灯和摄像机的保护

N3Drive/Listings/N3Drive.map

@@ -987,81 +987,81 @@ Image Symbol Table
     i.LED_Config                             0x08002290   Section        0  main.o(i.LED_Config)
     i.Micros                                 0x080022a0   Section        0  delay.o(i.Micros)
     i.Motor_Control                          0x080022d8   Section        0  main.o(i.Motor_Control)
-    i.NVIC_Init                              0x08002464   Section        0  misc.o(i.NVIC_Init)
-    i.NVIC_PriorityGroupConfig               0x080024c8   Section        0  misc.o(i.NVIC_PriorityGroupConfig)
-    i.Other_Task                             0x080024dc   Section        0  main.o(i.Other_Task)
-    i.Overcurrent_Detection_Config           0x080024f0   Section        0  main.o(i.Overcurrent_Detection_Config)
-    i.RCC_AHB1PeriphClockCmd                 0x08002550   Section        0  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
-    i.RCC_APB1PeriphClockCmd                 0x08002568   Section        0  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
-    i.RCC_APB2PeriphClockCmd                 0x08002580   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
-    i.RCC_APB2PeriphResetCmd                 0x08002598   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
-    i.RCC_GetClocksFreq                      0x080025b0   Section        0  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
-    i.ReadFloatWord                          0x08002640   Section        0  flash.o(i.ReadFloatWord)
-    i.Rec_Flash_Set                          0x08002648   Section        0  can.o(i.Rec_Flash_Set)
-    i.ResearchProtection                     0x08002720   Section        0  it.o(i.ResearchProtection)
-    i.STMFLASH_GetFlashSector                0x08002738   Section        0  flash.o(i.STMFLASH_GetFlashSector)
-    i.STMFLASH_ReadWord                      0x080027d8   Section        0  flash.o(i.STMFLASH_ReadWord)
-    i.STMFLASH_Write                         0x080027dc   Section        0  flash.o(i.STMFLASH_Write)
-    i.Send_CAN_DATA1                         0x08002860   Section        0  can.o(i.Send_CAN_DATA1)
-    i.Send_CAN_DATA2                         0x080028d0   Section        0  can.o(i.Send_CAN_DATA2)
-    i.Send_CAN_DATA3                         0x08002928   Section        0  can.o(i.Send_CAN_DATA3)
-    i.Send_CAN_DATA4                         0x0800298c   Section        0  can.o(i.Send_CAN_DATA4)
-    i.Send_CAN_DATA5                         0x080029e8   Section        0  can.o(i.Send_CAN_DATA5)
-    i.Send_CAN_DATA6                         0x08002a6c   Section        0  can.o(i.Send_CAN_DATA6)
-    i.Send_Flash_Set                         0x08002ad8   Section        0  can.o(i.Send_Flash_Set)
-    i.Send_Pixhawk_requre                    0x08002b68   Section        0  main.o(i.Send_Pixhawk_requre)
-    i.Send_Updata_requre                     0x08002c0c   Section        0  main.o(i.Send_Updata_requre)
-    i.SetSysClock                            0x08002cb0   Section        0  system_stm32f4xx.o(i.SetSysClock)
-    SetSysClock                              0x08002cb1   Thumb Code   162  system_stm32f4xx.o(i.SetSysClock)
-    i.Single_Motor_Config                    0x08002d64   Section        0  main.o(i.Single_Motor_Config)
-    i.SoftReset                              0x08002d9c   Section        0  main.o(i.SoftReset)
-    i.SysTick_100ms_Task                     0x08002dc4   Section        0  main.o(i.SysTick_100ms_Task)
-    i.SysTick_10ms_Task                      0x08002e20   Section        0  main.o(i.SysTick_10ms_Task)
-    i.SysTick_1ms_Task                       0x08002e40   Section        0  main.o(i.SysTick_1ms_Task)
-    i.SysTick_20ms_Task                      0x08002f20   Section        0  main.o(i.SysTick_20ms_Task)
-    i.SysTick_500ms_Task                     0x08002f60   Section        0  main.o(i.SysTick_500ms_Task)
-    i.SysTick_Handler                        0x08002fd0   Section        0  it.o(i.SysTick_Handler)
-    i.SystemInit                             0x08002fe0   Section        0  system_stm32f4xx.o(i.SystemInit)
-    i.TIM1_UP_TIM10_IRQHandler               0x0800303c   Section        0  it.o(i.TIM1_UP_TIM10_IRQHandler)
-    i.TIM_ARRPreloadConfig                   0x08003130   Section        0  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
-    i.TIM_ClearITPendingBit                  0x08003144   Section        0  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
-    i.TIM_Cmd                                0x0800314a   Section        0  stm32f4xx_tim.o(i.TIM_Cmd)
-    i.TIM_CtrlPWMOutputs                     0x0800315e   Section        0  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
-    i.TIM_DMACmd                             0x08003174   Section        0  stm32f4xx_tim.o(i.TIM_DMACmd)
-    i.TIM_GetITStatus                        0x08003184   Section        0  stm32f4xx_tim.o(i.TIM_GetITStatus)
-    i.TIM_ITConfig                           0x0800319c   Section        0  stm32f4xx_tim.o(i.TIM_ITConfig)
-    i.TIM_Mod_Config                         0x080031ac   Section        0  time.o(i.TIM_Mod_Config)
-    i.TIM_NVIC_Config                        0x080031fa   Section        0  time.o(i.TIM_NVIC_Config)
-    i.TIM_OC1Init                            0x08003218   Section        0  stm32f4xx_tim.o(i.TIM_OC1Init)
-    i.TIM_OC1PreloadConfig                   0x08003278   Section        0  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
-    i.TIM_OC2Init                            0x08003284   Section        0  stm32f4xx_tim.o(i.TIM_OC2Init)
-    i.TIM_OC2PreloadConfig                   0x08003304   Section        0  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
-    i.TIM_SelectOutputTrigger                0x08003318   Section        0  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
-    i.TIM_TimeBaseInit                       0x08003328   Section        0  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
-    i.UART5_IRQHandler                       0x080033a4   Section        0  it.o(i.UART5_IRQHandler)
-    i.USART2_IRQHandler                      0x080033f0   Section        0  it.o(i.USART2_IRQHandler)
-    i.USART3_IRQHandler                      0x08003440   Section        0  it.o(i.USART3_IRQHandler)
-    i.USART6_IRQHandler                      0x08003490   Section        0  it.o(i.USART6_IRQHandler)
-    i.USART_ClearITPendingBit                0x080034e0   Section        0  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
-    i.USART_Cmd                              0x080034ec   Section        0  stm32f4xx_usart.o(i.USART_Cmd)
-    i.USART_Config                           0x08003500   Section        0  main.o(i.USART_Config)
-    i.USART_GPIO_Config                      0x080035d8   Section        0  usart.o(i.USART_GPIO_Config)
-    i.USART_GetITStatus                      0x08003618   Section        0  stm32f4xx_usart.o(i.USART_GetITStatus)
-    i.USART_ITConfig                         0x08003656   Section        0  stm32f4xx_usart.o(i.USART_ITConfig)
-    i.USART_Init                             0x08003688   Section        0  stm32f4xx_usart.o(i.USART_Init)
-    i.USART_MOD_Config                       0x08003734   Section        0  usart.o(i.USART_MOD_Config)
-    i.USART_NVIC_Config                      0x08003788   Section        0  usart.o(i.USART_NVIC_Config)
-    i.USART_ReceiveData                      0x080037a4   Section        0  stm32f4xx_usart.o(i.USART_ReceiveData)
-    i.__scatterload_copy                     0x080037ac   Section       14  handlers.o(i.__scatterload_copy)
-    i.__scatterload_null                     0x080037ba   Section        2  handlers.o(i.__scatterload_null)
-    i.__scatterload_zeroinit                 0x080037bc   Section       14  handlers.o(i.__scatterload_zeroinit)
-    i.add_checksum_and_telemetry             0x080037ca   Section        0  dshot.o(i.add_checksum_and_telemetry)
-    i.cycleCounterInit                       0x080037f0   Section        0  delay.o(i.cycleCounterInit)
-    i.delay_ms                               0x0800383c   Section        0  delay.o(i.delay_ms)
-    i.get_crc8                               0x0800385c   Section        0  main.o(i.get_crc8)
-    i.main                                   0x0800387c   Section        0  main.o(i.main)
-    i.pwmWriteDigital                        0x080038d4   Section        0  dshot.o(i.pwmWriteDigital)
-    i.update_crc8                            0x080039b8   Section        0  main.o(i.update_crc8)
+    i.NVIC_Init                              0x08002458   Section        0  misc.o(i.NVIC_Init)
+    i.NVIC_PriorityGroupConfig               0x080024bc   Section        0  misc.o(i.NVIC_PriorityGroupConfig)
+    i.Other_Task                             0x080024d0   Section        0  main.o(i.Other_Task)
+    i.Overcurrent_Detection_Config           0x080024e4   Section        0  main.o(i.Overcurrent_Detection_Config)
+    i.RCC_AHB1PeriphClockCmd                 0x08002544   Section        0  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
+    i.RCC_APB1PeriphClockCmd                 0x0800255c   Section        0  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
+    i.RCC_APB2PeriphClockCmd                 0x08002574   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
+    i.RCC_APB2PeriphResetCmd                 0x0800258c   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
+    i.RCC_GetClocksFreq                      0x080025a4   Section        0  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
+    i.ReadFloatWord                          0x08002634   Section        0  flash.o(i.ReadFloatWord)
+    i.Rec_Flash_Set                          0x0800263c   Section        0  can.o(i.Rec_Flash_Set)
+    i.ResearchProtection                     0x08002714   Section        0  it.o(i.ResearchProtection)
+    i.STMFLASH_GetFlashSector                0x0800272c   Section        0  flash.o(i.STMFLASH_GetFlashSector)
+    i.STMFLASH_ReadWord                      0x080027cc   Section        0  flash.o(i.STMFLASH_ReadWord)
+    i.STMFLASH_Write                         0x080027d0   Section        0  flash.o(i.STMFLASH_Write)
+    i.Send_CAN_DATA1                         0x08002854   Section        0  can.o(i.Send_CAN_DATA1)
+    i.Send_CAN_DATA2                         0x080028c4   Section        0  can.o(i.Send_CAN_DATA2)
+    i.Send_CAN_DATA3                         0x0800291c   Section        0  can.o(i.Send_CAN_DATA3)
+    i.Send_CAN_DATA4                         0x08002980   Section        0  can.o(i.Send_CAN_DATA4)
+    i.Send_CAN_DATA5                         0x080029dc   Section        0  can.o(i.Send_CAN_DATA5)
+    i.Send_CAN_DATA6                         0x08002a60   Section        0  can.o(i.Send_CAN_DATA6)
+    i.Send_Flash_Set                         0x08002acc   Section        0  can.o(i.Send_Flash_Set)
+    i.Send_Pixhawk_requre                    0x08002b5c   Section        0  main.o(i.Send_Pixhawk_requre)
+    i.Send_Updata_requre                     0x08002c00   Section        0  main.o(i.Send_Updata_requre)
+    i.SetSysClock                            0x08002ca4   Section        0  system_stm32f4xx.o(i.SetSysClock)
+    SetSysClock                              0x08002ca5   Thumb Code   162  system_stm32f4xx.o(i.SetSysClock)
+    i.Single_Motor_Config                    0x08002d58   Section        0  main.o(i.Single_Motor_Config)
+    i.SoftReset                              0x08002d90   Section        0  main.o(i.SoftReset)
+    i.SysTick_100ms_Task                     0x08002db8   Section        0  main.o(i.SysTick_100ms_Task)
+    i.SysTick_10ms_Task                      0x08002e14   Section        0  main.o(i.SysTick_10ms_Task)
+    i.SysTick_1ms_Task                       0x08002e34   Section        0  main.o(i.SysTick_1ms_Task)
+    i.SysTick_20ms_Task                      0x08002f14   Section        0  main.o(i.SysTick_20ms_Task)
+    i.SysTick_500ms_Task                     0x08002f54   Section        0  main.o(i.SysTick_500ms_Task)
+    i.SysTick_Handler                        0x08002fc4   Section        0  it.o(i.SysTick_Handler)
+    i.SystemInit                             0x08002fd4   Section        0  system_stm32f4xx.o(i.SystemInit)
+    i.TIM1_UP_TIM10_IRQHandler               0x08003030   Section        0  it.o(i.TIM1_UP_TIM10_IRQHandler)
+    i.TIM_ARRPreloadConfig                   0x08003124   Section        0  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
+    i.TIM_ClearITPendingBit                  0x08003138   Section        0  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
+    i.TIM_Cmd                                0x0800313e   Section        0  stm32f4xx_tim.o(i.TIM_Cmd)
+    i.TIM_CtrlPWMOutputs                     0x08003152   Section        0  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
+    i.TIM_DMACmd                             0x08003168   Section        0  stm32f4xx_tim.o(i.TIM_DMACmd)
+    i.TIM_GetITStatus                        0x08003178   Section        0  stm32f4xx_tim.o(i.TIM_GetITStatus)
+    i.TIM_ITConfig                           0x08003190   Section        0  stm32f4xx_tim.o(i.TIM_ITConfig)
+    i.TIM_Mod_Config                         0x080031a0   Section        0  time.o(i.TIM_Mod_Config)
+    i.TIM_NVIC_Config                        0x080031ee   Section        0  time.o(i.TIM_NVIC_Config)
+    i.TIM_OC1Init                            0x0800320c   Section        0  stm32f4xx_tim.o(i.TIM_OC1Init)
+    i.TIM_OC1PreloadConfig                   0x0800326c   Section        0  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
+    i.TIM_OC2Init                            0x08003278   Section        0  stm32f4xx_tim.o(i.TIM_OC2Init)
+    i.TIM_OC2PreloadConfig                   0x080032f8   Section        0  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
+    i.TIM_SelectOutputTrigger                0x0800330c   Section        0  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
+    i.TIM_TimeBaseInit                       0x0800331c   Section        0  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
+    i.UART5_IRQHandler                       0x08003398   Section        0  it.o(i.UART5_IRQHandler)
+    i.USART2_IRQHandler                      0x080033e4   Section        0  it.o(i.USART2_IRQHandler)
+    i.USART3_IRQHandler                      0x08003434   Section        0  it.o(i.USART3_IRQHandler)
+    i.USART6_IRQHandler                      0x08003484   Section        0  it.o(i.USART6_IRQHandler)
+    i.USART_ClearITPendingBit                0x080034d4   Section        0  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
+    i.USART_Cmd                              0x080034e0   Section        0  stm32f4xx_usart.o(i.USART_Cmd)
+    i.USART_Config                           0x080034f4   Section        0  main.o(i.USART_Config)
+    i.USART_GPIO_Config                      0x080035cc   Section        0  usart.o(i.USART_GPIO_Config)
+    i.USART_GetITStatus                      0x0800360c   Section        0  stm32f4xx_usart.o(i.USART_GetITStatus)
+    i.USART_ITConfig                         0x0800364a   Section        0  stm32f4xx_usart.o(i.USART_ITConfig)
+    i.USART_Init                             0x0800367c   Section        0  stm32f4xx_usart.o(i.USART_Init)
+    i.USART_MOD_Config                       0x08003728   Section        0  usart.o(i.USART_MOD_Config)
+    i.USART_NVIC_Config                      0x0800377c   Section        0  usart.o(i.USART_NVIC_Config)
+    i.USART_ReceiveData                      0x08003798   Section        0  stm32f4xx_usart.o(i.USART_ReceiveData)
+    i.__scatterload_copy                     0x080037a0   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x080037ae   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x080037b0   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i.add_checksum_and_telemetry             0x080037be   Section        0  dshot.o(i.add_checksum_and_telemetry)
+    i.cycleCounterInit                       0x080037e4   Section        0  delay.o(i.cycleCounterInit)
+    i.delay_ms                               0x08003830   Section        0  delay.o(i.delay_ms)
+    i.get_crc8                               0x08003850   Section        0  main.o(i.get_crc8)
+    i.main                                   0x08003870   Section        0  main.o(i.main)
+    i.pwmWriteDigital                        0x080038c8   Section        0  dshot.o(i.pwmWriteDigital)
+    i.update_crc8                            0x080039ac   Section        0  main.o(i.update_crc8)
     .data                                    0x20000000   Section       80  main.o(.data)
     send_pixhawk_cnt                         0x20000000   Data           1  main.o(.data)
     last_sysTickUptime                       0x20000028   Data           4  main.o(.data)
@@ -1307,82 +1307,82 @@ Image Symbol Table
     IWDG_WriteAccessCmd                      0x08002285   Thumb Code     6  stm32f4xx_iwdg.o(i.IWDG_WriteAccessCmd)
     LED_Config                               0x08002291   Thumb Code    10  main.o(i.LED_Config)
     Micros                                   0x080022a1   Thumb Code    50  delay.o(i.Micros)
-    Motor_Control                            0x080022d9   Thumb Code   380  main.o(i.Motor_Control)
-    NVIC_Init                                0x08002465   Thumb Code    96  misc.o(i.NVIC_Init)
-    NVIC_PriorityGroupConfig                 0x080024c9   Thumb Code    10  misc.o(i.NVIC_PriorityGroupConfig)
-    Other_Task                               0x080024dd   Thumb Code    14  main.o(i.Other_Task)
-    Overcurrent_Detection_Config             0x080024f1   Thumb Code    82  main.o(i.Overcurrent_Detection_Config)
-    RCC_AHB1PeriphClockCmd                   0x08002551   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
-    RCC_APB1PeriphClockCmd                   0x08002569   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
-    RCC_APB2PeriphClockCmd                   0x08002581   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
-    RCC_APB2PeriphResetCmd                   0x08002599   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
-    RCC_GetClocksFreq                        0x080025b1   Thumb Code   132  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
-    ReadFloatWord                            0x08002641   Thumb Code     6  flash.o(i.ReadFloatWord)
-    Rec_Flash_Set                            0x08002649   Thumb Code   196  can.o(i.Rec_Flash_Set)
-    ResearchProtection                       0x08002721   Thumb Code    22  it.o(i.ResearchProtection)
-    STMFLASH_GetFlashSector                  0x08002739   Thumb Code   114  flash.o(i.STMFLASH_GetFlashSector)
-    STMFLASH_ReadWord                        0x080027d9   Thumb Code     4  flash.o(i.STMFLASH_ReadWord)
-    STMFLASH_Write                           0x080027dd   Thumb Code   122  flash.o(i.STMFLASH_Write)
-    Send_CAN_DATA1                           0x08002861   Thumb Code    96  can.o(i.Send_CAN_DATA1)
-    Send_CAN_DATA2                           0x080028d1   Thumb Code    70  can.o(i.Send_CAN_DATA2)
-    Send_CAN_DATA3                           0x08002929   Thumb Code    84  can.o(i.Send_CAN_DATA3)
-    Send_CAN_DATA4                           0x0800298d   Thumb Code    78  can.o(i.Send_CAN_DATA4)
-    Send_CAN_DATA5                           0x080029e9   Thumb Code   112  can.o(i.Send_CAN_DATA5)
-    Send_CAN_DATA6                           0x08002a6d   Thumb Code    84  can.o(i.Send_CAN_DATA6)
-    Send_Flash_Set                           0x08002ad9   Thumb Code   126  can.o(i.Send_Flash_Set)
-    Send_Pixhawk_requre                      0x08002b69   Thumb Code   154  main.o(i.Send_Pixhawk_requre)
-    Send_Updata_requre                       0x08002c0d   Thumb Code   156  main.o(i.Send_Updata_requre)
-    Single_Motor_Config                      0x08002d65   Thumb Code    48  main.o(i.Single_Motor_Config)
-    SoftReset                                0x08002d9d   Thumb Code    32  main.o(i.SoftReset)
-    SysTick_100ms_Task                       0x08002dc5   Thumb Code    84  main.o(i.SysTick_100ms_Task)
-    SysTick_10ms_Task                        0x08002e21   Thumb Code    24  main.o(i.SysTick_10ms_Task)
-    SysTick_1ms_Task                         0x08002e41   Thumb Code   198  main.o(i.SysTick_1ms_Task)
-    SysTick_20ms_Task                        0x08002f21   Thumb Code    50  main.o(i.SysTick_20ms_Task)
-    SysTick_500ms_Task                       0x08002f61   Thumb Code    94  main.o(i.SysTick_500ms_Task)
-    SysTick_Handler                          0x08002fd1   Thumb Code    10  it.o(i.SysTick_Handler)
-    SystemInit                               0x08002fe1   Thumb Code    74  system_stm32f4xx.o(i.SystemInit)
-    TIM1_UP_TIM10_IRQHandler                 0x0800303d   Thumb Code   202  it.o(i.TIM1_UP_TIM10_IRQHandler)
-    TIM_ARRPreloadConfig                     0x08003131   Thumb Code    20  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
-    TIM_ClearITPendingBit                    0x08003145   Thumb Code     6  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
-    TIM_Cmd                                  0x0800314b   Thumb Code    20  stm32f4xx_tim.o(i.TIM_Cmd)
-    TIM_CtrlPWMOutputs                       0x0800315f   Thumb Code    22  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
-    TIM_DMACmd                               0x08003175   Thumb Code    16  stm32f4xx_tim.o(i.TIM_DMACmd)
-    TIM_GetITStatus                          0x08003185   Thumb Code    24  stm32f4xx_tim.o(i.TIM_GetITStatus)
-    TIM_ITConfig                             0x0800319d   Thumb Code    16  stm32f4xx_tim.o(i.TIM_ITConfig)
-    TIM_Mod_Config                           0x080031ad   Thumb Code    78  time.o(i.TIM_Mod_Config)
-    TIM_NVIC_Config                          0x080031fb   Thumb Code    28  time.o(i.TIM_NVIC_Config)
-    TIM_OC1Init                              0x08003219   Thumb Code    88  stm32f4xx_tim.o(i.TIM_OC1Init)
-    TIM_OC1PreloadConfig                     0x08003279   Thumb Code    12  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
-    TIM_OC2Init                              0x08003285   Thumb Code   120  stm32f4xx_tim.o(i.TIM_OC2Init)
-    TIM_OC2PreloadConfig                     0x08003305   Thumb Code    20  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
-    TIM_SelectOutputTrigger                  0x08003319   Thumb Code    16  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
-    TIM_TimeBaseInit                         0x08003329   Thumb Code    96  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
-    UART5_IRQHandler                         0x080033a5   Thumb Code    68  it.o(i.UART5_IRQHandler)
-    USART2_IRQHandler                        0x080033f1   Thumb Code    72  it.o(i.USART2_IRQHandler)
-    USART3_IRQHandler                        0x08003441   Thumb Code    72  it.o(i.USART3_IRQHandler)
-    USART6_IRQHandler                        0x08003491   Thumb Code    72  it.o(i.USART6_IRQHandler)
-    USART_ClearITPendingBit                  0x080034e1   Thumb Code    12  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
-    USART_Cmd                                0x080034ed   Thumb Code    20  stm32f4xx_usart.o(i.USART_Cmd)
-    USART_Config                             0x08003501   Thumb Code   174  main.o(i.USART_Config)
-    USART_GPIO_Config                        0x080035d9   Thumb Code    64  usart.o(i.USART_GPIO_Config)
-    USART_GetITStatus                        0x08003619   Thumb Code    62  stm32f4xx_usart.o(i.USART_GetITStatus)
-    USART_ITConfig                           0x08003657   Thumb Code    48  stm32f4xx_usart.o(i.USART_ITConfig)
-    USART_Init                               0x08003689   Thumb Code   164  stm32f4xx_usart.o(i.USART_Init)
-    USART_MOD_Config                         0x08003735   Thumb Code    84  usart.o(i.USART_MOD_Config)
-    USART_NVIC_Config                        0x08003789   Thumb Code    28  usart.o(i.USART_NVIC_Config)
-    USART_ReceiveData                        0x080037a5   Thumb Code     8  stm32f4xx_usart.o(i.USART_ReceiveData)
-    __scatterload_copy                       0x080037ad   Thumb Code    14  handlers.o(i.__scatterload_copy)
-    __scatterload_null                       0x080037bb   Thumb Code     2  handlers.o(i.__scatterload_null)
-    __scatterload_zeroinit                   0x080037bd   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
-    add_checksum_and_telemetry               0x080037cb   Thumb Code    38  dshot.o(i.add_checksum_and_telemetry)
-    cycleCounterInit                         0x080037f1   Thumb Code    62  delay.o(i.cycleCounterInit)
-    delay_ms                                 0x0800383d   Thumb Code    32  delay.o(i.delay_ms)
-    get_crc8                                 0x0800385d   Thumb Code    32  main.o(i.get_crc8)
-    main                                     0x0800387d   Thumb Code    88  main.o(i.main)
-    pwmWriteDigital                          0x080038d5   Thumb Code   228  dshot.o(i.pwmWriteDigital)
-    update_crc8                              0x080039b9   Thumb Code    30  main.o(i.update_crc8)
-    Region$$Table$$Base                      0x080039d8   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x080039f8   Number         0  anon$$obj.o(Region$$Table)
+    Motor_Control                            0x080022d9   Thumb Code   366  main.o(i.Motor_Control)
+    NVIC_Init                                0x08002459   Thumb Code    96  misc.o(i.NVIC_Init)
+    NVIC_PriorityGroupConfig                 0x080024bd   Thumb Code    10  misc.o(i.NVIC_PriorityGroupConfig)
+    Other_Task                               0x080024d1   Thumb Code    14  main.o(i.Other_Task)
+    Overcurrent_Detection_Config             0x080024e5   Thumb Code    82  main.o(i.Overcurrent_Detection_Config)
+    RCC_AHB1PeriphClockCmd                   0x08002545   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
+    RCC_APB1PeriphClockCmd                   0x0800255d   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
+    RCC_APB2PeriphClockCmd                   0x08002575   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
+    RCC_APB2PeriphResetCmd                   0x0800258d   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
+    RCC_GetClocksFreq                        0x080025a5   Thumb Code   132  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
+    ReadFloatWord                            0x08002635   Thumb Code     6  flash.o(i.ReadFloatWord)
+    Rec_Flash_Set                            0x0800263d   Thumb Code   196  can.o(i.Rec_Flash_Set)
+    ResearchProtection                       0x08002715   Thumb Code    22  it.o(i.ResearchProtection)
+    STMFLASH_GetFlashSector                  0x0800272d   Thumb Code   114  flash.o(i.STMFLASH_GetFlashSector)
+    STMFLASH_ReadWord                        0x080027cd   Thumb Code     4  flash.o(i.STMFLASH_ReadWord)
+    STMFLASH_Write                           0x080027d1   Thumb Code   122  flash.o(i.STMFLASH_Write)
+    Send_CAN_DATA1                           0x08002855   Thumb Code    96  can.o(i.Send_CAN_DATA1)
+    Send_CAN_DATA2                           0x080028c5   Thumb Code    70  can.o(i.Send_CAN_DATA2)
+    Send_CAN_DATA3                           0x0800291d   Thumb Code    84  can.o(i.Send_CAN_DATA3)
+    Send_CAN_DATA4                           0x08002981   Thumb Code    78  can.o(i.Send_CAN_DATA4)
+    Send_CAN_DATA5                           0x080029dd   Thumb Code   112  can.o(i.Send_CAN_DATA5)
+    Send_CAN_DATA6                           0x08002a61   Thumb Code    84  can.o(i.Send_CAN_DATA6)
+    Send_Flash_Set                           0x08002acd   Thumb Code   126  can.o(i.Send_Flash_Set)
+    Send_Pixhawk_requre                      0x08002b5d   Thumb Code   154  main.o(i.Send_Pixhawk_requre)
+    Send_Updata_requre                       0x08002c01   Thumb Code   156  main.o(i.Send_Updata_requre)
+    Single_Motor_Config                      0x08002d59   Thumb Code    48  main.o(i.Single_Motor_Config)
+    SoftReset                                0x08002d91   Thumb Code    32  main.o(i.SoftReset)
+    SysTick_100ms_Task                       0x08002db9   Thumb Code    84  main.o(i.SysTick_100ms_Task)
+    SysTick_10ms_Task                        0x08002e15   Thumb Code    24  main.o(i.SysTick_10ms_Task)
+    SysTick_1ms_Task                         0x08002e35   Thumb Code   198  main.o(i.SysTick_1ms_Task)
+    SysTick_20ms_Task                        0x08002f15   Thumb Code    50  main.o(i.SysTick_20ms_Task)
+    SysTick_500ms_Task                       0x08002f55   Thumb Code    94  main.o(i.SysTick_500ms_Task)
+    SysTick_Handler                          0x08002fc5   Thumb Code    10  it.o(i.SysTick_Handler)
+    SystemInit                               0x08002fd5   Thumb Code    74  system_stm32f4xx.o(i.SystemInit)
+    TIM1_UP_TIM10_IRQHandler                 0x08003031   Thumb Code   202  it.o(i.TIM1_UP_TIM10_IRQHandler)
+    TIM_ARRPreloadConfig                     0x08003125   Thumb Code    20  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
+    TIM_ClearITPendingBit                    0x08003139   Thumb Code     6  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
+    TIM_Cmd                                  0x0800313f   Thumb Code    20  stm32f4xx_tim.o(i.TIM_Cmd)
+    TIM_CtrlPWMOutputs                       0x08003153   Thumb Code    22  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
+    TIM_DMACmd                               0x08003169   Thumb Code    16  stm32f4xx_tim.o(i.TIM_DMACmd)
+    TIM_GetITStatus                          0x08003179   Thumb Code    24  stm32f4xx_tim.o(i.TIM_GetITStatus)
+    TIM_ITConfig                             0x08003191   Thumb Code    16  stm32f4xx_tim.o(i.TIM_ITConfig)
+    TIM_Mod_Config                           0x080031a1   Thumb Code    78  time.o(i.TIM_Mod_Config)
+    TIM_NVIC_Config                          0x080031ef   Thumb Code    28  time.o(i.TIM_NVIC_Config)
+    TIM_OC1Init                              0x0800320d   Thumb Code    88  stm32f4xx_tim.o(i.TIM_OC1Init)
+    TIM_OC1PreloadConfig                     0x0800326d   Thumb Code    12  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
+    TIM_OC2Init                              0x08003279   Thumb Code   120  stm32f4xx_tim.o(i.TIM_OC2Init)
+    TIM_OC2PreloadConfig                     0x080032f9   Thumb Code    20  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
+    TIM_SelectOutputTrigger                  0x0800330d   Thumb Code    16  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
+    TIM_TimeBaseInit                         0x0800331d   Thumb Code    96  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
+    UART5_IRQHandler                         0x08003399   Thumb Code    68  it.o(i.UART5_IRQHandler)
+    USART2_IRQHandler                        0x080033e5   Thumb Code    72  it.o(i.USART2_IRQHandler)
+    USART3_IRQHandler                        0x08003435   Thumb Code    72  it.o(i.USART3_IRQHandler)
+    USART6_IRQHandler                        0x08003485   Thumb Code    72  it.o(i.USART6_IRQHandler)
+    USART_ClearITPendingBit                  0x080034d5   Thumb Code    12  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
+    USART_Cmd                                0x080034e1   Thumb Code    20  stm32f4xx_usart.o(i.USART_Cmd)
+    USART_Config                             0x080034f5   Thumb Code   174  main.o(i.USART_Config)
+    USART_GPIO_Config                        0x080035cd   Thumb Code    64  usart.o(i.USART_GPIO_Config)
+    USART_GetITStatus                        0x0800360d   Thumb Code    62  stm32f4xx_usart.o(i.USART_GetITStatus)
+    USART_ITConfig                           0x0800364b   Thumb Code    48  stm32f4xx_usart.o(i.USART_ITConfig)
+    USART_Init                               0x0800367d   Thumb Code   164  stm32f4xx_usart.o(i.USART_Init)
+    USART_MOD_Config                         0x08003729   Thumb Code    84  usart.o(i.USART_MOD_Config)
+    USART_NVIC_Config                        0x0800377d   Thumb Code    28  usart.o(i.USART_NVIC_Config)
+    USART_ReceiveData                        0x08003799   Thumb Code     8  stm32f4xx_usart.o(i.USART_ReceiveData)
+    __scatterload_copy                       0x080037a1   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x080037af   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x080037b1   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    add_checksum_and_telemetry               0x080037bf   Thumb Code    38  dshot.o(i.add_checksum_and_telemetry)
+    cycleCounterInit                         0x080037e5   Thumb Code    62  delay.o(i.cycleCounterInit)
+    delay_ms                                 0x08003831   Thumb Code    32  delay.o(i.delay_ms)
+    get_crc8                                 0x08003851   Thumb Code    32  main.o(i.get_crc8)
+    main                                     0x08003871   Thumb Code    88  main.o(i.main)
+    pwmWriteDigital                          0x080038c9   Thumb Code   228  dshot.o(i.pwmWriteDigital)
+    update_crc8                              0x080039ad   Thumb Code    30  main.o(i.update_crc8)
+    Region$$Table$$Base                      0x080039cc   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x080039ec   Number         0  anon$$obj.o(Region$$Table)
     Updata_requre                            0x20000001   Data           1  main.o(.data)
     Pixhawk_requre                           0x20000002   Data           1  main.o(.data)
     light_err                                0x20000003   Data           1  main.o(.data)
@@ -1438,9 +1438,9 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00003ac4, Max: 0x00080000, ABSOLUTE)
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00003ab8, Max: 0x00080000, ABSOLUTE)
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000039f8, Max: 0x00080000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000039ec, Max: 0x00080000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -1560,109 +1560,109 @@ Memory Map of the image
     0x08002284   0x08002284   0x0000000c   Code   RO         2032    i.IWDG_WriteAccessCmd  stm32f4xx_iwdg.o
     0x08002290   0x08002290   0x00000010   Code   RO           15    i.LED_Config        main.o
     0x080022a0   0x080022a0   0x00000038   Code   RO          416    i.Micros            delay.o
-    0x080022d8   0x080022d8   0x0000018c   Code   RO           18    i.Motor_Control     main.o
-    0x08002464   0x08002464   0x00000064   Code   RO         1074    i.NVIC_Init         misc.o
-    0x080024c8   0x080024c8   0x00000014   Code   RO         1075    i.NVIC_PriorityGroupConfig  misc.o
-    0x080024dc   0x080024dc   0x00000014   Code   RO           20    i.Other_Task        main.o
-    0x080024f0   0x080024f0   0x00000060   Code   RO           21    i.Overcurrent_Detection_Config  main.o
-    0x08002550   0x08002550   0x00000018   Code   RO         2081    i.RCC_AHB1PeriphClockCmd  stm32f4xx_rcc.o
-    0x08002568   0x08002568   0x00000018   Code   RO         2090    i.RCC_APB1PeriphClockCmd  stm32f4xx_rcc.o
-    0x08002580   0x08002580   0x00000018   Code   RO         2093    i.RCC_APB2PeriphClockCmd  stm32f4xx_rcc.o
-    0x08002598   0x08002598   0x00000018   Code   RO         2095    i.RCC_APB2PeriphResetCmd  stm32f4xx_rcc.o
-    0x080025b0   0x080025b0   0x00000090   Code   RO         2102    i.RCC_GetClocksFreq  stm32f4xx_rcc.o
-    0x08002640   0x08002640   0x00000006   Code   RO          819    i.ReadFloatWord     flash.o
-    0x08002646   0x08002646   0x00000002   PAD
-    0x08002648   0x08002648   0x000000d8   Code   RO          695    i.Rec_Flash_Set     can.o
-    0x08002720   0x08002720   0x00000016   Code   RO          873    i.ResearchProtection  it.o
-    0x08002736   0x08002736   0x00000002   PAD
-    0x08002738   0x08002738   0x000000a0   Code   RO          820    i.STMFLASH_GetFlashSector  flash.o
-    0x080027d8   0x080027d8   0x00000004   Code   RO          822    i.STMFLASH_ReadWord  flash.o
-    0x080027dc   0x080027dc   0x00000084   Code   RO          823    i.STMFLASH_Write    flash.o
-    0x08002860   0x08002860   0x00000070   Code   RO          696    i.Send_CAN_DATA1    can.o
-    0x080028d0   0x080028d0   0x00000058   Code   RO          697    i.Send_CAN_DATA2    can.o
-    0x08002928   0x08002928   0x00000064   Code   RO          698    i.Send_CAN_DATA3    can.o
-    0x0800298c   0x0800298c   0x0000005c   Code   RO          699    i.Send_CAN_DATA4    can.o
-    0x080029e8   0x080029e8   0x00000084   Code   RO          700    i.Send_CAN_DATA5    can.o
-    0x08002a6c   0x08002a6c   0x0000006c   Code   RO          701    i.Send_CAN_DATA6    can.o
-    0x08002ad8   0x08002ad8   0x00000090   Code   RO          705    i.Send_Flash_Set    can.o
-    0x08002b68   0x08002b68   0x000000a4   Code   RO           22    i.Send_Pixhawk_requre  main.o
-    0x08002c0c   0x08002c0c   0x000000a4   Code   RO           23    i.Send_Updata_requre  main.o
-    0x08002cb0   0x08002cb0   0x000000b4   Code   RO         1004    i.SetSysClock       system_stm32f4xx.o
-    0x08002d64   0x08002d64   0x00000038   Code   RO           24    i.Single_Motor_Config  main.o
-    0x08002d9c   0x08002d9c   0x00000028   Code   RO           25    i.SoftReset         main.o
-    0x08002dc4   0x08002dc4   0x0000005c   Code   RO           27    i.SysTick_100ms_Task  main.o
-    0x08002e20   0x08002e20   0x00000020   Code   RO           28    i.SysTick_10ms_Task  main.o
-    0x08002e40   0x08002e40   0x000000e0   Code   RO           29    i.SysTick_1ms_Task  main.o
-    0x08002f20   0x08002f20   0x00000040   Code   RO           30    i.SysTick_20ms_Task  main.o
-    0x08002f60   0x08002f60   0x00000070   Code   RO           31    i.SysTick_500ms_Task  main.o
-    0x08002fd0   0x08002fd0   0x00000010   Code   RO          874    i.SysTick_Handler   it.o
-    0x08002fe0   0x08002fe0   0x0000005c   Code   RO         1006    i.SystemInit        system_stm32f4xx.o
-    0x0800303c   0x0800303c   0x000000f4   Code   RO          875    i.TIM1_UP_TIM10_IRQHandler  it.o
-    0x08003130   0x08003130   0x00000014   Code   RO         2421    i.TIM_ARRPreloadConfig  stm32f4xx_tim.o
-    0x08003144   0x08003144   0x00000006   Code   RO         2428    i.TIM_ClearITPendingBit  stm32f4xx_tim.o
-    0x0800314a   0x0800314a   0x00000014   Code   RO         2433    i.TIM_Cmd           stm32f4xx_tim.o
-    0x0800315e   0x0800315e   0x00000016   Code   RO         2435    i.TIM_CtrlPWMOutputs  stm32f4xx_tim.o
-    0x08003174   0x08003174   0x00000010   Code   RO         2436    i.TIM_DMACmd        stm32f4xx_tim.o
-    0x08003184   0x08003184   0x00000018   Code   RO         2454    i.TIM_GetITStatus   stm32f4xx_tim.o
-    0x0800319c   0x0800319c   0x00000010   Code   RO         2458    i.TIM_ITConfig      stm32f4xx_tim.o
-    0x080031ac   0x080031ac   0x0000004e   Code   RO          379    i.TIM_Mod_Config    time.o
-    0x080031fa   0x080031fa   0x0000001c   Code   RO          380    i.TIM_NVIC_Config   time.o
-    0x08003216   0x08003216   0x00000002   PAD
-    0x08003218   0x08003218   0x00000060   Code   RO         2462    i.TIM_OC1Init       stm32f4xx_tim.o
-    0x08003278   0x08003278   0x0000000c   Code   RO         2465    i.TIM_OC1PreloadConfig  stm32f4xx_tim.o
-    0x08003284   0x08003284   0x00000080   Code   RO         2467    i.TIM_OC2Init       stm32f4xx_tim.o
-    0x08003304   0x08003304   0x00000014   Code   RO         2470    i.TIM_OC2PreloadConfig  stm32f4xx_tim.o
-    0x08003318   0x08003318   0x00000010   Code   RO         2491    i.TIM_SelectOutputTrigger  stm32f4xx_tim.o
-    0x08003328   0x08003328   0x0000007c   Code   RO         2505    i.TIM_TimeBaseInit  stm32f4xx_tim.o
-    0x080033a4   0x080033a4   0x0000004c   Code   RO          876    i.UART5_IRQHandler  it.o
-    0x080033f0   0x080033f0   0x00000050   Code   RO          877    i.USART2_IRQHandler  it.o
-    0x08003440   0x08003440   0x00000050   Code   RO          878    i.USART3_IRQHandler  it.o
-    0x08003490   0x08003490   0x00000050   Code   RO          879    i.USART6_IRQHandler  it.o
-    0x080034e0   0x080034e0   0x0000000c   Code   RO         2971    i.USART_ClearITPendingBit  stm32f4xx_usart.o
-    0x080034ec   0x080034ec   0x00000014   Code   RO         2974    i.USART_Cmd         stm32f4xx_usart.o
-    0x08003500   0x08003500   0x000000d8   Code   RO           33    i.USART_Config      main.o
-    0x080035d8   0x080035d8   0x00000040   Code   RO          624    i.USART_GPIO_Config  usart.o
-    0x08003618   0x08003618   0x0000003e   Code   RO         2978    i.USART_GetITStatus  stm32f4xx_usart.o
-    0x08003656   0x08003656   0x00000030   Code   RO         2980    i.USART_ITConfig    stm32f4xx_usart.o
-    0x08003686   0x08003686   0x00000002   PAD
-    0x08003688   0x08003688   0x000000ac   Code   RO         2981    i.USART_Init        stm32f4xx_usart.o
-    0x08003734   0x08003734   0x00000054   Code   RO          625    i.USART_MOD_Config  usart.o
-    0x08003788   0x08003788   0x0000001c   Code   RO          626    i.USART_NVIC_Config  usart.o
-    0x080037a4   0x080037a4   0x00000008   Code   RO         2988    i.USART_ReceiveData  stm32f4xx_usart.o
-    0x080037ac   0x080037ac   0x0000000e   Code   RO         3213    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x080037ba   0x080037ba   0x00000002   Code   RO         3214    i.__scatterload_null  mc_w.l(handlers.o)
-    0x080037bc   0x080037bc   0x0000000e   Code   RO         3215    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x080037ca   0x080037ca   0x00000026   Code   RO          478    i.add_checksum_and_telemetry  dshot.o
-    0x080037f0   0x080037f0   0x0000004c   Code   RO          417    i.cycleCounterInit  delay.o
-    0x0800383c   0x0800383c   0x00000020   Code   RO          418    i.delay_ms          delay.o
-    0x0800385c   0x0800385c   0x00000020   Code   RO           35    i.get_crc8          main.o
-    0x0800387c   0x0800387c   0x00000058   Code   RO           36    i.main              main.o
-    0x080038d4   0x080038d4   0x000000e4   Code   RO          479    i.pwmWriteDigital   dshot.o
-    0x080039b8   0x080039b8   0x0000001e   Code   RO           37    i.update_crc8       main.o
-    0x080039d6   0x080039d6   0x00000002   PAD
-    0x080039d8   0x080039d8   0x00000020   Data   RO         3211    Region$$Table       anon$$obj.o
+    0x080022d8   0x080022d8   0x00000180   Code   RO           18    i.Motor_Control     main.o
+    0x08002458   0x08002458   0x00000064   Code   RO         1074    i.NVIC_Init         misc.o
+    0x080024bc   0x080024bc   0x00000014   Code   RO         1075    i.NVIC_PriorityGroupConfig  misc.o
+    0x080024d0   0x080024d0   0x00000014   Code   RO           20    i.Other_Task        main.o
+    0x080024e4   0x080024e4   0x00000060   Code   RO           21    i.Overcurrent_Detection_Config  main.o
+    0x08002544   0x08002544   0x00000018   Code   RO         2081    i.RCC_AHB1PeriphClockCmd  stm32f4xx_rcc.o
+    0x0800255c   0x0800255c   0x00000018   Code   RO         2090    i.RCC_APB1PeriphClockCmd  stm32f4xx_rcc.o
+    0x08002574   0x08002574   0x00000018   Code   RO         2093    i.RCC_APB2PeriphClockCmd  stm32f4xx_rcc.o
+    0x0800258c   0x0800258c   0x00000018   Code   RO         2095    i.RCC_APB2PeriphResetCmd  stm32f4xx_rcc.o
+    0x080025a4   0x080025a4   0x00000090   Code   RO         2102    i.RCC_GetClocksFreq  stm32f4xx_rcc.o
+    0x08002634   0x08002634   0x00000006   Code   RO          819    i.ReadFloatWord     flash.o
+    0x0800263a   0x0800263a   0x00000002   PAD
+    0x0800263c   0x0800263c   0x000000d8   Code   RO          695    i.Rec_Flash_Set     can.o
+    0x08002714   0x08002714   0x00000016   Code   RO          873    i.ResearchProtection  it.o
+    0x0800272a   0x0800272a   0x00000002   PAD
+    0x0800272c   0x0800272c   0x000000a0   Code   RO          820    i.STMFLASH_GetFlashSector  flash.o
+    0x080027cc   0x080027cc   0x00000004   Code   RO          822    i.STMFLASH_ReadWord  flash.o
+    0x080027d0   0x080027d0   0x00000084   Code   RO          823    i.STMFLASH_Write    flash.o
+    0x08002854   0x08002854   0x00000070   Code   RO          696    i.Send_CAN_DATA1    can.o
+    0x080028c4   0x080028c4   0x00000058   Code   RO          697    i.Send_CAN_DATA2    can.o
+    0x0800291c   0x0800291c   0x00000064   Code   RO          698    i.Send_CAN_DATA3    can.o
+    0x08002980   0x08002980   0x0000005c   Code   RO          699    i.Send_CAN_DATA4    can.o
+    0x080029dc   0x080029dc   0x00000084   Code   RO          700    i.Send_CAN_DATA5    can.o
+    0x08002a60   0x08002a60   0x0000006c   Code   RO          701    i.Send_CAN_DATA6    can.o
+    0x08002acc   0x08002acc   0x00000090   Code   RO          705    i.Send_Flash_Set    can.o
+    0x08002b5c   0x08002b5c   0x000000a4   Code   RO           22    i.Send_Pixhawk_requre  main.o
+    0x08002c00   0x08002c00   0x000000a4   Code   RO           23    i.Send_Updata_requre  main.o
+    0x08002ca4   0x08002ca4   0x000000b4   Code   RO         1004    i.SetSysClock       system_stm32f4xx.o
+    0x08002d58   0x08002d58   0x00000038   Code   RO           24    i.Single_Motor_Config  main.o
+    0x08002d90   0x08002d90   0x00000028   Code   RO           25    i.SoftReset         main.o
+    0x08002db8   0x08002db8   0x0000005c   Code   RO           27    i.SysTick_100ms_Task  main.o
+    0x08002e14   0x08002e14   0x00000020   Code   RO           28    i.SysTick_10ms_Task  main.o
+    0x08002e34   0x08002e34   0x000000e0   Code   RO           29    i.SysTick_1ms_Task  main.o
+    0x08002f14   0x08002f14   0x00000040   Code   RO           30    i.SysTick_20ms_Task  main.o
+    0x08002f54   0x08002f54   0x00000070   Code   RO           31    i.SysTick_500ms_Task  main.o
+    0x08002fc4   0x08002fc4   0x00000010   Code   RO          874    i.SysTick_Handler   it.o
+    0x08002fd4   0x08002fd4   0x0000005c   Code   RO         1006    i.SystemInit        system_stm32f4xx.o
+    0x08003030   0x08003030   0x000000f4   Code   RO          875    i.TIM1_UP_TIM10_IRQHandler  it.o
+    0x08003124   0x08003124   0x00000014   Code   RO         2421    i.TIM_ARRPreloadConfig  stm32f4xx_tim.o
+    0x08003138   0x08003138   0x00000006   Code   RO         2428    i.TIM_ClearITPendingBit  stm32f4xx_tim.o
+    0x0800313e   0x0800313e   0x00000014   Code   RO         2433    i.TIM_Cmd           stm32f4xx_tim.o
+    0x08003152   0x08003152   0x00000016   Code   RO         2435    i.TIM_CtrlPWMOutputs  stm32f4xx_tim.o
+    0x08003168   0x08003168   0x00000010   Code   RO         2436    i.TIM_DMACmd        stm32f4xx_tim.o
+    0x08003178   0x08003178   0x00000018   Code   RO         2454    i.TIM_GetITStatus   stm32f4xx_tim.o
+    0x08003190   0x08003190   0x00000010   Code   RO         2458    i.TIM_ITConfig      stm32f4xx_tim.o
+    0x080031a0   0x080031a0   0x0000004e   Code   RO          379    i.TIM_Mod_Config    time.o
+    0x080031ee   0x080031ee   0x0000001c   Code   RO          380    i.TIM_NVIC_Config   time.o
+    0x0800320a   0x0800320a   0x00000002   PAD
+    0x0800320c   0x0800320c   0x00000060   Code   RO         2462    i.TIM_OC1Init       stm32f4xx_tim.o
+    0x0800326c   0x0800326c   0x0000000c   Code   RO         2465    i.TIM_OC1PreloadConfig  stm32f4xx_tim.o
+    0x08003278   0x08003278   0x00000080   Code   RO         2467    i.TIM_OC2Init       stm32f4xx_tim.o
+    0x080032f8   0x080032f8   0x00000014   Code   RO         2470    i.TIM_OC2PreloadConfig  stm32f4xx_tim.o
+    0x0800330c   0x0800330c   0x00000010   Code   RO         2491    i.TIM_SelectOutputTrigger  stm32f4xx_tim.o
+    0x0800331c   0x0800331c   0x0000007c   Code   RO         2505    i.TIM_TimeBaseInit  stm32f4xx_tim.o
+    0x08003398   0x08003398   0x0000004c   Code   RO          876    i.UART5_IRQHandler  it.o
+    0x080033e4   0x080033e4   0x00000050   Code   RO          877    i.USART2_IRQHandler  it.o
+    0x08003434   0x08003434   0x00000050   Code   RO          878    i.USART3_IRQHandler  it.o
+    0x08003484   0x08003484   0x00000050   Code   RO          879    i.USART6_IRQHandler  it.o
+    0x080034d4   0x080034d4   0x0000000c   Code   RO         2971    i.USART_ClearITPendingBit  stm32f4xx_usart.o
+    0x080034e0   0x080034e0   0x00000014   Code   RO         2974    i.USART_Cmd         stm32f4xx_usart.o
+    0x080034f4   0x080034f4   0x000000d8   Code   RO           33    i.USART_Config      main.o
+    0x080035cc   0x080035cc   0x00000040   Code   RO          624    i.USART_GPIO_Config  usart.o
+    0x0800360c   0x0800360c   0x0000003e   Code   RO         2978    i.USART_GetITStatus  stm32f4xx_usart.o
+    0x0800364a   0x0800364a   0x00000030   Code   RO         2980    i.USART_ITConfig    stm32f4xx_usart.o
+    0x0800367a   0x0800367a   0x00000002   PAD
+    0x0800367c   0x0800367c   0x000000ac   Code   RO         2981    i.USART_Init        stm32f4xx_usart.o
+    0x08003728   0x08003728   0x00000054   Code   RO          625    i.USART_MOD_Config  usart.o
+    0x0800377c   0x0800377c   0x0000001c   Code   RO          626    i.USART_NVIC_Config  usart.o
+    0x08003798   0x08003798   0x00000008   Code   RO         2988    i.USART_ReceiveData  stm32f4xx_usart.o
+    0x080037a0   0x080037a0   0x0000000e   Code   RO         3213    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x080037ae   0x080037ae   0x00000002   Code   RO         3214    i.__scatterload_null  mc_w.l(handlers.o)
+    0x080037b0   0x080037b0   0x0000000e   Code   RO         3215    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x080037be   0x080037be   0x00000026   Code   RO          478    i.add_checksum_and_telemetry  dshot.o
+    0x080037e4   0x080037e4   0x0000004c   Code   RO          417    i.cycleCounterInit  delay.o
+    0x08003830   0x08003830   0x00000020   Code   RO          418    i.delay_ms          delay.o
+    0x08003850   0x08003850   0x00000020   Code   RO           35    i.get_crc8          main.o
+    0x08003870   0x08003870   0x00000058   Code   RO           36    i.main              main.o
+    0x080038c8   0x080038c8   0x000000e4   Code   RO          479    i.pwmWriteDigital   dshot.o
+    0x080039ac   0x080039ac   0x0000001e   Code   RO           37    i.update_crc8       main.o
+    0x080039ca   0x080039ca   0x00000002   PAD
+    0x080039cc   0x080039cc   0x00000020   Data   RO         3211    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080039f8, Size: 0x000007e8, Max: 0x00020000, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080039ec, Size: 0x000007e8, Max: 0x00020000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x080039f8   0x00000050   Data   RW           39    .data               main.o
-    0x20000050   0x08003a48   0x00000004   Data   RW           40    .data               main.o
-    0x20000054   0x08003a4c   0x00000004   Data   RW           41    .data               main.o
-    0x20000058   0x08003a50   0x00000004   Data   RW           42    .data               main.o
-    0x2000005c   0x08003a54   0x00000008   Data   RW          421    .data               delay.o
-    0x20000064   0x08003a5c   0x00000008   Data   RW          535    .data               adc.o
-    0x2000006c   0x08003a64   0x00000004   Data   RW          707    .data               can.o
-    0x20000070   0x08003a68   0x0000003c   Data   RW          708    .data               can.o
-    0x200000ac   0x08003aa4   0x00000001   Data   RW          709    .data               can.o
-    0x200000ad   0x08003aa5   0x00000001   Data   RW          710    .data               can.o
-    0x200000ae   0x08003aa6   0x00000001   Data   RW          711    .data               can.o
-    0x200000af   0x08003aa7   0x00000001   PAD
-    0x200000b0   0x08003aa8   0x00000008   Data   RW          881    .data               it.o
-    0x200000b8   0x08003ab0   0x00000004   Data   RW          975    .data               ntc.o
-    0x200000bc   0x08003ab4   0x00000010   Data   RW         2134    .data               stm32f4xx_rcc.o
-    0x200000cc   0x08003ac4   0x00000004   PAD
+    0x20000000   0x080039ec   0x00000050   Data   RW           39    .data               main.o
+    0x20000050   0x08003a3c   0x00000004   Data   RW           40    .data               main.o
+    0x20000054   0x08003a40   0x00000004   Data   RW           41    .data               main.o
+    0x20000058   0x08003a44   0x00000004   Data   RW           42    .data               main.o
+    0x2000005c   0x08003a48   0x00000008   Data   RW          421    .data               delay.o
+    0x20000064   0x08003a50   0x00000008   Data   RW          535    .data               adc.o
+    0x2000006c   0x08003a58   0x00000004   Data   RW          707    .data               can.o
+    0x20000070   0x08003a5c   0x0000003c   Data   RW          708    .data               can.o
+    0x200000ac   0x08003a98   0x00000001   Data   RW          709    .data               can.o
+    0x200000ad   0x08003a99   0x00000001   Data   RW          710    .data               can.o
+    0x200000ae   0x08003a9a   0x00000001   Data   RW          711    .data               can.o
+    0x200000af   0x08003a9b   0x00000001   PAD
+    0x200000b0   0x08003a9c   0x00000008   Data   RW          881    .data               it.o
+    0x200000b8   0x08003aa4   0x00000004   Data   RW          975    .data               ntc.o
+    0x200000bc   0x08003aa8   0x00000010   Data   RW         2134    .data               stm32f4xx_rcc.o
+    0x200000cc   0x08003ab8   0x00000004   PAD
     0x200000d0        -       0x00000300   Zero   RW           38    .bss                main.o
     0x200003d0        -       0x0000000c   Zero   RW          706    .bss                can.o
     0x200003dc        -       0x0000000c   Zero   RW          880    .bss                it.o
@@ -1676,33 +1676,33 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
-       578          6          0          8          0       5726   adc.o
-      1408        154          0         67         12      10406   can.o
-       164         20          0          8          0      28406   delay.o
-       606          0          0          0          0       4933   dshot.o
-       302         56          0          0          0       3103   flash.o
-      1652        266          0          8         12      12155   it.o
-        42          0          0          0          0        990   iwag.o
-        84          0          0          0          0       1627   led.o
-      3252        426          0         92        768     382628   main.o
-       120         14          0          0          0       1747   misc.o
-       544        162          0          4          0       1142   ntc.o
-        36          8        392          0       1024        816   startup_stm32f40_41xxx.o
-       326         20          0          0          0       7136   stm32f4xx_adc.o
-       888         30          0          0          0       6582   stm32f4xx_can.o
-       638         52          0          0          0       8326   stm32f4xx_dma.o
-       338         36          0          0          0       5028   stm32f4xx_flash.o
-       182          0          0          0          0       4373   stm32f4xx_gpio.o
-        68         30          0          0          0       2670   stm32f4xx_iwdg.o
-       240         36          0         16          0       5628   stm32f4xx_rcc.o
-       520         44          0          0          0      10426   stm32f4xx_tim.o
-       322          8          0          0          0       5336   stm32f4xx_usart.o
-       272         36          0          0          0       1609   system_stm32f4xx.o
-       106          0          0          0          0       1759   time.o
-       176          0          0          0          0       2503   usart.o
+       578          6          0          8          0       5690   adc.o
+      1408        154          0         67         12      10334   can.o
+       164         20          0          8          0      28382   delay.o
+       606          0          0          0          0       4905   dshot.o
+       302         56          0          0          0       3083   flash.o
+      1652        266          0          8         12      12091   it.o
+        42          0          0          0          0        982   iwag.o
+        84          0          0          0          0       1615   led.o
+      3240        428          0         92        768     382440   main.o
+       120         14          0          0          0       1735   misc.o
+       544        162          0          4          0       1134   ntc.o
+        36          8        392          0       1024        812   startup_stm32f40_41xxx.o
+       326         20          0          0          0       7096   stm32f4xx_adc.o
+       888         30          0          0          0       6550   stm32f4xx_can.o
+       638         52          0          0          0       8282   stm32f4xx_dma.o
+       338         36          0          0          0       4996   stm32f4xx_flash.o
+       182          0          0          0          0       4345   stm32f4xx_gpio.o
+        68         30          0          0          0       2650   stm32f4xx_iwdg.o
+       240         36          0         16          0       5600   stm32f4xx_rcc.o
+       520         44          0          0          0      10370   stm32f4xx_tim.o
+       322          8          0          0          0       5308   stm32f4xx_usart.o
+       272         36          0          0          0       1597   system_stm32f4xx.o
+       106          0          0          0          0       1747   time.o
+       176          0          0          0          0       2487   usart.o
 
     ----------------------------------------------------------------------
-     12886       1404        424        204       1820     515055   Object Totals
+     12874       1406        424        204       1820     514231   Object Totals
          0          0         32          0          0          0   (incl. Generated)
         22          0          0          1          4          0   (incl. Padding)
 
@@ -1757,15 +1757,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     14416       1420        424        204       1820     501859   Grand Totals
-     14416       1420        424        204       1820     501859   ELF Image Totals
-     14416       1420        424        204          0          0   ROM Totals
+     14404       1422        424        204       1820     501035   Grand Totals
+     14404       1422        424        204       1820     501035   ELF Image Totals
+     14404       1422        424        204          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                14840 (  14.49kB)
+    Total RO  Size (Code + RO Data)                14828 (  14.48kB)
     Total RW  Size (RW Data + ZI Data)              2024 (   1.98kB)
-    Total ROM Size (Code + RO Data + RW Data)      15044 (  14.69kB)
+    Total ROM Size (Code + RO Data + RW Data)      15032 (  14.68kB)
 
 ==============================================================================
 

N3Drive/Objects/N3Drive.build_log.htm

@@ -21,13 +21,54 @@ Target DLL:      Segger\JL2CM3.dll V2.99.34.0
 Dialog DLL:      TCM.DLL V1.36.1.0
  
 <h2>Project:</h2>
-E:\share\N3\N3_driver_git\N3Drive_pan\N3Drive.uvprojx
+E:\share\N3\N3_driver_git\N3Drive\N3Drive.uvprojx
 Project File Date:  06/06/2023
 
 <h2>Output:</h2>
 *** Using Compiler 'V5.06 update 6 (build 750)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
-Build target 'N3Drive'
-".\Objects\N3Drive.axf" - 0 Error(s), 0 Warning(s).
+Rebuild target 'N3Drive'
+compiling dshot.c...
+compiling delay.c...
+compiling flash.c...
+compiling time.c...
+compiling led.c...
+compiling iwag.c...
+compiling usart.c...
+compiling adc.c...
+compiling can.c...
+compiling it.c...
+USER\it.c(100): warning:  #111-D: statement is unreachable
+  												  break;
+USER\it.c(376): warning:  #1035-D: single-precision operand implicitly converted to double-precision
+  			Voltage = ((float)Voltage_sum)*3.27856/102400;
+USER\it.c: 2 warnings, 0 errors
+compiling main.c...
+assembling startup_stm32f40_41xxx.s...
+compiling ntc.c...
+USER\ntc.c(17): warning:  #1035-D: single-precision operand implicitly converted to double-precision
+  	Rt = (R*valta)/(3.3-valta);
+USER\ntc.c(7): warning:  #177-D: variable "Rp"  was declared but never referenced
+  	float Rp = 10000.0;
+USER\ntc.c(8): warning:  #177-D: variable "T2"  was declared but never referenced
+  	float T2 = (273.15 + 25.0);
+USER\ntc.c(9): warning:  #177-D: variable "Bx"  was declared but never referenced
+  	float Bx = 3950.0;
+USER\ntc.c: 4 warnings, 0 errors
+compiling misc.c...
+compiling stm32f4xx_gpio.c...
+compiling system_stm32f4xx.c...
+compiling stm32f4xx_iwdg.c...
+compiling stm32f4xx_dma.c...
+compiling stm32f4xx_adc.c...
+compiling stm32f4xx_can.c...
+compiling stm32f4xx_flash.c...
+compiling stm32f4xx_rcc.c...
+compiling stm32f4xx_tim.c...
+compiling stm32f4xx_usart.c...
+linking...
+Program Size: Code=14404 RO-data=424 RW-data=204 ZI-data=1820  
+FromELF: creating hex file...
+".\Objects\N3Drive.axf" - 0 Error(s), 6 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -41,7 +82,7 @@ Package Vendor: Keil
   C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:00
+Build Time Elapsed:  00:00:03
 </pre>
 </body>
 </html>

N3Drive/Objects/N3Drive.hex

@@ -2,31 +2,31 @@
 :10000000E80700209D010008A50100082122000842
 :10001000A9010008AB010008AD01000800000000C4
 :10002000000000000000000000000000AF01000818
-:10003000B101000800000000B3010008D12F000842
+:10003000B101000800000000B3010008C52F00084E
 :10004000B7010008B7010008B7010008B7010008B0
 :10005000B7010008B7010008B7010008B7010008A0
 :10006000B7010008B7010008B7010008C91400086B
 :10007000B7010008B7010008F9140008B70100082B
 :1000800029150008B7010008B7010008B7010008EA
 :10009000CD0C0008B7010008B7010008B70100083F
-:1000A000B70100083D300008B7010008B70100089B
+:1000A000B701000831300008B7010008B7010008A7
 :1000B000B7010008B7010008B7010008B701000840
 :1000C000B7010008B7010008B7010008B701000830
-:1000D000B7010008B7010008F133000841340008F7
+:1000D000B7010008B7010008E5330008353400080F
 :1000E000B7010008B7010008B7010008B701000810
 :1000F000B7010008B7010008B7010008B701000800
 :10010000B7010008B7010008B7010008B7010008EF
-:10011000B7010008A5330008B7010008B7010008BF
+:10011000B701000899330008B7010008B7010008CB
 :1001200059150008B7010008B7010008B701000819
 :10013000B7010008B7010008B7010008B7010008BF
 :10014000B7010008B7010008B7010008B7010008AF
-:10015000B7010008B7010008B70100089134000892
+:10015000B7010008B7010008B7010008853400089E
 :10016000B7010008B7010008B7010008B70100088F
 :10017000B7010008B7010008B7010008B70100087F
 :10018000B7010008B7010008DFF80CD000F0EAFA68
-:10019000004800477D380008E807002006488047EF
+:100190000048004771380008E807002006488047FB
 :1001A00006480047FEE7FEE7FEE7FEE7FEE7FEE75C
-:1001B000FEE7FEE7FEE7FEE7E12F00088901000801
+:1001B000FEE7FEE7FEE7FEE7D52F0008890100080D
 :1001C0002DE9FE4F804681EA0300C00F0C460090E7
 :1001D00021F0004123F00045B8EB0200A94105D20F
 :1001E0004046214690461C460B46024623F00040FE
@@ -119,7 +119,7 @@
 :10075000010510196941DDE9084500196941BDE845
 :10076000F04DA2E7064C074D06E0E06840F00103BB
 :1007700094E8070098471034AC42F6D3FFF708FD21
-:10078000D8390008F83900080029816802D041F002
+:10078000CC390008EC3900080029816802D041F01A
 :10079000010101E021F0010181607047084B10B5B3
 :1007A000D3F8042307490A40D0E900142143D0E9D3
 :1007B0000240044321431143C3F8041310BD000059
@@ -133,11 +133,11 @@
 :100830000B4A0C4908208DE807000B4B142253216A
 :100840000A4800F06DF91FBD0C0D000000140240B5
 :1008500000080240002001400022014010640240D4
-:10086000793200081932000869250008000C0040A0
+:100860006D3200080D3200085D250008000C0040C4
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N3Drive/Objects/N3Drive.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\N3Drive.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\N3Drive.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060750: Last Updated: Tue Jul 18 09:42:18 2023
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060750: Last Updated: Sat Aug 12 14:30:00 2023
 <BR><P>
 <H3>Maximum Stack Usage =        168 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -1230,7 +1230,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;delay_ms
 </UL>
 
-<P><STRONG><a name="[e7]"></a>Motor_Control</STRONG> (Thumb, 380 bytes, Stack size 12 bytes, main.o(i.Motor_Control))
+<P><STRONG><a name="[e7]"></a>Motor_Control</STRONG> (Thumb, 366 bytes, Stack size 12 bytes, main.o(i.Motor_Control))
 <BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = Motor_Control
 </UL>
 <BR>[Called By]<UL><LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_20ms_Task

N3Drive/Objects/N3Drive_N3Drive.dep

@@ -1,5 +1,5 @@
 Dependencies for Project 'N3Drive', Target 'N3Drive': (DO NOT MODIFY !)
-F (.\USER\main.c)(0x64B5EDF5)(--c99 --gnu -c --cpu Cortex-M4.fp -D__MICROLIB -g -O2 --apcs=interwork --split_sections -I .\STM32F4xx_StdPeriph_Driver\inc -I .\CMSIS -I .\USER --diag_suppress=1

-I.\RTE\_N3Drive

-IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-IC:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="527" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
+F (.\USER\main.c)(0x64D7260E)(--c99 --gnu -c --cpu Cortex-M4.fp -D__MICROLIB -g -O2 --apcs=interwork --split_sections -I .\STM32F4xx_StdPeriph_Driver\inc -I .\CMSIS -I .\USER --diag_suppress=1

-I.\RTE\_N3Drive

-IC:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include

-IC:\Keil_v5\ARM\CMSIS\Include

-D__UVISION_VERSION="527" -DSTM32F407xx -DSTM32F40_41xxx -DUSE_STDPERIPH_DRIVER

-o .\objects\main.o --omf_browse .\objects\main.crf --depend .\objects\main.d)
 I (USER\include.h)(0x64804BC8)
 I (.\CMSIS\stm32f4xx.h)(0x630F5A95)
 I (.\CMSIS\core_cm4.h)(0x630F5A95)