diff --git a/.gitignore b/.gitignore index ac34fff..be171b1 100644 --- a/.gitignore +++ b/.gitignore @@ -11,3 +11,5 @@ *.uvopt *.htm *.dep +*.o +*.crf diff --git a/OLED/M451/OLED_TEST/Listings/OLED.map b/OLED/M451/OLED_TEST/Listings/OLED.map index 1a8fa22..965388d 100644 --- a/OLED/M451/OLED_TEST/Listings/OLED.map +++ b/OLED/M451/OLED_TEST/Listings/OLED.map @@ -988,14 +988,14 @@ Image component sizes 904 100 0 0 0 20294 clk.o 150 12 0 0 0 3055 i2c.o - 444 128 0 14 0 239059 main.o - 324 132 0 8 0 5653 retarget.o - 546 10 0 4120 0 4964 ssd1306.o - 116 36 320 0 1024 924 startup_m451series.o - 316 54 0 44 0 2871 system_m451series.o + 444 128 0 14 0 239119 main.o + 324 132 0 8 0 5761 retarget.o + 546 10 0 4120 0 5080 ssd1306.o + 116 36 320 0 1024 936 startup_m451series.o + 316 54 0 44 0 2931 system_m451series.o ---------------------------------------------------------------------- - 2802 472 352 4188 1024 276820 Object Totals + 2802 472 352 4188 1024 277176 Object Totals 0 0 32 0 0 0 (incl. 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uild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main.c - 0 - 94 - 127 + 23 + 1 + 143 1 0 .\ssd1306.c - 3 - 156 - 144 + 37 + 36 + 46 1 0 .\ssd1306.h - 21 + 19 1 - 14 + 10 1 0 @@ -3688,8 +3688,8 @@ C:\Keil_v5\ARM\PACK\Nuvoton\NuMicro_DFP\1.2.0\Device\NUC100\Driver\I2C.h 0 - 99 - 110 + 65 + 76 1 0 @@ -3732,9 +3732,9 @@ C:\Keil_v5\ARM\PACK\Nuvoton\NuMicro_DFP\1.2.0\Device\M451\Driver\i2c.h - 16 - 31 - 42 + 0 + 61 + 77 1 0 @@ -3766,6 +3766,15 @@ 0 + + C:\Keil_v5\ARM\PACK\Nuvoton\NuMicro_DFP\1.2.0\Device\M451\Driver\clk.h + 0 + 258 + 269 + 1 + + 0 + diff --git a/OLED/M451/OLED_TEST/Objects/OLED.axf b/OLED/M451/OLED_TEST/Objects/OLED.axf new file mode 100644 index 0000000..5235013 Binary files /dev/null and b/OLED/M451/OLED_TEST/Objects/OLED.axf differ diff --git a/OLED/M451/OLED_TEST/Objects/OLED.lnp b/OLED/M451/OLED_TEST/Objects/OLED.lnp new file mode 100644 index 0000000..88e9c28 --- /dev/null +++ b/OLED/M451/OLED_TEST/Objects/OLED.lnp @@ -0,0 +1,15 @@ +--cpu=Cortex-M4.fp +".\objects\main.o" +".\objects\ssd1306.o" +".\objects\clk.o" +".\objects\gpio.o" +".\objects\i2c.o" +".\objects\sc.o" +".\objects\sys.o" +".\objects\uart.o" +".\objects\retarget.o" +".\objects\startup_m451series.o" +".\objects\system_m451series.o" +--ro-base 0x00000000 --entry 0x00000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols +--info sizes --info totals --info unused --info veneers +--list ".\Listings\OLED.map" -o .\Objects\OLED.axf \ No newline at end of file diff --git a/OLED/M451/OLED_TEST/ssd1306.c b/OLED/M451/OLED_TEST/ssd1306.c index 317bbed..b9e1822 100644 --- a/OLED/M451/OLED_TEST/ssd1306.c +++ b/OLED/M451/OLED_TEST/ssd1306.c @@ -57,27 +57,22 @@ uint8_t OLED_SingleRead(uint8_t index) I2C_SET_CONTROL_REG(LCD_I2C_PORT, I2C_CTL_SI); I2C_WAIT_READY(LCD_I2C_PORT); - //LCD_I2C_PORT->INTSTS |= I2C_INTSTS_INTSTS_Msk; //clear flag - I2C_SET_DATA(LCD_I2C_PORT, index); //send index I2C_SET_CONTROL_REG(LCD_I2C_PORT, I2C_CTL_SI); I2C_WAIT_READY(LCD_I2C_PORT); - //LCD_I2C_PORT->INTSTS |= I2C_INTSTS_INTSTS_Msk; //clear flag I2C_SET_CONTROL_REG(LCD_I2C_PORT, I2C_CTL_STA | I2C_CTL_SI); //Start I2C_WAIT_READY(LCD_I2C_PORT); - //LCD_I2C_PORT->INTSTS |= I2C_INTSTS_INTSTS_Msk; //clear flag I2C_SET_DATA(LCD_I2C_PORT, (LCD_I2C_SLA+1)); //send slave address+R I2C_SET_CONTROL_REG(LCD_I2C_PORT, I2C_CTL_SI); I2C_WAIT_READY(LCD_I2C_PORT); - //LCD_I2C_PORT->INTSTS |= I2C_INTSTS_INTSTS_Msk; //clear flag I2C_SET_CONTROL_REG(LCD_I2C_PORT, I2C_CTL_SI); I2C_WAIT_READY(LCD_I2C_PORT); - //LCD_I2C_PORT->INTSTS |= I2C_INTSTS_INTSTS_Msk; //clear flag + tmp = I2C_GET_DATA(LCD_I2C_PORT); //read data I2C_SET_CONTROL_REG(LCD_I2C_PORT, I2C_CTL_SI|I2C_CTL_STO);//Stop diff --git a/mpu6050/m451/EventRecorderStub.scvd b/mpu6050/m451/EventRecorderStub.scvd new file mode 100644 index 0000000..2956b29 --- /dev/null +++ b/mpu6050/m451/EventRecorderStub.scvd @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/mpu6050/m451/Listings/mpu9250.map b/mpu6050/m451/Listings/mpu9250.map new file mode 100644 index 0000000..03573ae --- /dev/null +++ b/mpu6050/m451/Listings/mpu9250.map @@ -0,0 +1,987 @@ +Component: ARM Compiler 5.06 update 6 (build 750) Tool: armlink [4d35ed] + +============================================================================== + +Section Cross References + + main.o(i.HalInit) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + main.o(i.HalInit) refers to _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) for _printf_d + main.o(i.HalInit) refers to _printf_dec.o(.text) for _printf_int_dec + main.o(i.HalInit) refers to clk.o(i.CLK_EnableXtalRC) for CLK_EnableXtalRC + main.o(i.HalInit) refers to clk.o(i.CLK_WaitClockReady) for CLK_WaitClockReady + main.o(i.HalInit) refers to clk.o(i.CLK_SetHCLK) for CLK_SetHCLK + main.o(i.HalInit) refers to clk.o(i.CLK_SetCoreClock) for CLK_SetCoreClock + main.o(i.HalInit) refers to clk.o(i.CLK_EnableModuleClock) for CLK_EnableModuleClock + main.o(i.HalInit) refers to i2c.o(i.I2C_Open) for I2C_Open + main.o(i.HalInit) refers to i2c.o(i.I2C_GetBusClockFreq) for I2C_GetBusClockFreq + main.o(i.HalInit) refers to noretval__2printf.o(.text) for __2printf + main.o(i.HalInit) refers to i2c.o(i.I2C_SetSlaveAddr) for I2C_SetSlaveAddr + main.o(i.main) refers to main.o(i.HalInit) for HalInit + main.o(i.main) refers to mpu.o(i.MpuInit) for MpuInit + hal.o(i.MPUReadBuf) refers to _printf_pad.o(.text) for _printf_pre_padding + hal.o(i.MPUReadBuf) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + hal.o(i.MPUReadBuf) refers to _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C) for _printf_x + hal.o(i.MPUReadBuf) refers to _printf_hex_int.o(.text) for _printf_longlong_hex + hal.o(i.MPUReadBuf) refers to i2c.o(i.I2C_Trigger) for I2C_Trigger + hal.o(i.MPUReadBuf) refers to noretval__2printf.o(.text) for __2printf + hal.o(i.MPUReadReg) refers to _printf_pad.o(.text) for _printf_pre_padding + hal.o(i.MPUReadReg) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + hal.o(i.MPUReadReg) refers to _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C) for _printf_x + hal.o(i.MPUReadReg) refers to _printf_hex_int.o(.text) for _printf_longlong_hex + hal.o(i.MPUReadReg) refers to i2c.o(i.I2C_Trigger) for I2C_Trigger + hal.o(i.MPUReadReg) refers to noretval__2printf.o(.text) for __2printf + hal.o(i.MPUWriteACK) refers to noretval__2printf.o(.text) for __2printf + hal.o(i.MPUWriteACK) refers to i2c.o(i.I2C_Trigger) for I2C_Trigger + hal.o(i.MPUWriteAddr) refers to _printf_pad.o(.text) for _printf_pre_padding + hal.o(i.MPUWriteAddr) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + hal.o(i.MPUWriteAddr) refers to _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C) for _printf_x + hal.o(i.MPUWriteAddr) refers to _printf_hex_int.o(.text) for _printf_longlong_hex + hal.o(i.MPUWriteAddr) refers to noretval__2printf.o(.text) for __2printf + hal.o(i.MPUWriteAddr) refers to i2c.o(i.I2C_Trigger) for I2C_Trigger + hal.o(i.MPUWriteReg) refers to _printf_pad.o(.text) for _printf_pre_padding + hal.o(i.MPUWriteReg) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + hal.o(i.MPUWriteReg) refers to _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C) for _printf_x + hal.o(i.MPUWriteReg) refers to _printf_hex_int.o(.text) for _printf_longlong_hex + hal.o(i.MPUWriteReg) refers to noretval__2printf.o(.text) for __2printf + hal.o(i.MPUWriteReg) refers to i2c.o(i.I2C_Trigger) for I2C_Trigger + mpu.o(i.MpuGetData) refers to hal.o(i.MPUReadBuf) for MPUReadBuf + mpu.o(i.MpuGetData) refers to mpu.o(.bss) for MpuOffset + mpu.o(i.MpuGetData) refers to mpu.o(.data) for pMpu + mpu.o(i.MpuInit) refers to hal.o(i.MPUWriteReg) for MPUWriteReg + mpu.o(i.MpuInit) refers to mpu.o(i.delay_ms) for delay_ms + mpu.o(i.MpuInit) refers to hal.o(i.MPUReadReg) for MPUReadReg + mpu.o(i.mpu6050_rest) refers to hal.o(i.MPUWriteReg) for MPUWriteReg + mpu.o(.data) refers to mpu.o(.bss) for MPU6050 + retarget.o(.emb_text) refers to retarget.o(i.Hard_Fault_Handler) for Hard_Fault_Handler + retarget.o(i.Hard_Fault_Handler) refers to noretval__2printf.o(.text) for __2printf + retarget.o(i.Hard_Fault_Handler) refers to retarget.o(i.stackDump) for stackDump + retarget.o(i.SendChar) refers to retarget.o(i.SendChar_ToUART) for SendChar_ToUART + retarget.o(i._ttywrch) refers to retarget.o(i.SendChar) for SendChar + retarget.o(i.fgetc) refers to retarget.o(i.GetChar) for GetChar + retarget.o(i.fputc) refers to retarget.o(i.SendChar) for SendChar + retarget.o(i.stackDump) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + retarget.o(i.stackDump) refers to _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C) for _printf_x + retarget.o(i.stackDump) refers to _printf_hex_int.o(.text) for _printf_longlong_hex + retarget.o(i.stackDump) refers to noretval__2printf.o(.text) for __2printf + startup_m451series.o(STACK) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_m451series.o(HEAP) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_m451series.o(RESET) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_m451series.o(RESET) refers to startup_m451series.o(STACK) for __initial_sp + startup_m451series.o(RESET) refers to startup_m451series.o(.text) for Reset_Handler + startup_m451series.o(RESET) refers to retarget.o(.emb_text) for HardFault_Handler + startup_m451series.o(.text) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_m451series.o(.text) refers to system_m451series.o(i.SystemInit) for SystemInit + startup_m451series.o(.text) refers to __main.o(!!!main) for __main + startup_m451series.o(.text) refers to startup_m451series.o(HEAP) for Heap_Mem + startup_m451series.o(.text) refers to startup_m451series.o(STACK) for Stack_Mem + clk.o(i.CLK_DisableCKO) refers to clk.o(i.CLK_DisableModuleClock) for CLK_DisableModuleClock + clk.o(i.CLK_EnableCKO) refers to clk.o(i.CLK_EnableModuleClock) for CLK_EnableModuleClock + clk.o(i.CLK_EnableCKO) refers to clk.o(i.CLK_SetModuleClock) for CLK_SetModuleClock + clk.o(i.CLK_EnablePLL) refers to clk.o(i.CLK_DisablePLL) for CLK_DisablePLL + clk.o(i.CLK_EnablePLL) refers to clk.o(i.CLK_WaitClockReady) for CLK_WaitClockReady + clk.o(i.CLK_EnablePLL) refers to clk.o(i.CLK_GetPLLClockFreq) for CLK_GetPLLClockFreq + clk.o(i.CLK_GetCPUFreq) refers to system_m451series.o(i.SystemCoreClockUpdate) for SystemCoreClockUpdate + clk.o(i.CLK_GetCPUFreq) refers to system_m451series.o(.data) for SystemCoreClock + clk.o(i.CLK_GetHCLKFreq) refers to system_m451series.o(i.SystemCoreClockUpdate) for SystemCoreClockUpdate + clk.o(i.CLK_GetHCLKFreq) refers to system_m451series.o(.data) for SystemCoreClock + clk.o(i.CLK_GetPCLK0Freq) refers to system_m451series.o(i.SystemCoreClockUpdate) for SystemCoreClockUpdate + clk.o(i.CLK_GetPCLK0Freq) refers to system_m451series.o(.data) for SystemCoreClock + clk.o(i.CLK_GetPCLK1Freq) refers to system_m451series.o(i.SystemCoreClockUpdate) for SystemCoreClockUpdate + clk.o(i.CLK_GetPCLK1Freq) refers to system_m451series.o(.data) for SystemCoreClock + clk.o(i.CLK_SetCoreClock) refers to clk.o(i.CLK_WaitClockReady) for CLK_WaitClockReady + clk.o(i.CLK_SetCoreClock) refers to clk.o(i.CLK_EnablePLL) for CLK_EnablePLL + clk.o(i.CLK_SetCoreClock) refers to clk.o(i.CLK_SetHCLK) for CLK_SetHCLK + clk.o(i.CLK_SetHCLK) refers to clk.o(i.CLK_WaitClockReady) for CLK_WaitClockReady + clk.o(i.CLK_SetHCLK) refers to system_m451series.o(i.SystemCoreClockUpdate) for SystemCoreClockUpdate + i2c.o(i.I2C_GetBusClockFreq) refers to system_m451series.o(.data) for SystemCoreClock + i2c.o(i.I2C_Open) refers to system_m451series.o(.data) for SystemCoreClock + i2c.o(i.I2C_SetBusClockFreq) refers to system_m451series.o(.data) for SystemCoreClock + __2printf.o(.text) refers to _printf_char_file.o(.text) for _printf_char_file + __2printf.o(.text) refers to retarget.o(.data) for __stdout + noretval__2printf.o(.text) refers to _printf_char_file.o(.text) for _printf_char_file + noretval__2printf.o(.text) refers to retarget.o(.data) for __stdout + __printf.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + _printf_dec.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_ll.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_ll.o(.text) refers to _printf_hex_ll.o(.constdata) for .constdata + _printf_hex_int.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_int.o(.text) refers to _printf_hex_int.o(.constdata) for .constdata + _printf_hex_int_ll.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_int_ll.o(.text) refers to _printf_hex_int_ll.o(.constdata) for .constdata + _printf_hex_ptr.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_ptr.o(.text) refers to _printf_hex_ptr.o(.constdata) for .constdata + _printf_hex_int_ptr.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_int_ptr.o(.text) refers to _printf_hex_int_ptr.o(.constdata) for .constdata + _printf_hex_ll_ptr.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_ll_ptr.o(.text) refers to _printf_hex_ll_ptr.o(.constdata) for .constdata + _printf_hex_int_ll_ptr.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + _printf_hex_int_ll_ptr.o(.text) refers to _printf_hex_int_ll_ptr.o(.constdata) for .constdata + __printf_flags.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags.o(.text) refers to __printf_flags.o(.constdata) for .constdata + __printf_ss.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss.o(.text) refers to __printf_flags_ss.o(.constdata) for .constdata + __printf_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_flags_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_wp.o(.text) refers to __printf_flags_wp.o(.constdata) for .constdata + __printf_ss_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_ss_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_flags_ss_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss_wp.o(.text) refers to __printf_flags_ss_wp.o(.constdata) for .constdata + _printf_x.o(.ARM.Collect$$_printf_percent$$0000000C) refers (Weak) to _printf_hex_int.o(.text) for _printf_int_hex + _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) refers (Weak) to _printf_dec.o(.text) for _printf_int_dec + _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) refers (Special) to _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017) for _printf_percent_end + __main.o(!!!main) refers to __rtentry.o(.ARM.Collect$$rtentry$$00000000) for __rt_entry + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for __rt_entry_li + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for __rt_entry_main + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) for __rt_entry_postli_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$00000009) for __rt_entry_postsh_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$00000002) for __rt_entry_presh_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry4.o(.ARM.Collect$$rtentry$$00000004) for __rt_entry_sh + _printf_intcommon.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_intcommon.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_intcommon.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_post_padding + _printf_char_file.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common + _printf_char_file.o(.text) refers to retarget.o(i.ferror) for ferror + _printf_char_file.o(.text) refers to retarget.o(i.fputc) for fputc + __rtentry2.o(.ARM.Collect$$rtentry$$00000008) refers to boardinit2.o(.text) for _platform_post_stackheap_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) refers to libinit.o(.ARM.Collect$$libinit$$00000000) for __rt_lib_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) refers to boardinit3.o(.text) for _platform_post_lib_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to main.o(i.main) for main + __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to exit.o(.text) for exit + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000001) for .ARM.Collect$$rtentry$$00000001 + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000008) for .ARM.Collect$$rtentry$$00000008 + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for .ARM.Collect$$rtentry$$0000000A + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) for .ARM.Collect$$rtentry$$0000000B + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for .ARM.Collect$$rtentry$$0000000D + __rtentry4.o(.ARM.Collect$$rtentry$$00000004) refers to sys_stackheap_outer.o(.text) for __user_setup_stackheap + __rtentry4.o(.ARM.exidx) refers to __rtentry4.o(.ARM.Collect$$rtentry$$00000004) for .ARM.Collect$$rtentry$$00000004 + _printf_char_common.o(.text) refers to __printf_flags_wp.o(.text) for __printf + sys_stackheap_outer.o(.text) refers to libspace.o(.text) for __user_perproc_libspace + sys_stackheap_outer.o(.text) refers to startup_m451series.o(.text) for __user_initial_stackheap + exit.o(.text) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for __rt_exit + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002E) for __rt_lib_init_alloca_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002C) for __rt_lib_init_argv_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001B) for __rt_lib_init_atexit_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000021) for __rt_lib_init_clock_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000032) for __rt_lib_init_cpp_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000030) for __rt_lib_init_exceptions_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000001) for __rt_lib_init_fp_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001F) for __rt_lib_init_fp_trap_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000023) for __rt_lib_init_getenv_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000A) for __rt_lib_init_heap_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000011) for __rt_lib_init_lc_collate_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000013) for __rt_lib_init_lc_ctype_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000015) for __rt_lib_init_lc_monetary_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000017) for __rt_lib_init_lc_numeric_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000019) for __rt_lib_init_lc_time_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000004) for __rt_lib_init_preinit_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000E) for __rt_lib_init_rand_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000033) for __rt_lib_init_return + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001D) for __rt_lib_init_signal_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000025) for __rt_lib_init_stdio_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000C) for __rt_lib_init_user_alloc_1 + libspace.o(.text) refers to libspace.o(.bss) for __libspace_start + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1 + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1 + rtexit.o(.ARM.exidx) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for .ARM.Collect$$rtexit$$00000000 + libinit2.o(.ARM.Collect$$libinit$$00000001) refers to fpinit.o(x$fpl$fpinit) for _fp_init + libinit2.o(.ARM.Collect$$libinit$$00000010) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000012) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000014) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000016) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000018) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000026) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer + libinit2.o(.ARM.Collect$$libinit$$00000027) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer + rtexit2.o(.ARM.Collect$$rtexit$$00000003) refers to libshutdown.o(.ARM.Collect$$libshutdown$$00000000) for __rt_lib_shutdown + rtexit2.o(.ARM.Collect$$rtexit$$00000004) refers to sys_exit.o(.text) for _sys_exit + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000001) for .ARM.Collect$$rtexit$$00000001 + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for .ARM.Collect$$rtexit$$00000003 + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for .ARM.Collect$$rtexit$$00000004 + argv_veneer.o(.emb_text) refers to no_argv.o(.text) for __ARM_get_argv + sys_exit.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting + sys_exit.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function + _get_argv_nomalloc.o(.text) refers (Special) to hrguard.o(.text) for __heap_region$guard + _get_argv_nomalloc.o(.text) refers to defsig_rtmem_outer.o(.text) for __rt_SIGRTMEM + _get_argv_nomalloc.o(.text) refers to sys_command.o(.text) for _sys_command_string + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) for __rt_lib_shutdown_cpp_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) for __rt_lib_shutdown_fp_trap_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) for __rt_lib_shutdown_heap_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) for __rt_lib_shutdown_return + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) for __rt_lib_shutdown_signal_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) for __rt_lib_shutdown_stdio_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) for __rt_lib_shutdown_user_alloc_1 + sys_command.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting + sys_command.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function + defsig_rtmem_outer.o(.text) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner + defsig_rtmem_outer.o(.text) refers to defsig_exit.o(.text) for __sig_exit + defsig_rtmem_formal.o(.text) refers to rt_raise.o(.text) for __rt_raise + rt_raise.o(.text) refers to __raise.o(.text) for __raise + rt_raise.o(.text) refers to sys_exit.o(.text) for _sys_exit + defsig_exit.o(.text) refers to sys_exit.o(.text) for _sys_exit + defsig_rtmem_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + __raise.o(.text) refers to defsig.o(CL$$defsig) for __default_signal_handler + defsig_general.o(.text) refers to retarget.o(i._ttywrch) for _ttywrch + defsig.o(CL$$defsig) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner + defsig_abrt_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_fpe_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_rtred_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_stak_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_pvfn_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_cppl_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_segv_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_other.o(.text) refers to defsig_general.o(.text) for __default_signal_display + + +============================================================================== + +Removing Unused input sections from the image. + + Removing main.o(.rev16_text), (4 bytes). + Removing main.o(.revsh_text), (4 bytes). + Removing main.o(.rrx_text), (6 bytes). + Removing hal.o(.rev16_text), (4 bytes). + Removing hal.o(.revsh_text), (4 bytes). + Removing hal.o(.rrx_text), (6 bytes). + Removing hal.o(i.MPUReadBuf), (572 bytes). + Removing hal.o(i.MPUWriteACK), (164 bytes). + Removing hal.o(i.MPUWriteAddr), (156 bytes). + Removing mpu.o(i.MpuGetData), (184 bytes). + Removing mpu.o(i.mpu6050_rest), (24 bytes). + Removing mpu.o(.bss), (36 bytes). + Removing mpu.o(.data), (4 bytes). + Removing retarget.o(.rev16_text), (4 bytes). + Removing retarget.o(.revsh_text), (4 bytes). + Removing retarget.o(.rrx_text), (6 bytes). + Removing retarget.o(i.GetChar), (28 bytes). + Removing retarget.o(i.IsDebugFifoEmpty), (16 bytes). + Removing retarget.o(i._ttywrch), (12 bytes). + Removing retarget.o(i.fgetc), (10 bytes). + Removing retarget.o(i.kbhit), (16 bytes). + Removing system_m451series.o(.rev16_text), (4 bytes). + Removing system_m451series.o(.revsh_text), (4 bytes). + Removing system_m451series.o(.rrx_text), (6 bytes). + Removing clk.o(.rev16_text), (4 bytes). + Removing clk.o(.revsh_text), (4 bytes). + Removing clk.o(.rrx_text), (6 bytes). + Removing clk.o(i.CLK_DisableCKO), (16 bytes). + Removing clk.o(i.CLK_DisableModuleClock), (44 bytes). + Removing clk.o(i.CLK_DisableSysTick), (10 bytes). + Removing clk.o(i.CLK_DisableXtalRC), (20 bytes). + Removing clk.o(i.CLK_EnableCKO), (48 bytes). + Removing clk.o(i.CLK_EnableSysTick), (72 bytes). + Removing clk.o(i.CLK_GetCPUFreq), (16 bytes). + Removing clk.o(i.CLK_GetHCLKFreq), (16 bytes). + Removing clk.o(i.CLK_GetHXTFreq), (28 bytes). + Removing clk.o(i.CLK_GetLXTFreq), (24 bytes). + Removing clk.o(i.CLK_GetPCLK0Freq), (40 bytes). + Removing clk.o(i.CLK_GetPCLK1Freq), (40 bytes). + Removing clk.o(i.CLK_Idle), (40 bytes). + Removing clk.o(i.CLK_PowerDown), (40 bytes). + Removing clk.o(i.CLK_SetModuleClock), (84 bytes). + Removing clk.o(i.CLK_SetSysTickClockSrc), (24 bytes). + Removing i2c.o(.rev16_text), (4 bytes). + Removing i2c.o(.revsh_text), (4 bytes). + Removing i2c.o(.rrx_text), (6 bytes). + Removing i2c.o(i.I2C_ClearTimeoutFlag), (10 bytes). + Removing i2c.o(i.I2C_Close), (76 bytes). + Removing i2c.o(i.I2C_DisableInt), (10 bytes). + Removing i2c.o(i.I2C_DisableTimeout), (10 bytes). + Removing i2c.o(i.I2C_DisableWakeup), (10 bytes). + Removing i2c.o(i.I2C_EnableInt), (10 bytes). + Removing i2c.o(i.I2C_EnableTimeout), (30 bytes). + Removing i2c.o(i.I2C_EnableWakeup), (10 bytes). + Removing i2c.o(i.I2C_GetData), (8 bytes). + Removing i2c.o(i.I2C_GetIntFlag), (10 bytes). + Removing i2c.o(i.I2C_GetStatus), (6 bytes). + Removing i2c.o(i.I2C_SMBusClearInterruptFlag), (8 bytes). + Removing i2c.o(i.I2C_SMBusClockLoTimeout), (70 bytes). + Removing i2c.o(i.I2C_SMBusClose), (6 bytes). + Removing i2c.o(i.I2C_SMBusGetPECValue), (8 bytes). + Removing i2c.o(i.I2C_SMBusGetStatus), (6 bytes). + Removing i2c.o(i.I2C_SMBusIdleTimeout), (50 bytes). + Removing i2c.o(i.I2C_SMBusOpen), (32 bytes). + Removing i2c.o(i.I2C_SMBusPECTxEnable), (30 bytes). + Removing i2c.o(i.I2C_SMBusSetPacketByteCount), (4 bytes). + Removing i2c.o(i.I2C_SMBusTimeout), (70 bytes). + Removing i2c.o(i.I2C_SetBusClockFreq), (52 bytes). + Removing i2c.o(i.I2C_SetData), (4 bytes). + Removing i2c.o(i.I2C_SetSlaveAddrMask), (46 bytes). + +70 unused section(s) (total 2444 bytes) removed from the image. + +============================================================================== + +Image Symbol Table + + Local Symbols + + Symbol Name Value Ov Type Size Object(Section) + + RESET 0x00000000 Section 320 startup_m451series.o(RESET) + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit1.o ABSOLUTE + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE + ../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE + ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_copy.o ABSOLUTE + ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 rtexit.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 rtexit2.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry2.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry4.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE + ../clib/angel/scatter.s 0x00000000 Number 0 __scatter.o ABSOLUTE + ../clib/angel/startup.s 0x00000000 Number 0 __main.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 sys_stackheap_outer.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 indicate_semi.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 use_no_semi.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE + ../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE + ../clib/angel/sysapp.c 0x00000000 Number 0 sys_exit.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 no_argv.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 _get_argv_nomalloc.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE + ../clib/heapalloc.c 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../clib/printf.c 0x00000000 Number 0 _printf_hex_int.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_hex_int_ll.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_hex_ptr.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_hex_int_ptr.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_hex_ll_ptr.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_hex_int_ll_ptr.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_ss.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags_ss.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_nopercent.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_char_common.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_ss_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags_ss_wp.o ABSOLUTE + ../clib/printf_percent.s 0x00000000 Number 0 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_init_user_alloc - Undefined Weak Reference + _initio - Undefined Weak Reference + _printf_truncate_signed - Undefined Weak Reference + _printf_truncate_unsigned - Undefined Weak Reference + _rand_init - Undefined Weak Reference + _signal_finish - Undefined Weak Reference + _signal_init - Undefined Weak Reference + _terminate_alloc - Undefined Weak Reference + _terminate_user_alloc - Undefined Weak Reference + _terminateio - Undefined Weak Reference + __Vectors_End 0x00000140 Data 0 startup_m451series.o(RESET) + __Vectors_Size 0x00000140 Number 0 startup_m451series.o ABSOLUTE + __main 0x00000141 Thumb Code 8 __main.o(!!!main) + __scatterload 0x00000149 Thumb Code 0 __scatter.o(!!!scatter) + __scatterload_rt2 0x00000149 Thumb Code 44 __scatter.o(!!!scatter) + __scatterload_rt2_thumb_only 0x00000149 Thumb Code 0 __scatter.o(!!!scatter) + __scatterload_null 0x00000157 Thumb Code 0 __scatter.o(!!!scatter) + __scatterload_copy 0x0000017d Thumb Code 26 __scatter_copy.o(!!handler_copy) + 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startup_m451series.o(.text) + ACMP01_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + ADC00_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + ADC01_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + ADC02_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + ADC03_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + BOD_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + BRAKE0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + BRAKE1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + CAN0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + CLKFAIL_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + DAC_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + EINT0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + EINT1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + EINT2_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + EINT3_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + EINT4_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + EINT5_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + GPA_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + GPB_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + GPC_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + GPD_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + GPE_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + GPF_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + I2C0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + I2C1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + IRC_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PDMA_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWM0P0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWM0P1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWM0P2_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWM1P0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWM1P1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWM1P2_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + PWRWU_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + RAMPE_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + RTC_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + SC0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + SPI0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + SPI1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + SPI2_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + TAMPER_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + TK_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + TMR0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + TMR1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + TMR2_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + TMR3_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + UART0_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + UART1_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + UART2_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + UART3_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + USBD_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + USBH_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + USBOTG_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + WDT_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + WWDT_IRQHandler 0x00000251 Thumb Code 0 startup_m451series.o(.text) + __user_initial_stackheap 0x00000255 Thumb Code 10 startup_m451series.o(.text) + __2printf 0x00000281 Thumb Code 20 noretval__2printf.o(.text) + _printf_pre_padding 0x00000299 Thumb Code 44 _printf_pad.o(.text) + _printf_post_padding 0x000002c5 Thumb Code 34 _printf_pad.o(.text) + _printf_int_dec 0x000002e9 Thumb Code 104 _printf_dec.o(.text) + _printf_int_hex 0x00000361 Thumb Code 84 _printf_hex_int.o(.text) + _printf_longlong_hex 0x00000361 Thumb Code 0 _printf_hex_int.o(.text) + __printf 0x000003b9 Thumb Code 308 __printf_flags_wp.o(.text) + __use_two_region_memory 0x000004f1 Thumb Code 2 heapauxi.o(.text) + __rt_heap_escrow$2region 0x000004f3 Thumb Code 2 heapauxi.o(.text) + __rt_heap_expand$2region 0x000004f5 Thumb Code 2 heapauxi.o(.text) + _printf_int_common 0x000004f7 Thumb Code 178 _printf_intcommon.o(.text) + _printf_char_file 0x000005a9 Thumb Code 32 _printf_char_file.o(.text) + _printf_char_common 0x000005d7 Thumb Code 32 _printf_char_common.o(.text) + __user_setup_stackheap 0x000005fd Thumb Code 74 sys_stackheap_outer.o(.text) + exit 0x00000647 Thumb Code 18 exit.o(.text) + __user_libspace 0x00000659 Thumb Code 8 libspace.o(.text) + __user_perproc_libspace 0x00000659 Thumb Code 0 libspace.o(.text) + __user_perthread_libspace 0x00000659 Thumb Code 0 libspace.o(.text) + _sys_exit 0x00000661 Thumb Code 8 sys_exit.o(.text) + __I$use$semihosting 0x0000066d Thumb Code 0 use_no_semi.o(.text) + __use_no_semihosting_swi 0x0000066d Thumb Code 2 use_no_semi.o(.text) + __semihosting_library_function 0x0000066f Thumb Code 0 indicate_semi.o(.text) + CLK_DisablePLL 0x00000671 Thumb Code 18 clk.o(i.CLK_DisablePLL) + CLK_EnableModuleClock 0x00000689 Thumb Code 44 clk.o(i.CLK_EnableModuleClock) + CLK_EnablePLL 0x000006b5 Thumb Code 330 clk.o(i.CLK_EnablePLL) + CLK_EnableXtalRC 0x0000082d Thumb Code 16 clk.o(i.CLK_EnableXtalRC) + CLK_SetCoreClock 0x000008a5 Thumb Code 162 clk.o(i.CLK_SetCoreClock) + CLK_SetHCLK 0x00000955 Thumb Code 118 clk.o(i.CLK_SetHCLK) + CLK_WaitClockReady 0x000009d1 Thumb Code 32 clk.o(i.CLK_WaitClockReady) + HalInit 0x000009f9 Thumb Code 180 main.o(i.HalInit) + Hard_Fault_Handler 0x00000ad1 Thumb Code 18 retarget.o(i.Hard_Fault_Handler) + I2C_GetBusClockFreq 0x00000afd Thumb Code 18 i2c.o(i.I2C_GetBusClockFreq) + I2C_Open 0x00000b15 Thumb Code 54 i2c.o(i.I2C_Open) + I2C_SetSlaveAddr 0x00000b51 Thumb Code 56 i2c.o(i.I2C_SetSlaveAddr) + I2C_Trigger 0x00000b89 Thumb Code 44 i2c.o(i.I2C_Trigger) + MPUReadReg 0x00000bb5 Thumb Code 384 hal.o(i.MPUReadReg) + MPUWriteReg 0x00000df9 Thumb Code 246 hal.o(i.MPUWriteReg) + MpuInit 0x00000f6d Thumb Code 108 mpu.o(i.MpuInit) + SendChar 0x00000fd9 Thumb Code 12 retarget.o(i.SendChar) + SendChar_ToUART 0x00000fe5 Thumb Code 44 retarget.o(i.SendChar_ToUART) + SystemCoreClockUpdate 0x00001015 Thumb Code 2 system_m451series.o(i.SystemCoreClockUpdate) + SystemInit 0x00001019 Thumb Code 104 system_m451series.o(i.SystemInit) + _is_digit 0x0000108d Thumb Code 14 __printf_wp.o(i._is_digit) + delay_ms 0x0000109b Thumb Code 36 mpu.o(i.delay_ms) + ferror 0x000010bf Thumb Code 8 retarget.o(i.ferror) + fputc 0x000010c7 Thumb Code 16 retarget.o(i.fputc) + main 0x000010d7 Thumb Code 14 main.o(i.main) + _fp_init 0x0000118d Thumb Code 10 fpinit.o(x$fpl$fpinit) + __fplib_config_fpu_vfp 0x00001195 Thumb Code 0 fpinit.o(x$fpl$fpinit) + __fplib_config_pureend_doubles 0x00001195 Thumb Code 0 fpinit.o(x$fpl$fpinit) + Region$$Table$$Base 0x000011d0 Number 0 anon$$obj.o(Region$$Table) + Region$$Table$$Limit 0x000011f0 Number 0 anon$$obj.o(Region$$Table) + __stdout 0x20000000 Data 4 retarget.o(.data) + __stdin 0x20000004 Data 4 retarget.o(.data) + SystemCoreClock 0x20000008 Data 4 system_m451series.o(.data) + CyclesPerUs 0x2000000c Data 4 system_m451series.o(.data) + PllClock 0x20000010 Data 4 system_m451series.o(.data) + gau32ClkSrcTbl 0x20000014 Data 32 system_m451series.o(.data) + __libspace_start 0x20000034 Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x20000094 Data 0 libspace.o(.bss) + + + +============================================================================== + +Memory Map of the image + + Image Entry point : 0x0000020d + + Load Region LR_1 (Base: 0x00000000, Size: 0x00001224, Max: 0xffffffff, ABSOLUTE) + + Execution Region ER_RO (Exec base: 0x00000000, Load base: 0x00000000, Size: 0x000011f0, Max: 0xffffffff, ABSOLUTE) + + Exec Addr Load Addr Size Type Attr Idx E Section Name Object + + 0x00000000 0x00000000 0x00000140 Data RO 347 RESET startup_m451series.o + 0x00000140 0x00000140 0x00000008 Code RO 796 * !!!main c_w.l(__main.o) + 0x00000148 0x00000148 0x00000034 Code RO 960 !!!scatter c_w.l(__scatter.o) + 0x0000017c 0x0000017c 0x0000001a Code RO 962 !!handler_copy c_w.l(__scatter_copy.o) + 0x00000196 0x00000196 0x00000002 PAD + 0x00000198 0x00000198 0x0000001c Code RO 964 !!handler_zi c_w.l(__scatter_zi.o) + 0x000001b4 0x000001b4 0x00000000 Code RO 793 .ARM.Collect$$_printf_percent$$00000000 c_w.l(_printf_percent.o) + 0x000001b4 0x000001b4 0x00000006 Code RO 792 .ARM.Collect$$_printf_percent$$00000009 c_w.l(_printf_d.o) + 0x000001ba 0x000001ba 0x00000006 Code RO 791 .ARM.Collect$$_printf_percent$$0000000C c_w.l(_printf_x.o) + 0x000001c0 0x000001c0 0x00000004 Code RO 803 .ARM.Collect$$_printf_percent$$00000017 c_w.l(_printf_percent_end.o) + 0x000001c4 0x000001c4 0x00000002 Code RO 832 .ARM.Collect$$libinit$$00000000 c_w.l(libinit.o) + 0x000001c6 0x000001c6 0x00000004 Code RO 838 .ARM.Collect$$libinit$$00000001 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 841 .ARM.Collect$$libinit$$00000004 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 844 .ARM.Collect$$libinit$$0000000A c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 846 .ARM.Collect$$libinit$$0000000C c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 848 .ARM.Collect$$libinit$$0000000E c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 851 .ARM.Collect$$libinit$$00000011 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 853 .ARM.Collect$$libinit$$00000013 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 855 .ARM.Collect$$libinit$$00000015 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 857 .ARM.Collect$$libinit$$00000017 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 859 .ARM.Collect$$libinit$$00000019 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 861 .ARM.Collect$$libinit$$0000001B c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 863 .ARM.Collect$$libinit$$0000001D c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 865 .ARM.Collect$$libinit$$0000001F c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 867 .ARM.Collect$$libinit$$00000021 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 869 .ARM.Collect$$libinit$$00000023 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 871 .ARM.Collect$$libinit$$00000025 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 875 .ARM.Collect$$libinit$$0000002C c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 877 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 879 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000000 Code RO 881 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x000001ca 0x000001ca 0x00000002 Code RO 882 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x000001cc 0x000001cc 0x00000002 Code RO 902 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x000001ce 0x000001ce 0x00000000 Code RO 915 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x000001ce 0x000001ce 0x00000000 Code RO 917 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x000001ce 0x000001ce 0x00000000 Code RO 920 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x000001ce 0x000001ce 0x00000000 Code RO 923 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x000001ce 0x000001ce 0x00000000 Code RO 925 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x000001ce 0x000001ce 0x00000000 Code RO 928 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x000001ce 0x000001ce 0x00000002 Code RO 929 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x000001d0 0x000001d0 0x00000000 Code RO 798 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x000001d0 0x000001d0 0x00000000 Code RO 805 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x000001d0 0x000001d0 0x00000006 Code RO 817 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x000001d6 0x000001d6 0x00000000 Code RO 807 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x000001d6 0x000001d6 0x00000004 Code RO 808 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x000001da 0x000001da 0x00000000 Code RO 810 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x000001da 0x000001da 0x00000008 Code RO 811 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x000001e2 0x000001e2 0x00000002 Code RO 836 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x000001e4 0x000001e4 0x00000000 Code RO 884 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x000001e4 0x000001e4 0x00000004 Code RO 885 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x000001e8 0x000001e8 0x00000006 Code RO 886 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x000001ee 0x000001ee 0x00000002 PAD + 0x000001f0 0x000001f0 0x0000001c Code RO 232 .emb_text retarget.o + 0x0000020c 0x0000020c 0x00000074 Code RO 348 * .text startup_m451series.o + 0x00000280 0x00000280 0x00000018 Code RO 742 .text c_w.l(noretval__2printf.o) + 0x00000298 0x00000298 0x0000004e Code RO 746 .text c_w.l(_printf_pad.o) + 0x000002e6 0x000002e6 0x00000002 PAD + 0x000002e8 0x000002e8 0x00000078 Code RO 748 .text c_w.l(_printf_dec.o) + 0x00000360 0x00000360 0x00000058 Code RO 753 .text c_w.l(_printf_hex_int.o) + 0x000003b8 0x000003b8 0x00000138 Code RO 783 .text c_w.l(__printf_flags_wp.o) + 0x000004f0 0x000004f0 0x00000006 Code RO 794 .text c_w.l(heapauxi.o) + 0x000004f6 0x000004f6 0x000000b2 Code RO 799 .text c_w.l(_printf_intcommon.o) + 0x000005a8 0x000005a8 0x00000024 Code RO 801 .text c_w.l(_printf_char_file.o) + 0x000005cc 0x000005cc 0x00000030 Code RO 819 .text c_w.l(_printf_char_common.o) + 0x000005fc 0x000005fc 0x0000004a Code RO 821 .text c_w.l(sys_stackheap_outer.o) + 0x00000646 0x00000646 0x00000012 Code RO 825 .text c_w.l(exit.o) + 0x00000658 0x00000658 0x00000008 Code RO 833 .text c_w.l(libspace.o) + 0x00000660 0x00000660 0x0000000c Code RO 894 .text c_w.l(sys_exit.o) + 0x0000066c 0x0000066c 0x00000002 Code RO 905 .text c_w.l(use_no_semi.o) + 0x0000066e 0x0000066e 0x00000000 Code RO 907 .text c_w.l(indicate_semi.o) + 0x0000066e 0x0000066e 0x00000002 PAD + 0x00000670 0x00000670 0x00000018 Code RO 393 i.CLK_DisablePLL clk.o + 0x00000688 0x00000688 0x0000002c Code RO 397 i.CLK_EnableModuleClock clk.o + 0x000006b4 0x000006b4 0x00000178 Code RO 398 i.CLK_EnablePLL clk.o + 0x0000082c 0x0000082c 0x00000014 Code RO 400 i.CLK_EnableXtalRC clk.o + 0x00000840 0x00000840 0x00000064 Code RO 407 i.CLK_GetPLLClockFreq clk.o + 0x000008a4 0x000008a4 0x000000b0 Code RO 410 i.CLK_SetCoreClock clk.o + 0x00000954 0x00000954 0x0000007c Code RO 411 i.CLK_SetHCLK clk.o + 0x000009d0 0x000009d0 0x00000028 Code RO 414 i.CLK_WaitClockReady clk.o + 0x000009f8 0x000009f8 0x000000d8 Code RO 4 i.HalInit main.o + 0x00000ad0 0x00000ad0 0x0000002c Code RO 234 i.Hard_Fault_Handler retarget.o + 0x00000afc 0x00000afc 0x00000018 Code RO 563 i.I2C_GetBusClockFreq i2c.o + 0x00000b14 0x00000b14 0x0000003c Code RO 567 i.I2C_Open i2c.o + 0x00000b50 0x00000b50 0x00000038 Code RO 580 i.I2C_SetSlaveAddr i2c.o + 0x00000b88 0x00000b88 0x0000002c Code RO 582 i.I2C_Trigger i2c.o + 0x00000bb4 0x00000bb4 0x00000244 Code RO 137 i.MPUReadReg hal.o + 0x00000df8 0x00000df8 0x00000174 Code RO 140 i.MPUWriteReg hal.o + 0x00000f6c 0x00000f6c 0x0000006c Code RO 192 i.MpuInit mpu.o + 0x00000fd8 0x00000fd8 0x0000000c Code RO 236 i.SendChar retarget.o + 0x00000fe4 0x00000fe4 0x00000030 Code RO 237 i.SendChar_ToUART retarget.o + 0x00001014 0x00001014 0x00000002 Code RO 355 i.SystemCoreClockUpdate system_m451series.o + 0x00001016 0x00001016 0x00000002 PAD + 0x00001018 0x00001018 0x00000074 Code RO 356 i.SystemInit system_m451series.o + 0x0000108c 0x0000108c 0x0000000e Code RO 781 i._is_digit c_w.l(__printf_wp.o) + 0x0000109a 0x0000109a 0x00000024 Code RO 193 i.delay_ms mpu.o + 0x000010be 0x000010be 0x00000008 Code RO 239 i.ferror retarget.o + 0x000010c6 0x000010c6 0x00000010 Code RO 241 i.fputc retarget.o + 0x000010d6 0x000010d6 0x0000000e Code RO 5 i.main main.o + 0x000010e4 0x000010e4 0x000000a8 Code RO 243 i.stackDump retarget.o + 0x0000118c 0x0000118c 0x0000000a Code RO 892 x$fpl$fpinit fz_wm.l(fpinit.o) + 0x00001196 0x00001196 0x00000028 Data RO 754 .constdata c_w.l(_printf_hex_int.o) + 0x000011be 0x000011be 0x00000011 Data RO 784 .constdata c_w.l(__printf_flags_wp.o) + 0x000011cf 0x000011cf 0x00000001 PAD + 0x000011d0 0x000011d0 0x00000020 Data RO 958 Region$$Table anon$$obj.o + + + Execution Region ER_RW (Exec base: 0x20000000, Load base: 0x000011f0, Size: 0x00000034, Max: 0xffffffff, ABSOLUTE) + + Exec Addr Load Addr Size Type Attr Idx E Section Name Object + + 0x20000000 0x000011f0 0x00000008 Data RW 244 .data retarget.o + 0x20000008 0x000011f8 0x0000002c Data RW 357 .data system_m451series.o + + + Execution Region ER_ZI (Exec base: 0x20000034, Load base: 0x00001224, Size: 0x00000464, Max: 0xffffffff, ABSOLUTE) + + Exec Addr Load Addr Size Type Attr Idx E Section Name Object + + 0x20000034 - 0x00000060 Zero RW 834 .bss c_w.l(libspace.o) + 0x20000094 0x00001224 0x00000004 PAD + 0x20000098 - 0x00000000 Zero RW 346 HEAP startup_m451series.o + 0x20000098 - 0x00000400 Zero RW 345 STACK startup_m451series.o + + +============================================================================== + +Image component sizes + + + Code (inc. data) RO Data RW Data ZI Data Debug Object Name + + 904 100 0 0 0 20294 clk.o + 952 322 0 0 0 1599 hal.o + 184 12 0 0 0 3274 i2c.o + 230 36 0 0 0 237653 main.o + 144 0 0 0 0 2633 mpu.o + 324 132 0 8 0 5701 retarget.o + 116 36 320 0 1024 928 startup_m451series.o + 118 12 0 44 0 2003 system_m451series.o + + ---------------------------------------------------------------------- + 2974 650 352 52 1024 274085 Object Totals + 0 0 32 0 0 0 (incl. Generated) + 2 0 0 0 0 0 (incl. Padding) + + ---------------------------------------------------------------------- + + Code (inc. data) RO Data RW Data ZI Data Debug Library Member Name + + 8 0 0 0 0 68 __main.o + 312 4 17 0 0 92 __printf_flags_wp.o + 14 0 0 0 0 68 __printf_wp.o + 0 0 0 0 0 0 __rtentry.o + 12 0 0 0 0 0 __rtentry2.o + 6 0 0 0 0 0 __rtentry4.o + 52 8 0 0 0 0 __scatter.o + 26 0 0 0 0 0 __scatter_copy.o + 28 0 0 0 0 0 __scatter_zi.o + 48 6 0 0 0 96 _printf_char_common.o + 36 4 0 0 0 80 _printf_char_file.o + 6 0 0 0 0 0 _printf_d.o + 120 16 0 0 0 92 _printf_dec.o + 88 4 40 0 0 88 _printf_hex_int.o + 178 0 0 0 0 88 _printf_intcommon.o + 78 0 0 0 0 108 _printf_pad.o + 0 0 0 0 0 0 _printf_percent.o + 4 0 0 0 0 0 _printf_percent_end.o + 6 0 0 0 0 0 _printf_x.o + 18 0 0 0 0 80 exit.o + 6 0 0 0 0 152 heapauxi.o + 0 0 0 0 0 0 indicate_semi.o + 2 0 0 0 0 0 libinit.o + 6 0 0 0 0 0 libinit2.o + 2 0 0 0 0 0 libshutdown.o + 2 0 0 0 0 0 libshutdown2.o + 8 4 0 0 96 68 libspace.o + 24 4 0 0 0 84 noretval__2printf.o + 2 0 0 0 0 0 rtexit.o + 10 0 0 0 0 0 rtexit2.o + 12 4 0 0 0 68 sys_exit.o + 74 0 0 0 0 80 sys_stackheap_outer.o + 2 0 0 0 0 68 use_no_semi.o + 10 0 0 0 0 116 fpinit.o + + ---------------------------------------------------------------------- + 1208 54 58 0 100 1496 Library Totals + 8 0 1 0 4 0 (incl. Padding) + + ---------------------------------------------------------------------- + + Code (inc. data) RO Data RW Data ZI Data Debug Library Name + + 1190 54 57 0 96 1380 c_w.l + 10 0 0 0 0 116 fz_wm.l + + ---------------------------------------------------------------------- + 1208 54 58 0 100 1496 Library Totals + + ---------------------------------------------------------------------- + +============================================================================== + + + Code (inc. data) RO Data RW Data ZI Data Debug + + 4182 704 410 52 1124 272857 Grand Totals + 4182 704 410 52 1124 272857 ELF Image Totals + 4182 704 410 52 0 0 ROM Totals + +============================================================================== + + Total RO Size (Code + RO Data) 4592 ( 4.48kB) + Total RW Size (RW Data + ZI Data) 1176 ( 1.15kB) + Total ROM Size (Code + RO Data + RW Data) 4644 ( 4.54kB) + +============================================================================== + diff --git a/mpu6050/m451/Objects/mpu9250.axf b/mpu6050/m451/Objects/mpu9250.axf new file mode 100644 index 0000000..9dbf3e6 Binary files /dev/null and b/mpu6050/m451/Objects/mpu9250.axf differ diff --git a/mpu6050/m451/Objects/mpu9250.lnp b/mpu6050/m451/Objects/mpu9250.lnp new file mode 100644 index 0000000..85eef94 --- /dev/null +++ b/mpu6050/m451/Objects/mpu9250.lnp @@ -0,0 +1,12 @@ +--cpu=Cortex-M4.fp +".\objects\main.o" +".\objects\hal.o" +".\objects\mpu.o" +".\objects\retarget.o" +".\objects\startup_m451series.o" +".\objects\system_m451series.o" +".\objects\clk.o" +".\objects\i2c.o" +--ro-base 0x00000000 --entry 0x00000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols +--info sizes --info totals --info unused --info veneers +--list ".\Listings\mpu9250.map" -o .\Objects\mpu9250.axf \ No newline at end of file diff --git a/mpu6050/m451/RTE/Device/M451RG6AE/retarget.c b/mpu6050/m451/RTE/Device/M451RG6AE/retarget.c new file mode 100644 index 0000000..a31f927 --- /dev/null +++ b/mpu6050/m451/RTE/Device/M451RG6AE/retarget.c @@ -0,0 +1,674 @@ +/**************************************************************************//** + * @file retarget.c + * @version V3.00 + * $Revision: 14 $ + * $Date: 15/11/02 9:02a $ + * @brief M451 Series Debug Port and Semihost Setting Source File + * + * @note + * Copyright (C) 2011~2015 Nuvoton Technology Corp. All rights reserved. + * + ******************************************************************************/ + + +#include +#include "M451Series.h" + +#if defined ( __CC_ARM ) +#if (__ARMCC_VERSION < 400000) +#else +/* Insist on keeping widthprec, to avoid X propagation by benign code in C-lib */ +#pragma import _printf_widthprec +#endif +#endif + +/*---------------------------------------------------------------------------------------------------------*/ +/* Global variables */ +/*---------------------------------------------------------------------------------------------------------*/ +#if !(defined(__ICCARM__) && (__VER__ >= 6010000)) +struct __FILE +{ + int handle; /* Add whatever you need here */ +}; +#endif +FILE __stdout; +FILE __stdin; + +enum { r0, r1, r2, r3, r12, lr, pc, psr}; + +/** + * @brief Helper function to dump register while hard fault occurred + * @param[in] stack pointer points to the dumped registers in SRAM + * @return None + * @details This function is implement to print r0, r1, r2, r3, r12, lr, pc, psr + */ +static void stackDump(uint32_t stack[]) +{ + printf("r0 = 0x%x\n", stack[r0]); + printf("r1 = 0x%x\n", stack[r1]); + printf("r2 = 0x%x\n", stack[r2]); + printf("r3 = 0x%x\n", stack[r3]); + printf("r12 = 0x%x\n", stack[r12]); + printf("lr = 0x%x\n", stack[lr]); + printf("pc = 0x%x\n", stack[pc]); + printf("psr = 0x%x\n", stack[psr]); +} + +/** + * @brief Hard fault handler + * @param[in] stack pointer points to the dumped registers in SRAM + * @return None + * @details Replace while(1) at the end of this function with chip reset if WDT is not enabled for end product + */ +void Hard_Fault_Handler(uint32_t stack[]) +{ + printf("In Hard Fault Handler\n"); + + stackDump(stack); + // Replace while(1) with chip reset if WDT is not enabled for end product + while(1); + //SYS->IPRST0 = SYS_IPRST0_CHIPRST_Msk; +} + + + +/*---------------------------------------------------------------------------------------------------------*/ +/* Routine to write a char */ +/*---------------------------------------------------------------------------------------------------------*/ + +#if defined(DEBUG_ENABLE_SEMIHOST) +/* The static buffer is used to speed up the semihost */ +static char g_buf[16]; +static char g_buf_len = 0; + +# if defined(__ICCARM__) + +void SH_End(void) +{ + asm("MOVS R0,#1 \n" //; Set return value to 1 + "BX lr \n" //; Return + ); +} + +void SH_ICE(void) +{ + asm("CMP R2,#0 \n" + "BEQ SH_End \n" + "STR R0,[R2] \n" //; Save the return value to *pn32Out_R0 + ); +} + +/** + * + * @brief The function to process semihosted command + * @param[in] n32In_R0 : semihost register 0 + * @param[in] n32In_R1 : semihost register 1 + * @param[out] pn32Out_R0: semihost register 0 + * @retval 0: No ICE debug + * @retval 1: ICE debug + * + */ +int32_t SH_DoCommand(int32_t n32In_R0, int32_t n32In_R1, int32_t *pn32Out_R0) +{ + asm("BKPT 0xAB \n" //; This instruction will cause ICE trap or system HardFault + "B SH_ICE \n" + "SH_HardFault: \n" //; Captured by HardFault + "MOVS R0,#0 \n" //; Set return value to 0 + "BX lr \n" //; Return + ); + + return 1; //; Return 1 when it is trap by ICE +} + +/** + * @brief Get LR value and branch to Hard_Fault_Handler function + * @param None + * @return None + * @details This function is use to get LR value and branch to Hard_Fault_Handler function. + */ +void Get_LR_and_Branch(void) +{ + asm("MOV R1, LR \n" //; LR current value + "B Hard_Fault_Handler \n" + ); +} + +/** + * @brief Get MSP value and branch to Get_LR_and_Branch function + * @param None + * @return None + * @details This function is use to get stack pointer value and branch to Get_LR_and_Branch function. + */ +void Stack_Use_MSP(void) +{ + asm("MRS R0, MSP \n" //; read MSP + "B Get_LR_and_Branch \n" + ); +} + +/** + * @brief Get stack pointer value and branch to Get_LR_and_Branch function + * @param None + * @return None + * @details This function is use to get stack pointer value and branch to Get_LR_and_Branch function. + */ +void HardFault_Handler_Ret(void) +{ + asm("MOVS r0, #4 \n" + "MOV r1, LR \n" + "TST r0, r1 \n" //; check LR bit 2 + "BEQ Stack_Use_MSP \n" //; stack use MSP + "MRS R0, PSP \n" //; stack use PSP, read PSP + "B Get_LR_and_Branch \n" + ); +} + +/** + * @brief This function is implemented to support semihost + * @param None + * @returns None + * @details This function is implement to support semihost message print. + * + */ +void SP_Read_Ready(void) +{ + asm("LDR R1, [R0, #24] \n" //; Get previous PC + "LDRH R3, [R1] \n" //; Get instruction + "LDR R2, [pc, #8] \n" //; The special BKPT instruction + "CMP R3, R2 \n" //; Test if the instruction at previous PC is BKPT + "BNE HardFault_Handler_Ret \n" //; Not BKPT + "ADDS R1, #4 \n" //; Skip BKPT and next line + "STR R1, [R0, #24] \n" //; Save previous PC + "BX lr \n" //; Return + "DCD 0xBEAB \n" //; BKPT instruction code + "B HardFault_Handler_Ret \n" + ); +} + +/** + * @brief Get stack pointer value and branch to Get_LR_and_Branch function + * @param None + * @return None + * @details This function is use to get stack pointer value and branch to Get_LR_and_Branch function. + */ +void SP_is_PSP(void) +{ + asm( + "MRS R0, PSP \n" //; stack use PSP, read PSP + "B Get_LR_and_Branch \n" + + ); +} + +/** + * @brief This HardFault handler is implemented to support semihost + * + * @param None + * + * @returns None + * + * @details This function is implement to support semihost message print. + * + */ +void HardFault_Handler (void) +{ + asm("MOV R0, lr \n" + "LSLS R0, #29 \n" //; Check bit 2 + "BMI SP_is_PSP \n" //; previous stack is PSP + "MRS R0, MSP \n" //; previous stack is MSP, read MSP + "B SP_Read_Ready \n" + ); + + while(1); +} + +# else + +/** + * @brief This HardFault handler is implemented to support semihost + * @param None + * @returns None + * @details This function is implement to support semihost message print. + * + */ +__asm int32_t HardFault_Handler(void) +{ + MOV R0, LR + LSLS R0, #29 //; Check bit 2 + BMI SP_is_PSP //; previous stack is PSP + MRS R0, MSP //; previous stack is MSP, read MSP + B SP_Read_Ready +SP_is_PSP + MRS R0, PSP //; Read PSP + +SP_Read_Ready + LDR R1, [R0, #24] //; Get previous PC + LDRH R3, [R1] //; Get instruction + LDR R2, =0xBEAB //; The special BKPT instruction + CMP R3, R2 //; Test if the instruction at previous PC is BKPT + BNE HardFault_Handler_Ret //; Not BKPT + + ADDS R1, #4 //; Skip BKPT and next line + STR R1, [R0, #24] //; Save previous PC + + BX LR //; Return +HardFault_Handler_Ret + + /* TODO: Implement your own hard fault handler here. */ + MOVS r0, #4 + MOV r1, LR + TST r0, r1 //; check LR bit 2 + BEQ Stack_Use_MSP //; stack use MSP + MRS R0, PSP ;stack use PSP //; stack use PSP, read PSP + B Get_LR_and_Branch +Stack_Use_MSP + MRS R0, MSP ; stack use MSP //; read MSP +Get_LR_and_Branch + MOV R1, LR ; LR current value //; LR current value + LDR R2,=__cpp(Hard_Fault_Handler) //; branch to Hard_Fault_Handler + BX R2 + + B . + + ALIGN +} + +/** + * + * @brief The function to process semihosted command + * @param[in] n32In_R0 : semihost register 0 + * @param[in] n32In_R1 : semihost register 1 + * @param[out] pn32Out_R0: semihost register 0 + * @retval 0: No ICE debug + * @retval 1: ICE debug + * + */ +__asm int32_t SH_DoCommand(int32_t n32In_R0, int32_t n32In_R1, int32_t *pn32Out_R0) +{ + BKPT 0xAB //; Wait ICE or HardFault + //; ICE will step over BKPT directly + //; HardFault will step BKPT and the next line + B SH_ICE + +SH_HardFault //; Captured by HardFault + MOVS R0, #0 //; Set return value to 0 + BX lr //; Return + +SH_ICE //; Captured by ICE + //; Save return value + CMP R2, #0 + BEQ SH_End + STR R0, [R2] //; Save the return value to *pn32Out_R0 + +SH_End + MOVS R0, #1 //; Set return value to 1 + BX lr //; Return +} +#endif + +#else + +# if defined(__ICCARM__) + +void Get_LR_and_Branch(void) +{ + asm("MOV R1, LR \n" //; LR current value + "B Hard_Fault_Handler \n" + ); +} + +void Stack_Use_MSP(void) +{ + asm("MRS R0, MSP \n" //; read MSP + "B Get_LR_and_Branch \n" + ); +} + +/** + * @brief This HardFault handler is implemented to show r0, r1, r2, r3, r12, lr, pc, psr + * + * @param None + * + * @returns None + * + * @details This function is implement to print r0, r1, r2, r3, r12, lr, pc, psr. + * + */ +void HardFault_Handler(void) +{ + asm("MOVS r0, #4 \n" + "MOV r1, LR \n" + "TST r0, r1 \n" //; check LR bit 2 + "BEQ Stack_Use_MSP \n" //; stack use MSP + "MRS R0, PSP \n" //; stack use PSP, read PSP + "B Get_LR_and_Branch \n" + ); + + while(1); +} + +# else + +/** + * @brief This HardFault handler is implemented to show r0, r1, r2, r3, r12, lr, pc, psr + * + * @param None + * + * @return None + * + * @details The function extracts the location of stack frame and passes it to Hard_Fault_Handler function as a pointer + * + */ +__asm int32_t HardFault_Handler(void) +{ + MOVS r0, #4 + MOV r1, LR + TST r0, r1 //; check LR bit 2 + BEQ Stack_Use_MSP //; stack use MSP + MRS R0, PSP //; stack use PSP, read PSP + B Get_LR_and_Branch +Stack_Use_MSP + MRS R0, MSP //; read MSP +Get_LR_and_Branch + MOV R1, LR //; LR current value + LDR R2,=__cpp(Hard_Fault_Handler) //; branch to Hard_Fault_Handler + BX R2 +} + +#endif + +#endif + + +/** + * @brief Routine to send a char + * + * @param[in] ch Character to send to debug port. + * + * @returns Send value from UART debug port + * + * @details Send a target char to UART debug port . + */ +#ifndef NONBLOCK_PRINTF +void SendChar_ToUART(int ch) +{ + while(DEBUG_PORT->FIFOSTS & UART_FIFOSTS_TXFULL_Msk); + + DEBUG_PORT->DAT = ch; + if(ch == '\n') + { + while(DEBUG_PORT->FIFOSTS & UART_FIFOSTS_TXFULL_Msk); + DEBUG_PORT->DAT = '\r'; + } +} + +#else +/* Non-block implement of send char */ +#define BUF_SIZE 2048 +void SendChar_ToUART(int ch) +{ + static uint8_t u8Buf[BUF_SIZE] = {0}; + static int32_t i32Head = 0; + static int32_t i32Tail = 0; + int32_t i32Tmp; + + /* Only flush the data in buffer to UART when ch == 0 */ + if(ch) + { + // Push char + i32Tmp = i32Head+1; + if(i32Tmp > BUF_SIZE) i32Tmp = 0; + if(i32Tmp != i32Tail) + { + u8Buf[i32Head] = ch; + i32Head = i32Tmp; + } + + if(ch == '\n') + { + i32Tmp = i32Head+1; + if(i32Tmp > BUF_SIZE) i32Tmp = 0; + if(i32Tmp != i32Tail) + { + u8Buf[i32Head] = '\r'; + i32Head = i32Tmp; + } + } + } + else + { + if(i32Tail == i32Head) + return; + } + + // pop char + do + { + i32Tmp = i32Tail + 1; + if(i32Tmp > BUF_SIZE) i32Tmp = 0; + + if((DEBUG_PORT->FIFOSTS & UART_FIFOSTS_TXFULL_Msk) == 0) + { + DEBUG_PORT->DAT = u8Buf[i32Tail]; + i32Tail = i32Tmp; + } + else + break; // FIFO full + }while(i32Tail != i32Head); +} +#endif + +/** + * @brief Routine to send a char + * + * @param[in] ch Character to send to debug port. + * + * @returns Send value from UART debug port or semihost + * + * @details Send a target char to UART debug port or semihost. + */ +void SendChar(int ch) +{ +#if defined(DEBUG_ENABLE_SEMIHOST) + g_buf[g_buf_len++] = ch; + g_buf[g_buf_len] = '\0'; + if(g_buf_len + 1 >= sizeof(g_buf) || ch == '\n' || ch == '\0') + { + /* Send the char */ + if(SH_DoCommand(0x04, (int)g_buf, NULL) != 0) + { + g_buf_len = 0; + return; + } + else + { + g_buf_len = 0; + } + } +#else + SendChar_ToUART(ch); +#endif +} + +/** + * @brief Routine to get a char + * + * @param None + * + * @returns Get value from UART debug port or semihost + * + * @details Wait UART debug port or semihost to input a char. + */ +char GetChar(void) +{ +#ifdef DEBUG_ENABLE_SEMIHOST +# if defined (__CC_ARM) + int nRet; + while(SH_DoCommand(0x101, 0, &nRet) != 0) + { + if(nRet != 0) + { + SH_DoCommand(0x07, 0, &nRet); + return (char)nRet; + } + } +# else + int nRet; + while(SH_DoCommand(0x7, 0, &nRet) != 0) + { + if(nRet != 0) + return (char)nRet; + } +# endif + return (0); +#else + + while(1) + { + if((DEBUG_PORT->FIFOSTS & UART_FIFOSTS_RXEMPTY_Msk) == 0) + { + return (DEBUG_PORT->DAT); + } + } + +#endif +} + +/** + * @brief Check any char input from UART + * + * @param None + * + * @retval 1: No any char input + * @retval 0: Have some char input + * + * @details Check UART RSR RX EMPTY or not to determine if any char input from UART + */ + +int kbhit(void) +{ + return !((DEBUG_PORT->FIFOSTS & UART_FIFOSTS_RXEMPTY_Msk) == 0); +} +/** + * @brief Check if debug message finished + * + * @param None + * + * @retval 1: Message is finished + * @retval 0: Message is transmitting. + * + * @details Check if message finished (FIFO empty of debug port) + */ + +int IsDebugFifoEmpty(void) +{ + return ((DEBUG_PORT->FIFOSTS & UART_FIFOSTS_TXEMPTYF_Msk) != 0); +} + +/** + * @brief C library retargetting + * + * @param[in] ch Character to send to debug port. + * + * @returns None + * + * @details Check if message finished (FIFO empty of debug port) + */ + +void _ttywrch(int ch) +{ + SendChar(ch); + return; +} + + +/** + * @brief Write character to stream + * + * @param[in] ch Character to be written. The character is passed as its int promotion. + * @param[in] stream Pointer to a FILE object that identifies the stream where the character is to be written. + * + * @returns If there are no errors, the same character that has been written is returned. + * If an error occurs, EOF is returned and the error indicator is set (see ferror). + * + * @details Writes a character to the stream and advances the position indicator.\n + * The character is written at the current position of the stream as indicated \n + * by the internal position indicator, which is then advanced one character. + * + * @note The above descriptions are copied from http://www.cplusplus.com/reference/clibrary/cstdio/fputc/. + * + * + */ + +int fputc(int ch, FILE *stream) +{ + SendChar(ch); + return ch; +} + + +/** + * @brief Get character from UART debug port or semihosting input + * + * @param[in] stream Pointer to a FILE object that identifies the stream on which the operation is to be performed. + * + * @returns The character read from UART debug port or semihosting + * + * @details For get message from debug port or semihosting. + * + */ + +int fgetc(FILE *stream) +{ + return (GetChar()); +} + +/** + * @brief Check error indicator + * + * @param[in] stream Pointer to a FILE object that identifies the stream. + * + * @returns If the error indicator associated with the stream was set, the function returns a nonzero value. + * Otherwise, it returns a zero value. + * + * @details Checks if the error indicator associated with stream is set, returning a value different + * from zero if it is. This indicator is generally set by a previous operation on the stream that failed. + * + * @note The above descriptions are copied from http://www.cplusplus.com/reference/clibrary/cstdio/ferror/. + * + */ + +int ferror(FILE *stream) +{ + return EOF; +} + +#ifdef DEBUG_ENABLE_SEMIHOST +# ifdef __ICCARM__ +void __exit(int return_code) +{ + + /* Check if link with ICE */ + if(SH_DoCommand(0x18, 0x20026, NULL) == 0) + { + /* Make sure all message is print out */ + while(IsDebugFifoEmpty() == 0); + } +label: + goto label; /* endless loop */ +} +# else +void _sys_exit(int return_code) +{ + + /* Check if link with ICE */ + if(SH_DoCommand(0x18, 0x20026, NULL) == 0) + { + /* Make sure all message is print out */ + while(IsDebugFifoEmpty() == 0); + } +label: + goto label; /* endless loop */ +} +# endif +#endif diff --git a/mpu6050/m451/RTE/Device/M451RG6AE/startup_M451Series.s b/mpu6050/m451/RTE/Device/M451RG6AE/startup_M451Series.s new file mode 100644 index 0000000..c083f20 --- /dev/null +++ b/mpu6050/m451/RTE/Device/M451RG6AE/startup_M451Series.s @@ -0,0 +1,376 @@ +;/****************************************************************************** +; * @file startup_M451Series.s +; * @version V0.10 +; * $Revision: 5 $ +; * $Date: 14/12/24 10:20a $ +; * @brief CMSIS Cortex-M4 Core Device Startup File for M451 Series MCU +; * +; * @note +; * Copyright (C) 2014 Nuvoton Technology Corp. All rights reserved. +;*****************************************************************************/ +;/* +;//-------- <<< Use Configuration Wizard in Context Menu >>> ------------------ +;*/ + + +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + + ; User may overwrite stack size setting by pre-defined symbol + IF :LNOT: :DEF: Stack_Size +Stack_Size EQU 0x00000400 + ENDIF + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + + IF :LNOT: :DEF: Heap_Size +Heap_Size EQU 0x00000000 + ENDIF + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD BOD_IRQHandler ; 0: Brown Out detection + DCD IRC_IRQHandler ; 1: Internal RC + DCD PWRWU_IRQHandler ; 2: Power down wake up + DCD RAMPE_IRQHandler ; 3: RAM parity error + DCD CLKFAIL_IRQHandler ; 4: Clock detection fail + DCD Default_Handler ; 5: Reserved + DCD RTC_IRQHandler ; 6: Real Time Clock + DCD TAMPER_IRQHandler ; 7: Tamper detection + DCD WDT_IRQHandler ; 8: Watchdog timer + DCD WWDT_IRQHandler ; 9: Window watchdog timer + DCD EINT0_IRQHandler ; 10: External Input 0 + DCD EINT1_IRQHandler ; 11: External Input 1 + DCD EINT2_IRQHandler ; 12: External Input 2 + DCD EINT3_IRQHandler ; 13: External Input 3 + DCD EINT4_IRQHandler ; 14: External Input 4 + DCD EINT5_IRQHandler ; 15: External Input 5 + DCD GPA_IRQHandler ; 16: GPIO Port A + DCD GPB_IRQHandler ; 17: GPIO Port B + DCD GPC_IRQHandler ; 18: GPIO Port C + DCD GPD_IRQHandler ; 19: GPIO Port D + DCD GPE_IRQHandler ; 20: GPIO Port E + DCD GPF_IRQHandler ; 21: GPIO Port F + DCD SPI0_IRQHandler ; 22: SPI0 + DCD SPI1_IRQHandler ; 23: SPI1 + DCD BRAKE0_IRQHandler ; 24: + DCD PWM0P0_IRQHandler ; 25: + DCD PWM0P1_IRQHandler ; 26: + DCD PWM0P2_IRQHandler ; 27: + DCD BRAKE1_IRQHandler ; 28: + DCD PWM1P0_IRQHandler ; 29: + DCD PWM1P1_IRQHandler ; 30: + DCD PWM1P2_IRQHandler ; 31: + DCD TMR0_IRQHandler ; 32: Timer 0 + DCD TMR1_IRQHandler ; 33: Timer 1 + DCD TMR2_IRQHandler ; 34: Timer 2 + DCD TMR3_IRQHandler ; 35: Timer 3 + DCD UART0_IRQHandler ; 36: UART0 + DCD UART1_IRQHandler ; 37: UART1 + DCD I2C0_IRQHandler ; 38: I2C0 + DCD I2C1_IRQHandler ; 39: I2C1 + DCD PDMA_IRQHandler ; 40: Peripheral DMA + DCD DAC_IRQHandler ; 41: DAC + DCD ADC00_IRQHandler ; 42: ADC0 interrupt source 0 + DCD ADC01_IRQHandler ; 43: ADC0 interrupt source 1 + DCD ACMP01_IRQHandler ; 44: ACMP0 and ACMP1 + DCD Default_Handler ; 45: Reserved + DCD ADC02_IRQHandler ; 46: ADC0 interrupt source 2 + DCD ADC03_IRQHandler ; 47: ADC0 interrupt source 3 + DCD UART2_IRQHandler ; 48: UART2 + DCD UART3_IRQHandler ; 49: UART3 + DCD Default_Handler ; 50: Reserved + DCD SPI2_IRQHandler ; 51: SPI2 + DCD Default_Handler ; 52: Reserved + DCD USBD_IRQHandler ; 53: USB device + DCD USBH_IRQHandler ; 54: USB host + DCD USBOTG_IRQHandler ; 55: USB OTG + DCD CAN0_IRQHandler ; 56: CAN0 + DCD Default_Handler ; 57: Reserved + DCD SC0_IRQHandler ; 58: + DCD Default_Handler ; 59: Reserved. + DCD Default_Handler ; 60: + DCD Default_Handler ; 61: + DCD Default_Handler ; 62: + DCD TK_IRQHandler ; 63: + +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + + +; Reset Handler + +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT SystemInit + IMPORT __main + + LDR R0, =0x40000100 + ; Unlock Register + LDR R1, =0x59 + STR R1, [R0] + LDR R1, =0x16 + STR R1, [R0] + LDR R1, =0x88 + STR R1, [R0] + + ; Init POR + LDR R2, =0x40000024 + LDR R1, =0x00005AA5 + STR R1, [R2] + + ; Select INV Type + LDR R2, =0x40000200 + LDR R1, [R2] + BIC R1, R1, #0x1000 + STR R1, [R2] + + ; Lock register + MOVS R1, #0 + STR R1, [R0] + + + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler\ + PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler\ + PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT BOD_IRQHandler [WEAK] + EXPORT IRC_IRQHandler [WEAK] + EXPORT PWRWU_IRQHandler [WEAK] + EXPORT RAMPE_IRQHandler [WEAK] + EXPORT CLKFAIL_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT WDT_IRQHandler [WEAK] + EXPORT WWDT_IRQHandler [WEAK] + EXPORT EINT0_IRQHandler [WEAK] + EXPORT EINT1_IRQHandler [WEAK] + EXPORT EINT2_IRQHandler [WEAK] + EXPORT EINT3_IRQHandler [WEAK] + EXPORT EINT4_IRQHandler [WEAK] + EXPORT EINT5_IRQHandler [WEAK] + EXPORT GPA_IRQHandler [WEAK] + EXPORT GPB_IRQHandler [WEAK] + EXPORT GPC_IRQHandler [WEAK] + EXPORT GPD_IRQHandler [WEAK] + EXPORT GPE_IRQHandler [WEAK] + EXPORT GPF_IRQHandler [WEAK] + EXPORT SPI0_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT BRAKE0_IRQHandler [WEAK] + EXPORT PWM0P0_IRQHandler [WEAK] + EXPORT PWM0P1_IRQHandler [WEAK] + EXPORT PWM0P2_IRQHandler [WEAK] + EXPORT BRAKE1_IRQHandler [WEAK] + EXPORT PWM1P0_IRQHandler [WEAK] + EXPORT PWM1P1_IRQHandler [WEAK] + EXPORT PWM1P2_IRQHandler [WEAK] + EXPORT TMR0_IRQHandler [WEAK] + EXPORT TMR1_IRQHandler [WEAK] + EXPORT TMR2_IRQHandler [WEAK] + EXPORT TMR3_IRQHandler [WEAK] + EXPORT UART0_IRQHandler [WEAK] + EXPORT UART1_IRQHandler [WEAK] + EXPORT I2C0_IRQHandler [WEAK] + EXPORT I2C1_IRQHandler [WEAK] + EXPORT PDMA_IRQHandler [WEAK] + EXPORT DAC_IRQHandler [WEAK] + EXPORT ADC00_IRQHandler [WEAK] + EXPORT ADC01_IRQHandler [WEAK] + EXPORT ACMP01_IRQHandler [WEAK] + EXPORT ADC02_IRQHandler [WEAK] + EXPORT ADC03_IRQHandler [WEAK] + EXPORT UART2_IRQHandler [WEAK] + EXPORT UART3_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USBD_IRQHandler [WEAK] + EXPORT USBH_IRQHandler [WEAK] + EXPORT USBOTG_IRQHandler [WEAK] + EXPORT CAN0_IRQHandler [WEAK] + EXPORT SC0_IRQHandler [WEAK] + EXPORT TK_IRQHandler [WEAK] + +BOD_IRQHandler +IRC_IRQHandler +PWRWU_IRQHandler +RAMPE_IRQHandler +CLKFAIL_IRQHandler +RTC_IRQHandler +TAMPER_IRQHandler +WDT_IRQHandler +WWDT_IRQHandler +EINT0_IRQHandler +EINT1_IRQHandler +EINT2_IRQHandler +EINT3_IRQHandler +EINT4_IRQHandler +EINT5_IRQHandler +GPA_IRQHandler +GPB_IRQHandler +GPC_IRQHandler +GPD_IRQHandler +GPE_IRQHandler +GPF_IRQHandler +SPI0_IRQHandler +SPI1_IRQHandler +BRAKE0_IRQHandler +PWM0P0_IRQHandler +PWM0P1_IRQHandler +PWM0P2_IRQHandler +BRAKE1_IRQHandler +PWM1P0_IRQHandler +PWM1P1_IRQHandler +PWM1P2_IRQHandler +TMR0_IRQHandler +TMR1_IRQHandler +TMR2_IRQHandler +TMR3_IRQHandler +UART0_IRQHandler +UART1_IRQHandler +I2C0_IRQHandler +I2C1_IRQHandler +PDMA_IRQHandler +DAC_IRQHandler +ADC00_IRQHandler +ADC01_IRQHandler +ACMP01_IRQHandler +ADC02_IRQHandler +ADC03_IRQHandler +UART2_IRQHandler +UART3_IRQHandler +SPI2_IRQHandler +USBD_IRQHandler +USBH_IRQHandler +USBOTG_IRQHandler +CAN0_IRQHandler +SC0_IRQHandler +TK_IRQHandler + B . + ENDP + + + ALIGN + + +; User Initial Stack & Heap + + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap PROC + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + ENDP + + ALIGN + + ENDIF + + + END +;/*** (C) COPYRIGHT 2014 Nuvoton Technology Corp. ***/ diff --git a/mpu6050/m451/RTE/Device/M451RG6AE/system_M451Series.c b/mpu6050/m451/RTE/Device/M451RG6AE/system_M451Series.c new file mode 100644 index 0000000..a37d80a --- /dev/null +++ b/mpu6050/m451/RTE/Device/M451RG6AE/system_M451Series.c @@ -0,0 +1,78 @@ +/****************************************************************************** + * @file system_M451Series.c + * @version V0.10 + * $Revision: 11 $ + * $Date: 15/09/02 10:02a $ + * @brief CMSIS Cortex-M4 Core Peripheral Access Layer Source File for M451 Series MCU + * + * @note + * Copyright (C) 2013~2015 Nuvoton Technology Corp. All rights reserved. +*****************************************************************************/ + +#include "M451Series.h" + + +/*---------------------------------------------------------------------------- + DEFINES + *----------------------------------------------------------------------------*/ + + +/*---------------------------------------------------------------------------- + Clock Variable definitions + *----------------------------------------------------------------------------*/ +uint32_t SystemCoreClock = __SYSTEM_CLOCK; /*!< System Clock Frequency (Core Clock)*/ +uint32_t CyclesPerUs = (__HSI / 1000000); /* Cycles per micro second */ +uint32_t PllClock = __HSI; /*!< PLL Output Clock Frequency */ +uint32_t gau32ClkSrcTbl[] = {__HXT, __LXT, 0, __LIRC, 0, 0, 0, __HIRC}; + +/*---------------------------------------------------------------------------- + Clock functions + *----------------------------------------------------------------------------*/ +void SystemCoreClockUpdate(void) /* Get Core Clock Frequency */ +{ +} + +/** + * Initialize the system + * + * @param None + * @return None + * + * @brief Setup the microcontroller system. + * Initialize the System. + */ +void SystemInit(void) +{ + /* ToDo: add code to initialize the system + do not use global variables because this function is called before + reaching pre-main. RW section maybe overwritten afterwards. */ + + SYS_UnlockReg(); + /* One-time POR18 */ + if((SYS->PDID >> 12) == 0x945) + { + M32(GCR_BASE+0x14) |= BIT7; + } + /* Force to use INV type with HXT */ + CLK->PWRCTL &= ~CLK_PWRCTL_HXTSELTYP_Msk; + SYS_LockReg(); + + +#ifdef EBI_INIT + extern void SYS_Init(); + extern void EBI_Init(); + + SYS_UnlockReg(); + SYS_Init(); + EBI_Init(); + SYS_LockReg(); +#endif + + /* FPU settings ------------------------------------------------------------*/ +#if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10 * 2) | /* set CP10 Full Access */ + (3UL << 11 * 2)); /* set CP11 Full Access */ +#endif + +} +/*** (C) COPYRIGHT 2013~2015 Nuvoton Technology Corp. ***/ diff --git a/mpu6050/m451/RTE/_Target_1/RTE_Components.h b/mpu6050/m451/RTE/_Target_1/RTE_Components.h new file mode 100644 index 0000000..cddcae7 --- /dev/null +++ b/mpu6050/m451/RTE/_Target_1/RTE_Components.h @@ -0,0 +1,22 @@ + +/* + * Auto generated Run-Time-Environment Component Configuration File + * *** Do not modify ! *** + * + * Project: 'mpu9250' + * Target: 'Target 1' + */ + +#ifndef RTE_COMPONENTS_H +#define RTE_COMPONENTS_H + + +/* + * Define the Device Header File: + */ +#define CMSIS_device_header "M451Series.h" + +#define RTE_Drivers_CLK /* Driver CLK */ +#define RTE_Drivers_I2C /* Driver I2C */ + +#endif /* RTE_COMPONENTS_H */ diff --git a/mpu6050/m451/data.h b/mpu6050/m451/data.h new file mode 100644 index 0000000..c4ccbe2 --- /dev/null +++ b/mpu6050/m451/data.h @@ -0,0 +1,115 @@ +#ifndef _ALL_USER_DATA_H_ +#define _ALL_USER_DATA_H_ + +#define SUCCESS 0 +#define FAIL -1 +#define FAILED -1 +typedef signed char int8_t; +typedef signed short int int16_t; +typedef signed int int32_t; +typedef signed long long int64_t; + + /* exact-width unsigned integer types */ +typedef unsigned char uint8_t; +typedef unsigned short int uint16_t; +typedef unsigned int uint32_t; +typedef unsigned long long uint64_t; + + +#define NULL 0 +extern volatile uint32_t SysTick_count; + + +typedef struct{ + int16_t accX; + int16_t accY; + int16_t accZ; + int16_t gyroX; + int16_t gyroY; + int16_t gyroZ; +}_st_Mpu; + + +typedef struct{ + int16_t magX; + int16_t magY; + int16_t magZ; +}_st_Mag; + + +typedef struct{ + float rate; + float height; +}High; + + +typedef struct{ + float roll; + float pitch; + float yaw; +}_st_AngE; + + + +typedef struct +{ + uint16_t roll; + uint16_t pitch; + uint16_t thr; + uint16_t yaw; + uint16_t AUX1; + uint16_t AUX2; + uint16_t AUX3; + uint16_t AUX4; +}_st_Remote; + + + +typedef volatile struct +{ + float desired; //< set point + float offset; // + float prevError; //< previous error + float integ; //< integral + float kp; //< proportional gain + float ki; //< integral gain + float kd; //< derivative gain + float IntegLimitHigh; //< integral limit + float IntegLimitLow; + float measured; + float out; + float OutLimitHigh; + float OutLimitLow; +}PidObject; + + +typedef volatile struct +{ + uint8_t unlock; + + +}_st_ALL_flag; + + +extern _st_Remote Remote; +extern _st_Mpu MPU6050; +extern _st_Mag AK8975; //保留，需外接磁力计 +extern _st_AngE Angle; + + +extern _st_ALL_flag ALL_flag; + + +extern PidObject pidRateX; +extern PidObject pidRateY; +extern PidObject pidRateZ; + +extern PidObject pidPitch; +extern PidObject pidRoll; +extern PidObject pidYaw; + +extern PidObject pidHeightRate; +extern PidObject pidHeightHigh; + +#endif + diff --git a/mpu6050/m451/hal.c b/mpu6050/m451/hal.c new file mode 100644 index 0000000..e7de36b --- /dev/null +++ b/mpu6050/m451/hal.c @@ -0,0 +1,229 @@ + +#include "M451Series.h" +#include +#include "hal.h" + +int MPUWriteReg( char RegAddr, char pucDATD_AA) +{ + int i=0; + + while(i<32) i++; + + I2C_START(I2C0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x08) + { + printf("I2CD_STArt write fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0)); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + + I2C_SET_DATA(I2C0,0xd0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0)!= 0x18) + { + printf("I2C write ADW fail\r\n"); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + //дÈë¶ÁµØÖ· + I2C_SET_DATA(I2C0,RegAddr); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x28) + { + printf("I2C write reg addr fail\r\n"); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + + I2C_SET_DATA(I2C0,pucDATD_AA); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x28) + { + printf("I2C write control fail\r\n"); + while (1); + } + + //Í£Ö¹ + I2C_Trigger(I2C0,0,1,1,0); + + + //printf("I2C write ok\r\n"); + return 0; + +} + +int MPUWriteAddr() +{ + if (I2C_GET_STATUS(I2C0) != 0x08) + { + printf("I2CD_STArt write add fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0)); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + //½øÈë¶Áд¿ØÖƲÙ×÷ + I2C_SET_DATA(I2C0,0xd0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0)!= 0x18) + { + printf("I2C write ADW fail\r\n"); + return FALSE; + } + return 1; +} + + +int MPUWriteACK(char cDat) +{ + if((I2C_GET_STATUS(I2C0) != 0x18)&&(I2C_GET_STATUS(I2C0) != 0x28)) + { + printf("I2C MPUWriteAddrAck STATUS error \r\n"); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + //дÈë¶ÁµØÖ· + I2C_SET_DATA(I2C0,cDat); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0)!= 0x28) + { + printf("MPUWriteAddrAck fail ACK no recv\r\n"); + return FALSE; + } + return 1; +} +char MPUReadReg( int unAddr/*, int unLength*/) +{ + char ret; + int i=0; + + while(i<32) i++; + I2C_Trigger(I2C0,0,0,1,0); + + I2C_START(I2C0); //Æô¶¯ + //Æô¶¯ + I2C_WAIT_READY(I2C0); + if(I2C_GET_STATUS(I2C0) != 0x08) + { + printf("I2CD_STArt read reg fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0)); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + + //½øÈë¶Áд¿ØÖƲÙ×÷ + I2C_SET_DATA(I2C0,0xd0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x018) + { + printf("status fault shoube be 0x018 ,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0)); + return FALSE; + } + //дÈë¶ÁµØÖ· + I2C_SET_DATA(I2C0,unAddr); + I2C_Trigger(I2C0,0,0,1,0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0)!= 0x28) + { + printf("I2C write reg addr fail\r\n"); + return FALSE; + } + // ÖØÐÂÆô¶¯ + + + I2C_Trigger(I2C0,0,0,1,0); + I2C_Trigger(I2C0,1,0,0,0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x10) + { + printf("I2C repeated D_STArt fail\r\n"); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + + //½øÈë¶Á²Ù×÷ + I2C_SET_DATA(I2C0,0xd0 | 1); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x40) + { + printf("I2C write control fail\r\n"); + while (1); + } + //¶ÁÈ¡Êý¾Ý + I2C_Trigger(I2C0,0,0,1,0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x58) + { + printf("I2C read fail\r\n"); + return FALSE; + } + ret = I2C_GET_DATA(I2C0); + I2C_Trigger(I2C0,0,1,1,0); + +// I2C_WAIT_READY(I2C0); + return ret; +} + +int MPUReadBuf( int unAddr, char *pucDATD_AA, int unLength) +{ + char ret; + int i=0; + while(i<32) i++; + I2C_Trigger(I2C0,0,0,1,0); + I2C_START(I2C0); + I2C_WAIT_READY(I2C0); + if(I2C_GET_STATUS(I2C0) != 0x08) + { + printf("I2CD_STArt fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0)); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + + I2C_SET_DATA(I2C0,0xd0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x18) + { + printf("I2CD_STArt fail,I2D_STATUS %02X\r\n",I2C_GET_STATUS(I2C0)); + return FALSE; + } + I2C_SET_DATA(I2C0,unAddr); + I2C_Trigger(I2C0,0,0,1,0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0)!= 0x28) + { + printf("I2C write reg addr fail\r\n"); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + I2C_Trigger(I2C0,1,0,0,0); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x10) + { + printf("I2C repeated D_STArt fail\r\n"); + return FALSE; + } + I2C_Trigger(I2C0,0,0,1,0); + I2C_SET_DATA(I2C0,0xd0 | 1); + I2C_WAIT_READY(I2C0); + if (I2C_GET_STATUS(I2C0) != 0x40) + { + printf("I2C write control fail\r\n"); + while (1); + } + for(i=0;iGPD_MFPL &= ~SYS_GPD_MFPL_PD4MFP_Msk; + SYS->GPD_MFPL |= SYS_GPD_MFPL_PD4MFP_I2C0_SDA; + + SYS->GPD_MFPL &= ~SYS_GPD_MFPL_PD5MFP_Msk; + SYS->GPD_MFPL |= SYS_GPD_MFPL_PD5MFP_I2C0_SCL; + I2C_Open(I2C0,100000); + + printf("I2C clock %d Hz\n", I2C_GetBusClockFreq(I2C0)); + + I2C_SetSlaveAddr(I2C0, 0, 0x78, 0); /* Slave Address : 0x15 */ + + SYS_LockReg(); + + //GPIO_SetMode(PB,BIT14,GPIO_PMD_INPUT); + //GPIO_SetMode(PB,BIT9,GPIO_PMD_OUTPUT); + + //I2C_EnableInt(I2C0); + //NVIC_EnableIRQ(I2C0_IRQn); +} + + +int main(){ + HalInit(); + MpuInit(); + +} \ No newline at end of file diff --git a/mpu6050/m451/mpu.c b/mpu6050/m451/mpu.c new file mode 100644 index 0000000..9c3bc76 --- /dev/null +++ b/mpu6050/m451/mpu.c @@ -0,0 +1,133 @@ +#include "data.h" +#include "hal.h" + +#define SMPLRT_DIV 0x19 //陀螺仪采样率，典型值：0x07(125Hz) +#define CONFIGL 0x1A //低通滤波频率，典型值：0x06(5Hz) +#define GYRO_CONFIG 0x1B //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s) +#define ACCEL_CONFIG 0x1C //加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz) +#define ACCEL_ADDRESS 0x3B +#define ACCEL_XOUT_H 0x3B +#define ACCEL_XOUT_L 0x3C +#define ACCEL_YOUT_H 0x3D +#define ACCEL_YOUT_L 0x3E +#define ACCEL_ZOUT_H 0x3F +#define ACCEL_ZOUT_L 0x40 +#define TEMP_OUT_H 0x41 +#define TEMP_OUT_L 0x42 +#define GYRO_XOUT_H 0x43 +#define GYRO_ADDRESS 0x43 +#define GYRO_XOUT_L 0x44 +#define GYRO_YOUT_H 0x45 +#define GYRO_YOUT_L 0x46 +#define GYRO_ZOUT_H 0x47 +#define GYRO_ZOUT_L 0x48 +#define PWR_MGMT_1 0x6B //电源管理，典型值：0x00(正常启用) +#define WHO_AM_I 0x75 //IIC地址寄存器(默认数值0x68，只读) +#define MPU6050_PRODUCT_ID 0x68 +#define MPU6052C_PRODUCT_ID 0x72 +#define MPU9250_PRODUCT_ID 0x71 // +//#define MPU6050_is_DRY() GPIO_ReadOutBit(HT_GPIOC, GPIO_PIN_0)//IRQ主机数据输入 + #ifdef USE_I2C_HARDWARE + + #define MPU6050_ADDRESS 0xD0//0x68 + #else + #define MPU6050_ADDRESS 0xD0 //IIC写入时的地址字节数据，+1为读取 + #endif + + +void delay_ms(int x){ + + for(x = 0; x < 1000; x++){ + volatile int z = 0; + for (z = 0; z < 100;z++){ + + } + } +} + +int16_t MpuOffset[6] = {0}; + +_st_Mpu MPU6050; //MPU6050原始数据 + +static volatile int16_t *pMpu = (int16_t *)&MPU6050; + + + +/**************************************************************************************** +*@brief +*@brief +*@param[in] +*****************************************************************************************/ +int8_t mpu6050_rest(void) +{ + if(MPUWriteReg( PWR_MGMT_1, 0x80) == FAILED) + return FAILED; //复位 + //delay_ms(20); + return SUCCESS; +} +/**************************************************************************************** +*@brief +*@brief +*@param[in] +*****************************************************************************************/ +int8_t MpuInit(void) //初始化 +{ + uint8_t date = SUCCESS; + do + { + date = MPUWriteReg( PWR_MGMT_1, 0x80); //复位 + delay_ms(30); + date += MPUWriteReg( SMPLRT_DIV, 0x02); //陀螺仪采样率，0x00(500Hz) + date += MPUWriteReg( PWR_MGMT_1, 0x03); //设置设备时钟源，陀螺仪Z轴 + date += MPUWriteReg( CONFIGL, 0x03); //低通滤波频率，0x03(42Hz) + date += MPUWriteReg( GYRO_CONFIG, 0x18);//+-2000deg/s + date += MPUWriteReg( ACCEL_CONFIG, 0x09);//+-4G + } + while(date != SUCCESS); + date = MPUReadReg(0x75); + if(date!= MPU6050_PRODUCT_ID) + return FAILED; + else + //MpuGetOffset(); + return SUCCESS; +} +/**************************************************************************************** +*@brief +*@brief +*@param[in] +*****************************************************************************************/ + +#define Gyro_Read() MPUReadBuf( 0X3B,buffer,6) +#define Acc_Read() MPUReadBuf( 0x43,&buffer[6],6) + +void MpuGetData(void) //读取陀螺仪数据加滤波 +{ + uint8_t i; + int8_t buffer[12]; + + Gyro_Read(); + Acc_Read(); + + for(i=0;i<6;i++) + { + pMpu[i] = (((int16_t)buffer[i<<1] << 8) | buffer[(i<<1)+1])-MpuOffset[i]; + if(i < 3) + { + { + //static struct _1_ekf_filter ekf[3] = {{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543},{0.02,0,0,0,0.001,0.543}}; + //kalman_1(&ekf[i],(float)pMpu[i]); //一维卡尔曼 + //pMpu[i] = (int16_t)ekf[i].out; + } + } + if(i > 2) + { + uint8_t k=i-3; + const float factor = 0.15f; //滤波因素 + static float tBuff[3]; + + pMpu[i] = tBuff[k] = tBuff[k] * (1 - factor) + pMpu[i] * factor; + } + } +} + +/**************************************END OF FILE*************************************/ \ No newline at end of file diff --git a/mpu6050/m451/mpu9250.uvoptx b/mpu6050/m451/mpu9250.uvoptx new file mode 100644 index 0000000..7933327 --- /dev/null +++ b/mpu6050/m451/mpu9250.uvoptx @@ -0,0 +1,244 @@ + + + + 1.0 + +
### uVision Project, (C) Keil Software
+ + + *.c + *.s*; *.src; *.a* + *.obj; *.o + *.lib + *.txt; *.h; *.inc + *.plm + *.cpp + 0 + + + + 0 + 0 + + + + Target 1 + 0x4 + ARM-ADS + + 12000000 + + 0 + 1 + 0 + 1 + 0 + + + 1 + 65535 + 0 + 0 + 0 + + + 79 + 66 + 8 + .\Listings\ + + + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 0 + 0 + 0 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + + + 1 + 0 + 1 + + 255 + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 1 + 0 + 0 + 0 + + + + + + + + + + + BIN\UL2CM3.DLL + + + + 0 + UL2CM3 + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0M451_AP_256 -FS00 -FL040000 -FP0($$Device:M451RG6AE$Flash\M451_AP_256.FLM)) + + + + + 0 + + + 0 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + 0 + 0 + 0 + + + + + + + + + + + + + Source Group 1 + 1 + 0 + 0 + 0 + + 1 + 1 + 1 + 0 + 0 + 0 + .\main.c + main.c + 0 + 0 + + + 1 + 2 + 1 + 0 + 0 + 0 + .\hal.c + hal.c + 0 + 0 + + + 1 + 3 + 1 + 0 + 0 + 0 + .\mpu.c + mpu.c + 0 + 0 + + + 1 + 4 + 5 + 0 + 0 + 0 + .\data.h + data.h + 0 + 0 + + + + + ::CMSIS + 0 + 0 + 0 + 1 + + + + ::Device + 0 + 0 + 0 + 1 + + + diff --git a/mpu6050/m451/mpu9250.uvprojx b/mpu6050/m451/mpu9250.uvprojx new file mode 100644 index 0000000..6777423 --- /dev/null +++ b/mpu6050/m451/mpu9250.uvprojx @@ -0,0 +1,497 @@ + + + + 2.1 + +
### uVision Project, (C) Keil Software
+ + + + Target 1 + 0x4 + ARM-ADS + 5060750::V5.06 update 6 (build 750)::ARMCC + 0 + + + M451RG6AE + Nuvoton + Nuvoton.NuMicro_DFP.1.2.0 + http://www.nuvoton.com/hq/enu/Documents/KEILSoftwarePack + IRAM(0x20000000,0x8000) IROM(0x00000000,0x40000) CPUTYPE("Cortex-M4") FPU2 CLOCK(12000000) + + + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0M451_AP_256 -FS00 -FL040000 -FP0($$Device:M451RG6AE$Flash\M451_AP_256.FLM)) + 8158 + $$Device:M451RG6AE$Device\M451\Include\M451Series.h + + + + + + + + + + $$Device:M451RG6AE$SVD\Nuvoton\M451_v1.svd + 0 + 0 + + + + + + + 0 + 0 + 0 + 0 + 1 + + .\Objects\ + mpu9250 + 1 + 0 + 0 + 1 + 1 + .\Listings\ + 1 + 0 + 0 + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + 0 + 0 + + 0 + + + + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 3 + + + 1 + + + SARMCM3.DLL + + DARMCM1.DLL + + SARMCM3.DLL + + TARMCM1.DLL + + + + + 1 + 0 + 0 + 0 + 16 + + + + + 1 + 0 + 0 + 1 + 0 + -1 + + 1 + BIN\UL2CM3.DLL + + + + + + 0 + + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + "Cortex-M4" + + 0 + 0 + 0 + 1 + 1 + 0 + 0 + 2 + 0 + 0 + 8 + 0 + 0 + 0 + 0 + 3 + 3 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 1 + 0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x8000 + + + 1 + 0x0 + 0x40000 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 1 + 0x0 + 0x40000 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x8000 + + + 0 + 0x0 + 0x0 + + + + + + 1 + 1 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 0 + 2 + 0 + 0 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + + + + + + + + + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + 0 + 0 + 0 + 0 + 1 + 0 + 0x00000000 + 0x20000000 + + + + + + + + + + + + + Source Group 1 + + + main.c + 1 + .\main.c + + + hal.c + 1 + .\hal.c + + + mpu.c + 1 + .\mpu.c + + + data.h + 5 + .\data.h + + + + + ::CMSIS + + + ::Device + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + RTE\Device\M451RG6AE\retarget.c + + + + + + + + RTE\Device\M451RG6AE\startup_M451Series.s + + + + + + + + RTE\Device\M451RG6AE\system_M451Series.c + + + + + + + + + +