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Adding support for checkgains in hover and removing manual offset fro…

…m pitchcontrol
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commit a2fd1f87a42b3ec940503eb8f8a23c53eaa50150 1 parent dd70401
@cglusky authored
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BIN  MatrixPilot/MatrixPilot.cof
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1,165 MatrixPilot/MatrixPilot.hex
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View
696 MatrixPilot/MatrixPilot.map
@@ -1,4 +1,4 @@
-Microchip Technology Inc, vv3_30 (B) ,
+Microchip Technology Inc, vv3_30 (B) 5
Tool Name:
c:\program files (x86)\microchip\mplabc30\v3.30c\bin\bin\..\bin/pic30-coff-ld.exe
@@ -211,9 +211,9 @@ section address length (PC units) length (bytes) (dec)
.const 0x1f28 0x1de 0x2cd (717)
.text 0x2106 0x244e 0x3675 (13941)
.dinit 0x4554 0x25c 0x38a (906)
-.text 0x47b0 0x1608 0x210c (8460)
+.text 0x47b0 0x15cc 0x20b2 (8370)
- Total program memory used (bytes): 0x8b14 (35604) 73%
+ Total program memory used (bytes): 0x8aba (35514) 72%
Data Memory [Origin = 0x800, Length = 0x800]
@@ -233,13 +233,13 @@ section address alignment gaps total length (dec)
.nbss 0xb12 0 0xa (10)
.ndata 0xb1c 0 0x24 (36)
.nbss 0xb40 0 0xe (14)
-_037f86904effa637 0xb4e 0 0x4 (4)
+_036b86904f00cb39 0xb4e 0 0x4 (4)
.ndata 0xb52 0 0x4 (4)
.nbss 0xb56 0 0x4 (4)
.ndata 0xb5a 0 0x2 (2)
.nbss 0xb5c 0 0x2 (2)
-_037f85b04effa637 0xb5e 0 0x2 (2)
-_037f87004effa637 0xb60 0 0x2 (2)
+_036b85b04f00cb39 0xb5e 0 0x2 (2)
+_036b87004f00cb39 0xb60 0 0x2 (2)
.nbss 0xb62 0 0x2 (2)
.ndata 0xb64 0 0x4 (4)
.nbss 0xb68 0 0x2 (2)
@@ -788,80 +788,80 @@ External Symbols in Program Memory (by address):
0x004d62 _udb_serial_start_sending_data
0x004d6a __U1RXInterrupt
0x004da4 __U1TXInterrupt
- 0x004dda _pitchCntrl
- 0x004df4 _normalPitchCntrl
- 0x004f16 _hoverPitchCntrl
- 0x004fb8 _udb_init_ADC
- 0x005020 __ADCInterrupt
- 0x00516c _udb_init_pwm
- 0x0051ac _udb_set_action_state
- 0x0051c8 _start_pwm_outputs
- 0x0051e4 __T4Interrupt
- 0x005320 _init_serial
- 0x00532c _udb_serial_callback_received_byte
- 0x00533a _sio_newMsg
- 0x005362 _sio_voltage_high
- 0x005376 _sio_voltage_low
- 0x005390 _hex_char_val
- 0x0053ce _sio_fp_data
- 0x00541a _sio_fp_checksum
- 0x00545a _serial_output
- 0x005498 _udb_serial_callback_get_byte_to_send
- 0x0054c4 _serial_output_8hz
- 0x0054ca _init_behavior
- 0x0054dc _setBehavior
- 0x005502 _canStabilizeInverted
- 0x00550a _canStabilizeHover
- 0x005532 _updateBehavior
- 0x0055f6 _updateTriggerAction
- 0x005644 _triggerActionSetValue
- 0x005650 _gps_nav_valid
- 0x005666 _gps_startup_sequence
- 0x0056a2 _msg_B3
- 0x0056b4 _msg_A0
- 0x0056d0 _msg_A2
- 0x0056e0 _msg_PL1
- 0x0056f6 _msg_PL2
- 0x005720 _msg_MSG41
- 0x005758 _msg_MSGU
- 0x00577e _msg_B0
- 0x005796 _commit_gps_data
- 0x0057d4 _dcm_init
- 0x0057e2 _dcm_run_init_step
- 0x00580e _udb_callback_read_sensors
- 0x005818 _udb_servo_callback_prepare_outputs
- 0x005838 _dcm_calibrate
- 0x00584a _dcm_set_origin_location
- 0x005886 _dcm_absolute_to_relative
- 0x0058f0 _yawCntrl
- 0x005908 _normalYawCntrl
- 0x0059d0 _hoverYawCntrl
- 0x005a06 _rollCntrl
- 0x005a1e _normalRollCntrl
- 0x005a9c _hoverRollCntrl
- 0x005aee _init_servoPrepare
- 0x005b6c _dcm_servo_callback_prepare_outputs
- 0x005bb0 _manualPassthrough
- 0x005bc8 _udb_init
- 0x005bea _udb_run
- 0x005bf0 _udb_init_leds
- 0x005bf8 _udb_a2d_record_offsets
- 0x005c1a _udb_servo_record_trims
- 0x005c42 _udb_servo_pulsesat
- 0x005c6c _calculate_analog_sensor_values
- 0x005c72 _cam_pitchServoLimit
- 0x005c9c _cam_yawServoLimit
- 0x005cc6 _set_camera_view
- 0x005cde _compute_camera_view
- 0x005cfc _cameraCntrl
- 0x005d02 _dcm_enable_yaw_drift_correction
- 0x005d28 _estYawDrift
- 0x005d78 __MathError
- 0x005d7c __StackError
- 0x005d80 __AddressError
- 0x005d84 __OscillatorFail
- 0x005d8c __DefaultInterrupt
- 0x005da2 _main
+ 0x004dda _udb_init_ADC
+ 0x004e42 __ADCInterrupt
+ 0x004f8e _udb_init_pwm
+ 0x004fce _udb_set_action_state
+ 0x004fea _start_pwm_outputs
+ 0x005006 __T4Interrupt
+ 0x005142 _init_serial
+ 0x00514e _udb_serial_callback_received_byte
+ 0x00515c _sio_newMsg
+ 0x005184 _sio_voltage_high
+ 0x005198 _sio_voltage_low
+ 0x0051b2 _hex_char_val
+ 0x0051f0 _sio_fp_data
+ 0x00523c _sio_fp_checksum
+ 0x00527c _serial_output
+ 0x0052ba _udb_serial_callback_get_byte_to_send
+ 0x0052e6 _serial_output_8hz
+ 0x0052ec _pitchCntrl
+ 0x005306 _normalPitchCntrl
+ 0x005428 _hoverPitchCntrl
+ 0x00548e _init_behavior
+ 0x0054a0 _setBehavior
+ 0x0054c6 _canStabilizeInverted
+ 0x0054ce _canStabilizeHover
+ 0x0054f6 _updateBehavior
+ 0x0055ba _updateTriggerAction
+ 0x005608 _triggerActionSetValue
+ 0x005614 _gps_nav_valid
+ 0x00562a _gps_startup_sequence
+ 0x005666 _msg_B3
+ 0x005678 _msg_A0
+ 0x005694 _msg_A2
+ 0x0056a4 _msg_PL1
+ 0x0056ba _msg_PL2
+ 0x0056e4 _msg_MSG41
+ 0x00571c _msg_MSGU
+ 0x005742 _msg_B0
+ 0x00575a _commit_gps_data
+ 0x005798 _dcm_init
+ 0x0057a6 _dcm_run_init_step
+ 0x0057d2 _udb_callback_read_sensors
+ 0x0057dc _udb_servo_callback_prepare_outputs
+ 0x0057fc _dcm_calibrate
+ 0x00580e _dcm_set_origin_location
+ 0x00584a _dcm_absolute_to_relative
+ 0x0058b4 _yawCntrl
+ 0x0058cc _normalYawCntrl
+ 0x005994 _hoverYawCntrl
+ 0x0059ca _rollCntrl
+ 0x0059e2 _normalRollCntrl
+ 0x005a60 _hoverRollCntrl
+ 0x005ab2 _init_servoPrepare
+ 0x005b30 _dcm_servo_callback_prepare_outputs
+ 0x005b74 _manualPassthrough
+ 0x005b8c _udb_init
+ 0x005bae _udb_run
+ 0x005bb4 _udb_init_leds
+ 0x005bbc _udb_a2d_record_offsets
+ 0x005bde _udb_servo_record_trims
+ 0x005c06 _udb_servo_pulsesat
+ 0x005c30 _calculate_analog_sensor_values
+ 0x005c36 _cam_pitchServoLimit
+ 0x005c60 _cam_yawServoLimit
+ 0x005c8a _set_camera_view
+ 0x005ca2 _compute_camera_view
+ 0x005cc0 _cameraCntrl
+ 0x005cc6 _dcm_enable_yaw_drift_correction
+ 0x005cec _estYawDrift
+ 0x005d3c __MathError
+ 0x005d40 __StackError
+ 0x005d44 __AddressError
+ 0x005d48 __OscillatorFail
+ 0x005d50 __DefaultInterrupt
+ 0x005d66 _main
0xf8000a __FGS.sec
External Symbols in Program Memory (by name):
@@ -875,9 +875,9 @@ External Symbols in Program Memory (by name):
0x001e72 _VectorMultiply
0x001f10 _VectorPower
0x001ef4 _VectorScale
- 0x005020 __ADCInterrupt
- 0x005d80 __AddressError
- 0x005d8c __DefaultInterrupt
+ 0x004e42 __ADCInterrupt
+ 0x005d44 __AddressError
+ 0x005d50 __DefaultInterrupt
0x0013bc __Dnorm
0xf8000a __FGS.sec
0x001154 __Genld
@@ -890,16 +890,16 @@ External Symbols in Program Memory (by name):
0x000fcc __LDunscale
0x000860 __Ldtob
0x000ca6 __Litob
- 0x005d78 __MathError
- 0x005d84 __OscillatorFail
+ 0x005d3c __MathError
+ 0x005d48 __OscillatorFail
0x004b9a __PWMInterrupt
0x000244 __Printf
0x0003d2 __Putfld
0x0006cc __Puttxt
- 0x005d7c __StackError
+ 0x005d40 __StackError
0x004ad8 __T1Interrupt
0x004b42 __T3Interrupt
- 0x0051e4 __T4Interrupt
+ 0x005006 __T4Interrupt
0x004b7c __T5Interrupt
0x004d6a __U1RXInterrupt
0x004da4 __U1TXInterrupt
@@ -960,29 +960,29 @@ External Symbols in Program Memory (by name):
0x0033dc _altitudeCntrl
0x002786 _arcsine
0x001f28 _bin_mode
- 0x005c6c _calculate_analog_sensor_values
+ 0x005c30 _calculate_analog_sensor_values
0x003c3a _calibrateS
0x00268c _calibrate_gyros
- 0x005c72 _cam_pitchServoLimit
- 0x005c9c _cam_yawServoLimit
- 0x005cfc _cameraCntrl
+ 0x005c36 _cam_pitchServoLimit
+ 0x005c60 _cam_yawServoLimit
+ 0x005cc0 _cameraCntrl
0x003a08 _cameraServoMix
- 0x00550a _canStabilizeHover
- 0x005502 _canStabilizeInverted
- 0x005796 _commit_gps_data
+ 0x0054ce _canStabilizeHover
+ 0x0054c6 _canStabilizeInverted
+ 0x00575a _commit_gps_data
0x0030e2 _compute_bearing_to_goal
- 0x005cde _compute_camera_view
+ 0x005ca2 _compute_camera_view
0x00282e _cosine
- 0x005886 _dcm_absolute_to_relative
- 0x005838 _dcm_calibrate
+ 0x00584a _dcm_absolute_to_relative
+ 0x0057fc _dcm_calibrate
0x003056 _dcm_callback_gps_location_updated
- 0x005d02 _dcm_enable_yaw_drift_correction
- 0x0057d4 _dcm_init
+ 0x005cc6 _dcm_enable_yaw_drift_correction
+ 0x005798 _dcm_init
0x002106 _dcm_init_rmat
0x002710 _dcm_run_imu_step
- 0x0057e2 _dcm_run_init_step
- 0x005b6c _dcm_servo_callback_prepare_outputs
- 0x00584a _dcm_set_origin_location
+ 0x0057a6 _dcm_run_init_step
+ 0x005b30 _dcm_servo_callback_prepare_outputs
+ 0x00580e _dcm_set_origin_location
0x003df0 _dead_reckon
0x0032f0 _determine_navigation_deflection
0x001454 _div
@@ -993,36 +993,36 @@ External Symbols in Program Memory (by name):
0x003c02 _ent_returnS
0x003bce _ent_stabilizedS
0x003be6 _ent_waypointS
- 0x005d28 _estYawDrift
+ 0x005cec _estYawDrift
0x0047b0 _estimateWind
0x0033d4 _excess_energy_height
0x002fb2 _flightplan_live_begin
0x002ff0 _flightplan_live_commit
0x002fbc _flightplan_live_received_byte
0x002cae _get_fixed_origin
- 0x005650 _gps_nav_valid
- 0x005666 _gps_startup_sequence
+ 0x005614 _gps_nav_valid
+ 0x00562a _gps_startup_sequence
0x004086 _gpsoutbin
0x0040a2 _gpsoutline
- 0x005390 _hex_char_val
+ 0x0051b2 _hex_char_val
0x0036f2 _hoverAltitudeCntrl
- 0x004f16 _hoverPitchCntrl
- 0x005a9c _hoverRollCntrl
- 0x0059d0 _hoverYawCntrl
+ 0x005428 _hoverPitchCntrl
+ 0x005a60 _hoverRollCntrl
+ 0x005994 _hoverYawCntrl
0x0020e2 _hoverpitchgain
0x0020e4 _hoverpitchkd
0x0020f2 _hoverrollkd
0x0020f0 _hoverrollkp
0x0020fa _hoveryawkd
0x0020f8 _hoveryawkp
- 0x0054ca _init_behavior
+ 0x00548e _init_behavior
0x002c40 _init_flightplan
- 0x005320 _init_serial
- 0x005aee _init_servoPrepare
+ 0x005142 _init_serial
+ 0x005ab2 _init_servoPrepare
0x003aa2 _init_states
0x00111a _ldiv
- 0x005da2 _main
- 0x005bb0 _manualPassthrough
+ 0x005d66 _main
+ 0x005b74 _manualPassthrough
0x003cda _manualS
0x0036ae _manualThrottle
0x000fb8 _memchr
@@ -1030,22 +1030,22 @@ External Symbols in Program Memory (by name):
0x001f46 _mode
0x001f44 _mode_length
0x001f50 _msg41parse
- 0x0056b4 _msg_A0
- 0x0056d0 _msg_A2
- 0x00577e _msg_B0
- 0x0056a2 _msg_B3
- 0x005720 _msg_MSG41
- 0x005758 _msg_MSGU
- 0x0056e0 _msg_PL1
- 0x0056f6 _msg_PL2
+ 0x005678 _msg_A0
+ 0x005694 _msg_A2
+ 0x005742 _msg_B0
+ 0x005666 _msg_B3
+ 0x0056e4 _msg_MSG41
+ 0x00571c _msg_MSGU
+ 0x0056a4 _msg_PL1
+ 0x0056ba _msg_PL2
0x002d0e _next_waypoint
0x003454 _normalAltitudeCntrl
- 0x004df4 _normalPitchCntrl
- 0x005a1e _normalRollCntrl
- 0x005908 _normalYawCntrl
+ 0x005306 _normalPitchCntrl
+ 0x0059e2 _normalRollCntrl
+ 0x0058cc _normalYawCntrl
0x002438 _normalize
0x0022a4 _omegaSOG
- 0x004dda _pitchCntrl
+ 0x0052ec _pitchCntrl
0x0020d2 _pitch_offset_centred_pwm
0x0020cc _pitch_servo_high_ratio
0x0020d6 _pitch_servo_pwm_max
@@ -1058,7 +1058,7 @@ External Symbols in Program Memory (by name):
0x0028a6 _rect_to_polar
0x002962 _rect_to_polar16
0x003dac _returnS
- 0x005a06 _rollCntrl
+ 0x0059ca _rollCntrl
0x0020e8 _rollElevMixGain
0x00250a _roll_pitch_drift
0x0020ee _rollkd
@@ -1070,63 +1070,63 @@ External Symbols in Program Memory (by name):
0x002100 _rudderbgain
0x002e80 _run_flightplan
0x002328 _rupdate
- 0x00545a _serial_output
- 0x0054c4 _serial_output_8hz
+ 0x00527c _serial_output
+ 0x0052e6 _serial_output_8hz
0x00374a _servoMix
- 0x0054dc _setBehavior
+ 0x0054a0 _setBehavior
0x003448 _setTargetAltitude
- 0x005cc6 _set_camera_view
+ 0x005c8a _set_camera_view
0x00306a _set_goal
0x0033f4 _set_throttle_control
0x003006 _setup_origin
0x002726 _sine
0x002008 _sintab
- 0x00541a _sio_fp_checksum
- 0x0053ce _sio_fp_data
- 0x00533a _sio_newMsg
- 0x005362 _sio_voltage_high
- 0x005376 _sio_voltage_low
+ 0x00523c _sio_fp_checksum
+ 0x0051f0 _sio_fp_data
+ 0x00515c _sio_newMsg
+ 0x005184 _sio_voltage_high
+ 0x005198 _sio_voltage_low
0x002a38 _sqrt_int
0x002aa0 _sqrt_long
0x003d22 _stabilizedS
0x003c32 _startS
- 0x0051c8 _start_pwm_outputs
+ 0x004fea _start_pwm_outputs
0x0003c0 _strchr
0x000228 _strlen
0x0020d0 _tan_pitch_in_stabilized_mode
- 0x005644 _triggerActionSetValue
- 0x005bf8 _udb_a2d_record_offsets
+ 0x005608 _triggerActionSetValue
+ 0x005bbc _udb_a2d_record_offsets
0x003aba _udb_background_callback_periodic
0x0040fa _udb_background_callback_triggered
0x004b3a _udb_background_trigger
0x003c1e _udb_callback_radio_did_turn_off
- 0x00580e _udb_callback_read_sensors
+ 0x0057d2 _udb_callback_read_sensors
0x004b6a _udb_cpu_load
0x0040b8 _udb_gps_callback_get_byte_to_send
0x0040ec _udb_gps_callback_received_byte
0x004c42 _udb_gps_check_rate
0x004c26 _udb_gps_set_rate
0x004c6e _udb_gps_start_sending_data
- 0x005bc8 _udb_init
- 0x004fb8 _udb_init_ADC
+ 0x005b8c _udb_init
+ 0x004dda _udb_init_ADC
0x004bf4 _udb_init_GPS
0x004ce6 _udb_init_USART
0x0042f4 _udb_init_capture
0x0049f4 _udb_init_clock
- 0x005bf0 _udb_init_leds
- 0x00516c _udb_init_pwm
- 0x005bea _udb_run
- 0x005498 _udb_serial_callback_get_byte_to_send
- 0x00532c _udb_serial_callback_received_byte
+ 0x005bb4 _udb_init_leds
+ 0x004f8e _udb_init_pwm
+ 0x005bae _udb_run
+ 0x0052ba _udb_serial_callback_get_byte_to_send
+ 0x00514e _udb_serial_callback_received_byte
0x004d36 _udb_serial_check_rate
0x004d1a _udb_serial_set_rate
0x004d62 _udb_serial_start_sending_data
- 0x005818 _udb_servo_callback_prepare_outputs
- 0x005c42 _udb_servo_pulsesat
- 0x005c1a _udb_servo_record_trims
- 0x0051ac _udb_set_action_state
- 0x005532 _updateBehavior
- 0x0055f6 _updateTriggerAction
+ 0x0057dc _udb_servo_callback_prepare_outputs
+ 0x005c06 _udb_servo_pulsesat
+ 0x005bde _udb_servo_record_trims
+ 0x004fce _udb_set_action_state
+ 0x0054f6 _updateBehavior
+ 0x0055ba _updateTriggerAction
0x002ca6 _use_fixed_origin
0x002b58 _vector2_mag
0x002b78 _vector3_mag
@@ -1136,7 +1136,7 @@ External Symbols in Program Memory (by name):
0x0032e8 _wind_gain_adjustment
0x0020b6 _wp_inject_byte_order
0x002ba4 _wp_to_relative
- 0x0058f0 _yawCntrl
+ 0x0058b4 _yawCntrl
0x002518 _yaw_drift
0x0020d4 _yaw_offset_centred_pwm
0x0020ce _yaw_servo_high_ratio
@@ -1457,132 +1457,132 @@ userdata
*(.debug_aranges)
.ivt 0x000004 0x7c
- 0x000004 0x4 LONG 0x5d8c DEFINED (__ReservedTrap0)?ABSOLUTE (__ReservedTrap0):ABSOLUTE (__DefaultInterrupt)
- 0x000006 0x4 LONG 0x5d84 DEFINED (__OscillatorFail)?ABSOLUTE (__OscillatorFail):ABSOLUTE (__DefaultInterrupt)
- 0x000008 0x4 LONG 0x5d80 DEFINED (__AddressError)?ABSOLUTE (__AddressError):ABSOLUTE (__DefaultInterrupt)
- 0x00000a 0x4 LONG 0x5d7c DEFINED (__StackError)?ABSOLUTE (__StackError):ABSOLUTE (__DefaultInterrupt)
- 0x00000c 0x4 LONG 0x5d78 DEFINED (__MathError)?ABSOLUTE (__MathError):ABSOLUTE (__DefaultInterrupt)
- 0x00000e 0x4 LONG 0x5d8c DEFINED (__ReservedTrap5)?ABSOLUTE (__ReservedTrap5):ABSOLUTE (__DefaultInterrupt)
- 0x000010 0x4 LONG 0x5d8c DEFINED (__ReservedTrap6)?ABSOLUTE (__ReservedTrap6):ABSOLUTE (__DefaultInterrupt)
- 0x000012 0x4 LONG 0x5d8c DEFINED (__ReservedTrap7)?ABSOLUTE (__ReservedTrap7):ABSOLUTE (__DefaultInterrupt)
+ 0x000004 0x4 LONG 0x5d50 DEFINED (__ReservedTrap0)?ABSOLUTE (__ReservedTrap0):ABSOLUTE (__DefaultInterrupt)
+ 0x000006 0x4 LONG 0x5d48 DEFINED (__OscillatorFail)?ABSOLUTE (__OscillatorFail):ABSOLUTE (__DefaultInterrupt)
+ 0x000008 0x4 LONG 0x5d44 DEFINED (__AddressError)?ABSOLUTE (__AddressError):ABSOLUTE (__DefaultInterrupt)
+ 0x00000a 0x4 LONG 0x5d40 DEFINED (__StackError)?ABSOLUTE (__StackError):ABSOLUTE (__DefaultInterrupt)
+ 0x00000c 0x4 LONG 0x5d3c DEFINED (__MathError)?ABSOLUTE (__MathError):ABSOLUTE (__DefaultInterrupt)
+ 0x00000e 0x4 LONG 0x5d50 DEFINED (__ReservedTrap5)?ABSOLUTE (__ReservedTrap5):ABSOLUTE (__DefaultInterrupt)
+ 0x000010 0x4 LONG 0x5d50 DEFINED (__ReservedTrap6)?ABSOLUTE (__ReservedTrap6):ABSOLUTE (__DefaultInterrupt)
+ 0x000012 0x4 LONG 0x5d50 DEFINED (__ReservedTrap7)?ABSOLUTE (__ReservedTrap7):ABSOLUTE (__DefaultInterrupt)
0x000014 0x4 LONG 0x451e DEFINED (__INT0Interrupt)?ABSOLUTE (__INT0Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000016 0x4 LONG 0x44dc DEFINED (__IC1Interrupt)?ABSOLUTE (__IC1Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000018 0x4 LONG 0x5d8c DEFINED (__OC1Interrupt)?ABSOLUTE (__OC1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000018 0x4 LONG 0x5d50 DEFINED (__OC1Interrupt)?ABSOLUTE (__OC1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x00001a 0x4 LONG 0x4ad8 DEFINED (__T1Interrupt)?ABSOLUTE (__T1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x00001c 0x4 LONG 0x449a DEFINED (__IC2Interrupt)?ABSOLUTE (__IC2Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00001e 0x4 LONG 0x5d8c DEFINED (__OC2Interrupt)?ABSOLUTE (__OC2Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000020 0x4 LONG 0x5d8c DEFINED (__T2Interrupt)?ABSOLUTE (__T2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00001e 0x4 LONG 0x5d50 DEFINED (__OC2Interrupt)?ABSOLUTE (__OC2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000020 0x4 LONG 0x5d50 DEFINED (__T2Interrupt)?ABSOLUTE (__T2Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000022 0x4 LONG 0x4b42 DEFINED (__T3Interrupt)?ABSOLUTE (__T3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000024 0x4 LONG 0x5d8c DEFINED (__SPI1Interrupt)?ABSOLUTE (__SPI1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000024 0x4 LONG 0x5d50 DEFINED (__SPI1Interrupt)?ABSOLUTE (__SPI1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000026 0x4 LONG 0x4d6a DEFINED (__U1RXInterrupt)?ABSOLUTE (__U1RXInterrupt):ABSOLUTE (__DefaultInterrupt)
0x000028 0x4 LONG 0x4da4 DEFINED (__U1TXInterrupt)?ABSOLUTE (__U1TXInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00002a 0x4 LONG 0x5020 DEFINED (__ADCInterrupt)?ABSOLUTE (__ADCInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00002c 0x4 LONG 0x5d8c DEFINED (__NVMInterrupt)?ABSOLUTE (__NVMInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00002e 0x4 LONG 0x5d8c DEFINED (__SI2CInterrupt)?ABSOLUTE (__SI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000030 0x4 LONG 0x5d8c DEFINED (__MI2CInterrupt)?ABSOLUTE (__MI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000032 0x4 LONG 0x5d8c DEFINED (__CNInterrupt)?ABSOLUTE (__CNInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000034 0x4 LONG 0x5d8c DEFINED (__INT1Interrupt)?ABSOLUTE (__INT1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00002a 0x4 LONG 0x4e42 DEFINED (__ADCInterrupt)?ABSOLUTE (__ADCInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00002c 0x4 LONG 0x5d50 DEFINED (__NVMInterrupt)?ABSOLUTE (__NVMInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00002e 0x4 LONG 0x5d50 DEFINED (__SI2CInterrupt)?ABSOLUTE (__SI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000030 0x4 LONG 0x5d50 DEFINED (__MI2CInterrupt)?ABSOLUTE (__MI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000032 0x4 LONG 0x5d50 DEFINED (__CNInterrupt)?ABSOLUTE (__CNInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000034 0x4 LONG 0x5d50 DEFINED (__INT1Interrupt)?ABSOLUTE (__INT1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000036 0x4 LONG 0x43f6 DEFINED (__IC7Interrupt)?ABSOLUTE (__IC7Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000038 0x4 LONG 0x4458 DEFINED (__IC8Interrupt)?ABSOLUTE (__IC8Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00003a 0x4 LONG 0x5d8c DEFINED (__OC3Interrupt)?ABSOLUTE (__OC3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00003c 0x4 LONG 0x5d8c DEFINED (__OC4Interrupt)?ABSOLUTE (__OC4Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00003e 0x4 LONG 0x51e4 DEFINED (__T4Interrupt)?ABSOLUTE (__T4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00003a 0x4 LONG 0x5d50 DEFINED (__OC3Interrupt)?ABSOLUTE (__OC3Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00003c 0x4 LONG 0x5d50 DEFINED (__OC4Interrupt)?ABSOLUTE (__OC4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00003e 0x4 LONG 0x5006 DEFINED (__T4Interrupt)?ABSOLUTE (__T4Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000040 0x4 LONG 0x4b7c DEFINED (__T5Interrupt)?ABSOLUTE (__T5Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000042 0x4 LONG 0x5d8c DEFINED (__INT2Interrupt)?ABSOLUTE (__INT2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000042 0x4 LONG 0x5d50 DEFINED (__INT2Interrupt)?ABSOLUTE (__INT2Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000044 0x4 LONG 0x4c76 DEFINED (__U2RXInterrupt)?ABSOLUTE (__U2RXInterrupt):ABSOLUTE (__DefaultInterrupt)
0x000046 0x4 LONG 0x4cb0 DEFINED (__U2TXInterrupt)?ABSOLUTE (__U2TXInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000048 0x4 LONG 0x5d8c DEFINED (__SPI2Interrupt)?ABSOLUTE (__SPI2Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00004a 0x4 LONG 0x5d8c DEFINED (__C1Interrupt)?ABSOLUTE (__C1Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00004c 0x4 LONG 0x5d8c DEFINED (__IC3Interrupt)?ABSOLUTE (__IC3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00004e 0x4 LONG 0x5d8c DEFINED (__IC4Interrupt)?ABSOLUTE (__IC4Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000050 0x4 LONG 0x5d8c DEFINED (__IC5Interrupt)?ABSOLUTE (__IC5Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000052 0x4 LONG 0x5d8c DEFINED (__IC6Interrupt)?ABSOLUTE (__IC6Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000054 0x4 LONG 0x5d8c DEFINED (__OC5Interrupt)?ABSOLUTE (__OC5Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000056 0x4 LONG 0x5d8c DEFINED (__OC6Interrupt)?ABSOLUTE (__OC6Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000058 0x4 LONG 0x5d8c DEFINED (__OC7Interrupt)?ABSOLUTE (__OC7Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00005a 0x4 LONG 0x5d8c DEFINED (__OC8Interrupt)?ABSOLUTE (__OC8Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00005c 0x4 LONG 0x5d8c DEFINED (__INT3Interrupt)?ABSOLUTE (__INT3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00005e 0x4 LONG 0x5d8c DEFINED (__INT4Interrupt)?ABSOLUTE (__INT4Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000060 0x4 LONG 0x5d8c DEFINED (__C2Interrupt)?ABSOLUTE (__C2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000048 0x4 LONG 0x5d50 DEFINED (__SPI2Interrupt)?ABSOLUTE (__SPI2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00004a 0x4 LONG 0x5d50 DEFINED (__C1Interrupt)?ABSOLUTE (__C1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00004c 0x4 LONG 0x5d50 DEFINED (__IC3Interrupt)?ABSOLUTE (__IC3Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00004e 0x4 LONG 0x5d50 DEFINED (__IC4Interrupt)?ABSOLUTE (__IC4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000050 0x4 LONG 0x5d50 DEFINED (__IC5Interrupt)?ABSOLUTE (__IC5Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000052 0x4 LONG 0x5d50 DEFINED (__IC6Interrupt)?ABSOLUTE (__IC6Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000054 0x4 LONG 0x5d50 DEFINED (__OC5Interrupt)?ABSOLUTE (__OC5Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000056 0x4 LONG 0x5d50 DEFINED (__OC6Interrupt)?ABSOLUTE (__OC6Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000058 0x4 LONG 0x5d50 DEFINED (__OC7Interrupt)?ABSOLUTE (__OC7Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00005a 0x4 LONG 0x5d50 DEFINED (__OC8Interrupt)?ABSOLUTE (__OC8Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00005c 0x4 LONG 0x5d50 DEFINED (__INT3Interrupt)?ABSOLUTE (__INT3Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00005e 0x4 LONG 0x5d50 DEFINED (__INT4Interrupt)?ABSOLUTE (__INT4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000060 0x4 LONG 0x5d50 DEFINED (__C2Interrupt)?ABSOLUTE (__C2Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000062 0x4 LONG 0x4b9a DEFINED (__PWMInterrupt)?ABSOLUTE (__PWMInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000064 0x4 LONG 0x5d8c DEFINED (__QEIInterrupt)?ABSOLUTE (__QEIInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000066 0x4 LONG 0x5d8c DEFINED (__DCIInterrupt)?ABSOLUTE (__DCIInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000068 0x4 LONG 0x5d8c DEFINED (__LVDInterrupt)?ABSOLUTE (__LVDInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00006a 0x4 LONG 0x5d8c DEFINED (__FLTAInterrupt)?ABSOLUTE (__FLTAInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00006c 0x4 LONG 0x5d8c DEFINED (__FLTBInterrupt)?ABSOLUTE (__FLTBInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00006e 0x4 LONG 0x5d8c DEFINED (__Interrupt45)?ABSOLUTE (__Interrupt45):ABSOLUTE (__DefaultInterrupt)
- 0x000070 0x4 LONG 0x5d8c DEFINED (__Interrupt46)?ABSOLUTE (__Interrupt46):ABSOLUTE (__DefaultInterrupt)
- 0x000072 0x4 LONG 0x5d8c DEFINED (__Interrupt47)?ABSOLUTE (__Interrupt47):ABSOLUTE (__DefaultInterrupt)
- 0x000074 0x4 LONG 0x5d8c DEFINED (__Interrupt48)?ABSOLUTE (__Interrupt48):ABSOLUTE (__DefaultInterrupt)
- 0x000076 0x4 LONG 0x5d8c DEFINED (__Interrupt49)?ABSOLUTE (__Interrupt49):ABSOLUTE (__DefaultInterrupt)
- 0x000078 0x4 LONG 0x5d8c DEFINED (__Interrupt50)?ABSOLUTE (__Interrupt50):ABSOLUTE (__DefaultInterrupt)
- 0x00007a 0x4 LONG 0x5d8c DEFINED (__Interrupt51)?ABSOLUTE (__Interrupt51):ABSOLUTE (__DefaultInterrupt)
- 0x00007c 0x4 LONG 0x5d8c DEFINED (__Interrupt52)?ABSOLUTE (__Interrupt52):ABSOLUTE (__DefaultInterrupt)
- 0x00007e 0x4 LONG 0x5d8c DEFINED (__Interrupt53)?ABSOLUTE (__Interrupt53):ABSOLUTE (__DefaultInterrupt)
+ 0x000064 0x4 LONG 0x5d50 DEFINED (__QEIInterrupt)?ABSOLUTE (__QEIInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000066 0x4 LONG 0x5d50 DEFINED (__DCIInterrupt)?ABSOLUTE (__DCIInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000068 0x4 LONG 0x5d50 DEFINED (__LVDInterrupt)?ABSOLUTE (__LVDInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00006a 0x4 LONG 0x5d50 DEFINED (__FLTAInterrupt)?ABSOLUTE (__FLTAInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00006c 0x4 LONG 0x5d50 DEFINED (__FLTBInterrupt)?ABSOLUTE (__FLTBInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00006e 0x4 LONG 0x5d50 DEFINED (__Interrupt45)?ABSOLUTE (__Interrupt45):ABSOLUTE (__DefaultInterrupt)
+ 0x000070 0x4 LONG 0x5d50 DEFINED (__Interrupt46)?ABSOLUTE (__Interrupt46):ABSOLUTE (__DefaultInterrupt)
+ 0x000072 0x4 LONG 0x5d50 DEFINED (__Interrupt47)?ABSOLUTE (__Interrupt47):ABSOLUTE (__DefaultInterrupt)
+ 0x000074 0x4 LONG 0x5d50 DEFINED (__Interrupt48)?ABSOLUTE (__Interrupt48):ABSOLUTE (__DefaultInterrupt)
+ 0x000076 0x4 LONG 0x5d50 DEFINED (__Interrupt49)?ABSOLUTE (__Interrupt49):ABSOLUTE (__DefaultInterrupt)
+ 0x000078 0x4 LONG 0x5d50 DEFINED (__Interrupt50)?ABSOLUTE (__Interrupt50):ABSOLUTE (__DefaultInterrupt)
+ 0x00007a 0x4 LONG 0x5d50 DEFINED (__Interrupt51)?ABSOLUTE (__Interrupt51):ABSOLUTE (__DefaultInterrupt)
+ 0x00007c 0x4 LONG 0x5d50 DEFINED (__Interrupt52)?ABSOLUTE (__Interrupt52):ABSOLUTE (__DefaultInterrupt)
+ 0x00007e 0x4 LONG 0x5d50 DEFINED (__Interrupt53)?ABSOLUTE (__Interrupt53):ABSOLUTE (__DefaultInterrupt)
.aivt 0x000084 0x7c
- 0x000084 0x4 LONG 0x5d8c DEFINED (__AltReservedTrap0)?ABSOLUTE (__AltReservedTrap0):DEFINED (__ReservedTrap0)?ABSOLUTE (__ReservedTrap0):ABSOLUTE (__DefaultInterrupt)
- 0x000086 0x4 LONG 0x5d84 DEFINED (__AltOscillatorFail)?ABSOLUTE (__AltOscillatorFail):DEFINED (__OscillatorFail)?ABSOLUTE (__OscillatorFail):ABSOLUTE (__DefaultInterrupt)
- 0x000088 0x4 LONG 0x5d80 DEFINED (__AltAddressError)?ABSOLUTE (__AltAddressError):DEFINED (__AddressError)?ABSOLUTE (__AddressError):ABSOLUTE (__DefaultInterrupt)
- 0x00008a 0x4 LONG 0x5d7c DEFINED (__AltStackError)?ABSOLUTE (__AltStackError):DEFINED (__StackError)?ABSOLUTE (__StackError):ABSOLUTE (__DefaultInterrupt)
- 0x00008c 0x4 LONG 0x5d78 DEFINED (__AltMathError)?ABSOLUTE (__AltMathError):DEFINED (__MathError)?ABSOLUTE (__MathError):ABSOLUTE (__DefaultInterrupt)
- 0x00008e 0x4 LONG 0x5d8c DEFINED (__AltReservedTrap5)?ABSOLUTE (__AltReservedTrap5):DEFINED (__ReservedTrap5)?ABSOLUTE (__ReservedTrap5):ABSOLUTE (__DefaultInterrupt)
- 0x000090 0x4 LONG 0x5d8c DEFINED (__AltReservedTrap6)?ABSOLUTE (__AltReservedTrap6):DEFINED (__ReservedTrap6)?ABSOLUTE (__ReservedTrap6):ABSOLUTE (__DefaultInterrupt)
- 0x000092 0x4 LONG 0x5d8c DEFINED (__AltReservedTrap7)?ABSOLUTE (__AltReservedTrap7):DEFINED (__ReservedTrap7)?ABSOLUTE (__ReservedTrap7):ABSOLUTE (__DefaultInterrupt)
+ 0x000084 0x4 LONG 0x5d50 DEFINED (__AltReservedTrap0)?ABSOLUTE (__AltReservedTrap0):DEFINED (__ReservedTrap0)?ABSOLUTE (__ReservedTrap0):ABSOLUTE (__DefaultInterrupt)
+ 0x000086 0x4 LONG 0x5d48 DEFINED (__AltOscillatorFail)?ABSOLUTE (__AltOscillatorFail):DEFINED (__OscillatorFail)?ABSOLUTE (__OscillatorFail):ABSOLUTE (__DefaultInterrupt)
+ 0x000088 0x4 LONG 0x5d44 DEFINED (__AltAddressError)?ABSOLUTE (__AltAddressError):DEFINED (__AddressError)?ABSOLUTE (__AddressError):ABSOLUTE (__DefaultInterrupt)
+ 0x00008a 0x4 LONG 0x5d40 DEFINED (__AltStackError)?ABSOLUTE (__AltStackError):DEFINED (__StackError)?ABSOLUTE (__StackError):ABSOLUTE (__DefaultInterrupt)
+ 0x00008c 0x4 LONG 0x5d3c DEFINED (__AltMathError)?ABSOLUTE (__AltMathError):DEFINED (__MathError)?ABSOLUTE (__MathError):ABSOLUTE (__DefaultInterrupt)
+ 0x00008e 0x4 LONG 0x5d50 DEFINED (__AltReservedTrap5)?ABSOLUTE (__AltReservedTrap5):DEFINED (__ReservedTrap5)?ABSOLUTE (__ReservedTrap5):ABSOLUTE (__DefaultInterrupt)
+ 0x000090 0x4 LONG 0x5d50 DEFINED (__AltReservedTrap6)?ABSOLUTE (__AltReservedTrap6):DEFINED (__ReservedTrap6)?ABSOLUTE (__ReservedTrap6):ABSOLUTE (__DefaultInterrupt)
+ 0x000092 0x4 LONG 0x5d50 DEFINED (__AltReservedTrap7)?ABSOLUTE (__AltReservedTrap7):DEFINED (__ReservedTrap7)?ABSOLUTE (__ReservedTrap7):ABSOLUTE (__DefaultInterrupt)
0x000094 0x4 LONG 0x451e DEFINED (__AltINT0Interrupt)?ABSOLUTE (__AltINT0Interrupt):DEFINED (__INT0Interrupt)?ABSOLUTE (__INT0Interrupt):ABSOLUTE (__DefaultInterrupt)
0x000096 0x4 LONG 0x44dc DEFINED (__AltIC1Interrupt)?ABSOLUTE (__AltIC1Interrupt):DEFINED (__IC1Interrupt)?ABSOLUTE (__IC1Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x000098 0x4 LONG 0x5d8c DEFINED (__AltOC1Interrupt)?ABSOLUTE (__AltOC1Interrupt):DEFINED (__OC1Interrupt)?ABSOLUTE (__OC1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x000098 0x4 LONG 0x5d50 DEFINED (__AltOC1Interrupt)?ABSOLUTE (__AltOC1Interrupt):DEFINED (__OC1Interrupt)?ABSOLUTE (__OC1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x00009a 0x4 LONG 0x4ad8 DEFINED (__AltT1Interrupt)?ABSOLUTE (__AltT1Interrupt):DEFINED (__T1Interrupt)?ABSOLUTE (__T1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x00009c 0x4 LONG 0x449a DEFINED (__AltIC2Interrupt)?ABSOLUTE (__AltIC2Interrupt):DEFINED (__IC2Interrupt)?ABSOLUTE (__IC2Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x00009e 0x4 LONG 0x5d8c DEFINED (__AltOC2Interrupt)?ABSOLUTE (__AltOC2Interrupt):DEFINED (__OC2Interrupt)?ABSOLUTE (__OC2Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000a0 0x4 LONG 0x5d8c DEFINED (__AltT2Interrupt)?ABSOLUTE (__AltT2Interrupt):DEFINED (__T2Interrupt)?ABSOLUTE (__T2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x00009e 0x4 LONG 0x5d50 DEFINED (__AltOC2Interrupt)?ABSOLUTE (__AltOC2Interrupt):DEFINED (__OC2Interrupt)?ABSOLUTE (__OC2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000a0 0x4 LONG 0x5d50 DEFINED (__AltT2Interrupt)?ABSOLUTE (__AltT2Interrupt):DEFINED (__T2Interrupt)?ABSOLUTE (__T2Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000a2 0x4 LONG 0x4b42 DEFINED (__AltT3Interrupt)?ABSOLUTE (__AltT3Interrupt):DEFINED (__T3Interrupt)?ABSOLUTE (__T3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000a4 0x4 LONG 0x5d8c DEFINED (__AltSPI1Interrupt)?ABSOLUTE (__AltSPI1Interrupt):DEFINED (__SPI1Interrupt)?ABSOLUTE (__SPI1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000a4 0x4 LONG 0x5d50 DEFINED (__AltSPI1Interrupt)?ABSOLUTE (__AltSPI1Interrupt):DEFINED (__SPI1Interrupt)?ABSOLUTE (__SPI1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000a6 0x4 LONG 0x4d6a DEFINED (__AltU1RXInterrupt)?ABSOLUTE (__AltU1RXInterrupt):DEFINED (__U1RXInterrupt)?ABSOLUTE (__U1RXInterrupt):ABSOLUTE (__DefaultInterrupt)
0x0000a8 0x4 LONG 0x4da4 DEFINED (__AltU1TXInterrupt)?ABSOLUTE (__AltU1TXInterrupt):DEFINED (__U1TXInterrupt)?ABSOLUTE (__U1TXInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000aa 0x4 LONG 0x5020 DEFINED (__AltADCInterrupt)?ABSOLUTE (__AltADCInterrupt):DEFINED (__ADCInterrupt)?ABSOLUTE (__ADCInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ac 0x4 LONG 0x5d8c DEFINED (__AltNVMInterrupt)?ABSOLUTE (__AltNVMInterrupt):DEFINED (__NVMInterrupt)?ABSOLUTE (__NVMInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ae 0x4 LONG 0x5d8c DEFINED (__AltSI2CInterrupt)?ABSOLUTE (__AltSI2CInterrupt):DEFINED (__SI2CInterrupt)?ABSOLUTE (__SI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000b0 0x4 LONG 0x5d8c DEFINED (__AltMI2CInterrupt)?ABSOLUTE (__AltMI2CInterrupt):DEFINED (__MI2CInterrupt)?ABSOLUTE (__MI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000b2 0x4 LONG 0x5d8c DEFINED (__AltCNInterrupt)?ABSOLUTE (__AltCNInterrupt):DEFINED (__CNInterrupt)?ABSOLUTE (__CNInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000b4 0x4 LONG 0x5d8c DEFINED (__AltINT1Interrupt)?ABSOLUTE (__AltINT1Interrupt):DEFINED (__INT1Interrupt)?ABSOLUTE (__INT1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000aa 0x4 LONG 0x4e42 DEFINED (__AltADCInterrupt)?ABSOLUTE (__AltADCInterrupt):DEFINED (__ADCInterrupt)?ABSOLUTE (__ADCInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ac 0x4 LONG 0x5d50 DEFINED (__AltNVMInterrupt)?ABSOLUTE (__AltNVMInterrupt):DEFINED (__NVMInterrupt)?ABSOLUTE (__NVMInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ae 0x4 LONG 0x5d50 DEFINED (__AltSI2CInterrupt)?ABSOLUTE (__AltSI2CInterrupt):DEFINED (__SI2CInterrupt)?ABSOLUTE (__SI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000b0 0x4 LONG 0x5d50 DEFINED (__AltMI2CInterrupt)?ABSOLUTE (__AltMI2CInterrupt):DEFINED (__MI2CInterrupt)?ABSOLUTE (__MI2CInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000b2 0x4 LONG 0x5d50 DEFINED (__AltCNInterrupt)?ABSOLUTE (__AltCNInterrupt):DEFINED (__CNInterrupt)?ABSOLUTE (__CNInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000b4 0x4 LONG 0x5d50 DEFINED (__AltINT1Interrupt)?ABSOLUTE (__AltINT1Interrupt):DEFINED (__INT1Interrupt)?ABSOLUTE (__INT1Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000b6 0x4 LONG 0x43f6 DEFINED (__AltIC7Interrupt)?ABSOLUTE (__AltIC7Interrupt):DEFINED (__IC7Interrupt)?ABSOLUTE (__IC7Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000b8 0x4 LONG 0x4458 DEFINED (__AltIC8Interrupt)?ABSOLUTE (__AltIC8Interrupt):DEFINED (__IC8Interrupt)?ABSOLUTE (__IC8Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ba 0x4 LONG 0x5d8c DEFINED (__AltOC3Interrupt)?ABSOLUTE (__AltOC3Interrupt):DEFINED (__OC3Interrupt)?ABSOLUTE (__OC3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000bc 0x4 LONG 0x5d8c DEFINED (__AltOC4Interrupt)?ABSOLUTE (__AltOC4Interrupt):DEFINED (__OC4Interrupt)?ABSOLUTE (__OC4Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000be 0x4 LONG 0x51e4 DEFINED (__AltT4Interrupt)?ABSOLUTE (__AltT4Interrupt):DEFINED (__T4Interrupt)?ABSOLUTE (__T4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ba 0x4 LONG 0x5d50 DEFINED (__AltOC3Interrupt)?ABSOLUTE (__AltOC3Interrupt):DEFINED (__OC3Interrupt)?ABSOLUTE (__OC3Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000bc 0x4 LONG 0x5d50 DEFINED (__AltOC4Interrupt)?ABSOLUTE (__AltOC4Interrupt):DEFINED (__OC4Interrupt)?ABSOLUTE (__OC4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000be 0x4 LONG 0x5006 DEFINED (__AltT4Interrupt)?ABSOLUTE (__AltT4Interrupt):DEFINED (__T4Interrupt)?ABSOLUTE (__T4Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000c0 0x4 LONG 0x4b7c DEFINED (__AltT5Interrupt)?ABSOLUTE (__AltT5Interrupt):DEFINED (__T5Interrupt)?ABSOLUTE (__T5Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000c2 0x4 LONG 0x5d8c DEFINED (__AltINT2Interrupt)?ABSOLUTE (__AltINT2Interrupt):DEFINED (__INT2Interrupt)?ABSOLUTE (__INT2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000c2 0x4 LONG 0x5d50 DEFINED (__AltINT2Interrupt)?ABSOLUTE (__AltINT2Interrupt):DEFINED (__INT2Interrupt)?ABSOLUTE (__INT2Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000c4 0x4 LONG 0x4c76 DEFINED (__AltU2RXInterrupt)?ABSOLUTE (__AltU2RXInterrupt):DEFINED (__U2RXInterrupt)?ABSOLUTE (__U2RXInterrupt):ABSOLUTE (__DefaultInterrupt)
0x0000c6 0x4 LONG 0x4cb0 DEFINED (__AltU2TXInterrupt)?ABSOLUTE (__AltU2TXInterrupt):DEFINED (__U2TXInterrupt)?ABSOLUTE (__U2TXInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000c8 0x4 LONG 0x5d8c DEFINED (__AltSPI2Interrupt)?ABSOLUTE (__AltSPI2Interrupt):DEFINED (__SPI2Interrupt)?ABSOLUTE (__SPI2Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ca 0x4 LONG 0x5d8c DEFINED (__AltC1Interrupt)?ABSOLUTE (__AltC1Interrupt):DEFINED (__C1Interrupt)?ABSOLUTE (__C1Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000cc 0x4 LONG 0x5d8c DEFINED (__AltIC3Interrupt)?ABSOLUTE (__AltIC3Interrupt):DEFINED (__IC3Interrupt)?ABSOLUTE (__IC3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ce 0x4 LONG 0x5d8c DEFINED (__AltIC4Interrupt)?ABSOLUTE (__AltIC4Interrupt):DEFINED (__IC4Interrupt)?ABSOLUTE (__IC4Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000d0 0x4 LONG 0x5d8c DEFINED (__AltIC5Interrupt)?ABSOLUTE (__AltIC5Interrupt):DEFINED (__IC5Interrupt)?ABSOLUTE (__IC5Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000d2 0x4 LONG 0x5d8c DEFINED (__AltIC6Interrupt)?ABSOLUTE (__AltIC6Interrupt):DEFINED (__IC6Interrupt)?ABSOLUTE (__IC6Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000d4 0x4 LONG 0x5d8c DEFINED (__AltOC5Interrupt)?ABSOLUTE (__AltOC5Interrupt):DEFINED (__OC5Interrupt)?ABSOLUTE (__OC5Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000d6 0x4 LONG 0x5d8c DEFINED (__AltOC6Interrupt)?ABSOLUTE (__AltOC6Interrupt):DEFINED (__OC6Interrupt)?ABSOLUTE (__OC6Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000d8 0x4 LONG 0x5d8c DEFINED (__AltOC7Interrupt)?ABSOLUTE (__AltOC7Interrupt):DEFINED (__OC7Interrupt)?ABSOLUTE (__OC7Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000da 0x4 LONG 0x5d8c DEFINED (__AltOC8Interrupt)?ABSOLUTE (__AltOC8Interrupt):DEFINED (__OC8Interrupt)?ABSOLUTE (__OC8Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000dc 0x4 LONG 0x5d8c DEFINED (__AltINT3Interrupt)?ABSOLUTE (__AltINT3Interrupt):DEFINED (__INT3Interrupt)?ABSOLUTE (__INT3Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000de 0x4 LONG 0x5d8c DEFINED (__AltINT4Interrupt)?ABSOLUTE (__AltINT4Interrupt):DEFINED (__INT4Interrupt)?ABSOLUTE (__INT4Interrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000e0 0x4 LONG 0x5d8c DEFINED (__AltC2Interrupt)?ABSOLUTE (__AltC2Interrupt):DEFINED (__C2Interrupt)?ABSOLUTE (__C2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000c8 0x4 LONG 0x5d50 DEFINED (__AltSPI2Interrupt)?ABSOLUTE (__AltSPI2Interrupt):DEFINED (__SPI2Interrupt)?ABSOLUTE (__SPI2Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ca 0x4 LONG 0x5d50 DEFINED (__AltC1Interrupt)?ABSOLUTE (__AltC1Interrupt):DEFINED (__C1Interrupt)?ABSOLUTE (__C1Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000cc 0x4 LONG 0x5d50 DEFINED (__AltIC3Interrupt)?ABSOLUTE (__AltIC3Interrupt):DEFINED (__IC3Interrupt)?ABSOLUTE (__IC3Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ce 0x4 LONG 0x5d50 DEFINED (__AltIC4Interrupt)?ABSOLUTE (__AltIC4Interrupt):DEFINED (__IC4Interrupt)?ABSOLUTE (__IC4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000d0 0x4 LONG 0x5d50 DEFINED (__AltIC5Interrupt)?ABSOLUTE (__AltIC5Interrupt):DEFINED (__IC5Interrupt)?ABSOLUTE (__IC5Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000d2 0x4 LONG 0x5d50 DEFINED (__AltIC6Interrupt)?ABSOLUTE (__AltIC6Interrupt):DEFINED (__IC6Interrupt)?ABSOLUTE (__IC6Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000d4 0x4 LONG 0x5d50 DEFINED (__AltOC5Interrupt)?ABSOLUTE (__AltOC5Interrupt):DEFINED (__OC5Interrupt)?ABSOLUTE (__OC5Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000d6 0x4 LONG 0x5d50 DEFINED (__AltOC6Interrupt)?ABSOLUTE (__AltOC6Interrupt):DEFINED (__OC6Interrupt)?ABSOLUTE (__OC6Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000d8 0x4 LONG 0x5d50 DEFINED (__AltOC7Interrupt)?ABSOLUTE (__AltOC7Interrupt):DEFINED (__OC7Interrupt)?ABSOLUTE (__OC7Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000da 0x4 LONG 0x5d50 DEFINED (__AltOC8Interrupt)?ABSOLUTE (__AltOC8Interrupt):DEFINED (__OC8Interrupt)?ABSOLUTE (__OC8Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000dc 0x4 LONG 0x5d50 DEFINED (__AltINT3Interrupt)?ABSOLUTE (__AltINT3Interrupt):DEFINED (__INT3Interrupt)?ABSOLUTE (__INT3Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000de 0x4 LONG 0x5d50 DEFINED (__AltINT4Interrupt)?ABSOLUTE (__AltINT4Interrupt):DEFINED (__INT4Interrupt)?ABSOLUTE (__INT4Interrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000e0 0x4 LONG 0x5d50 DEFINED (__AltC2Interrupt)?ABSOLUTE (__AltC2Interrupt):DEFINED (__C2Interrupt)?ABSOLUTE (__C2Interrupt):ABSOLUTE (__DefaultInterrupt)
0x0000e2 0x4 LONG 0x4b9a DEFINED (__AltPWMInterrupt)?ABSOLUTE (__AltPWMInterrupt):DEFINED (__PWMInterrupt)?ABSOLUTE (__PWMInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000e4 0x4 LONG 0x5d8c DEFINED (__AltQEIInterrupt)?ABSOLUTE (__AltQEIInterrupt):DEFINED (__QEIInterrupt)?ABSOLUTE (__QEIInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000e6 0x4 LONG 0x5d8c DEFINED (__AltDCIInterrupt)?ABSOLUTE (__AltDCIInterrupt):DEFINED (__DCIInterrupt)?ABSOLUTE (__DCIInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000e8 0x4 LONG 0x5d8c DEFINED (__AltLVDInterrupt)?ABSOLUTE (__AltLVDInterrupt):DEFINED (__LVDInterrupt)?ABSOLUTE (__LVDInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ea 0x4 LONG 0x5d8c DEFINED (__AltFLTAInterrupt)?ABSOLUTE (__AltFLTAInterrupt):DEFINED (__FLTAInterrupt)?ABSOLUTE (__FLTAInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ec 0x4 LONG 0x5d8c DEFINED (__AltFLTBInterrupt)?ABSOLUTE (__AltFLTBInterrupt):DEFINED (__FLTBInterrupt)?ABSOLUTE (__FLTBInterrupt):ABSOLUTE (__DefaultInterrupt)
- 0x0000ee 0x4 LONG 0x5d8c DEFINED (__AltInterrupt45)?ABSOLUTE (__AltInterrupt45):DEFINED (__Interrupt45)?ABSOLUTE (__Interrupt45):ABSOLUTE (__DefaultInterrupt)
- 0x0000f0 0x4 LONG 0x5d8c DEFINED (__AltInterrupt46)?ABSOLUTE (__AltInterrupt46):DEFINED (__Interrupt46)?ABSOLUTE (__Interrupt46):ABSOLUTE (__DefaultInterrupt)
- 0x0000f2 0x4 LONG 0x5d8c DEFINED (__AltInterrupt47)?ABSOLUTE (__AltInterrupt47):DEFINED (__Interrupt47)?ABSOLUTE (__Interrupt47):ABSOLUTE (__DefaultInterrupt)
- 0x0000f4 0x4 LONG 0x5d8c DEFINED (__AltInterrupt48)?ABSOLUTE (__AltInterrupt48):DEFINED (__Interrupt48)?ABSOLUTE (__Interrupt48):ABSOLUTE (__DefaultInterrupt)
- 0x0000f6 0x4 LONG 0x5d8c DEFINED (__AltInterrupt49)?ABSOLUTE (__AltInterrupt49):DEFINED (__Interrupt49)?ABSOLUTE (__Interrupt49):ABSOLUTE (__DefaultInterrupt)
- 0x0000f8 0x4 LONG 0x5d8c DEFINED (__AltInterrupt50)?ABSOLUTE (__AltInterrupt50):DEFINED (__Interrupt50)?ABSOLUTE (__Interrupt50):ABSOLUTE (__DefaultInterrupt)
- 0x0000fa 0x4 LONG 0x5d8c DEFINED (__AltInterrupt51)?ABSOLUTE (__AltInterrupt51):DEFINED (__Interrupt51)?ABSOLUTE (__Interrupt51):ABSOLUTE (__DefaultInterrupt)
- 0x0000fc 0x4 LONG 0x5d8c DEFINED (__AltInterrupt52)?ABSOLUTE (__AltInterrupt52):DEFINED (__Interrupt52)?ABSOLUTE (__Interrupt52):ABSOLUTE (__DefaultInterrupt)
- 0x0000fe 0x4 LONG 0x5d8c DEFINED (__AltInterrupt53)?ABSOLUTE (__AltInterrupt53):DEFINED (__Interrupt53)?ABSOLUTE (__Interrupt53):ABSOLUTE (__DefaultInterrupt)
+ 0x0000e4 0x4 LONG 0x5d50 DEFINED (__AltQEIInterrupt)?ABSOLUTE (__AltQEIInterrupt):DEFINED (__QEIInterrupt)?ABSOLUTE (__QEIInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000e6 0x4 LONG 0x5d50 DEFINED (__AltDCIInterrupt)?ABSOLUTE (__AltDCIInterrupt):DEFINED (__DCIInterrupt)?ABSOLUTE (__DCIInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000e8 0x4 LONG 0x5d50 DEFINED (__AltLVDInterrupt)?ABSOLUTE (__AltLVDInterrupt):DEFINED (__LVDInterrupt)?ABSOLUTE (__LVDInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ea 0x4 LONG 0x5d50 DEFINED (__AltFLTAInterrupt)?ABSOLUTE (__AltFLTAInterrupt):DEFINED (__FLTAInterrupt)?ABSOLUTE (__FLTAInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ec 0x4 LONG 0x5d50 DEFINED (__AltFLTBInterrupt)?ABSOLUTE (__AltFLTBInterrupt):DEFINED (__FLTBInterrupt)?ABSOLUTE (__FLTBInterrupt):ABSOLUTE (__DefaultInterrupt)
+ 0x0000ee 0x4 LONG 0x5d50 DEFINED (__AltInterrupt45)?ABSOLUTE (__AltInterrupt45):DEFINED (__Interrupt45)?ABSOLUTE (__Interrupt45):ABSOLUTE (__DefaultInterrupt)
+ 0x0000f0 0x4 LONG 0x5d50 DEFINED (__AltInterrupt46)?ABSOLUTE (__AltInterrupt46):DEFINED (__Interrupt46)?ABSOLUTE (__Interrupt46):ABSOLUTE (__DefaultInterrupt)
+ 0x0000f2 0x4 LONG 0x5d50 DEFINED (__AltInterrupt47)?ABSOLUTE (__AltInterrupt47):DEFINED (__Interrupt47)?ABSOLUTE (__Interrupt47):ABSOLUTE (__DefaultInterrupt)
+ 0x0000f4 0x4 LONG 0x5d50 DEFINED (__AltInterrupt48)?ABSOLUTE (__AltInterrupt48):DEFINED (__Interrupt48)?ABSOLUTE (__Interrupt48):ABSOLUTE (__DefaultInterrupt)
+ 0x0000f6 0x4 LONG 0x5d50 DEFINED (__AltInterrupt49)?ABSOLUTE (__AltInterrupt49):DEFINED (__Interrupt49)?ABSOLUTE (__Interrupt49):ABSOLUTE (__DefaultInterrupt)
+ 0x0000f8 0x4 LONG 0x5d50 DEFINED (__AltInterrupt50)?ABSOLUTE (__AltInterrupt50):DEFINED (__Interrupt50)?ABSOLUTE (__Interrupt50):ABSOLUTE (__DefaultInterrupt)
+ 0x0000fa 0x4 LONG 0x5d50 DEFINED (__AltInterrupt51)?ABSOLUTE (__AltInterrupt51):DEFINED (__Interrupt51)?ABSOLUTE (__Interrupt51):ABSOLUTE (__DefaultInterrupt)
+ 0x0000fc 0x4 LONG 0x5d50 DEFINED (__AltInterrupt52)?ABSOLUTE (__AltInterrupt52):DEFINED (__Interrupt52)?ABSOLUTE (__Interrupt52):ABSOLUTE (__DefaultInterrupt)
+ 0x0000fe 0x4 LONG 0x5d50 DEFINED (__AltInterrupt53)?ABSOLUTE (__AltInterrupt53):DEFINED (__Interrupt53)?ABSOLUTE (__Interrupt53):ABSOLUTE (__DefaultInterrupt)
0x0000 WREG0 = 0x0
0x0000 _WREG0 = 0x0
0x0002 WREG1 = 0x2
@@ -2672,9 +2672,9 @@ __c30_signature
0x0b4a flags
0x0b4c old_rtl_flags
-_037f86904effa637
+_036b86904f00cb39
0x0b4e 0x4
- _037f86904effa637
+ _036b86904f00cb39
0x0b4e 0x4 build\udb\telemetry.o
0x0b4e trap_source
@@ -2695,15 +2695,15 @@ _037f86904effa637
.nbss 0x0b5c 0x2 build\udb\libUDB.o
0x0b5c udb_flags
-_037f85b04effa637
+_036b85b04f00cb39
0x0b5e 0x2
- _037f85b04effa637
+ _036b85b04f00cb39
0x0b5e 0x2 build\udb\telemetry.o
0x0b5e trap_flags
-_037f87004effa637
+_036b87004f00cb39
0x0b60 0x2
- _037f87004effa637
+ _036b87004f00cb39
0x0b60 0x2 build\udb\telemetry.o
0x0b60 osc_fail_count
@@ -2883,7 +2883,7 @@ _037f87004effa637
.dinit 0x004554 0x25c
.dinit 0x004554 0x25c data_init
-.text 0x0047b0 0x1608
+.text 0x0047b0 0x15cc
.text 0x0047b0 0x244 build\udb\estWind.o
0x0047b0 estimateWind
.text 0x0049f4 0x200 build\udb\background.o
@@ -2907,92 +2907,92 @@ _037f87004effa637
0x004d62 udb_serial_start_sending_data
0x004d6a _U1RXInterrupt
0x004da4 _U1TXInterrupt
- .text 0x004dda 0x1de build\udb\pitchCntrl.o
- 0x004dda pitchCntrl
- 0x004df4 normalPitchCntrl
- 0x004f16 hoverPitchCntrl
- .text 0x004fb8 0x1b4 build\udb\analog2digital_udb.o
- 0x004fb8 udb_init_ADC
- 0x005020 _ADCInterrupt
- .text 0x00516c 0x1b4 build\udb\servoOut.o
- 0x00516c udb_init_pwm
- 0x0051ac udb_set_action_state
- 0x0051c8 start_pwm_outputs
- 0x0051e4 _T4Interrupt
- .text 0x005320 0x1aa build\udb\telemetry.o
- 0x005320 init_serial
- 0x00532c udb_serial_callback_received_byte
- 0x00533a sio_newMsg
- 0x005362 sio_voltage_high
- 0x005376 sio_voltage_low
- 0x005390 hex_char_val
- 0x0053ce sio_fp_data
- 0x00541a sio_fp_checksum
- 0x00545a serial_output
- 0x005498 udb_serial_callback_get_byte_to_send
- 0x0054c4 serial_output_8hz
- .text 0x0054ca 0x186 build\udb\behavior.o
- 0x0054ca init_behavior
- 0x0054dc setBehavior
- 0x005502 canStabilizeInverted
- 0x00550a canStabilizeHover
- 0x005532 updateBehavior
- 0x0055f6 updateTriggerAction
- 0x005644 triggerActionSetValue
- .text 0x005650 0x184 build\udb\gpsParseSTD.o
- 0x005650 gps_nav_valid
- 0x005666 gps_startup_sequence
- 0x0056a2 msg_B3
- 0x0056b4 msg_A0
- 0x0056d0 msg_A2
- 0x0056e0 msg_PL1
- 0x0056f6 msg_PL2
- 0x005720 msg_MSG41
- 0x005758 msg_MSGU
- 0x00577e msg_B0
- 0x005796 commit_gps_data
- .text 0x0057d4 0x11c build\udb\libDCM.o
- 0x0057d4 dcm_init
- 0x0057e2 dcm_run_init_step
- 0x00580e udb_callback_read_sensors
- 0x005818 udb_servo_callback_prepare_outputs
- 0x005838 dcm_calibrate
- 0x00584a dcm_set_origin_location
- 0x005886 dcm_absolute_to_relative
- .text 0x0058f0 0x116 build\udb\yawCntrl.o
- 0x0058f0 yawCntrl
- 0x005908 normalYawCntrl
- 0x0059d0 hoverYawCntrl
- .text 0x005a06 0xe8 build\udb\rollCntrl.o
- 0x005a06 rollCntrl
- 0x005a1e normalRollCntrl
- 0x005a9c hoverRollCntrl
- .text 0x005aee 0xda build\udb\servoPrepare.o
- 0x005aee init_servoPrepare
- 0x005b6c dcm_servo_callback_prepare_outputs
- 0x005bb0 manualPassthrough
- .text 0x005bc8 0xaa build\udb\libUDB.o
- 0x005bc8 udb_init
- 0x005bea udb_run
- 0x005bf0 udb_init_leds
- 0x005bf8 udb_a2d_record_offsets
- 0x005c1a udb_servo_record_trims
- 0x005c42 udb_servo_pulsesat
- 0x005c6c calculate_analog_sensor_values
- .text 0x005c72 0x90 build\udb\cameraCntrl.o
- 0x005c72 cam_pitchServoLimit
- 0x005c9c cam_yawServoLimit
- 0x005cc6 set_camera_view
- 0x005cde compute_camera_view
- 0x005cfc cameraCntrl
- .text 0x005d02 0x76 build\udb\estYawDrift.o
- 0x005d02 dcm_enable_yaw_drift_correction
- 0x005d28 estYawDrift
- .text 0x005d78 0x2a build\udb\traps_udb_asm.o
- 0x005d78 _MathError
- 0x005d7c _StackError
- 0x005d80 _AddressError
- 0x005d84 _OscillatorFail
- 0x005d8c _DefaultInterrupt
- .text 0x005da2 0x16 build\udb\main.o
- 0x005da2 main
+ .text 0x004dda 0x1b4 build\udb\analog2digital_udb.o
+ 0x004dda udb_init_ADC
+ 0x004e42 _ADCInterrupt
+ .text 0x004f8e 0x1b4 build\udb\servoOut.o
+ 0x004f8e udb_init_pwm
+ 0x004fce udb_set_action_state
+ 0x004fea start_pwm_outputs
+ 0x005006 _T4Interrupt
+ .text 0x005142 0x1aa build\udb\telemetry.o
+ 0x005142 init_serial
+ 0x00514e udb_serial_callback_received_byte
+ 0x00515c sio_newMsg
+ 0x005184 sio_voltage_high
+ 0x005198 sio_voltage_low
+ 0x0051b2 hex_char_val
+ 0x0051f0 sio_fp_data
+ 0x00523c sio_fp_checksum
+ 0x00527c serial_output
+ 0x0052ba udb_serial_callback_get_byte_to_send
+ 0x0052e6 serial_output_8hz
+ .text 0x0052ec 0x1a2 build\udb\pitchCntrl.o
+ 0x0052ec pitchCntrl
+ 0x005306 normalPitchCntrl
+ 0x005428 hoverPitchCntrl
+ .text 0x00548e 0x186 build\udb\behavior.o
+ 0x00548e init_behavior
+ 0x0054a0 setBehavior
+ 0x0054c6 canStabilizeInverted
+ 0x0054ce canStabilizeHover
+ 0x0054f6 updateBehavior
+ 0x0055ba updateTriggerAction
+ 0x005608 triggerActionSetValue
+ .text 0x005614 0x184 build\udb\gpsParseSTD.o
+ 0x005614 gps_nav_valid
+ 0x00562a gps_startup_sequence
+ 0x005666 msg_B3
+ 0x005678 msg_A0
+ 0x005694 msg_A2
+ 0x0056a4 msg_PL1
+ 0x0056ba msg_PL2
+ 0x0056e4 msg_MSG41
+ 0x00571c msg_MSGU
+ 0x005742 msg_B0
+ 0x00575a commit_gps_data
+ .text 0x005798 0x11c build\udb\libDCM.o
+ 0x005798 dcm_init
+ 0x0057a6 dcm_run_init_step
+ 0x0057d2 udb_callback_read_sensors
+ 0x0057dc udb_servo_callback_prepare_outputs
+ 0x0057fc dcm_calibrate
+ 0x00580e dcm_set_origin_location
+ 0x00584a dcm_absolute_to_relative
+ .text 0x0058b4 0x116 build\udb\yawCntrl.o
+ 0x0058b4 yawCntrl
+ 0x0058cc normalYawCntrl
+ 0x005994 hoverYawCntrl
+ .text 0x0059ca 0xe8 build\udb\rollCntrl.o
+ 0x0059ca rollCntrl
+ 0x0059e2 normalRollCntrl
+ 0x005a60 hoverRollCntrl
+ .text 0x005ab2 0xda build\udb\servoPrepare.o
+ 0x005ab2 init_servoPrepare
+ 0x005b30 dcm_servo_callback_prepare_outputs
+ 0x005b74 manualPassthrough
+ .text 0x005b8c 0xaa build\udb\libUDB.o
+ 0x005b8c udb_init
+ 0x005bae udb_run
+ 0x005bb4 udb_init_leds
+ 0x005bbc udb_a2d_record_offsets
+ 0x005bde udb_servo_record_trims
+ 0x005c06 udb_servo_pulsesat
+ 0x005c30 calculate_analog_sensor_values
+ .text 0x005c36 0x90 build\udb\cameraCntrl.o
+ 0x005c36 cam_pitchServoLimit
+ 0x005c60 cam_yawServoLimit
+ 0x005c8a set_camera_view
+ 0x005ca2 compute_camera_view
+ 0x005cc0 cameraCntrl
+ .text 0x005cc6 0x76 build\udb\estYawDrift.o
+ 0x005cc6 dcm_enable_yaw_drift_correction
+ 0x005cec estYawDrift
+ .text 0x005d3c 0x2a build\udb\traps_udb_asm.o
+ 0x005d3c _MathError
+ 0x005d40 _StackError
+ 0x005d44 _AddressError
+ 0x005d48 _OscillatorFail
+ 0x005d50 _DefaultInterrupt
+ .text 0x005d66 0x16 build\udb\main.o
+ 0x005d66 main
View
2  MatrixPilot/options.h
@@ -482,7 +482,7 @@
#define HOVER_PITCH_OFFSET 0.0 // + leans towards top, - leans towards bottom
#define HOVER_YAWKP 1.0 //0.2
#define HOVER_YAWKD 0.5 //0.25
-#define HOVER_YAW_OFFSET 0.0 // Testing non zero values
+#define HOVER_YAW_OFFSET 0.0 // ***TODO Test non zero values for control mixing for VTOL
#define HOVER_PITCH_TOWARDS_WP 0.0 //30.0 ***TODO Test for VTOL with nav mode
#define HOVER_NAV_MAX_PITCH_RADIUS 20
View
15 MatrixPilot/pitchCntrl.c
@@ -144,6 +144,12 @@ void normalPitchCntrl(void)
void hoverPitchCntrl(void)
{
union longww pitchAccum ;
+ long pitchToWP ; //***TODO Not same type or naming convention as roll: int rollNavDeflection
+
+#ifdef TestGains
+ flags._.GPS_steering = 0 ; // turn off navigation
+ flags._.pitch_feedback = 1 ; //turn on stabilization
+#endif
if ( flags._.pitch_feedback )
{
@@ -151,11 +157,11 @@ void hoverPitchCntrl(void)
- __builtin_mulss( rmat[6] , omegagyro[1] )) << 1 ;
pitchrate = pitchAccum._.W1 ;
+ /* Manual offset should achieved in servoMix?
int elevInput = ( udb_flags._.radio_on == 1 ) ? REVERSE_IF_NEEDED(ELEVATOR_CHANNEL_REVERSED, udb_pwIn[ELEVATOR_INPUT_CHANNEL] - udb_pwTrim[ELEVATOR_INPUT_CHANNEL]) : 0 ;
int manualPitchOffset = elevInput * (int)(RMAX/600);
-
- long pitchToWP ;
-
+ */
+
if ( flags._.GPS_steering )
{
pitchToWP = (tofinish_line > HOVER_NAV_MAX_PITCH_RADIUS) ? HOVERPTOWP : (HOVERPTOWP / HOVER_NAV_MAX_PITCH_RADIUS * tofinish_line) ;
@@ -165,7 +171,8 @@ void hoverPitchCntrl(void)
pitchToWP = 0 ;
}
- pitchAccum.WW = __builtin_mulss( rmat[8] + HOVERPOFFSET - pitchToWP + manualPitchOffset , hoverpitchgain )
+ //pitchAccum.WW = __builtin_mulss( rmat[8] + HOVERPOFFSET - pitchToWP + manualPitchOffset , hoverpitchgain )
+ pitchAccum.WW = __builtin_mulss( rmat[8] + HOVERPOFFSET - pitchToWP , hoverpitchgain ) //Removed manualPitchOffset
+ __builtin_mulss( hoverpitchkd , pitchrate ) ;
}
else
View
11 MatrixPilot/rollCntrl.c
@@ -81,16 +81,14 @@ void normalRollCntrl(void)
#ifdef TestGains
flags._.GPS_steering = 0 ; // turn off navigation
+ flags._.pitch_feedback = 1 ; // turn on stabilization
#endif
+
if ( AILERON_NAVIGATION && flags._.GPS_steering )
{
rollAccum._.W1 = determine_navigation_deflection( 'a' ) ;
}
-#ifdef TestGains
- flags._.pitch_feedback = 1 ;
-#endif