履带不适用堵转保护

N3Drive/Listings/N4Drive.map

@@ -1019,91 +1019,91 @@ Image Symbol Table
     i.Motor_AD_correct                       0x08002200   Section        0  main.o(i.Motor_AD_correct)
     i.Motor_Control                          0x080022c8   Section        0  main.o(i.Motor_Control)
     i.Motor_Stall_check                      0x080023fc   Section        0  main.o(i.Motor_Stall_check)
-    i.NVIC_Init                              0x08002438   Section        0  misc.o(i.NVIC_Init)
-    i.NVIC_PriorityGroupConfig               0x0800249c   Section        0  misc.o(i.NVIC_PriorityGroupConfig)
-    i.Other_Task                             0x080024b0   Section        0  main.o(i.Other_Task)
-    i.RCC_AHB1PeriphClockCmd                 0x080024c4   Section        0  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
-    i.RCC_APB1PeriphClockCmd                 0x080024dc   Section        0  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
-    i.RCC_APB2PeriphClockCmd                 0x080024f4   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
-    i.RCC_APB2PeriphResetCmd                 0x0800250c   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
-    i.RCC_GetClocksFreq                      0x08002524   Section        0  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
-    i.ReadFloatWord                          0x080025b4   Section        0  flash.o(i.ReadFloatWord)
-    i.Rec_Flash_Set                          0x080025bc   Section        0  can.o(i.Rec_Flash_Set)
-    i.ResearchProtection                     0x08002694   Section        0  it.o(i.ResearchProtection)
-    i.STMFLASH_GetFlashSector                0x080026ac   Section        0  flash.o(i.STMFLASH_GetFlashSector)
-    i.STMFLASH_ReadWord                      0x0800274c   Section        0  flash.o(i.STMFLASH_ReadWord)
-    i.STMFLASH_Write                         0x08002750   Section        0  flash.o(i.STMFLASH_Write)
-    i.Send_CAN_DATA1                         0x080027d4   Section        0  can.o(i.Send_CAN_DATA1)
-    i.Send_CAN_DATA2                         0x08002844   Section        0  can.o(i.Send_CAN_DATA2)
-    i.Send_CAN_DATA3                         0x08002888   Section        0  can.o(i.Send_CAN_DATA3)
-    i.Send_CAN_DATA4                         0x080028e4   Section        0  can.o(i.Send_CAN_DATA4)
-    i.Send_CAN_DATA5                         0x08002940   Section        0  can.o(i.Send_CAN_DATA5)
-    i.Send_CAN_DATA6                         0x080029c4   Section        0  can.o(i.Send_CAN_DATA6)
-    i.Send_Flash_Set                         0x08002a18   Section        0  can.o(i.Send_Flash_Set)
-    i.Send_Pixhawk_requre                    0x08002aa8   Section        0  main.o(i.Send_Pixhawk_requre)
-    i.Send_Updata_requre                     0x08002b4c   Section        0  main.o(i.Send_Updata_requre)
-    i.SetSysClock                            0x08002bf0   Section        0  system_stm32f4xx.o(i.SetSysClock)
-    SetSysClock                              0x08002bf1   Thumb Code   162  system_stm32f4xx.o(i.SetSysClock)
-    i.Single_Motor_Config                    0x08002ca4   Section        0  main.o(i.Single_Motor_Config)
-    i.SoftReset                              0x08002cdc   Section        0  main.o(i.SoftReset)
-    i.Stall_check                            0x08002d04   Section        0  main.o(i.Stall_check)
-    i.SysTick_100ms_Task                     0x08002eb8   Section        0  main.o(i.SysTick_100ms_Task)
-    i.SysTick_10ms_Task                      0x08002f14   Section        0  main.o(i.SysTick_10ms_Task)
-    i.SysTick_20ms_Task                      0x08002f34   Section        0  main.o(i.SysTick_20ms_Task)
-    i.SysTick_500ms_Task                     0x08002f74   Section        0  main.o(i.SysTick_500ms_Task)
-    i.SysTick_Handler                        0x08002fd8   Section        0  it.o(i.SysTick_Handler)
-    i.SystemInit                             0x08002fe8   Section        0  system_stm32f4xx.o(i.SystemInit)
-    i.TIM1_UP_TIM10_IRQHandler               0x08003044   Section        0  it.o(i.TIM1_UP_TIM10_IRQHandler)
-    i.TIM_ARRPreloadConfig                   0x08003138   Section        0  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
-    i.TIM_ClearITPendingBit                  0x0800314c   Section        0  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
-    i.TIM_Cmd                                0x08003152   Section        0  stm32f4xx_tim.o(i.TIM_Cmd)
-    i.TIM_CtrlPWMOutputs                     0x08003166   Section        0  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
-    i.TIM_DMACmd                             0x0800317c   Section        0  stm32f4xx_tim.o(i.TIM_DMACmd)
-    i.TIM_GetITStatus                        0x0800318c   Section        0  stm32f4xx_tim.o(i.TIM_GetITStatus)
-    i.TIM_ITConfig                           0x080031a4   Section        0  stm32f4xx_tim.o(i.TIM_ITConfig)
-    i.TIM_Mod_Config                         0x080031b4   Section        0  time.o(i.TIM_Mod_Config)
-    i.TIM_NVIC_Config                        0x08003202   Section        0  time.o(i.TIM_NVIC_Config)
-    i.TIM_OC1Init                            0x08003220   Section        0  stm32f4xx_tim.o(i.TIM_OC1Init)
-    i.TIM_OC1PreloadConfig                   0x08003280   Section        0  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
-    i.TIM_OC2Init                            0x0800328c   Section        0  stm32f4xx_tim.o(i.TIM_OC2Init)
-    i.TIM_OC2PreloadConfig                   0x0800330c   Section        0  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
-    i.TIM_SelectOutputTrigger                0x08003320   Section        0  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
-    i.TIM_TimeBaseInit                       0x08003330   Section        0  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
-    i.UART5_IRQHandler                       0x080033ac   Section        0  it.o(i.UART5_IRQHandler)
-    i.USART2_IRQHandler                      0x080033f8   Section        0  it.o(i.USART2_IRQHandler)
-    i.USART3_IRQHandler                      0x08003448   Section        0  it.o(i.USART3_IRQHandler)
-    i.USART6_IRQHandler                      0x08003498   Section        0  it.o(i.USART6_IRQHandler)
-    i.USART_ClearITPendingBit                0x080034e8   Section        0  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
-    i.USART_Cmd                              0x080034f4   Section        0  stm32f4xx_usart.o(i.USART_Cmd)
-    i.USART_Config                           0x08003508   Section        0  main.o(i.USART_Config)
-    i.USART_GPIO_Config                      0x080035e0   Section        0  usart.o(i.USART_GPIO_Config)
-    i.USART_GetITStatus                      0x08003620   Section        0  stm32f4xx_usart.o(i.USART_GetITStatus)
-    i.USART_ITConfig                         0x0800365e   Section        0  stm32f4xx_usart.o(i.USART_ITConfig)
-    i.USART_Init                             0x08003690   Section        0  stm32f4xx_usart.o(i.USART_Init)
-    i.USART_MOD_Config                       0x0800373c   Section        0  usart.o(i.USART_MOD_Config)
-    i.USART_NVIC_Config                      0x08003790   Section        0  usart.o(i.USART_NVIC_Config)
-    i.USART_ReceiveData                      0x080037ac   Section        0  stm32f4xx_usart.o(i.USART_ReceiveData)
-    i.USBL_Config                            0x080037b4   Section        0  main.o(i.USBL_Config)
-    i.__hardfp_log                           0x080037c8   Section        0  log.o(i.__hardfp_log)
-    i.__kernel_poly                          0x08003b8c   Section        0  poly.o(i.__kernel_poly)
-    i.__mathlib_dbl_divzero                  0x08003c88   Section        0  dunder.o(i.__mathlib_dbl_divzero)
-    i.__mathlib_dbl_infnan                   0x08003cb8   Section        0  dunder.o(i.__mathlib_dbl_infnan)
-    i.__mathlib_dbl_invalid                  0x08003cd0   Section        0  dunder.o(i.__mathlib_dbl_invalid)
-    i.__scatterload_copy                     0x08003cf0   Section       14  handlers.o(i.__scatterload_copy)
-    i.__scatterload_null                     0x08003cfe   Section        2  handlers.o(i.__scatterload_null)
-    i.__scatterload_zeroinit                 0x08003d00   Section       14  handlers.o(i.__scatterload_zeroinit)
-    i.__set_errno                            0x08003d10   Section        0  errno.o(i.__set_errno)
-    i.add_checksum_and_telemetry             0x08003d1c   Section        0  dshot.o(i.add_checksum_and_telemetry)
-    i.cycleCounterInit                       0x08003d44   Section        0  delay.o(i.cycleCounterInit)
-    i.delay_ms                               0x08003d90   Section        0  delay.o(i.delay_ms)
-    i.get_crc8                               0x08003db0   Section        0  main.o(i.get_crc8)
-    i.main                                   0x08003dd0   Section        0  main.o(i.main)
-    i.pwmWriteDigital                        0x08003e30   Section        0  dshot.o(i.pwmWriteDigital)
-    i.update_crc8                            0x08003f14   Section        0  main.o(i.update_crc8)
-    .constdata                               0x08003f38   Section       56  log.o(.constdata)
-    Lg2                                      0x08003f38   Data          24  log.o(.constdata)
-    Lg                                       0x08003f50   Data          32  log.o(.constdata)
-    .constdata                               0x08003f70   Section        8  qnan.o(.constdata)
+    i.NVIC_Init                              0x08002428   Section        0  misc.o(i.NVIC_Init)
+    i.NVIC_PriorityGroupConfig               0x0800248c   Section        0  misc.o(i.NVIC_PriorityGroupConfig)
+    i.Other_Task                             0x080024a0   Section        0  main.o(i.Other_Task)
+    i.RCC_AHB1PeriphClockCmd                 0x080024b4   Section        0  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
+    i.RCC_APB1PeriphClockCmd                 0x080024cc   Section        0  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
+    i.RCC_APB2PeriphClockCmd                 0x080024e4   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
+    i.RCC_APB2PeriphResetCmd                 0x080024fc   Section        0  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
+    i.RCC_GetClocksFreq                      0x08002514   Section        0  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
+    i.ReadFloatWord                          0x080025a4   Section        0  flash.o(i.ReadFloatWord)
+    i.Rec_Flash_Set                          0x080025ac   Section        0  can.o(i.Rec_Flash_Set)
+    i.ResearchProtection                     0x08002684   Section        0  it.o(i.ResearchProtection)
+    i.STMFLASH_GetFlashSector                0x0800269c   Section        0  flash.o(i.STMFLASH_GetFlashSector)
+    i.STMFLASH_ReadWord                      0x0800273c   Section        0  flash.o(i.STMFLASH_ReadWord)
+    i.STMFLASH_Write                         0x08002740   Section        0  flash.o(i.STMFLASH_Write)
+    i.Send_CAN_DATA1                         0x080027c4   Section        0  can.o(i.Send_CAN_DATA1)
+    i.Send_CAN_DATA2                         0x08002834   Section        0  can.o(i.Send_CAN_DATA2)
+    i.Send_CAN_DATA3                         0x08002878   Section        0  can.o(i.Send_CAN_DATA3)
+    i.Send_CAN_DATA4                         0x080028d4   Section        0  can.o(i.Send_CAN_DATA4)
+    i.Send_CAN_DATA5                         0x08002930   Section        0  can.o(i.Send_CAN_DATA5)
+    i.Send_CAN_DATA6                         0x080029b4   Section        0  can.o(i.Send_CAN_DATA6)
+    i.Send_Flash_Set                         0x08002a08   Section        0  can.o(i.Send_Flash_Set)
+    i.Send_Pixhawk_requre                    0x08002a98   Section        0  main.o(i.Send_Pixhawk_requre)
+    i.Send_Updata_requre                     0x08002b3c   Section        0  main.o(i.Send_Updata_requre)
+    i.SetSysClock                            0x08002be0   Section        0  system_stm32f4xx.o(i.SetSysClock)
+    SetSysClock                              0x08002be1   Thumb Code   162  system_stm32f4xx.o(i.SetSysClock)
+    i.Single_Motor_Config                    0x08002c94   Section        0  main.o(i.Single_Motor_Config)
+    i.SoftReset                              0x08002ccc   Section        0  main.o(i.SoftReset)
+    i.Stall_check                            0x08002cf4   Section        0  main.o(i.Stall_check)
+    i.SysTick_100ms_Task                     0x08002ea8   Section        0  main.o(i.SysTick_100ms_Task)
+    i.SysTick_10ms_Task                      0x08002f04   Section        0  main.o(i.SysTick_10ms_Task)
+    i.SysTick_20ms_Task                      0x08002f24   Section        0  main.o(i.SysTick_20ms_Task)
+    i.SysTick_500ms_Task                     0x08002f64   Section        0  main.o(i.SysTick_500ms_Task)
+    i.SysTick_Handler                        0x08002fc8   Section        0  it.o(i.SysTick_Handler)
+    i.SystemInit                             0x08002fd8   Section        0  system_stm32f4xx.o(i.SystemInit)
+    i.TIM1_UP_TIM10_IRQHandler               0x08003034   Section        0  it.o(i.TIM1_UP_TIM10_IRQHandler)
+    i.TIM_ARRPreloadConfig                   0x08003128   Section        0  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
+    i.TIM_ClearITPendingBit                  0x0800313c   Section        0  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
+    i.TIM_Cmd                                0x08003142   Section        0  stm32f4xx_tim.o(i.TIM_Cmd)
+    i.TIM_CtrlPWMOutputs                     0x08003156   Section        0  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
+    i.TIM_DMACmd                             0x0800316c   Section        0  stm32f4xx_tim.o(i.TIM_DMACmd)
+    i.TIM_GetITStatus                        0x0800317c   Section        0  stm32f4xx_tim.o(i.TIM_GetITStatus)
+    i.TIM_ITConfig                           0x08003194   Section        0  stm32f4xx_tim.o(i.TIM_ITConfig)
+    i.TIM_Mod_Config                         0x080031a4   Section        0  time.o(i.TIM_Mod_Config)
+    i.TIM_NVIC_Config                        0x080031f2   Section        0  time.o(i.TIM_NVIC_Config)
+    i.TIM_OC1Init                            0x08003210   Section        0  stm32f4xx_tim.o(i.TIM_OC1Init)
+    i.TIM_OC1PreloadConfig                   0x08003270   Section        0  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
+    i.TIM_OC2Init                            0x0800327c   Section        0  stm32f4xx_tim.o(i.TIM_OC2Init)
+    i.TIM_OC2PreloadConfig                   0x080032fc   Section        0  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
+    i.TIM_SelectOutputTrigger                0x08003310   Section        0  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
+    i.TIM_TimeBaseInit                       0x08003320   Section        0  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
+    i.UART5_IRQHandler                       0x0800339c   Section        0  it.o(i.UART5_IRQHandler)
+    i.USART2_IRQHandler                      0x080033e8   Section        0  it.o(i.USART2_IRQHandler)
+    i.USART3_IRQHandler                      0x08003438   Section        0  it.o(i.USART3_IRQHandler)
+    i.USART6_IRQHandler                      0x08003488   Section        0  it.o(i.USART6_IRQHandler)
+    i.USART_ClearITPendingBit                0x080034d8   Section        0  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
+    i.USART_Cmd                              0x080034e4   Section        0  stm32f4xx_usart.o(i.USART_Cmd)
+    i.USART_Config                           0x080034f8   Section        0  main.o(i.USART_Config)
+    i.USART_GPIO_Config                      0x080035d0   Section        0  usart.o(i.USART_GPIO_Config)
+    i.USART_GetITStatus                      0x08003610   Section        0  stm32f4xx_usart.o(i.USART_GetITStatus)
+    i.USART_ITConfig                         0x0800364e   Section        0  stm32f4xx_usart.o(i.USART_ITConfig)
+    i.USART_Init                             0x08003680   Section        0  stm32f4xx_usart.o(i.USART_Init)
+    i.USART_MOD_Config                       0x0800372c   Section        0  usart.o(i.USART_MOD_Config)
+    i.USART_NVIC_Config                      0x08003780   Section        0  usart.o(i.USART_NVIC_Config)
+    i.USART_ReceiveData                      0x0800379c   Section        0  stm32f4xx_usart.o(i.USART_ReceiveData)
+    i.USBL_Config                            0x080037a4   Section        0  main.o(i.USBL_Config)
+    i.__hardfp_log                           0x080037b8   Section        0  log.o(i.__hardfp_log)
+    i.__kernel_poly                          0x08003b7c   Section        0  poly.o(i.__kernel_poly)
+    i.__mathlib_dbl_divzero                  0x08003c78   Section        0  dunder.o(i.__mathlib_dbl_divzero)
+    i.__mathlib_dbl_infnan                   0x08003ca8   Section        0  dunder.o(i.__mathlib_dbl_infnan)
+    i.__mathlib_dbl_invalid                  0x08003cc0   Section        0  dunder.o(i.__mathlib_dbl_invalid)
+    i.__scatterload_copy                     0x08003ce0   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x08003cee   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x08003cf0   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i.__set_errno                            0x08003d00   Section        0  errno.o(i.__set_errno)
+    i.add_checksum_and_telemetry             0x08003d0c   Section        0  dshot.o(i.add_checksum_and_telemetry)
+    i.cycleCounterInit                       0x08003d34   Section        0  delay.o(i.cycleCounterInit)
+    i.delay_ms                               0x08003d80   Section        0  delay.o(i.delay_ms)
+    i.get_crc8                               0x08003da0   Section        0  main.o(i.get_crc8)
+    i.main                                   0x08003dc0   Section        0  main.o(i.main)
+    i.pwmWriteDigital                        0x08003e20   Section        0  dshot.o(i.pwmWriteDigital)
+    i.update_crc8                            0x08003f04   Section        0  main.o(i.update_crc8)
+    .constdata                               0x08003f28   Section       56  log.o(.constdata)
+    Lg2                                      0x08003f28   Data          24  log.o(.constdata)
+    Lg                                       0x08003f40   Data          32  log.o(.constdata)
+    .constdata                               0x08003f60   Section        8  qnan.o(.constdata)
     .data                                    0x20000000   Section       48  main.o(.data)
     send_pixhawk_cnt                         0x20000000   Data           1  main.o(.data)
     last_sysTickUptime                       0x20000018   Data           4  main.o(.data)
@@ -1347,89 +1347,89 @@ Image Symbol Table
     Micros                                   0x080021c9   Thumb Code    50  delay.o(i.Micros)
     Motor_AD_correct                         0x08002201   Thumb Code   182  main.o(i.Motor_AD_correct)
     Motor_Control                            0x080022c9   Thumb Code   300  main.o(i.Motor_Control)
-    Motor_Stall_check                        0x080023fd   Thumb Code    48  main.o(i.Motor_Stall_check)
-    NVIC_Init                                0x08002439   Thumb Code    96  misc.o(i.NVIC_Init)
-    NVIC_PriorityGroupConfig                 0x0800249d   Thumb Code    10  misc.o(i.NVIC_PriorityGroupConfig)
-    Other_Task                               0x080024b1   Thumb Code    14  main.o(i.Other_Task)
-    RCC_AHB1PeriphClockCmd                   0x080024c5   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
-    RCC_APB1PeriphClockCmd                   0x080024dd   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
-    RCC_APB2PeriphClockCmd                   0x080024f5   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
-    RCC_APB2PeriphResetCmd                   0x0800250d   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
-    RCC_GetClocksFreq                        0x08002525   Thumb Code   132  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
-    ReadFloatWord                            0x080025b5   Thumb Code     6  flash.o(i.ReadFloatWord)
-    Rec_Flash_Set                            0x080025bd   Thumb Code   196  can.o(i.Rec_Flash_Set)
-    ResearchProtection                       0x08002695   Thumb Code    22  it.o(i.ResearchProtection)
-    STMFLASH_GetFlashSector                  0x080026ad   Thumb Code   114  flash.o(i.STMFLASH_GetFlashSector)
-    STMFLASH_ReadWord                        0x0800274d   Thumb Code     4  flash.o(i.STMFLASH_ReadWord)
-    STMFLASH_Write                           0x08002751   Thumb Code   122  flash.o(i.STMFLASH_Write)
-    Send_CAN_DATA1                           0x080027d5   Thumb Code    96  can.o(i.Send_CAN_DATA1)
-    Send_CAN_DATA2                           0x08002845   Thumb Code    58  can.o(i.Send_CAN_DATA2)
-    Send_CAN_DATA3                           0x08002889   Thumb Code    78  can.o(i.Send_CAN_DATA3)
-    Send_CAN_DATA4                           0x080028e5   Thumb Code    78  can.o(i.Send_CAN_DATA4)
-    Send_CAN_DATA5                           0x08002941   Thumb Code   112  can.o(i.Send_CAN_DATA5)
-    Send_CAN_DATA6                           0x080029c5   Thumb Code    68  can.o(i.Send_CAN_DATA6)
-    Send_Flash_Set                           0x08002a19   Thumb Code   126  can.o(i.Send_Flash_Set)
-    Send_Pixhawk_requre                      0x08002aa9   Thumb Code   154  main.o(i.Send_Pixhawk_requre)
-    Send_Updata_requre                       0x08002b4d   Thumb Code   156  main.o(i.Send_Updata_requre)
-    Single_Motor_Config                      0x08002ca5   Thumb Code    48  main.o(i.Single_Motor_Config)
-    SoftReset                                0x08002cdd   Thumb Code    32  main.o(i.SoftReset)
-    Stall_check                              0x08002d05   Thumb Code   410  main.o(i.Stall_check)
-    SysTick_100ms_Task                       0x08002eb9   Thumb Code    84  main.o(i.SysTick_100ms_Task)
-    SysTick_10ms_Task                        0x08002f15   Thumb Code    24  main.o(i.SysTick_10ms_Task)
-    SysTick_20ms_Task                        0x08002f35   Thumb Code    50  main.o(i.SysTick_20ms_Task)
-    SysTick_500ms_Task                       0x08002f75   Thumb Code    84  main.o(i.SysTick_500ms_Task)
-    SysTick_Handler                          0x08002fd9   Thumb Code    10  it.o(i.SysTick_Handler)
-    SystemInit                               0x08002fe9   Thumb Code    74  system_stm32f4xx.o(i.SystemInit)
-    TIM1_UP_TIM10_IRQHandler                 0x08003045   Thumb Code   202  it.o(i.TIM1_UP_TIM10_IRQHandler)
-    TIM_ARRPreloadConfig                     0x08003139   Thumb Code    20  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
-    TIM_ClearITPendingBit                    0x0800314d   Thumb Code     6  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
-    TIM_Cmd                                  0x08003153   Thumb Code    20  stm32f4xx_tim.o(i.TIM_Cmd)
-    TIM_CtrlPWMOutputs                       0x08003167   Thumb Code    22  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
-    TIM_DMACmd                               0x0800317d   Thumb Code    16  stm32f4xx_tim.o(i.TIM_DMACmd)
-    TIM_GetITStatus                          0x0800318d   Thumb Code    24  stm32f4xx_tim.o(i.TIM_GetITStatus)
-    TIM_ITConfig                             0x080031a5   Thumb Code    16  stm32f4xx_tim.o(i.TIM_ITConfig)
-    TIM_Mod_Config                           0x080031b5   Thumb Code    78  time.o(i.TIM_Mod_Config)
-    TIM_NVIC_Config                          0x08003203   Thumb Code    28  time.o(i.TIM_NVIC_Config)
-    TIM_OC1Init                              0x08003221   Thumb Code    88  stm32f4xx_tim.o(i.TIM_OC1Init)
-    TIM_OC1PreloadConfig                     0x08003281   Thumb Code    12  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
-    TIM_OC2Init                              0x0800328d   Thumb Code   120  stm32f4xx_tim.o(i.TIM_OC2Init)
-    TIM_OC2PreloadConfig                     0x0800330d   Thumb Code    20  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
-    TIM_SelectOutputTrigger                  0x08003321   Thumb Code    16  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
-    TIM_TimeBaseInit                         0x08003331   Thumb Code    96  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
-    UART5_IRQHandler                         0x080033ad   Thumb Code    68  it.o(i.UART5_IRQHandler)
-    USART2_IRQHandler                        0x080033f9   Thumb Code    72  it.o(i.USART2_IRQHandler)
-    USART3_IRQHandler                        0x08003449   Thumb Code    72  it.o(i.USART3_IRQHandler)
-    USART6_IRQHandler                        0x08003499   Thumb Code    72  it.o(i.USART6_IRQHandler)
-    USART_ClearITPendingBit                  0x080034e9   Thumb Code    12  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
-    USART_Cmd                                0x080034f5   Thumb Code    20  stm32f4xx_usart.o(i.USART_Cmd)
-    USART_Config                             0x08003509   Thumb Code   174  main.o(i.USART_Config)
-    USART_GPIO_Config                        0x080035e1   Thumb Code    64  usart.o(i.USART_GPIO_Config)
-    USART_GetITStatus                        0x08003621   Thumb Code    62  stm32f4xx_usart.o(i.USART_GetITStatus)
-    USART_ITConfig                           0x0800365f   Thumb Code    48  stm32f4xx_usart.o(i.USART_ITConfig)
-    USART_Init                               0x08003691   Thumb Code   164  stm32f4xx_usart.o(i.USART_Init)
-    USART_MOD_Config                         0x0800373d   Thumb Code    84  usart.o(i.USART_MOD_Config)
-    USART_NVIC_Config                        0x08003791   Thumb Code    28  usart.o(i.USART_NVIC_Config)
-    USART_ReceiveData                        0x080037ad   Thumb Code     8  stm32f4xx_usart.o(i.USART_ReceiveData)
-    USBL_Config                              0x080037b5   Thumb Code    12  main.o(i.USBL_Config)
-    __hardfp_log                             0x080037c9   Thumb Code   872  log.o(i.__hardfp_log)
-    __kernel_poly                            0x08003b8d   Thumb Code   248  poly.o(i.__kernel_poly)
-    __mathlib_dbl_divzero                    0x08003c89   Thumb Code    28  dunder.o(i.__mathlib_dbl_divzero)
-    __mathlib_dbl_infnan                     0x08003cb9   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
-    __mathlib_dbl_invalid                    0x08003cd1   Thumb Code    24  dunder.o(i.__mathlib_dbl_invalid)
-    __scatterload_copy                       0x08003cf1   Thumb Code    14  handlers.o(i.__scatterload_copy)
-    __scatterload_null                       0x08003cff   Thumb Code     2  handlers.o(i.__scatterload_null)
-    __scatterload_zeroinit                   0x08003d01   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
-    __set_errno                              0x08003d11   Thumb Code     6  errno.o(i.__set_errno)
-    add_checksum_and_telemetry               0x08003d1d   Thumb Code    38  dshot.o(i.add_checksum_and_telemetry)
-    cycleCounterInit                         0x08003d45   Thumb Code    62  delay.o(i.cycleCounterInit)
-    delay_ms                                 0x08003d91   Thumb Code    32  delay.o(i.delay_ms)
-    get_crc8                                 0x08003db1   Thumb Code    32  main.o(i.get_crc8)
-    main                                     0x08003dd1   Thumb Code    96  main.o(i.main)
-    pwmWriteDigital                          0x08003e31   Thumb Code   228  dshot.o(i.pwmWriteDigital)
-    update_crc8                              0x08003f15   Thumb Code    30  main.o(i.update_crc8)
-    __mathlib_zero                           0x08003f70   Data           8  qnan.o(.constdata)
-    Region$$Table$$Base                      0x08003f78   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x08003f98   Number         0  anon$$obj.o(Region$$Table)
+    Motor_Stall_check                        0x080023fd   Thumb Code    34  main.o(i.Motor_Stall_check)
+    NVIC_Init                                0x08002429   Thumb Code    96  misc.o(i.NVIC_Init)
+    NVIC_PriorityGroupConfig                 0x0800248d   Thumb Code    10  misc.o(i.NVIC_PriorityGroupConfig)
+    Other_Task                               0x080024a1   Thumb Code    14  main.o(i.Other_Task)
+    RCC_AHB1PeriphClockCmd                   0x080024b5   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd)
+    RCC_APB1PeriphClockCmd                   0x080024cd   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd)
+    RCC_APB2PeriphClockCmd                   0x080024e5   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd)
+    RCC_APB2PeriphResetCmd                   0x080024fd   Thumb Code    18  stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd)
+    RCC_GetClocksFreq                        0x08002515   Thumb Code   132  stm32f4xx_rcc.o(i.RCC_GetClocksFreq)
+    ReadFloatWord                            0x080025a5   Thumb Code     6  flash.o(i.ReadFloatWord)
+    Rec_Flash_Set                            0x080025ad   Thumb Code   196  can.o(i.Rec_Flash_Set)
+    ResearchProtection                       0x08002685   Thumb Code    22  it.o(i.ResearchProtection)
+    STMFLASH_GetFlashSector                  0x0800269d   Thumb Code   114  flash.o(i.STMFLASH_GetFlashSector)
+    STMFLASH_ReadWord                        0x0800273d   Thumb Code     4  flash.o(i.STMFLASH_ReadWord)
+    STMFLASH_Write                           0x08002741   Thumb Code   122  flash.o(i.STMFLASH_Write)
+    Send_CAN_DATA1                           0x080027c5   Thumb Code    96  can.o(i.Send_CAN_DATA1)
+    Send_CAN_DATA2                           0x08002835   Thumb Code    58  can.o(i.Send_CAN_DATA2)
+    Send_CAN_DATA3                           0x08002879   Thumb Code    78  can.o(i.Send_CAN_DATA3)
+    Send_CAN_DATA4                           0x080028d5   Thumb Code    78  can.o(i.Send_CAN_DATA4)
+    Send_CAN_DATA5                           0x08002931   Thumb Code   112  can.o(i.Send_CAN_DATA5)
+    Send_CAN_DATA6                           0x080029b5   Thumb Code    68  can.o(i.Send_CAN_DATA6)
+    Send_Flash_Set                           0x08002a09   Thumb Code   126  can.o(i.Send_Flash_Set)
+    Send_Pixhawk_requre                      0x08002a99   Thumb Code   154  main.o(i.Send_Pixhawk_requre)
+    Send_Updata_requre                       0x08002b3d   Thumb Code   156  main.o(i.Send_Updata_requre)
+    Single_Motor_Config                      0x08002c95   Thumb Code    48  main.o(i.Single_Motor_Config)
+    SoftReset                                0x08002ccd   Thumb Code    32  main.o(i.SoftReset)
+    Stall_check                              0x08002cf5   Thumb Code   410  main.o(i.Stall_check)
+    SysTick_100ms_Task                       0x08002ea9   Thumb Code    84  main.o(i.SysTick_100ms_Task)
+    SysTick_10ms_Task                        0x08002f05   Thumb Code    24  main.o(i.SysTick_10ms_Task)
+    SysTick_20ms_Task                        0x08002f25   Thumb Code    50  main.o(i.SysTick_20ms_Task)
+    SysTick_500ms_Task                       0x08002f65   Thumb Code    84  main.o(i.SysTick_500ms_Task)
+    SysTick_Handler                          0x08002fc9   Thumb Code    10  it.o(i.SysTick_Handler)
+    SystemInit                               0x08002fd9   Thumb Code    74  system_stm32f4xx.o(i.SystemInit)
+    TIM1_UP_TIM10_IRQHandler                 0x08003035   Thumb Code   202  it.o(i.TIM1_UP_TIM10_IRQHandler)
+    TIM_ARRPreloadConfig                     0x08003129   Thumb Code    20  stm32f4xx_tim.o(i.TIM_ARRPreloadConfig)
+    TIM_ClearITPendingBit                    0x0800313d   Thumb Code     6  stm32f4xx_tim.o(i.TIM_ClearITPendingBit)
+    TIM_Cmd                                  0x08003143   Thumb Code    20  stm32f4xx_tim.o(i.TIM_Cmd)
+    TIM_CtrlPWMOutputs                       0x08003157   Thumb Code    22  stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs)
+    TIM_DMACmd                               0x0800316d   Thumb Code    16  stm32f4xx_tim.o(i.TIM_DMACmd)
+    TIM_GetITStatus                          0x0800317d   Thumb Code    24  stm32f4xx_tim.o(i.TIM_GetITStatus)
+    TIM_ITConfig                             0x08003195   Thumb Code    16  stm32f4xx_tim.o(i.TIM_ITConfig)
+    TIM_Mod_Config                           0x080031a5   Thumb Code    78  time.o(i.TIM_Mod_Config)
+    TIM_NVIC_Config                          0x080031f3   Thumb Code    28  time.o(i.TIM_NVIC_Config)
+    TIM_OC1Init                              0x08003211   Thumb Code    88  stm32f4xx_tim.o(i.TIM_OC1Init)
+    TIM_OC1PreloadConfig                     0x08003271   Thumb Code    12  stm32f4xx_tim.o(i.TIM_OC1PreloadConfig)
+    TIM_OC2Init                              0x0800327d   Thumb Code   120  stm32f4xx_tim.o(i.TIM_OC2Init)
+    TIM_OC2PreloadConfig                     0x080032fd   Thumb Code    20  stm32f4xx_tim.o(i.TIM_OC2PreloadConfig)
+    TIM_SelectOutputTrigger                  0x08003311   Thumb Code    16  stm32f4xx_tim.o(i.TIM_SelectOutputTrigger)
+    TIM_TimeBaseInit                         0x08003321   Thumb Code    96  stm32f4xx_tim.o(i.TIM_TimeBaseInit)
+    UART5_IRQHandler                         0x0800339d   Thumb Code    68  it.o(i.UART5_IRQHandler)
+    USART2_IRQHandler                        0x080033e9   Thumb Code    72  it.o(i.USART2_IRQHandler)
+    USART3_IRQHandler                        0x08003439   Thumb Code    72  it.o(i.USART3_IRQHandler)
+    USART6_IRQHandler                        0x08003489   Thumb Code    72  it.o(i.USART6_IRQHandler)
+    USART_ClearITPendingBit                  0x080034d9   Thumb Code    12  stm32f4xx_usart.o(i.USART_ClearITPendingBit)
+    USART_Cmd                                0x080034e5   Thumb Code    20  stm32f4xx_usart.o(i.USART_Cmd)
+    USART_Config                             0x080034f9   Thumb Code   174  main.o(i.USART_Config)
+    USART_GPIO_Config                        0x080035d1   Thumb Code    64  usart.o(i.USART_GPIO_Config)
+    USART_GetITStatus                        0x08003611   Thumb Code    62  stm32f4xx_usart.o(i.USART_GetITStatus)
+    USART_ITConfig                           0x0800364f   Thumb Code    48  stm32f4xx_usart.o(i.USART_ITConfig)
+    USART_Init                               0x08003681   Thumb Code   164  stm32f4xx_usart.o(i.USART_Init)
+    USART_MOD_Config                         0x0800372d   Thumb Code    84  usart.o(i.USART_MOD_Config)
+    USART_NVIC_Config                        0x08003781   Thumb Code    28  usart.o(i.USART_NVIC_Config)
+    USART_ReceiveData                        0x0800379d   Thumb Code     8  stm32f4xx_usart.o(i.USART_ReceiveData)
+    USBL_Config                              0x080037a5   Thumb Code    12  main.o(i.USBL_Config)
+    __hardfp_log                             0x080037b9   Thumb Code   872  log.o(i.__hardfp_log)
+    __kernel_poly                            0x08003b7d   Thumb Code   248  poly.o(i.__kernel_poly)
+    __mathlib_dbl_divzero                    0x08003c79   Thumb Code    28  dunder.o(i.__mathlib_dbl_divzero)
+    __mathlib_dbl_infnan                     0x08003ca9   Thumb Code    20  dunder.o(i.__mathlib_dbl_infnan)
+    __mathlib_dbl_invalid                    0x08003cc1   Thumb Code    24  dunder.o(i.__mathlib_dbl_invalid)
+    __scatterload_copy                       0x08003ce1   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x08003cef   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x08003cf1   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    __set_errno                              0x08003d01   Thumb Code     6  errno.o(i.__set_errno)
+    add_checksum_and_telemetry               0x08003d0d   Thumb Code    38  dshot.o(i.add_checksum_and_telemetry)
+    cycleCounterInit                         0x08003d35   Thumb Code    62  delay.o(i.cycleCounterInit)
+    delay_ms                                 0x08003d81   Thumb Code    32  delay.o(i.delay_ms)
+    get_crc8                                 0x08003da1   Thumb Code    32  main.o(i.get_crc8)
+    main                                     0x08003dc1   Thumb Code    96  main.o(i.main)
+    pwmWriteDigital                          0x08003e21   Thumb Code   228  dshot.o(i.pwmWriteDigital)
+    update_crc8                              0x08003f05   Thumb Code    30  main.o(i.update_crc8)
+    __mathlib_zero                           0x08003f60   Data           8  qnan.o(.constdata)
+    Region$$Table$$Base                      0x08003f68   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x08003f88   Number         0  anon$$obj.o(Region$$Table)
     Updata_requre                            0x20000001   Data           1  main.o(.data)
     Pixhawk_requre                           0x20000002   Data           1  main.o(.data)
     DMA400Finishi                            0x20000003   Data           1  main.o(.data)
@@ -1478,247 +1478,247 @@ Memory Map of the image
 
   Image Entry point : 0x08000189
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00004040, Max: 0x00080000, ABSOLUTE)
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00004030, Max: 0x00080000, ABSOLUTE)
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00003f98, Max: 0x00080000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x00003f88, Max: 0x00080000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x08000000   0x08000000   0x00000188   Data   RO         1034    RESET               startup_stm32f40_41xxx.o
-    0x08000188   0x08000188   0x00000000   Code   RO         3141  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
-    0x08000188   0x08000188   0x00000004   Code   RO         3183    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
-    0x0800018c   0x0800018c   0x00000004   Code   RO         3186    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
-    0x08000190   0x08000190   0x00000000   Code   RO         3188    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
-    0x08000190   0x08000190   0x00000000   Code   RO         3190    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
-    0x08000190   0x08000190   0x00000008   Code   RO         3191    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
-    0x08000198   0x08000198   0x00000000   Code   RO         3193    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
-    0x08000198   0x08000198   0x00000000   Code   RO         3195    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
-    0x08000198   0x08000198   0x00000004   Code   RO         3184    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
-    0x0800019c   0x0800019c   0x00000024   Code   RO         1035    .text               startup_stm32f40_41xxx.o
-    0x080001c0   0x080001c0   0x0000014e   Code   RO         3144    .text               mf_w.l(dadd.o)
-    0x0800030e   0x0800030e   0x000000e4   Code   RO         3146    .text               mf_w.l(dmul.o)
-    0x080003f2   0x080003f2   0x000000de   Code   RO         3148    .text               mf_w.l(ddiv.o)
-    0x080004d0   0x080004d0   0x00000022   Code   RO         3150    .text               mf_w.l(dflti.o)
-    0x080004f2   0x080004f2   0x0000001a   Code   RO         3152    .text               mf_w.l(dfltui.o)
-    0x0800050c   0x0800050c   0x0000003e   Code   RO         3154    .text               mf_w.l(dfixi.o)
-    0x0800054a   0x0800054a   0x00000032   Code   RO         3156    .text               mf_w.l(dfixui.o)
-    0x0800057c   0x0800057c   0x00000026   Code   RO         3158    .text               mf_w.l(f2d.o)
+    0x08000000   0x08000000   0x00000188   Data   RO         1033    RESET               startup_stm32f40_41xxx.o
+    0x08000188   0x08000188   0x00000000   Code   RO         3140  * .ARM.Collect$$$$00000000  mc_w.l(entry.o)
+    0x08000188   0x08000188   0x00000004   Code   RO         3182    .ARM.Collect$$$$00000001  mc_w.l(entry2.o)
+    0x0800018c   0x0800018c   0x00000004   Code   RO         3185    .ARM.Collect$$$$00000004  mc_w.l(entry5.o)
+    0x08000190   0x08000190   0x00000000   Code   RO         3187    .ARM.Collect$$$$00000008  mc_w.l(entry7b.o)
+    0x08000190   0x08000190   0x00000000   Code   RO         3189    .ARM.Collect$$$$0000000A  mc_w.l(entry8b.o)
+    0x08000190   0x08000190   0x00000008   Code   RO         3190    .ARM.Collect$$$$0000000B  mc_w.l(entry9a.o)
+    0x08000198   0x08000198   0x00000000   Code   RO         3192    .ARM.Collect$$$$0000000D  mc_w.l(entry10a.o)
+    0x08000198   0x08000198   0x00000000   Code   RO         3194    .ARM.Collect$$$$0000000F  mc_w.l(entry11a.o)
+    0x08000198   0x08000198   0x00000004   Code   RO         3183    .ARM.Collect$$$$00002712  mc_w.l(entry2.o)
+    0x0800019c   0x0800019c   0x00000024   Code   RO         1034    .text               startup_stm32f40_41xxx.o
+    0x080001c0   0x080001c0   0x0000014e   Code   RO         3143    .text               mf_w.l(dadd.o)
+    0x0800030e   0x0800030e   0x000000e4   Code   RO         3145    .text               mf_w.l(dmul.o)
+    0x080003f2   0x080003f2   0x000000de   Code   RO         3147    .text               mf_w.l(ddiv.o)
+    0x080004d0   0x080004d0   0x00000022   Code   RO         3149    .text               mf_w.l(dflti.o)
+    0x080004f2   0x080004f2   0x0000001a   Code   RO         3151    .text               mf_w.l(dfltui.o)
+    0x0800050c   0x0800050c   0x0000003e   Code   RO         3153    .text               mf_w.l(dfixi.o)
+    0x0800054a   0x0800054a   0x00000032   Code   RO         3155    .text               mf_w.l(dfixui.o)
+    0x0800057c   0x0800057c   0x00000026   Code   RO         3157    .text               mf_w.l(f2d.o)
     0x080005a2   0x080005a2   0x00000002   PAD
-    0x080005a4   0x080005a4   0x00000030   Code   RO         3160    .text               mf_w.l(cdcmple.o)
-    0x080005d4   0x080005d4   0x00000030   Code   RO         3162    .text               mf_w.l(cdrcmple.o)
-    0x08000604   0x08000604   0x00000038   Code   RO         3164    .text               mf_w.l(d2f.o)
-    0x0800063c   0x0800063c   0x0000001e   Code   RO         3197    .text               mc_w.l(llshl.o)
-    0x0800065a   0x0800065a   0x00000020   Code   RO         3199    .text               mc_w.l(llushr.o)
-    0x0800067a   0x0800067a   0x00000024   Code   RO         3201    .text               mc_w.l(llsshr.o)
-    0x0800069e   0x0800069e   0x00000000   Code   RO         3210    .text               mc_w.l(iusefp.o)
-    0x0800069e   0x0800069e   0x0000006e   Code   RO         3211    .text               mf_w.l(fepilogue.o)
-    0x0800070c   0x0800070c   0x000000ba   Code   RO         3213    .text               mf_w.l(depilogue.o)
+    0x080005a4   0x080005a4   0x00000030   Code   RO         3159    .text               mf_w.l(cdcmple.o)
+    0x080005d4   0x080005d4   0x00000030   Code   RO         3161    .text               mf_w.l(cdrcmple.o)
+    0x08000604   0x08000604   0x00000038   Code   RO         3163    .text               mf_w.l(d2f.o)
+    0x0800063c   0x0800063c   0x0000001e   Code   RO         3196    .text               mc_w.l(llshl.o)
+    0x0800065a   0x0800065a   0x00000020   Code   RO         3198    .text               mc_w.l(llushr.o)
+    0x0800067a   0x0800067a   0x00000024   Code   RO         3200    .text               mc_w.l(llsshr.o)
+    0x0800069e   0x0800069e   0x00000000   Code   RO         3209    .text               mc_w.l(iusefp.o)
+    0x0800069e   0x0800069e   0x0000006e   Code   RO         3210    .text               mf_w.l(fepilogue.o)
+    0x0800070c   0x0800070c   0x000000ba   Code   RO         3212    .text               mf_w.l(depilogue.o)
     0x080007c6   0x080007c6   0x00000002   PAD
-    0x080007c8   0x080007c8   0x00000024   Code   RO         3217    .text               mc_w.l(init.o)
-    0x080007ec   0x080007ec   0x00000014   Code   RO         1096    i.ADC_Cmd           stm32f4xx_adc.o
-    0x08000800   0x08000800   0x0000002c   Code   RO         1097    i.ADC_CommonInit    stm32f4xx_adc.o
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     0x0800082c   0x0800082c   0x0000009c   Code   RO            4    i.ADC_Config        main.o
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-    0x080008dc   0x080008dc   0x00000014   Code   RO         1101    i.ADC_DMARequestAfterLastTransferCmd  stm32f4xx_adc.o
-    0x080008f0   0x080008f0   0x00000080   Code   RO          514    i.ADC_DMA_Config    adc.o
-    0x08000970   0x08000970   0x00000024   Code   RO          515    i.ADC_GPIO_Config   adc.o
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-    0x080009e0   0x080009e0   0x00000094   Code   RO          516    i.ADC_Mode_Config   adc.o
-    0x08000a74   0x08000a74   0x0000001c   Code   RO          517    i.ADC_NVIC_Config   adc.o
-    0x08000a90   0x08000a90   0x00000074   Code   RO         1121    i.ADC_RegularChannelConfig  stm32f4xx_adc.o
-    0x08000b04   0x08000b04   0x00000072   Code   RO          518    i.ADC_TIM_Config    adc.o
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+    0x08000a74   0x08000a74   0x0000001c   Code   RO          516    i.ADC_NVIC_Config   adc.o
+    0x08000a90   0x08000a90   0x00000074   Code   RO         1120    i.ADC_RegularChannelConfig  stm32f4xx_adc.o
+    0x08000b04   0x08000b04   0x00000072   Code   RO          517    i.ADC_TIM_Config    adc.o
     0x08000b76   0x08000b76   0x00000002   PAD
     0x08000b78   0x08000b78   0x00000098   Code   RO            5    i.All_motor_Config  main.o
     0x08000c10   0x08000c10   0x000000a0   Code   RO            6    i.AnaMotorData      main.o
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-    0x08000f1c   0x08000f1c   0x00000044   Code   RO          658    i.CAN1_Receive_Msg  can.o
-    0x08000f60   0x08000f60   0x00000060   Code   RO          659    i.CAN1_Send_Msg     can.o
+    0x08000cb0   0x08000cb0   0x0000026c   Code   RO          834    i.CAN1_RX0_IRQHandler  it.o
+    0x08000f1c   0x08000f1c   0x00000044   Code   RO          657    i.CAN1_Receive_Msg  can.o
+    0x08000f60   0x08000f60   0x00000060   Code   RO          658    i.CAN1_Send_Msg     can.o
     0x08000fc0   0x08000fc0   0x00000050   Code   RO            7    i.CAN_Config        main.o
-    0x08001010   0x08001010   0x000000cc   Code   RO         1342    i.CAN_FilterInit    stm32f4xx_can.o
-    0x080010dc   0x080010dc   0x00000042   Code   RO          660    i.CAN_GPIO_Config   can.o
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-    0x0800112e   0x0800112e   0x000000e8   Code   RO         1349    i.CAN_Init          stm32f4xx_can.o
-    0x08001216   0x08001216   0x00000016   Code   RO         1350    i.CAN_MessagePending  stm32f4xx_can.o
-    0x0800122c   0x0800122c   0x0000009e   Code   RO          661    i.CAN_Mod_Config    can.o
-    0x080012ca   0x080012ca   0x0000001c   Code   RO          662    i.CAN_NVIC_Config   can.o
-    0x080012e6   0x080012e6   0x0000008e   Code   RO         1352    i.CAN_Receive       stm32f4xx_can.o
-    0x08001374   0x08001374   0x000000a4   Code   RO         1357    i.CAN_Transmit      stm32f4xx_can.o
-    0x08001418   0x08001418   0x0000006c   Code   RO         1358    i.CAN_TransmitStatus  stm32f4xx_can.o
-    0x08001484   0x08001484   0x00000030   Code   RO          836    i.DMA1_Stream0_IRQHandler  it.o
-    0x080014b4   0x080014b4   0x00000030   Code   RO          837    i.DMA1_Stream3_IRQHandler  it.o
-    0x080014e4   0x080014e4   0x00000030   Code   RO          838    i.DMA1_Stream5_IRQHandler  it.o
-    0x08001514   0x08001514   0x000001e0   Code   RO          839    i.DMA2_Stream0_IRQHandler  it.o
-    0x080016f4   0x080016f4   0x0000002c   Code   RO         1504    i.DMA_ClearITPendingBit  stm32f4xx_dma.o
-    0x08001720   0x08001720   0x00000014   Code   RO         1505    i.DMA_Cmd           stm32f4xx_dma.o
-    0x08001734   0x08001734   0x00000124   Code   RO         1506    i.DMA_DeInit        stm32f4xx_dma.o
-    0x08001858   0x08001858   0x00000014   Code   RO         1507    i.DMA_DoubleBufferModeCmd  stm32f4xx_dma.o
-    0x0800186c   0x0800186c   0x00000016   Code   RO         1508    i.DMA_DoubleBufferModeConfig  stm32f4xx_dma.o
-    0x08001882   0x08001882   0x0000000e   Code   RO         1510    i.DMA_GetCmdStatus  stm32f4xx_dma.o
-    0x08001890   0x08001890   0x0000000e   Code   RO         1512    i.DMA_GetCurrentMemoryTarget  stm32f4xx_dma.o
+    0x08001010   0x08001010   0x000000cc   Code   RO         1341    i.CAN_FilterInit    stm32f4xx_can.o
+    0x080010dc   0x080010dc   0x00000042   Code   RO          659    i.CAN_GPIO_Config   can.o
+    0x0800111e   0x0800111e   0x00000010   Code   RO         1347    i.CAN_ITConfig      stm32f4xx_can.o
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+    0x080014e4   0x080014e4   0x00000030   Code   RO          837    i.DMA1_Stream5_IRQHandler  it.o
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     0x0800189e   0x0800189e   0x00000002   PAD
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     0x08001be4   0x08001be4   0x00000040   Code   RO            9    i.Equation          main.o
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     0x08001faa   0x08001faa   0x00000002   PAD
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     0x08002024   0x08002024   0x00000022   Code   RO           14    i.GetMotorData      main.o
     0x08002046   0x08002046   0x00000002   PAD
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     0x080021b8   0x080021b8   0x00000010   Code   RO           16    i.Light_Config      main.o
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-    0x08003044   0x08003044   0x000000f4   Code   RO          843    i.TIM1_UP_TIM10_IRQHandler  it.o
-    0x08003138   0x08003138   0x00000014   Code   RO         2389    i.TIM_ARRPreloadConfig  stm32f4xx_tim.o
-    0x0800314c   0x0800314c   0x00000006   Code   RO         2396    i.TIM_ClearITPendingBit  stm32f4xx_tim.o
-    0x08003152   0x08003152   0x00000014   Code   RO         2401    i.TIM_Cmd           stm32f4xx_tim.o
-    0x08003166   0x08003166   0x00000016   Code   RO         2403    i.TIM_CtrlPWMOutputs  stm32f4xx_tim.o
-    0x0800317c   0x0800317c   0x00000010   Code   RO         2404    i.TIM_DMACmd        stm32f4xx_tim.o
-    0x0800318c   0x0800318c   0x00000018   Code   RO         2422    i.TIM_GetITStatus   stm32f4xx_tim.o
-    0x080031a4   0x080031a4   0x00000010   Code   RO         2426    i.TIM_ITConfig      stm32f4xx_tim.o
-    0x080031b4   0x080031b4   0x0000004e   Code   RO          365    i.TIM_Mod_Config    time.o
-    0x08003202   0x08003202   0x0000001c   Code   RO          366    i.TIM_NVIC_Config   time.o
-    0x0800321e   0x0800321e   0x00000002   PAD
-    0x08003220   0x08003220   0x00000060   Code   RO         2430    i.TIM_OC1Init       stm32f4xx_tim.o
-    0x08003280   0x08003280   0x0000000c   Code   RO         2433    i.TIM_OC1PreloadConfig  stm32f4xx_tim.o
-    0x0800328c   0x0800328c   0x00000080   Code   RO         2435    i.TIM_OC2Init       stm32f4xx_tim.o
-    0x0800330c   0x0800330c   0x00000014   Code   RO         2438    i.TIM_OC2PreloadConfig  stm32f4xx_tim.o
-    0x08003320   0x08003320   0x00000010   Code   RO         2459    i.TIM_SelectOutputTrigger  stm32f4xx_tim.o
-    0x08003330   0x08003330   0x0000007c   Code   RO         2473    i.TIM_TimeBaseInit  stm32f4xx_tim.o
-    0x080033ac   0x080033ac   0x0000004c   Code   RO          844    i.UART5_IRQHandler  it.o
-    0x080033f8   0x080033f8   0x00000050   Code   RO          845    i.USART2_IRQHandler  it.o
-    0x08003448   0x08003448   0x00000050   Code   RO          846    i.USART3_IRQHandler  it.o
-    0x08003498   0x08003498   0x00000050   Code   RO          847    i.USART6_IRQHandler  it.o
-    0x080034e8   0x080034e8   0x0000000c   Code   RO         2939    i.USART_ClearITPendingBit  stm32f4xx_usart.o
-    0x080034f4   0x080034f4   0x00000014   Code   RO         2942    i.USART_Cmd         stm32f4xx_usart.o
-    0x08003508   0x08003508   0x000000d8   Code   RO           31    i.USART_Config      main.o
-    0x080035e0   0x080035e0   0x00000040   Code   RO          598    i.USART_GPIO_Config  usart.o
-    0x08003620   0x08003620   0x0000003e   Code   RO         2946    i.USART_GetITStatus  stm32f4xx_usart.o
-    0x0800365e   0x0800365e   0x00000030   Code   RO         2948    i.USART_ITConfig    stm32f4xx_usart.o
-    0x0800368e   0x0800368e   0x00000002   PAD
-    0x08003690   0x08003690   0x000000ac   Code   RO         2949    i.USART_Init        stm32f4xx_usart.o
-    0x0800373c   0x0800373c   0x00000054   Code   RO          599    i.USART_MOD_Config  usart.o
-    0x08003790   0x08003790   0x0000001c   Code   RO          600    i.USART_NVIC_Config  usart.o
-    0x080037ac   0x080037ac   0x00000008   Code   RO         2956    i.USART_ReceiveData  stm32f4xx_usart.o
-    0x080037b4   0x080037b4   0x00000010   Code   RO           32    i.USBL_Config       main.o
-    0x080037c4   0x080037c4   0x00000004   PAD
-    0x080037c8   0x080037c8   0x000003c4   Code   RO         3127    i.__hardfp_log      m_wm.l(log.o)
-    0x08003b8c   0x08003b8c   0x000000f8   Code   RO         3180    i.__kernel_poly     m_wm.l(poly.o)
-    0x08003c84   0x08003c84   0x00000004   PAD
-    0x08003c88   0x08003c88   0x00000030   Code   RO         3166    i.__mathlib_dbl_divzero  m_wm.l(dunder.o)
-    0x08003cb8   0x08003cb8   0x00000014   Code   RO         3167    i.__mathlib_dbl_infnan  m_wm.l(dunder.o)
-    0x08003ccc   0x08003ccc   0x00000004   PAD
-    0x08003cd0   0x08003cd0   0x00000020   Code   RO         3169    i.__mathlib_dbl_invalid  m_wm.l(dunder.o)
-    0x08003cf0   0x08003cf0   0x0000000e   Code   RO         3221    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x08003cfe   0x08003cfe   0x00000002   Code   RO         3222    i.__scatterload_null  mc_w.l(handlers.o)
-    0x08003d00   0x08003d00   0x0000000e   Code   RO         3223    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x08003d0e   0x08003d0e   0x00000002   PAD
-    0x08003d10   0x08003d10   0x0000000c   Code   RO         3205    i.__set_errno       mc_w.l(errno.o)
-    0x08003d1c   0x08003d1c   0x00000026   Code   RO          464    i.add_checksum_and_telemetry  dshot.o
-    0x08003d42   0x08003d42   0x00000002   PAD
-    0x08003d44   0x08003d44   0x0000004c   Code   RO          403    i.cycleCounterInit  delay.o
-    0x08003d90   0x08003d90   0x00000020   Code   RO          404    i.delay_ms          delay.o
-    0x08003db0   0x08003db0   0x00000020   Code   RO           33    i.get_crc8          main.o
-    0x08003dd0   0x08003dd0   0x00000060   Code   RO           34    i.main              main.o
-    0x08003e30   0x08003e30   0x000000e4   Code   RO          465    i.pwmWriteDigital   dshot.o
-    0x08003f14   0x08003f14   0x0000001e   Code   RO           35    i.update_crc8       main.o
-    0x08003f32   0x08003f32   0x00000006   PAD
-    0x08003f38   0x08003f38   0x00000038   Data   RO         3130    .constdata          m_wm.l(log.o)
-    0x08003f70   0x08003f70   0x00000008   Data   RO         3182    .constdata          m_wm.l(qnan.o)
-    0x08003f78   0x08003f78   0x00000020   Data   RO         3219    Region$$Table       anon$$obj.o
+    0x080023fc   0x080023fc   0x0000002c   Code   RO           19    i.Motor_Stall_check  main.o
+    0x08002428   0x08002428   0x00000064   Code   RO         1041    i.NVIC_Init         misc.o
+    0x0800248c   0x0800248c   0x00000014   Code   RO         1042    i.NVIC_PriorityGroupConfig  misc.o
+    0x080024a0   0x080024a0   0x00000014   Code   RO           20    i.Other_Task        main.o
+    0x080024b4   0x080024b4   0x00000018   Code   RO         2048    i.RCC_AHB1PeriphClockCmd  stm32f4xx_rcc.o
+    0x080024cc   0x080024cc   0x00000018   Code   RO         2057    i.RCC_APB1PeriphClockCmd  stm32f4xx_rcc.o
+    0x080024e4   0x080024e4   0x00000018   Code   RO         2060    i.RCC_APB2PeriphClockCmd  stm32f4xx_rcc.o
+    0x080024fc   0x080024fc   0x00000018   Code   RO         2062    i.RCC_APB2PeriphResetCmd  stm32f4xx_rcc.o
+    0x08002514   0x08002514   0x00000090   Code   RO         2069    i.RCC_GetClocksFreq  stm32f4xx_rcc.o
+    0x080025a4   0x080025a4   0x00000006   Code   RO          786    i.ReadFloatWord     flash.o
+    0x080025aa   0x080025aa   0x00000002   PAD
+    0x080025ac   0x080025ac   0x000000d8   Code   RO          662    i.Rec_Flash_Set     can.o
+    0x08002684   0x08002684   0x00000016   Code   RO          840    i.ResearchProtection  it.o
+    0x0800269a   0x0800269a   0x00000002   PAD
+    0x0800269c   0x0800269c   0x000000a0   Code   RO          787    i.STMFLASH_GetFlashSector  flash.o
+    0x0800273c   0x0800273c   0x00000004   Code   RO          789    i.STMFLASH_ReadWord  flash.o
+    0x08002740   0x08002740   0x00000084   Code   RO          790    i.STMFLASH_Write    flash.o
+    0x080027c4   0x080027c4   0x00000070   Code   RO          663    i.Send_CAN_DATA1    can.o
+    0x08002834   0x08002834   0x00000044   Code   RO          664    i.Send_CAN_DATA2    can.o
+    0x08002878   0x08002878   0x0000005c   Code   RO          665    i.Send_CAN_DATA3    can.o
+    0x080028d4   0x080028d4   0x0000005c   Code   RO          666    i.Send_CAN_DATA4    can.o
+    0x08002930   0x08002930   0x00000084   Code   RO          667    i.Send_CAN_DATA5    can.o
+    0x080029b4   0x080029b4   0x00000054   Code   RO          668    i.Send_CAN_DATA6    can.o
+    0x08002a08   0x08002a08   0x00000090   Code   RO          672    i.Send_Flash_Set    can.o
+    0x08002a98   0x08002a98   0x000000a4   Code   RO           21    i.Send_Pixhawk_requre  main.o
+    0x08002b3c   0x08002b3c   0x000000a4   Code   RO           22    i.Send_Updata_requre  main.o
+    0x08002be0   0x08002be0   0x000000b4   Code   RO          971    i.SetSysClock       system_stm32f4xx.o
+    0x08002c94   0x08002c94   0x00000038   Code   RO           23    i.Single_Motor_Config  main.o
+    0x08002ccc   0x08002ccc   0x00000028   Code   RO           24    i.SoftReset         main.o
+    0x08002cf4   0x08002cf4   0x000001b4   Code   RO           25    i.Stall_check       main.o
+    0x08002ea8   0x08002ea8   0x0000005c   Code   RO           26    i.SysTick_100ms_Task  main.o
+    0x08002f04   0x08002f04   0x00000020   Code   RO           27    i.SysTick_10ms_Task  main.o
+    0x08002f24   0x08002f24   0x00000040   Code   RO           28    i.SysTick_20ms_Task  main.o
+    0x08002f64   0x08002f64   0x00000064   Code   RO           29    i.SysTick_500ms_Task  main.o
+    0x08002fc8   0x08002fc8   0x00000010   Code   RO          841    i.SysTick_Handler   it.o
+    0x08002fd8   0x08002fd8   0x0000005c   Code   RO          973    i.SystemInit        system_stm32f4xx.o
+    0x08003034   0x08003034   0x000000f4   Code   RO          842    i.TIM1_UP_TIM10_IRQHandler  it.o
+    0x08003128   0x08003128   0x00000014   Code   RO         2388    i.TIM_ARRPreloadConfig  stm32f4xx_tim.o
+    0x0800313c   0x0800313c   0x00000006   Code   RO         2395    i.TIM_ClearITPendingBit  stm32f4xx_tim.o
+    0x08003142   0x08003142   0x00000014   Code   RO         2400    i.TIM_Cmd           stm32f4xx_tim.o
+    0x08003156   0x08003156   0x00000016   Code   RO         2402    i.TIM_CtrlPWMOutputs  stm32f4xx_tim.o
+    0x0800316c   0x0800316c   0x00000010   Code   RO         2403    i.TIM_DMACmd        stm32f4xx_tim.o
+    0x0800317c   0x0800317c   0x00000018   Code   RO         2421    i.TIM_GetITStatus   stm32f4xx_tim.o
+    0x08003194   0x08003194   0x00000010   Code   RO         2425    i.TIM_ITConfig      stm32f4xx_tim.o
+    0x080031a4   0x080031a4   0x0000004e   Code   RO          364    i.TIM_Mod_Config    time.o
+    0x080031f2   0x080031f2   0x0000001c   Code   RO          365    i.TIM_NVIC_Config   time.o
+    0x0800320e   0x0800320e   0x00000002   PAD
+    0x08003210   0x08003210   0x00000060   Code   RO         2429    i.TIM_OC1Init       stm32f4xx_tim.o
+    0x08003270   0x08003270   0x0000000c   Code   RO         2432    i.TIM_OC1PreloadConfig  stm32f4xx_tim.o
+    0x0800327c   0x0800327c   0x00000080   Code   RO         2434    i.TIM_OC2Init       stm32f4xx_tim.o
+    0x080032fc   0x080032fc   0x00000014   Code   RO         2437    i.TIM_OC2PreloadConfig  stm32f4xx_tim.o
+    0x08003310   0x08003310   0x00000010   Code   RO         2458    i.TIM_SelectOutputTrigger  stm32f4xx_tim.o
+    0x08003320   0x08003320   0x0000007c   Code   RO         2472    i.TIM_TimeBaseInit  stm32f4xx_tim.o
+    0x0800339c   0x0800339c   0x0000004c   Code   RO          843    i.UART5_IRQHandler  it.o
+    0x080033e8   0x080033e8   0x00000050   Code   RO          844    i.USART2_IRQHandler  it.o
+    0x08003438   0x08003438   0x00000050   Code   RO          845    i.USART3_IRQHandler  it.o
+    0x08003488   0x08003488   0x00000050   Code   RO          846    i.USART6_IRQHandler  it.o
+    0x080034d8   0x080034d8   0x0000000c   Code   RO         2938    i.USART_ClearITPendingBit  stm32f4xx_usart.o
+    0x080034e4   0x080034e4   0x00000014   Code   RO         2941    i.USART_Cmd         stm32f4xx_usart.o
+    0x080034f8   0x080034f8   0x000000d8   Code   RO           31    i.USART_Config      main.o
+    0x080035d0   0x080035d0   0x00000040   Code   RO          597    i.USART_GPIO_Config  usart.o
+    0x08003610   0x08003610   0x0000003e   Code   RO         2945    i.USART_GetITStatus  stm32f4xx_usart.o
+    0x0800364e   0x0800364e   0x00000030   Code   RO         2947    i.USART_ITConfig    stm32f4xx_usart.o
+    0x0800367e   0x0800367e   0x00000002   PAD
+    0x08003680   0x08003680   0x000000ac   Code   RO         2948    i.USART_Init        stm32f4xx_usart.o
+    0x0800372c   0x0800372c   0x00000054   Code   RO          598    i.USART_MOD_Config  usart.o
+    0x08003780   0x08003780   0x0000001c   Code   RO          599    i.USART_NVIC_Config  usart.o
+    0x0800379c   0x0800379c   0x00000008   Code   RO         2955    i.USART_ReceiveData  stm32f4xx_usart.o
+    0x080037a4   0x080037a4   0x00000010   Code   RO           32    i.USBL_Config       main.o
+    0x080037b4   0x080037b4   0x00000004   PAD
+    0x080037b8   0x080037b8   0x000003c4   Code   RO         3126    i.__hardfp_log      m_wm.l(log.o)
+    0x08003b7c   0x08003b7c   0x000000f8   Code   RO         3179    i.__kernel_poly     m_wm.l(poly.o)
+    0x08003c74   0x08003c74   0x00000004   PAD
+    0x08003c78   0x08003c78   0x00000030   Code   RO         3165    i.__mathlib_dbl_divzero  m_wm.l(dunder.o)
+    0x08003ca8   0x08003ca8   0x00000014   Code   RO         3166    i.__mathlib_dbl_infnan  m_wm.l(dunder.o)
+    0x08003cbc   0x08003cbc   0x00000004   PAD
+    0x08003cc0   0x08003cc0   0x00000020   Code   RO         3168    i.__mathlib_dbl_invalid  m_wm.l(dunder.o)
+    0x08003ce0   0x08003ce0   0x0000000e   Code   RO         3220    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x08003cee   0x08003cee   0x00000002   Code   RO         3221    i.__scatterload_null  mc_w.l(handlers.o)
+    0x08003cf0   0x08003cf0   0x0000000e   Code   RO         3222    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x08003cfe   0x08003cfe   0x00000002   PAD
+    0x08003d00   0x08003d00   0x0000000c   Code   RO         3204    i.__set_errno       mc_w.l(errno.o)
+    0x08003d0c   0x08003d0c   0x00000026   Code   RO          463    i.add_checksum_and_telemetry  dshot.o
+    0x08003d32   0x08003d32   0x00000002   PAD
+    0x08003d34   0x08003d34   0x0000004c   Code   RO          402    i.cycleCounterInit  delay.o
+    0x08003d80   0x08003d80   0x00000020   Code   RO          403    i.delay_ms          delay.o
+    0x08003da0   0x08003da0   0x00000020   Code   RO           33    i.get_crc8          main.o
+    0x08003dc0   0x08003dc0   0x00000060   Code   RO           34    i.main              main.o
+    0x08003e20   0x08003e20   0x000000e4   Code   RO          464    i.pwmWriteDigital   dshot.o
+    0x08003f04   0x08003f04   0x0000001e   Code   RO           35    i.update_crc8       main.o
+    0x08003f22   0x08003f22   0x00000006   PAD
+    0x08003f28   0x08003f28   0x00000038   Data   RO         3129    .constdata          m_wm.l(log.o)
+    0x08003f60   0x08003f60   0x00000008   Data   RO         3181    .constdata          m_wm.l(qnan.o)
+    0x08003f68   0x08003f68   0x00000020   Data   RO         3218    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08003f98, Size: 0x000007d8, Max: 0x00020000, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x08003f88, Size: 0x000007d8, Max: 0x00020000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x08003f98   0x00000030   Data   RW           38    .data               main.o
-    0x20000030   0x08003fc8   0x00000004   Data   RW           39    .data               main.o
-    0x20000034   0x08003fcc   0x00000004   Data   RW           40    .data               main.o
-    0x20000038   0x08003fd0   0x00000004   Data   RW           41    .data               main.o
-    0x2000003c   0x08003fd4   0x00000008   Data   RW          407    .data               delay.o
-    0x20000044   0x08003fdc   0x00000004   Data   RW          675    .data               can.o
-    0x20000048   0x08003fe0   0x0000003c   Data   RW          676    .data               can.o
-    0x20000084   0x0800401c   0x00000001   Data   RW          677    .data               can.o
-    0x20000085   0x0800401d   0x00000001   Data   RW          678    .data               can.o
-    0x20000086   0x0800401e   0x00000001   Data   RW          679    .data               can.o
-    0x20000087   0x0800401f   0x00000001   PAD
-    0x20000088   0x08004020   0x00000008   Data   RW          849    .data               it.o
-    0x20000090   0x08004028   0x00000004   Data   RW          943    .data               ntc.o
-    0x20000094   0x0800402c   0x00000010   Data   RW         2102    .data               stm32f4xx_rcc.o
-    0x200000a4   0x0800403c   0x00000004   Data   RW         3206    .data               mc_w.l(errno.o)
+    0x20000000   0x08003f88   0x00000030   Data   RW           38    .data               main.o
+    0x20000030   0x08003fb8   0x00000004   Data   RW           39    .data               main.o
+    0x20000034   0x08003fbc   0x00000004   Data   RW           40    .data               main.o
+    0x20000038   0x08003fc0   0x00000004   Data   RW           41    .data               main.o
+    0x2000003c   0x08003fc4   0x00000008   Data   RW          406    .data               delay.o
+    0x20000044   0x08003fcc   0x00000004   Data   RW          674    .data               can.o
+    0x20000048   0x08003fd0   0x0000003c   Data   RW          675    .data               can.o
+    0x20000084   0x0800400c   0x00000001   Data   RW          676    .data               can.o
+    0x20000085   0x0800400d   0x00000001   Data   RW          677    .data               can.o
+    0x20000086   0x0800400e   0x00000001   Data   RW          678    .data               can.o
+    0x20000087   0x0800400f   0x00000001   PAD
+    0x20000088   0x08004010   0x00000008   Data   RW          848    .data               it.o
+    0x20000090   0x08004018   0x00000004   Data   RW          942    .data               ntc.o
+    0x20000094   0x0800401c   0x00000010   Data   RW         2101    .data               stm32f4xx_rcc.o
+    0x200000a4   0x0800402c   0x00000004   Data   RW         3205    .data               mc_w.l(errno.o)
     0x200000a8        -       0x00000300   Zero   RW           36    .bss                main.o
-    0x200003a8        -       0x00000018   Zero   RW          519    .bss                adc.o
-    0x200003c0        -       0x0000000c   Zero   RW          674    .bss                can.o
-    0x200003cc        -       0x0000000c   Zero   RW          848    .bss                it.o
-    0x200003d8        -       0x00000400   Zero   RW         1032    STACK               startup_stm32f40_41xxx.o
+    0x200003a8        -       0x00000018   Zero   RW          518    .bss                adc.o
+    0x200003c0        -       0x0000000c   Zero   RW          673    .bss                can.o
+    0x200003cc        -       0x0000000c   Zero   RW          847    .bss                it.o
+    0x200003d8        -       0x00000400   Zero   RW         1031    STACK               startup_stm32f40_41xxx.o
 
 
 ==============================================================================
@@ -1736,7 +1736,7 @@ Image component sizes
       1844        280          0          8         12      11701   it.o
         42          0          0          0          0        982   iwag.o
         46          0          0          0          0        978   led.o
-      3556        440          0         60        768     383238   main.o
+      3540        438          0         60        768     383224   main.o
        120         14          0          0          0       1735   misc.o
        240         52          0          4          0        894   ntc.o
         36          8        392          0       1024        812   startup_stm32f40_41xxx.o
@@ -1754,7 +1754,7 @@ Image component sizes
        176          0          0          0          0       2487   usart.o
 
     ----------------------------------------------------------------------
-     12828       1310        424        164       1840     509963   Object Totals
+     12812       1308        424        164       1840     509949   Object Totals
          0          0         32          0          0          0   (incl. Generated)
         30          4          0          1          0          0   (incl. Padding)
 
@@ -1817,15 +1817,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-     15792       1452        488        168       1840     497555   Grand Totals
-     15792       1452        488        168       1840     497555   ELF Image Totals
-     15792       1452        488        168          0          0   ROM Totals
+     15776       1450        488        168       1840     497541   Grand Totals
+     15776       1450        488        168       1840     497541   ELF Image Totals
+     15776       1450        488        168          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                16280 (  15.90kB)
+    Total RO  Size (Code + RO Data)                16264 (  15.88kB)
     Total RW  Size (RW Data + ZI Data)              2008 (   1.96kB)
-    Total ROM Size (Code + RO Data + RW Data)      16448 (  16.06kB)
+    Total ROM Size (Code + RO Data + RW Data)      16432 (  16.05kB)
 
 ==============================================================================
 

N3Drive/Objects/N3Drive_N3Drive.dep

@@ -1,5 +1,5 @@
 Dependencies for Project 'N3Drive', Target 'N3Drive': (DO NOT MODIFY !)
-F (.\USER\main.c)(0x637B1549)(--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)(0x6392E611)(--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)(0x62FEEBB6)
 I (.\CMSIS\stm32f4xx.h)(0x602CC5F2)
 I (.\CMSIS\core_cm4.h)(0x581CC64E)

N3Drive/Objects/N4Drive.hex

@@ -2,31 +2,31 @@
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N3Drive/Objects/N4Drive.htm

@@ -3,7 +3,7 @@
 <title>Static Call Graph - [.\Objects\N4Drive.axf]</title></head>
 <body><HR>
 <H1>Static Call Graph for image .\Objects\N4Drive.axf</H1><HR>
-<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060750: Last Updated: Mon Nov 21 15:17:26 2022
+<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060750: Last Updated: Fri Dec 09 15:39:02 2022
 <BR><P>
 <H3>Maximum Stack Usage =        280 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
 Call chain for Maximum Stack Depth:</H3>
@@ -1229,7 +1229,7 @@ Global Symbols
 <BR>[Called By]<UL><LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_20ms_Task
 </UL>
 
-<P><STRONG><a name="[cf]"></a>Motor_Stall_check</STRONG> (Thumb, 48 bytes, Stack size 8 bytes, main.o(i.Motor_Stall_check))
+<P><STRONG><a name="[cf]"></a>Motor_Stall_check</STRONG> (Thumb, 34 bytes, Stack size 8 bytes, main.o(i.Motor_Stall_check))
 <BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = Motor_Stall_check &rArr; Stall_check &rArr; __aeabi_dsub &rArr; __aeabi_dadd &rArr; _double_epilogue &rArr; _double_round
 </UL>
 <BR>[Calls]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Stall_check

N3Drive/USER/main.c

@@ -36,7 +36,7 @@ int main(void)
 	
 	while(1)
 	{
-		Motor_Stall_check();//¶Âת¼ì²â
+		Motor_Stall_check();//¶Âת¼ì²â new esc track don't use this protect
 		
 		SysTick_10ms_Task();
 		
@@ -264,8 +264,8 @@ void Motor_Stall_check(void)
 		
 		Stall_check(&left_thruster);
 		Stall_check(&right_thruster);
-		Stall_check(&left_track_motor);
-		Stall_check(&right_track_motor);
+		//Stall_check(&left_track_motor); //neW esc has current protect
+		//Stall_check(&right_track_motor);
 	}
 }