diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stangsel/src/stangsel.c b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stangsel/src/stangsel.c
index 1fbcc69a2039a6d2513cd6895ce05b90facbe688..5724a7d004a541dfe20c0e3d67c282b56b7f9004 100755
--- a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stangsel/src/stangsel.c
+++ b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stangsel/src/stangsel.c
@@ -19,6 +19,7 @@
/************* Includes *******************************************************************/
#include "app/stangsel/stangsel.h"
+#include "app/leddebug.h"
/************* Global variables ***********************************************************/
/* Pointers for input signals */
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stm/src/stm.c b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stm/src/stm.c
index f939a17ae956a83591fbe68a3c48b31eb36c6fc2..ab5575da35b70e0037e02c5928948885eac6890f 100755
--- a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stm/src/stm.c
+++ b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/stm/src/stm.c
@@ -19,6 +19,7 @@
#include "../stm.h"
#include "sys/errorhandler/errorHandler.h"
#include "dev/rcrec/rcrec.h"
+#include "app/leddebug.h"
/************* Private typedefs ***********************************************************/
@@ -87,7 +88,7 @@ void stm_step(void) {
*/
if (*pSyncOffset_stm != 0)
{
- state = SYSTEM_STATE_IDLE;
+ state = SYSTEM_STATE_RUNNING_EXT;
}
irq_enable();
@@ -127,6 +128,7 @@ void stm_step(void) {
{
case SYSTEM_STATE_IDLE:
case SYSTEM_STATE_RUNNING_RC:
+ case SYSTEM_STATE_RUNNING_EXT:
servo_enablePwmSrv1();
servo_enablePwmSrv2();
break;
@@ -147,6 +149,10 @@ void stm_step(void) {
irq_enable();
}
+ if (*pState_stm == SYSTEM_STATE_RUNNING_EXT)
+ debugLedOn();
+ else
+ debugLedOff();
}
/************* Private functions **********************************************************/
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/vehspdctrl/src/vehspdctrl.c b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/vehspdctrl/src/vehspdctrl.c
index 37fe173567d27a1c85feb582294ee5a14f03e05d..e419230204c004a1e31739a41e0a2f9d186a3e55 100755
--- a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/vehspdctrl/src/vehspdctrl.c
+++ b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/app/vehspdctrl/src/vehspdctrl.c
@@ -20,6 +20,7 @@
#include "app/stm/stm.h"
#include "dev/rcrec/rcrec.h"
#include "dev/servo/servo.h"
+#include "app/leddebug.h"
/************* Global variables *******************************************************************/
/* input signals */
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/dev/servo/src/servo.c b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/dev/servo/src/servo.c
index b52b230f501f02ad4a516b7a1f1f8f37afec5a2d..0b5dcc36bf52741014549842c2f4e90c7684dd42 100755
--- a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/dev/servo/src/servo.c
+++ b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/dev/servo/src/servo.c
@@ -23,6 +23,7 @@
#include "dev/servo/servo.h"
#include "dev/rcrec/rcrec.h"
#include "sys/util/io.h"
+#include "app/leddebug.h"
/************* Private typedefs ***********************************************************/
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/mavlink/src/mavlink.o b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/mavlink/src/mavlink.o
index dced6d95421eda0357f14a8dfde8141ac379d023..71c908c3b7f2f3d0afad438959643dcbb2e49523 100644
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/mavlink/src/mavlink.o and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/mavlink/src/mavlink.o differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stangsel/src/stangsel.o b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stangsel/src/stangsel.o
index 1fb5ab54f72cc51be1d0c5d15e3976b5ba8c1df8..7d5d414592eb82d0abb61625545130c4a07d0de3 100644
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stangsel/src/stangsel.o and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stangsel/src/stangsel.o differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stm/src/stm.o b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stm/src/stm.o
index 0c05ed980ed2e3a4d87d5cd3a51e0d20cabbf959..cc8f04229baba40f03ab714525c1b7a0e1b0071b 100644
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stm/src/stm.o and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/stm/src/stm.o differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/vehspdctrl/src/vehspdctrl.o b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/vehspdctrl/src/vehspdctrl.o
index 8803d2decd95638ad919fa06c8391da31b1c813f..849f5b0806847673ae0eecec78ac39604f4c849b 100644
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/vehspdctrl/src/vehspdctrl.o and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/app/vehspdctrl/src/vehspdctrl.o differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/dev/servo/src/servo.o b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/dev/servo/src/servo.o
index 93c0c3ce2cc3a7e0bc135f6532bf378788ccecd3..db8e2cfd467e5fe70949385a4b2beb23f167ff5e 100644
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/dev/servo/src/servo.o and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/obj/dev/servo/src/servo.o differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.bin b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.bin
index 0c96a7e020f60a16619b2881847a16f88272925e..52f1c14810a9a757ad8f759831e8cb35c7839c47 100755
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.bin and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.bin differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.elf b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.elf
index b9b0473ce35cd1aeb5579ff1c548351875abf4d3..4e206bbbea401cd93564d9f044cb3d9f246443e4 100755
Binary files a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.elf and b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.elf differ
diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.hex b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.hex
index 0e8de959d9a6cf4f2beb20f7fa93562abb962a9a..6a73cc7c5b24c0cf59d7c3b219b22552734ed13a 100644
--- a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.hex
+++ b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.hex
@@ -1,29 +1,29 @@
:020000040800F2
-:10000000389C00204D3C0108F938010805390108E9
-:100010000D390108153901081D39010800000000DB
-:100020000000000000000000000000002539010869
-:1000300031390108000000003D390108950F010821
-:10004000BD3C0108BD3C0108BD3C0108BD3C0108A8
-:10005000BD3C0108BD3C0108BD3C0108BD3C010898
-:10006000BD3C0108BD3C0108BD3C0108BD3C010888
-:10007000BD3C0108BD3C0108BD3C0108BD3C010878
-:10008000BD3C0108BD3C0108BD3C0108BD3C010868
-:10009000BD3C0108BD3C0108BD3C0108BD3C010858
-:1000A00015350108BD3C0108BD3C0108BD3C0108F7
-:1000B00039330108BD3C0108BD3C0108BD3C0108C5
-:1000C000BD3C0108693001081D320108BD3C010832
-:1000D000BD3C0108C1280108BD3C0108692901088F
-:1000E00061250108BD3C0108BD3C0108BD3C01087B
-:1000F000BD3C0108BD3C0108BD3C0108BD3C0108F8
-:10010000BD3C0108BD3C0108BD3C0108BD3C0108E7
-:10011000BD3C0108F9290108BD3C0108BD3C0108AE
-:10012000BD3C0108BD3C0108BD3C0108BD3C0108C7
-:10013000BD3C0108BD3C0108BD3C0108BD3C0108B7
-:10014000BD3C0108BD3C0108BD3C0108BD3C0108A7
-:10015000BD3C0108BD3C0108BD3C0108BD3C010897
-:10016000BD3C0108BD3C0108BD3C0108BD3C010887
-:10017000BD3C0108BD3C0108BD3C0108BD3C010877
-:10018000BD3C0108BD3C010880B400AF234B1B6897
+:10000000389C0020653C0108113901081D390108A0
+:10001000253901082D390108353901080000000093
+:100020000000000000000000000000003D39010851
+:10003000493901080000000055390108AD0F0108D9
+:10004000D53C0108D53C0108D53C0108D53C010848
+:10005000D53C0108D53C0108D53C0108D53C010838
+:10006000D53C0108D53C0108D53C0108D53C010828
+:10007000D53C0108D53C0108D53C0108D53C010818
+:10008000D53C0108D53C0108D53C0108D53C010808
+:10009000D53C0108D53C0108D53C0108D53C0108F8
+:1000A0002D350108D53C0108D53C0108D53C010897
+:1000B00051330108D53C0108D53C0108D53C010865
+:1000C000D53C01088130010835320108D53C0108D2
+:1000D000D53C0108D9280108D53C0108812901082F
+:1000E00079250108D53C0108D53C0108D53C01081B
+:1000F000D53C0108D53C0108D53C0108D53C010898
+:10010000D53C0108D53C0108D53C0108D53C010887
+:10011000D53C0108112A0108D53C0108D53C01084D
+:10012000D53C0108D53C0108D53C0108D53C010867
+:10013000D53C0108D53C0108D53C0108D53C010857
+:10014000D53C0108D53C0108D53C0108D53C010847
+:10015000D53C0108D53C0108D53C0108D53C010837
+:10016000D53C0108D53C0108D53C0108D53C010827
+:10017000D53C0108D53C0108D53C0108D53C010817
+:10018000D53C0108D53C010880B400AF234B1B6867
:1001900000221A60224B00221A60214B00225A6072
:1001A0001F4B00229A601E4B0022DA601C4B00227B
:1001B0001A741B4B4FF000025A61194B4FF00002AA
@@ -39,9 +39,9 @@
:100250004FF000037B624FF000033B624FF000035E
:10026000FB614FF00003BB614FF000037B614FF077
:1002700000033B610023FB600023BB600023FB7194
-:1002800013F066F96E4B1B681B68FB606D4B1B68B7
-:100290001B68BB606C4B1B681B78FB7111F088FA04
-:1002A000F86213F04DF9694B5B6AFA6AD31A07EEEC
+:1002800013F072F96E4B1B681B68FB606D4B1B68AB
+:100290001B68BB606C4B1B681B78FB7111F094FAF8
+:1002A000F86213F059F9694B5B6AFA6AD31A07EEE0
:1002B000903AB8EE677ADFED667A67EE277AC7ED97
:1002C0000A7A624B9B68FA68D31A07EE903AB8EE46
:1002D000E77A604BD3ED007A67EE277AC7ED067AAE
@@ -50,8 +50,8 @@
:10030000067AD7ED057A37EE277AF0EE007AC7EE57
:10031000277AC7ED047A97ED067AD7ED057A37EE9E
:10032000677ADFED4D7AC7EE277AC7ED077A474B3C
-:10033000D3ED057AB0EE670A15F0B0F887ED090A3B
-:10034000424BD3ED057AB0EE670A15F0E3F887ED7E
+:10033000D3ED057AB0EE670A15F0BCF887ED090A2F
+:10034000424BD3ED057AB0EE670A15F0EFF887ED72
:10035000080A3E4BFA6A5A6297ED047ADFED3F7A5B
:1003600027EE277AD7ED0A7AC7EE277A374BC3ED07
:10037000087A364B93ED067AD7ED096AD7ED047A01
@@ -72,6233 +72,6233 @@
:10046000DB0FC940047100200071002018710020CA
:10047000F87000202471002080B500AF064B0D22DB
:100480001A70054B01225A70034B00229A700248E1
-:1004900012F018FB80BD00BF2401002080B500AF22
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diff --git a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.map b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.map
index e3453330afbc18bb8eb09d2d94382037019409fd..9010f624584f4461c38c9ddf649441c27b777930 100644
--- a/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.map
+++ b/attachments/Austausch Assystem - HU/02_lieferung/vehicle_ecu_sw/quellcode/vlx.map
@@ -401,8 +401,6 @@ Discarded input sections
.text 0x00000000 0x0 obj/app/main.o
.data 0x00000000 0x0 obj/app/main.o
.rodata 0x00000000 0x100 obj/app/main.o
- .text.debugLedOff
- 0x00000000 0x10 obj/app/main.o
.text 0x00000000 0x0 obj/app/latctrl/src/latctrl.o
.data 0x00000000 0x0 obj/app/latctrl/src/latctrl.o
.bss 0x00000000 0x0 obj/app/latctrl/src/latctrl.o
@@ -2978,7 +2976,7 @@ LOAD obj/brd/src/stm32f4xx_cryp_aes.o
LOAD obj/brd/discovery/src/stm32f4_discovery.o
0x20020000 _eram = 0x20020000
-.text 0x08000000 0x1d098
+.text 0x08000000 0x1d0b0
*(.isr_vector)
.isr_vector 0x08000000 0x188 obj/brd/startup/startup_stm32f4xx.o
0x08000000 g_pfnVectors
@@ -2995,845 +2993,848 @@ LOAD obj/brd/discovery/src/stm32f4_discovery.o
.text.debugLedOn
0x0800049c 0x10 obj/app/main.o
0x0800049c debugLedOn
- .text.main 0x080004ac 0x78 obj/app/main.o
- 0x080004ac main
+ .text.debugLedOff
+ 0x080004ac 0x10 obj/app/main.o
+ 0x080004ac debugLedOff
+ .text.main 0x080004bc 0x78 obj/app/main.o
+ 0x080004bc main
.text.latctrl_init
- 0x08000524 0x54 obj/app/latctrl/src/latctrl.o
- 0x08000524 latctrl_init
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+ 0x08000534 latctrl_init
.text.latctrl_step
- 0x08000578 0x80 obj/app/latctrl/src/latctrl.o
- 0x08000578 latctrl_step
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+ 0x08000588 latctrl_step
.text.stm_init
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- 0x080005f8 stm_init
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.text.stm_step
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- 0x08000630 stm_step
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.text.rx24fctrl_init
- 0x080007c0 0x14 obj/app/rx24fctrl/src/rx24fctrl.o
- 0x080007c0 rx24fctrl_init
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+ 0x080007e0 rx24fctrl_init
.text.rx24fctrl_step
- 0x080007d4 0x110 obj/app/rx24fctrl/src/rx24fctrl.o
- 0x080007d4 rx24fctrl_step
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+ 0x080007f4 rx24fctrl_step
.text.app_init
- 0x080008e4 0x14 obj/app/app.o
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.text.callAppInits
- 0x080008f8 0x1f4 obj/app/app.o
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.text.crc_accumulate
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.text.crc_init
- 0x08000b4c 0x1c obj/app/mavlink/src/mavlink.o
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.text.crc_calculate
- 0x08000b68 0x40 obj/app/mavlink/src/mavlink.o
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.text.mavlink_sha256_update
- 0x08000f44 0xf8 obj/app/mavlink/src/mavlink.o
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.text.mavlink_sha256_final_48
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.text.mavlink_get_channel_status
- 0x08001174 0x28 obj/app/mavlink/src/mavlink.o
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.text.mavlink_get_channel_buffer
- 0x0800119c 0x28 obj/app/mavlink/src/mavlink.o
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.text.mavlink_sign_packet
- 0x080011c4 0xd4 obj/app/mavlink/src/mavlink.o
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.text.mavlink_signature_check
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.text.mavlink_finalize_message_buffer
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.text.mavlink_finalize_message_chan
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.text.mavlink_start_checksum
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.text._MAV_RETURN_uint32_t
- 0x080020e8 0x24 obj/app/mavlink/src/mavlink.o
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.text._MAV_RETURN_float
- 0x0800210c 0x2c obj/app/mavlink/src/mavlink.o
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.text._MAV_RETURN_int8_t_array
- 0x08002138 0x30 obj/app/mavlink/src/mavlink.o
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.text._MAV_RETURN_uint16_t_array
- 0x08002168 0x38 obj/app/mavlink/src/mavlink.o
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.text._MAV_RETURN_int16_t_array
- 0x080021a0 0x38 obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_heartbeat_pack
- 0x080021d8 0x60 obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_heartbeat_get_state
- 0x08002238 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_heartbeat_get_mavlink_version
- 0x08002254 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_error_pack
- 0x08002270 0x60 obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_odometry_pack
- 0x080022d0 0x8c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_carcontrol_get_vehspd
- 0x0800235c 0x20 obj/app/mavlink/src/mavlink.o
- .text.mavlink_msg_carcontrol_get_stang
0x0800237c 0x20 obj/app/mavlink/src/mavlink.o
+ .text.mavlink_msg_carcontrol_get_stang
+ 0x0800239c 0x20 obj/app/mavlink/src/mavlink.o
.text.mavlink_msg_trajectory_get_timestamp
- 0x0800239c 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_trajectory_get_x
- 0x080023b8 0x20 obj/app/mavlink/src/mavlink.o
- .text.mavlink_msg_trajectory_get_y
0x080023d8 0x20 obj/app/mavlink/src/mavlink.o
- .text.mavlink_msg_trajectory_get_theta
+ .text.mavlink_msg_trajectory_get_y
0x080023f8 0x20 obj/app/mavlink/src/mavlink.o
- .text.mavlink_msg_trajectory_get_kappa
+ .text.mavlink_msg_trajectory_get_theta
0x08002418 0x20 obj/app/mavlink/src/mavlink.o
- .text.mavlink_msg_trajectory_get_v
+ .text.mavlink_msg_trajectory_get_kappa
0x08002438 0x20 obj/app/mavlink/src/mavlink.o
+ .text.mavlink_msg_trajectory_get_v
+ 0x08002458 0x20 obj/app/mavlink/src/mavlink.o
.text.mavlink_msg_cmd_request_msg_get_msgid
- 0x08002458 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_cmd_request_msg_get_active
- 0x08002474 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_cmd_request_msg_get_period
- 0x08002490 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_cmd_request_statechange_get_state
- 0x080024ac 0x1c obj/app/mavlink/src/mavlink.o
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.text.mavlink_msg_cmd_request_clocksync_pack
- 0x080024c8 0x60 obj/app/mavlink/src/mavlink.o
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.text.configureOutgoingMessage
- 0x08002528 0x94 obj/app/mavlink/src/mavlink.o
- 0x08002528 configureOutgoingMessage
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+ 0x08002548 configureOutgoingMessage
.text.configureStateMessages
- 0x080025bc 0xa0 obj/app/mavlink/src/mavlink.o
- 0x080025bc configureStateMessages
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.text.sendMessage
- 0x0800265c 0x18c obj/app/mavlink/src/mavlink.o
- 0x0800265c sendMessage
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- 0x080027e8 0x184 obj/app/mavlink/src/mavlink.o
- 0x080027e8 handleMessage
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.text.mavlink_init
- 0x0800296c 0xe0 obj/app/mavlink/src/mavlink.o
- 0x0800296c mavlink_init
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+ 0x0800298c mavlink_init
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.text.mavlink_getMessages
- 0x08002a50 0xe8 obj/app/mavlink/src/mavlink.o
- 0x08002a50 mavlink_getMessages
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+ 0x08002a70 mavlink_getMessages
.text.mavlink_sendMessages
- 0x08002b38 0x6c obj/app/mavlink/src/mavlink.o
- 0x08002b38 mavlink_sendMessages
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+ 0x08002b50 mavlink_sendMessages
.text.mavlink_activateStateMessages
- 0x08002ba4 0x1c obj/app/mavlink/src/mavlink.o
- 0x08002ba4 mavlink_activateStateMessages
+ 0x08002bbc 0x1c obj/app/mavlink/src/mavlink.o
+ 0x08002bbc mavlink_activateStateMessages
.text.mavlink_deactivateStateMessages
- 0x08002bc0 0x1c obj/app/mavlink/src/mavlink.o
- 0x08002bc0 mavlink_deactivateStateMessages
+ 0x08002bd8 0x1c obj/app/mavlink/src/mavlink.o
+ 0x08002bd8 mavlink_deactivateStateMessages
.text.stangsel_init
- 0x08002bdc 0x38 obj/app/stangsel/src/stangsel.o
- 0x08002bdc stangsel_init
+ 0x08002bf4 0x38 obj/app/stangsel/src/stangsel.o
+ 0x08002bf4 stangsel_init
.text.stangsel_step
- 0x08002c14 0xdc obj/app/stangsel/src/stangsel.o
- 0x08002c14 stangsel_step
+ 0x08002c2c 0xdc obj/app/stangsel/src/stangsel.o
+ 0x08002c2c stangsel_step
.text.vehspdctrl_init
- 0x08002cf0 0x74 obj/app/vehspdctrl/src/vehspdctrl.o
- 0x08002cf0 vehspdctrl_init
- *fill* 0x08002d64 0x4
+ 0x08002d08 0x74 obj/app/vehspdctrl/src/vehspdctrl.o
+ 0x08002d08 vehspdctrl_init
+ *fill* 0x08002d7c 0x4
.text.vehspdctrl_step
- 0x08002d68 0x128 obj/app/vehspdctrl/src/vehspdctrl.o
- 0x08002d68 vehspdctrl_step
- .text.spdCtrl 0x08002e90 0xb0 obj/app/vehspdctrl/src/vehspdctrl.o
- 0x08002e90 spdCtrl
+ 0x08002d80 0x128 obj/app/vehspdctrl/src/vehspdctrl.o
+ 0x08002d80 vehspdctrl_step
+ .text.spdCtrl 0x08002ea8 0xb0 obj/app/vehspdctrl/src/vehspdctrl.o
+ 0x08002ea8 spdCtrl
.text.rcrec_init
- 0x08002f40 0xc0 obj/dev/rcrec/src/rcrec.o
- 0x08002f40 rcrec_init
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.text.rcrec_isr
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- 0x08003000 rcrec_isr
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.text.wenc_init
- 0x08003168 0x74 obj/dev/wenc/src/wenc.o
- 0x08003168 wenc_init
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+ 0x08003180 wenc_init
.text.wenc_step
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- 0x080031dc wenc_step
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+ 0x080031f4 wenc_step
.text.servo_init
- 0x08003338 0x144 obj/dev/servo/src/servo.o
- 0x08003338 servo_init
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+ 0x08003350 servo_init
.text.servo_enablePwmSrv1
- 0x0800347c 0x18 obj/dev/servo/src/servo.o
- 0x0800347c servo_enablePwmSrv1
- .text.servo_enablePwmSrv2
0x08003494 0x18 obj/dev/servo/src/servo.o
- 0x08003494 servo_enablePwmSrv2
+ 0x08003494 servo_enablePwmSrv1
+ .text.servo_enablePwmSrv2
+ 0x080034ac 0x18 obj/dev/servo/src/servo.o
+ 0x080034ac servo_enablePwmSrv2
.text.servo_updateMotorTrq
- 0x080034ac 0x34 obj/dev/servo/src/servo.o
- 0x080034ac servo_updateMotorTrq
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+ 0x080034c4 servo_updateMotorTrq
.text.servo_srvAngCalc
- 0x080034e0 0xa8 obj/dev/servo/src/servo.o
- 0x080034e0 servo_srvAngCalc
+ 0x080034f8 0xa8 obj/dev/servo/src/servo.o
+ 0x080034f8 servo_srvAngCalc
.text.dutyCycleCalc
- 0x08003588 0x98 obj/dev/servo/src/servo.o
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.text.updateParameters
- 0x08003620 0x78 obj/dev/servo/src/servo.o
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.text.rx24f_init
- 0x08003698 0x170 obj/dev/rx24f/src/rx24f.o
- 0x08003698 rx24f_init
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.text.rx24f_step
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+ 0x08003820 rx24f_step
.text.delayus_init
- 0x08003a3c 0x2c obj/dev/rx24f/src/rx24f.o
- 0x08003a3c delayus_init
- .text.delayus 0x08003a68 0x34 obj/dev/rx24f/src/rx24f.o
- 0x08003a68 delayus
- .text.map 0x08003a9c 0x8c obj/dev/rx24f/src/rx24f.o
- 0x08003a9c map
+ 0x08003a54 0x2c obj/dev/rx24f/src/rx24f.o
+ 0x08003a54 delayus_init
+ .text.delayus 0x08003a80 0x34 obj/dev/rx24f/src/rx24f.o
+ 0x08003a80 delayus
+ .text.map 0x08003ab4 0x8c obj/dev/rx24f/src/rx24f.o
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.text.rx24f_txrx
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.text.rx24f_read
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.text.rx24f_eepromWriteOnce
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.text.rx24f_write
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.text.rx24f_ping
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.text.rx24f_turn
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.text.rx24f_convert
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.text.rx24f_calib
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.text.paramsys_initConnect
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.text.paramsys_setupGrp
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.text.paramsys_init
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.text.paramsys_initGrp
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.text.NVIC_SetPriority
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.text.SysTick_Config
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.text.sched_activateTask
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.text.sched_registerTask
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.text.activate
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.text.secondActivation
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.text.insertTaskAt
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.text.SysTick_Handler
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.text.sigp_init
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.text.pid_initialize
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.text.pid_controller
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.text.pt1_calculate
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.text.systime_init
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.text.systime_getSysTime
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.text.timerInit
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.text.errorHandler_init
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.text.errorHandler_setError
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.text.errorHandler_clearError
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.text.errorHandler_printErrors
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.text.io_printf
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.text.io_formatstring
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.text.io_getLength
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.text.io_formatlength
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.text.ringbuf_init
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.text.ringbuf_write
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.text.ringbuf_writeString
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.text.ringbuf_read
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.text.clocksync_initDevice
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.text.EXTI15_10_IRQHandler
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.text.uart_init
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.text.uart_writeString
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.text.uart_readByte
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.text.enableTransmitIsr
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.text.disbaleTransmitIsr
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.text.USART1_IRQHandler
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.text.USART3_IRQHandler
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.text.UART5_IRQHandler
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.text.uart_getChannel
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.text.gpio_init
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.text.gpio_readBit
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.text.gpio_setBit
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.text.gpio_clearBit
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.text.I2C2_EV_IRQHandler
- 0x08013068 0x1b4 obj/per/src/i2c2.o
- 0x08013068 I2C2_EV_IRQHandler
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.text.I2C2_ER_IRQHandler
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- 0x0801321c I2C2_ER_IRQHandler
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.text.eict_init
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.text.eict_getCounter
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.text.TIM2_IRQHandler
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- 0x08013338 TIM2_IRQHandler
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+ 0x08013350 TIM2_IRQHandler
.text.gpio_config
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.text.nvic_config
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.text.ict_init
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.text.TIM1_BRK_TIM9_IRQHandler
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- 0x08013514 TIM1_BRK_TIM9_IRQHandler
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.text.irq_enable
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.text.irq_disable
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.text.pwm_init
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.text.pwm_setDutyCycle
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.text.pwm_enable
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.text.pwm_disable
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.text.NMI_Handler
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- 0x080138f8 NMI_Handler
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.text.HardFault_Handler
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- 0x08013904 HardFault_Handler
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.text.MemManage_Handler
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.text.BusFault_Handler
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.text.UsageFault_Handler
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- 0x0801391c UsageFault_Handler
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.text.SVC_Handler
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- 0x08013924 SVC_Handler
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.text.DebugMon_Handler
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- 0x08013930 DebugMon_Handler
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.text.PendSV_Handler
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- 0x0801393c PendSV_Handler
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+ 0x08013954 PendSV_Handler
.text.RCC_Configuration
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- 0x08013948 RCC_Configuration
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.text.SystemInit
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- 0x080139f8 SystemInit
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.text.SystemCoreClockUpdate
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- 0x08013a60 SystemCoreClockUpdate
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+ 0x08013a78 SystemCoreClockUpdate
.text.SetSysClock
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.text.Default_Reset_Handler
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- 0x08013c4c Reset_Handler
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.text.Default_Handler
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- 0x08013cbc RTC_Alarm_IRQHandler
- 0x08013cbc HASH_RNG_IRQHandler
- 0x08013cbc EXTI2_IRQHandler
- 0x08013cbc TIM8_CC_IRQHandler
- 0x08013cbc TIM1_CC_IRQHandler
- 0x08013cbc DMA2_Stream5_IRQHandler
- 0x08013cbc DMA1_Stream5_IRQHandler
- 0x08013cbc PVD_IRQHandler
- 0x08013cbc SDIO_IRQHandler
- 0x08013cbc TAMP_STAMP_IRQHandler
- 0x08013cbc CAN2_RX1_IRQHandler
- 0x08013cbc EXTI3_IRQHandler
- 0x08013cbc TIM8_TRG_COM_TIM14_IRQHandler
- 0x08013cbc TIM1_UP_TIM10_IRQHandler
- 0x08013cbc TIM8_UP_TIM13_IRQHandler
- 0x08013cbc I2C3_ER_IRQHandler
- 0x08013cbc EXTI0_IRQHandler
- 0x08013cbc DMA1_Stream2_IRQHandler
- 0x08013cbc CAN1_RX0_IRQHandler
- 0x08013cbc FPU_IRQHandler
- 0x08013cbc OTG_HS_WKUP_IRQHandler
- 0x08013cbc CAN2_SCE_IRQHandler
- 0x08013cbc DMA2_Stream2_IRQHandler
- 0x08013cbc SPI1_IRQHandler
- 0x08013cbc TIM6_DAC_IRQHandler
- 0x08013cbc DCMI_IRQHandler
- 0x08013cbc CAN2_RX0_IRQHandler
- 0x08013cbc DMA2_Stream3_IRQHandler
- 0x08013cbc USART6_IRQHandler
- 0x08013cbc CRYP_IRQHandler
- 0x08013cbc CAN1_RX1_IRQHandler
- 0x08013cbc DMA2_Stream0_IRQHandler
- 0x08013cbc TIM4_IRQHandler
- 0x08013cbc I2C1_EV_IRQHandler
- 0x08013cbc DMA1_Stream6_IRQHandler
- 0x08013cbc DMA1_Stream1_IRQHandler
- 0x08013cbc UART4_IRQHandler
- 0x08013cbc TIM3_IRQHandler
- 0x08013cbc RCC_IRQHandler
- 0x08013cbc TIM8_BRK_TIM12_IRQHandler
- 0x08013cbc ADC_IRQHandler
- 0x08013cbc DMA1_Stream7_IRQHandler
- 0x08013cbc TIM7_IRQHandler
- 0x08013cbc CAN2_TX_IRQHandler
- 0x08013cbc TIM5_IRQHandler
- 0x08013cbc DMA2_Stream7_IRQHandler
- 0x08013cbc I2C3_EV_IRQHandler
- 0x08013cbc EXTI9_5_IRQHandler
- 0x08013cbc RTC_WKUP_IRQHandler
- 0x08013cbc ETH_WKUP_IRQHandler
- 0x08013cbc SPI2_IRQHandler
- 0x08013cbc OTG_HS_EP1_IN_IRQHandler
- 0x08013cbc DMA1_Stream0_IRQHandler
- 0x08013cbc CAN1_TX_IRQHandler
- 0x08013cbc EXTI4_IRQHandler
- 0x08013cbc FSMC_IRQHandler
- 0x08013cbc ETH_IRQHandler
- 0x08013cbc OTG_HS_EP1_OUT_IRQHandler
- 0x08013cbc WWDG_IRQHandler
- 0x08013cbc OTG_FS_WKUP_IRQHandler
- 0x08013cbc TIM1_TRG_COM_TIM11_IRQHandler
- 0x08013cbc OTG_HS_IRQHandler
- 0x08013cbc EXTI1_IRQHandler
- 0x08013cbc USART2_IRQHandler
- 0x08013cbc DMA2_Stream1_IRQHandler
- 0x08013cbc CAN1_SCE_IRQHandler
- 0x08013cbc FLASH_IRQHandler
- 0x08013cbc DMA2_Stream4_IRQHandler
- 0x08013cbc OTG_FS_IRQHandler
- 0x08013cbc SPI3_IRQHandler
- 0x08013cbc DMA1_Stream4_IRQHandler
- 0x08013cbc I2C1_ER_IRQHandler
- 0x08013cbc DMA2_Stream6_IRQHandler
- 0x08013cbc DMA1_Stream3_IRQHandler
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+ 0x08013cd4 RTC_Alarm_IRQHandler
+ 0x08013cd4 HASH_RNG_IRQHandler
+ 0x08013cd4 EXTI2_IRQHandler
+ 0x08013cd4 TIM8_CC_IRQHandler
+ 0x08013cd4 TIM1_CC_IRQHandler
+ 0x08013cd4 DMA2_Stream5_IRQHandler
+ 0x08013cd4 DMA1_Stream5_IRQHandler
+ 0x08013cd4 PVD_IRQHandler
+ 0x08013cd4 SDIO_IRQHandler
+ 0x08013cd4 TAMP_STAMP_IRQHandler
+ 0x08013cd4 CAN2_RX1_IRQHandler
+ 0x08013cd4 EXTI3_IRQHandler
+ 0x08013cd4 TIM8_TRG_COM_TIM14_IRQHandler
+ 0x08013cd4 TIM1_UP_TIM10_IRQHandler
+ 0x08013cd4 TIM8_UP_TIM13_IRQHandler
+ 0x08013cd4 I2C3_ER_IRQHandler
+ 0x08013cd4 EXTI0_IRQHandler
+ 0x08013cd4 DMA1_Stream2_IRQHandler
+ 0x08013cd4 CAN1_RX0_IRQHandler
+ 0x08013cd4 FPU_IRQHandler
+ 0x08013cd4 OTG_HS_WKUP_IRQHandler
+ 0x08013cd4 CAN2_SCE_IRQHandler
+ 0x08013cd4 DMA2_Stream2_IRQHandler
+ 0x08013cd4 SPI1_IRQHandler
+ 0x08013cd4 TIM6_DAC_IRQHandler
+ 0x08013cd4 DCMI_IRQHandler
+ 0x08013cd4 CAN2_RX0_IRQHandler
+ 0x08013cd4 DMA2_Stream3_IRQHandler
+ 0x08013cd4 USART6_IRQHandler
+ 0x08013cd4 CRYP_IRQHandler
+ 0x08013cd4 CAN1_RX1_IRQHandler
+ 0x08013cd4 DMA2_Stream0_IRQHandler
+ 0x08013cd4 TIM4_IRQHandler
+ 0x08013cd4 I2C1_EV_IRQHandler
+ 0x08013cd4 DMA1_Stream6_IRQHandler
+ 0x08013cd4 DMA1_Stream1_IRQHandler
+ 0x08013cd4 UART4_IRQHandler
+ 0x08013cd4 TIM3_IRQHandler
+ 0x08013cd4 RCC_IRQHandler
+ 0x08013cd4 TIM8_BRK_TIM12_IRQHandler
+ 0x08013cd4 ADC_IRQHandler
+ 0x08013cd4 DMA1_Stream7_IRQHandler
+ 0x08013cd4 TIM7_IRQHandler
+ 0x08013cd4 CAN2_TX_IRQHandler
+ 0x08013cd4 TIM5_IRQHandler
+ 0x08013cd4 DMA2_Stream7_IRQHandler
+ 0x08013cd4 I2C3_EV_IRQHandler
+ 0x08013cd4 EXTI9_5_IRQHandler
+ 0x08013cd4 RTC_WKUP_IRQHandler
+ 0x08013cd4 ETH_WKUP_IRQHandler
+ 0x08013cd4 SPI2_IRQHandler
+ 0x08013cd4 OTG_HS_EP1_IN_IRQHandler
+ 0x08013cd4 DMA1_Stream0_IRQHandler
+ 0x08013cd4 CAN1_TX_IRQHandler
+ 0x08013cd4 EXTI4_IRQHandler
+ 0x08013cd4 FSMC_IRQHandler
+ 0x08013cd4 ETH_IRQHandler
+ 0x08013cd4 OTG_HS_EP1_OUT_IRQHandler
+ 0x08013cd4 WWDG_IRQHandler
+ 0x08013cd4 OTG_FS_WKUP_IRQHandler
+ 0x08013cd4 TIM1_TRG_COM_TIM11_IRQHandler
+ 0x08013cd4 OTG_HS_IRQHandler
+ 0x08013cd4 EXTI1_IRQHandler
+ 0x08013cd4 USART2_IRQHandler
+ 0x08013cd4 DMA2_Stream1_IRQHandler
+ 0x08013cd4 CAN1_SCE_IRQHandler
+ 0x08013cd4 FLASH_IRQHandler
+ 0x08013cd4 DMA2_Stream4_IRQHandler
+ 0x08013cd4 OTG_FS_IRQHandler
+ 0x08013cd4 SPI3_IRQHandler
+ 0x08013cd4 DMA1_Stream4_IRQHandler
+ 0x08013cd4 I2C1_ER_IRQHandler
+ 0x08013cd4 DMA2_Stream6_IRQHandler
+ 0x08013cd4 DMA1_Stream3_IRQHandler
.text.NVIC_PriorityGroupConfig
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- 0x08013cc4 NVIC_PriorityGroupConfig
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.text.NVIC_Init
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- 0x08013ce8 NVIC_Init
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.text.SYSCFG_EXTILineConfig
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- 0x08013da4 SYSCFG_EXTILineConfig
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+ 0x08013dbc SYSCFG_EXTILineConfig
.text.EXTI_Init
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- 0x08013e20 EXTI_Init
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.text.EXTI_GetITStatus
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- 0x08013efc EXTI_GetITStatus
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.text.EXTI_ClearITPendingBit
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.text.RCC_DeInit
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- 0x08013f60 RCC_DeInit
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.text.RCC_HSICmd
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- 0x08013fbc RCC_HSICmd
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.text.RCC_PLLConfig
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- 0x08013fdc RCC_PLLConfig
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.text.RCC_PLLCmd
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- 0x08014018 RCC_PLLCmd
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.text.RCC_SYSCLKConfig
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- 0x08014038 RCC_SYSCLKConfig
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.text.RCC_GetSYSCLKSource
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+ 0x08014088 RCC_GetSYSCLKSource
.text.RCC_HCLKConfig
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- 0x08014090 RCC_HCLKConfig
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+ 0x080140a8 RCC_HCLKConfig
.text.RCC_PCLK1Config
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- 0x080140c8 RCC_PCLK1Config
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+ 0x080140e0 RCC_PCLK1Config
.text.RCC_PCLK2Config
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- 0x08014100 RCC_PCLK2Config
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+ 0x08014118 RCC_PCLK2Config
.text.RCC_GetClocksFreq
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- 0x08014138 RCC_GetClocksFreq
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+ 0x08014150 RCC_GetClocksFreq
.text.RCC_AHB1PeriphClockCmd
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- 0x0801428c RCC_AHB1PeriphClockCmd
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+ 0x080142a4 RCC_AHB1PeriphClockCmd
.text.RCC_APB1PeriphClockCmd
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- 0x080142c8 RCC_APB1PeriphClockCmd
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+ 0x080142e0 RCC_APB1PeriphClockCmd
.text.RCC_APB2PeriphClockCmd
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- 0x08014304 RCC_APB2PeriphClockCmd
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+ 0x0801431c RCC_APB2PeriphClockCmd
.text.RCC_GetFlagStatus
- 0x08014340 0x74 obj/brd/src/stm32f4xx_rcc.o
- 0x08014340 RCC_GetFlagStatus
+ 0x08014358 0x74 obj/brd/src/stm32f4xx_rcc.o
+ 0x08014358 RCC_GetFlagStatus
.text.TIM_TimeBaseInit
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- 0x080143b4 TIM_TimeBaseInit
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+ 0x080143cc TIM_TimeBaseInit
.text.TIM_SetCounter
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- 0x08014488 TIM_SetCounter
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+ 0x080144a0 TIM_SetCounter
.text.TIM_GetCounter
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- 0x080144a4 TIM_GetCounter
- .text.TIM_Cmd 0x080144bc 0x40 obj/brd/src/stm32f4xx_tim.o
- 0x080144bc TIM_Cmd
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+ 0x080144bc TIM_GetCounter
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+ 0x080144d4 TIM_Cmd
.text.TIM_OC3Init
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- 0x080144fc TIM_OC3Init
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+ 0x08014514 TIM_OC3Init
.text.TIM_OC4Init
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- 0x08014608 TIM_OC4Init
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+ 0x08014620 TIM_OC4Init
.text.TIM_SetCompare3
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- 0x080146d4 TIM_SetCompare3
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+ 0x080146ec TIM_SetCompare3
.text.TIM_SetCompare4
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- 0x080146f0 TIM_SetCompare4
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+ 0x08014708 TIM_SetCompare4
.text.TIM_OC3PreloadConfig
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- 0x0801470c TIM_OC3PreloadConfig
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+ 0x08014724 TIM_OC3PreloadConfig
.text.TIM_OC4PreloadConfig
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- 0x08014744 TIM_OC4PreloadConfig
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+ 0x0801475c TIM_OC4PreloadConfig
.text.TIM_ICInit
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- 0x08014780 TIM_ICInit
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+ 0x08014798 TIM_ICInit
.text.TIM_SetIC1Prescaler
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- 0x08014828 TIM_SetIC1Prescaler
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+ 0x08014840 TIM_SetIC1Prescaler
.text.TIM_SetIC2Prescaler
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- 0x08014860 TIM_SetIC2Prescaler
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+ 0x08014878 TIM_SetIC2Prescaler
.text.TIM_SetIC3Prescaler
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- 0x0801489c TIM_SetIC3Prescaler
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.text.TIM_SetIC4Prescaler
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- 0x080148d4 TIM_SetIC4Prescaler
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+ 0x080148ec TIM_SetIC4Prescaler
.text.TIM_CtrlPWMOutputs
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- 0x08014910 TIM_CtrlPWMOutputs
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.text.TIM_ITConfig
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- 0x0801495c TIM_ITConfig
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+ 0x08014974 TIM_ITConfig
.text.TIM_ClearFlag
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- 0x080149a4 TIM_ClearFlag
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.text.TIM_GetITStatus
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- 0x080149c4 TIM_GetITStatus
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.text.TIM_ClearITPendingBit
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+ 0x08014a30 TIM_ClearITPendingBit
.text.TI1_Config
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.text.TI2_Config
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.text.TI3_Config
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.text.TI4_Config
- 0x08014bc0 0x90 obj/brd/src/stm32f4xx_tim.o
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.text.FLASH_SetLatency
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.text.GPIO_Init
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- 0x08014c70 GPIO_Init
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.text.GPIO_ReadInputDataBit
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- 0x08014d8c GPIO_ReadInputDataBit
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.text.GPIO_SetBits
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- 0x08014dc0 GPIO_SetBits
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.text.GPIO_ResetBits
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- 0x08014ddc GPIO_ResetBits
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.text.GPIO_ToggleBits
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- 0x08014df8 GPIO_ToggleBits
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.text.GPIO_PinAFConfig
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- 0x08014e1c GPIO_PinAFConfig
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.text.PWR_BackupAccessCmd
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- 0x08014ea8 PWR_BackupAccessCmd
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+ 0x08014ec0 PWR_BackupAccessCmd
.text.I2C_GenerateSTOP
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- 0x08014ec8 I2C_GenerateSTOP
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+ 0x08014ee0 I2C_GenerateSTOP
.text.I2C_Send7bitAddress
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- 0x08014f08 I2C_Send7bitAddress
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+ 0x08014f20 I2C_Send7bitAddress
.text.I2C_AcknowledgeConfig
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- 0x08014f44 I2C_AcknowledgeConfig
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.text.I2C_SendData
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- 0x08014f84 I2C_SendData
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.text.I2C_ReceiveData
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- 0x08014fa4 I2C_ReceiveData
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.text.I2C_ReadRegister
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.text.I2C_GetFlagStatus
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.text.I2C_ClearFlag
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.text.USART_Init
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.text.USART_Cmd
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.text.USART_SendData
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.text.USART_ReceiveData
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.text.USART_ITConfig
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.text.USART_GetFlagStatus
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.text.USART_ClearITPendingBit
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- 0x0801539a memcpy
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+ 0x08018288 __fixdfsi
+ 0x08018288 __aeabi_d2iz
+ .text 0x080182d8 0x40 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/armv7e-m/fpu/libgcc.a(_arm_fixunsdfsi.o)
+ 0x080182d8 __fixunsdfsi
+ 0x080182d8 __aeabi_d2uiz
+ .text 0x08018318 0xa0 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/armv7e-m/fpu/libgcc.a(_arm_truncdfsf2.o)
+ 0x08018318 __aeabi_d2f
+ 0x08018318 __truncdfsf2
+ .text.__errno 0x080183b8 0xc /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libg_s.a(lib_a-errno.o)
+ 0x080183b8 __errno
*(.init)
*(.fini)
*crtbegin.o(.ctors)
@@ -3847,69 +3848,69 @@ LOAD obj/brd/discovery/src/stm32f4_discovery.o
*(SORT(.dtors.*))
*(.dtors)
*(.rodata*)
- .rodata 0x080183ac 0x148 obj/app/stm/src/stm.o
- .rodata 0x080184f4 0x21c obj/app/app.o
- .rodata 0x08018710 0x33c4 obj/app/mavlink/src/mavlink.o
- .rodata 0x0801bad4 0x5c obj/dev/wenc/src/wenc.o
- .rodata 0x0801bb30 0x294 obj/dev/rx24f/src/rx24f.o
- .rodata 0x0801bdc4 0xba0 obj/sys/paramsys/src/paramlist.o
- .rodata 0x0801c964 0x18c obj/sys/paramsys/src/paramsys.o
- .rodata 0x0801caf0 0x174 obj/sys/errorhandler/src/errorList.o
- .rodata 0x0801cc64 0xc obj/sys/errorhandler/src/errorHandler.o
- .rodata 0x0801cc70 0x4 obj/sys/util/src/ringbuf.o
+ .rodata 0x080183c4 0x148 obj/app/stm/src/stm.o
+ .rodata 0x0801850c 0x21c obj/app/app.o
+ .rodata 0x08018728 0x33c4 obj/app/mavlink/src/mavlink.o
+ .rodata 0x0801baec 0x5c obj/dev/wenc/src/wenc.o
+ .rodata 0x0801bb48 0x294 obj/dev/rx24f/src/rx24f.o
+ .rodata 0x0801bddc 0xba0 obj/sys/paramsys/src/paramlist.o
+ .rodata 0x0801c97c 0x18c obj/sys/paramsys/src/paramsys.o
+ .rodata 0x0801cb08 0x174 obj/sys/errorhandler/src/errorList.o
+ .rodata 0x0801cc7c 0xc obj/sys/errorhandler/src/errorHandler.o
+ .rodata 0x0801cc88 0x4 obj/sys/util/src/ringbuf.o
.rodata.str1.1
- 0x0801cc74 0x2 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libg_s.a(lib_a-impure.o)
- *fill* 0x0801cc76 0x2
+ 0x0801cc8c 0x2 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libg_s.a(lib_a-impure.o)
+ *fill* 0x0801cc8e 0x2
.rodata.str1.4
- 0x0801cc78 0x9 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-w_log10.o)
+ 0x0801cc90 0x9 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-w_log10.o)
0xc (size before relaxing)
- *fill* 0x0801cc81 0x3
+ *fill* 0x0801cc99 0x3
.rodata.str1.4
- 0x0801cc84 0x4 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-w_pow.o)
- .rodata.dp_h 0x0801cc88 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
- .rodata.dp_l 0x0801cc98 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
- .rodata.bp 0x0801cca8 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
+ 0x0801cc9c 0x4 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-w_pow.o)
+ .rodata.dp_h 0x0801cca0 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
+ .rodata.dp_l 0x0801ccb0 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
+ .rodata.bp 0x0801ccc0 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
.rodata.str1.4
0x00000000 0x4 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-e_pow.o)
.rodata.npio2_hw
- 0x0801ccb8 0x80 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-ef_rem_pio2.o)
+ 0x0801ccd0 0x80 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-ef_rem_pio2.o)
.rodata.two_over_pi
- 0x0801cd38 0x318 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-ef_rem_pio2.o)
+ 0x0801cd50 0x318 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-ef_rem_pio2.o)
.rodata.init_jk
- 0x0801d050 0xc /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-kf_rem_pio2.o)
- .rodata.PIo2 0x0801d05c 0x2c /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-kf_rem_pio2.o)
- .rodata.TWO52 0x0801d088 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-s_rint.o)
+ 0x0801d068 0xc /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-kf_rem_pio2.o)
+ .rodata.PIo2 0x0801d074 0x2c /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-kf_rem_pio2.o)
+ .rodata.TWO52 0x0801d0a0 0x10 /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi/4.8.4/../../../../arm-none-eabi/lib/armv7e-m/fpu/libm.a(lib_a-s_rint.o)
*(.eh_fram e*)
-.glue_7 0x0801d098 0x0
+.glue_7 0x0801d0b0 0x0
.glue_7 0x00000000 0x0 linker stubs
-.glue_7t 0x0801d098 0x0
+.glue_7t 0x0801d0b0 0x0
.glue_7t 0x00000000 0x0 linker stubs
-.vfp11_veneer 0x0801d098 0x0
+.vfp11_veneer 0x0801d0b0 0x0
.vfp11_veneer 0x00000000 0x0 linker stubs
-.v4_bx 0x0801d098 0x0
+.v4_bx 0x0801d0b0 0x0
.v4_bx 0x00000000 0x0 linker stubs
-.iplt 0x0801d098 0x0
+.iplt 0x0801d0b0 0x0
.iplt 0x00000000 0x0 obj/app/odom/src/odom.o
-.rel.dyn 0x0801d098 0x0
+.rel.dyn 0x0801d0b0 0x0
.rel.iplt 0x00000000 0x0 obj/app/odom/src/odom.o
.ARM.extab
*(.ARM.extab* .gnu.linkonce.armextab.*)
- 0x0801d098 __exidx_start = .
+ 0x0801d0b0 __exidx_start = .
.ARM.exidx
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
- 0x0801d098 __exidx_end = .
- 0x0801d098 __etext = .
- 0x0801d098 _sidata = __etext
+ 0x0801d0b0 __exidx_end = .
+ 0x0801d0b0 __etext = .
+ 0x0801d0b0 _sidata = __etext
-.data 0x20000000 0xf8 load address 0x0801d098
+.data 0x20000000 0xf8 load address 0x0801d0b0
0x20000000 __data_start__ = .
0x20000000 _sdata = __data_start__
*(vtable)
@@ -3955,10 +3956,10 @@ LOAD obj/brd/discovery/src/stm32f4_discovery.o
0x200000f8 __data_end__ = .
0x200000f8 _edata = __data_end__
-.igot.plt 0x200000f8 0x0 load address 0x0801d190
+.igot.plt 0x200000f8 0x0 load address 0x0801d1a8
.igot.plt 0x00000000 0x0 obj/app/odom/src/odom.o
-.bss 0x200000f8 0x9340 load address 0x0801d190
+.bss 0x200000f8 0x9340 load address 0x0801d1a8
0x200000f8 . = ALIGN (0x4)
0x200000f8 __bss_start__ = .
0x200000f8 _sbss = __bss_start__
@@ -4142,7 +4143,7 @@ LOAD obj/brd/discovery/src/stm32f4_discovery.o
*(.heap*)
0x20009438 __HeapLimit = .
-.co_stack 0x20009438 0x800 load address 0x080264d0
+.co_stack 0x20009438 0x800 load address 0x080264e8
0x20009438 . = ALIGN (0x8)
*(.co_stack .co_stack.*)
.co_stack 0x20009438 0x800 obj/brd/startup/startup_stm32f4xx.o
@@ -4164,57 +4165,57 @@ LOAD /home/philipp/opt/gcc-arm-none-eabi-4_8-2014q2/bin/../lib/gcc/arm-none-eabi
END GROUP
OUTPUT(vlx.elf elf32-littlearm)
-.debug_info 0x00000000 0x13b55
+.debug_info 0x00000000 0x13b54
.debug_info 0x00000000 0x36a obj/app/odom/src/odom.o
.debug_info 0x0000036a 0x3dc obj/app/main.o
.debug_info 0x00000746 0x2d6 obj/app/latctrl/src/latctrl.o
.debug_info 0x00000a1c 0x2a7 obj/app/stm/src/stm.o
.debug_info 0x00000cc3 0x1c7 obj/app/rx24fctrl/src/rx24fctrl.o
.debug_info 0x00000e8a 0x243 obj/app/app.o
- .debug_info 0x000010cd 0x2071 obj/app/mavlink/src/mavlink.o
- .debug_info 0x0000313e 0x2ed obj/app/stangproc/src/stangproc.o
- .debug_info 0x0000342b 0x26c obj/app/stangsel/src/stangsel.o
- .debug_info 0x00003697 0x3a6 obj/app/vehspdctrl/src/vehspdctrl.o
- .debug_info 0x00003a3d 0x342 obj/dev/sfr02_t/src/srf02_t.o
- .debug_info 0x00003d7f 0x477 obj/dev/rcrec/src/rcrec.o
- .debug_info 0x000041f6 0x3ee obj/dev/wenc/src/wenc.o
- .debug_info 0x000045e4 0x5d4 obj/dev/servo/src/servo.o
- .debug_info 0x00004bb8 0xd4c obj/dev/rx24f/src/rx24f.o
- .debug_info 0x00005904 0x521 obj/dev/mpu9150/src/mpu9150.o
- .debug_info 0x00005e25 0x441 obj/sys/paramsys/src/paramp.o
- .debug_info 0x00006266 0x330 obj/sys/paramsys/src/paramlist.o
- .debug_info 0x00006596 0x82a obj/sys/paramsys/src/paramsys.o
- .debug_info 0x00006dc0 0xa79 obj/sys/sched/src/scheduler.o
- .debug_info 0x00007839 0xcf4 obj/sys/sigp/src/sigp.o
- .debug_info 0x0000852d 0x20f obj/sys/algo/src/pid.o
- .debug_info 0x0000873c 0x15a obj/sys/algo/src/pt1.o
- .debug_info 0x00008896 0x3b9 obj/sys/systime/src/systime.o
- .debug_info 0x00008c4f 0x58 obj/sys/errorhandler/src/errorList.o
- .debug_info 0x00008ca7 0x22d obj/sys/errorhandler/src/errorHandler.o
- .debug_info 0x00008ed4 0x920 obj/sys/util/src/io.o
- .debug_info 0x000097f4 0x37a obj/sys/util/src/ringbuf.o
- .debug_info 0x00009b6e 0x652 obj/per/src/clocksync.o
- .debug_info 0x0000a1c0 0xc07 obj/per/src/uart.o
- .debug_info 0x0000adc7 0x4b0 obj/per/src/gpio.o
- .debug_info 0x0000b277 0x8b6 obj/per/src/i2c2.o
- .debug_info 0x0000bb2d 0x88b obj/per/src/eict.o
- .debug_info 0x0000c3b8 0x863 obj/per/src/ict.o
- .debug_info 0x0000cc1b 0x10b obj/per/src/irq.o
- .debug_info 0x0000cd26 0x7ad obj/per/src/pwm.o
- .debug_info 0x0000d4d3 0x137 obj/brd/startup/stm32f4xx_it.o
- .debug_info 0x0000d60a 0x309 obj/brd/startup/RCC_Configuration.o
- .debug_info 0x0000d913 0x5a2 obj/brd/startup/system_stm32f4xx.o
- .debug_info 0x0000deb5 0xf1 obj/brd/startup/startup_stm32f4xx.o
- .debug_info 0x0000dfa6 0x556 obj/brd/src/misc.o
- .debug_info 0x0000e4fc 0x26f obj/brd/src/stm32f4xx_syscfg.o
- .debug_info 0x0000e76b 0x360 obj/brd/src/stm32f4xx_exti.o
- .debug_info 0x0000eacb 0xc60 obj/brd/src/stm32f4xx_rcc.o
- .debug_info 0x0000f72b 0x1c64 obj/brd/src/stm32f4xx_tim.o
- .debug_info 0x0001138f 0x761 obj/brd/src/stm32f4xx_flash.o
- .debug_info 0x00011af0 0x608 obj/brd/src/stm32f4xx_gpio.o
- .debug_info 0x000120f8 0x50e obj/brd/src/stm32f4xx_pwr.o
- .debug_info 0x00012606 0xb8a obj/brd/src/stm32f4xx_i2c.o
- .debug_info 0x00013190 0x9c5 obj/brd/src/stm32f4xx_usart.o
+ .debug_info 0x000010cd 0x2070 obj/app/mavlink/src/mavlink.o
+ .debug_info 0x0000313d 0x2ed obj/app/stangproc/src/stangproc.o
+ .debug_info 0x0000342a 0x26c obj/app/stangsel/src/stangsel.o
+ .debug_info 0x00003696 0x3a6 obj/app/vehspdctrl/src/vehspdctrl.o
+ .debug_info 0x00003a3c 0x342 obj/dev/sfr02_t/src/srf02_t.o
+ .debug_info 0x00003d7e 0x477 obj/dev/rcrec/src/rcrec.o
+ .debug_info 0x000041f5 0x3ee obj/dev/wenc/src/wenc.o
+ .debug_info 0x000045e3 0x5d4 obj/dev/servo/src/servo.o
+ .debug_info 0x00004bb7 0xd4c obj/dev/rx24f/src/rx24f.o
+ .debug_info 0x00005903 0x521 obj/dev/mpu9150/src/mpu9150.o
+ .debug_info 0x00005e24 0x441 obj/sys/paramsys/src/paramp.o
+ .debug_info 0x00006265 0x330 obj/sys/paramsys/src/paramlist.o
+ .debug_info 0x00006595 0x82a obj/sys/paramsys/src/paramsys.o
+ .debug_info 0x00006dbf 0xa79 obj/sys/sched/src/scheduler.o
+ .debug_info 0x00007838 0xcf4 obj/sys/sigp/src/sigp.o
+ .debug_info 0x0000852c 0x20f obj/sys/algo/src/pid.o
+ .debug_info 0x0000873b 0x15a obj/sys/algo/src/pt1.o
+ .debug_info 0x00008895 0x3b9 obj/sys/systime/src/systime.o
+ .debug_info 0x00008c4e 0x58 obj/sys/errorhandler/src/errorList.o
+ .debug_info 0x00008ca6 0x22d obj/sys/errorhandler/src/errorHandler.o
+ .debug_info 0x00008ed3 0x920 obj/sys/util/src/io.o
+ .debug_info 0x000097f3 0x37a obj/sys/util/src/ringbuf.o
+ .debug_info 0x00009b6d 0x652 obj/per/src/clocksync.o
+ .debug_info 0x0000a1bf 0xc07 obj/per/src/uart.o
+ .debug_info 0x0000adc6 0x4b0 obj/per/src/gpio.o
+ .debug_info 0x0000b276 0x8b6 obj/per/src/i2c2.o
+ .debug_info 0x0000bb2c 0x88b obj/per/src/eict.o
+ .debug_info 0x0000c3b7 0x863 obj/per/src/ict.o
+ .debug_info 0x0000cc1a 0x10b obj/per/src/irq.o
+ .debug_info 0x0000cd25 0x7ad obj/per/src/pwm.o
+ .debug_info 0x0000d4d2 0x137 obj/brd/startup/stm32f4xx_it.o
+ .debug_info 0x0000d609 0x309 obj/brd/startup/RCC_Configuration.o
+ .debug_info 0x0000d912 0x5a2 obj/brd/startup/system_stm32f4xx.o
+ .debug_info 0x0000deb4 0xf1 obj/brd/startup/startup_stm32f4xx.o
+ .debug_info 0x0000dfa5 0x556 obj/brd/src/misc.o
+ .debug_info 0x0000e4fb 0x26f obj/brd/src/stm32f4xx_syscfg.o
+ .debug_info 0x0000e76a 0x360 obj/brd/src/stm32f4xx_exti.o
+ .debug_info 0x0000eaca 0xc60 obj/brd/src/stm32f4xx_rcc.o
+ .debug_info 0x0000f72a 0x1c64 obj/brd/src/stm32f4xx_tim.o
+ .debug_info 0x0001138e 0x761 obj/brd/src/stm32f4xx_flash.o
+ .debug_info 0x00011aef 0x608 obj/brd/src/stm32f4xx_gpio.o
+ .debug_info 0x000120f7 0x50e obj/brd/src/stm32f4xx_pwr.o
+ .debug_info 0x00012605 0xb8a obj/brd/src/stm32f4xx_i2c.o
+ .debug_info 0x0001318f 0x9c5 obj/brd/src/stm32f4xx_usart.o
.debug_abbrev 0x00000000 0x3f55
.debug_abbrev 0x00000000 0xd7 obj/app/odom/src/odom.o
@@ -4421,57 +4422,57 @@ OUTPUT(vlx.elf elf32-littlearm)
.debug_ranges 0x00000fb8 0x120 obj/brd/src/stm32f4xx_i2c.o
.debug_ranges 0x000010d8 0xf0 obj/brd/src/stm32f4xx_usart.o
-.debug_line 0x00000000 0x8a75
+.debug_line 0x00000000 0x8a72
.debug_line 0x00000000 0x184 obj/app/odom/src/odom.o
.debug_line 0x00000184 0x1c7 obj/app/main.o
.debug_line 0x0000034b 0x189 obj/app/latctrl/src/latctrl.o
- .debug_line 0x000004d4 0x1eb obj/app/stm/src/stm.o
- .debug_line 0x000006bf 0x168 obj/app/rx24fctrl/src/rx24fctrl.o
- .debug_line 0x00000827 0x1c6 obj/app/app.o
- .debug_line 0x000009ed 0xb86 obj/app/mavlink/src/mavlink.o
- .debug_line 0x00001573 0x1ba obj/app/stangproc/src/stangproc.o
- .debug_line 0x0000172d 0x1e9 obj/app/stangsel/src/stangsel.o
- .debug_line 0x00001916 0x239 obj/app/vehspdctrl/src/vehspdctrl.o
- .debug_line 0x00001b4f 0x1b0 obj/dev/sfr02_t/src/srf02_t.o
- .debug_line 0x00001cff 0x19d obj/dev/rcrec/src/rcrec.o
- .debug_line 0x00001e9c 0x1e4 obj/dev/wenc/src/wenc.o
- .debug_line 0x00002080 0x26f obj/dev/servo/src/servo.o
- .debug_line 0x000022ef 0x4a1 obj/dev/rx24f/src/rx24f.o
- .debug_line 0x00002790 0x394 obj/dev/mpu9150/src/mpu9150.o
- .debug_line 0x00002b24 0x139 obj/sys/paramsys/src/paramp.o
- .debug_line 0x00002c5d 0xdce obj/sys/paramsys/src/paramlist.o
- .debug_line 0x00003a2b 0x2dd obj/sys/paramsys/src/paramsys.o
- .debug_line 0x00003d08 0x317 obj/sys/sched/src/scheduler.o
- .debug_line 0x0000401f 0xca obj/sys/sigp/src/sigp.o
- .debug_line 0x000040e9 0x178 obj/sys/algo/src/pid.o
- .debug_line 0x00004261 0x15f obj/sys/algo/src/pt1.o
- .debug_line 0x000043c0 0x197 obj/sys/systime/src/systime.o
- .debug_line 0x00004557 0x41 obj/sys/errorhandler/src/errorList.o
- .debug_line 0x00004598 0x19d obj/sys/errorhandler/src/errorHandler.o
- .debug_line 0x00004735 0x487 obj/sys/util/src/io.o
- .debug_line 0x00004bbc 0x20e obj/sys/util/src/ringbuf.o
- .debug_line 0x00004dca 0x1a4 obj/per/src/clocksync.o
- .debug_line 0x00004f6e 0x311 obj/per/src/uart.o
- .debug_line 0x0000527f 0x2a8 obj/per/src/gpio.o
- .debug_line 0x00005527 0x2cd obj/per/src/i2c2.o
- .debug_line 0x000057f4 0x1f3 obj/per/src/eict.o
- .debug_line 0x000059e7 0x1b7 obj/per/src/ict.o
- .debug_line 0x00005b9e 0x158 obj/per/src/irq.o
- .debug_line 0x00005cf6 0x249 obj/per/src/pwm.o
- .debug_line 0x00005f3f 0x1a6 obj/brd/startup/stm32f4xx_it.o
- .debug_line 0x000060e5 0x16b obj/brd/startup/RCC_Configuration.o
- .debug_line 0x00006250 0x1a3 obj/brd/startup/system_stm32f4xx.o
- .debug_line 0x000063f3 0x74 obj/brd/startup/startup_stm32f4xx.o
- .debug_line 0x00006467 0x1ae obj/brd/src/misc.o
- .debug_line 0x00006615 0x1af obj/brd/src/stm32f4xx_syscfg.o
- .debug_line 0x000067c4 0x20e obj/brd/src/stm32f4xx_exti.o
- .debug_line 0x000069d2 0x516 obj/brd/src/stm32f4xx_rcc.o
- .debug_line 0x00006ee8 0x9ce obj/brd/src/stm32f4xx_tim.o
- .debug_line 0x000078b6 0x411 obj/brd/src/stm32f4xx_flash.o
- .debug_line 0x00007cc7 0x2a8 obj/brd/src/stm32f4xx_gpio.o
- .debug_line 0x00007f6f 0x25b obj/brd/src/stm32f4xx_pwr.o
- .debug_line 0x000081ca 0x484 obj/brd/src/stm32f4xx_i2c.o
- .debug_line 0x0000864e 0x427 obj/brd/src/stm32f4xx_usart.o
+ .debug_line 0x000004d4 0x1ee obj/app/stm/src/stm.o
+ .debug_line 0x000006c2 0x168 obj/app/rx24fctrl/src/rx24fctrl.o
+ .debug_line 0x0000082a 0x1c6 obj/app/app.o
+ .debug_line 0x000009f0 0xb80 obj/app/mavlink/src/mavlink.o
+ .debug_line 0x00001570 0x1ba obj/app/stangproc/src/stangproc.o
+ .debug_line 0x0000172a 0x1e9 obj/app/stangsel/src/stangsel.o
+ .debug_line 0x00001913 0x239 obj/app/vehspdctrl/src/vehspdctrl.o
+ .debug_line 0x00001b4c 0x1b0 obj/dev/sfr02_t/src/srf02_t.o
+ .debug_line 0x00001cfc 0x19d obj/dev/rcrec/src/rcrec.o
+ .debug_line 0x00001e99 0x1e4 obj/dev/wenc/src/wenc.o
+ .debug_line 0x0000207d 0x26f obj/dev/servo/src/servo.o
+ .debug_line 0x000022ec 0x4a1 obj/dev/rx24f/src/rx24f.o
+ .debug_line 0x0000278d 0x394 obj/dev/mpu9150/src/mpu9150.o
+ .debug_line 0x00002b21 0x139 obj/sys/paramsys/src/paramp.o
+ .debug_line 0x00002c5a 0xdce obj/sys/paramsys/src/paramlist.o
+ .debug_line 0x00003a28 0x2dd obj/sys/paramsys/src/paramsys.o
+ .debug_line 0x00003d05 0x317 obj/sys/sched/src/scheduler.o
+ .debug_line 0x0000401c 0xca obj/sys/sigp/src/sigp.o
+ .debug_line 0x000040e6 0x178 obj/sys/algo/src/pid.o
+ .debug_line 0x0000425e 0x15f obj/sys/algo/src/pt1.o
+ .debug_line 0x000043bd 0x197 obj/sys/systime/src/systime.o
+ .debug_line 0x00004554 0x41 obj/sys/errorhandler/src/errorList.o
+ .debug_line 0x00004595 0x19d obj/sys/errorhandler/src/errorHandler.o
+ .debug_line 0x00004732 0x487 obj/sys/util/src/io.o
+ .debug_line 0x00004bb9 0x20e obj/sys/util/src/ringbuf.o
+ .debug_line 0x00004dc7 0x1a4 obj/per/src/clocksync.o
+ .debug_line 0x00004f6b 0x311 obj/per/src/uart.o
+ .debug_line 0x0000527c 0x2a8 obj/per/src/gpio.o
+ .debug_line 0x00005524 0x2cd obj/per/src/i2c2.o
+ .debug_line 0x000057f1 0x1f3 obj/per/src/eict.o
+ .debug_line 0x000059e4 0x1b7 obj/per/src/ict.o
+ .debug_line 0x00005b9b 0x158 obj/per/src/irq.o
+ .debug_line 0x00005cf3 0x249 obj/per/src/pwm.o
+ .debug_line 0x00005f3c 0x1a6 obj/brd/startup/stm32f4xx_it.o
+ .debug_line 0x000060e2 0x16b obj/brd/startup/RCC_Configuration.o
+ .debug_line 0x0000624d 0x1a3 obj/brd/startup/system_stm32f4xx.o
+ .debug_line 0x000063f0 0x74 obj/brd/startup/startup_stm32f4xx.o
+ .debug_line 0x00006464 0x1ae obj/brd/src/misc.o
+ .debug_line 0x00006612 0x1af obj/brd/src/stm32f4xx_syscfg.o
+ .debug_line 0x000067c1 0x20e obj/brd/src/stm32f4xx_exti.o
+ .debug_line 0x000069cf 0x516 obj/brd/src/stm32f4xx_rcc.o
+ .debug_line 0x00006ee5 0x9ce obj/brd/src/stm32f4xx_tim.o
+ .debug_line 0x000078b3 0x411 obj/brd/src/stm32f4xx_flash.o
+ .debug_line 0x00007cc4 0x2a8 obj/brd/src/stm32f4xx_gpio.o
+ .debug_line 0x00007f6c 0x25b obj/brd/src/stm32f4xx_pwr.o
+ .debug_line 0x000081c7 0x484 obj/brd/src/stm32f4xx_i2c.o
+ .debug_line 0x0000864b 0x427 obj/brd/src/stm32f4xx_usart.o
.debug_str 0x00000000 0x70b8
.debug_str 0x00000000 0x3f9 obj/app/odom/src/odom.o
diff --git a/modules/build.sh b/modules/build.sh
index 084991b75a6c9b3c53aed9f401b0f80563895ee9..0426813b1e3c1553664ac0cda70a2e01ad5a44c8 100755
--- a/modules/build.sh
+++ b/modules/build.sh
@@ -37,12 +37,12 @@ cd cmake-build-debug
cmake ..
make
-# build VeloxLib
-cd ../../VeloxLib/
+# build VeloxProtocolLib
+cd ../../VeloxProtocolLib/
mkdir cmake-build-debug
cd cmake-build-debug
cmake ..
-make
+sudo make install
# build ROS stuff
cd ../../../
diff --git a/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt b/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
index ee7b4aacb6b0c633ca447ecbd4eaf5699befdbbf..27330da6fc7a025afd26a9eb0436ea0109b2019e 100644
--- a/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
+++ b/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
@@ -20,10 +20,8 @@ set(CMAKE_CXX_FLAGS -pthread)
set(SOURCE_FILES
include/PC2CarLib/CommandSender.h
- include/PC2CarLib/TimedValue.h
include/PC2CarLib/PC2Car.h
include/PC2CarLib/CommandReceiver.h
- include/PC2CarLib/TimedValue.h
include/PC2CarLib/json.hpp
src/CommandReceiver.cpp)
@@ -32,7 +30,6 @@ set(PUBLIC_HEADER_FILES
include/PC2CarLib/CommandReceiver.h
include/PC2CarLib/json.hpp
include/PC2CarLib/PC2Car.h
- include/PC2CarLib/TimedValue.h
${CMAKE_CURRENT_BINARY_DIR}/PC2CarLibConfig.h)
foreach(HEADER ${PUBLIC_HEADER_FILES})
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt b/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt
index ae61916e7b74f2ed52baa4fe7d848eac5fe97291..99d133a4f0a47e62e2da802bb038974e490fb756 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt
+++ b/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt
@@ -1,33 +1,174 @@
cmake_minimum_required(VERSION 3.5.1)
-project(VeloxProtocolLib)
+project(VeloxProtocol)
+
+set(VeloxProtocol_VERSION_MAJOR 0)
+set(VeloxProtocol_VERSION_MINOR 1)
set(CMAKE_CXX_STANDARD 14)
+# configure a header file to pass some of the CMake settings
+# to the source code
+configure_file(
+ "${PROJECT_SOURCE_DIR}/src/VeloxProtocolLibConfig.h.in"
+ "${PROJECT_BINARY_DIR}/VeloxProtocolLibConfig.h")
+
+# so we can import the config header file
+include_directories("${PROJECT_BINARY_DIR}")
+
+# compiler flags
set(CMAKE_CXX_FLAGS -pthread)
set(SOURCE_FILES
- include/mavlink/checksum.h
- include/mavlink/mavlink_conversions.h
- include/mavlink/mavlink_get_info.h
- include/mavlink/mavlink_helpers.h
- include/mavlink/mavlink_sha256.h
- include/mavlink/mavlink_types.h
- include/mavlink/protocol.h
- include/mavlink/velox/mavlink.h
- include/mavlink/velox/mavlink_msg_carcontrol.h
- include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
- include/mavlink/velox/mavlink_msg_cmd_request_msg.h
- include/mavlink/velox/mavlink_msg_cmd_request_statechange.h
- include/mavlink/velox/mavlink_msg_error.h
- include/mavlink/velox/mavlink_msg_heartbeat.h
- include/mavlink/velox/mavlink_msg_odometry.h
- include/mavlink/velox/mavlink_msg_trajectory.h
- include/mavlink/velox/testsuite.h
- include/mavlink/velox/velox.h
- include/mavlink/velox/version.h
- include/serial_port.h
- include/Velox.h
- src/serial_port.cpp
- src/Velox.cpp)
-
-add_executable(main ${SOURCE_FILES} test/Main.cpp)
\ No newline at end of file
+ include/VeloxProtocolLib/mavlink/checksum.h
+ include/VeloxProtocolLib/mavlink/mavlink_conversions.h
+ include/VeloxProtocolLib/mavlink/mavlink_get_info.h
+ include/VeloxProtocolLib/mavlink/mavlink_helpers.h
+ include/VeloxProtocolLib/mavlink/mavlink_sha256.h
+ include/VeloxProtocolLib/mavlink/mavlink_types.h
+ include/VeloxProtocolLib/mavlink/protocol.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
+ include/VeloxProtocolLib/mavlink/velox/testsuite.h
+ include/VeloxProtocolLib/mavlink/velox/velox.h
+ include/VeloxProtocolLib/mavlink/velox/version.h
+ include/VeloxProtocolLib/Connection.h
+ src/Connection.cpp)
+
+set(PUBLIC_HEADER_FILES
+ include/VeloxProtocolLib/mavlink/checksum.h
+ include/VeloxProtocolLib/mavlink/mavlink_conversions.h
+ include/VeloxProtocolLib/mavlink/mavlink_get_info.h
+ include/VeloxProtocolLib/mavlink/mavlink_helpers.h
+ include/VeloxProtocolLib/mavlink/mavlink_sha256.h
+ include/VeloxProtocolLib/mavlink/mavlink_types.h
+ include/VeloxProtocolLib/mavlink/protocol.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
+ include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
+ include/VeloxProtocolLib/mavlink/velox/testsuite.h
+ include/VeloxProtocolLib/mavlink/velox/velox.h
+ include/VeloxProtocolLib/mavlink/velox/version.h
+ include/VeloxProtocolLib/Connection.h
+ ${CMAKE_CURRENT_BINARY_DIR}/VeloxProtocolLibConfig.h)
+
+foreach(HEADER ${PUBLIC_HEADER_FILES})
+ set(PUBLIC_HEADER_FILES_COMBINED "${PUBLIC_HEADER_FILES_COMBINED}\\;${HEADER}")
+endforeach()
+
+add_library(VeloxProtocolLib SHARED ${SOURCE_FILES})
+
+# Specify public header files
+set_target_properties(VeloxProtocolLib PROPERTIES PUBLIC_HEADER ${PUBLIC_HEADER_FILES_COMBINED})
+
+set(LOCAL_INSTALL_DIR ${CMAKE_CURRENT_LIST_DIR}/../../install)
+
+set(CMAKE_PREFIX_PATH "${LOCAL_INSTALL_DIR}")
+
+# NetworkingLib
+find_package(NetworkingLib REQUIRED)
+target_include_directories(VeloxProtocolLib PUBLIC ${NetworkingLib_INCLUDE_DIRS})
+target_link_libraries(VeloxProtocolLib NetworkingLib)
+
+find_package(Boost REQUIRED COMPONENTS system regex)
+link_libraries(${Boost_LIBRARIES})
+
+set(INSTALL_PACKAGE ON)
+if(INSTALL_PACKAGE)
+ #############################
+ # Specify install directories
+ #############################
+ set(CMAKE_INSTALL_PREFIX "${LOCAL_INSTALL_DIR}")
+ set(INSTALL_LIB_DIR lib/VeloxProtocolLib)
+ set(INSTALL_INCLUDE_DIR include/VeloxProtocolLib)
+ set(INSTALL_CMAKE_DIR lib/VeloxProtocolLib/CMake)
+
+ # Make relative paths absolute (needed later on)
+ foreach(p LIB INCLUDE CMAKE)
+ set(var INSTALL_${p}_DIR)
+ if(NOT IS_ABSOLUTE "${${var}}")
+ set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
+ endif()
+ endforeach()
+
+ ####################################################
+ # Create the *Config.cmake and *ConfigVersion files
+ ####################################################
+ # Add all targets to the build-tree export set
+ export(TARGETS VeloxProtocolLib
+ FILE "${PROJECT_BINARY_DIR}/VeloxProtocolLibTargets.cmake")
+
+ # Export the package for use from the build-tree
+ # (this registers the build-tree with a global CMake-registry)
+ export(PACKAGE VeloxProtocolLib)
+
+ # Get the relative path from the cmake install directory to the include install directory
+ file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}" "${INSTALL_INCLUDE_DIR}")
+
+ # Configure *Config.cmake.in for the build tree
+ # Put it inside the binary directory
+ set(CONF_INCLUDE_DIRS "${CMAKE_CURRENT_LIST_DIR}/include")
+ configure_file(VeloxProtocolLibConfig.cmake.in
+ "${PROJECT_BINARY_DIR}/VeloxProtocolLibConfig.cmake"
+ @ONLY)
+
+ # Configure *Config.cmake.in for the install tree
+ # Put it inside the cmake-files directory (which is located inside the binary directory)
+ set(CONF_INCLUDE_DIRS "\${VELOX_PROTOCOL_LIB_CMAKE_DIR}/${REL_INCLUDE_DIR}/..")
+ configure_file(VeloxProtocolLibConfig.cmake.in
+ "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/VeloxProtocolLibConfig.cmake"
+ @ONLY)
+
+ # Configure *ConfigVersion.cmake.in for both build and install tree
+ # Put it inside the binary directory
+ configure_file(VeloxProtocolLibConfigVersion.cmake.in
+ "${PROJECT_BINARY_DIR}/VeloxProtocolLibConfigVersion.cmake" @ONLY)
+
+ ########################
+ # Install VeloxProtocolLib
+ ########################
+ # Install library and header files
+ install(TARGETS VeloxProtocolLib
+ EXPORT VeloxProtocolLibTargets
+ LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
+ ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
+ RUNTIME DESTINATION "${INSTALL_LIB_DIR}") # for windows
+
+ install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/VeloxProtocolLib"
+ DESTINATION "${CMAKE_INSTALL_PREFIX}/include")
+
+ # Install the VeloxProtocolLibConfig.cmake and VeloxProtocolLibConfigVersion.cmake
+ install(FILES
+ "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/VeloxProtocolLibConfig.cmake"
+ "${PROJECT_BINARY_DIR}/VeloxProtocolLibConfigVersion.cmake"
+ DESTINATION "${INSTALL_CMAKE_DIR}")
+
+ # Install the export set for use with the install-tree
+ install(EXPORT VeloxProtocolLibTargets
+ DESTINATION "${INSTALL_CMAKE_DIR}")
+endif()
+
+#######
+# Test
+#######
+set(TEST_SOURCE_FILES ${SOURCE_FILES} test/Main.cpp)
+add_executable(VeloxProtocolTest ${TEST_SOURCE_FILES})
+
+# NetworkingLib
+target_include_directories(VeloxProtocolTest PUBLIC ${NetworkingLib_INCLUDE_DIRS})
+target_link_libraries(VeloxProtocolTest NetworkingLib)
+
+# For debugging
+target_compile_options(VeloxProtocolTest PUBLIC -fopenmp -fPIC -O0 -g3 -ggdb)
\ No newline at end of file
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/VeloxProtocolLibConfig.cmake.in b/modules/catkin_ws/src/VeloxProtocolLib/VeloxProtocolLibConfig.cmake.in
new file mode 100644
index 0000000000000000000000000000000000000000..00b34039f0d04ff212d972020c6dbaebfdd5c7cf
--- /dev/null
+++ b/modules/catkin_ws/src/VeloxProtocolLib/VeloxProtocolLibConfig.cmake.in
@@ -0,0 +1,12 @@
+# - Config file for the NetworkingLib package
+# It defines the following variable
+# VeloxProtocolLib_INCLUDE_DIRS - include directories for VeloxProtocolLib
+
+# Compute paths
+get_filename_component(NETWORKINGLIB_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+set(VeloxProtocolLib_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
+
+# Our library dependencies (contains definitions for IMPORTED targets)
+if(NOT TARGET VeloxProtocolLib)
+ include("${VELOX_PROTOCOL_LIB_CMAKE_DIR}/VeloxProtocolLibTargets.cmake")
+endif()
\ No newline at end of file
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/VeloxProtocolLibConfigVersion.cmake.in b/modules/catkin_ws/src/VeloxProtocolLib/VeloxProtocolLibConfigVersion.cmake.in
new file mode 100644
index 0000000000000000000000000000000000000000..1af1a38c77b94d6057cbbbc11c9055932eaadcbd
--- /dev/null
+++ b/modules/catkin_ws/src/VeloxProtocolLib/VeloxProtocolLibConfigVersion.cmake.in
@@ -0,0 +1,11 @@
+set(PACKAGE_VERSION "@VELOX_PROTOCOL_LIB_VERSION@")
+
+# Check whether the requested PACKAGE_FIND_VERSION is compatible
+if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE FALSE)
+else()
+ set(PACKAGE_VERSION_COMPATIBLE TRUE)
+ if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
+ set(PACKAGE_VERSION_EXACT TRUE)
+ endif()
+endif()
\ No newline at end of file
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/Velox.h b/modules/catkin_ws/src/VeloxProtocolLib/include/Velox.h
deleted file mode 100644
index bc4fe2a1393a332d4754ed11c000c9313daa5bee..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/VeloxProtocolLib/include/Velox.h
+++ /dev/null
@@ -1,21 +0,0 @@
-//
-// Created by philipp on 20.04.18.
-//
-
-#ifndef MAVLINK_ODROID_VELOX_H
-#define MAVLINK_ODROID_VELOX_H
-
-namespace veloxProtocol
-{
-
-class Client
-{
-public:
-
-
-private:
-};
-
-}
-
-#endif //MAVLINK_ODROID_VELOX_H
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
new file mode 100644
index 0000000000000000000000000000000000000000..23302518acd9074fd79245865a782c2445056907
--- /dev/null
+++ b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
@@ -0,0 +1,120 @@
+//
+// Created by philipp on 20.04.18.
+//
+
+#ifndef MAVLINK_ODROID_VELOX_H
+#define MAVLINK_ODROID_VELOX_H
+
+#include <string>
+#include "NetworkingLib/Networking.h"
+#include "NetworkingLib/Timer.h"
+#include "NetworkingLib/TimedValue.h"
+#include <boost/asio/serial_port.hpp>
+#include "mavlink/velox/mavlink.h"
+
+namespace veloxProtocol
+{
+
+class Connection
+ : public std::enable_shared_from_this<Connection>
+ , private networking::Busyable
+{
+private:
+ struct PrivateTag
+ {
+ };
+
+public:
+ using Ptr = std::shared_ptr<Connection>;
+ using Callback = std::function<void()>;
+
+ static constexpr networking::time::Duration UPDATE_INTERVAL = std::chrono::milliseconds{10};
+ static const Callback DEFAULT_CALLBACK;
+
+ static Ptr create(networking::Networking & net)
+ { return std::make_shared<Connection>(PrivateTag{}, net); }
+
+ Connection(PrivateTag, networking::Networking & net)
+ : net(net)
+ , port(net.getIoService())
+ {
+ mavlinkSystem.sysid = 0;
+ mavlinkSystem.compid = 0;
+ }
+
+ void open(const std::string & uartSerialDevicePath,
+ const Callback & onUpdatedCallback,
+ const Callback & onClosedCallback);
+
+ bool isOpen() const noexcept;
+
+ void close();
+
+ void setSpeed(float speed)
+ { transmitSpeed = speed; }
+
+ void setSteeringAngle(float steeringAngle)
+ { transmitSteeringAngle = steeringAngle; }
+
+ networking::time::TimedValue<float> getMeasuredSpeed()
+ { return measuredSpeed.getNonAtomicCopy(); }
+
+ networking::time::TimedValue<float> getMeasuredSteeringAngle()
+ { return measuredSteeringAngle.getNonAtomicCopy(); }
+
+private:
+ struct AsyncState
+ {
+ using Ptr = std::shared_ptr<AsyncState>;
+
+ AsyncState(Connection::Ptr self)
+ : busyLock(*self)
+ , self(self)
+ {}
+
+ networking::BusyLock busyLock;
+ Connection::Ptr self;
+
+ void closeOnce();
+ };
+
+ networking::Networking & net;
+ boost::asio::serial_port port;
+
+ Callback onUpdatedCallback{DEFAULT_CALLBACK};
+ Callback onClosedCallback{DEFAULT_CALLBACK};
+
+ networking::time::Timer::Ptr transmitUpdateTimer;
+ networking::time::Timer::Ptr transmitHeartbeatTimer;
+
+ networking::time::TimedAtomicValue<float> measuredSpeed;
+ networking::time::TimedAtomicValue<float> measuredSteeringAngle;
+
+ std::atomic<float> transmitSpeed{0.0f};
+ std::atomic<float> transmitSteeringAngle{0.0f};
+
+ boost::asio::streambuf buffer;
+
+ mavlink_system_t mavlinkSystem;
+
+ // We want the open() and close() operations to be synchronized but we do not want the
+ // actual opening of the port to be run on the networking thread so that we have instant feedback
+ // whether our operation was successful or not.
+ std::mutex mutex;
+
+ void transmitUpdate(AsyncState::Ptr state);
+
+ void transmitHeartbeat(AsyncState::Ptr state);
+
+ void transmitRequest(AsyncState::Ptr state);
+
+ void transmitMessage(AsyncState::Ptr state, const mavlink_message_t & message);
+
+ void receive(AsyncState::Ptr state);
+
+ void handleMessage(const mavlink_message_t & message);
+};
+
+}
+
+#endif //MAVLINK_ODROID_VELOX_H
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/checksum.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/checksum.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/checksum.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/checksum.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_conversions.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_conversions.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_conversions.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_conversions.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_get_info.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_get_info.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_get_info.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_get_info.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_helpers.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_helpers.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_helpers.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_helpers.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_sha256.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_sha256.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_sha256.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_sha256.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_types.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_types.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_types.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_types.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/protocol.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/protocol.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/protocol.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/protocol.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_carcontrol.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_carcontrol.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_msg.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_msg.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_statechange.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_statechange.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_error.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_error.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_heartbeat.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_heartbeat.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_odometry.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_odometry.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_trajectory.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_trajectory.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/testsuite.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/testsuite.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/testsuite.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/testsuite.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/velox.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/velox.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/velox.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/velox.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/version.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/version.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/version.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/version.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/serial_port.h b/modules/catkin_ws/src/VeloxProtocolLib/include/serial_port.h
deleted file mode 100644
index 2384d1e6f2faacc26149a077dd14af6355da07d2..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/VeloxProtocolLib/include/serial_port.h
+++ /dev/null
@@ -1,152 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2014 MAVlink Development Team. All rights reserved.
- * Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
- * Jaycee Lock, <jaycee.lock@gmail.com>
- * Lorenz Meier, <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file serial_port.h
- *
- * @brief Serial interface definition
- *
- * Functions for opening, closing, reading and writing via serial ports
- *
- * @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
- * @author Jaycee Lock, <jaycee.lock@gmail.com>
- * @author Lorenz Meier, <lm@inf.ethz.ch>
- *
- */
-
-#ifndef SERIAL_PORT_H_
-#define SERIAL_PORT_H_
-
-// ------------------------------------------------------------------------------
-// Includes
-// ------------------------------------------------------------------------------
-
-#include <cstdlib>
-#include <stdio.h> // Standard input/output definitions
-#include <unistd.h> // UNIX standard function definitions
-#include <fcntl.h> // File control definitions
-#include <termios.h> // POSIX terminal control definitions
-#include <pthread.h> // This uses POSIX Threads
-#include <signal.h>
-
-#include "mavlink//velox/mavlink.h"
-
-
-// ------------------------------------------------------------------------------
-// Defines
-// ------------------------------------------------------------------------------
-
-// The following two non-standard baudrates should have been defined by the system
-// If not, just fallback to number
-#ifndef B460800
-#define B460800 460800
-#endif
-
-#ifndef B921600
-#define B921600 921600
-#endif
-
-
-// Status flags
-#define SERIAL_PORT_OPEN 1;
-#define SERIAL_PORT_CLOSED 0;
-#define SERIAL_PORT_ERROR -1;
-
-
-// ------------------------------------------------------------------------------
-// Prototypes
-// ------------------------------------------------------------------------------
-
-//class Serial_Port;
-
-
-
-// ----------------------------------------------------------------------------------
-// Serial Port Manager Class
-// ----------------------------------------------------------------------------------
-/*
- * Serial Port Class
- *
- * This object handles the opening and closing of the offboard computer's
- * serial port over which we'll communicate. It also has methods to write
- * a byte stream buffer. MAVlink is not used in this object yet, it's just
- * a serialization interface. To help with read and write pthreading, it
- * gaurds any port operation with a pthread mutex.
- */
-class Serial_Port
-{
-
-public:
-
- Serial_Port();
- Serial_Port(const char *uart_name_, int baudrate_);
- void initialize_defaults();
- ~Serial_Port();
-
- bool debug;
- const char *uart_name;
- int baudrate;
- int status;
-
- int read_message(mavlink_message_t &message);
- int write_message(const mavlink_message_t &message);
-
- void open_serial();
- void close_serial();
-
- void start();
- void stop();
-
- void handle_quit( int sig );
-
-private:
-
- int fd;
- mavlink_status_t lastStatus;
- pthread_mutex_t lock;
-
- int _open_port(const char* port);
- bool _setup_port(int baud, int data_bits, int stop_bits, bool parity, bool hardware_control);
- int _read_port(uint8_t &cp);
- int _write_port(char *buf, unsigned len);
-
-};
-
-
-
-#endif // SERIAL_PORT_H_
-
-
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp b/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8c466c53a4ad8d419fe171128de23b4e2bf1696b
--- /dev/null
+++ b/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp
@@ -0,0 +1,155 @@
+//
+// Created by philipp on 20.04.18.
+//
+
+#include "../include/VeloxProtocolLib/Connection.h"
+
+namespace veloxProtocol
+{
+
+const Connection::Callback Connection::DEFAULT_CALLBACK = []
+{};
+
+constexpr networking::time::Duration Connection::UPDATE_INTERVAL;
+
+void Connection::open(const std::string & uartSerialDevicePath,
+ const Connection::Callback & onUpdatedCallback,
+ const Connection::Callback & onClosedCallback)
+{
+ std::lock_guard<std::mutex> lock{mutex};
+
+ auto self = shared_from_this();
+ auto state = std::make_shared<AsyncState>(self);
+
+ this->onUpdatedCallback = onUpdatedCallback;
+ this->onClosedCallback = onClosedCallback;
+
+ port.open(uartSerialDevicePath);
+ port.set_option(boost::asio::serial_port_base::baud_rate{115200});
+
+ transmitUpdateTimer = networking::time::Timer::create(net);
+ transmitUpdateTimer->startPeriodicTimeout(
+ UPDATE_INTERVAL,
+ [state]
+ { state->self->transmitUpdate(state); });
+
+ transmitHeartbeatTimer = networking::time::Timer::create(net);
+ transmitHeartbeatTimer->startPeriodicTimeout(
+ UPDATE_INTERVAL,
+ [state]
+ { state->self->transmitHeartbeat(state); });
+
+ receive(state);
+
+ // We will be sending a request message once to receive odometry updates permanently.
+ transmitRequest(state);
+}
+
+bool Connection::isOpen() const noexcept
+{
+ return isBusy() && port.is_open();
+}
+
+void Connection::close()
+{
+ std::lock_guard<std::mutex> lock{mutex};
+
+ if (!port.is_open())
+ return;
+
+ boost::system::error_code ignoredError;
+ port.close(ignoredError);
+
+ transmitUpdateTimer->stop();
+ transmitHeartbeatTimer->stop();
+
+ auto self = shared_from_this();
+ // Guarantee that each callback is called on the networking thread.
+ net.callLater(
+ [self]
+ { self->onClosedCallback(); });
+}
+
+void Connection::transmitRequest(AsyncState::Ptr state)
+{
+ mavlink_cmd_request_msg_t request;
+ request.msgid = MAVLINK_MSG_ID_ODOMETRY;
+ request.active = 1;
+ request.period = 1; // odometry updates will be send every 1 * 10 ms
+ mavlink_message_t message;
+ mavlink_msg_cmd_request_msg_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &message,
+ request.msgid, request.active, request.period);
+ transmitMessage(std::move(state), message);
+}
+
+void Connection::transmitUpdate(AsyncState::Ptr state)
+{
+ mavlink_carcontrol_t update;
+ update.timestamp = 0; // timestamp doesn't seem to matter...
+ update.vehspd = transmitSpeed.load();
+ update.stang = transmitSteeringAngle.load();
+ mavlink_message_t message;
+ mavlink_msg_carcontrol_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &message,
+ update.timestamp, update.vehspd, update.stang);
+ transmitMessage(std::move(state), message);
+}
+
+void Connection::transmitHeartbeat(AsyncState::Ptr state)
+{
+ mavlink_message_t message;
+ // The heartbeat message contains only data which will be ignored basically.
+ mavlink_msg_heartbeat_pack(mavlinkSystem.sysid, mavlinkSystem.compid, &message, 0);
+ transmitMessage(std::move(state), message);
+}
+
+void Connection::transmitMessage(AsyncState::Ptr state, const mavlink_message_t & message)
+{
+ uint8_t transmitBuffer[MAVLINK_MAX_PACKET_LEN];
+ auto length = mavlink_msg_to_send_buffer(transmitBuffer, &message);
+ try
+ { boost::asio::write(port, boost::asio::buffer(transmitBuffer, length)); }
+ catch (const boost::system::system_error & error)
+ { state->self->close(); }
+}
+
+void Connection::receive(AsyncState::Ptr state)
+{
+ boost::asio::async_read(
+ port, buffer, boost::asio::transfer_at_least(1),
+ [state](const auto & error, std::size_t bytesTransferred)
+ {
+ if (error)
+ {
+ state->self->close();
+ return;
+ }
+
+ mavlink_message_t message;
+ mavlink_status_t status;
+ auto & buffer = state->self->buffer;
+ std::ptrdiff_t bytesToConsume = 0;
+ auto begin = boost::asio::buffers_begin(buffer.data());
+ for (auto i = begin; i != boost::asio::buffers_end(buffer.data()); ++i)
+ {
+ if (mavlink_parse_char(0, (uint8_t) *i, &message, &status))
+ {
+ bytesToConsume = (i - begin) + 1;
+ state->self->handleMessage(message);
+ }
+ }
+ buffer.consume((std::size_t) bytesToConsume);
+ state->self->receive(state);
+ });
+}
+
+void Connection::handleMessage(const mavlink_message_t & message)
+{
+ if (message.msgid == MAVLINK_MSG_ID_ODOMETRY)
+ {
+ measuredSpeed = mavlink_msg_odometry_get_vehspd_odom(&message);
+ measuredSteeringAngle = mavlink_msg_odometry_get_stang(&message);
+ onUpdatedCallback();
+ }
+}
+
+}
\ No newline at end of file
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/src/Velox.cpp b/modules/catkin_ws/src/VeloxProtocolLib/src/Velox.cpp
deleted file mode 100644
index 7bf147eee52ab70a2797d4d148214e4d6069b1c6..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/VeloxProtocolLib/src/Velox.cpp
+++ /dev/null
@@ -1,5 +0,0 @@
-//
-// Created by philipp on 20.04.18.
-//
-
-#include "../include/Velox.h"
\ No newline at end of file
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/src/VeloxProtocolLibConfig.h.in b/modules/catkin_ws/src/VeloxProtocolLib/src/VeloxProtocolLibConfig.h.in
new file mode 100644
index 0000000000000000000000000000000000000000..bbbdf47c00f8b0708c9611a6fecf021ccd1c9933
--- /dev/null
+++ b/modules/catkin_ws/src/VeloxProtocolLib/src/VeloxProtocolLibConfig.h.in
@@ -0,0 +1,11 @@
+//
+// Created by philipp on 24.04.18.
+//
+
+#ifndef VELOXPROTOCOL_VELOXPROTOCOLLIBCONFIG_H
+#define VELOXPROTOCOL_VELOXPROTOCOLLIBCONFIG_H
+
+#define VeloxProtocol_VERSION_MAJOR @VeloxProtocol_VERSION_MAJOR@
+#define VeloxProtocol_VERSION_MINOR @VeloxProtocol_VERSION_MINOR@
+
+#endif //VELOXPROTOCOL_VELOXPROTOCOLLIBCONFIG_H
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/src/serial_port.cpp b/modules/catkin_ws/src/VeloxProtocolLib/src/serial_port.cpp
deleted file mode 100644
index 8e333163cfd1728580d374239bd31b598bd03139..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/VeloxProtocolLib/src/serial_port.cpp
+++ /dev/null
@@ -1,544 +0,0 @@
-/****************************************************************************
- *
- * Copyright (c) 2014 MAVlink Development Team. All rights reserved.
- * Author: Trent Lukaczyk, <aerialhedgehog@gmail.com>
- * Jaycee Lock, <jaycee.lock@gmail.com>
- * Lorenz Meier, <lm@inf.ethz.ch>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- * notice, this list of conditions and the following disclaimer in
- * the documentation and/or other materials provided with the
- * distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- * used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file serial_port.cpp
- *
- * @brief Serial interface functions
- *
- * Functions for opening, closing, reading and writing via serial ports
- *
- * @author Trent Lukaczyk, <aerialhedgehog@gmail.com>
- * @author Jaycee Lock, <jaycee.lock@gmail.com>
- * @author Lorenz Meier, <lm@inf.ethz.ch>
- *
- */
-
-
-// ------------------------------------------------------------------------------
-// Includes
-// ------------------------------------------------------------------------------
-
-#include "../include/serial_port.h"
-
-
-// ----------------------------------------------------------------------------------
-// Serial Port Manager Class
-// ----------------------------------------------------------------------------------
-
-// ------------------------------------------------------------------------------
-// Con/De structors
-// ------------------------------------------------------------------------------
-Serial_Port::
-Serial_Port(const char *uart_name_ , int baudrate_)
-{
- initialize_defaults();
- uart_name = uart_name_;
- baudrate = baudrate_;
-}
-
-Serial_Port::
-Serial_Port()
-{
- initialize_defaults();
-}
-
-Serial_Port::
-~Serial_Port()
-{
- // destroy mutex
- pthread_mutex_destroy(&lock);
-}
-
-void
-Serial_Port::
-initialize_defaults()
-{
- // Initialize attributes
- debug = false;
- fd = -1;
- status = SERIAL_PORT_CLOSED;
-
- uart_name = (char*)"/dev/ttyUSB0";
- baudrate = 57600;
-
- // Start mutex
- int result = pthread_mutex_init(&lock, NULL);
- if ( result != 0 )
- {
- printf("\n mutex init failed\n");
- throw 1;
- }
-}
-
-
-// ------------------------------------------------------------------------------
-// Read from Serial
-// ------------------------------------------------------------------------------
-int
-Serial_Port::
-read_message(mavlink_message_t &message)
-{
- uint8_t cp;
- mavlink_status_t status;
- uint8_t msgReceived = false;
-
- // --------------------------------------------------------------------------
- // READ FROM PORT
- // --------------------------------------------------------------------------
-
- // this function locks the port during read
- int result = _read_port(cp);
-
-
- // --------------------------------------------------------------------------
- // PARSE MESSAGE
- // --------------------------------------------------------------------------
- if (result > 0)
- {
- // the parsing
- msgReceived = mavlink_parse_char(MAVLINK_COMM_1, cp, &message, &status);
-
- // check for dropped packets
- if ( (lastStatus.packet_rx_drop_count != status.packet_rx_drop_count) && debug )
- {
- printf("ERROR: DROPPED %d PACKETS\n", status.packet_rx_drop_count);
- unsigned char v=cp;
- fprintf(stderr,"%02x ", v);
- }
- lastStatus = status;
- }
-
- // Couldn't read from port
- else
- {
- fprintf(stderr, "ERROR: Could not read from fd %d\n", fd);
- }
-
- // --------------------------------------------------------------------------
- // DEBUGGING REPORTS
- // --------------------------------------------------------------------------
- if(msgReceived && debug)
- {
- // Report info
- printf("Received message from serial with ID #%d (sys:%d|comp:%d):\n", message.msgid, message.sysid, message.compid);
-
- fprintf(stderr,"Received serial data: ");
- unsigned int i;
- uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
-
- // check message is write length
- unsigned int messageLength = mavlink_msg_to_send_buffer(buffer, &message);
-
- // message length error
- if (messageLength > MAVLINK_MAX_PACKET_LEN)
- {
- fprintf(stderr, "\nFATAL ERROR: MESSAGE LENGTH IS LARGER THAN BUFFER SIZE\n");
- }
-
- // print out the buffer
- else
- {
- for (i=0; i<messageLength; i++)
- {
- unsigned char v=buffer[i];
- fprintf(stderr,"%02x ", v);
- }
- fprintf(stderr,"\n");
- }
- }
-
- // Done!
- return msgReceived;
-}
-
-// ------------------------------------------------------------------------------
-// Write to Serial
-// ------------------------------------------------------------------------------
-int
-Serial_Port::
-write_message(const mavlink_message_t &message)
-{
- char buf[300];
-
- // Translate message to buffer
- unsigned len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
-
- // Write buffer to serial port, locks port while writing
- int bytesWritten = _write_port(buf,len);
-
- return bytesWritten;
-}
-
-
-// ------------------------------------------------------------------------------
-// Open Serial Port
-// ------------------------------------------------------------------------------
-/**
- * throws EXIT_FAILURE if could not open the port
- */
-void
-Serial_Port::
-open_serial()
-{
-
- // --------------------------------------------------------------------------
- // OPEN PORT
- // --------------------------------------------------------------------------
- printf("OPEN PORT\n");
-
- fd = _open_port(uart_name);
-
- // Check success
- if (fd == -1)
- {
- printf("failure, could not open port.\n");
- throw EXIT_FAILURE;
- }
-
- // --------------------------------------------------------------------------
- // SETUP PORT
- // --------------------------------------------------------------------------
- bool success = _setup_port(baudrate, 8, 1, false, false);
-
- // --------------------------------------------------------------------------
- // CHECK STATUS
- // --------------------------------------------------------------------------
- if (!success)
- {
- printf("failure, could not configure port.\n");
- throw EXIT_FAILURE;
- }
- if (fd <= 0)
- {
- printf("Connection attempt to port %s with %d baud, 8N1 failed, exiting.\n", uart_name, baudrate);
- throw EXIT_FAILURE;
- }
-
- // --------------------------------------------------------------------------
- // CONNECTED!
- // --------------------------------------------------------------------------
- printf("Connected to %s with %d baud, 8 data bits, no parity, 1 stop bit (8N1)\n", uart_name, baudrate);
- lastStatus.packet_rx_drop_count = 0;
-
- status = true;
-
- printf("\n");
-
- return;
-
-}
-
-
-// ------------------------------------------------------------------------------
-// Close Serial Port
-// ------------------------------------------------------------------------------
-void
-Serial_Port::
-close_serial()
-{
- printf("CLOSE PORT\n");
-
- int result = close(fd);
-
- if ( result )
- {
- fprintf(stderr,"WARNING: Error on port close (%i)\n", result );
- }
-
- status = false;
-
- printf("\n");
-
-}
-
-
-// ------------------------------------------------------------------------------
-// Convenience Functions
-// ------------------------------------------------------------------------------
-void
-Serial_Port::
-start()
-{
- open_serial();
-}
-
-void
-Serial_Port::
-stop()
-{
- close_serial();
-}
-
-
-// ------------------------------------------------------------------------------
-// Quit Handler
-// ------------------------------------------------------------------------------
-void
-Serial_Port::
-handle_quit( int sig )
-{
- try {
- stop();
- }
- catch (int error) {
- fprintf(stderr,"Warning, could not stop serial port\n");
- }
-}
-
-
-// ------------------------------------------------------------------------------
-// Helper Function - Open Serial Port File Descriptor
-// ------------------------------------------------------------------------------
-// Where the actual port opening happens, returns file descriptor 'fd'
-int
-Serial_Port::
-_open_port(const char* port)
-{
- // Open serial port
- // O_RDWR - Read and write
- // O_NOCTTY - Ignore special chars like CTRL-C
- fd = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
-
- // Check for Errors
- if (fd == -1)
- {
- /* Could not open the port. */
- return(-1);
- }
-
- // Finalize
- else
- {
- fcntl(fd, F_SETFL, 0);
- }
-
- // Done!
- return fd;
-}
-
-// ------------------------------------------------------------------------------
-// Helper Function - Setup Serial Port
-// ------------------------------------------------------------------------------
-// Sets configuration, flags, and baud rate
-bool
-Serial_Port::
-_setup_port(int baud, int data_bits, int stop_bits, bool parity, bool hardware_control)
-{
- // Check file descriptor
- if(!isatty(fd))
- {
- fprintf(stderr, "\nERROR: file descriptor %d is NOT a serial port\n", fd);
- return false;
- }
-
- // Read file descritor configuration
- struct termios config;
- if(tcgetattr(fd, &config) < 0)
- {
- fprintf(stderr, "\nERROR: could not read configuration of fd %d\n", fd);
- return false;
- }
-
- // Input flags - Turn off input processing
- // convert break to null byte, no CR to NL translation,
- // no NL to CR translation, don't mark parity errors or breaks
- // no input parity check, don't strip high bit off,
- // no XON/XOFF software flow control
- config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL |
- INLCR | PARMRK | INPCK | ISTRIP | IXON);
-
- // Output flags - Turn off output processing
- // no CR to NL translation, no NL to CR-NL translation,
- // no NL to CR translation, no column 0 CR suppression,
- // no Ctrl-D suppression, no fill characters, no case mapping,
- // no local output processing
- config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
- ONOCR | OFILL | OPOST);
-
- #ifdef OLCUC
- config.c_oflag &= ~OLCUC;
- #endif
-
- #ifdef ONOEOT
- config.c_oflag &= ~ONOEOT;
- #endif
-
- // No line processing:
- // echo off, echo newline off, canonical mode off,
- // extended input processing off, signal chars off
- config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG);
-
- // Turn off character processing
- // clear current char size mask, no parity checking,
- // no output processing, force 8 bit input
- config.c_cflag &= ~(CSIZE | PARENB);
- config.c_cflag |= CS8;
-
- // One input byte is enough to return from read()
- // Inter-character timer off
- config.c_cc[VMIN] = 1;
- config.c_cc[VTIME] = 10; // was 0
-
- // Get the current options for the port
- ////struct termios options;
- ////tcgetattr(fd, &options);
-
- // Apply baudrate
- switch (baud)
- {
- case 1200:
- if (cfsetispeed(&config, B1200) < 0 || cfsetospeed(&config, B1200) < 0)
- {
- fprintf(stderr, "\nERROR: Could not set desired baud rate of %d Baud\n", baud);
- return false;
- }
- break;
- case 1800:
- cfsetispeed(&config, B1800);
- cfsetospeed(&config, B1800);
- break;
- case 9600:
- cfsetispeed(&config, B9600);
- cfsetospeed(&config, B9600);
- break;
- case 19200:
- cfsetispeed(&config, B19200);
- cfsetospeed(&config, B19200);
- break;
- case 38400:
- if (cfsetispeed(&config, B38400) < 0 || cfsetospeed(&config, B38400) < 0)
- {
- fprintf(stderr, "\nERROR: Could not set desired baud rate of %d Baud\n", baud);
- return false;
- }
- break;
- case 57600:
- if (cfsetispeed(&config, B57600) < 0 || cfsetospeed(&config, B57600) < 0)
- {
- fprintf(stderr, "\nERROR: Could not set desired baud rate of %d Baud\n", baud);
- return false;
- }
- break;
- case 115200:
- if (cfsetispeed(&config, B115200) < 0 || cfsetospeed(&config, B115200) < 0)
- {
- fprintf(stderr, "\nERROR: Could not set desired baud rate of %d Baud\n", baud);
- return false;
- }
- break;
-
- // These two non-standard (by the 70'ties ) rates are fully supported on
- // current Debian and Mac OS versions (tested since 2010).
- case 460800:
- if (cfsetispeed(&config, B460800) < 0 || cfsetospeed(&config, B460800) < 0)
- {
- fprintf(stderr, "\nERROR: Could not set desired baud rate of %d Baud\n", baud);
- return false;
- }
- break;
- case 921600:
- if (cfsetispeed(&config, B921600) < 0 || cfsetospeed(&config, B921600) < 0)
- {
- fprintf(stderr, "\nERROR: Could not set desired baud rate of %d Baud\n", baud);
- return false;
- }
- break;
- default:
- fprintf(stderr, "ERROR: Desired baud rate %d could not be set, aborting.\n", baud);
- return false;
-
- break;
- }
-
- // Finally, apply the configuration
- if(tcsetattr(fd, TCSAFLUSH, &config) < 0)
- {
- fprintf(stderr, "\nERROR: could not set configuration of fd %d\n", fd);
- return false;
- }
-
- // Done!
- return true;
-}
-
-
-
-// ------------------------------------------------------------------------------
-// Read Port with Lock
-// ------------------------------------------------------------------------------
-int
-Serial_Port::
-_read_port(uint8_t &cp)
-{
-
- // Lock
- pthread_mutex_lock(&lock);
-
- int result = read(fd, &cp, 1);
-
- // Unlock
- pthread_mutex_unlock(&lock);
-
- return result;
-}
-
-
-// ------------------------------------------------------------------------------
-// Write Port with Lock
-// ------------------------------------------------------------------------------
-int
-Serial_Port::
-_write_port(char *buf, unsigned len)
-{
-
- // Lock
- pthread_mutex_lock(&lock);
-
- // Write packet via serial link
- const int bytesWritten = static_cast<int>(write(fd, buf, len));
-
- // Wait until all data has been written
- tcdrain(fd);
-
- // Unlock
- pthread_mutex_unlock(&lock);
-
-
- return bytesWritten;
-}
-
-
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp b/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp
index 4385a8074ee9c39ec818330f547f6ad9238fa16b..fec91c41c17be3616439de014072b095fa06ac5a 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp
+++ b/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp
@@ -2,10 +2,33 @@
// Created by philipp on 20.04.18.
//
+#include "../include/VeloxProtocolLib/Connection.h"
#include <iostream>
int main(int argc, char ** argv)
{
+ using namespace veloxProtocol;
+ networking::Networking net;
+ auto conn = Connection::create(net);
+ conn->open(
+ "/dev/ttySAC0",
+ [conn]
+ {
+// std::cout << "[Update]\nSpeed=" << conn->getMeasuredSpeed().get()
+// << "\nSteering Angle: " << conn->getMeasuredSteeringAngle().get() << "\n";
+ },
+ []
+ { std::cout << "Connection closed!\n"; });
+
+ for (std::string in{"0"}; in != "x"; std::getline(std::cin, in))
+ {
+ float value = std::stof(in);
+ std::cout << "Setting speed to: " << value << "\n";
+ conn->setSpeed(value);
+ }
+
+ conn->close();
+ sleep(1);
return 0;
}
\ No newline at end of file
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 7c1099083c8d23b6cccc96694395a105571373b7..7cbb63f0356fb975cad43bc12aa17d93307ccaf7 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -59,6 +59,7 @@ set(MAIN_NODE_SOURCE_FILES
)
set(USS_SOURCE_FILES
+ src/ultrasonic/StreamMedianFilter.cpp
src/ultrasonic/Ultrasonic.cpp
src/ultrasonic/USS_SRF02.cpp
)
diff --git a/modules/catkin_ws/src/car/include/ultrasonic/StreamMedianFilter.h b/modules/catkin_ws/src/car/include/ultrasonic/StreamMedianFilter.h
new file mode 100644
index 0000000000000000000000000000000000000000..f32c547defeaf873d46c046e8ecd8e300f208d07
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/ultrasonic/StreamMedianFilter.h
@@ -0,0 +1,26 @@
+#ifndef STREAMMEDIANFILTER_H
+#define STREAMMEDIANFILTER_H
+
+#include <vector>
+
+namespace car
+{
+class StreamMedianFilter
+{
+public:
+ StreamMedianFilter(const int windowSize);
+
+ ~StreamMedianFilter();
+
+ int moveWindow(int nextValue);
+
+private:
+ std::vector<int> currentWindow;
+
+ std::vector<int> sortedIndexList;
+
+ int currentIndex;
+};
+
+}
+#endif
diff --git a/modules/catkin_ws/src/car/src/ultrasonic/StreamMedianFilter.cpp b/modules/catkin_ws/src/car/src/ultrasonic/StreamMedianFilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f9771d58cedd5cbd511fca113ee10807cb85dd1f
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/ultrasonic/StreamMedianFilter.cpp
@@ -0,0 +1,77 @@
+#include "ultrasonic/StreamMedianFilter.h"
+#include <iostream>
+#include <numeric>
+
+namespace car
+{
+StreamMedianFilter::StreamMedianFilter(const int windowSize)
+ : currentWindow()
+ , sortedIndexList(windowSize, 0)
+ , currentIndex(0)
+{
+ currentWindow.reserve(windowSize);
+ std::iota(sortedIndexList.begin(), sortedIndexList.end(), 0);
+}
+
+StreamMedianFilter::~StreamMedianFilter() {}
+
+int StreamMedianFilter::moveWindow(int nextValue)
+{
+ if (currentWindow.size() < currentWindow.capacity()) currentWindow.push_back(nextValue);
+ currentWindow[currentIndex] = nextValue;
+
+ bool foundOldIndex = false;
+ for (int i = 0; i < currentWindow.size(); i++)
+ {
+ if (sortedIndexList[i] == currentIndex) {foundOldIndex = true; continue;}
+ if (foundOldIndex)
+ {
+ if (nextValue < currentWindow[sortedIndexList[i]])
+ {
+ sortedIndexList[i-1] = currentIndex;
+ break;
+ } else
+ {
+ sortedIndexList[i-1] = sortedIndexList[i];
+ if (i+1 == currentWindow.size()) {sortedIndexList[i] = currentIndex; break;}
+ }
+ } else
+ {
+ if (nextValue < currentWindow[sortedIndexList[i]])
+ {
+ for (int j = currentWindow.size()-1; j > i; j--)
+ {
+ if (sortedIndexList[j] == currentIndex) {foundOldIndex = true;}
+ if (foundOldIndex)
+ {
+ sortedIndexList[j] = sortedIndexList[j-1];
+ }
+ }
+ sortedIndexList[i] = currentIndex;
+ break;
+ }
+ }
+ }
+ currentIndex = (currentIndex+1)%currentWindow.capacity();
+
+ return currentWindow[sortedIndexList[currentWindow.size()/2]];
+}
+}
+
+int main()
+{
+ car::StreamMedianFilter filter(5);
+
+ std::cout << "> " << filter.moveWindow(1) << std::endl; // 1
+ std::cout << "> " << filter.moveWindow(-1) << std::endl;// -1 1
+ std::cout << "> " << filter.moveWindow(-5) << std::endl;// -5 -1 1
+ std::cout << "> " << filter.moveWindow(5) << std::endl; // -5 -1 1 5
+ std::cout << "> " << filter.moveWindow(7) << std::endl; // -5 -1 1 5 7
+ std::cout << "> " << filter.moveWindow(9) << std::endl; // -5 -1 5 7 9
+ std::cout << "> " << filter.moveWindow(4) << std::endl; // -5 4 5 7 9
+ std::cout << "> " << filter.moveWindow(-4) << std::endl;// -4 4 5 7 9
+ std::cout << "> " << filter.moveWindow(0) << std::endl; // -4 0 4 7 9
+ std::cout << "> " << filter.moveWindow(-2) << std::endl;// -4 -2 0 4 9
+ std::cout << "> " << filter.moveWindow(3) << std::endl; // -4 -2 0 3 4
+
+}
diff --git a/modules/clean.sh b/modules/clean.sh
index 5ec5502192158d2be2cba75aaa3249997cb4013b..b6524a7212cee2b76edc2cf8c9c022810dcea539 100755
--- a/modules/clean.sh
+++ b/modules/clean.sh
@@ -6,3 +6,4 @@ rm -rf catkin_ws/src/NetworkingLib/cmake-build-debug
rm -rf catkin_ws/src/PlatoonProtocolLib/cmake-build-debug
rm -rf catkin_ws/src/PC2CarLib/cmake-build-debug
rm -rf catkin_ws/src/PC/cmake-build-debug
+rm -rf catkin_ws/src/VeloxProtocolLib/cmake-build-debug