul                             0x080085e9   Thumb Code     0  dmul.o(x$fpl$dmul)
+    _dmul                                    0x080085e9   Thumb Code   332  dmul.o(x$fpl$dmul)
+    __fpl_dnaninf                            0x0800873d   Thumb Code   156  dnaninf.o(x$fpl$dnaninf)
+    __fpl_dretinf                            0x080087d9   Thumb Code    12  dretinf.o(x$fpl$dretinf)
+    __aeabi_drsub                            0x080087e5   Thumb Code     0  daddsub_clz.o(x$fpl$drsb)
+    _drsb                                    0x080087e5   Thumb Code    22  daddsub_clz.o(x$fpl$drsb)
+    __aeabi_dsub                             0x080087fd   Thumb Code     0  daddsub_clz.o(x$fpl$dsub)
+    _dsub                                    0x080087fd   Thumb Code   464  daddsub_clz.o(x$fpl$dsub)
+    __aeabi_f2d                              0x080089d1   Thumb Code     0  f2d.o(x$fpl$f2d)
+    _f2d                                     0x080089d1   Thumb Code    86  f2d.o(x$fpl$f2d)
+    __aeabi_fadd                             0x08008a29   Thumb Code     0  faddsub_clz.o(x$fpl$fadd)
+    _fadd                                    0x08008a29   Thumb Code   196  faddsub_clz.o(x$fpl$fadd)
+    __fpl_fcmp_Inf                           0x08008aed   Thumb Code    24  fcmpi.o(x$fpl$fcmpinf)
+    __aeabi_fdiv                             0x08008b05   Thumb Code     0  fdiv.o(x$fpl$fdiv)
+    _fdiv                                    0x08008b05   Thumb Code   384  fdiv.o(x$fpl$fdiv)
+    __aeabi_cfcmpeq                          0x08008c89   Thumb Code     0  feqf.o(x$fpl$feqf)
+    _fcmpeq                                  0x08008c89   Thumb Code   104  feqf.o(x$fpl$feqf)
+    __aeabi_f2iz                             0x08008cf1   Thumb Code     0  ffix.o(x$fpl$ffix)
+    _ffix                                    0x08008cf1   Thumb Code    54  ffix.o(x$fpl$ffix)
+    __aeabi_f2uiz                            0x08008d29   Thumb Code     0  ffixu.o(x$fpl$ffixu)
+    _ffixu                                   0x08008d29   Thumb Code    62  ffixu.o(x$fpl$ffixu)
+    __aeabi_i2f                              0x08008d69   Thumb Code     0  fflt_clz.o(x$fpl$fflt)
+    _fflt                                    0x08008d69   Thumb Code    48  fflt_clz.o(x$fpl$fflt)
+    __aeabi_ui2f                             0x08008d99   Thumb Code     0  fflt_clz.o(x$fpl$ffltu)
+    _ffltu                                   0x08008d99   Thumb Code    38  fflt_clz.o(x$fpl$ffltu)
+    __aeabi_cfcmple                          0x08008dc1   Thumb Code     0  fleqf.o(x$fpl$fleqf)
+    _fcmple                                  0x08008dc1   Thumb Code   104  fleqf.o(x$fpl$fleqf)
+    __fpl_fcmple_InfNaN                      0x08008e13   Thumb Code     0  fleqf.o(x$fpl$fleqf)
+    __aeabi_fmul                             0x08008e29   Thumb Code     0  fmul.o(x$fpl$fmul)
+    _fmul                                    0x08008e29   Thumb Code   258  fmul.o(x$fpl$fmul)
+    __fpl_fnaninf                            0x08008f2b   Thumb Code   140  fnaninf.o(x$fpl$fnaninf)
+    __fpl_fretinf                            0x08008fb7   Thumb Code    10  fretinf.o(x$fpl$fretinf)
+    __aeabi_cfrcmple                         0x08008fc1   Thumb Code     0  frleqf.o(x$fpl$frleqf)
+    _frcmple                                 0x08008fc1   Thumb Code    98  frleqf.o(x$fpl$frleqf)
+    __aeabi_frsub                            0x08009023   Thumb Code     0  faddsub_clz.o(x$fpl$frsb)
+    _frsb                                    0x08009023   Thumb Code    20  faddsub_clz.o(x$fpl$frsb)
+    __aeabi_fsub                             0x08009039   Thumb Code     0  faddsub_clz.o(x$fpl$fsub)
+    _fsub                                    0x08009039   Thumb Code   234  faddsub_clz.o(x$fpl$fsub)
+    _printf_fp_dec                           0x08009123   Thumb Code     4  printf1.o(x$fpl$printf1)
+    __fpl_return_NaN                         0x08009127   Thumb Code   100  retnan.o(x$fpl$retnan)
+    __ARM_scalbn                             0x0800918b   Thumb Code    92  scalbn.o(x$fpl$scalbn)
+    __fpl_cmpreturn                          0x080091e7   Thumb Code    48  trapv.o(x$fpl$trapveneer)
+    __I$use$fp                               0x08009216   Number         0  usenofp.o(x$fpl$usenofp)
+    hw                                       0x08009218   Data          12  inv_mpu.o(.constdata)
+    reg                                      0x08009224   Data          27  inv_mpu.o(.constdata)
+    test                                     0x08009240   Data          40  inv_mpu.o(.constdata)
+    __mathlib_zero                           0x08009ef8   Data           8  qnan.o(.constdata)
+    Region$$Table$$Base                      0x08009fe4   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x0800a004   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)
     rx_count                                 0x20000030   Data           4  bsp_usart.o(.data)
     rx_length                                0x20000034   Data           4  bsp_usart.o(.data)
     __stdout                                 0x20000038   Data           4  bsp_usart.o(.data)
-    Hzk                                      0x20000040   Data         512  oled.o(.data)
-    Proportion                               0x20000240   Data           4  pid.o(.data)
-    Integral                                 0x20000244   Data           4  pid.o(.data)
-    Derivative                               0x20000248   Data           4  pid.o(.data)
-    Encoder_Left                             0x2000025c   Data           4  car.o(.data)
-    Encoder_Right                            0x20000260   Data           4  car.o(.data)
-    Moto_Left                                0x20000264   Data           4  car.o(.data)
-    Moto_Right                               0x20000268   Data           4  car.o(.data)
-    para_L                                   0x2000026c   Data           4  car.o(.data)
-    para_R                                   0x20000270   Data           4  car.o(.data)
-    SetPoint                                 0x20000274   Data           4  car.o(.data)
-    temp1                                    0x20000278   Data           4  car.o(.data)
-    temp2                                    0x2000027c   Data           4  car.o(.data)
-    temp3                                    0x20000280   Data           4  car.o(.data)
-    temp4                                    0x20000284   Data           4  car.o(.data)
-    set_speed                                0x20000288   Data           5  car.o(.data)
-    speed                                    0x2000028d   Data           5  car.o(.data)
-    rx2_address                              0x20000294   Data           4  bluetooth.o(.data)
-    rx2_count                                0x20000298   Data           4  bluetooth.o(.data)
-    rx2_length                               0x2000029c   Data           4  bluetooth.o(.data)
-    gyro                                     0x200002a0   Data           6  mpu6050.o(.data)
-    accel                                    0x200002a6   Data           6  mpu6050.o(.data)
-    sensors                                  0x200002ac   Data           2  mpu6050.o(.data)
-    Roll                                     0x200002b0   Data           4  mpu6050.o(.data)
-    Pitch                                    0x200002b4   Data           4  mpu6050.o(.data)
-    q0                                       0x200002b8   Data           4  mpu6050.o(.data)
-    q1                                       0x200002bc   Data           4  mpu6050.o(.data)
-    q2                                       0x200002c0   Data           4  mpu6050.o(.data)
-    q3                                       0x200002c4   Data           4  mpu6050.o(.data)
-    Gx_offset                                0x200002d2   Data           2  mpu6050.o(.data)
-    Gy_offset                                0x200002d4   Data           2  mpu6050.o(.data)
-    Gz_offset                                0x200002d6   Data           2  mpu6050.o(.data)
-    Angle_Balance                            0x20000304   Data           4  control.o(.data)
-    Gyro_Balance                             0x20000308   Data           4  control.o(.data)
-    Flag_Stop                                0x2000030c   Data           1  control.o(.data)
-    buffer                                   0x20000320   Data          14  mpu6050.o(.bss)
-    MPU6050_FIFO                             0x2000032e   Data         132  mpu6050.o(.bss)
-    BLE_RX                                   0x200003c4   Data          64  main.o(.bss)
-    __libspace_start                         0x20000404   Data          96  libspace.o(.bss)
-    __temporary_stack_top$libspace           0x20000464   Data           0  libspace.o(.bss)
+    Proportion                               0x20000040   Data           4  pid.o(.data)
+    Integral                                 0x20000044   Data           4  pid.o(.data)
+    Derivative                               0x20000048   Data           4  pid.o(.data)
+    Encoder_Left                             0x2000005c   Data           4  car.o(.data)
+    Encoder_Right                            0x20000060   Data           4  car.o(.data)
+    Moto_Left                                0x20000064   Data           4  car.o(.data)
+    Moto_Right                               0x20000068   Data           4  car.o(.data)
+    para_L                                   0x2000006c   Data           4  car.o(.data)
+    para_R                                   0x20000070   Data           4  car.o(.data)
+    SetPoint                                 0x20000074   Data           4  car.o(.data)
+    temp1                                    0x20000078   Data           4  car.o(.data)
+    temp2                                    0x2000007c   Data           4  car.o(.data)
+    temp3                                    0x20000080   Data           4  car.o(.data)
+    temp4                                    0x20000084   Data           4  car.o(.data)
+    set_speed                                0x20000088   Data           5  car.o(.data)
+    speed                                    0x2000008d   Data           5  car.o(.data)
+    rx2_address                              0x20000094   Data           4  bluetooth.o(.data)
+    rx2_count                                0x20000098   Data           4  bluetooth.o(.data)
+    rx2_length                               0x2000009c   Data           4  bluetooth.o(.data)
+    gyro                                     0x200000a0   Data           6  mpu6050.o(.data)
+    accel                                    0x200000a6   Data           6  mpu6050.o(.data)
+    sensors                                  0x200000ac   Data           2  mpu6050.o(.data)
+    Roll                                     0x200000b0   Data           4  mpu6050.o(.data)
+    Pitch                                    0x200000b4   Data           4  mpu6050.o(.data)
+    q0                                       0x200000b8   Data           4  mpu6050.o(.data)
+    q1                                       0x200000bc   Data           4  mpu6050.o(.data)
+    q2                                       0x200000c0   Data           4  mpu6050.o(.data)
+    q3                                       0x200000c4   Data           4  mpu6050.o(.data)
+    Gx_offset                                0x200000d2   Data           2  mpu6050.o(.data)
+    Gy_offset                                0x200000d4   Data           2  mpu6050.o(.data)
+    Gz_offset                                0x200000d6   Data           2  mpu6050.o(.data)
+    Angle_Balance                            0x20000104   Data           4  control.o(.data)
+    Gyro_Balance                             0x20000108   Data           4  control.o(.data)
+    Flag_Stop                                0x2000010c   Data           1  control.o(.data)
+    buffer                                   0x20000120   Data          14  mpu6050.o(.bss)
+    MPU6050_FIFO                             0x2000012e   Data         132  mpu6050.o(.bss)
+    BLE_RX                                   0x200001c4   Data          64  main.o(.bss)
+    __libspace_start                         0x20000204   Data          96  libspace.o(.bss)
+    __temporary_stack_top$libspace           0x20000264   Data           0  libspace.o(.bss)
 
 
 
@@ -1643,201 +1608,199 @@ Memory Map of the image
 
   Image Entry point : 0x08000131
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000afb8, Max: 0x00040000, ABSOLUTE, COMPRESSED[0x0000adb4])
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000a140, Max: 0x00040000, ABSOLUTE)
 
-    Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x0000ac98, Max: 0x00040000, ABSOLUTE)
+    Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x0000a020, Max: 0x00040000, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
     0x08000000   0x00000130   Data   RO            3    RESET               startup_stm32f10x_hd.o
-    0x08000130   0x00000008   Code   RO          869  * !!!main             c_w.l(__main.o)
-    0x08000138   0x00000034   Code   RO         1219    !!!scatter          c_w.l(__scatter.o)
-    0x0800016c   0x0000005a   Code   RO         1217    !!dczerorl2         c_w.l(__dczerorl2.o)
-    0x080001c6   0x00000002   PAD
-    0x080001c8   0x0000001c   Code   RO         1221    !!handler_zi        c_w.l(__scatter_zi.o)
-    0x080001e4   0x00000000   Code   RO          862    .ARM.Collect$$_printf_percent$$00000000  c_w.l(_printf_percent.o)
-    0x080001e4   0x00000006   Code   RO          861    .ARM.Collect$$_printf_percent$$00000003  c_w.l(_printf_f.o)
-    0x080001ea   0x00000006   Code   RO          860    .ARM.Collect$$_printf_percent$$00000009  c_w.l(_printf_d.o)
-    0x080001f0   0x00000004   Code   RO          948    .ARM.Collect$$_printf_percent$$00000017  c_w.l(_printf_percent_end.o)
-    0x080001f4   0x00000002   Code   RO         1084    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
-    0x080001f6   0x00000000   Code   RO         1086    .ARM.Collect$$libinit$$00000002  c_w.l(libinit2.o)
-    0x080001f6   0x00000000   Code   RO         1088    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
-    0x080001f6   0x00000000   Code   RO         1091    .ARM.Collect$$libinit$$0000000A  c_w.l(libinit2.o)
-    0x080001f6   0x00000000   Code   RO         1093    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
-    0x080001f6   0x00000000   Code   RO         1095    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
-    0x080001f6   0x00000006   Code   RO         1096    .ARM.Collect$$libinit$$0000000F  c_w.l(libinit2.o)
-    0x080001fc   0x00000000   Code   RO         1098    .ARM.Collect$$libinit$$00000011  c_w.l(libinit2.o)
-    0x080001fc   0x00000000   Code   RO         1100    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
-    0x080001fc   0x00000000   Code   RO         1102    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
-    0x080001fc   0x0000000a   Code   RO         1103    .ARM.Collect$$libinit$$00000016  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1104    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1106    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1108    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1110    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1112    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1114    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1116    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1118    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1122    .ARM.Collect$$libinit$$0000002C  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1124    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1126    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
-    0x08000206   0x00000000   Code   RO         1128    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
-    0x08000206   0x00000002   Code   RO         1129    .ARM.Collect$$libinit$$00000033  c_w.l(libinit2.o)
-    0x08000208   0x00000002   Code   RO         1177    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
-    0x0800020a   0x00000000   Code   RO         1186    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
-    0x0800020a   0x00000000   Code   RO         1188    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
-    0x0800020a   0x00000000   Code   RO         1191    .ARM.Collect$$libshutdown$$00000007  c_w.l(libshutdown2.o)
-    0x0800020a   0x00000000   Code   RO         1194    .ARM.Collect$$libshutdown$$0000000A  c_w.l(libshutdown2.o)
-    0x0800020a   0x00000000   Code   RO         1196    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
-    0x0800020a   0x00000000   Code   RO         1199    .ARM.Collect$$libshutdown$$0000000F  c_w.l(libshutdown2.o)
-    0x0800020a   0x00000002   Code   RO         1200    .ARM.Collect$$libshutdown$$00000010  c_w.l(libshutdown2.o)
-    0x0800020c   0x00000000   Code   RO          933    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
-    0x0800020c   0x00000000   Code   RO          992    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
-    0x0800020c   0x00000006   Code   RO         1004    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
-    0x08000212   0x00000000   Code   RO          994    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
-    0x08000212   0x00000004   Code   RO          995    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
-    0x08000216   0x00000000   Code   RO          997    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
-    0x08000216   0x00000008   Code   RO          998    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
-    0x0800021e   0x00000002   Code   RO         1132    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
-    0x08000220   0x00000000   Code   RO         1145    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
-    0x08000220   0x00000004   Code   RO         1146    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
-    0x08000224   0x00000006   Code   RO         1147    .ARM.Collect$$rtexit$$00000004  c_w.l(rtexit2.o)
-    0x0800022a   0x00000002   PAD
-    0x0800022c   0x00000040   Code   RO            4    .text               startup_stm32f10x_hd.o
-    0x0800026c   0x000001e0   Code   RO           24    .text               system_stm32f10x.o
-    0x0800044c   0x000000dc   Code   RO          118    .text               misc.o
-    0x08000528   0x0000035c   Code   RO          269    .text               stm32f10x_gpio.o
-    0x08000884   0x000003a4   Code   RO          317    .text               stm32f10x_rcc.o
-    0x08000c28   0x00000e1a   Code   RO          367    .text               stm32f10x_tim.o
-    0x08001a42   0x00000002   PAD
-    0x08001a44   0x00000408   Code   RO          379    .text               stm32f10x_usart.o
-    0x08001e4c   0x0000012c   Code   RO          471    .text               bsp_sys.o
-    0x08001f78   0x00000068   Code   RO          514    .text               bsp_gpio.o
-    0x08001fe0   0x00000002   Code   RO          527    .text               bsp_nvic.o
-    0x08001fe2   0x00000002   PAD
-    0x08001fe4   0x00000170   Code   RO          539    .text               bsp_usart.o
-    0x08002154   0x000000ac   Code   RO          558    .text               delay.o
-    0x08002200   0x00000218   Code   RO          572    .text               bsp_iic.o
-    0x08002418   0x00000340   Code   RO          584    .text               bsp_timer.o
-    0x08002758   0x000004fc   Code   RO          596    .text               oled.o
-    0x08002c54   0x00000180   Code   RO          618    .text               pid.o
-    0x08002dd4   0x00000248   Code   RO          633    .text               car.o
-    0x0800301c   0x00000158   Code   RO          651    .text               bluetooth.o
-    0x08003174   0x00000104   Code   RO          669    .text               motor.o
-    0x08003278   0x00000526   Code   RO          681    .text               ioi2c.o
-    0x0800379e   0x00000002   PAD
-    0x080037a0   0x000005cc   Code   RO          705    .text               mpu6050.o
-    0x08003d6c   0x00001e90   Code   RO          729    .text               inv_mpu.o
-    0x08005bfc   0x00000d70   Code   RO          753    .text               inv_mpu_dmp_motion_driver.o
-    0x0800696c   0x000002a0   Code   RO          768    .text               control.o
-    0x08006c0c   0x000000e4   Code   RO          790    .text               main.o
-    0x08006cf0   0x00000018   Code   RO          805    .text               stm32f10x_it.o
-    0x08006d08   0x00000002   Code   RO          822    .text               c_w.l(use_no_semi_2.o)
-    0x08006d0a   0x00000048   Code   RO          824    .text               c_w.l(llsdiv.o)
-    0x08006d52   0x00000002   PAD
-    0x08006d54   0x00000018   Code   RO          830    .text               c_w.l(noretval__2printf.o)
-    0x08006d6c   0x00000028   Code   RO          832    .text               c_w.l(noretval__2sprintf.o)
-    0x08006d94   0x0000004e   Code   RO          836    .text               c_w.l(_printf_pad.o)
-    0x08006de2   0x00000002   PAD
-    0x08006de4   0x00000078   Code   RO          838    .text               c_w.l(_printf_dec.o)
-    0x08006e5c   0x0000010e   Code   RO          848    .text               c_w.l(__printf_wp.o)
-    0x08006f6a   0x00000058   Code   RO          863    .text               c_w.l(memcmp.o)
-    0x08006fc2   0x00000010   Code   RO          865    .text               c_w.l(aeabi_memset.o)
-    0x08006fd2   0x00000006   Code   RO          867    .text               c_w.l(heapauxi.o)
-    0x08006fd8   0x00000002   Code   RO          931    .text               c_w.l(use_no_semi.o)
-    0x08006fda   0x000000ee   Code   RO          934    .text               c_w.l(lludivv7m.o)
-    0x080070c8   0x000000b2   Code   RO          938    .text               c_w.l(_printf_intcommon.o)
-    0x0800717a   0x0000041a   Code   RO          940    .text               c_w.l(_printf_fp_dec.o)
-    0x08007594   0x00000030   Code   RO          942    .text               c_w.l(_printf_char_common.o)
-    0x080075c4   0x0000000a   Code   RO          944    .text               c_w.l(_sputc.o)
-    0x080075ce   0x00000002   PAD
-    0x080075d0   0x00000024   Code   RO          946    .text               c_w.l(_printf_char_file.o)
-    0x080075f4   0x00000044   Code   RO          949    .text               c_w.l(rt_memclr.o)
-    0x08007638   0x00000008   Code   RO         1013    .text               c_w.l(rt_locale_intlibspace.o)
-    0x08007640   0x0000008a   Code   RO         1020    .text               c_w.l(lludiv10.o)
-    0x080076ca   0x00000002   PAD
-    0x080076cc   0x00000080   Code   RO         1022    .text               c_w.l(_printf_fp_infnan.o)
-    0x0800774c   0x000000dc   Code   RO         1026    .text               c_w.l(bigflt0.o)
-    0x08007828   0x00000008   Code   RO         1051    .text               c_w.l(ferror.o)
-    0x08007830   0x0000004e   Code   RO         1058    .text               c_w.l(rt_memclr_w.o)
-    0x0800787e   0x00000002   PAD
-    0x08007880   0x00000008   Code   RO         1068    .text               c_w.l(libspace.o)
-    0x08007888   0x0000004a   Code   RO         1071    .text               c_w.l(sys_stackheap_outer.o)
-    0x080078d2   0x00000012   Code   RO         1075    .text               c_w.l(exit.o)
-    0x080078e4   0x00000080   Code   RO         1077    .text               c_w.l(strcmpv7m.o)
-    0x08007964   0x0000003e   Code   RO         1029    CL$$btod_d2e        c_w.l(btod.o)
-    0x080079a2   0x00000046   Code   RO         1031    CL$$btod_d2e_denorm_low  c_w.l(btod.o)
-    0x080079e8   0x00000060   Code   RO         1030    CL$$btod_d2e_norm_op1  c_w.l(btod.o)
-    0x08007a48   0x00000338   Code   RO         1039    CL$$btod_div_common  c_w.l(btod.o)
-    0x08007d80   0x000000c6   Code   RO         1036    CL$$btod_e2e        c_w.l(btod.o)
-    0x08007e46   0x00000028   Code   RO         1033    CL$$btod_ediv       c_w.l(btod.o)
-    0x08007e6e   0x00000028   Code   RO         1032    CL$$btod_emul       c_w.l(btod.o)
-    0x08007e96   0x00000244   Code   RO         1038    CL$$btod_mult_common  c_w.l(btod.o)
-    0x080080da   0x00000028   Code   RO         1064    i.__ARM_fpclassify  m_ws.l(fpclassify.o)
-    0x08008102   0x000000aa   Code   RO         1066    i.__kernel_poly     m_ws.l(poly.o)
-    0x080081ac   0x00000006   Code   RO          977    i.__mathlib_dbl_infnan  m_ws.l(dunder.o)
-    0x080081b2   0x00000004   Code   RO          978    i.__mathlib_dbl_infnan2  m_ws.l(dunder.o)
-    0x080081b6   0x00000002   PAD
-    0x080081b8   0x00000010   Code   RO          982    i.__mathlib_dbl_underflow  m_ws.l(dunder.o)
-    0x080081c8   0x0000000e   Code   RO          850    i._is_digit         c_w.l(__printf_wp.o)
-    0x080081d6   0x00000002   PAD
-    0x080081d8   0x00000220   Code   RO          967    i.atan              m_ws.l(atan.o)
-    0x080083f8   0x00000180   Code   RO          924    i.atan2             m_ws.l(atan2.o)
-    0x08008578   0x0000002c   Code   RO         1056    locale$$code        c_w.l(lc_numeric_c.o)
-    0x080085a4   0x00000062   Code   RO          871    x$fpl$d2f           fz_ws.l(d2f.o)
-    0x08008606   0x00000002   PAD
-    0x08008608   0x00000150   Code   RO          873    x$fpl$dadd          fz_ws.l(daddsub_clz.o)
-    0x08008758   0x00000010   Code   RO         1130    x$fpl$dcheck1       fz_ws.l(dcheck1.o)
-    0x08008768   0x000002b0   Code   RO          952    x$fpl$ddiv          fz_ws.l(ddiv.o)
-    0x08008a18   0x0000002e   Code   RO          880    x$fpl$dflt          fz_ws.l(dflt_clz.o)
-    0x08008a46   0x00000002   PAD
-    0x08008a48   0x00000154   Code   RO          885    x$fpl$dmul          fz_ws.l(dmul.o)
-    0x08008b9c   0x0000009c   Code   RO          955    x$fpl$dnaninf       fz_ws.l(dnaninf.o)
-    0x08008c38   0x0000000c   Code   RO          957    x$fpl$dretinf       fz_ws.l(dretinf.o)
-    0x08008c44   0x00000016   Code   RO          874    x$fpl$drsb          fz_ws.l(daddsub_clz.o)
-    0x08008c5a   0x00000002   PAD
-    0x08008c5c   0x000001d4   Code   RO          875    x$fpl$dsub          fz_ws.l(daddsub_clz.o)
-    0x08008e30   0x00000056   Code   RO          887    x$fpl$f2d           fz_ws.l(f2d.o)
-    0x08008e86   0x00000002   PAD
-    0x08008e88   0x000000c4   Code   RO          889    x$fpl$fadd          fz_ws.l(faddsub_clz.o)
-    0x08008f4c   0x00000018   Code   RO          959    x$fpl$fcmpinf       fz_ws.l(fcmpi.o)
-    0x08008f64   0x00000184   Code   RO          896    x$fpl$fdiv          fz_ws.l(fdiv.o)
-    0x080090e8   0x00000068   Code   RO          899    x$fpl$feqf          fz_ws.l(feqf.o)
-    0x08009150   0x00000036   Code   RO          901    x$fpl$ffix          fz_ws.l(ffix.o)
-    0x08009186   0x00000002   PAD
-    0x08009188   0x0000003e   Code   RO          905    x$fpl$ffixu         fz_ws.l(ffixu.o)
-    0x080091c6   0x00000002   PAD
-    0x080091c8   0x00000030   Code   RO          910    x$fpl$fflt          fz_ws.l(fflt_clz.o)
-    0x080091f8   0x00000026   Code   RO          909    x$fpl$ffltu         fz_ws.l(fflt_clz.o)
-    0x0800921e   0x00000002   PAD
-    0x08009220   0x00000068   Code   RO          915    x$fpl$fleqf         fz_ws.l(fleqf.o)
-    0x08009288   0x00000102   Code   RO          917    x$fpl$fmul          fz_ws.l(fmul.o)
-    0x0800938a   0x0000008c   Code   RO          961    x$fpl$fnaninf       fz_ws.l(fnaninf.o)
-    0x08009416   0x0000000a   Code   RO          963    x$fpl$fretinf       fz_ws.l(fretinf.o)
-    0x08009420   0x00000062   Code   RO          919    x$fpl$frleqf        fz_ws.l(frleqf.o)
-    0x08009482   0x00000014   Code   RO          890    x$fpl$frsb          fz_ws.l(faddsub_clz.o)
-    0x08009496   0x00000002   PAD
-    0x08009498   0x000000ea   Code   RO          891    x$fpl$fsub          fz_ws.l(faddsub_clz.o)
-    0x08009582   0x00000004   Code   RO          921    x$fpl$printf1       fz_ws.l(printf1.o)
-    0x08009586   0x00000064   Code   RO         1142    x$fpl$retnan        fz_ws.l(retnan.o)
-    0x080095ea   0x0000005c   Code   RO         1062    x$fpl$scalbn        fz_ws.l(scalbn.o)
-    0x08009646   0x00000030   Code   RO         1161    x$fpl$trapveneer    fz_ws.l(trapv.o)
-    0x08009676   0x00000000   Code   RO          965    x$fpl$usenofp       fz_ws.l(usenofp.o)
-    0x08009676   0x00000818   Data   RO          597    .constdata          oled.o
-    0x08009e8e   0x00000002   PAD
-    0x08009e90   0x00000050   Data   RO          730    .constdata          inv_mpu.o
-    0x08009ee0   0x00000bf6   Data   RO          755    .constdata          inv_mpu_dmp_motion_driver.o
-    0x0800aad6   0x00000002   PAD
-    0x0800aad8   0x00000098   Data   RO          968    .constdata          m_ws.l(atan.o)
-    0x0800ab70   0x00000008   Data   RO          990    .constdata          m_ws.l(qnan.o)
-    0x0800ab78   0x00000094   Data   RO         1027    .constdata          c_w.l(bigflt0.o)
-    0x0800ac0c   0x0000004e   Data   RO          731    .conststring        inv_mpu.o
-    0x0800ac5a   0x00000002   PAD
-    0x0800ac5c   0x00000020   Data   RO         1215    Region$$Table       anon$$obj.o
-    0x0800ac7c   0x0000001c   Data   RO         1055    locale$$data        c_w.l(lc_numeric_c.o)
+    0x08000130   0x00000008   Code   RO          863  * !!!main             c_w.l(__main.o)
+    0x08000138   0x00000034   Code   RO         1211    !!!scatter          c_w.l(__scatter.o)
+    0x0800016c   0x0000001a   Code   RO         1213    !!handler_copy      c_w.l(__scatter_copy.o)
+    0x08000186   0x00000002   PAD
+    0x08000188   0x0000001c   Code   RO         1215    !!handler_zi        c_w.l(__scatter_zi.o)
+    0x080001a4   0x00000000   Code   RO          856    .ARM.Collect$$_printf_percent$$00000000  c_w.l(_printf_percent.o)
+    0x080001a4   0x00000006   Code   RO          855    .ARM.Collect$$_printf_percent$$00000003  c_w.l(_printf_f.o)
+    0x080001aa   0x00000006   Code   RO          854    .ARM.Collect$$_printf_percent$$00000009  c_w.l(_printf_d.o)
+    0x080001b0   0x00000004   Code   RO          942    .ARM.Collect$$_printf_percent$$00000017  c_w.l(_printf_percent_end.o)
+    0x080001b4   0x00000002   Code   RO         1078    .ARM.Collect$$libinit$$00000000  c_w.l(libinit.o)
+    0x080001b6   0x00000000   Code   RO         1080    .ARM.Collect$$libinit$$00000002  c_w.l(libinit2.o)
+    0x080001b6   0x00000000   Code   RO         1082    .ARM.Collect$$libinit$$00000004  c_w.l(libinit2.o)
+    0x080001b6   0x00000000   Code   RO         1085    .ARM.Collect$$libinit$$0000000A  c_w.l(libinit2.o)
+    0x080001b6   0x00000000   Code   RO         1087    .ARM.Collect$$libinit$$0000000C  c_w.l(libinit2.o)
+    0x080001b6   0x00000000   Code   RO         1089    .ARM.Collect$$libinit$$0000000E  c_w.l(libinit2.o)
+    0x080001b6   0x00000006   Code   RO         1090    .ARM.Collect$$libinit$$0000000F  c_w.l(libinit2.o)
+    0x080001bc   0x00000000   Code   RO         1092    .ARM.Collect$$libinit$$00000011  c_w.l(libinit2.o)
+    0x080001bc   0x00000000   Code   RO         1094    .ARM.Collect$$libinit$$00000013  c_w.l(libinit2.o)
+    0x080001bc   0x00000000   Code   RO         1096    .ARM.Collect$$libinit$$00000015  c_w.l(libinit2.o)
+    0x080001bc   0x0000000a   Code   RO         1097    .ARM.Collect$$libinit$$00000016  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1098    .ARM.Collect$$libinit$$00000017  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1100    .ARM.Collect$$libinit$$00000019  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1102    .ARM.Collect$$libinit$$0000001B  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1104    .ARM.Collect$$libinit$$0000001D  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1106    .ARM.Collect$$libinit$$0000001F  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1108    .ARM.Collect$$libinit$$00000021  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1110    .ARM.Collect$$libinit$$00000023  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1112    .ARM.Collect$$libinit$$00000025  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1116    .ARM.Collect$$libinit$$0000002C  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1118    .ARM.Collect$$libinit$$0000002E  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1120    .ARM.Collect$$libinit$$00000030  c_w.l(libinit2.o)
+    0x080001c6   0x00000000   Code   RO         1122    .ARM.Collect$$libinit$$00000032  c_w.l(libinit2.o)
+    0x080001c6   0x00000002   Code   RO         1123    .ARM.Collect$$libinit$$00000033  c_w.l(libinit2.o)
+    0x080001c8   0x00000002   Code   RO         1171    .ARM.Collect$$libshutdown$$00000000  c_w.l(libshutdown.o)
+    0x080001ca   0x00000000   Code   RO         1180    .ARM.Collect$$libshutdown$$00000002  c_w.l(libshutdown2.o)
+    0x080001ca   0x00000000   Code   RO         1182    .ARM.Collect$$libshutdown$$00000004  c_w.l(libshutdown2.o)
+    0x080001ca   0x00000000   Code   RO         1185    .ARM.Collect$$libshutdown$$00000007  c_w.l(libshutdown2.o)
+    0x080001ca   0x00000000   Code   RO         1188    .ARM.Collect$$libshutdown$$0000000A  c_w.l(libshutdown2.o)
+    0x080001ca   0x00000000   Code   RO         1190    .ARM.Collect$$libshutdown$$0000000C  c_w.l(libshutdown2.o)
+    0x080001ca   0x00000000   Code   RO         1193    .ARM.Collect$$libshutdown$$0000000F  c_w.l(libshutdown2.o)
+    0x080001ca   0x00000002   Code   RO         1194    .ARM.Collect$$libshutdown$$00000010  c_w.l(libshutdown2.o)
+    0x080001cc   0x00000000   Code   RO          927    .ARM.Collect$$rtentry$$00000000  c_w.l(__rtentry.o)
+    0x080001cc   0x00000000   Code   RO          986    .ARM.Collect$$rtentry$$00000002  c_w.l(__rtentry2.o)
+    0x080001cc   0x00000006   Code   RO          998    .ARM.Collect$$rtentry$$00000004  c_w.l(__rtentry4.o)
+    0x080001d2   0x00000000   Code   RO          988    .ARM.Collect$$rtentry$$00000009  c_w.l(__rtentry2.o)
+    0x080001d2   0x00000004   Code   RO          989    .ARM.Collect$$rtentry$$0000000A  c_w.l(__rtentry2.o)
+    0x080001d6   0x00000000   Code   RO          991    .ARM.Collect$$rtentry$$0000000C  c_w.l(__rtentry2.o)
+    0x080001d6   0x00000008   Code   RO          992    .ARM.Collect$$rtentry$$0000000D  c_w.l(__rtentry2.o)
+    0x080001de   0x00000002   Code   RO         1126    .ARM.Collect$$rtexit$$00000000  c_w.l(rtexit.o)
+    0x080001e0   0x00000000   Code   RO         1139    .ARM.Collect$$rtexit$$00000002  c_w.l(rtexit2.o)
+    0x080001e0   0x00000004   Code   RO         1140    .ARM.Collect$$rtexit$$00000003  c_w.l(rtexit2.o)
+    0x080001e4   0x00000006   Code   RO         1141    .ARM.Collect$$rtexit$$00000004  c_w.l(rtexit2.o)
+    0x080001ea   0x00000002   PAD
+    0x080001ec   0x00000040   Code   RO            4    .text               startup_stm32f10x_hd.o
+    0x0800022c   0x000001e0   Code   RO           24    .text               system_stm32f10x.o
+    0x0800040c   0x000000dc   Code   RO          118    .text               misc.o
+    0x080004e8   0x0000035c   Code   RO          269    .text               stm32f10x_gpio.o
+    0x08000844   0x000003a4   Code   RO          317    .text               stm32f10x_rcc.o
+    0x08000be8   0x00000e1a   Code   RO          367    .text               stm32f10x_tim.o
+    0x08001a02   0x00000002   PAD
+    0x08001a04   0x00000408   Code   RO          379    .text               stm32f10x_usart.o
+    0x08001e0c   0x0000006c   Code   RO          471    .text               bsp_sys.o
+    0x08001e78   0x00000068   Code   RO          514    .text               bsp_gpio.o
+    0x08001ee0   0x00000002   Code   RO          527    .text               bsp_nvic.o
+    0x08001ee2   0x00000002   PAD
+    0x08001ee4   0x00000168   Code   RO          539    .text               bsp_usart.o
+    0x0800204c   0x000000ac   Code   RO          558    .text               delay.o
+    0x080020f8   0x00000234   Code   RO          572    .text               bsp_iic.o
+    0x0800232c   0x00000340   Code   RO          587    .text               bsp_timer.o
+    0x0800266c   0x00000104   Code   RO          602    .text               pid.o
+    0x08002770   0x00000204   Code   RO          617    .text               car.o
+    0x08002974   0x00000328   Code   RO          635    .text               bluetooth.o
+    0x08002c9c   0x00000104   Code   RO          657    .text               motor.o
+    0x08002da0   0x00000526   Code   RO          669    .text               ioi2c.o
+    0x080032c6   0x00000002   PAD
+    0x080032c8   0x00000600   Code   RO          693    .text               mpu6050.o
+    0x080038c8   0x00001e90   Code   RO          716    .text               inv_mpu.o
+    0x08005758   0x00000d70   Code   RO          740    .text               inv_mpu_dmp_motion_driver.o
+    0x080064c8   0x000002a0   Code   RO          755    .text               control.o
+    0x08006768   0x00000128   Code   RO          777    .text               main.o
+    0x08006890   0x00000018   Code   RO          799    .text               stm32f10x_it.o
+    0x080068a8   0x00000002   Code   RO          816    .text               c_w.l(use_no_semi_2.o)
+    0x080068aa   0x00000048   Code   RO          818    .text               c_w.l(llsdiv.o)
+    0x080068f2   0x00000002   PAD
+    0x080068f4   0x00000018   Code   RO          824    .text               c_w.l(noretval__2printf.o)
+    0x0800690c   0x00000028   Code   RO          826    .text               c_w.l(noretval__2sprintf.o)
+    0x08006934   0x0000004e   Code   RO          830    .text               c_w.l(_printf_pad.o)
+    0x08006982   0x00000002   PAD
+    0x08006984   0x00000078   Code   RO          832    .text               c_w.l(_printf_dec.o)
+    0x080069fc   0x0000010e   Code   RO          842    .text               c_w.l(__printf_wp.o)
+    0x08006b0a   0x00000058   Code   RO          857    .text               c_w.l(memcmp.o)
+    0x08006b62   0x00000010   Code   RO          859    .text               c_w.l(aeabi_memset.o)
+    0x08006b72   0x00000006   Code   RO          861    .text               c_w.l(heapauxi.o)
+    0x08006b78   0x00000002   Code   RO          925    .text               c_w.l(use_no_semi.o)
+    0x08006b7a   0x000000ee   Code   RO          928    .text               c_w.l(lludivv7m.o)
+    0x08006c68   0x000000b2   Code   RO          932    .text               c_w.l(_printf_intcommon.o)
+    0x08006d1a   0x0000041a   Code   RO          934    .text               c_w.l(_printf_fp_dec.o)
+    0x08007134   0x00000030   Code   RO          936    .text               c_w.l(_printf_char_common.o)
+    0x08007164   0x0000000a   Code   RO          938    .text               c_w.l(_sputc.o)
+    0x0800716e   0x00000002   PAD
+    0x08007170   0x00000024   Code   RO          940    .text               c_w.l(_printf_char_file.o)
+    0x08007194   0x00000044   Code   RO          943    .text               c_w.l(rt_memclr.o)
+    0x080071d8   0x00000008   Code   RO         1007    .text               c_w.l(rt_locale_intlibspace.o)
+    0x080071e0   0x0000008a   Code   RO         1014    .text               c_w.l(lludiv10.o)
+    0x0800726a   0x00000002   PAD
+    0x0800726c   0x00000080   Code   RO         1016    .text               c_w.l(_printf_fp_infnan.o)
+    0x080072ec   0x000000dc   Code   RO         1020    .text               c_w.l(bigflt0.o)
+    0x080073c8   0x00000008   Code   RO         1045    .text               c_w.l(ferror.o)
+    0x080073d0   0x0000004e   Code   RO         1052    .text               c_w.l(rt_memclr_w.o)
+    0x0800741e   0x00000002   PAD
+    0x08007420   0x00000008   Code   RO         1062    .text               c_w.l(libspace.o)
+    0x08007428   0x0000004a   Code   RO         1065    .text               c_w.l(sys_stackheap_outer.o)
+    0x08007472   0x00000012   Code   RO         1069    .text               c_w.l(exit.o)
+    0x08007484   0x00000080   Code   RO         1071    .text               c_w.l(strcmpv7m.o)
+    0x08007504   0x0000003e   Code   RO         1023    CL$$btod_d2e        c_w.l(btod.o)
+    0x08007542   0x00000046   Code   RO         1025    CL$$btod_d2e_denorm_low  c_w.l(btod.o)
+    0x08007588   0x00000060   Code   RO         1024    CL$$btod_d2e_norm_op1  c_w.l(btod.o)
+    0x080075e8   0x00000338   Code   RO         1033    CL$$btod_div_common  c_w.l(btod.o)
+    0x08007920   0x000000c6   Code   RO         1030    CL$$btod_e2e        c_w.l(btod.o)
+    0x080079e6   0x00000028   Code   RO         1027    CL$$btod_ediv       c_w.l(btod.o)
+    0x08007a0e   0x00000028   Code   RO         1026    CL$$btod_emul       c_w.l(btod.o)
+    0x08007a36   0x00000244   Code   RO         1032    CL$$btod_mult_common  c_w.l(btod.o)
+    0x08007c7a   0x00000028   Code   RO         1058    i.__ARM_fpclassify  m_ws.l(fpclassify.o)
+    0x08007ca2   0x000000aa   Code   RO         1060    i.__kernel_poly     m_ws.l(poly.o)
+    0x08007d4c   0x00000006   Code   RO          971    i.__mathlib_dbl_infnan  m_ws.l(dunder.o)
+    0x08007d52   0x00000004   Code   RO          972    i.__mathlib_dbl_infnan2  m_ws.l(dunder.o)
+    0x08007d56   0x00000002   PAD
+    0x08007d58   0x00000010   Code   RO          976    i.__mathlib_dbl_underflow  m_ws.l(dunder.o)
+    0x08007d68   0x0000000e   Code   RO          844    i._is_digit         c_w.l(__printf_wp.o)
+    0x08007d76   0x00000002   PAD
+    0x08007d78   0x00000220   Code   RO          961    i.atan              m_ws.l(atan.o)
+    0x08007f98   0x00000180   Code   RO          918    i.atan2             m_ws.l(atan2.o)
+    0x08008118   0x0000002c   Code   RO         1050    locale$$code        c_w.l(lc_numeric_c.o)
+    0x08008144   0x00000062   Code   RO          865    x$fpl$d2f           fz_ws.l(d2f.o)
+    0x080081a6   0x00000002   PAD
+    0x080081a8   0x00000150   Code   RO          867    x$fpl$dadd          fz_ws.l(daddsub_clz.o)
+    0x080082f8   0x00000010   Code   RO         1124    x$fpl$dcheck1       fz_ws.l(dcheck1.o)
+    0x08008308   0x000002b0   Code   RO          946    x$fpl$ddiv          fz_ws.l(ddiv.o)
+    0x080085b8   0x0000002e   Code   RO          874    x$fpl$dflt          fz_ws.l(dflt_clz.o)
+    0x080085e6   0x00000002   PAD
+    0x080085e8   0x00000154   Code   RO          879    x$fpl$dmul          fz_ws.l(dmul.o)
+    0x0800873c   0x0000009c   Code   RO          949    x$fpl$dnaninf       fz_ws.l(dnaninf.o)
+    0x080087d8   0x0000000c   Code   RO          951    x$fpl$dretinf       fz_ws.l(dretinf.o)
+    0x080087e4   0x00000016   Code   RO          868    x$fpl$drsb          fz_ws.l(daddsub_clz.o)
+    0x080087fa   0x00000002   PAD
+    0x080087fc   0x000001d4   Code   RO          869    x$fpl$dsub          fz_ws.l(daddsub_clz.o)
+    0x080089d0   0x00000056   Code   RO          881    x$fpl$f2d           fz_ws.l(f2d.o)
+    0x08008a26   0x00000002   PAD
+    0x08008a28   0x000000c4   Code   RO          883    x$fpl$fadd          fz_ws.l(faddsub_clz.o)
+    0x08008aec   0x00000018   Code   RO          953    x$fpl$fcmpinf       fz_ws.l(fcmpi.o)
+    0x08008b04   0x00000184   Code   RO          890    x$fpl$fdiv          fz_ws.l(fdiv.o)
+    0x08008c88   0x00000068   Code   RO          893    x$fpl$feqf          fz_ws.l(feqf.o)
+    0x08008cf0   0x00000036   Code   RO          895    x$fpl$ffix          fz_ws.l(ffix.o)
+    0x08008d26   0x00000002   PAD
+    0x08008d28   0x0000003e   Code   RO          899    x$fpl$ffixu         fz_ws.l(ffixu.o)
+    0x08008d66   0x00000002   PAD
+    0x08008d68   0x00000030   Code   RO          904    x$fpl$fflt          fz_ws.l(fflt_clz.o)
+    0x08008d98   0x00000026   Code   RO          903    x$fpl$ffltu         fz_ws.l(fflt_clz.o)
+    0x08008dbe   0x00000002   PAD
+    0x08008dc0   0x00000068   Code   RO          909    x$fpl$fleqf         fz_ws.l(fleqf.o)
+    0x08008e28   0x00000102   Code   RO          911    x$fpl$fmul          fz_ws.l(fmul.o)
+    0x08008f2a   0x0000008c   Code   RO          955    x$fpl$fnaninf       fz_ws.l(fnaninf.o)
+    0x08008fb6   0x0000000a   Code   RO          957    x$fpl$fretinf       fz_ws.l(fretinf.o)
+    0x08008fc0   0x00000062   Code   RO          913    x$fpl$frleqf        fz_ws.l(frleqf.o)
+    0x08009022   0x00000014   Code   RO          884    x$fpl$frsb          fz_ws.l(faddsub_clz.o)
+    0x08009036   0x00000002   PAD
+    0x08009038   0x000000ea   Code   RO          885    x$fpl$fsub          fz_ws.l(faddsub_clz.o)
+    0x08009122   0x00000004   Code   RO          915    x$fpl$printf1       fz_ws.l(printf1.o)
+    0x08009126   0x00000064   Code   RO         1136    x$fpl$retnan        fz_ws.l(retnan.o)
+    0x0800918a   0x0000005c   Code   RO         1056    x$fpl$scalbn        fz_ws.l(scalbn.o)
+    0x080091e6   0x00000030   Code   RO         1155    x$fpl$trapveneer    fz_ws.l(trapv.o)
+    0x08009216   0x00000000   Code   RO          959    x$fpl$usenofp       fz_ws.l(usenofp.o)
+    0x08009216   0x00000002   PAD
+    0x08009218   0x00000050   Data   RO          717    .constdata          inv_mpu.o
+    0x08009268   0x00000bf6   Data   RO          742    .constdata          inv_mpu_dmp_motion_driver.o
+    0x08009e5e   0x00000002   PAD
+    0x08009e60   0x00000098   Data   RO          962    .constdata          m_ws.l(atan.o)
+    0x08009ef8   0x00000008   Data   RO          984    .constdata          m_ws.l(qnan.o)
+    0x08009f00   0x00000094   Data   RO         1021    .constdata          c_w.l(bigflt0.o)
+    0x08009f94   0x0000004e   Data   RO          718    .conststring        inv_mpu.o
+    0x08009fe2   0x00000002   PAD
+    0x08009fe4   0x00000020   Data   RO         1209    Region$$Table       anon$$obj.o
+    0x0800a004   0x0000001c   Data   RO         1049    locale$$data        c_w.l(lc_numeric_c.o)
 
 
-    Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000a68, Max: 0x0000c000, ABSOLUTE, COMPRESSED[0x0000011c])
+    Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000868, Max: 0x0000c000, ABSOLUTE)
 
     Base Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -1846,22 +1809,21 @@ Memory Map of the image
     0x20000028   0x00000004   Data   RW          515    .data               bsp_gpio.o
     0x2000002c   0x00000010   Data   RW          540    .data               bsp_usart.o
     0x2000003c   0x00000004   Data   RW          559    .data               delay.o
-    0x20000040   0x00000200   Data   RW          598    .data               oled.o
-    0x20000240   0x0000001c   Data   RW          619    .data               pid.o
-    0x2000025c   0x00000036   Data   RW          634    .data               car.o
-    0x20000292   0x00000002   PAD
-    0x20000294   0x0000000c   Data   RW          652    .data               bluetooth.o
-    0x200002a0   0x00000038   Data   RW          707    .data               mpu6050.o
-    0x200002d8   0x0000002c   Data   RW          732    .data               inv_mpu.o
-    0x20000304   0x0000001c   Data   RW          769    .data               control.o
-    0x20000320   0x00000092   Zero   RW          706    .bss                mpu6050.o
-    0x200003b2   0x00000002   PAD
-    0x200003b4   0x00000010   Zero   RW          754    .bss                inv_mpu_dmp_motion_driver.o
-    0x200003c4   0x00000040   Zero   RW          791    .bss                main.o
-    0x20000404   0x00000060   Zero   RW         1069    .bss                c_w.l(libspace.o)
-    0x20000464   0x00000004   PAD
-    0x20000468   0x00000200   Zero   RW            2    HEAP                startup_stm32f10x_hd.o
-    0x20000668   0x00000400   Zero   RW            1    STACK               startup_stm32f10x_hd.o
+    0x20000040   0x0000001c   Data   RW          603    .data               pid.o
+    0x2000005c   0x00000036   Data   RW          618    .data               car.o
+    0x20000092   0x00000002   PAD
+    0x20000094   0x0000000c   Data   RW          636    .data               bluetooth.o
+    0x200000a0   0x00000038   Data   RW          695    .data               mpu6050.o
+    0x200000d8   0x0000002c   Data   RW          719    .data               inv_mpu.o
+    0x20000104   0x0000001c   Data   RW          756    .data               control.o
+    0x20000120   0x00000092   Zero   RW          694    .bss                mpu6050.o
+    0x200001b2   0x00000002   PAD
+    0x200001b4   0x00000010   Zero   RW          741    .bss                inv_mpu_dmp_motion_driver.o
+    0x200001c4   0x00000040   Zero   RW          778    .bss                main.o
+    0x20000204   0x00000060   Zero   RW         1063    .bss                c_w.l(libspace.o)
+    0x20000264   0x00000004   PAD
+    0x20000268   0x00000200   Zero   RW            2    HEAP                startup_stm32f10x_hd.o
+    0x20000468   0x00000400   Zero   RW            1    STACK               startup_stm32f10x_hd.o
 
 
 ==============================================================================
@@ -1871,50 +1833,49 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
-       344         20          0         12          0       1725   bluetooth.o
+       808         20          0         12          0       4024   bluetooth.o
        104         10          0          4          0        688   bsp_gpio.o
-       536          6          0          0          0       2142   bsp_iic.o
-         2          0          0          0          0        414   bsp_nvic.o
-       300         98          0          0          0        594   bsp_sys.o
+       564         26          0          0          0       2146   bsp_iic.o
+         2          0          0          0          0        410   bsp_nvic.o
+       108         10          0          0          0        554   bsp_sys.o
        832         20          0          0          0       2454   bsp_timer.o
-       368         20          0         16          0       3869   bsp_usart.o
-       584         78          0         54          0       1687   car.o
-       672        102          0         28          0       3074   control.o
+       360         20          0         16          0       3821   bsp_usart.o
+       516         76          0         54          0       1675   car.o
+       672        102          0         28          0       3070   control.o
          0          0          0          0          0       4532   core_cm3.o
        172          8          0          4          0       1063   delay.o
       7824        172        158         44          0      21607   inv_mpu.o
-      3440        126       3062          0         16      15147   inv_mpu_dmp_motion_driver.o
+      3440        126       3062          0         16      15139   inv_mpu_dmp_motion_driver.o
       1318         12          0          0          0       5657   ioi2c.o
-       228          6          0          0         64       1224   main.o
+       296         54          0          0         64       1276   main.o
        220         22          0          0          0       1809   misc.o
        260          4          0          0          0       1498   motor.o
-      1484        104          0         56        146      20593   mpu6050.o
-      1276         14       2072        512          0       6120   oled.o
-       384         38          0         28          0       1596   pid.o
-        64         26        304          0       1536        876   startup_stm32f10x_hd.o
-       860         38          0          0          0       5745   stm32f10x_gpio.o
+      1536        152          0         56        146       5506   mpu6050.o
+       260         30          0         28          0       1448   pid.o
+        64         26        304          0       1536        872   startup_stm32f10x_hd.o
+       860         38          0          0          0       5741   stm32f10x_gpio.o
         24          0          0          0          0       1118   stm32f10x_it.o
-       932         36          0         20          0       8932   stm32f10x_rcc.o
-      3610         88          0          0          0      22852   stm32f10x_tim.o
+       932         36          0         20          0       8924   stm32f10x_rcc.o
+      3610         88          0          0          0      22848   stm32f10x_tim.o
       1032         22          0          0          0       8468   stm32f10x_usart.o
-       480         38          0         20          0     250275   system_stm32f10x.o
+       480         38          0         20          0     250271   system_stm32f10x.o
 
     ----------------------------------------------------------------------
-     27356       1108       5634        800       1764     395759   Object Totals
+     26300       1112       3560        288       1764     376619   Object Totals
          0          0         32          0          0          0   (incl. Generated)
-         6          0          6          2          2          0   (incl. Padding)
+         6          0          4          2          2          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Member Name
 
-        90          0          0          0          0          0   __dczerorl2.o
          8          0          0          0          0         68   __main.o
        284          0          0          0          0        156   __printf_wp.o
          0          0          0          0          0          0   __rtentry.o
         12          0          0          0          0          0   __rtentry2.o
          6          0          0          0          0          0   __rtentry4.o
         52          8          0          0          0          0   __scatter.o
+        26          0          0          0          0          0   __scatter_copy.o
         28          0          0          0          0          0   __scatter_zi.o
         48          6          0          0          0         96   _printf_char_common.o
         36          4          0          0          0         80   _printf_char_file.o
@@ -1989,19 +1950,19 @@ Image component sizes
          0          0          8          0          0          0   qnan.o
 
     ----------------------------------------------------------------------
-     10858        616        336          0        100       6552   Library Totals
-        34          0          0          0          4          0   (incl. Padding)
+     10796        616        336          0        100       6552   Library Totals
+        36          0          0          0          4          0   (incl. Padding)
 
     ----------------------------------------------------------------------
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Library Name
 
-      5370        210        176          0         96       3336   c_w.l
+      5306        210        176          0         96       3336   c_w.l
       4290        292          0          0          0       2580   fz_ws.l
       1164        114        160          0          0        636   m_ws.l
 
     ----------------------------------------------------------------------
-     10858        616        336          0        100       6552   Library Totals
+     10796        616        336          0        100       6552   Library Totals
 
     ----------------------------------------------------------------------
 
@@ -2010,15 +1971,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     38214       1724       5970        800       1864     396483   Grand Totals
-     38214       1724       5970        284       1864     396483   ELF Image Totals (compressed)
-     38214       1724       5970        284          0          0   ROM Totals
+     37096       1728       3896        288       1864     377395   Grand Totals
+     37096       1728       3896        288       1864     377395   ELF Image Totals
+     37096       1728       3896        288          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                44184 (  43.15kB)
-    Total RW  Size (RW Data + ZI Data)              2664 (   2.60kB)
-    Total ROM Size (Code + RO Data + RW Data)      44468 (  43.43kB)
+    Total RO  Size (Code + RO Data)                40992 (  40.03kB)
+    Total RW  Size (RW Data + ZI Data)              2152 (   2.10kB)
+    Total ROM Size (Code + RO Data + RW Data)      41280 (  40.31kB)
 
 ==============================================================================
 
diff --git a/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst
index e560b04..0ad889f 100644
--- a/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst	
+++ b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst	
@@ -565,11 +565,11 @@ ARM Macro Assembler    Page 9
               00000000 
 Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
 ork --depend=..\output\startup_stm32f10x_hd.d -o..\output\startup_stm32f10x_hd.
-o -I"D:\Hardware Project\GeBalanceBot\GeBalanceBot_Firmware v1.0\Project\RTE" -
-I"D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include" -I"
-D:\Program Files\Keilv5\ARM\CMSIS\Include" --predefine="__UVISION_VERSION SETA 
-521" --predefine="STM32F10X_HD SETA 1" --list=..\listing\startup_stm32f10x_hd.l
-st ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s
+o -I"E:\HardwareProject\GeBalanceBot\GeBalanceBot_Firmware v1.0\Project\RTE" -I
+"D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include" -I"D
+:\Program Files\Keilv5\ARM\CMSIS\Include" --predefine="__UVISION_VERSION SETA 5
+21" --predefine="STM32F10X_HD SETA 1" --list=..\listing\startup_stm32f10x_hd.ls
+t ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s
 
 
 
diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c
index ef32691..fbb68cb 100644
--- a/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c	
+++ b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c	
@@ -1,5 +1,7 @@
 #include "MPU6050.h"
+#include "bluetooth.h"  
 #include "IOI2C.h"
+#include "oled.h"
 #define PRINT_ACCEL (0x01)
 #define PRINT_GYRO (0x02)
 #define PRINT_QUAT (0x04)
@@ -54,7 +56,7 @@ static void run_self_test(void)
 {
     int result;
     long gyro[3], accel[3];
-
+	
     result = mpu_run_self_test(gyro, accel);
     if (result == 0x7)
     {
@@ -73,8 +75,11 @@ static void run_self_test(void)
         accel[1] *= accel_sens;
         accel[2] *= accel_sens;
         dmp_set_accel_bias(accel);
-        printf("setting bias succesfully ......\r\n");
-    }
+        //printf("setting bias succesfully ......\r\n");
+		PB_USART_printf(USART2, (u8*)"setting bias succesfully ......\r\n");
+    }else{
+		PB_USART_printf(USART2, (u8*)"Fail..\r\n");
+	}
 }
 
 uint8_t buffer[14];
@@ -287,12 +292,15 @@ Output  : none
 **************************************************************************/
 void MPU6050_initialize(void)
 {
+	PB_USART_printf(USART2, (u8*)"run_self_test..\r\n");
+	run_self_test();
     MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO);     // 设置时钟
     MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000); // 陀螺仪量程设置
     MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2);  // 加速度度最大量程 +-2G
     MPU6050_setSleepEnabled(0);                          // 进入工作状态
     MPU6050_setI2CMasterModeEnabled(0);                  // 不让MPU6050 控制AUXI2C
     MPU6050_setI2CBypassEnabled(0);                      // 主控制器的I2C与	MPU6050的AUXI2C	直通关闭
+	
 }
 
 /**************************************************************************
@@ -307,8 +315,13 @@ void DMP_Init(void)
 {
     u8 temp[1] = {0};
     i2cRead(0x68, 0x75, 1, temp);
-    if (temp[0] != 0x68)
-        NVIC_SystemReset();
+    if (temp[0] != 0x68){
+		//NVIC_SystemReset();
+		PB_USART_printf(USART2, (u8*)"who am i %d\r\n", (int)temp[0]);
+	}else{
+		
+	}
+    
     if (!mpu_init())
     {
         if (!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL))
diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h
index b6428dd..2f1a468 100644
--- a/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h	
+++ b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h	
@@ -353,19 +353,25 @@
 
 #define MPU6050_WHO_AM_I_BIT        6
 #define MPU6050_WHO_AM_I_LENGTH     6
-extern	short gyro[3], accel[3];
+
+extern	short  gyro[3], accel[3];
 extern int16_t Gx_offset,Gy_offset,Gz_offset;
-extern float Acc1G_Values;
-extern float Roll,Pitch; 
+extern float   Acc1G_Values;
+extern float   Roll,Pitch; 
+
 //供外部调用的API
-void MPU6050_initialize(void); //初始化
-uint8_t MPU6050_testConnection(void); //检测MPU6050是否存在
+void MPU6050_initialize(void);
+// 检测MPU6050是否存在
+uint8_t MPU6050_testConnection(void); 
 //读取ADC值
 void MPU6050_getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
+
 void MPU6050_getlastMotion6(int16_t* ax, int16_t* ay, 
 		int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz);
+
 uint8_t MPU6050_getDeviceID(void); //读取MPU6050的ID
-void MPU6050_InitGyro_Offset(void);//初始化陀螺仪偏置
-void DMP_Init(void);
-void Read_DMP(void);
+
+void    MPU6050_InitGyro_Offset(void);// 初始化陀螺仪偏置
+void    DMP_Init(void);
+void    Read_DMP(void);
 #endif
diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c b/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c
index c85643b..1d1c084 100644
--- a/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c	
+++ b/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c	
@@ -15,33 +15,33 @@
 *---------------------------------------------------------------------**/ 
 void oled_show(void)
 {
-	// 显示屏打开
-	OLED_Display_On();  
-	// 第一行显示小车模式 
-	OLED_ShowString(0,0,"DMP",12);
-	OLED_ShowString(60,0,"Normal",12);
-	// 第三行显示编码器1
-	OLED_ShowString(00,20,"EncoLEFT",12);
-	if( Encoder_Left<0){
-		OLED_ShowString(80,20,"-",12);
-		OLED_ShowNum(95,20,-Encoder_Left,3,12);
-	}else{
-		OLED_ShowString(80,20,"+",12);
-		OLED_ShowNum(95,20, Encoder_Left,3,12);
-	}                 	
-						  
-	// 第四行显示编码器2	
-	OLED_ShowString(00,30,"EncoRIGHT",12);
-	if(Encoder_Right<0){
-		OLED_ShowString(80,30,"-",12);
-		OLED_ShowNum(95,30,-Encoder_Right,3,12);
-	}else{
-		OLED_ShowString(80,30,"+",12);
-		OLED_ShowNum(95,30, Encoder_Right,3,12);	
-	}               		
-		
-	// 第六行显示角度
-	OLED_ShowString(0,50,"Angle",12);
+//	// 显示屏打开
+//	OLED_Display_On();  
+//	// 第一行显示小车模式 
+//	OLED_ShowString(0,0,"DMP",12);
+//	OLED_ShowString(60,0,"Normal",12);
+//	// 第三行显示编码器1
+//	OLED_ShowString(00,20,"EncoLEFT",12);
+//	if( Encoder_Left<0){
+//		OLED_ShowString(80,20,"-",12);
+//		OLED_ShowNum(95,20,-Encoder_Left,3,12);
+//	}else{
+//		OLED_ShowString(80,20,"+",12);
+//		OLED_ShowNum(95,20, Encoder_Left,3,12);
+//	}                 	
+//						  
+//	// 第四行显示编码器2	
+//	OLED_ShowString(00,30,"EncoRIGHT",12);
+//	if(Encoder_Right<0){
+//		OLED_ShowString(80,30,"-",12);
+//		OLED_ShowNum(95,30,-Encoder_Right,3,12);
+//	}else{
+//		OLED_ShowString(80,30,"+",12);
+//		OLED_ShowNum(95,30, Encoder_Right,3,12);	
+//	}               		
+//		
+//	// 第六行显示角度
+//	OLED_ShowString(0,50,"Angle",12);
 //	if(Angle_Balance < 0){
 //		OLED_ShowString(48,50,"-",12);
 //	}		
diff --git a/GeBalanceBot_Firmware v1.0/Output/Project.hex b/GeBalanceBot_Firmware v1.0/Output/Project.hex
index 220dc34..9f3662e 100644
--- a/GeBalanceBot_Firmware v1.0/Output/Project.hex	
+++ b/GeBalanceBot_Firmware v1.0/Output/Project.hex	
@@ -1,2783 +1,2583 @@
 :020000040800F2
-:10000000680A00202D020008F16C0008F36C00085B
-:10001000F76C0008FB6C0008FF6C00080000000093
-:10002000000000000000000000000000036D000858
-:10003000056D000800000000076D0008450200087B
-:10004000470200084702000847020008470200086C
-:10005000470200084702000847020008470200085C
-:10006000470200084702000847020008470200084C
-:10007000470200084702000847020008470200083C
-:10008000470200084702000847020008470200082C
-:10009000470200084702000847020008470200081C
-:1000A000470200084702000847020008470200080C
-:1000B0002D270008470200081527000847020008FE
-:1000C00047020008470200084702000847020008EC
-:1000D00047020008F920000819310008470200080B
-:1000E000076B0008470200084702000847020008A3
-:1000F00047020008470200084702000847020008BC
-:1001000047020008470200084702000847020008AB
-:100110004702000847020008D52D000847020008E2
-:10012000470200084702000847020008470200088B
-:1001300000F002F800F06AF80AA090E8000C82448F
-:100140008344AAF10107DA4501D100F05FF8AFF26C
+:1000000068080020ED010008916800089368000866
+:10001000976800089B6800089F68000800000000BF
+:10002000000000000000000000000000A3680008BD
+:10003000A568000800000000A76800080502000885
+:10004000070200080702000807020008070200086C
+:10005000070200080702000807020008070200085C
+:10006000070200080702000807020008070200084C
+:10007000070200080702000807020008070200083C
+:10008000070200080702000807020008070200082C
+:10009000070200080702000807020008070200081C
+:1000A000070200080702000807020008070200080C
+:1000B0004126000807020008292600080702000858
+:1000C00007020008070200080702000807020008EC
+:1000D00007020008F11F0008412C00080702000871
+:1000E000636600080702000807020008070200080C
+:1000F00007020008070200080702000807020008BC
+:1001000007020008070200080702000807020008AB
+:10011000070200080702000871270008070200080C
+:10012000070200080702000807020008070200088B
+:1001300000F002F800F04AF80AA090E8000C8244AF
+:100140008344AAF10107DA4501D100F03FF8AFF28C
 :10015000090EBAE80F0013F0010F18BFFB1A43F0A5
-:1001600001031847F8AA000018AB00000A444FF03A
-:10017000000C10F8013B13F0070408BF10F8014B06
-:100180001D1108BF10F8015B641E05D010F8016B4B
-:10019000641E01F8016BF9D113F0080F1EBF10F8AF
-:1001A000014BAD1C0C1B09D16D1E58BF01F801CBD2
-:1001B000FAD505E014F8016B01F8016B6D1EF9D555
-:1001C0009142D6D37047000000230024002500266A
-:1001D000103A28BF78C1FBD8520728BF30C148BFAA
-:1001E0000B607047662909F0CC81642906F0FA8516
-:1001F000002070471FB507F01FFA040000200021FF
-:1002000008F0BAF9E0601FBD10B510BD07F03CFB67
-:100210001146FFF7EFFF06F0F9FC07F05AFB03B4B5
-:10022000FFF7F2FF03BC01F01BFF00000948804705
-:1002300009480047FEE7FEE7FEE7FEE7FEE7FEE7C8
-:10024000FEE7FEE7FEE7FEE704480549054A064BE0
-:10025000704700004B0300083101000868040020CB
-:10026000680A002068060020680600200CB50020FF
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diff --git a/GeBalanceBot_Firmware v1.0/User/main.c b/GeBalanceBot_Firmware v1.0/User/main.c
index ee1cfcf..0890270 100644
--- a/GeBalanceBot_Firmware v1.0/User/main.c	
+++ b/GeBalanceBot_Firmware v1.0/User/main.c	
@@ -8,7 +8,7 @@
 #include "bsp_sys.h"
 #include "stdio.h"
 #include "bluetooth.h"  
-
+#include "MPU6050.h"
 unsigned char BLE_RX[64];
 /**----------------------------------------------------------------------
 * Function    : main
@@ -20,14 +20,17 @@ int main(void)
 {	
 	System_Init();
 	Bluetooth_Init(9600);  
+	PB_USART_printf(USART2, (u8*)"Init Blue tooth..\r\n");
 	Car_Stop();
+	IIC_Init();
+	PB_USART_printf(USART2, (u8*)"MPU6050_initialize..\r\n");
+	MPU6050_initialize();
+	DMP_Init();
 	while (1)
 	{
-		Delay_ms(20);
+		Delay_ms(10);
 		USART2_Receive(BLE_RX, 6);
-
-		USART2_Send(BLE_RX, 6); 
-		//Delay_ms(500);
+		
 		
 		if((BLE_RX[3] == 0xB1)&&(BLE_RX[4]==0xB5))
 		{