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898 @@ -3603,39 +3603,30 @@ 0 100 - 2 - - ../Core/Src/main.c - 0 - 66 - 70 - 1 - - 0 - + 1 ..\fun\HCBle.c - 48 - 181 - 203 + 4 + 182 + 207 1 0 ..\fun\imu948.c - 22 - 66 - 81 + 32 + 85 + 109 1 0 ..\fun\gps.c - 13 + 16 335 - 337 + 359 1 0 @@ -3651,9 +3642,18 @@ ..\fun\HCBle.h - 8 - 1 - 8 + 12 + 13 + 38 + 1 + + 0 + + + ../Core/Src/main.c + 0 + 67 + 70 1 0 diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf index ad2f6aa..4d210c1 100644 Binary files a/MDK-ARM/AutoGuideStick/AutoGuideStick.axf and b/MDK-ARM/AutoGuideStick/AutoGuideStick.axf differ diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm index fb6bcc3..81f8d94 100644 --- a/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm +++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm @@ -27,16 +27,7 @@ Project File Date: 07/01/2025

Output:

*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin' Build target 'AutoGuideStick' -compiling imu948.c... -../fun/HCBle.c(138): warning: illegal character encoding in string literal [-Winvalid-source-encoding] - 138 | HCBle_SendData("? 失: %s\r\n", frame); - | ^~~~~~~~~~~~~~~~ ~~~~~~~~ -1 warning generated. -compiling HCBle.c... -linking... -Program Size: Code=83396 RO-data=1364 RW-data=20 ZI-data=15268 -FromELF: creating hex file... -"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s). +"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).

Software Packages used:

@@ -60,7 +51,7 @@ Package Vendor: Keil * Component: ARM::CMSIS:CORE@5.6.0 Include file: CMSIS/Core/Include/tz_context.h -Build Time Elapsed: 00:00:01 +Build Time Elapsed: 00:00:00 diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.hex b/MDK-ARM/AutoGuideStick/AutoGuideStick.hex index 660dae0..50aa405 100644 --- a/MDK-ARM/AutoGuideStick/AutoGuideStick.hex +++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.hex @@ -1,5 +1,5 @@ :020000040800F2 -:10000000B83B002061020008CDDD000845D600089D +:10000000C03B002061020008CDDD000845D6000895 :1000100085DD0008191A0008310E01087302000876 :100020000000000000000000000000007502000851 :10003000AD390008000000002D030008D9020008B7 @@ -36,7 +36,7 @@ :100220007D0200087D0200087D0200087D020008B2 :100230007D0200087D0200087D0200087D020008A2 :100240007D0200087D0200087D020008DFF80CD066 -:1002500001F008F900480047513B0108B83B002075 +:1002500001F008F9004800479D3D0108C03B00201F :100260000748804707480047FEE7FEE7FEE7FEE74E :10027000FEE7FEE7FEE7FEE7FEE7FEE7FEE700003B :10028000DDE100084D02000872B64FF0E02017498A @@ -69,8 +69,8 @@ :100430001D490868026822B11C4B4FF001021A6086 :1004400008E000F104001A4B1A68904201D1194BE0 :1004500018680860134B1A6812B914490868C8B1C3 -:1004600001B51249086808B112F0E4FA0D4B1A6898 -:1004700072B112F053FA1048016849B90F48016887 +:1004600001B51249086808B112F066FB0D4B1A6815 +:1004700072B112F0D5FA1048016849B90F48016805 :100480000F4A13680F484FF08052994200D0026023 :10049000BDE80140BFF34F8F70470000FC0400200F :1004A000B009002060040020580400205C040020F3 @@ -237,7 +237,7 @@ :100EB000681CA9F1010944F400740860B9696D1C4B :100EC000761E0E98884782463028F0D02BE00B998A :100ED0008A4505D1200603D444F08004761E18E02C -:100EE000504613F0F1F808B30DF11302761EAAF183 +:100EE000504613F015FA08B30DF11302761EAAF15D :100EF000300044F40074934506D20BF8010B200631 :100F000007D5A9F1010003E0200602D409F1010090 :100F10008146A00502D50F99681C0860B9696D1C4F @@ -251,7 +251,7 @@ :100F9000AAF1300010F0FF0088F8000002D10B9990 :100FA000884509D908F1010806E0E00501D5244883 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+:104B800088900D0A00494D3934385F52585F5155AD +:104B900045554500424C4520525820546872656185 +:104BA0006400424C4520545820546872656164008A +:104BB000494D5520416E676C65205468726561648B +:104BC00000424C452054582051756575650047508A +:104BD00053205461736B00547820417070206D65D0 +:104BE0006D6F727920706F6F6C0053797374656D9F +:104BF0002054696D657220546872656164006C654B +:104C000066743D25642C2072696768743D25640DC7 +:104C10000A003F20BDE2CEF6CAA7B0DC3A202573D9 +:104C20000D0A00237B226C6174223A252E36662CF5 +:104C3000226C6F6E223A252E36662C22616E676CCE +:104C400065223A252E31667D0A00237B226C65663B +:104C5000745370656564223A25642C227269676812 +:104C6000745370656564223A25647D2400424C4586 +:104C7000204576656E747300677073204576656EA7 +:104C800074730024252A5B5E2C5D2C252A5B5E2C28 +:104C90005D2C25632C2531355B5E2C5D2C25325B2C +:104CA0005E2C5D2C2531355B5E2C5D2C25325B5EE8 +:104CB0002C5D2C0024252A5B5E2C5D2C252A5B5E56 +:104CC0002C5D2C2531355B5E2C5D2C25325B5E2CFA +:104CD0005D2C2531355B5E2C5D2C25325B5E2C5DB9 +:104CE0002C25642C0024474E474741002447504759 +:104CF00047410024474E524D4300244750524D43F4 +:104D00000024474E474C4C00244750474C4C00244D +:104D1000252A5B5E2C5D2C2531355B5E2C5D2C25B8 +:104D2000325B5E2C5D2C2531355B5E2C5D2C253293 +:104D30005B5E2C5D2C252A5B5E2C5D2C25630000C0 +:104D4000604D0108000000201800000060410108CB +:104D5000784D010818000020A83B000070410108B0 +:104D6000000000000090D003F0F0F0F0FF01000020 +:084D700010000000000000002B :040000050800024DA0 :00000001FF diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.htm b/MDK-ARM/AutoGuideStick/AutoGuideStick.htm index a7a6da2..9096d93 100644 --- a/MDK-ARM/AutoGuideStick/AutoGuideStick.htm +++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.htm @@ -3,7 +3,7 @@ Static Call Graph - [AutoGuideStick\AutoGuideStick.axf]

Static Call Graph for image AutoGuideStick\AutoGuideStick.axf

-

#<CALLGRAPH># ARM Linker, 6210000: Last Updated: Tue Jul 1 21:53:33 2025 +

#<CALLGRAPH># ARM Linker, 6210000: Last Updated: Tue Jul 1 23:59:17 2025

Maximum Stack Usage = 736 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -14,13 +14,13 @@ Functions with no stack information @@ -216,7 +216,7 @@ Global Symbols

__main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
[Address Reference Count : 1]

  • startup_stm32h563xx.o(.text)
-

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001)) +

_main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

_main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))

[Calls]

  • >>   __scatterload @@ -226,15 +226,15 @@ Global Symbols

    [Called By]
    • >>   __scatterload
    -

    _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) +

    _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008)) -

    _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) +

    _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A)) -

    _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) +

    _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B)) -

    __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) +

    __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D)) -

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F)) +

    __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

    Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32h563xx.o(.text))
    [Address Reference Count : 1]

    • startup_stm32h563xx.o(RESET) @@ -621,7 +621,7 @@ Global Symbols
      [Called By]
      • >>   __tx_BadHandler
      -

      __tx_IntHandler (Thumb, 0 bytes, Stack size unknown bytes, tx_initialize_low_level.o(.text), UNUSED) +

      __tx_IntHandler (Thumb, 0 bytes, Stack size unknown bytes, tx_initialize_low_level.o(.text), UNUSED)

      SysTick_Handler (Thumb, 0 bytes, Stack size unknown bytes, tx_initialize_low_level.o(.text))

      [Stack]

      • Max Depth = 136 + Unknown Stack Size @@ -650,7 +650,7 @@ Global Symbols

        PendSV_Handler (Thumb, 0 bytes, Stack size unknown bytes, tx_thread_schedule.o(.text))
        [Address Reference Count : 1]

        • startup_stm32h563xx.o(RESET)
        -

        _tx_vfp_access (Thumb, 0 bytes, Stack size unknown bytes, tx_thread_schedule.o(.text), UNUSED) +

        _tx_vfp_access (Thumb, 0 bytes, Stack size unknown bytes, tx_thread_schedule.o(.text), UNUSED)

        _tx_thread_stack_build (Thumb, 0 bytes, Stack size unknown bytes, tx_thread_stack_build.o(.text))

        [Called By]

        • >>   _tx_thread_create @@ -673,17 +673,17 @@ Global Symbols
        • >>   __aeabi_llsl

        [Called By]
        • >>   UART_SetConfig -
        • >>   _printf_core -
        • >>   _fp_digits +
        • >>   _printf_core +
        • >>   _fp_digits

        __aeabi_memcpy (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text))

        [Called By]

        • >>   HAL_UARTEx_RxEventCallback
        -

        __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED) +

        __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED) -

        __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED) +

        __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

        __aeabi_memset (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text))

        [Called By]

        • >>   _tx_thread_create @@ -691,9 +691,9 @@ Global Symbols
        • >>   __aeabi_memclr
        -

        __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) +

        __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) -

        __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED) +

        __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

        __aeabi_memclr (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text))

        [Calls]

        • >>   __aeabi_memset @@ -726,14 +726,14 @@ Global Symbols

          [Called By]
          • >>   HCBle_SendData
          -

          strcpy (Thumb, 18 bytes, Stack size 0 bytes, strcpy.o(.text)) -

          [Called By]

          • >>   parseGpsBuffer +

            strcpy (Thumb, 18 bytes, Stack size 0 bytes, strcpy.o(.text)) +

            [Called By]

            • >>   parseGpsBuffer
            -

            strncmp (Thumb, 30 bytes, Stack size 12 bytes, strncmp.o(.text)) +

            strncmp (Thumb, 30 bytes, Stack size 12 bytes, strncmp.o(.text))

            [Stack]

            • Max Depth = 12
            • Call Chain = strncmp
            -
            [Called By]
            • >>   parseGpsBuffer +
              [Called By]
              • >>   parseGpsBuffer

              sscanf (Thumb, 48 bytes, Stack size 72 bytes, sscanf.o(.text)) @@ -741,7 +741,7 @@ Global Symbols


            [Calls]
            • >>   __vfscanf_char
            -
            [Called By]
            • >>   parseGpsBuffer +
              [Called By]
              • >>   parseGpsBuffer
              • >>   HCBle_ParseAndHandleFrame
              @@ -753,9 +753,10 @@ Global Symbols
            • >>   _double_round
            • >>   _double_epilogue
            -
            [Called By]
            • >>   Convert_to_degrees +
              [Called By]
              • >>   imu_angle_ble_task_entry +
              • >>   Convert_to_degrees
              • >>   __aeabi_drsub -
              • >>   _fp_digits +
              • >>   _fp_digits
              • >>   __aeabi_dsub
              @@ -778,7 +779,7 @@ Global Symbols

            [Called By]
            • >>   Convert_to_degrees
            • >>   _fp_value -
            • >>   _fp_digits +
            • >>   _fp_digits

            __aeabi_i2d (Thumb, 34 bytes, Stack size 16 bytes, dflti.o(.text)) @@ -798,7 +799,8 @@ Global Symbols

          __aeabi_f2d (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text)) -

          [Called By]

          • >>   ble_tx_task_entry +

            [Called By]
            • >>   imu_angle_ble_task_entry +
            • >>   ble_tx_task_entry
            • >>   Cmd_RxUnpack
            @@ -808,14 +810,15 @@ Global Symbols
            [Calls]
            • >>   _float_round

            [Called By]
            • >>   gps_thread_entry +
            • >>   imu_angle_ble_task_entry
            • >>   _scanf_really_real
            • >>   Cmd_RxUnpack
            -

            __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) +

            __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) -

            __aeabi_uidivmod (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) -

            [Called By]

            • >>   _printf_core +

              __aeabi_uidivmod (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED) +

              [Called By]

              • >>   _printf_core

              __aeabi_llsl (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text)) @@ -825,7 +828,7 @@ Global Symbols

            • >>   __aeabi_dadd
            -

            _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED) +

            _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)

            __aeabi_llsr (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))

            [Called By]

            • >>   __aeabi_d2iz @@ -835,13 +838,13 @@ Global Symbols
            • >>   _dsqrt
            -

            _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED) +

            _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)

            __aeabi_lasr (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text))

            [Called By]

            • >>   __aeabi_dadd
            -

            _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED) +

            _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

            _scanf_longlong (Thumb, 342 bytes, Stack size 56 bytes, _scanf_longlong.o(.text))

            [Stack]

            • Max Depth = 56
            • Call Chain = _scanf_longlong @@ -902,13 +905,13 @@ Global Symbols
              [Called By]
              • >>   __hardfp_atof
              -

              __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED) +

              __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)

              _float_round (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text))

              [Called By]

              • >>   __aeabi_d2f
              -

              _float_epilogue (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text), UNUSED) +

              _float_epilogue (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text), UNUSED)

              _double_round (Thumb, 30 bytes, Stack size 8 bytes, depilogue.o(.text))

              [Stack]

              • Max Depth = 8
              • Call Chain = _double_round @@ -936,7 +939,7 @@ Global Symbols

                [Calls]
                • >>   _double_epilogue

                [Called By]
                • >>   _fp_value -
                • >>   _fp_digits +
                • >>   _fp_digits

                _dsqrt (Thumb, 162 bytes, Stack size 32 bytes, dsqrt.o(.text)) @@ -952,11 +955,11 @@ Global Symbols

                [Calls]

                • >>   __aeabi_llsr
                • >>   __aeabi_llsl
                -
                [Called By]
                • >>   _fp_digits +
                  [Called By]
                  • >>   _fp_digits
                  -

                  __aeabi_cdrcmple (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED) -

                  [Called By]

                  • >>   _fp_digits +

                    __aeabi_cdrcmple (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED) +

                    [Called By]

                    • >>   _fp_digits

                    __scatterload (Thumb, 38 bytes, Stack size 0 bytes, init.o(.text)) @@ -965,7 +968,7 @@ Global Symbols
                    [Called By]

                    • >>   _main_scatterload
                    -

                    __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED) +

                    __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

                    isspace (Thumb, 10 bytes, Stack size 0 bytes, isspace_c.o(.text))

                    [Calls]

                    • >>   __ctype_lookup @@ -1024,7 +1027,7 @@ Global Symbols

                    [Calls]
                    • >>   Cmd_PackAndTx
                    -
                    [Called By]
                    • >>   imu600_init +
                      [Called By]
                      • >>   imu600_init

                      Cmd_12 (Thumb, 192 bytes, Stack size 48 bytes, imu.o(.text.Cmd_12)) @@ -1032,7 +1035,7 @@ Global Symbols


                    [Calls]
                    • >>   Cmd_PackAndTx
                    -
                    [Called By]
                    • >>   imu600_init +
                      [Called By]
                      • >>   imu600_init

                      Cmd_19 (Thumb, 24 bytes, Stack size 16 bytes, imu.o(.text.Cmd_19)) @@ -1040,7 +1043,7 @@ Global Symbols


                    [Calls]
                    • >>   Cmd_PackAndTx
                    -
                    [Called By]
                    • >>   imu600_init +
                      [Called By]
                      • >>   imu600_init

                      Cmd_GetPkt (Thumb, 570 bytes, Stack size 16 bytes, imu.o(.text.Cmd_GetPkt)) @@ -1224,7 +1227,7 @@ Global Symbols


                    [Calls]
                    • >>   HAL_GetTick
                    -
                    [Called By]
                    • >>   imu600_init +
                      [Called By]
                      • >>   imu600_init

                      HAL_GPIO_Init (Thumb, 746 bytes, Stack size 20 bytes, stm32h5xx_hal_gpio.o(.text.HAL_GPIO_Init)) @@ -1820,7 +1823,7 @@ Global Symbols


                    [Calls]
                    • >>   UART_Start_Receive_IT
                    -
                    [Called By]
                    • >>   imu600_init +
                      [Called By]
                      • >>   imu600_init
                      • >>   HAL_UART_RxCpltCallback
                      @@ -2184,7 +2187,7 @@ Global Symbols

                    [Calls]
                    • >>   __aeabi_memclr4
                    -
                    [Called By]
                    • >>   _txe_byte_pool_create +
                      [Called By]
                      • >>   _txe_byte_pool_create

                      _tx_event_flags_cleanup (Thumb, 292 bytes, Stack size 64 bytes, tx_event_flags_cleanup.o(.text._tx_event_flags_cleanup)) @@ -2208,7 +2211,7 @@ Global Symbols


                    [Calls]
                    • >>   _tx_thread_system_suspend
                    -
                    [Called By]
                    • >>   _txe_event_flags_get +
                      [Called By]
                      • >>   _txe_event_flags_get

                      _tx_event_flags_set (Thumb, 962 bytes, Stack size 160 bytes, tx_event_flags_set.o(.text._tx_event_flags_set)) @@ -2265,7 +2268,7 @@ Global Symbols
                      [Calls]

                      • >>   _tx_thread_system_suspend
                      • >>   _tx_thread_system_resume
                      -
                      [Called By]
                      • >>   _txe_queue_receive +
                        [Called By]
                        • >>   _txe_queue_receive

                        _tx_queue_send (Thumb, 620 bytes, Stack size 88 bytes, tx_queue_send.o(.text._tx_queue_send)) @@ -2306,10 +2309,19 @@ Global Symbols


                      [Address Reference Count : 1]
                      • tx_thread_create.o(.text._tx_thread_create)
                      +

                      _tx_thread_sleep (Thumb, 260 bytes, Stack size 64 bytes, tx_thread_sleep.o(.text._tx_thread_sleep)) +

                      [Stack]

                      • Max Depth = 212
                      • Call Chain = _tx_thread_sleep ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate +
                      +
                      [Calls]
                      • >>   _tx_thread_system_suspend +
                      +
                      [Called By]
                      • >>   imu_angle_ble_task_entry +
                      • >>   ble_tx_task_entry +
                      +

                      _tx_thread_system_preempt_check (Thumb, 112 bytes, Stack size 28 bytes, tx_thread_system_preempt_check.o(.text._tx_thread_system_preempt_check))

                      [Stack]

                      • Max Depth = 28
                      • Call Chain = _tx_thread_system_preempt_check
                      -
                      [Called By]
                      • >>   _txe_byte_pool_create +
                        [Called By]
                        • >>   _txe_byte_pool_create
                        • >>   _txe_queue_create
                        • >>   _txe_thread_create
                        • >>   _txe_event_flags_create @@ -2320,7 +2332,7 @@ Global Symbols

                          _tx_thread_system_resume (Thumb, 584 bytes, Stack size 96 bytes, tx_thread_system_resume.o(.text._tx_thread_system_resume))

                          [Stack]

                          • Max Depth = 112
                          • Call Chain = _tx_thread_system_resume ⇒ _tx_timer_system_deactivate
                          -
                          [Calls]
                          • >>   _tx_timer_system_deactivate +
                            [Calls]
                            • >>   _tx_timer_system_deactivate

                            [Called By]
                            • >>   _tx_timer_expiration_process
                            • >>   _tx_thread_timeout @@ -2335,9 +2347,10 @@ Global Symbols

                              _tx_thread_system_suspend (Thumb, 640 bytes, Stack size 120 bytes, tx_thread_system_suspend.o(.text._tx_thread_system_suspend))

                              [Stack]

                              • Max Depth = 148
                              • Call Chain = _tx_thread_system_suspend ⇒ _tx_timer_system_activate
                              -
                              [Calls]
                              • >>   _tx_timer_system_activate +
                                [Calls]
                                • >>   _tx_timer_system_activate

                                [Called By]
                                • >>   _tx_timer_thread_entry +
                                • >>   _tx_thread_sleep
                                • >>   _tx_thread_shell_entry
                                • >>   _tx_queue_send
                                • >>   _tx_queue_receive @@ -2375,14 +2388,14 @@ Global Symbols
                                  [Called By]
                                  • >>   _tx_initialize_high_level
                                  -

                                  _tx_timer_system_activate (Thumb, 212 bytes, Stack size 28 bytes, tx_timer_system_activate.o(.text._tx_timer_system_activate)) +

                                  _tx_timer_system_activate (Thumb, 212 bytes, Stack size 28 bytes, tx_timer_system_activate.o(.text._tx_timer_system_activate))

                                  [Stack]

                                  • Max Depth = 28
                                  • Call Chain = _tx_timer_system_activate

                                  [Called By]
                                  • >>   _tx_thread_system_suspend
                                  • >>   _tx_timer_thread_entry
                                  -

                                  _tx_timer_system_deactivate (Thumb, 112 bytes, Stack size 16 bytes, tx_timer_system_deactivate.o(.text._tx_timer_system_deactivate)) +

                                  _tx_timer_system_deactivate (Thumb, 112 bytes, Stack size 16 bytes, tx_timer_system_deactivate.o(.text._tx_timer_system_deactivate))

                                  [Stack]

                                  • Max Depth = 16
                                  • Call Chain = _tx_timer_system_deactivate

                                  [Called By]
                                  • >>   _tx_thread_system_resume @@ -2392,11 +2405,11 @@ Global Symbols

                                    [Stack]
                                    • Max Depth = 252
                                    • Call Chain = _tx_timer_thread_entry ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate

                                    [Calls]
                                    • >>   _tx_thread_system_suspend -
                                    • >>   _tx_timer_system_activate +
                                    • >>   _tx_timer_system_activate

                                    [Address Reference Count : 1]
                                    • tx_timer_initialize.o(.text._tx_timer_initialize)
                                    -

                                    _txe_byte_pool_create (Thumb, 372 bytes, Stack size 80 bytes, txe_byte_pool_create.o(.text._txe_byte_pool_create)) +

                                    _txe_byte_pool_create (Thumb, 372 bytes, Stack size 80 bytes, txe_byte_pool_create.o(.text._txe_byte_pool_create))

                                    [Stack]

                                    • Max Depth = 144
                                    • Call Chain = _txe_byte_pool_create ⇒ _tx_byte_pool_create

                                    [Calls]
                                    • >>   _tx_byte_pool_create @@ -2414,7 +2427,7 @@ Global Symbols
                                      [Called By]
                                      • >>   HCBle_InitEventFlags
                                      -

                                      _txe_event_flags_get (Thumb, 208 bytes, Stack size 40 bytes, txe_event_flags_get.o(.text._txe_event_flags_get)) +

                                      _txe_event_flags_get (Thumb, 208 bytes, Stack size 40 bytes, txe_event_flags_get.o(.text._txe_event_flags_get))

                                      [Stack]

                                      • Max Depth = 284
                                      • Call Chain = _txe_event_flags_get ⇒ _tx_event_flags_get ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate

                                      [Calls]
                                      • >>   _tx_event_flags_get @@ -2442,7 +2455,7 @@ Global Symbols
                                        [Called By]
                                        • >>   App_ThreadX_Init
                                        -

                                        _txe_queue_receive (Thumb, 168 bytes, Stack size 32 bytes, txe_queue_receive.o(.text._txe_queue_receive)) +

                                        _txe_queue_receive (Thumb, 168 bytes, Stack size 32 bytes, txe_queue_receive.o(.text._txe_queue_receive))

                                        [Stack]

                                        • Max Depth = 268
                                        • Call Chain = _txe_queue_receive ⇒ _tx_queue_receive ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate

                                        [Calls]
                                        • >>   _tx_queue_receive @@ -2457,6 +2470,7 @@ Global Symbols
                                          [Calls]
                                          • >>   _tx_queue_send

                                          [Called By]
                                          • >>   gps_thread_entry +
                                          • >>   imu_angle_ble_task_entry
                                          • >>   HAL_UART_RxCpltCallback
                                          @@ -2475,33 +2489,34 @@ Global Symbols

                                        [Calls]
                                        • >>   HCBle_ParseAndHandleFrame
                                        • >>   HCBle_InitDMAReception -
                                        • >>   _txe_event_flags_get +
                                        • >>   _txe_event_flags_get

                                        [Address Reference Count : 1]
                                        • app_threadx.o(.text.App_ThreadX_Init)
                                        -

                                        ble_tx_task_entry (Thumb, 100 bytes, Stack size 56 bytes, hcble.o(.text.ble_tx_task_entry)) -

                                        [Stack]

                                        • Max Depth = 324
                                        • Call Chain = ble_tx_task_entry ⇒ _txe_queue_receive ⇒ _tx_queue_receive ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate +

                                          ble_tx_task_entry (Thumb, 136 bytes, Stack size 72 bytes, hcble.o(.text.ble_tx_task_entry)) +

                                          [Stack]

                                          • Max Depth = 340
                                          • Call Chain = ble_tx_task_entry ⇒ _txe_queue_receive ⇒ _tx_queue_receive ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate

                                          [Calls]
                                          • >>   HCBle_SendData
                                          • >>   __aeabi_f2d -
                                          • >>   _txe_queue_receive +
                                          • >>   _txe_queue_receive +
                                          • >>   _tx_thread_sleep

                                          [Address Reference Count : 1]
                                          • app_threadx.o(.text.App_ThreadX_Init)
                                          -

                                          gps_thread_entry (Thumb, 186 bytes, Stack size 40 bytes, gps.o(.text.gps_thread_entry)) -

                                          [Stack]

                                          • Max Depth = 464
                                          • Call Chain = gps_thread_entry ⇒ parseGpsBuffer ⇒ sscanf ⇒ __vfscanf_char ⇒ __vfscanf ⇒ _scanf_real +

                                            gps_thread_entry (Thumb, 190 bytes, Stack size 56 bytes, gps.o(.text.gps_thread_entry)) +

                                            [Stack]

                                            • Max Depth = 480
                                            • Call Chain = gps_thread_entry ⇒ parseGpsBuffer ⇒ sscanf ⇒ __vfscanf_char ⇒ __vfscanf ⇒ _scanf_real

                                            [Calls]
                                            • >>   GPS_Init
                                            • >>   Convert_to_degrees -
                                            • >>   parseGpsBuffer +
                                            • >>   parseGpsBuffer
                                            • >>   _txe_queue_send
                                            • >>   _txe_event_flags_set -
                                            • >>   _txe_event_flags_get +
                                            • >>   _txe_event_flags_get
                                            • >>   __aeabi_d2f

                                            [Address Reference Count : 1]
                                            • app_threadx.o(.text.App_ThreadX_Init)
                                            -

                                            imu600_init (Thumb, 100 bytes, Stack size 40 bytes, imu948.o(.text.imu600_init)) +

                                            imu600_init (Thumb, 100 bytes, Stack size 40 bytes, imu948.o(.text.imu600_init))

                                            [Stack]

                                            • Max Depth = 264
                                            • Call Chain = imu600_init ⇒ Cmd_12 ⇒ Cmd_PackAndTx ⇒ Cmd_Write ⇒ UART_Write ⇒ HAL_UART_Transmit_IT

                                            [Calls]
                                            • >>   HAL_UART_Receive_IT @@ -2513,11 +2528,16 @@ Global Symbols
                                              [Called By]
                                              • >>   main
                                              -

                                              imu_angle_ble_task_entry (Thumb, 96 bytes, Stack size 32 bytes, imu948.o(.text.imu_angle_ble_task_entry)) -

                                              [Stack]

                                              • Max Depth = 300
                                              • Call Chain = imu_angle_ble_task_entry ⇒ _txe_queue_receive ⇒ _tx_queue_receive ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate +

                                                imu_angle_ble_task_entry (Thumb, 360 bytes, Stack size 48 bytes, imu948.o(.text.imu_angle_ble_task_entry)) +

                                                [Stack]

                                                • Max Depth = 316
                                                • Call Chain = imu_angle_ble_task_entry ⇒ _txe_queue_send ⇒ _tx_queue_send ⇒ _tx_thread_system_suspend ⇒ _tx_timer_system_activate
                                                -
                                                [Calls]
                                                • >>   _txe_queue_receive +
                                                  [Calls]
                                                  • >>   __aeabi_f2d +
                                                  • >>   _txe_queue_send +
                                                  • >>   _txe_queue_receive +
                                                  • >>   _tx_thread_sleep
                                                  • >>   Cmd_GetPkt +
                                                  • >>   __aeabi_d2f +
                                                  • >>   __aeabi_dadd

                                                  [Address Reference Count : 1]
                                                  • app_threadx.o(.text.App_ThreadX_Init)
                                                  @@ -2527,7 +2547,7 @@ Global Symbols

                                                [Calls]
                                                • >>   MX_ThreadX_Init
                                                • >>   GPS_Init -
                                                • >>   imu600_init +
                                                • >>   imu600_init
                                                • >>   MX_TIM8_Init
                                                • >>   MX_TIM1_Init
                                                • >>   MX_UART4_Init @@ -2543,12 +2563,12 @@ Global Symbols

                                                [Address Reference Count : 1]
                                                • entry9a.o(.ARM.Collect$$$$0000000B)
                                                -

                                                parseGpsBuffer (Thumb, 574 bytes, Stack size 160 bytes, gps.o(.text.parseGpsBuffer)) +

                                                parseGpsBuffer (Thumb, 574 bytes, Stack size 160 bytes, gps.o(.text.parseGpsBuffer))

                                                [Stack]

                                                • Max Depth = 424
                                                • Call Chain = parseGpsBuffer ⇒ sscanf ⇒ __vfscanf_char ⇒ __vfscanf ⇒ _scanf_real

                                                [Calls]
                                                • >>   sscanf -
                                                • >>   strncmp -
                                                • >>   strcpy +
                                                • >>   strncmp +
                                                • >>   strcpy

                                                [Called By]
                                                • >>   gps_thread_entry
                                                @@ -2557,22 +2577,22 @@ Global Symbols

                                                [Stack]
                                                • Max Depth = 392 + Unknown Stack Size
                                                • Call Chain = tx_application_define ⇒ App_ThreadX_Init ⇒ _txe_thread_create ⇒ _tx_thread_create ⇒ _tx_thread_system_resume ⇒ _tx_timer_system_deactivate
                                                -
                                                [Calls]
                                                • >>   _txe_byte_pool_create +
                                                  [Calls]
                                                  • >>   _txe_byte_pool_create
                                                  • >>   App_ThreadX_Init

                                                  [Called By]
                                                  • >>   _tx_initialize_kernel_enter
                                                  -

                                                  __0vsprintf (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                  __0vsprintf (Thumb, 30 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)

                                                  [Calls]

                                                  • >>   _sputc -
                                                  • >>   _printf_core +
                                                  • >>   _printf_core
                                                  -

                                                  __1vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                  __1vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                                                  __2vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                  __2vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) -

                                                  __c89vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED) +

                                                  __c89vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf), UNUSED)

                                                  vsprintf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0vsprintf))

                                                  [Stack]

                                                  • Max Depth = 24
                                                  • Call Chain = vsprintf @@ -2584,8 +2604,8 @@ Global Symbols

                                                    [Stack]
                                                    • Max Depth = 232
                                                    • Call Chain = __hardfp_atof ⇒ __strtod_int ⇒ _local_sscanf ⇒ _scanf_real

                                                    [Calls]
                                                    • >>   __strtod_int -
                                                    • >>   __set_errno -
                                                    • >>   __read_errno +
                                                    • >>   __set_errno +
                                                    • >>   __read_errno

                                                    [Called By]
                                                    • >>   Convert_to_degrees
                                                    @@ -2593,23 +2613,23 @@ Global Symbols

                                                    __hardfp_sqrt (Thumb, 122 bytes, Stack size 32 bytes, sqrt.o(i.__hardfp_sqrt))

                                                    [Stack]

                                                    • Max Depth = 72
                                                    • Call Chain = __hardfp_sqrt ⇒ _dsqrt ⇒ _double_round
                                                    -
                                                    [Calls]
                                                    • >>   __set_errno +
                                                      [Calls]
                                                      • >>   __set_errno
                                                      • >>   _dsqrt

                                                      [Called By]
                                                      • >>   Cmd_RxUnpack
                                                      -

                                                      __read_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__read_errno)) +

                                                      __read_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__read_errno))

                                                      [Called By]

                                                      • >>   __hardfp_atof
                                                      -

                                                      __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) +

                                                      __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED) -

                                                      __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) +

                                                      __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED) -

                                                      __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) +

                                                      __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED) -

                                                      __set_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno)) +

                                                      __set_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))

                                                      [Called By]

                                                      • >>   __hardfp_sqrt
                                                      • >>   __hardfp_atof
                                                      @@ -2915,37 +2935,37 @@ Local Symbols
                                                      [Called By]
                                                      • >>   Cmd_GetPkt
                                                      -

                                                      _fp_digits (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED) +

                                                      _fp_digits (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)

                                                      [Calls]

                                                      • >>   __aeabi_ddiv
                                                      • >>   __aeabi_dmul
                                                      • >>   __aeabi_d2ulz -
                                                      • >>   __aeabi_cdrcmple +
                                                      • >>   __aeabi_cdrcmple
                                                      • >>   __aeabi_uldivmod
                                                      • >>   __aeabi_dadd
                                                      -
                                                      [Called By]
                                                      • >>   _printf_core +
                                                        [Called By]
                                                        • >>   _printf_core
                                                        -

                                                        _printf_core (Thumb, 1744 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED) -

                                                        [Calls]

                                                        • >>   __aeabi_uidivmod -
                                                        • >>   _printf_pre_padding -
                                                        • >>   _printf_post_padding -
                                                        • >>   _fp_digits +

                                                          _printf_core (Thumb, 1744 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED) +

                                                          [Calls]

                                                          • >>   __aeabi_uidivmod +
                                                          • >>   _printf_pre_padding +
                                                          • >>   _printf_post_padding +
                                                          • >>   _fp_digits
                                                          • >>   __aeabi_uldivmod
                                                          -
                                                          [Called By]
                                                          • >>   __0vsprintf +
                                                            [Called By]
                                                            • >>   __0vsprintf
                                                            -

                                                            _printf_post_padding (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED) -

                                                            [Called By]

                                                            • >>   _printf_core +

                                                              _printf_post_padding (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED) +

                                                              [Called By]

                                                              • >>   _printf_core
                                                              -

                                                              _printf_pre_padding (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED) -

                                                              [Called By]

                                                              • >>   _printf_core +

                                                                _printf_pre_padding (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED) +

                                                                [Called By]

                                                                • >>   _printf_core

                                                                _sputc (Thumb, 10 bytes, Stack size 0 bytes, printfa.o(i._sputc)) -

                                                                [Called By]

                                                                • >>   __0vsprintf +

                                                                  [Called By]
                                                                  • >>   __0vsprintf

                                                                  [Address Reference Count : 1]
                                                                  • printfa.o(i.__0vsprintf)
                                                                  diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick.map b/MDK-ARM/AutoGuideStick/AutoGuideStick.map index 6a12692..e78df1c 100644 --- a/MDK-ARM/AutoGuideStick/AutoGuideStick.map +++ b/MDK-ARM/AutoGuideStick/AutoGuideStick.map @@ -2141,6 +2141,7 @@ Section Cross References hcble.o(.text.ble_tx_task_entry) refers to f2d.o(.text) for __aeabi_f2d hcble.o(.text.ble_tx_task_entry) refers to hcble.o(.rodata.str1.1) for .L.str.5 hcble.o(.text.ble_tx_task_entry) refers to hcble.o(.text.HCBle_SendData) for HCBle_SendData + hcble.o(.text.ble_tx_task_entry) refers to tx_thread_sleep.o(.text._tx_thread_sleep) for _tx_thread_sleep hcble.o(.ARM.exidx.text.ble_tx_task_entry) refers to hcble.o(.text.ble_tx_task_entry) for [Anonymous Symbol] gps.o(.text.GPS_Init) refers to usart.o(.bss.huart2) for huart2 gps.o(.text.GPS_Init) refers to gps.o(.bss.GPS_DMA_RX_BUF) for GPS_DMA_RX_BUF @@ -2432,6 +2433,14 @@ Section Cross References imu948.o(.text.imu_angle_ble_task_entry) refers to imu.o(.text.Cmd_GetPkt) for Cmd_GetPkt imu948.o(.text.imu_angle_ble_task_entry) refers to imu.o(.bss.isNewData) for isNewData imu948.o(.text.imu_angle_ble_task_entry) refers to imu.o(.bss.AngleZ) for AngleZ + imu948.o(.text.imu_angle_ble_task_entry) refers to f2d.o(.text) for __aeabi_f2d + imu948.o(.text.imu_angle_ble_task_entry) refers to dadd.o(.text) for __aeabi_dadd + imu948.o(.text.imu_angle_ble_task_entry) refers to d2f.o(.text) for __aeabi_d2f + imu948.o(.text.imu_angle_ble_task_entry) refers to imu948.o(.bss.imu_angle_ble_task_entry.heading_filt) for imu_angle_ble_task_entry.heading_filt + imu948.o(.text.imu_angle_ble_task_entry) refers to hcble.o(.bss.current_location) for current_location + imu948.o(.text.imu_angle_ble_task_entry) refers to app_threadx.o(.bss.ble_tx_queue) for ble_tx_queue + imu948.o(.text.imu_angle_ble_task_entry) refers to txe_queue_send.o(.text._txe_queue_send) for _txe_queue_send + imu948.o(.text.imu_angle_ble_task_entry) refers to tx_thread_sleep.o(.text._tx_thread_sleep) for _tx_thread_sleep imu948.o(.ARM.exidx.text.imu_angle_ble_task_entry) refers to imu948.o(.text.imu_angle_ble_task_entry) for [Anonymous Symbol] imu948.o(.text.HAL_UART_RxCpltCallback) refers to main.o(.bss.rx_byte) for rx_byte imu948.o(.text.HAL_UART_RxCpltCallback) refers to app_threadx.o(.bss.im948_uart_rx_queue) for im948_uart_rx_queue @@ -4002,7 +4011,6 @@ Removing Unused input sections from the image. Removing tx_thread_shell_entry.o(.text), (0 bytes). Removing tx_thread_shell_entry.o(.ARM.exidx.text._tx_thread_shell_entry), (8 bytes). Removing tx_thread_sleep.o(.text), (0 bytes). - Removing tx_thread_sleep.o(.text._tx_thread_sleep), (260 bytes). Removing tx_thread_sleep.o(.ARM.exidx.text._tx_thread_sleep), (8 bytes). Removing tx_thread_stack_analyze.o(.text), (0 bytes). Removing tx_thread_stack_analyze.o(.text._tx_thread_stack_analyze), (276 bytes). @@ -4458,8 +4466,9 @@ Removing Unused input sections from the image. Removing imu948.o(.ARM.exidx.text.imu600_init), (8 bytes). Removing imu948.o(.ARM.exidx.text.imu_angle_ble_task_entry), (8 bytes). Removing imu948.o(.ARM.exidx.text.HAL_UART_RxCpltCallback), (8 bytes). + Removing imu948.o(.bss.imu_angle_ble_task_entry.filtInit), (1 bytes). -1872 unused section(s) (total 116159 bytes) removed from the image. +1872 unused section(s) (total 115900 bytes) removed from the image. ============================================================================== @@ -5046,88 +5055,89 @@ Image Symbol Table [Anonymous Symbol] 0x080120b4 Section 0 tx_thread_create.o(.text._tx_thread_create) [Anonymous Symbol] 0x080122d0 Section 0 tx_thread_initialize.o(.text._tx_thread_initialize) [Anonymous Symbol] 0x08012350 Section 0 tx_thread_shell_entry.o(.text._tx_thread_shell_entry) - [Anonymous Symbol] 0x080123e4 Section 0 tx_thread_system_preempt_check.o(.text._tx_thread_system_preempt_check) - [Anonymous Symbol] 0x08012454 Section 0 tx_thread_system_resume.o(.text._tx_thread_system_resume) - [Anonymous Symbol] 0x0801269c Section 0 tx_thread_system_suspend.o(.text._tx_thread_system_suspend) - [Anonymous Symbol] 0x0801291c Section 0 tx_thread_time_slice.o(.text._tx_thread_time_slice) - [Anonymous Symbol] 0x080129c0 Section 0 tx_thread_timeout.o(.text._tx_thread_timeout) - [Anonymous Symbol] 0x08012a34 Section 0 tx_timer_expiration_process.o(.text._tx_timer_expiration_process) - [Anonymous Symbol] 0x08012a70 Section 0 tx_timer_initialize.o(.text._tx_timer_initialize) - [Anonymous Symbol] 0x08012b90 Section 0 tx_timer_system_activate.o(.text._tx_timer_system_activate) - [Anonymous Symbol] 0x08012c64 Section 0 tx_timer_system_deactivate.o(.text._tx_timer_system_deactivate) - [Anonymous Symbol] 0x08012cd4 Section 0 tx_timer_thread_entry.o(.text._tx_timer_thread_entry) - [Anonymous Symbol] 0x08012eec Section 0 txe_byte_pool_create.o(.text._txe_byte_pool_create) - [Anonymous Symbol] 0x08013060 Section 0 txe_event_flags_create.o(.text._txe_event_flags_create) - [Anonymous Symbol] 0x080131ac Section 0 txe_event_flags_get.o(.text._txe_event_flags_get) - [Anonymous Symbol] 0x0801327c Section 0 txe_event_flags_set.o(.text._txe_event_flags_set) - [Anonymous Symbol] 0x080132e4 Section 0 txe_queue_create.o(.text._txe_queue_create) - [Anonymous Symbol] 0x08013488 Section 0 txe_queue_receive.o(.text._txe_queue_receive) - [Anonymous Symbol] 0x08013530 Section 0 txe_queue_send.o(.text._txe_queue_send) - [Anonymous Symbol] 0x080135d8 Section 0 txe_thread_create.o(.text._txe_thread_create) - [Anonymous Symbol] 0x08013840 Section 0 hcble.o(.text.ble_rx_task_entry) - [Anonymous Symbol] 0x08013968 Section 0 hcble.o(.text.ble_tx_task_entry) - [Anonymous Symbol] 0x080139cc Section 0 gps.o(.text.gps_thread_entry) - [Anonymous Symbol] 0x08013a88 Section 0 imu948.o(.text.imu600_init) - [Anonymous Symbol] 0x08013aec Section 0 imu948.o(.text.imu_angle_ble_task_entry) - [Anonymous Symbol] 0x08013b50 Section 0 main.o(.text.main) - [Anonymous Symbol] 0x08013b98 Section 0 gps.o(.text.parseGpsBuffer) - [Anonymous Symbol] 0x08013dd8 Section 0 app_azure_rtos.o(.text.tx_application_define) - i.__0vsprintf 0x08013e30 Section 0 printfa.o(i.__0vsprintf) - i.__hardfp_atof 0x08013e58 Section 0 atof.o(i.__hardfp_atof) - i.__hardfp_sqrt 0x08013e90 Section 0 sqrt.o(i.__hardfp_sqrt) - i.__read_errno 0x08013f0c Section 0 errno.o(i.__read_errno) - i.__scatterload_copy 0x08013f18 Section 14 handlers.o(i.__scatterload_copy) - i.__scatterload_null 0x08013f26 Section 2 handlers.o(i.__scatterload_null) - i.__scatterload_zeroinit 0x08013f28 Section 14 handlers.o(i.__scatterload_zeroinit) - i.__set_errno 0x08013f38 Section 0 errno.o(i.__set_errno) - _fp_digits 0x08013f45 Thumb Code 366 printfa.o(i._fp_digits) - i._fp_digits 0x08013f44 Section 0 printfa.o(i._fp_digits) - i._is_digit 0x080140c8 Section 0 scanf_fp.o(i._is_digit) - _printf_core 0x080140d9 Thumb Code 1744 printfa.o(i._printf_core) - i._printf_core 0x080140d8 Section 0 printfa.o(i._printf_core) - _printf_post_padding 0x080147b5 Thumb Code 36 printfa.o(i._printf_post_padding) - i._printf_post_padding 0x080147b4 Section 0 printfa.o(i._printf_post_padding) - _printf_pre_padding 0x080147d9 Thumb Code 46 printfa.o(i._printf_pre_padding) - i._printf_pre_padding 0x080147d8 Section 0 printfa.o(i._printf_pre_padding) - _sputc 0x08014807 Thumb Code 10 printfa.o(i._sputc) - i._sputc 0x08014806 Section 0 printfa.o(i._sputc) - .constdata 0x08014810 Section 64 ctype_c.o(.constdata) - UARTEx_SetNbDataToProcess.denominator 0x08014868 Data 8 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.denominator) - [Anonymous Symbol] 0x08014868 Section 0 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.denominator) - UARTEx_SetNbDataToProcess.numerator 0x08014870 Data 8 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.numerator) - [Anonymous Symbol] 0x08014870 Section 0 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.numerator) - .L.str.3 0x08014890 Data 47 app_threadx.o(.rodata.str1.1) - [Anonymous Symbol] 0x08014890 Section 0 app_threadx.o(.rodata.str1.1) - .L.str.5 0x080148bf Data 53 app_threadx.o(.rodata.str1.1) - .L.str 0x080148f4 Data 26 app_threadx.o(.rodata.str1.1) - .L.str.9 0x0801490e Data 47 app_threadx.o(.rodata.str1.1) - .L.str.7 0x0801493d Data 15 app_threadx.o(.rodata.str1.1) - .L.str.1 0x0801494c Data 14 app_threadx.o(.rodata.str1.1) - .L.str.2 0x0801495a Data 14 app_threadx.o(.rodata.str1.1) - .L.str.6 0x08014968 Data 17 app_threadx.o(.rodata.str1.1) - .L.str.4 0x08014979 Data 13 app_threadx.o(.rodata.str1.1) - .L.str.8 0x08014986 Data 9 app_threadx.o(.rodata.str1.1) - .L.str 0x0801498f Data 19 app_azure_rtos.o(.rodata.str1.1) - [Anonymous Symbol] 0x0801498f Section 0 app_azure_rtos.o(.rodata.str1.1) - .L.str 0x080149a2 Data 20 tx_timer_initialize.o(.rodata.str1.1) - [Anonymous Symbol] 0x080149a2 Section 0 tx_timer_initialize.o(.rodata.str1.1) - .L.str.3 0x080149b6 Data 20 hcble.o(.rodata.str1.1) - [Anonymous Symbol] 0x080149b6 Section 0 hcble.o(.rodata.str1.1) - .L.str.4 0x080149ca Data 17 hcble.o(.rodata.str1.1) - .L.str.5 0x080149db Data 39 hcble.o(.rodata.str1.1) - .L.str.2 0x08014a02 Data 35 hcble.o(.rodata.str1.1) - .L.str 0x08014a25 Data 11 hcble.o(.rodata.str1.1) - .L.str.1 0x08014a30 Data 11 hcble.o(.rodata.str1.1) - .L.str.2 0x08014a3b Data 49 gps.o(.rodata.str1.1) - [Anonymous Symbol] 0x08014a3b Section 0 gps.o(.rodata.str1.1) - .L.str.5 0x08014a6c Data 49 gps.o(.rodata.str1.1) - .L.str.3 0x08014a9d Data 7 gps.o(.rodata.str1.1) - .L.str.4 0x08014aa4 Data 7 gps.o(.rodata.str1.1) - .L.str 0x08014aab Data 7 gps.o(.rodata.str1.1) - .L.str.1 0x08014ab2 Data 7 gps.o(.rodata.str1.1) - .L.str.6 0x08014ab9 Data 7 gps.o(.rodata.str1.1) - .L.str.7 0x08014ac0 Data 7 gps.o(.rodata.str1.1) - .L.str.8 0x08014ac7 Data 48 gps.o(.rodata.str1.1) + [Anonymous Symbol] 0x080123e4 Section 0 tx_thread_sleep.o(.text._tx_thread_sleep) + [Anonymous Symbol] 0x080124e8 Section 0 tx_thread_system_preempt_check.o(.text._tx_thread_system_preempt_check) + [Anonymous Symbol] 0x08012558 Section 0 tx_thread_system_resume.o(.text._tx_thread_system_resume) + [Anonymous Symbol] 0x080127a0 Section 0 tx_thread_system_suspend.o(.text._tx_thread_system_suspend) + [Anonymous Symbol] 0x08012a20 Section 0 tx_thread_time_slice.o(.text._tx_thread_time_slice) + [Anonymous Symbol] 0x08012ac4 Section 0 tx_thread_timeout.o(.text._tx_thread_timeout) + [Anonymous Symbol] 0x08012b38 Section 0 tx_timer_expiration_process.o(.text._tx_timer_expiration_process) + [Anonymous Symbol] 0x08012b74 Section 0 tx_timer_initialize.o(.text._tx_timer_initialize) + [Anonymous Symbol] 0x08012c94 Section 0 tx_timer_system_activate.o(.text._tx_timer_system_activate) + [Anonymous Symbol] 0x08012d68 Section 0 tx_timer_system_deactivate.o(.text._tx_timer_system_deactivate) + [Anonymous Symbol] 0x08012dd8 Section 0 tx_timer_thread_entry.o(.text._tx_timer_thread_entry) + [Anonymous Symbol] 0x08012ff0 Section 0 txe_byte_pool_create.o(.text._txe_byte_pool_create) + [Anonymous Symbol] 0x08013164 Section 0 txe_event_flags_create.o(.text._txe_event_flags_create) + [Anonymous Symbol] 0x080132b0 Section 0 txe_event_flags_get.o(.text._txe_event_flags_get) + [Anonymous Symbol] 0x08013380 Section 0 txe_event_flags_set.o(.text._txe_event_flags_set) + [Anonymous Symbol] 0x080133e8 Section 0 txe_queue_create.o(.text._txe_queue_create) + [Anonymous Symbol] 0x0801358c Section 0 txe_queue_receive.o(.text._txe_queue_receive) + [Anonymous Symbol] 0x08013634 Section 0 txe_queue_send.o(.text._txe_queue_send) + [Anonymous Symbol] 0x080136dc Section 0 txe_thread_create.o(.text._txe_thread_create) + [Anonymous Symbol] 0x08013944 Section 0 hcble.o(.text.ble_rx_task_entry) + [Anonymous Symbol] 0x08013a6c Section 0 hcble.o(.text.ble_tx_task_entry) + [Anonymous Symbol] 0x08013af4 Section 0 gps.o(.text.gps_thread_entry) + [Anonymous Symbol] 0x08013bb4 Section 0 imu948.o(.text.imu600_init) + [Anonymous Symbol] 0x08013c18 Section 0 imu948.o(.text.imu_angle_ble_task_entry) + [Anonymous Symbol] 0x08013d9c Section 0 main.o(.text.main) + [Anonymous Symbol] 0x08013de4 Section 0 gps.o(.text.parseGpsBuffer) + [Anonymous Symbol] 0x08014024 Section 0 app_azure_rtos.o(.text.tx_application_define) + i.__0vsprintf 0x0801407c Section 0 printfa.o(i.__0vsprintf) + i.__hardfp_atof 0x080140a0 Section 0 atof.o(i.__hardfp_atof) + i.__hardfp_sqrt 0x080140d8 Section 0 sqrt.o(i.__hardfp_sqrt) + i.__read_errno 0x08014154 Section 0 errno.o(i.__read_errno) + i.__scatterload_copy 0x08014160 Section 14 handlers.o(i.__scatterload_copy) + i.__scatterload_null 0x0801416e Section 2 handlers.o(i.__scatterload_null) + i.__scatterload_zeroinit 0x08014170 Section 14 handlers.o(i.__scatterload_zeroinit) + i.__set_errno 0x08014180 Section 0 errno.o(i.__set_errno) + _fp_digits 0x0801418d Thumb Code 366 printfa.o(i._fp_digits) + i._fp_digits 0x0801418c Section 0 printfa.o(i._fp_digits) + i._is_digit 0x08014310 Section 0 scanf_fp.o(i._is_digit) + _printf_core 0x08014321 Thumb Code 1744 printfa.o(i._printf_core) + i._printf_core 0x08014320 Section 0 printfa.o(i._printf_core) + _printf_post_padding 0x080149fd Thumb Code 36 printfa.o(i._printf_post_padding) + i._printf_post_padding 0x080149fc Section 0 printfa.o(i._printf_post_padding) + _printf_pre_padding 0x08014a21 Thumb Code 46 printfa.o(i._printf_pre_padding) + i._printf_pre_padding 0x08014a20 Section 0 printfa.o(i._printf_pre_padding) + _sputc 0x08014a4f Thumb Code 10 printfa.o(i._sputc) + i._sputc 0x08014a4e Section 0 printfa.o(i._sputc) + .constdata 0x08014a58 Section 64 ctype_c.o(.constdata) + UARTEx_SetNbDataToProcess.denominator 0x08014ab0 Data 8 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.denominator) + [Anonymous Symbol] 0x08014ab0 Section 0 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.denominator) + UARTEx_SetNbDataToProcess.numerator 0x08014ab8 Data 8 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.numerator) + [Anonymous Symbol] 0x08014ab8 Section 0 stm32h5xx_hal_uart_ex.o(.rodata.UARTEx_SetNbDataToProcess.numerator) + .L.str.3 0x08014ad8 Data 47 app_threadx.o(.rodata.str1.1) + [Anonymous Symbol] 0x08014ad8 Section 0 app_threadx.o(.rodata.str1.1) + .L.str.5 0x08014b07 Data 53 app_threadx.o(.rodata.str1.1) + .L.str 0x08014b3c Data 26 app_threadx.o(.rodata.str1.1) + .L.str.9 0x08014b56 Data 47 app_threadx.o(.rodata.str1.1) + .L.str.7 0x08014b85 Data 15 app_threadx.o(.rodata.str1.1) + .L.str.1 0x08014b94 Data 14 app_threadx.o(.rodata.str1.1) + .L.str.2 0x08014ba2 Data 14 app_threadx.o(.rodata.str1.1) + .L.str.6 0x08014bb0 Data 17 app_threadx.o(.rodata.str1.1) + .L.str.4 0x08014bc1 Data 13 app_threadx.o(.rodata.str1.1) + .L.str.8 0x08014bce Data 9 app_threadx.o(.rodata.str1.1) + .L.str 0x08014bd7 Data 19 app_azure_rtos.o(.rodata.str1.1) + [Anonymous Symbol] 0x08014bd7 Section 0 app_azure_rtos.o(.rodata.str1.1) + .L.str 0x08014bea Data 20 tx_timer_initialize.o(.rodata.str1.1) + [Anonymous Symbol] 0x08014bea Section 0 tx_timer_initialize.o(.rodata.str1.1) + .L.str.3 0x08014bfe Data 20 hcble.o(.rodata.str1.1) + [Anonymous Symbol] 0x08014bfe Section 0 hcble.o(.rodata.str1.1) + .L.str.4 0x08014c12 Data 17 hcble.o(.rodata.str1.1) + .L.str.5 0x08014c23 Data 39 hcble.o(.rodata.str1.1) + .L.str.2 0x08014c4a Data 35 hcble.o(.rodata.str1.1) + .L.str 0x08014c6d Data 11 hcble.o(.rodata.str1.1) + .L.str.1 0x08014c78 Data 11 hcble.o(.rodata.str1.1) + .L.str.2 0x08014c83 Data 49 gps.o(.rodata.str1.1) + [Anonymous Symbol] 0x08014c83 Section 0 gps.o(.rodata.str1.1) + .L.str.5 0x08014cb4 Data 49 gps.o(.rodata.str1.1) + .L.str.3 0x08014ce5 Data 7 gps.o(.rodata.str1.1) + .L.str.4 0x08014cec Data 7 gps.o(.rodata.str1.1) + .L.str 0x08014cf3 Data 7 gps.o(.rodata.str1.1) + .L.str.1 0x08014cfa Data 7 gps.o(.rodata.str1.1) + .L.str.6 0x08014d01 Data 7 gps.o(.rodata.str1.1) + .L.str.7 0x08014d08 Data 7 gps.o(.rodata.str1.1) + .L.str.8 0x08014d0f Data 48 gps.o(.rodata.str1.1) SYSTEM_CLOCK 0x0ee6b280 Number 0 tx_initialize_low_level.o ABSOLUTE _errno 0x20000000 Data 4 errno.o(.data) .data 0x20000000 Section 4 errno.o(.data) @@ -5145,11 +5155,13 @@ Image Symbol Table [Anonymous Symbol] 0x200012e0 Section 0 hcble.o(.bss.ble_rx_task_entry.json_buf) ble_rx_task_entry.parsing 0x20001360 Data 4 hcble.o(.bss.ble_rx_task_entry.parsing) [Anonymous Symbol] 0x20001360 Section 0 hcble.o(.bss.ble_rx_task_entry.parsing) - tx_app_byte_pool 0x20003348 Data 52 app_azure_rtos.o(.bss.tx_app_byte_pool) - [Anonymous Symbol] 0x20003348 Section 0 app_azure_rtos.o(.bss.tx_app_byte_pool) - tx_byte_pool_buffer 0x2000337c Data 1024 app_azure_rtos.o(.bss.tx_byte_pool_buffer) - [Anonymous Symbol] 0x2000337c Section 0 app_azure_rtos.o(.bss.tx_byte_pool_buffer) - STACK 0x200037b8 Section 1024 startup_stm32h563xx.o(STACK) + imu_angle_ble_task_entry.heading_filt 0x20002e70 Data 4 imu948.o(.bss.imu_angle_ble_task_entry.heading_filt) + [Anonymous Symbol] 0x20002e70 Section 0 imu948.o(.bss.imu_angle_ble_task_entry.heading_filt) + tx_app_byte_pool 0x2000334c Data 52 app_azure_rtos.o(.bss.tx_app_byte_pool) + [Anonymous Symbol] 0x2000334c Section 0 app_azure_rtos.o(.bss.tx_app_byte_pool) + tx_byte_pool_buffer 0x20003380 Data 1024 app_azure_rtos.o(.bss.tx_byte_pool_buffer) + [Anonymous Symbol] 0x20003380 Section 0 app_azure_rtos.o(.bss.tx_byte_pool_buffer) + STACK 0x200037c0 Section 1024 startup_stm32h563xx.o(STACK) Global Symbols @@ -5511,51 +5523,52 @@ Image Symbol Table _tx_thread_create 0x080120b5 Thumb Code 538 tx_thread_create.o(.text._tx_thread_create) _tx_thread_initialize 0x080122d1 Thumb Code 126 tx_thread_initialize.o(.text._tx_thread_initialize) _tx_thread_shell_entry 0x08012351 Thumb Code 148 tx_thread_shell_entry.o(.text._tx_thread_shell_entry) - _tx_thread_system_preempt_check 0x080123e5 Thumb Code 112 tx_thread_system_preempt_check.o(.text._tx_thread_system_preempt_check) - _tx_thread_system_resume 0x08012455 Thumb Code 584 tx_thread_system_resume.o(.text._tx_thread_system_resume) - _tx_thread_system_suspend 0x0801269d Thumb Code 640 tx_thread_system_suspend.o(.text._tx_thread_system_suspend) - _tx_thread_time_slice 0x0801291d Thumb Code 162 tx_thread_time_slice.o(.text._tx_thread_time_slice) - _tx_thread_timeout 0x080129c1 Thumb Code 114 tx_thread_timeout.o(.text._tx_thread_timeout) - _tx_timer_expiration_process 0x08012a35 Thumb Code 60 tx_timer_expiration_process.o(.text._tx_timer_expiration_process) - _tx_timer_initialize 0x08012a71 Thumb Code 286 tx_timer_initialize.o(.text._tx_timer_initialize) - _tx_timer_system_activate 0x08012b91 Thumb Code 212 tx_timer_system_activate.o(.text._tx_timer_system_activate) - _tx_timer_system_deactivate 0x08012c65 Thumb Code 112 tx_timer_system_deactivate.o(.text._tx_timer_system_deactivate) - _tx_timer_thread_entry 0x08012cd5 Thumb Code 536 tx_timer_thread_entry.o(.text._tx_timer_thread_entry) - _txe_byte_pool_create 0x08012eed Thumb Code 372 txe_byte_pool_create.o(.text._txe_byte_pool_create) - _txe_event_flags_create 0x08013061 Thumb Code 332 txe_event_flags_create.o(.text._txe_event_flags_create) - _txe_event_flags_get 0x080131ad Thumb Code 208 txe_event_flags_get.o(.text._txe_event_flags_get) - _txe_event_flags_set 0x0801327d Thumb Code 102 txe_event_flags_set.o(.text._txe_event_flags_set) - _txe_queue_create 0x080132e5 Thumb Code 420 txe_queue_create.o(.text._txe_queue_create) - _txe_queue_receive 0x08013489 Thumb Code 168 txe_queue_receive.o(.text._txe_queue_receive) - _txe_queue_send 0x08013531 Thumb Code 168 txe_queue_send.o(.text._txe_queue_send) - _txe_thread_create 0x080135d9 Thumb Code 614 txe_thread_create.o(.text._txe_thread_create) - ble_rx_task_entry 0x08013841 Thumb Code 296 hcble.o(.text.ble_rx_task_entry) - ble_tx_task_entry 0x08013969 Thumb Code 100 hcble.o(.text.ble_tx_task_entry) - gps_thread_entry 0x080139cd Thumb Code 186 gps.o(.text.gps_thread_entry) - imu600_init 0x08013a89 Thumb Code 100 imu948.o(.text.imu600_init) - imu_angle_ble_task_entry 0x08013aed Thumb Code 96 imu948.o(.text.imu_angle_ble_task_entry) - main 0x08013b51 Thumb Code 72 main.o(.text.main) - parseGpsBuffer 0x08013b99 Thumb Code 574 gps.o(.text.parseGpsBuffer) - tx_application_define 0x08013dd9 Thumb Code 88 app_azure_rtos.o(.text.tx_application_define) - __0vsprintf 0x08013e31 Thumb Code 30 printfa.o(i.__0vsprintf) - __1vsprintf 0x08013e31 Thumb Code 0 printfa.o(i.__0vsprintf) - __2vsprintf 0x08013e31 Thumb Code 0 printfa.o(i.__0vsprintf) - __c89vsprintf 0x08013e31 Thumb Code 0 printfa.o(i.__0vsprintf) - vsprintf 0x08013e31 Thumb Code 0 printfa.o(i.__0vsprintf) - __hardfp_atof 0x08013e59 Thumb Code 46 atof.o(i.__hardfp_atof) - __hardfp_sqrt 0x08013e91 Thumb Code 122 sqrt.o(i.__hardfp_sqrt) - __read_errno 0x08013f0d Thumb Code 6 errno.o(i.__read_errno) - __scatterload_copy 0x08013f19 Thumb Code 14 handlers.o(i.__scatterload_copy) - __scatterload_null 0x08013f27 Thumb Code 2 handlers.o(i.__scatterload_null) - __scatterload_zeroinit 0x08013f29 Thumb Code 14 handlers.o(i.__scatterload_zeroinit) - __set_errno 0x08013f39 Thumb Code 6 errno.o(i.__set_errno) - _is_digit 0x080140c9 Thumb Code 14 scanf_fp.o(i._is_digit) - __ctype_categories 0x08014810 Data 64 ctype_c.o(.constdata) - AHBPrescTable 0x08014850 Data 16 system_stm32h5xx.o(.rodata.AHBPrescTable) - APBPrescTable 0x08014860 Data 8 system_stm32h5xx.o(.rodata.APBPrescTable) - UARTPrescTable 0x08014878 Data 24 stm32h5xx_hal_uart.o(.rodata.UARTPrescTable) - Region$$Table$$Base 0x08014af8 Number 0 anon$$obj.o(Region$$Table) - Region$$Table$$Limit 0x08014b18 Number 0 anon$$obj.o(Region$$Table) + _tx_thread_sleep 0x080123e5 Thumb Code 260 tx_thread_sleep.o(.text._tx_thread_sleep) + _tx_thread_system_preempt_check 0x080124e9 Thumb Code 112 tx_thread_system_preempt_check.o(.text._tx_thread_system_preempt_check) + _tx_thread_system_resume 0x08012559 Thumb Code 584 tx_thread_system_resume.o(.text._tx_thread_system_resume) + _tx_thread_system_suspend 0x080127a1 Thumb Code 640 tx_thread_system_suspend.o(.text._tx_thread_system_suspend) + _tx_thread_time_slice 0x08012a21 Thumb Code 162 tx_thread_time_slice.o(.text._tx_thread_time_slice) + _tx_thread_timeout 0x08012ac5 Thumb Code 114 tx_thread_timeout.o(.text._tx_thread_timeout) + _tx_timer_expiration_process 0x08012b39 Thumb Code 60 tx_timer_expiration_process.o(.text._tx_timer_expiration_process) + _tx_timer_initialize 0x08012b75 Thumb Code 286 tx_timer_initialize.o(.text._tx_timer_initialize) + _tx_timer_system_activate 0x08012c95 Thumb Code 212 tx_timer_system_activate.o(.text._tx_timer_system_activate) + _tx_timer_system_deactivate 0x08012d69 Thumb Code 112 tx_timer_system_deactivate.o(.text._tx_timer_system_deactivate) + _tx_timer_thread_entry 0x08012dd9 Thumb Code 536 tx_timer_thread_entry.o(.text._tx_timer_thread_entry) + _txe_byte_pool_create 0x08012ff1 Thumb Code 372 txe_byte_pool_create.o(.text._txe_byte_pool_create) + _txe_event_flags_create 0x08013165 Thumb Code 332 txe_event_flags_create.o(.text._txe_event_flags_create) + _txe_event_flags_get 0x080132b1 Thumb Code 208 txe_event_flags_get.o(.text._txe_event_flags_get) + _txe_event_flags_set 0x08013381 Thumb Code 102 txe_event_flags_set.o(.text._txe_event_flags_set) + _txe_queue_create 0x080133e9 Thumb Code 420 txe_queue_create.o(.text._txe_queue_create) + _txe_queue_receive 0x0801358d Thumb Code 168 txe_queue_receive.o(.text._txe_queue_receive) + _txe_queue_send 0x08013635 Thumb Code 168 txe_queue_send.o(.text._txe_queue_send) + _txe_thread_create 0x080136dd Thumb Code 614 txe_thread_create.o(.text._txe_thread_create) + ble_rx_task_entry 0x08013945 Thumb Code 296 hcble.o(.text.ble_rx_task_entry) + ble_tx_task_entry 0x08013a6d Thumb Code 136 hcble.o(.text.ble_tx_task_entry) + gps_thread_entry 0x08013af5 Thumb Code 190 gps.o(.text.gps_thread_entry) + imu600_init 0x08013bb5 Thumb Code 100 imu948.o(.text.imu600_init) + imu_angle_ble_task_entry 0x08013c19 Thumb Code 360 imu948.o(.text.imu_angle_ble_task_entry) + main 0x08013d9d Thumb Code 72 main.o(.text.main) + parseGpsBuffer 0x08013de5 Thumb Code 574 gps.o(.text.parseGpsBuffer) + tx_application_define 0x08014025 Thumb Code 88 app_azure_rtos.o(.text.tx_application_define) + __0vsprintf 0x0801407d Thumb Code 30 printfa.o(i.__0vsprintf) + __1vsprintf 0x0801407d Thumb Code 0 printfa.o(i.__0vsprintf) + __2vsprintf 0x0801407d Thumb Code 0 printfa.o(i.__0vsprintf) + __c89vsprintf 0x0801407d Thumb Code 0 printfa.o(i.__0vsprintf) + vsprintf 0x0801407d Thumb Code 0 printfa.o(i.__0vsprintf) + __hardfp_atof 0x080140a1 Thumb Code 46 atof.o(i.__hardfp_atof) + __hardfp_sqrt 0x080140d9 Thumb Code 122 sqrt.o(i.__hardfp_sqrt) + __read_errno 0x08014155 Thumb Code 6 errno.o(i.__read_errno) + __scatterload_copy 0x08014161 Thumb Code 14 handlers.o(i.__scatterload_copy) + __scatterload_null 0x0801416f Thumb Code 2 handlers.o(i.__scatterload_null) + __scatterload_zeroinit 0x08014171 Thumb Code 14 handlers.o(i.__scatterload_zeroinit) + __set_errno 0x08014181 Thumb Code 6 errno.o(i.__set_errno) + _is_digit 0x08014311 Thumb Code 14 scanf_fp.o(i._is_digit) + __ctype_categories 0x08014a58 Data 64 ctype_c.o(.constdata) + AHBPrescTable 0x08014a98 Data 16 system_stm32h5xx.o(.rodata.AHBPrescTable) + APBPrescTable 0x08014aa8 Data 8 system_stm32h5xx.o(.rodata.APBPrescTable) + UARTPrescTable 0x08014ac0 Data 24 stm32h5xx_hal_uart.o(.rodata.UARTPrescTable) + Region$$Table$$Base 0x08014d40 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x08014d60 Number 0 anon$$obj.o(Region$$Table) SystemCoreClock 0x20000004 Data 4 system_stm32h5xx.o(.data.SystemCoreClock) _tx_thread_system_state 0x20000008 Data 4 tx_thread_initialize.o(.data._tx_thread_system_state) targetDeviceAddress 0x2000000c Data 1 imu.o(.data.targetDeviceAddress) @@ -5640,16 +5653,16 @@ Image Symbol Table ic_val2 0x20002d34 Data 4 ultrasound.o(.bss.ic_val2) im948_rx_queue_buffer 0x20002d38 Data 256 app_threadx.o(.bss.im948_rx_queue_buffer) im948_uart_rx_queue 0x20002e38 Data 56 app_threadx.o(.bss.im948_uart_rx_queue) - imu_angle_stack 0x20002e70 Data 1024 app_threadx.o(.bss.imu_angle_stack) - imu_angle_thread 0x20003270 Data 176 app_threadx.o(.bss.imu_angle_thread) - isNewData 0x20003320 Data 1 imu.o(.bss.isNewData) - is_first_capture 0x20003321 Data 1 ultrasound.o(.bss.is_first_capture) - rx_byte 0x20003322 Data 1 main.o(.bss.rx_byte) - system_events 0x20003324 Data 36 app_threadx.o(.bss.system_events) - uart_dma_rx_buf 0x2000377c Data 20 hcble.o(.bss.uart_dma_rx_buf) - ultrasonic_event 0x20003790 Data 36 ultrasound.o(.bss.ultrasonic_event) - uwTick 0x200037b4 Data 4 stm32h5xx_hal.o(.bss.uwTick) - __initial_sp 0x20003bb8 Data 0 startup_stm32h563xx.o(STACK) + imu_angle_stack 0x20002e74 Data 1024 app_threadx.o(.bss.imu_angle_stack) + imu_angle_thread 0x20003274 Data 176 app_threadx.o(.bss.imu_angle_thread) + isNewData 0x20003324 Data 1 imu.o(.bss.isNewData) + is_first_capture 0x20003325 Data 1 ultrasound.o(.bss.is_first_capture) + rx_byte 0x20003326 Data 1 main.o(.bss.rx_byte) + system_events 0x20003328 Data 36 app_threadx.o(.bss.system_events) + uart_dma_rx_buf 0x20003780 Data 20 hcble.o(.bss.uart_dma_rx_buf) + ultrasonic_event 0x20003794 Data 36 ultrasound.o(.bss.ultrasonic_event) + uwTick 0x200037b8 Data 4 stm32h5xx_hal.o(.bss.uwTick) + __initial_sp 0x20003bc0 Data 0 startup_stm32h563xx.o(STACK) @@ -5659,67 +5672,67 @@ Memory Map of the image Image Entry point : 0x0800024d - Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00014b30, Max: 0x00200000, ABSOLUTE) + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00014d78, Max: 0x00200000, ABSOLUTE) - Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014b18, Max: 0x00200000, ABSOLUTE) + Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00014d60, Max: 0x00200000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object 0x08000000 0x08000000 0x0000024c Data RO 3 RESET startup_stm32h563xx.o - 0x0800024c 0x0800024c 0x00000000 Code RO 3226 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) - 0x0800024c 0x0800024c 0x00000004 Code RO 3289 .ARM.Collect$$$$00000001 mc_w.l(entry2.o) - 0x08000250 0x08000250 0x00000004 Code RO 3292 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) - 0x08000254 0x08000254 0x00000000 Code RO 3294 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) - 0x08000254 0x08000254 0x00000000 Code RO 3296 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) - 0x08000254 0x08000254 0x00000008 Code RO 3297 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) - 0x0800025c 0x0800025c 0x00000000 Code RO 3299 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) - 0x0800025c 0x0800025c 0x00000000 Code RO 3301 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) - 0x0800025c 0x0800025c 0x00000004 Code RO 3290 .ARM.Collect$$$$00002712 mc_w.l(entry2.o) + 0x0800024c 0x0800024c 0x00000000 Code RO 3228 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) + 0x0800024c 0x0800024c 0x00000004 Code RO 3291 .ARM.Collect$$$$00000001 mc_w.l(entry2.o) + 0x08000250 0x08000250 0x00000004 Code RO 3294 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) + 0x08000254 0x08000254 0x00000000 Code RO 3296 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) + 0x08000254 0x08000254 0x00000000 Code RO 3298 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) + 0x08000254 0x08000254 0x00000008 Code RO 3299 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) + 0x0800025c 0x0800025c 0x00000000 Code RO 3301 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) + 0x0800025c 0x0800025c 0x00000000 Code RO 3303 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) + 0x0800025c 0x0800025c 0x00000004 Code RO 3292 .ARM.Collect$$$$00002712 mc_w.l(entry2.o) 0x08000260 0x08000260 0x00000028 Code RO 4 .text startup_stm32h563xx.o 0x08000288 0x08000288 0x00000078 Code RO 27 .text tx_initialize_low_level.o 0x08000300 0x08000300 0x000000d0 Code RO 1652 .text tx_thread_schedule.o 0x080003d0 0x080003d0 0x00000040 Code RO 1657 .text tx_thread_stack_build.o 0x08000410 0x08000410 0x000000b8 Code RO 1667 .text tx_timer_interrupt.o - 0x080004c8 0x080004c8 0x00000062 Code RO 3229 .text mc_w.l(uldiv.o) - 0x0800052a 0x0800052a 0x00000024 Code RO 3231 .text mc_w.l(memcpya.o) - 0x0800054e 0x0800054e 0x00000024 Code RO 3233 .text mc_w.l(memseta.o) - 0x08000572 0x08000572 0x0000000e Code RO 3237 .text mc_w.l(strlen.o) - 0x08000580 0x08000580 0x00000012 Code RO 3241 .text mc_w.l(strcpy.o) - 0x08000592 0x08000592 0x0000001e Code RO 3243 .text mc_w.l(strncmp.o) - 0x080005b0 0x080005b0 0x00000038 Code RO 3275 .text mc_w.l(sscanf.o) - 0x080005e8 0x080005e8 0x0000014e Code RO 3277 .text mf_w.l(dadd.o) - 0x08000736 0x08000736 0x000000de Code RO 3279 .text mf_w.l(ddiv.o) - 0x08000814 0x08000814 0x00000022 Code RO 3281 .text mf_w.l(dflti.o) - 0x08000836 0x08000836 0x0000003e Code RO 3283 .text mf_w.l(dfixi.o) - 0x08000874 0x08000874 0x00000026 Code RO 3285 .text mf_w.l(f2d.o) - 0x0800089a 0x0800089a 0x00000038 Code RO 3287 .text mf_w.l(d2f.o) - 0x080008d2 0x080008d2 0x0000002c Code RO 3317 .text mc_w.l(uidiv.o) - 0x080008fe 0x080008fe 0x0000001e Code RO 3319 .text mc_w.l(llshl.o) - 0x0800091c 0x0800091c 0x00000020 Code RO 3321 .text mc_w.l(llushr.o) - 0x0800093c 0x0800093c 0x00000024 Code RO 3323 .text mc_w.l(llsshr.o) - 0x08000960 0x08000960 0x00000156 Code RO 3332 .text mc_w.l(_scanf_longlong.o) - 0x08000ab6 0x08000ab6 0x0000014c Code RO 3334 .text mc_w.l(_scanf_int.o) - 0x08000c02 0x08000c02 0x000000e0 Code RO 3336 .text mc_w.l(_scanf_str.o) + 0x080004c8 0x080004c8 0x00000062 Code RO 3231 .text mc_w.l(uldiv.o) + 0x0800052a 0x0800052a 0x00000024 Code RO 3233 .text mc_w.l(memcpya.o) + 0x0800054e 0x0800054e 0x00000024 Code RO 3235 .text mc_w.l(memseta.o) + 0x08000572 0x08000572 0x0000000e Code RO 3239 .text mc_w.l(strlen.o) + 0x08000580 0x08000580 0x00000012 Code RO 3243 .text mc_w.l(strcpy.o) + 0x08000592 0x08000592 0x0000001e Code RO 3245 .text mc_w.l(strncmp.o) + 0x080005b0 0x080005b0 0x00000038 Code RO 3277 .text mc_w.l(sscanf.o) + 0x080005e8 0x080005e8 0x0000014e Code RO 3279 .text mf_w.l(dadd.o) + 0x08000736 0x08000736 0x000000de Code RO 3281 .text mf_w.l(ddiv.o) + 0x08000814 0x08000814 0x00000022 Code RO 3283 .text mf_w.l(dflti.o) + 0x08000836 0x08000836 0x0000003e Code RO 3285 .text mf_w.l(dfixi.o) + 0x08000874 0x08000874 0x00000026 Code RO 3287 .text mf_w.l(f2d.o) + 0x0800089a 0x0800089a 0x00000038 Code RO 3289 .text mf_w.l(d2f.o) + 0x080008d2 0x080008d2 0x0000002c Code RO 3319 .text mc_w.l(uidiv.o) + 0x080008fe 0x080008fe 0x0000001e Code RO 3321 .text mc_w.l(llshl.o) + 0x0800091c 0x0800091c 0x00000020 Code RO 3323 .text mc_w.l(llushr.o) + 0x0800093c 0x0800093c 0x00000024 Code RO 3325 .text mc_w.l(llsshr.o) + 0x08000960 0x08000960 0x00000156 Code RO 3334 .text mc_w.l(_scanf_longlong.o) + 0x08000ab6 0x08000ab6 0x0000014c Code RO 3336 .text mc_w.l(_scanf_int.o) + 0x08000c02 0x08000c02 0x000000e0 Code RO 3338 .text mc_w.l(_scanf_str.o) 0x08000ce2 0x08000ce2 0x00000002 PAD - 0x08000ce4 0x08000ce4 0x00000360 Code RO 3338 .text mc_w.l(scanf_fp.o) - 0x08001044 0x08001044 0x00000028 Code RO 3342 .text mc_w.l(scanf_char.o) - 0x0800106c 0x0800106c 0x00000040 Code RO 3344 .text mc_w.l(_sgetc.o) - 0x080010ac 0x080010ac 0x000000a8 Code RO 3346 .text mc_w.l(strtod.o) - 0x08001154 0x08001154 0x00000000 Code RO 3348 .text mc_w.l(iusefp.o) - 0x08001154 0x08001154 0x0000006e Code RO 3349 .text mf_w.l(fepilogue.o) - 0x080011c2 0x080011c2 0x000000ba Code RO 3351 .text mf_w.l(depilogue.o) - 0x0800127c 0x0800127c 0x000000e4 Code RO 3353 .text mf_w.l(dmul.o) - 0x08001360 0x08001360 0x000000a2 Code RO 3355 .text mf_w.l(dsqrt.o) - 0x08001402 0x08001402 0x00000030 Code RO 3357 .text mf_w.l(dfixul.o) + 0x08000ce4 0x08000ce4 0x00000360 Code RO 3340 .text mc_w.l(scanf_fp.o) + 0x08001044 0x08001044 0x00000028 Code RO 3344 .text mc_w.l(scanf_char.o) + 0x0800106c 0x0800106c 0x00000040 Code RO 3346 .text mc_w.l(_sgetc.o) + 0x080010ac 0x080010ac 0x000000a8 Code RO 3348 .text mc_w.l(strtod.o) + 0x08001154 0x08001154 0x00000000 Code RO 3350 .text mc_w.l(iusefp.o) + 0x08001154 0x08001154 0x0000006e Code RO 3351 .text mf_w.l(fepilogue.o) + 0x080011c2 0x080011c2 0x000000ba Code RO 3353 .text mf_w.l(depilogue.o) + 0x0800127c 0x0800127c 0x000000e4 Code RO 3355 .text mf_w.l(dmul.o) + 0x08001360 0x08001360 0x000000a2 Code RO 3357 .text mf_w.l(dsqrt.o) + 0x08001402 0x08001402 0x00000030 Code RO 3359 .text mf_w.l(dfixul.o) 0x08001432 0x08001432 0x00000002 PAD - 0x08001434 0x08001434 0x00000030 Code RO 3359 .text mf_w.l(cdrcmple.o) - 0x08001464 0x08001464 0x00000030 Code RO 3361 .text mc_w.l(init.o) - 0x08001494 0x08001494 0x0000000a Code RO 3364 .text mc_w.l(isspace_c.o) - 0x0800149e 0x0800149e 0x0000001c Code RO 3366 .text mc_w.l(_chval.o) + 0x08001434 0x08001434 0x00000030 Code RO 3361 .text mf_w.l(cdrcmple.o) + 0x08001464 0x08001464 0x00000030 Code RO 3363 .text mc_w.l(init.o) + 0x08001494 0x08001494 0x0000000a Code RO 3366 .text mc_w.l(isspace_c.o) + 0x0800149e 0x0800149e 0x0000001c Code RO 3368 .text mc_w.l(_chval.o) 0x080014ba 0x080014ba 0x00000002 PAD - 0x080014bc 0x080014bc 0x0000032c Code RO 3368 .text mc_w.l(_scanf.o) - 0x080017e8 0x080017e8 0x00000018 Code RO 3371 .text mf_w.l(dfltul.o) - 0x08001800 0x08001800 0x00000028 Code RO 3373 .text mc_w.l(ctype_c.o) + 0x080014bc 0x080014bc 0x0000032c Code RO 3370 .text mc_w.l(_scanf.o) + 0x080017e8 0x080017e8 0x00000018 Code RO 3373 .text mf_w.l(dfltul.o) + 0x08001800 0x08001800 0x00000028 Code RO 3375 .text mc_w.l(ctype_c.o) 0x08001828 0x08001828 0x000001ee Code RO 50 .text.App_ThreadX_Init app_threadx.o 0x08001a16 0x08001a16 0x00000002 PAD 0x08001a18 0x08001a18 0x00000004 Code RO 143 .text.BusFault_Handler stm32h5xx_it.o @@ -5995,84 +6008,84 @@ Memory Map of the image 0x080122d0 0x080122d0 0x0000007e Code RO 2138 .text._tx_thread_initialize tx_thread_initialize.o 0x0801234e 0x0801234e 0x00000002 PAD 0x08012350 0x08012350 0x00000094 Code RO 2201 .text._tx_thread_shell_entry tx_thread_shell_entry.o - 0x080123e4 0x080123e4 0x00000070 Code RO 2233 .text._tx_thread_system_preempt_check tx_thread_system_preempt_check.o - 0x08012454 0x08012454 0x00000248 Code RO 1689 .text._tx_thread_system_resume tx_thread_system_resume.o - 0x0801269c 0x0801269c 0x00000280 Code RO 2241 .text._tx_thread_system_suspend tx_thread_system_suspend.o - 0x0801291c 0x0801291c 0x000000a2 Code RO 2257 .text._tx_thread_time_slice tx_thread_time_slice.o - 0x080129be 0x080129be 0x00000002 PAD - 0x080129c0 0x080129c0 0x00000072 Code RO 2273 .text._tx_thread_timeout tx_thread_timeout.o - 0x08012a32 0x08012a32 0x00000002 PAD - 0x08012a34 0x08012a34 0x0000003c Code RO 2777 .text._tx_timer_expiration_process tx_timer_expiration_process.o - 0x08012a70 0x08012a70 0x0000011e Code RO 2793 .text._tx_timer_initialize tx_timer_initialize.o - 0x08012b8e 0x08012b8e 0x00000002 PAD - 0x08012b90 0x08012b90 0x000000d4 Code RO 2818 .text._tx_timer_system_activate tx_timer_system_activate.o - 0x08012c64 0x08012c64 0x00000070 Code RO 2826 .text._tx_timer_system_deactivate tx_timer_system_deactivate.o - 0x08012cd4 0x08012cd4 0x00000218 Code RO 2834 .text._tx_timer_thread_entry tx_timer_thread_entry.o - 0x08012eec 0x08012eec 0x00000174 Code RO 2361 .text._txe_byte_pool_create txe_byte_pool_create.o - 0x08013060 0x08013060 0x0000014c Code RO 2401 .text._txe_event_flags_create txe_event_flags_create.o - 0x080131ac 0x080131ac 0x000000d0 Code RO 2417 .text._txe_event_flags_get txe_event_flags_get.o - 0x0801327c 0x0801327c 0x00000066 Code RO 2433 .text._txe_event_flags_set txe_event_flags_set.o - 0x080132e2 0x080132e2 0x00000002 PAD - 0x080132e4 0x080132e4 0x000001a4 Code RO 2497 .text._txe_queue_create txe_queue_create.o - 0x08013488 0x08013488 0x000000a8 Code RO 2545 .text._txe_queue_receive txe_queue_receive.o - 0x08013530 0x08013530 0x000000a8 Code RO 2553 .text._txe_queue_send txe_queue_send.o - 0x080135d8 0x080135d8 0x00000266 Code RO 2633 .text._txe_thread_create txe_thread_create.o - 0x0801383e 0x0801383e 0x00000002 PAD - 0x08013840 0x08013840 0x00000128 Code RO 2900 .text.ble_rx_task_entry hcble.o - 0x08013968 0x08013968 0x00000064 Code RO 2902 .text.ble_tx_task_entry hcble.o - 0x080139cc 0x080139cc 0x000000ba Code RO 2936 .text.gps_thread_entry gps.o - 0x08013a86 0x08013a86 0x00000002 PAD - 0x08013a88 0x08013a88 0x00000064 Code RO 3202 .text.imu600_init imu948.o - 0x08013aec 0x08013aec 0x00000064 Code RO 3204 .text.imu_angle_ble_task_entry imu948.o - 0x08013b50 0x08013b50 0x00000048 Code RO 11 .text.main main.o - 0x08013b98 0x08013b98 0x0000023e Code RO 2930 .text.parseGpsBuffer gps.o - 0x08013dd6 0x08013dd6 0x00000002 PAD - 0x08013dd8 0x08013dd8 0x00000058 Code RO 196 .text.tx_application_define app_azure_rtos.o - 0x08013e30 0x08013e30 0x00000024 Code RO 3254 i.__0vsprintf mc_w.l(printfa.o) - 0x08013e54 0x08013e54 0x00000004 PAD - 0x08013e58 0x08013e58 0x00000038 Code RO 3214 i.__hardfp_atof m_wm.l(atof.o) - 0x08013e90 0x08013e90 0x0000007a Code RO 3220 i.__hardfp_sqrt m_wm.l(sqrt.o) - 0x08013f0a 0x08013f0a 0x00000002 PAD - 0x08013f0c 0x08013f0c 0x0000000c Code RO 3326 i.__read_errno mc_w.l(errno.o) - 0x08013f18 0x08013f18 0x0000000e Code RO 3378 i.__scatterload_copy mc_w.l(handlers.o) - 0x08013f26 0x08013f26 0x00000002 Code RO 3379 i.__scatterload_null mc_w.l(handlers.o) - 0x08013f28 0x08013f28 0x0000000e Code RO 3380 i.__scatterload_zeroinit mc_w.l(handlers.o) - 0x08013f36 0x08013f36 0x00000002 PAD - 0x08013f38 0x08013f38 0x0000000c Code RO 3327 i.__set_errno mc_w.l(errno.o) - 0x08013f44 0x08013f44 0x00000184 Code RO 3255 i._fp_digits mc_w.l(printfa.o) - 0x080140c8 0x080140c8 0x0000000e Code RO 3340 i._is_digit mc_w.l(scanf_fp.o) - 0x080140d6 0x080140d6 0x00000002 PAD - 0x080140d8 0x080140d8 0x000006dc Code RO 3256 i._printf_core mc_w.l(printfa.o) - 0x080147b4 0x080147b4 0x00000024 Code RO 3257 i._printf_post_padding mc_w.l(printfa.o) - 0x080147d8 0x080147d8 0x0000002e Code RO 3258 i._printf_pre_padding mc_w.l(printfa.o) - 0x08014806 0x08014806 0x0000000a Code RO 3260 i._sputc mc_w.l(printfa.o) - 0x08014810 0x08014810 0x00000040 Data RO 3374 .constdata mc_w.l(ctype_c.o) - 0x08014850 0x08014850 0x00000010 Data RO 1582 .rodata.AHBPrescTable system_stm32h5xx.o - 0x08014860 0x08014860 0x00000008 Data RO 1583 .rodata.APBPrescTable system_stm32h5xx.o - 0x08014868 0x08014868 0x00000008 Data RO 1569 .rodata.UARTEx_SetNbDataToProcess.denominator stm32h5xx_hal_uart_ex.o - 0x08014870 0x08014870 0x00000008 Data RO 1568 .rodata.UARTEx_SetNbDataToProcess.numerator stm32h5xx_hal_uart_ex.o - 0x08014878 0x08014878 0x00000018 Data RO 1524 .rodata.UARTPrescTable stm32h5xx_hal_uart.o - 0x08014890 0x08014890 0x000000ff Data RO 55 .rodata.str1.1 app_threadx.o - 0x0801498f 0x0801498f 0x00000013 Data RO 199 .rodata.str1.1 app_azure_rtos.o - 0x080149a2 0x080149a2 0x00000014 Data RO 2809 .rodata.str1.1 tx_timer_initialize.o - 0x080149b6 0x080149b6 0x00000085 Data RO 2910 .rodata.str1.1 hcble.o - 0x08014a3b 0x08014a3b 0x000000bc Data RO 2942 .rodata.str1.1 gps.o - 0x08014af7 0x08014af7 0x00000001 PAD - 0x08014af8 0x08014af8 0x00000020 Data RO 3377 Region$$Table anon$$obj.o + 0x080123e4 0x080123e4 0x00000104 Code RO 2209 .text._tx_thread_sleep tx_thread_sleep.o + 0x080124e8 0x080124e8 0x00000070 Code RO 2233 .text._tx_thread_system_preempt_check tx_thread_system_preempt_check.o + 0x08012558 0x08012558 0x00000248 Code RO 1689 .text._tx_thread_system_resume tx_thread_system_resume.o + 0x080127a0 0x080127a0 0x00000280 Code RO 2241 .text._tx_thread_system_suspend tx_thread_system_suspend.o + 0x08012a20 0x08012a20 0x000000a2 Code RO 2257 .text._tx_thread_time_slice tx_thread_time_slice.o + 0x08012ac2 0x08012ac2 0x00000002 PAD + 0x08012ac4 0x08012ac4 0x00000072 Code RO 2273 .text._tx_thread_timeout tx_thread_timeout.o + 0x08012b36 0x08012b36 0x00000002 PAD + 0x08012b38 0x08012b38 0x0000003c Code RO 2777 .text._tx_timer_expiration_process tx_timer_expiration_process.o + 0x08012b74 0x08012b74 0x0000011e Code RO 2793 .text._tx_timer_initialize tx_timer_initialize.o + 0x08012c92 0x08012c92 0x00000002 PAD + 0x08012c94 0x08012c94 0x000000d4 Code RO 2818 .text._tx_timer_system_activate tx_timer_system_activate.o + 0x08012d68 0x08012d68 0x00000070 Code RO 2826 .text._tx_timer_system_deactivate tx_timer_system_deactivate.o + 0x08012dd8 0x08012dd8 0x00000218 Code RO 2834 .text._tx_timer_thread_entry tx_timer_thread_entry.o + 0x08012ff0 0x08012ff0 0x00000174 Code RO 2361 .text._txe_byte_pool_create txe_byte_pool_create.o + 0x08013164 0x08013164 0x0000014c Code RO 2401 .text._txe_event_flags_create txe_event_flags_create.o + 0x080132b0 0x080132b0 0x000000d0 Code RO 2417 .text._txe_event_flags_get txe_event_flags_get.o + 0x08013380 0x08013380 0x00000066 Code RO 2433 .text._txe_event_flags_set txe_event_flags_set.o + 0x080133e6 0x080133e6 0x00000002 PAD + 0x080133e8 0x080133e8 0x000001a4 Code RO 2497 .text._txe_queue_create txe_queue_create.o + 0x0801358c 0x0801358c 0x000000a8 Code RO 2545 .text._txe_queue_receive txe_queue_receive.o + 0x08013634 0x08013634 0x000000a8 Code RO 2553 .text._txe_queue_send txe_queue_send.o + 0x080136dc 0x080136dc 0x00000266 Code RO 2633 .text._txe_thread_create txe_thread_create.o + 0x08013942 0x08013942 0x00000002 PAD + 0x08013944 0x08013944 0x00000128 Code RO 2900 .text.ble_rx_task_entry hcble.o + 0x08013a6c 0x08013a6c 0x00000088 Code RO 2902 .text.ble_tx_task_entry hcble.o + 0x08013af4 0x08013af4 0x000000be Code RO 2936 .text.gps_thread_entry gps.o + 0x08013bb2 0x08013bb2 0x00000002 PAD + 0x08013bb4 0x08013bb4 0x00000064 Code RO 3202 .text.imu600_init imu948.o + 0x08013c18 0x08013c18 0x00000184 Code RO 3204 .text.imu_angle_ble_task_entry imu948.o + 0x08013d9c 0x08013d9c 0x00000048 Code RO 11 .text.main main.o + 0x08013de4 0x08013de4 0x0000023e Code RO 2930 .text.parseGpsBuffer gps.o + 0x08014022 0x08014022 0x00000002 PAD + 0x08014024 0x08014024 0x00000058 Code RO 196 .text.tx_application_define app_azure_rtos.o + 0x0801407c 0x0801407c 0x00000024 Code RO 3256 i.__0vsprintf mc_w.l(printfa.o) + 0x080140a0 0x080140a0 0x00000038 Code RO 3216 i.__hardfp_atof m_wm.l(atof.o) + 0x080140d8 0x080140d8 0x0000007a Code RO 3222 i.__hardfp_sqrt m_wm.l(sqrt.o) + 0x08014152 0x08014152 0x00000002 PAD + 0x08014154 0x08014154 0x0000000c Code RO 3328 i.__read_errno mc_w.l(errno.o) + 0x08014160 0x08014160 0x0000000e Code RO 3380 i.__scatterload_copy mc_w.l(handlers.o) + 0x0801416e 0x0801416e 0x00000002 Code RO 3381 i.__scatterload_null mc_w.l(handlers.o) + 0x08014170 0x08014170 0x0000000e Code RO 3382 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x0801417e 0x0801417e 0x00000002 PAD + 0x08014180 0x08014180 0x0000000c Code RO 3329 i.__set_errno mc_w.l(errno.o) + 0x0801418c 0x0801418c 0x00000184 Code RO 3257 i._fp_digits mc_w.l(printfa.o) + 0x08014310 0x08014310 0x0000000e Code RO 3342 i._is_digit mc_w.l(scanf_fp.o) + 0x0801431e 0x0801431e 0x00000002 PAD + 0x08014320 0x08014320 0x000006dc Code RO 3258 i._printf_core mc_w.l(printfa.o) + 0x080149fc 0x080149fc 0x00000024 Code RO 3259 i._printf_post_padding mc_w.l(printfa.o) + 0x08014a20 0x08014a20 0x0000002e Code RO 3260 i._printf_pre_padding mc_w.l(printfa.o) + 0x08014a4e 0x08014a4e 0x0000000a Code RO 3262 i._sputc mc_w.l(printfa.o) + 0x08014a58 0x08014a58 0x00000040 Data RO 3376 .constdata mc_w.l(ctype_c.o) + 0x08014a98 0x08014a98 0x00000010 Data RO 1582 .rodata.AHBPrescTable system_stm32h5xx.o + 0x08014aa8 0x08014aa8 0x00000008 Data RO 1583 .rodata.APBPrescTable system_stm32h5xx.o + 0x08014ab0 0x08014ab0 0x00000008 Data RO 1569 .rodata.UARTEx_SetNbDataToProcess.denominator stm32h5xx_hal_uart_ex.o + 0x08014ab8 0x08014ab8 0x00000008 Data RO 1568 .rodata.UARTEx_SetNbDataToProcess.numerator stm32h5xx_hal_uart_ex.o + 0x08014ac0 0x08014ac0 0x00000018 Data RO 1524 .rodata.UARTPrescTable stm32h5xx_hal_uart.o + 0x08014ad8 0x08014ad8 0x000000ff Data RO 55 .rodata.str1.1 app_threadx.o + 0x08014bd7 0x08014bd7 0x00000013 Data RO 199 .rodata.str1.1 app_azure_rtos.o + 0x08014bea 0x08014bea 0x00000014 Data RO 2809 .rodata.str1.1 tx_timer_initialize.o + 0x08014bfe 0x08014bfe 0x00000085 Data RO 2910 .rodata.str1.1 hcble.o + 0x08014c83 0x08014c83 0x000000bc Data RO 2942 .rodata.str1.1 gps.o + 0x08014d3f 0x08014d3f 0x00000001 PAD + 0x08014d40 0x08014d40 0x00000020 Data RO 3379 Region$$Table anon$$obj.o - Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014b18, Size: 0x00003bb8, Max: 0x000a0000, ABSOLUTE) + Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08014d60, Size: 0x00003bc0, Max: 0x000a0000, ABSOLUTE) Exec Addr Load Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x08014b18 0x00000004 Data RW 3328 .data mc_w.l(errno.o) - 0x20000004 0x08014b1c 0x00000004 Data RW 1581 .data.SystemCoreClock system_stm32h5xx.o - 0x20000008 0x08014b20 0x00000004 Data RW 2141 .data._tx_thread_system_state tx_thread_initialize.o - 0x2000000c 0x08014b24 0x00000001 Data RW 3118 .data.targetDeviceAddress imu.o - 0x2000000d 0x08014b25 0x00000001 Data RW 1346 .data.uwTickFreq stm32h5xx_hal.o - 0x2000000e 0x08014b26 0x00000002 PAD - 0x20000010 0x08014b28 0x00000004 Data RW 1345 .data.uwTickPrio stm32h5xx_hal.o - 0x20000014 0x08014b2c 0x00000004 PAD + 0x20000000 0x08014d60 0x00000004 Data RW 3330 .data mc_w.l(errno.o) + 0x20000004 0x08014d64 0x00000004 Data RW 1581 .data.SystemCoreClock system_stm32h5xx.o + 0x20000008 0x08014d68 0x00000004 Data RW 2141 .data._tx_thread_system_state tx_thread_initialize.o + 0x2000000c 0x08014d6c 0x00000001 Data RW 3118 .data.targetDeviceAddress imu.o + 0x2000000d 0x08014d6d 0x00000001 Data RW 1346 .data.uwTickFreq stm32h5xx_hal.o + 0x2000000e 0x08014d6e 0x00000002 PAD + 0x20000010 0x08014d70 0x00000004 Data RW 1345 .data.uwTickPrio stm32h5xx_hal.o + 0x20000014 0x08014d74 0x00000004 PAD 0x20000018 - 0x00000004 Zero RW 3172 .bss.AngleX imu.o 0x2000001c - 0x00000004 Zero RW 3173 .bss.AngleY imu.o 0x20000020 - 0x00000004 Zero RW 3174 .bss.AngleZ imu.o @@ -6083,7 +6096,7 @@ Memory Map of the image 0x20000075 - 0x00000129 Zero RW 2941 .bss.GPS gps.o 0x2000019e - 0x000000dc Zero RW 2938 .bss.GPS_DMA_RX_BUF gps.o 0x2000027a - 0x00000080 Zero RW 2912 .bss.HC_Send_Data hcble.o - 0x200002fa 0x08014b2c 0x00000002 PAD + 0x200002fa 0x08014d74 0x00000002 PAD 0x200002fc - 0x00000018 Zero RW 128 .bss.List_GPDMA1_Channel3 usart.o 0x20000314 - 0x00000018 Zero RW 124 .bss.List_GPDMA1_Channel5 usart.o 0x2000032c - 0x00000024 Zero RW 127 .bss.Node_GPDMA1_Channel3 usart.o @@ -6160,19 +6173,21 @@ Memory Map of the image 0x20002d34 - 0x00000004 Zero RW 2988 .bss.ic_val2 ultrasound.o 0x20002d38 - 0x00000100 Zero RW 65 .bss.im948_rx_queue_buffer app_threadx.o 0x20002e38 - 0x00000038 Zero RW 64 .bss.im948_uart_rx_queue app_threadx.o - 0x20002e70 - 0x00000400 Zero RW 63 .bss.imu_angle_stack app_threadx.o - 0x20003270 - 0x000000b0 Zero RW 62 .bss.imu_angle_thread app_threadx.o - 0x20003320 - 0x00000001 Zero RW 3165 .bss.isNewData imu.o - 0x20003321 - 0x00000001 Zero RW 2989 .bss.is_first_capture ultrasound.o - 0x20003322 - 0x00000001 Zero RW 19 .bss.rx_byte main.o - 0x20003323 0x08014b2c 0x00000001 PAD - 0x20003324 - 0x00000024 Zero RW 68 .bss.system_events app_threadx.o - 0x20003348 - 0x00000034 Zero RW 198 .bss.tx_app_byte_pool app_azure_rtos.o - 0x2000337c - 0x00000400 Zero RW 200 .bss.tx_byte_pool_buffer app_azure_rtos.o - 0x2000377c - 0x00000014 Zero RW 2911 .bss.uart_dma_rx_buf hcble.o - 0x20003790 - 0x00000024 Zero RW 2991 .bss.ultrasonic_event ultrasound.o - 0x200037b4 - 0x00000004 Zero RW 1347 .bss.uwTick stm32h5xx_hal.o - 0x200037b8 - 0x00000400 Zero RW 1 STACK startup_stm32h563xx.o + 0x20002e70 - 0x00000004 Zero RW 3209 .bss.imu_angle_ble_task_entry.heading_filt imu948.o + 0x20002e74 - 0x00000400 Zero RW 63 .bss.imu_angle_stack app_threadx.o + 0x20003274 - 0x000000b0 Zero RW 62 .bss.imu_angle_thread app_threadx.o + 0x20003324 - 0x00000001 Zero RW 3165 .bss.isNewData imu.o + 0x20003325 - 0x00000001 Zero RW 2989 .bss.is_first_capture ultrasound.o + 0x20003326 - 0x00000001 Zero RW 19 .bss.rx_byte main.o + 0x20003327 0x08014d74 0x00000001 PAD + 0x20003328 - 0x00000024 Zero RW 68 .bss.system_events app_threadx.o + 0x2000334c - 0x00000034 Zero RW 198 .bss.tx_app_byte_pool app_azure_rtos.o + 0x20003380 - 0x00000400 Zero RW 200 .bss.tx_byte_pool_buffer app_azure_rtos.o + 0x20003780 - 0x00000014 Zero RW 2911 .bss.uart_dma_rx_buf hcble.o + 0x20003794 - 0x00000024 Zero RW 2991 .bss.ultrasonic_event ultrasound.o + 0x200037b8 - 0x00000004 Zero RW 1347 .bss.uwTick stm32h5xx_hal.o + 0x200037bc 0x08014d74 0x00000004 PAD + 0x200037c0 - 0x00000400 Zero RW 1 STACK startup_stm32h563xx.o ============================================================================== @@ -6186,10 +6201,10 @@ Image component sizes 506 0 255 0 8916 5834 app_threadx.o 94 0 0 0 0 4935 gpdma.o 406 0 0 0 0 3081 gpio.o - 962 16 188 0 517 3119 gps.o - 910 0 133 0 600 10014 hcble.o + 966 16 188 0 517 3134 gps.o + 946 0 133 0 600 9955 hcble.o 3572 206 0 1 94 12179 imu.o - 270 4 0 0 0 5078 imu948.o + 558 28 0 0 4 5335 imu948.o 310 0 0 0 1 8474 main.o 40 10 588 0 1024 872 startup_stm32h563xx.o 198 0 0 5 4 13991 stm32h5xx_hal.o @@ -6224,6 +6239,7 @@ Image component sizes 126 0 0 4 168 3995 tx_thread_initialize.o 208 16 0 0 0 774 tx_thread_schedule.o 148 0 0 0 0 3912 tx_thread_shell_entry.o + 260 0 0 0 0 4123 tx_thread_sleep.o 64 0 0 0 0 459 tx_thread_stack_build.o 112 0 0 0 0 3892 tx_thread_system_preempt_check.o 584 0 0 0 0 4859 tx_thread_system_resume.o @@ -6248,9 +6264,9 @@ Image component sizes 1630 0 0 0 924 14029 usart.o ---------------------------------------------------------------------- - 75888 552 1300 16 15268 456943 Object Totals + 76476 576 1300 16 15276 461279 Object Totals 0 0 32 0 0 0 (incl. Generated) - 176 0 1 2 7 0 (incl. Padding) + 176 0 1 2 11 0 (incl. Padding) ---------------------------------------------------------------------- @@ -6308,8 +6324,8 @@ Image component sizes 110 0 0 0 0 168 fepilogue.o ---------------------------------------------------------------------- - 7508 180 64 4 0 4280 Library Totals - 16 4 0 0 0 0 (incl. Padding) + 7504 176 64 4 0 4280 Library Totals + 12 0 0 0 0 0 (incl. Padding) ---------------------------------------------------------------------- @@ -6320,7 +6336,7 @@ Image component sizes 1552 0 0 0 0 1312 mf_w.l ---------------------------------------------------------------------- - 7508 180 64 4 0 4280 Library Totals + 7504 176 64 4 0 4280 Library Totals ---------------------------------------------------------------------- @@ -6329,15 +6345,15 @@ Image component sizes Code (inc. data) RO Data RW Data ZI Data Debug - 83396 732 1364 20 15268 458035 Grand Totals - 83396 732 1364 20 15268 458035 ELF Image Totals - 83396 732 1364 20 0 0 ROM Totals + 83980 752 1364 20 15276 462351 Grand Totals + 83980 752 1364 20 15276 462351 ELF Image Totals + 83980 752 1364 20 0 0 ROM Totals ============================================================================== - Total RO Size (Code + RO Data) 84760 ( 82.77kB) - Total RW Size (RW Data + ZI Data) 15288 ( 14.93kB) - Total ROM Size (Code + RO Data + RW Data) 84780 ( 82.79kB) + Total RO Size (Code + RO Data) 85344 ( 83.34kB) + Total RW Size (RW Data + ZI Data) 15296 ( 14.94kB) + Total ROM Size (Code + RO Data + RW Data) 85364 ( 83.36kB) ============================================================================== diff --git a/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep b/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep index 54322be..01dc8e0 100644 --- a/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep +++ b/MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep @@ -1,7 +1,7 @@ Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !) CompilerVersion: 6210000::V6.21::ARMCLANG F (startup_stm32h563xx.s)(0x68634847)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto -Wa,armasm,--diag_suppress=A1950W -c -gdwarf-4 -Wa,armasm,--pd,"__MICROLIB SETA 1" -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -Wa,armasm,--pd,"__UVISION_VERSION SETA 539" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"STM32H563xx SETA 1" -Wa,armasm,--pd,"_RTE_ SETA 1" -Wa,armasm,--pd,"TX_SINGLE_MODE_NON_SECURE SETA 1" -o autoguidestick/startup_stm32h563xx.o) -F (../Core/Src/main.c)(0x6863BB41)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/main.o -MD) +F (../Core/Src/main.c)(0x6863ED91)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/main.o -MD) I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA) I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9) I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000) @@ -141,7 +141,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD) -F (../Core/Src/app_threadx.c)(0x6863BC7A)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/app_threadx.o -MD) +F (../Core/Src/app_threadx.c)(0x6863ED91)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/app_threadx.o -MD) I (..\Core\Inc\app_threadx.h)(0x68636F79) I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA) I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9) @@ -2074,7 +2074,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9) I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000) I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012) I (..\Middlewares\ST\threadx\common\inc\tx_timer.h)(0x683FA4DA) -F (..\fun\HCBle.c)(0x6863E85C)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/hcble.o -MD) +F (..\fun\HCBle.c)(0x6863FCE5)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/hcble.o -MD) I (..\Core\Inc\main.hu.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000) I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD) @@ -2116,9 +2116,9 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012) I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012) I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h)(0x00000000) I (..\fun\Motor.ho.\fun\IMU.h\.\fun\imu948.h\.\fun\value.h)(0x00000000) -F (..\fun\HCBle.h)(0x685FE182)() +F (..\fun\HCBle.h)(0x6863FC2E)() F (..\fun\headfile.h)(0x6860D811)() -F (..\fun\gps.c)(0x6863E76C)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/gps.o -MD) +F (..\fun\gps.c)(0x6863FCE5)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/gps.o -MD) I (..\Core\Inc\main.h\.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000) I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD) @@ -2160,7 +2160,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012) I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012) I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h)(0x00000000) I (..\fun\Motor.ho.\fun\IMU.h\.\fun\imu948.h\.\fun\value.h)(0x00000000) -F (..\fun\gps.h)(0x6863E457)() +F (..\fun\gps.h)(0x6863ED91)() F (..\fun\Buzzer.c)(0x685BB8D6)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/buzzer.o -MD) I (..\fun\headfile.h\.\Core\Inc\main.h)(0x00000000) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD) @@ -2379,7 +2379,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012) I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h\.\fun\IMU.h)(0x00000000) I (..\fun\imu948.ht.\fun\value.h)(0x00000000) F (..\fun\Motor.h)(0x685FFD6D)() -F (..\fun\imu948.c)(0x6863E85C)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/imu948.o -MD) +F (..\fun\imu948.c)(0x686405D4)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c -fno-rtti -funsigned-char -fshort-enums -fshort-wchar -D__MICROLIB -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include -I ../fun -I./RTE/_AutoGuideStick -ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx -o autoguidestick/imu948.o -MD) I (..\fun\headfile.h\.\Core\Inc\main.h)(0x00000000) I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x683FA4DD) I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98) @@ -2423,4 +2423,4 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012) I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h)(0x00000000) I (..\fun\Motor.ho.\fun\IMU.h\.\fun\value.h)(0x00000000) F (..\fun\imu948.h)(0x68636F79)() -F (..\fun\value.h)(0x68636F79)() +F (..\fun\value.h)(0x6863FC2E)() diff --git a/MDK-ARM/AutoGuideStick/gps.o b/MDK-ARM/AutoGuideStick/gps.o index 051bfea..4301873 100644 Binary files a/MDK-ARM/AutoGuideStick/gps.o and b/MDK-ARM/AutoGuideStick/gps.o differ diff --git a/MDK-ARM/AutoGuideStick/hcble.o b/MDK-ARM/AutoGuideStick/hcble.o index bf8c0a0..2c4440c 100644 Binary files a/MDK-ARM/AutoGuideStick/hcble.o and b/MDK-ARM/AutoGuideStick/hcble.o differ diff --git a/MDK-ARM/AutoGuideStick/imu948.o b/MDK-ARM/AutoGuideStick/imu948.o index 6d77b95..8ece159 100644 Binary files a/MDK-ARM/AutoGuideStick/imu948.o and b/MDK-ARM/AutoGuideStick/imu948.o differ diff --git a/fun/HCBle.c b/fun/HCBle.c index 242830f..1de336f 100644 --- a/fun/HCBle.c +++ b/fun/HCBle.c @@ -33,7 +33,7 @@ uint8_t rx_data; // uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE]; RingBuffer ble_rx_ring = {0}; //初始化 MotorCommand cmd; -LocationData current_location = {0}; +BleMessage current_location = {0}; float imu_angle = 0.0f; TX_EVENT_FLAGS_GROUP ble_event_flags; @@ -200,8 +200,10 @@ void ble_tx_task_entry(ULONG thread_input) { if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS) { HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n", - msg.lat, msg.lon,0); + msg.lat, msg.lon,msg.angle); + } + tx_thread_sleep(100); } } diff --git a/fun/HCBle.h b/fun/HCBle.h index eab15e6..b712e63 100644 --- a/fun/HCBle.h +++ b/fun/HCBle.h @@ -30,12 +30,17 @@ typedef struct }RingBuffer; - +typedef struct +{ + float lat; + float lon; + float angle; +}BleMessage; extern uint8_t rx_data; extern RingBuffer ble_rx_ring; //初始化 extern uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE]; -extern LocationData current_location; +extern BleMessage current_location; extern uint8_t flag; diff --git a/fun/gps.c b/fun/gps.c index 1a6126f..3a7731d 100644 --- a/fun/gps.c +++ b/fun/gps.c @@ -349,13 +349,14 @@ void gps_thread_entry(ULONG thread_input) tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR); - msg.lat = current_location.lat; - msg.lon = current_location.lon; +// msg.lat = current_location.lat; +// msg.lon = current_location.lon; // snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", // current_location.lat, // current_location.lon, // current_location.angle); - tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER); + BleMessage msg = current_location; + tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER); } } diff --git a/fun/imu948.c b/fun/imu948.c index 73ae1c1..c79ac31 100644 --- a/fun/imu948.c +++ b/fun/imu948.c @@ -1,5 +1,6 @@ #include "imu948.h" +#define DECLINATION_DEG -3.0 extern _GPSData gps_data; extern TX_QUEUE ble_tx_queue; extern uint8_t rx_byte; @@ -65,7 +66,9 @@ extern TX_QUEUE im948_uart_rx_queue; void imu_angle_ble_task_entry(ULONG thread_input) { ULONG rx_data; - BleMessage msg; + static uint8_t filtInit = 0; + static float heading_filt = 0; + const float alpha = 0.20f; // 20% 一阶低通 // 初始化模块 // IM948_Init(); // HCBle_SendData("halo"); @@ -82,12 +85,28 @@ void imu_angle_ble_task_entry(ULONG thread_input) { isNewData = 0; - float angle = AngleZ * 0.0054931640625f; -// msg.angle = AngleZ * 0.0054931640625f; -// tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER); -// HCBle_SendData("Z:%.2f\r\n",AngleZ); - // 这里用angle做盲杖朝向判断 + // 这里用angle做盲杖朝向判断 + /* —— 从 IMU 寄存器/驱动获取融合欧拉角 —— */ + float angleRaw = AngleZ; /* 已是度数，磁北基准 */ + + /* 转真北 东莞、深圳、广州磁偏角为-3.0°*/ + float heading = angleRaw + DECLINATION_DEG; + if (heading > 180) heading -= 360; + if (heading < -180) heading += 360; + + /* 简单一阶 IIR */ + const float alpha = 0.2f; + heading_filt += alpha * (heading - heading_filt); + + current_location.angle = heading_filt; +// current_location.angle = AngleZ * 0.0054931640625f; + if(current_location.lat != 0 && current_location.lon != 0) + { + BleMessage msg = current_location; // 结构体直接拷贝 + tx_queue_send(&ble_tx_queue,&msg,TX_NO_WAIT); + } + tx_thread_sleep(10); } } } diff --git a/fun/value.h b/fun/value.h index 45d16c9..618252e 100644 --- a/fun/value.h +++ b/fun/value.h @@ -1,12 +1,12 @@ #ifndef __VALUE_H__ #define __VALUE_H__ -typedef struct -{ - float lat; - float lon; - float angle; -}BleMessage; +//typedef struct +//{ +// float lat; +// float lon; +// float angle; +//}BleMessage; #define EVENT_GPS_DATA_READY (1U << 0) #define EVENT_IMU_DATA_READY (1U << 1)