From 5a477078cf3bc0d9b3a76ec55740c8141540b788 Mon Sep 17 00:00:00 2001
From: xqq27 <834160466@qq.com>
Date: Wed, 7 May 2025 09:31:11 +0800
Subject: [PATCH] =?UTF-8?q?=E6=97=A0pwm=E8=BE=93=E5=87=BA=E7=9A=84?=
 =?UTF-8?q?=E5=8E=9F=E5=9B=A0=E6=98=AFPA2=E5=90=8C=E6=97=B6=E4=BD=BF?=
 =?UTF-8?q?=E7=94=A8=E4=BA=86TM2=5FCH3=E5=92=8CUSART2=EF=BC=8C=E7=8E=B0?=
 =?UTF-8?q?=E5=9C=A8=E4=BD=BF=E7=94=A8PA1=EF=BC=8CTIM2=5FCH2=E4=BD=9C?=
 =?UTF-8?q?=E4=B8=BA=E7=94=B5=E6=9C=BA=E7=9A=84PWM=EF=BC=8C=E5=90=8E?=
 =?UTF-8?q?=E6=9C=9F=E7=94=BB=E6=9D=BF=E5=AD=90=E9=9C=80=E8=A6=81=E4=BF=AE?=
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Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Code/bsp/inc/bsp_motor.h         |   2 +-
 Code/bsp/src/bsp_motor.c         |  21 +-
 Code/bsp/src/bsp_usart.c         |  34 +-
 Code/middleware/Motor/mw_motor.c |  12 +-
 Project/Output/TianyunV1.hex     | 638 ++++++++++++++---------------
 Project/Output/TianyunV1.map     | 662 +++++++++++++++----------------
 6 files changed, 679 insertions(+), 690 deletions(-)

diff --git a/Code/bsp/inc/bsp_motor.h b/Code/bsp/inc/bsp_motor.h
index 8ba7620..9adf93d 100644
--- a/Code/bsp/inc/bsp_motor.h
+++ b/Code/bsp/inc/bsp_motor.h
@@ -17,6 +17,6 @@ void bsp_BIN1_OFF(void);
 void bsp_BIN2_ON(void);
 void bsp_BIN2_OFF(void);
 
-void PWM_SetCompare3(uint16_t Compare);
+void bsp_changeMotorSpeed(uint16_t Compare);
 
 #endif
diff --git a/Code/bsp/src/bsp_motor.c b/Code/bsp/src/bsp_motor.c
index 5f66547..1b01189 100644
--- a/Code/bsp/src/bsp_motor.c
+++ b/Code/bsp/src/bsp_motor.c
@@ -25,7 +25,7 @@
 #define	TIM_MOTOR_PERIPH_RCC	        RCC_APB1Periph_TIM2
 #define TIM_MOTOR_PWN_GPIO_RCC          RCC_APB2Periph_GPIOA
 #define TIM_MOTOR_PWN_GPIO_PORT         GPIOA
-#define TIM_MOTOR_PWN_GPIO_PIN          GPIO_Pin_2
+#define TIM_MOTOR_PWN_GPIO_PIN          GPIO_Pin_1
 
 /*************************************************************************************
  * @brief    对外输出至电机驱动板IN接口的GPIO初始化
@@ -79,7 +79,7 @@ void bsp_InitGPIO_MotorOut(void)
 	 /* 1. 使能TIM时钟 */
 	 RCC_APB1PeriphClockCmd(TIM_MOTOR_PERIPH_RCC, ENABLE);
 	 /* 2. 使能对应的GPIO引脚  */
-	 GPIO_Init(TIM_MOTOR_PWN_GPIO_PORT, &GPIO_InitStructure);              //初始化 GPIOA.2
+	 GPIO_Init(TIM_MOTOR_PWN_GPIO_PORT, &GPIO_InitStructure);              //初始化 
 	 RCC_APB2PeriphClockCmd(TIM_MOTOR_PWN_GPIO_RCC, ENABLE); //使能 PA 端口时钟
 	 GPIO_InitStructure.GPIO_Pin = TIM_MOTOR_PWN_GPIO_PIN;           
 	 GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;    
@@ -96,11 +96,12 @@ void bsp_InitGPIO_MotorOut(void)
 	 TIM_TimeBaseInit(TIM_MOTOR, &TIM_TimeBaseStructure);
 	 /* 5. 输出比较 */
 	 TIM_OCStructInit(&TIM_OCInitStructure);
-	 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
-	 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
-	 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
-	 TIM_OCInitStructure.TIM_Pulse = 0;		//CCR
-	 TIM_OC3Init(TIM_MOTOR, &TIM_OCInitStructure);
+	 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;	// PWM模式1（CNT<CCR时高电平）
+	 TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;	// 高电平有效
+	 TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;	// 使能输出
+	 TIM_OCInitStructure.TIM_Pulse = 0;		//CCR	占空比
+	 // 应用至TIM2_CHx[1,7](@ref)
+	 TIM_OC2Init(TIM_MOTOR, &TIM_OCInitStructure);
 
 	 TIM_ARRPreloadConfig(TIM_MOTOR, ENABLE);
 	 /* 6. TIMx enable counter */
@@ -200,14 +201,14 @@ void bsp_BIN2_OFF(void)
 	GPIO_ResetBits(B_IN2_GPIO_PORT, B_IN2_GPIO_PIN);
 }
 /*************************************************************************************
- * @brief    PWM 通道3 设置pwm
+ * @brief    通过修改pwm，来修改电机的速度
  * @param[in/out] Compare【参数注释】
  * 
  * @warning  【不可重入,阻塞等警告】
  * @note     【重大修改】
   *************************************************************************************/
-void PWM_SetCompare3(uint16_t Compare)
+void bsp_changeMotorSpeed(uint16_t Compare)
 {
-	TIM_SetCompare3(TIM_MOTOR, Compare);
+	TIM_SetCompare2(TIM_MOTOR, Compare);
 }
 
diff --git a/Code/bsp/src/bsp_usart.c b/Code/bsp/src/bsp_usart.c
index f3ce35c..6cc8fd4 100644
--- a/Code/bsp/src/bsp_usart.c
+++ b/Code/bsp/src/bsp_usart.c
@@ -9,13 +9,13 @@
 
 
 /* debug log专用的usart外设 */
-#define USART_DEBUG_TYPE    (USART2)   
-#define USART_DEBUG_PERIPH_RCC  (RCC_APB1Periph_USART2)
-#define USART_DEBUG_GPIO_RCC  (RCC_APB2Periph_GPIOA)
-#define USART_DEBUG_TX_PORT (GPIOA)
-#define USART_DEBUG_TX_PIN  (GPIO_Pin_2)
-#define USART_DEBUG_RX_PORT (GPIOA)
-#define USART_DEBUG_RX_PIN  (GPIO_Pin_3)
+#define USART_DEBUG_TYPE    (USART3)   
+#define USART_DEBUG_PERIPH_RCC  (RCC_APB1Periph_USART3)
+#define USART_DEBUG_GPIO_RCC  (RCC_APB2Periph_GPIOB)
+#define USART_DEBUG_TX_PORT (GPIOB)
+#define USART_DEBUG_TX_PIN  (GPIO_Pin_10)
+#define USART_DEBUG_RX_PORT (GPIOB)
+#define USART_DEBUG_RX_PIN  (GPIO_Pin_11)
 #define USART_DEBUG_BAUD    (115200u)
 
 #define EN_USART1_RX        (0)
@@ -34,11 +34,9 @@ void bsp_usart_debug_init(void)
     NVIC_InitTypeDef NVIC_InitStructure;
 
     /* 1. 串口时钟使能，GPIO 时钟使能，复用时钟使能 */
-        //使能 USART1,GPIOA 时钟
-        // RCC_APB2PeriphClockCmd(USART_DEBUG_PERIPH_RCC | USART_DEBUG_GPIO_RCC, ENABLE);
-    //使能 USART2,GPIOA 时钟
+    //使能 USART的GPIO 时钟
     RCC_APB2PeriphClockCmd(USART_DEBUG_GPIO_RCC, ENABLE);
-    // usart1在APB2上 ，而usart2在APB1上
+    // usart1在APB2上 ，而usart2和usart3在APB1上
     RCC_APB1PeriphClockCmd(USART_DEBUG_PERIPH_RCC, ENABLE);
     /* 2. 串口复位 */
     USART_DeInit(USART_DEBUG_TYPE);
@@ -60,18 +58,8 @@ void bsp_usart_debug_init(void)
     USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制
     USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
     USART_Init(USART_DEBUG_TYPE, &USART_InitStructure);
-    #if EN_USART1_RX //如果使能了接收
-    /* 5. 初始化 NVIC */
-        NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
-        NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3 ; //抢占优先级 3
-        NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级 3
-        NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ 通道使能
-        NVIC_Init(&NVIC_InitStructure); //中断优先级初始化
-        /* 开启中断*/
-        USART_ITConfig(USART_DEBUG_TYPE, USART_IT_RXNE, ENABLE);    //开启中断
-        // USART_ITConfig(USART_DEBUG_TYPE, USART_IT_TC, ENABLE);      //开启中断
-    #endif
-    /* 6. 使能串口 */
+
+    /* 5. 使能串口 */
     USART_Cmd(USART_DEBUG_TYPE, ENABLE);
 }
 
diff --git a/Code/middleware/Motor/mw_motor.c b/Code/middleware/Motor/mw_motor.c
index cf4a483..d28a3fd 100644
--- a/Code/middleware/Motor/mw_motor.c
+++ b/Code/middleware/Motor/mw_motor.c
@@ -15,19 +15,19 @@ void mw_SetMotorSpeed_Left(int8_t Speed)
 	{
 		bsp_AIN1_ON();
 		bsp_AIN2_OFF();
-		PWM_SetCompare3(Speed);
+		bsp_changeMotorSpeed(Speed);
 	}
 	else if(Speed==0)
     {
 		bsp_AIN1_ON();
 		bsp_AIN2_ON();
-		PWM_SetCompare3(Speed);
+		bsp_changeMotorSpeed(Speed);
 	}
     else
     {
 		bsp_AIN1_OFF();
 		bsp_AIN2_ON();
-		PWM_SetCompare3(-Speed);
+		bsp_changeMotorSpeed(-Speed);
 	}
 }
 /*************************************************************************************
@@ -43,19 +43,19 @@ void mw_SetMotorSpeed_Right(int8_t Speed)
 	{
 		bsp_BIN1_ON();
 		bsp_BIN2_OFF();
-		PWM_SetCompare3(Speed);
+		bsp_changeMotorSpeed(Speed);
 	}
 	else if(Speed==0)
     {
 		bsp_BIN1_ON();
 		bsp_BIN2_ON();
-		PWM_SetCompare3(Speed);
+		bsp_changeMotorSpeed(Speed);
 	}
     else
     {
 		bsp_BIN1_OFF();
 		bsp_BIN2_ON();
-		PWM_SetCompare3(-Speed);
+		bsp_changeMotorSpeed(-Speed);
 	}
 }
 
diff --git a/Project/Output/TianyunV1.hex b/Project/Output/TianyunV1.hex
index 9cbd8db..652b06a 100644
--- a/Project/Output/TianyunV1.hex
+++ b/Project/Output/TianyunV1.hex
@@ -2,7 +2,7 @@
 :10000000C0040020050100080D0100080F010008D0
 :10001000110100081301000815010008000000008C
 :1000200000000000000000000000000017010008B0
-:1000300019010008000000001B010008F10400087D
+:1000300019010008000000001B010008E10400088D
 :100040001F0100081F0100081F0100081F01000810
 :100050001F0100081F0100081F0100081F01000800
 :100060001F0100081F0100081F0100081F010008F0
@@ -10,18 +10,18 @@
 :100080001F0100081F0100081F0100081F010008D0
 :100090001F0100081F0100081F0100081F010008C0
 :1000A0001F0100081F0100081F0100081F010008B0
-:1000B0009D050008A10500081F0100081F01000898
+:1000B0008D050008910500081F0100081F010008B8
 :1000C0001F0100081F0100081F0100081F01000890
-:1000D0001F010008290800081F0100081F0100086F
+:1000D0001F0100081D0800081F0100081F0100087B
 :1000E0001F0100081F0100081F010008DFF810D0E1
-:1000F00000F02CF80048004761130008AFF30080BF
+:1000F00000F02CF80048004769130008AFF30080B7
 :10010000C00400200648804706480047FEE7FEE797
 :10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7
-:100120003D050008ED00000840EA01039B0703D0ED
+:100120002D050008ED00000840EA01039B0703D0FD
 :1001300009E008C9121F08C0042AFAD203E011F826
 :10014000013B00F8013B521EF9D27047064C074DA7
 :1001500006E0E06840F0010394E807009847103497
-:10016000AC42F6D3FFF7C6FFB0150008D015000863
+:10016000AC42F6D3FFF7C6FFB8150008D815000853
 :100170002DE9F0410246002500260020002300243E
 :10018000002791F803C00CF00F0591F803C00CF0A4
 :10019000100CBCF1000F03D091F802C04CEA050529
@@ -41,318 +41,318 @@
 :10027000010808FA0CF8C2F81080401C0828CED3F8
 :100280005460BDE8F0814161704701617047000032
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 :00000001FF
diff --git a/Project/Output/TianyunV1.map b/Project/Output/TianyunV1.map
index 80dd841..14c2399 100644
--- a/Project/Output/TianyunV1.map
+++ b/Project/Output/TianyunV1.map
@@ -120,7 +120,6 @@ Section Cross References
     bsp_usart.o(i.bsp_usart_debug_init) refers to stm32f10x_usart.o(i.USART_Cmd) for USART_Cmd
     bsp_usart.o(i.fputc) refers to stm32f10x_usart.o(i.USART_GetFlagStatus) for USART_GetFlagStatus
     bsp_usart.o(i.fputc) refers to stm32f10x_usart.o(i.USART_SendData) for USART_SendData
-    bsp_motor.o(i.PWM_SetCompare3) refers to stm32f10x_tim.o(i.TIM_SetCompare3) for TIM_SetCompare3
     bsp_motor.o(i.bsp_AIN1_OFF) refers to stm32f10x_gpio.o(i.GPIO_ResetBits) for GPIO_ResetBits
     bsp_motor.o(i.bsp_AIN1_ON) refers to stm32f10x_gpio.o(i.GPIO_SetBits) for GPIO_SetBits
     bsp_motor.o(i.bsp_AIN2_OFF) refers to stm32f10x_gpio.o(i.GPIO_ResetBits) for GPIO_ResetBits
@@ -139,9 +138,10 @@ Section Cross References
     bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_InternalClockConfig) for TIM_InternalClockConfig
     bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_TimeBaseInit) for TIM_TimeBaseInit
     bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_OCStructInit) for TIM_OCStructInit
-    bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_OC3Init) for TIM_OC3Init
+    bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_OC2Init) for TIM_OC2Init
     bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_ARRPreloadConfig) for TIM_ARRPreloadConfig
     bsp_motor.o(i.bsp_InitMotorTimer) refers to stm32f10x_tim.o(i.TIM_Cmd) for TIM_Cmd
+    bsp_motor.o(i.bsp_changeMotorSpeed) refers to stm32f10x_tim.o(i.TIM_SetCompare2) for TIM_SetCompare2
     system_stm32f10x.o(i.SetSysClock) refers to system_stm32f10x.o(i.SetSysClockTo72) for SetSysClockTo72
     system_stm32f10x.o(i.SystemCoreClockUpdate) refers to system_stm32f10x.o(.data) for SystemCoreClock
     system_stm32f10x.o(i.SystemInit) refers to system_stm32f10x.o(i.SetSysClock) for SetSysClock
@@ -238,12 +238,12 @@ Section Cross References
     mw_soft_timer.o(i.mw_soft_timer_user_systick_update) refers to mw_soft_timer.o(.data) for systick_ms
     mw_motor.o(i.mw_SetMotorSpeed_Left) refers to bsp_motor.o(i.bsp_AIN1_ON) for bsp_AIN1_ON
     mw_motor.o(i.mw_SetMotorSpeed_Left) refers to bsp_motor.o(i.bsp_AIN2_OFF) for bsp_AIN2_OFF
-    mw_motor.o(i.mw_SetMotorSpeed_Left) refers to bsp_motor.o(i.PWM_SetCompare3) for PWM_SetCompare3
+    mw_motor.o(i.mw_SetMotorSpeed_Left) refers to bsp_motor.o(i.bsp_changeMotorSpeed) for bsp_changeMotorSpeed
     mw_motor.o(i.mw_SetMotorSpeed_Left) refers to bsp_motor.o(i.bsp_AIN2_ON) for bsp_AIN2_ON
     mw_motor.o(i.mw_SetMotorSpeed_Left) refers to bsp_motor.o(i.bsp_AIN1_OFF) for bsp_AIN1_OFF
     mw_motor.o(i.mw_SetMotorSpeed_Right) refers to bsp_motor.o(i.bsp_BIN1_ON) for bsp_BIN1_ON
     mw_motor.o(i.mw_SetMotorSpeed_Right) refers to bsp_motor.o(i.bsp_BIN2_OFF) for bsp_BIN2_OFF
-    mw_motor.o(i.mw_SetMotorSpeed_Right) refers to bsp_motor.o(i.PWM_SetCompare3) for PWM_SetCompare3
+    mw_motor.o(i.mw_SetMotorSpeed_Right) refers to bsp_motor.o(i.bsp_changeMotorSpeed) for bsp_changeMotorSpeed
     mw_motor.o(i.mw_SetMotorSpeed_Right) refers to bsp_motor.o(i.bsp_BIN2_ON) for bsp_BIN2_ON
     mw_motor.o(i.mw_SetMotorSpeed_Right) refers to bsp_motor.o(i.bsp_BIN1_OFF) for bsp_BIN1_OFF
     mw_motor.o(i.mw_motor_goAhead) refers to mw_motor.o(i.mw_SetMotorSpeed_Left) for mw_SetMotorSpeed_Left
@@ -923,11 +923,11 @@ Removing Unused input sections from the image.
     Removing stm32f10x_tim.o(i.TIM_OC1PolarityConfig), (18 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC1PreloadConfig), (18 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC2FastConfig), (26 bytes).
-    Removing stm32f10x_tim.o(i.TIM_OC2Init), (164 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC2NPolarityConfig), (26 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC2PolarityConfig), (26 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC2PreloadConfig), (26 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC3FastConfig), (18 bytes).
+    Removing stm32f10x_tim.o(i.TIM_OC3Init), (160 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC3NPolarityConfig), (26 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC3PolarityConfig), (26 bytes).
     Removing stm32f10x_tim.o(i.TIM_OC3PreloadConfig), (18 bytes).
@@ -949,7 +949,7 @@ Removing Unused input sections from the image.
     Removing stm32f10x_tim.o(i.TIM_SetAutoreload), (4 bytes).
     Removing stm32f10x_tim.o(i.TIM_SetClockDivision), (18 bytes).
     Removing stm32f10x_tim.o(i.TIM_SetCompare1), (4 bytes).
-    Removing stm32f10x_tim.o(i.TIM_SetCompare2), (4 bytes).
+    Removing stm32f10x_tim.o(i.TIM_SetCompare3), (4 bytes).
     Removing stm32f10x_tim.o(i.TIM_SetCompare4), (6 bytes).
     Removing stm32f10x_tim.o(i.TIM_SetCounter), (4 bytes).
     Removing stm32f10x_tim.o(i.TIM_SetIC1Prescaler), (18 bytes).
@@ -999,7 +999,7 @@ Removing Unused input sections from the image.
     Removing cdrcmple.o(.text), (48 bytes).
     Removing depilogue.o(.text), (186 bytes).
 
-469 unused section(s) (total 20396 bytes) removed from the image.
+469 unused section(s) (total 20392 bytes) removed from the image.
 
 ==============================================================================
 
@@ -1112,112 +1112,112 @@ Image Symbol Table
     i.GPIO_ResetBits                         0x08000286   Section        0  stm32f10x_gpio.o(i.GPIO_ResetBits)
     i.GPIO_SetBits                           0x0800028a   Section        0  stm32f10x_gpio.o(i.GPIO_SetBits)
     i.NVIC_PriorityGroupConfig               0x08000290   Section        0  misc.o(i.NVIC_PriorityGroupConfig)
-    i.PWM_SetCompare3                        0x080002a4   Section        0  bsp_motor.o(i.PWM_SetCompare3)
-    i.RCC_APB1PeriphClockCmd                 0x080002b4   Section        0  stm32f10x_rcc.o(i.RCC_APB1PeriphClockCmd)
-    i.RCC_APB1PeriphResetCmd                 0x080002d4   Section        0  stm32f10x_rcc.o(i.RCC_APB1PeriphResetCmd)
-    i.RCC_APB2PeriphClockCmd                 0x080002f4   Section        0  stm32f10x_rcc.o(i.RCC_APB2PeriphClockCmd)
-    i.RCC_APB2PeriphResetCmd                 0x08000314   Section        0  stm32f10x_rcc.o(i.RCC_APB2PeriphResetCmd)
-    i.RCC_GetClocksFreq                      0x08000334   Section        0  stm32f10x_rcc.o(i.RCC_GetClocksFreq)
-    i.SetSysClock                            0x08000408   Section        0  system_stm32f10x.o(i.SetSysClock)
-    SetSysClock                              0x08000409   Thumb Code     8  system_stm32f10x.o(i.SetSysClock)
-    i.SetSysClockTo72                        0x08000410   Section        0  system_stm32f10x.o(i.SetSysClockTo72)
-    SetSysClockTo72                          0x08000411   Thumb Code   214  system_stm32f10x.o(i.SetSysClockTo72)
-    i.SysTick_Handler                        0x080004f0   Section        0  bsp_timer.o(i.SysTick_Handler)
-    i.SysTick_ISR                            0x080004f8   Section        0  bsp_timer.o(i.SysTick_ISR)
-    i.SystemInit                             0x0800053c   Section        0  system_stm32f10x.o(i.SystemInit)
-    i.TIM2_IRQHandler                        0x0800059c   Section        0  bsp_timer.o(i.TIM2_IRQHandler)
-    i.TIM3_IRQHandler                        0x080005a0   Section        0  bsp_timer.o(i.TIM3_IRQHandler)
-    i.TIM_ARRPreloadConfig                   0x08000654   Section        0  stm32f10x_tim.o(i.TIM_ARRPreloadConfig)
-    i.TIM_ClearITPendingBit                  0x0800066c   Section        0  stm32f10x_tim.o(i.TIM_ClearITPendingBit)
-    i.TIM_Cmd                                0x08000672   Section        0  stm32f10x_tim.o(i.TIM_Cmd)
-    i.TIM_GetITStatus                        0x0800068a   Section        0  stm32f10x_tim.o(i.TIM_GetITStatus)
-    i.TIM_ITConfig                           0x080006ac   Section        0  stm32f10x_tim.o(i.TIM_ITConfig)
-    i.TIM_InternalClockConfig                0x080006be   Section        0  stm32f10x_tim.o(i.TIM_InternalClockConfig)
-    i.TIM_OC3Init                            0x080006cc   Section        0  stm32f10x_tim.o(i.TIM_OC3Init)
-    i.TIM_OCStructInit                       0x0800076c   Section        0  stm32f10x_tim.o(i.TIM_OCStructInit)
-    i.TIM_SetCompare3                        0x08000780   Section        0  stm32f10x_tim.o(i.TIM_SetCompare3)
-    i.TIM_TimeBaseInit                       0x08000784   Section        0  stm32f10x_tim.o(i.TIM_TimeBaseInit)
-    i.USART1_IRQHandler                      0x08000828   Section        0  interrupt_handler.o(i.USART1_IRQHandler)
-    i.USART_ClearITPendingBit                0x08000864   Section        0  stm32f10x_usart.o(i.USART_ClearITPendingBit)
-    i.USART_Cmd                              0x08000882   Section        0  stm32f10x_usart.o(i.USART_Cmd)
-    i.USART_DeInit                           0x0800089c   Section        0  stm32f10x_usart.o(i.USART_DeInit)
-    i.USART_GetFlagStatus                    0x08000938   Section        0  stm32f10x_usart.o(i.USART_GetFlagStatus)
-    i.USART_GetITStatus                      0x08000952   Section        0  stm32f10x_usart.o(i.USART_GetITStatus)
-    i.USART_Init                             0x080009a8   Section        0  stm32f10x_usart.o(i.USART_Init)
-    i.USART_ReceiveData                      0x08000a80   Section        0  stm32f10x_usart.o(i.USART_ReceiveData)
-    i.USART_SendData                         0x08000a8a   Section        0  stm32f10x_usart.o(i.USART_SendData)
-    i.__0printf$2                            0x08000a94   Section        0  printf2.o(i.__0printf$2)
-    i.__scatterload_copy                     0x08000ab4   Section       14  handlers.o(i.__scatterload_copy)
-    i.__scatterload_null                     0x08000ac2   Section        2  handlers.o(i.__scatterload_null)
-    i.__scatterload_zeroinit                 0x08000ac4   Section       14  handlers.o(i.__scatterload_zeroinit)
-    i.__set_PRIMASK                          0x08000ad2   Section        0  bsp_timer.o(i.__set_PRIMASK)
-    __set_PRIMASK                            0x08000ad3   Thumb Code     6  bsp_timer.o(i.__set_PRIMASK)
-    i._printf_core                           0x08000ad8   Section        0  printf2.o(i._printf_core)
-    _printf_core                             0x08000ad9   Thumb Code   214  printf2.o(i._printf_core)
-    i.app_init                               0x08000bae   Section        0  main.o(i.app_init)
-    i.app_led_indicator_faultMode            0x08000bb8   Section        0  app_led.o(i.app_led_indicator_faultMode)
-    i.app_led_indicator_idleMode             0x08000c5c   Section        0  app_led.o(i.app_led_indicator_idleMode)
-    i.app_led_indicator_runningMode          0x08000d00   Section        0  app_led.o(i.app_led_indicator_runningMode)
-    i.app_led_init                           0x08000da8   Section        0  app_led.o(i.app_led_init)
-    i.app_led_runMode_indicator_blink_process 0x08000dc8   Section        0  app_led.o(i.app_led_runMode_indicator_blink_process)
-    i.app_led_runMode_indicator_mainProcess  0x08000df8   Section        0  app_led.o(i.app_led_runMode_indicator_mainProcess)
-    i.app_led_runMode_indicator_stateManage  0x08000e04   Section        0  app_led.o(i.app_led_runMode_indicator_stateManage)
-    i.app_motor_mainProcess                  0x08000e38   Section        0  app_motor.o(i.app_motor_mainProcess)
-    i.bsp_AIN1_OFF                           0x08000eb0   Section        0  bsp_motor.o(i.bsp_AIN1_OFF)
-    i.bsp_AIN1_ON                            0x08000ec0   Section        0  bsp_motor.o(i.bsp_AIN1_ON)
-    i.bsp_AIN2_OFF                           0x08000ed0   Section        0  bsp_motor.o(i.bsp_AIN2_OFF)
-    i.bsp_AIN2_ON                            0x08000ee0   Section        0  bsp_motor.o(i.bsp_AIN2_ON)
-    i.bsp_BIN1_OFF                           0x08000ef0   Section        0  bsp_motor.o(i.bsp_BIN1_OFF)
-    i.bsp_BIN1_ON                            0x08000f00   Section        0  bsp_motor.o(i.bsp_BIN1_ON)
-    i.bsp_BIN2_OFF                           0x08000f10   Section        0  bsp_motor.o(i.bsp_BIN2_OFF)
-    i.bsp_BIN2_ON                            0x08000f20   Section        0  bsp_motor.o(i.bsp_BIN2_ON)
-    i.bsp_CheckTimer                         0x08000f30   Section        0  bsp_timer.o(i.bsp_CheckTimer)
-    i.bsp_InitGPIO_MotorOut                  0x08000f64   Section        0  bsp_motor.o(i.bsp_InitGPIO_MotorOut)
-    i.bsp_InitMotor                          0x08000fdc   Section        0  bsp_motor.o(i.bsp_InitMotor)
-    i.bsp_InitMotorTimer                     0x08000fe8   Section        0  bsp_motor.o(i.bsp_InitMotorTimer)
-    i.bsp_SoftTimerDec                       0x0800108c   Section        0  bsp_timer.o(i.bsp_SoftTimerDec)
-    bsp_SoftTimerDec                         0x0800108d   Thumb Code    28  bsp_timer.o(i.bsp_SoftTimerDec)
-    i.bsp_StartTimer                         0x080010a8   Section        0  bsp_timer.o(i.bsp_StartTimer)
-    i.bsp_get_led_ttlState                   0x0800113c   Section        0  bsp_led.o(i.bsp_get_led_ttlState)
-    i.bsp_init                               0x0800115c   Section        0  main.o(i.bsp_init)
-    i.bsp_led1_init                          0x0800116c   Section        0  bsp_led.o(i.bsp_led1_init)
-    i.bsp_led2_init                          0x080011a0   Section        0  bsp_led.o(i.bsp_led2_init)
-    i.bsp_led_off                            0x080011d4   Section        0  bsp_led.o(i.bsp_led_off)
-    i.bsp_led_on                             0x080011f4   Section        0  bsp_led.o(i.bsp_led_on)
-    i.bsp_timer_init                         0x0800121c   Section        0  bsp_timer.o(i.bsp_timer_init)
-    i.bsp_usart_debug_init                   0x080012b8   Section        0  bsp_usart.o(i.bsp_usart_debug_init)
-    i.fputc                                  0x0800133c   Section        0  bsp_usart.o(i.fputc)
-    i.main                                   0x08001360   Section        0  main.o(i.main)
-    i.middleware_init                        0x08001380   Section        0  main.o(i.middleware_init)
-    i.mw_SetMotorSpeed_Left                  0x08001388   Section        0  mw_motor.o(i.mw_SetMotorSpeed_Left)
-    i.mw_SetMotorSpeed_Right                 0x080013c4   Section        0  mw_motor.o(i.mw_SetMotorSpeed_Right)
-    i.mw_get_led1_state                      0x08001400   Section        0  mw_led.o(i.mw_get_led1_state)
-    mw_get_led1_state                        0x08001401   Thumb Code    16  mw_led.o(i.mw_get_led1_state)
-    i.mw_get_led2_state                      0x08001410   Section        0  mw_led.o(i.mw_get_led2_state)
-    mw_get_led2_state                        0x08001411   Thumb Code    16  mw_led.o(i.mw_get_led2_state)
-    i.mw_get_led_obj                         0x08001420   Section        0  mw_led.o(i.mw_get_led_obj)
-    i.mw_led1_off                            0x08001448   Section        0  mw_led.o(i.mw_led1_off)
-    mw_led1_off                              0x08001449   Thumb Code    10  mw_led.o(i.mw_led1_off)
-    i.mw_led1_on                             0x08001452   Section        0  mw_led.o(i.mw_led1_on)
-    mw_led1_on                               0x08001453   Thumb Code    10  mw_led.o(i.mw_led1_on)
-    i.mw_led2_off                            0x0800145c   Section        0  mw_led.o(i.mw_led2_off)
-    mw_led2_off                              0x0800145d   Thumb Code    10  mw_led.o(i.mw_led2_off)
-    i.mw_led2_on                             0x08001466   Section        0  mw_led.o(i.mw_led2_on)
-    mw_led2_on                               0x08001467   Thumb Code    10  mw_led.o(i.mw_led2_on)
-    i.mw_led_drv_init                        0x08001470   Section        0  mw_led.o(i.mw_led_drv_init)
-    i.mw_motor_goAhead                       0x080014e0   Section        0  mw_motor.o(i.mw_motor_goAhead)
-    i.mw_motor_goBack                        0x080014f4   Section        0  mw_motor.o(i.mw_motor_goBack)
-    i.mw_motor_selfLeft                      0x08001508   Section        0  mw_motor.o(i.mw_motor_selfLeft)
-    i.mw_motor_selfRight                     0x0800151e   Section        0  mw_motor.o(i.mw_motor_selfRight)
-    i.mw_motor_stop                          0x08001530   Section        0  mw_motor.o(i.mw_motor_stop)
-    i.mw_motor_turnLeft                      0x08001540   Section        0  mw_motor.o(i.mw_motor_turnLeft)
-    i.mw_motor_turnRight                     0x08001554   Section        0  mw_motor.o(i.mw_motor_turnRight)
-    i.mw_softTimer_get_led_indicator_timeUp_flag 0x08001566   Section        0  mw_soft_timer.o(i.mw_softTimer_get_led_indicator_timeUp_flag)
-    i.mw_softTimer_led_indicator_config      0x08001570   Section        0  mw_soft_timer.o(i.mw_softTimer_led_indicator_config)
-    .constdata                               0x0800157e   Section       48  bsp_timer.o(.constdata)
-    __FUNCTION__                             0x0800157e   Data          15  bsp_timer.o(.constdata)
-    __FUNCTION__                             0x0800158d   Data          19  bsp_timer.o(.constdata)
-    __FUNCTION__                             0x080015a0   Data          14  bsp_timer.o(.constdata)
+    i.RCC_APB1PeriphClockCmd                 0x080002a4   Section        0  stm32f10x_rcc.o(i.RCC_APB1PeriphClockCmd)
+    i.RCC_APB1PeriphResetCmd                 0x080002c4   Section        0  stm32f10x_rcc.o(i.RCC_APB1PeriphResetCmd)
+    i.RCC_APB2PeriphClockCmd                 0x080002e4   Section        0  stm32f10x_rcc.o(i.RCC_APB2PeriphClockCmd)
+    i.RCC_APB2PeriphResetCmd                 0x08000304   Section        0  stm32f10x_rcc.o(i.RCC_APB2PeriphResetCmd)
+    i.RCC_GetClocksFreq                      0x08000324   Section        0  stm32f10x_rcc.o(i.RCC_GetClocksFreq)
+    i.SetSysClock                            0x080003f8   Section        0  system_stm32f10x.o(i.SetSysClock)
+    SetSysClock                              0x080003f9   Thumb Code     8  system_stm32f10x.o(i.SetSysClock)
+    i.SetSysClockTo72                        0x08000400   Section        0  system_stm32f10x.o(i.SetSysClockTo72)
+    SetSysClockTo72                          0x08000401   Thumb Code   214  system_stm32f10x.o(i.SetSysClockTo72)
+    i.SysTick_Handler                        0x080004e0   Section        0  bsp_timer.o(i.SysTick_Handler)
+    i.SysTick_ISR                            0x080004e8   Section        0  bsp_timer.o(i.SysTick_ISR)
+    i.SystemInit                             0x0800052c   Section        0  system_stm32f10x.o(i.SystemInit)
+    i.TIM2_IRQHandler                        0x0800058c   Section        0  bsp_timer.o(i.TIM2_IRQHandler)
+    i.TIM3_IRQHandler                        0x08000590   Section        0  bsp_timer.o(i.TIM3_IRQHandler)
+    i.TIM_ARRPreloadConfig                   0x08000644   Section        0  stm32f10x_tim.o(i.TIM_ARRPreloadConfig)
+    i.TIM_ClearITPendingBit                  0x0800065c   Section        0  stm32f10x_tim.o(i.TIM_ClearITPendingBit)
+    i.TIM_Cmd                                0x08000662   Section        0  stm32f10x_tim.o(i.TIM_Cmd)
+    i.TIM_GetITStatus                        0x0800067a   Section        0  stm32f10x_tim.o(i.TIM_GetITStatus)
+    i.TIM_ITConfig                           0x0800069c   Section        0  stm32f10x_tim.o(i.TIM_ITConfig)
+    i.TIM_InternalClockConfig                0x080006ae   Section        0  stm32f10x_tim.o(i.TIM_InternalClockConfig)
+    i.TIM_OC2Init                            0x080006bc   Section        0  stm32f10x_tim.o(i.TIM_OC2Init)
+    i.TIM_OCStructInit                       0x08000760   Section        0  stm32f10x_tim.o(i.TIM_OCStructInit)
+    i.TIM_SetCompare2                        0x08000774   Section        0  stm32f10x_tim.o(i.TIM_SetCompare2)
+    i.TIM_TimeBaseInit                       0x08000778   Section        0  stm32f10x_tim.o(i.TIM_TimeBaseInit)
+    i.USART1_IRQHandler                      0x0800081c   Section        0  interrupt_handler.o(i.USART1_IRQHandler)
+    i.USART_ClearITPendingBit                0x08000858   Section        0  stm32f10x_usart.o(i.USART_ClearITPendingBit)
+    i.USART_Cmd                              0x08000876   Section        0  stm32f10x_usart.o(i.USART_Cmd)
+    i.USART_DeInit                           0x08000890   Section        0  stm32f10x_usart.o(i.USART_DeInit)
+    i.USART_GetFlagStatus                    0x0800092c   Section        0  stm32f10x_usart.o(i.USART_GetFlagStatus)
+    i.USART_GetITStatus                      0x08000946   Section        0  stm32f10x_usart.o(i.USART_GetITStatus)
+    i.USART_Init                             0x0800099c   Section        0  stm32f10x_usart.o(i.USART_Init)
+    i.USART_ReceiveData                      0x08000a74   Section        0  stm32f10x_usart.o(i.USART_ReceiveData)
+    i.USART_SendData                         0x08000a7e   Section        0  stm32f10x_usart.o(i.USART_SendData)
+    i.__0printf$2                            0x08000a88   Section        0  printf2.o(i.__0printf$2)
+    i.__scatterload_copy                     0x08000aa8   Section       14  handlers.o(i.__scatterload_copy)
+    i.__scatterload_null                     0x08000ab6   Section        2  handlers.o(i.__scatterload_null)
+    i.__scatterload_zeroinit                 0x08000ab8   Section       14  handlers.o(i.__scatterload_zeroinit)
+    i.__set_PRIMASK                          0x08000ac6   Section        0  bsp_timer.o(i.__set_PRIMASK)
+    __set_PRIMASK                            0x08000ac7   Thumb Code     6  bsp_timer.o(i.__set_PRIMASK)
+    i._printf_core                           0x08000acc   Section        0  printf2.o(i._printf_core)
+    _printf_core                             0x08000acd   Thumb Code   214  printf2.o(i._printf_core)
+    i.app_init                               0x08000ba2   Section        0  main.o(i.app_init)
+    i.app_led_indicator_faultMode            0x08000bac   Section        0  app_led.o(i.app_led_indicator_faultMode)
+    i.app_led_indicator_idleMode             0x08000c50   Section        0  app_led.o(i.app_led_indicator_idleMode)
+    i.app_led_indicator_runningMode          0x08000cf4   Section        0  app_led.o(i.app_led_indicator_runningMode)
+    i.app_led_init                           0x08000d9c   Section        0  app_led.o(i.app_led_init)
+    i.app_led_runMode_indicator_blink_process 0x08000dbc   Section        0  app_led.o(i.app_led_runMode_indicator_blink_process)
+    i.app_led_runMode_indicator_mainProcess  0x08000dec   Section        0  app_led.o(i.app_led_runMode_indicator_mainProcess)
+    i.app_led_runMode_indicator_stateManage  0x08000df8   Section        0  app_led.o(i.app_led_runMode_indicator_stateManage)
+    i.app_motor_mainProcess                  0x08000e2c   Section        0  app_motor.o(i.app_motor_mainProcess)
+    i.bsp_AIN1_OFF                           0x08000ea4   Section        0  bsp_motor.o(i.bsp_AIN1_OFF)
+    i.bsp_AIN1_ON                            0x08000eb4   Section        0  bsp_motor.o(i.bsp_AIN1_ON)
+    i.bsp_AIN2_OFF                           0x08000ec4   Section        0  bsp_motor.o(i.bsp_AIN2_OFF)
+    i.bsp_AIN2_ON                            0x08000ed4   Section        0  bsp_motor.o(i.bsp_AIN2_ON)
+    i.bsp_BIN1_OFF                           0x08000ee4   Section        0  bsp_motor.o(i.bsp_BIN1_OFF)
+    i.bsp_BIN1_ON                            0x08000ef4   Section        0  bsp_motor.o(i.bsp_BIN1_ON)
+    i.bsp_BIN2_OFF                           0x08000f04   Section        0  bsp_motor.o(i.bsp_BIN2_OFF)
+    i.bsp_BIN2_ON                            0x08000f14   Section        0  bsp_motor.o(i.bsp_BIN2_ON)
+    i.bsp_CheckTimer                         0x08000f24   Section        0  bsp_timer.o(i.bsp_CheckTimer)
+    i.bsp_InitGPIO_MotorOut                  0x08000f58   Section        0  bsp_motor.o(i.bsp_InitGPIO_MotorOut)
+    i.bsp_InitMotor                          0x08000fd0   Section        0  bsp_motor.o(i.bsp_InitMotor)
+    i.bsp_InitMotorTimer                     0x08000fdc   Section        0  bsp_motor.o(i.bsp_InitMotorTimer)
+    i.bsp_SoftTimerDec                       0x08001080   Section        0  bsp_timer.o(i.bsp_SoftTimerDec)
+    bsp_SoftTimerDec                         0x08001081   Thumb Code    28  bsp_timer.o(i.bsp_SoftTimerDec)
+    i.bsp_StartTimer                         0x0800109c   Section        0  bsp_timer.o(i.bsp_StartTimer)
+    i.bsp_changeMotorSpeed                   0x08001130   Section        0  bsp_motor.o(i.bsp_changeMotorSpeed)
+    i.bsp_get_led_ttlState                   0x08001140   Section        0  bsp_led.o(i.bsp_get_led_ttlState)
+    i.bsp_init                               0x08001160   Section        0  main.o(i.bsp_init)
+    i.bsp_led1_init                          0x08001170   Section        0  bsp_led.o(i.bsp_led1_init)
+    i.bsp_led2_init                          0x080011a4   Section        0  bsp_led.o(i.bsp_led2_init)
+    i.bsp_led_off                            0x080011d8   Section        0  bsp_led.o(i.bsp_led_off)
+    i.bsp_led_on                             0x080011f8   Section        0  bsp_led.o(i.bsp_led_on)
+    i.bsp_timer_init                         0x08001220   Section        0  bsp_timer.o(i.bsp_timer_init)
+    i.bsp_usart_debug_init                   0x080012bc   Section        0  bsp_usart.o(i.bsp_usart_debug_init)
+    i.fputc                                  0x08001344   Section        0  bsp_usart.o(i.fputc)
+    i.main                                   0x08001368   Section        0  main.o(i.main)
+    i.middleware_init                        0x08001388   Section        0  main.o(i.middleware_init)
+    i.mw_SetMotorSpeed_Left                  0x08001390   Section        0  mw_motor.o(i.mw_SetMotorSpeed_Left)
+    i.mw_SetMotorSpeed_Right                 0x080013cc   Section        0  mw_motor.o(i.mw_SetMotorSpeed_Right)
+    i.mw_get_led1_state                      0x08001408   Section        0  mw_led.o(i.mw_get_led1_state)
+    mw_get_led1_state                        0x08001409   Thumb Code    16  mw_led.o(i.mw_get_led1_state)
+    i.mw_get_led2_state                      0x08001418   Section        0  mw_led.o(i.mw_get_led2_state)
+    mw_get_led2_state                        0x08001419   Thumb Code    16  mw_led.o(i.mw_get_led2_state)
+    i.mw_get_led_obj                         0x08001428   Section        0  mw_led.o(i.mw_get_led_obj)
+    i.mw_led1_off                            0x08001450   Section        0  mw_led.o(i.mw_led1_off)
+    mw_led1_off                              0x08001451   Thumb Code    10  mw_led.o(i.mw_led1_off)
+    i.mw_led1_on                             0x0800145a   Section        0  mw_led.o(i.mw_led1_on)
+    mw_led1_on                               0x0800145b   Thumb Code    10  mw_led.o(i.mw_led1_on)
+    i.mw_led2_off                            0x08001464   Section        0  mw_led.o(i.mw_led2_off)
+    mw_led2_off                              0x08001465   Thumb Code    10  mw_led.o(i.mw_led2_off)
+    i.mw_led2_on                             0x0800146e   Section        0  mw_led.o(i.mw_led2_on)
+    mw_led2_on                               0x0800146f   Thumb Code    10  mw_led.o(i.mw_led2_on)
+    i.mw_led_drv_init                        0x08001478   Section        0  mw_led.o(i.mw_led_drv_init)
+    i.mw_motor_goAhead                       0x080014e8   Section        0  mw_motor.o(i.mw_motor_goAhead)
+    i.mw_motor_goBack                        0x080014fc   Section        0  mw_motor.o(i.mw_motor_goBack)
+    i.mw_motor_selfLeft                      0x08001510   Section        0  mw_motor.o(i.mw_motor_selfLeft)
+    i.mw_motor_selfRight                     0x08001526   Section        0  mw_motor.o(i.mw_motor_selfRight)
+    i.mw_motor_stop                          0x08001538   Section        0  mw_motor.o(i.mw_motor_stop)
+    i.mw_motor_turnLeft                      0x08001548   Section        0  mw_motor.o(i.mw_motor_turnLeft)
+    i.mw_motor_turnRight                     0x0800155c   Section        0  mw_motor.o(i.mw_motor_turnRight)
+    i.mw_softTimer_get_led_indicator_timeUp_flag 0x0800156e   Section        0  mw_soft_timer.o(i.mw_softTimer_get_led_indicator_timeUp_flag)
+    i.mw_softTimer_led_indicator_config      0x08001578   Section        0  mw_soft_timer.o(i.mw_softTimer_led_indicator_config)
+    .constdata                               0x08001586   Section       48  bsp_timer.o(.constdata)
+    __FUNCTION__                             0x08001586   Data          15  bsp_timer.o(.constdata)
+    __FUNCTION__                             0x08001595   Data          19  bsp_timer.o(.constdata)
+    __FUNCTION__                             0x080015a8   Data          14  bsp_timer.o(.constdata)
     .data                                    0x20000000   Section        7  app_led.o(.data)
     led_indicator_mode                       0x20000000   Data           1  app_led.o(.data)
     tmp_indicator_single_mode_state          0x20000001   Data           1  app_led.o(.data)
@@ -1378,90 +1378,90 @@ Image Symbol Table
     GPIO_ResetBits                           0x08000287   Thumb Code     4  stm32f10x_gpio.o(i.GPIO_ResetBits)
     GPIO_SetBits                             0x0800028b   Thumb Code     4  stm32f10x_gpio.o(i.GPIO_SetBits)
     NVIC_PriorityGroupConfig                 0x08000291   Thumb Code    10  misc.o(i.NVIC_PriorityGroupConfig)
-    PWM_SetCompare3                          0x080002a5   Thumb Code    16  bsp_motor.o(i.PWM_SetCompare3)
-    RCC_APB1PeriphClockCmd                   0x080002b5   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB1PeriphClockCmd)
-    RCC_APB1PeriphResetCmd                   0x080002d5   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB1PeriphResetCmd)
-    RCC_APB2PeriphClockCmd                   0x080002f5   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB2PeriphClockCmd)
-    RCC_APB2PeriphResetCmd                   0x08000315   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB2PeriphResetCmd)
-    RCC_GetClocksFreq                        0x08000335   Thumb Code   192  stm32f10x_rcc.o(i.RCC_GetClocksFreq)
-    SysTick_Handler                          0x080004f1   Thumb Code     8  bsp_timer.o(i.SysTick_Handler)
-    SysTick_ISR                              0x080004f9   Thumb Code    54  bsp_timer.o(i.SysTick_ISR)
-    SystemInit                               0x0800053d   Thumb Code    78  system_stm32f10x.o(i.SystemInit)
-    TIM2_IRQHandler                          0x0800059d   Thumb Code     2  bsp_timer.o(i.TIM2_IRQHandler)
-    TIM3_IRQHandler                          0x080005a1   Thumb Code   158  bsp_timer.o(i.TIM3_IRQHandler)
-    TIM_ARRPreloadConfig                     0x08000655   Thumb Code    24  stm32f10x_tim.o(i.TIM_ARRPreloadConfig)
-    TIM_ClearITPendingBit                    0x0800066d   Thumb Code     6  stm32f10x_tim.o(i.TIM_ClearITPendingBit)
-    TIM_Cmd                                  0x08000673   Thumb Code    24  stm32f10x_tim.o(i.TIM_Cmd)
-    TIM_GetITStatus                          0x0800068b   Thumb Code    34  stm32f10x_tim.o(i.TIM_GetITStatus)
-    TIM_ITConfig                             0x080006ad   Thumb Code    18  stm32f10x_tim.o(i.TIM_ITConfig)
-    TIM_InternalClockConfig                  0x080006bf   Thumb Code    12  stm32f10x_tim.o(i.TIM_InternalClockConfig)
-    TIM_OC3Init                              0x080006cd   Thumb Code   150  stm32f10x_tim.o(i.TIM_OC3Init)
-    TIM_OCStructInit                         0x0800076d   Thumb Code    20  stm32f10x_tim.o(i.TIM_OCStructInit)
-    TIM_SetCompare3                          0x08000781   Thumb Code     4  stm32f10x_tim.o(i.TIM_SetCompare3)
-    TIM_TimeBaseInit                         0x08000785   Thumb Code   122  stm32f10x_tim.o(i.TIM_TimeBaseInit)
-    USART1_IRQHandler                        0x08000829   Thumb Code    56  interrupt_handler.o(i.USART1_IRQHandler)
-    USART_ClearITPendingBit                  0x08000865   Thumb Code    30  stm32f10x_usart.o(i.USART_ClearITPendingBit)
-    USART_Cmd                                0x08000883   Thumb Code    24  stm32f10x_usart.o(i.USART_Cmd)
-    USART_DeInit                             0x0800089d   Thumb Code   134  stm32f10x_usart.o(i.USART_DeInit)
-    USART_GetFlagStatus                      0x08000939   Thumb Code    26  stm32f10x_usart.o(i.USART_GetFlagStatus)
-    USART_GetITStatus                        0x08000953   Thumb Code    84  stm32f10x_usart.o(i.USART_GetITStatus)
-    USART_Init                               0x080009a9   Thumb Code   210  stm32f10x_usart.o(i.USART_Init)
-    USART_ReceiveData                        0x08000a81   Thumb Code    10  stm32f10x_usart.o(i.USART_ReceiveData)
-    USART_SendData                           0x08000a8b   Thumb Code     8  stm32f10x_usart.o(i.USART_SendData)
-    __0printf$2                              0x08000a95   Thumb Code    22  printf2.o(i.__0printf$2)
-    __1printf$2                              0x08000a95   Thumb Code     0  printf2.o(i.__0printf$2)
-    __2printf                                0x08000a95   Thumb Code     0  printf2.o(i.__0printf$2)
-    __scatterload_copy                       0x08000ab5   Thumb Code    14  handlers.o(i.__scatterload_copy)
-    __scatterload_null                       0x08000ac3   Thumb Code     2  handlers.o(i.__scatterload_null)
-    __scatterload_zeroinit                   0x08000ac5   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
-    app_init                                 0x08000baf   Thumb Code     8  main.o(i.app_init)
-    app_led_indicator_faultMode              0x08000bb9   Thumb Code   140  app_led.o(i.app_led_indicator_faultMode)
-    app_led_indicator_idleMode               0x08000c5d   Thumb Code   144  app_led.o(i.app_led_indicator_idleMode)
-    app_led_indicator_runningMode            0x08000d01   Thumb Code   144  app_led.o(i.app_led_indicator_runningMode)
-    app_led_init                             0x08000da9   Thumb Code    26  app_led.o(i.app_led_init)
-    app_led_runMode_indicator_blink_process  0x08000dc9   Thumb Code    42  app_led.o(i.app_led_runMode_indicator_blink_process)
-    app_led_runMode_indicator_mainProcess    0x08000df9   Thumb Code    12  app_led.o(i.app_led_runMode_indicator_mainProcess)
-    app_led_runMode_indicator_stateManage    0x08000e05   Thumb Code    34  app_led.o(i.app_led_runMode_indicator_stateManage)
-    app_motor_mainProcess                    0x08000e39   Thumb Code   110  app_motor.o(i.app_motor_mainProcess)
-    bsp_AIN1_OFF                             0x08000eb1   Thumb Code    12  bsp_motor.o(i.bsp_AIN1_OFF)
-    bsp_AIN1_ON                              0x08000ec1   Thumb Code    12  bsp_motor.o(i.bsp_AIN1_ON)
-    bsp_AIN2_OFF                             0x08000ed1   Thumb Code    12  bsp_motor.o(i.bsp_AIN2_OFF)
-    bsp_AIN2_ON                              0x08000ee1   Thumb Code    12  bsp_motor.o(i.bsp_AIN2_ON)
-    bsp_BIN1_OFF                             0x08000ef1   Thumb Code    12  bsp_motor.o(i.bsp_BIN1_OFF)
-    bsp_BIN1_ON                              0x08000f01   Thumb Code    12  bsp_motor.o(i.bsp_BIN1_ON)
-    bsp_BIN2_OFF                             0x08000f11   Thumb Code    12  bsp_motor.o(i.bsp_BIN2_OFF)
-    bsp_BIN2_ON                              0x08000f21   Thumb Code    12  bsp_motor.o(i.bsp_BIN2_ON)
-    bsp_CheckTimer                           0x08000f31   Thumb Code    48  bsp_timer.o(i.bsp_CheckTimer)
-    bsp_InitGPIO_MotorOut                    0x08000f65   Thumb Code   114  bsp_motor.o(i.bsp_InitGPIO_MotorOut)
-    bsp_InitMotor                            0x08000fdd   Thumb Code    12  bsp_motor.o(i.bsp_InitMotor)
-    bsp_InitMotorTimer                       0x08000fe9   Thumb Code   158  bsp_motor.o(i.bsp_InitMotorTimer)
-    bsp_StartTimer                           0x080010a9   Thumb Code    80  bsp_timer.o(i.bsp_StartTimer)
-    bsp_get_led_ttlState                     0x0800113d   Thumb Code    24  bsp_led.o(i.bsp_get_led_ttlState)
-    bsp_init                                 0x0800115d   Thumb Code    16  main.o(i.bsp_init)
-    bsp_led1_init                            0x0800116d   Thumb Code    46  bsp_led.o(i.bsp_led1_init)
-    bsp_led2_init                            0x080011a1   Thumb Code    46  bsp_led.o(i.bsp_led2_init)
-    bsp_led_off                              0x080011d5   Thumb Code    24  bsp_led.o(i.bsp_led_off)
-    bsp_led_on                               0x080011f5   Thumb Code    32  bsp_led.o(i.bsp_led_on)
-    bsp_timer_init                           0x0800121d   Thumb Code   138  bsp_timer.o(i.bsp_timer_init)
-    bsp_usart_debug_init                     0x080012b9   Thumb Code   122  bsp_usart.o(i.bsp_usart_debug_init)
-    fputc                                    0x0800133d   Thumb Code    32  bsp_usart.o(i.fputc)
-    main                                     0x08001361   Thumb Code    32  main.o(i.main)
-    middleware_init                          0x08001381   Thumb Code     8  main.o(i.middleware_init)
-    mw_SetMotorSpeed_Left                    0x08001389   Thumb Code    60  mw_motor.o(i.mw_SetMotorSpeed_Left)
-    mw_SetMotorSpeed_Right                   0x080013c5   Thumb Code    60  mw_motor.o(i.mw_SetMotorSpeed_Right)
-    mw_get_led_obj                           0x08001421   Thumb Code    34  mw_led.o(i.mw_get_led_obj)
-    mw_led_drv_init                          0x08001471   Thumb Code    74  mw_led.o(i.mw_led_drv_init)
-    mw_motor_goAhead                         0x080014e1   Thumb Code    20  mw_motor.o(i.mw_motor_goAhead)
-    mw_motor_goBack                          0x080014f5   Thumb Code    20  mw_motor.o(i.mw_motor_goBack)
-    mw_motor_selfLeft                        0x08001509   Thumb Code    22  mw_motor.o(i.mw_motor_selfLeft)
-    mw_motor_selfRight                       0x0800151f   Thumb Code    18  mw_motor.o(i.mw_motor_selfRight)
-    mw_motor_stop                            0x08001531   Thumb Code    16  mw_motor.o(i.mw_motor_stop)
-    mw_motor_turnLeft                        0x08001541   Thumb Code    20  mw_motor.o(i.mw_motor_turnLeft)
-    mw_motor_turnRight                       0x08001555   Thumb Code    18  mw_motor.o(i.mw_motor_turnRight)
-    mw_softTimer_get_led_indicator_timeUp_flag 0x08001567   Thumb Code    10  mw_soft_timer.o(i.mw_softTimer_get_led_indicator_timeUp_flag)
-    mw_softTimer_led_indicator_config        0x08001571   Thumb Code    14  mw_soft_timer.o(i.mw_softTimer_led_indicator_config)
-    Region$$Table$$Base                      0x080015b0   Number         0  anon$$obj.o(Region$$Table)
-    Region$$Table$$Limit                     0x080015d0   Number         0  anon$$obj.o(Region$$Table)
+    RCC_APB1PeriphClockCmd                   0x080002a5   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB1PeriphClockCmd)
+    RCC_APB1PeriphResetCmd                   0x080002c5   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB1PeriphResetCmd)
+    RCC_APB2PeriphClockCmd                   0x080002e5   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB2PeriphClockCmd)
+    RCC_APB2PeriphResetCmd                   0x08000305   Thumb Code    26  stm32f10x_rcc.o(i.RCC_APB2PeriphResetCmd)
+    RCC_GetClocksFreq                        0x08000325   Thumb Code   192  stm32f10x_rcc.o(i.RCC_GetClocksFreq)
+    SysTick_Handler                          0x080004e1   Thumb Code     8  bsp_timer.o(i.SysTick_Handler)
+    SysTick_ISR                              0x080004e9   Thumb Code    54  bsp_timer.o(i.SysTick_ISR)
+    SystemInit                               0x0800052d   Thumb Code    78  system_stm32f10x.o(i.SystemInit)
+    TIM2_IRQHandler                          0x0800058d   Thumb Code     2  bsp_timer.o(i.TIM2_IRQHandler)
+    TIM3_IRQHandler                          0x08000591   Thumb Code   158  bsp_timer.o(i.TIM3_IRQHandler)
+    TIM_ARRPreloadConfig                     0x08000645   Thumb Code    24  stm32f10x_tim.o(i.TIM_ARRPreloadConfig)
+    TIM_ClearITPendingBit                    0x0800065d   Thumb Code     6  stm32f10x_tim.o(i.TIM_ClearITPendingBit)
+    TIM_Cmd                                  0x08000663   Thumb Code    24  stm32f10x_tim.o(i.TIM_Cmd)
+    TIM_GetITStatus                          0x0800067b   Thumb Code    34  stm32f10x_tim.o(i.TIM_GetITStatus)
+    TIM_ITConfig                             0x0800069d   Thumb Code    18  stm32f10x_tim.o(i.TIM_ITConfig)
+    TIM_InternalClockConfig                  0x080006af   Thumb Code    12  stm32f10x_tim.o(i.TIM_InternalClockConfig)
+    TIM_OC2Init                              0x080006bd   Thumb Code   154  stm32f10x_tim.o(i.TIM_OC2Init)
+    TIM_OCStructInit                         0x08000761   Thumb Code    20  stm32f10x_tim.o(i.TIM_OCStructInit)
+    TIM_SetCompare2                          0x08000775   Thumb Code     4  stm32f10x_tim.o(i.TIM_SetCompare2)
+    TIM_TimeBaseInit                         0x08000779   Thumb Code   122  stm32f10x_tim.o(i.TIM_TimeBaseInit)
+    USART1_IRQHandler                        0x0800081d   Thumb Code    56  interrupt_handler.o(i.USART1_IRQHandler)
+    USART_ClearITPendingBit                  0x08000859   Thumb Code    30  stm32f10x_usart.o(i.USART_ClearITPendingBit)
+    USART_Cmd                                0x08000877   Thumb Code    24  stm32f10x_usart.o(i.USART_Cmd)
+    USART_DeInit                             0x08000891   Thumb Code   134  stm32f10x_usart.o(i.USART_DeInit)
+    USART_GetFlagStatus                      0x0800092d   Thumb Code    26  stm32f10x_usart.o(i.USART_GetFlagStatus)
+    USART_GetITStatus                        0x08000947   Thumb Code    84  stm32f10x_usart.o(i.USART_GetITStatus)
+    USART_Init                               0x0800099d   Thumb Code   210  stm32f10x_usart.o(i.USART_Init)
+    USART_ReceiveData                        0x08000a75   Thumb Code    10  stm32f10x_usart.o(i.USART_ReceiveData)
+    USART_SendData                           0x08000a7f   Thumb Code     8  stm32f10x_usart.o(i.USART_SendData)
+    __0printf$2                              0x08000a89   Thumb Code    22  printf2.o(i.__0printf$2)
+    __1printf$2                              0x08000a89   Thumb Code     0  printf2.o(i.__0printf$2)
+    __2printf                                0x08000a89   Thumb Code     0  printf2.o(i.__0printf$2)
+    __scatterload_copy                       0x08000aa9   Thumb Code    14  handlers.o(i.__scatterload_copy)
+    __scatterload_null                       0x08000ab7   Thumb Code     2  handlers.o(i.__scatterload_null)
+    __scatterload_zeroinit                   0x08000ab9   Thumb Code    14  handlers.o(i.__scatterload_zeroinit)
+    app_init                                 0x08000ba3   Thumb Code     8  main.o(i.app_init)
+    app_led_indicator_faultMode              0x08000bad   Thumb Code   140  app_led.o(i.app_led_indicator_faultMode)
+    app_led_indicator_idleMode               0x08000c51   Thumb Code   144  app_led.o(i.app_led_indicator_idleMode)
+    app_led_indicator_runningMode            0x08000cf5   Thumb Code   144  app_led.o(i.app_led_indicator_runningMode)
+    app_led_init                             0x08000d9d   Thumb Code    26  app_led.o(i.app_led_init)
+    app_led_runMode_indicator_blink_process  0x08000dbd   Thumb Code    42  app_led.o(i.app_led_runMode_indicator_blink_process)
+    app_led_runMode_indicator_mainProcess    0x08000ded   Thumb Code    12  app_led.o(i.app_led_runMode_indicator_mainProcess)
+    app_led_runMode_indicator_stateManage    0x08000df9   Thumb Code    34  app_led.o(i.app_led_runMode_indicator_stateManage)
+    app_motor_mainProcess                    0x08000e2d   Thumb Code   110  app_motor.o(i.app_motor_mainProcess)
+    bsp_AIN1_OFF                             0x08000ea5   Thumb Code    12  bsp_motor.o(i.bsp_AIN1_OFF)
+    bsp_AIN1_ON                              0x08000eb5   Thumb Code    12  bsp_motor.o(i.bsp_AIN1_ON)
+    bsp_AIN2_OFF                             0x08000ec5   Thumb Code    12  bsp_motor.o(i.bsp_AIN2_OFF)
+    bsp_AIN2_ON                              0x08000ed5   Thumb Code    12  bsp_motor.o(i.bsp_AIN2_ON)
+    bsp_BIN1_OFF                             0x08000ee5   Thumb Code    12  bsp_motor.o(i.bsp_BIN1_OFF)
+    bsp_BIN1_ON                              0x08000ef5   Thumb Code    12  bsp_motor.o(i.bsp_BIN1_ON)
+    bsp_BIN2_OFF                             0x08000f05   Thumb Code    12  bsp_motor.o(i.bsp_BIN2_OFF)
+    bsp_BIN2_ON                              0x08000f15   Thumb Code    12  bsp_motor.o(i.bsp_BIN2_ON)
+    bsp_CheckTimer                           0x08000f25   Thumb Code    48  bsp_timer.o(i.bsp_CheckTimer)
+    bsp_InitGPIO_MotorOut                    0x08000f59   Thumb Code   114  bsp_motor.o(i.bsp_InitGPIO_MotorOut)
+    bsp_InitMotor                            0x08000fd1   Thumb Code    12  bsp_motor.o(i.bsp_InitMotor)
+    bsp_InitMotorTimer                       0x08000fdd   Thumb Code   158  bsp_motor.o(i.bsp_InitMotorTimer)
+    bsp_StartTimer                           0x0800109d   Thumb Code    80  bsp_timer.o(i.bsp_StartTimer)
+    bsp_changeMotorSpeed                     0x08001131   Thumb Code    16  bsp_motor.o(i.bsp_changeMotorSpeed)
+    bsp_get_led_ttlState                     0x08001141   Thumb Code    24  bsp_led.o(i.bsp_get_led_ttlState)
+    bsp_init                                 0x08001161   Thumb Code    16  main.o(i.bsp_init)
+    bsp_led1_init                            0x08001171   Thumb Code    46  bsp_led.o(i.bsp_led1_init)
+    bsp_led2_init                            0x080011a5   Thumb Code    46  bsp_led.o(i.bsp_led2_init)
+    bsp_led_off                              0x080011d9   Thumb Code    24  bsp_led.o(i.bsp_led_off)
+    bsp_led_on                               0x080011f9   Thumb Code    32  bsp_led.o(i.bsp_led_on)
+    bsp_timer_init                           0x08001221   Thumb Code   138  bsp_timer.o(i.bsp_timer_init)
+    bsp_usart_debug_init                     0x080012bd   Thumb Code   126  bsp_usart.o(i.bsp_usart_debug_init)
+    fputc                                    0x08001345   Thumb Code    32  bsp_usart.o(i.fputc)
+    main                                     0x08001369   Thumb Code    32  main.o(i.main)
+    middleware_init                          0x08001389   Thumb Code     8  main.o(i.middleware_init)
+    mw_SetMotorSpeed_Left                    0x08001391   Thumb Code    60  mw_motor.o(i.mw_SetMotorSpeed_Left)
+    mw_SetMotorSpeed_Right                   0x080013cd   Thumb Code    60  mw_motor.o(i.mw_SetMotorSpeed_Right)
+    mw_get_led_obj                           0x08001429   Thumb Code    34  mw_led.o(i.mw_get_led_obj)
+    mw_led_drv_init                          0x08001479   Thumb Code    74  mw_led.o(i.mw_led_drv_init)
+    mw_motor_goAhead                         0x080014e9   Thumb Code    20  mw_motor.o(i.mw_motor_goAhead)
+    mw_motor_goBack                          0x080014fd   Thumb Code    20  mw_motor.o(i.mw_motor_goBack)
+    mw_motor_selfLeft                        0x08001511   Thumb Code    22  mw_motor.o(i.mw_motor_selfLeft)
+    mw_motor_selfRight                       0x08001527   Thumb Code    18  mw_motor.o(i.mw_motor_selfRight)
+    mw_motor_stop                            0x08001539   Thumb Code    16  mw_motor.o(i.mw_motor_stop)
+    mw_motor_turnLeft                        0x08001549   Thumb Code    20  mw_motor.o(i.mw_motor_turnLeft)
+    mw_motor_turnRight                       0x0800155d   Thumb Code    18  mw_motor.o(i.mw_motor_turnRight)
+    mw_softTimer_get_led_indicator_timeUp_flag 0x0800156f   Thumb Code    10  mw_soft_timer.o(i.mw_softTimer_get_led_indicator_timeUp_flag)
+    mw_softTimer_led_indicator_config        0x08001579   Thumb Code    14  mw_soft_timer.o(i.mw_softTimer_led_indicator_config)
+    Region$$Table$$Base                      0x080015b8   Number         0  anon$$obj.o(Region$$Table)
+    Region$$Table$$Limit                     0x080015d8   Number         0  anon$$obj.o(Region$$Table)
     e_motor_state                            0x20000007   Data           1  app_motor.o(.data)
     motor_speed                              0x20000008   Data           1  app_motor.o(.data)
     g_iRunTime                               0x20000014   Data           4  bsp_timer.o(.data)
@@ -1479,9 +1479,9 @@ Memory Map of the image
 
   Image Entry point : 0x080000ed
 
-  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x00001624, Max: 0x00010000, ABSOLUTE)
+  Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000162c, Max: 0x00010000, ABSOLUTE)
 
-    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000015d0, Max: 0x00010000, ABSOLUTE)
+    Execution Region ER_IROM1 (Exec base: 0x08000000, Load base: 0x08000000, Size: 0x000015d8, Max: 0x00010000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
@@ -1504,119 +1504,119 @@ Memory Map of the image
     0x0800028a   0x0800028a   0x00000004   Code   RO         1881    i.GPIO_SetBits      stm32f10x_gpio.o
     0x0800028e   0x0800028e   0x00000002   PAD
     0x08000290   0x08000290   0x00000014   Code   RO          699    i.NVIC_PriorityGroupConfig  misc.o
-    0x080002a4   0x080002a4   0x00000010   Code   RO          568    i.PWM_SetCompare3   bsp_motor.o
-    0x080002b4   0x080002b4   0x00000020   Code   RO         2292    i.RCC_APB1PeriphClockCmd  stm32f10x_rcc.o
-    0x080002d4   0x080002d4   0x00000020   Code   RO         2293    i.RCC_APB1PeriphResetCmd  stm32f10x_rcc.o
-    0x080002f4   0x080002f4   0x00000020   Code   RO         2294    i.RCC_APB2PeriphClockCmd  stm32f10x_rcc.o
-    0x08000314   0x08000314   0x00000020   Code   RO         2295    i.RCC_APB2PeriphResetCmd  stm32f10x_rcc.o
-    0x08000334   0x08000334   0x000000d4   Code   RO         2302    i.RCC_GetClocksFreq  stm32f10x_rcc.o
-    0x08000408   0x08000408   0x00000008   Code   RO          657    i.SetSysClock       system_stm32f10x.o
-    0x08000410   0x08000410   0x000000e0   Code   RO          658    i.SetSysClockTo72   system_stm32f10x.o
-    0x080004f0   0x080004f0   0x00000008   Code   RO          273    i.SysTick_Handler   bsp_timer.o
-    0x080004f8   0x080004f8   0x00000044   Code   RO          274    i.SysTick_ISR       bsp_timer.o
-    0x0800053c   0x0800053c   0x00000060   Code   RO          660    i.SystemInit        system_stm32f10x.o
-    0x0800059c   0x0800059c   0x00000002   Code   RO          275    i.TIM2_IRQHandler   bsp_timer.o
-    0x0800059e   0x0800059e   0x00000002   PAD
-    0x080005a0   0x080005a0   0x000000b4   Code   RO          276    i.TIM3_IRQHandler   bsp_timer.o
-    0x08000654   0x08000654   0x00000018   Code   RO         2923    i.TIM_ARRPreloadConfig  stm32f10x_tim.o
-    0x0800066c   0x0800066c   0x00000006   Code   RO         2930    i.TIM_ClearITPendingBit  stm32f10x_tim.o
-    0x08000672   0x08000672   0x00000018   Code   RO         2935    i.TIM_Cmd           stm32f10x_tim.o
-    0x0800068a   0x0800068a   0x00000022   Code   RO         2956    i.TIM_GetITStatus   stm32f10x_tim.o
-    0x080006ac   0x080006ac   0x00000012   Code   RO         2960    i.TIM_ITConfig      stm32f10x_tim.o
-    0x080006be   0x080006be   0x0000000c   Code   RO         2962    i.TIM_InternalClockConfig  stm32f10x_tim.o
-    0x080006ca   0x080006ca   0x00000002   PAD
-    0x080006cc   0x080006cc   0x000000a0   Code   RO         2974    i.TIM_OC3Init       stm32f10x_tim.o
-    0x0800076c   0x0800076c   0x00000014   Code   RO         2982    i.TIM_OCStructInit  stm32f10x_tim.o
-    0x08000780   0x08000780   0x00000004   Code   RO         2998    i.TIM_SetCompare3   stm32f10x_tim.o
-    0x08000784   0x08000784   0x000000a4   Code   RO         3006    i.TIM_TimeBaseInit  stm32f10x_tim.o
-    0x08000828   0x08000828   0x0000003c   Code   RO         3707    i.USART1_IRQHandler  interrupt_handler.o
-    0x08000864   0x08000864   0x0000001e   Code   RO         3471    i.USART_ClearITPendingBit  stm32f10x_usart.o
-    0x08000882   0x08000882   0x00000018   Code   RO         3474    i.USART_Cmd         stm32f10x_usart.o
-    0x0800089a   0x0800089a   0x00000002   PAD
-    0x0800089c   0x0800089c   0x0000009c   Code   RO         3476    i.USART_DeInit      stm32f10x_usart.o
-    0x08000938   0x08000938   0x0000001a   Code   RO         3477    i.USART_GetFlagStatus  stm32f10x_usart.o
-    0x08000952   0x08000952   0x00000054   Code   RO         3478    i.USART_GetITStatus  stm32f10x_usart.o
-    0x080009a6   0x080009a6   0x00000002   PAD
-    0x080009a8   0x080009a8   0x000000d8   Code   RO         3481    i.USART_Init        stm32f10x_usart.o
-    0x08000a80   0x08000a80   0x0000000a   Code   RO         3488    i.USART_ReceiveData  stm32f10x_usart.o
-    0x08000a8a   0x08000a8a   0x00000008   Code   RO         3491    i.USART_SendData    stm32f10x_usart.o
-    0x08000a92   0x08000a92   0x00000002   PAD
-    0x08000a94   0x08000a94   0x00000020   Code   RO         3948    i.__0printf$2       mc_w.l(printf2.o)
-    0x08000ab4   0x08000ab4   0x0000000e   Code   RO         4185    i.__scatterload_copy  mc_w.l(handlers.o)
-    0x08000ac2   0x08000ac2   0x00000002   Code   RO         4186    i.__scatterload_null  mc_w.l(handlers.o)
-    0x08000ac4   0x08000ac4   0x0000000e   Code   RO         4187    i.__scatterload_zeroinit  mc_w.l(handlers.o)
-    0x08000ad2   0x08000ad2   0x00000006   Code   RO          277    i.__set_PRIMASK     bsp_timer.o
-    0x08000ad8   0x08000ad8   0x000000d6   Code   RO         3955    i._printf_core      mc_w.l(printf2.o)
-    0x08000bae   0x08000bae   0x00000008   Code   RO            1    i.app_init          main.o
-    0x08000bb6   0x08000bb6   0x00000002   PAD
-    0x08000bb8   0x08000bb8   0x000000a4   Code   RO          143    i.app_led_indicator_faultMode  app_led.o
-    0x08000c5c   0x08000c5c   0x000000a4   Code   RO          144    i.app_led_indicator_idleMode  app_led.o
-    0x08000d00   0x08000d00   0x000000a8   Code   RO          145    i.app_led_indicator_runningMode  app_led.o
-    0x08000da8   0x08000da8   0x00000020   Code   RO          146    i.app_led_init      app_led.o
-    0x08000dc8   0x08000dc8   0x00000030   Code   RO          147    i.app_led_runMode_indicator_blink_process  app_led.o
-    0x08000df8   0x08000df8   0x0000000c   Code   RO          148    i.app_led_runMode_indicator_mainProcess  app_led.o
-    0x08000e04   0x08000e04   0x00000034   Code   RO          149    i.app_led_runMode_indicator_stateManage  app_led.o
-    0x08000e38   0x08000e38   0x00000078   Code   RO          204    i.app_motor_mainProcess  app_motor.o
-    0x08000eb0   0x08000eb0   0x00000010   Code   RO          569    i.bsp_AIN1_OFF      bsp_motor.o
-    0x08000ec0   0x08000ec0   0x00000010   Code   RO          570    i.bsp_AIN1_ON       bsp_motor.o
-    0x08000ed0   0x08000ed0   0x00000010   Code   RO          571    i.bsp_AIN2_OFF      bsp_motor.o
-    0x08000ee0   0x08000ee0   0x00000010   Code   RO          572    i.bsp_AIN2_ON       bsp_motor.o
-    0x08000ef0   0x08000ef0   0x00000010   Code   RO          573    i.bsp_BIN1_OFF      bsp_motor.o
-    0x08000f00   0x08000f00   0x00000010   Code   RO          574    i.bsp_BIN1_ON       bsp_motor.o
-    0x08000f10   0x08000f10   0x00000010   Code   RO          575    i.bsp_BIN2_OFF      bsp_motor.o
-    0x08000f20   0x08000f20   0x00000010   Code   RO          576    i.bsp_BIN2_ON       bsp_motor.o
-    0x08000f30   0x08000f30   0x00000034   Code   RO          278    i.bsp_CheckTimer    bsp_timer.o
-    0x08000f64   0x08000f64   0x00000078   Code   RO          577    i.bsp_InitGPIO_MotorOut  bsp_motor.o
-    0x08000fdc   0x08000fdc   0x0000000c   Code   RO          578    i.bsp_InitMotor     bsp_motor.o
-    0x08000fe8   0x08000fe8   0x000000a4   Code   RO          579    i.bsp_InitMotorTimer  bsp_motor.o
-    0x0800108c   0x0800108c   0x0000001c   Code   RO          283    i.bsp_SoftTimerDec  bsp_timer.o
-    0x080010a8   0x080010a8   0x00000094   Code   RO          286    i.bsp_StartTimer    bsp_timer.o
-    0x0800113c   0x0800113c   0x00000020   Code   RO          222    i.bsp_get_led_ttlState  bsp_led.o
-    0x0800115c   0x0800115c   0x00000010   Code   RO            2    i.bsp_init          main.o
-    0x0800116c   0x0800116c   0x00000034   Code   RO          223    i.bsp_led1_init     bsp_led.o
-    0x080011a0   0x080011a0   0x00000034   Code   RO          224    i.bsp_led2_init     bsp_led.o
-    0x080011d4   0x080011d4   0x00000020   Code   RO          225    i.bsp_led_off       bsp_led.o
-    0x080011f4   0x080011f4   0x00000028   Code   RO          226    i.bsp_led_on        bsp_led.o
-    0x0800121c   0x0800121c   0x0000009c   Code   RO          291    i.bsp_timer_init    bsp_timer.o
-    0x080012b8   0x080012b8   0x00000084   Code   RO          479    i.bsp_usart_debug_init  bsp_usart.o
-    0x0800133c   0x0800133c   0x00000024   Code   RO          480    i.fputc             bsp_usart.o
-    0x08001360   0x08001360   0x00000020   Code   RO            3    i.main              main.o
-    0x08001380   0x08001380   0x00000008   Code   RO            4    i.middleware_init   main.o
-    0x08001388   0x08001388   0x0000003c   Code   RO         3814    i.mw_SetMotorSpeed_Left  mw_motor.o
-    0x080013c4   0x080013c4   0x0000003c   Code   RO         3815    i.mw_SetMotorSpeed_Right  mw_motor.o
-    0x08001400   0x08001400   0x00000010   Code   RO         3722    i.mw_get_led1_state  mw_led.o
-    0x08001410   0x08001410   0x00000010   Code   RO         3723    i.mw_get_led2_state  mw_led.o
-    0x08001420   0x08001420   0x00000028   Code   RO         3724    i.mw_get_led_obj    mw_led.o
-    0x08001448   0x08001448   0x0000000a   Code   RO         3725    i.mw_led1_off       mw_led.o
-    0x08001452   0x08001452   0x0000000a   Code   RO         3726    i.mw_led1_on        mw_led.o
-    0x0800145c   0x0800145c   0x0000000a   Code   RO         3727    i.mw_led2_off       mw_led.o
-    0x08001466   0x08001466   0x0000000a   Code   RO         3728    i.mw_led2_on        mw_led.o
-    0x08001470   0x08001470   0x00000070   Code   RO         3729    i.mw_led_drv_init   mw_led.o
-    0x080014e0   0x080014e0   0x00000014   Code   RO         3816    i.mw_motor_goAhead  mw_motor.o
-    0x080014f4   0x080014f4   0x00000014   Code   RO         3817    i.mw_motor_goBack   mw_motor.o
-    0x08001508   0x08001508   0x00000016   Code   RO         3818    i.mw_motor_selfLeft  mw_motor.o
-    0x0800151e   0x0800151e   0x00000012   Code   RO         3819    i.mw_motor_selfRight  mw_motor.o
-    0x08001530   0x08001530   0x00000010   Code   RO         3820    i.mw_motor_stop     mw_motor.o
-    0x08001540   0x08001540   0x00000014   Code   RO         3821    i.mw_motor_turnLeft  mw_motor.o
-    0x08001554   0x08001554   0x00000012   Code   RO         3822    i.mw_motor_turnRight  mw_motor.o
-    0x08001566   0x08001566   0x0000000a   Code   RO         3774    i.mw_softTimer_get_led_indicator_timeUp_flag  mw_soft_timer.o
-    0x08001570   0x08001570   0x0000000e   Code   RO         3775    i.mw_softTimer_led_indicator_config  mw_soft_timer.o
-    0x0800157e   0x0800157e   0x00000030   Data   RO          293    .constdata          bsp_timer.o
-    0x080015ae   0x080015ae   0x00000002   PAD
-    0x080015b0   0x080015b0   0x00000020   Data   RO         4183    Region$$Table       anon$$obj.o
+    0x080002a4   0x080002a4   0x00000020   Code   RO         2292    i.RCC_APB1PeriphClockCmd  stm32f10x_rcc.o
+    0x080002c4   0x080002c4   0x00000020   Code   RO         2293    i.RCC_APB1PeriphResetCmd  stm32f10x_rcc.o
+    0x080002e4   0x080002e4   0x00000020   Code   RO         2294    i.RCC_APB2PeriphClockCmd  stm32f10x_rcc.o
+    0x08000304   0x08000304   0x00000020   Code   RO         2295    i.RCC_APB2PeriphResetCmd  stm32f10x_rcc.o
+    0x08000324   0x08000324   0x000000d4   Code   RO         2302    i.RCC_GetClocksFreq  stm32f10x_rcc.o
+    0x080003f8   0x080003f8   0x00000008   Code   RO          657    i.SetSysClock       system_stm32f10x.o
+    0x08000400   0x08000400   0x000000e0   Code   RO          658    i.SetSysClockTo72   system_stm32f10x.o
+    0x080004e0   0x080004e0   0x00000008   Code   RO          273    i.SysTick_Handler   bsp_timer.o
+    0x080004e8   0x080004e8   0x00000044   Code   RO          274    i.SysTick_ISR       bsp_timer.o
+    0x0800052c   0x0800052c   0x00000060   Code   RO          660    i.SystemInit        system_stm32f10x.o
+    0x0800058c   0x0800058c   0x00000002   Code   RO          275    i.TIM2_IRQHandler   bsp_timer.o
+    0x0800058e   0x0800058e   0x00000002   PAD
+    0x08000590   0x08000590   0x000000b4   Code   RO          276    i.TIM3_IRQHandler   bsp_timer.o
+    0x08000644   0x08000644   0x00000018   Code   RO         2923    i.TIM_ARRPreloadConfig  stm32f10x_tim.o
+    0x0800065c   0x0800065c   0x00000006   Code   RO         2930    i.TIM_ClearITPendingBit  stm32f10x_tim.o
+    0x08000662   0x08000662   0x00000018   Code   RO         2935    i.TIM_Cmd           stm32f10x_tim.o
+    0x0800067a   0x0800067a   0x00000022   Code   RO         2956    i.TIM_GetITStatus   stm32f10x_tim.o
+    0x0800069c   0x0800069c   0x00000012   Code   RO         2960    i.TIM_ITConfig      stm32f10x_tim.o
+    0x080006ae   0x080006ae   0x0000000c   Code   RO         2962    i.TIM_InternalClockConfig  stm32f10x_tim.o
+    0x080006ba   0x080006ba   0x00000002   PAD
+    0x080006bc   0x080006bc   0x000000a4   Code   RO         2969    i.TIM_OC2Init       stm32f10x_tim.o
+    0x08000760   0x08000760   0x00000014   Code   RO         2982    i.TIM_OCStructInit  stm32f10x_tim.o
+    0x08000774   0x08000774   0x00000004   Code   RO         2997    i.TIM_SetCompare2   stm32f10x_tim.o
+    0x08000778   0x08000778   0x000000a4   Code   RO         3006    i.TIM_TimeBaseInit  stm32f10x_tim.o
+    0x0800081c   0x0800081c   0x0000003c   Code   RO         3707    i.USART1_IRQHandler  interrupt_handler.o
+    0x08000858   0x08000858   0x0000001e   Code   RO         3471    i.USART_ClearITPendingBit  stm32f10x_usart.o
+    0x08000876   0x08000876   0x00000018   Code   RO         3474    i.USART_Cmd         stm32f10x_usart.o
+    0x0800088e   0x0800088e   0x00000002   PAD
+    0x08000890   0x08000890   0x0000009c   Code   RO         3476    i.USART_DeInit      stm32f10x_usart.o
+    0x0800092c   0x0800092c   0x0000001a   Code   RO         3477    i.USART_GetFlagStatus  stm32f10x_usart.o
+    0x08000946   0x08000946   0x00000054   Code   RO         3478    i.USART_GetITStatus  stm32f10x_usart.o
+    0x0800099a   0x0800099a   0x00000002   PAD
+    0x0800099c   0x0800099c   0x000000d8   Code   RO         3481    i.USART_Init        stm32f10x_usart.o
+    0x08000a74   0x08000a74   0x0000000a   Code   RO         3488    i.USART_ReceiveData  stm32f10x_usart.o
+    0x08000a7e   0x08000a7e   0x00000008   Code   RO         3491    i.USART_SendData    stm32f10x_usart.o
+    0x08000a86   0x08000a86   0x00000002   PAD
+    0x08000a88   0x08000a88   0x00000020   Code   RO         3948    i.__0printf$2       mc_w.l(printf2.o)
+    0x08000aa8   0x08000aa8   0x0000000e   Code   RO         4185    i.__scatterload_copy  mc_w.l(handlers.o)
+    0x08000ab6   0x08000ab6   0x00000002   Code   RO         4186    i.__scatterload_null  mc_w.l(handlers.o)
+    0x08000ab8   0x08000ab8   0x0000000e   Code   RO         4187    i.__scatterload_zeroinit  mc_w.l(handlers.o)
+    0x08000ac6   0x08000ac6   0x00000006   Code   RO          277    i.__set_PRIMASK     bsp_timer.o
+    0x08000acc   0x08000acc   0x000000d6   Code   RO         3955    i._printf_core      mc_w.l(printf2.o)
+    0x08000ba2   0x08000ba2   0x00000008   Code   RO            1    i.app_init          main.o
+    0x08000baa   0x08000baa   0x00000002   PAD
+    0x08000bac   0x08000bac   0x000000a4   Code   RO          143    i.app_led_indicator_faultMode  app_led.o
+    0x08000c50   0x08000c50   0x000000a4   Code   RO          144    i.app_led_indicator_idleMode  app_led.o
+    0x08000cf4   0x08000cf4   0x000000a8   Code   RO          145    i.app_led_indicator_runningMode  app_led.o
+    0x08000d9c   0x08000d9c   0x00000020   Code   RO          146    i.app_led_init      app_led.o
+    0x08000dbc   0x08000dbc   0x00000030   Code   RO          147    i.app_led_runMode_indicator_blink_process  app_led.o
+    0x08000dec   0x08000dec   0x0000000c   Code   RO          148    i.app_led_runMode_indicator_mainProcess  app_led.o
+    0x08000df8   0x08000df8   0x00000034   Code   RO          149    i.app_led_runMode_indicator_stateManage  app_led.o
+    0x08000e2c   0x08000e2c   0x00000078   Code   RO          204    i.app_motor_mainProcess  app_motor.o
+    0x08000ea4   0x08000ea4   0x00000010   Code   RO          568    i.bsp_AIN1_OFF      bsp_motor.o
+    0x08000eb4   0x08000eb4   0x00000010   Code   RO          569    i.bsp_AIN1_ON       bsp_motor.o
+    0x08000ec4   0x08000ec4   0x00000010   Code   RO          570    i.bsp_AIN2_OFF      bsp_motor.o
+    0x08000ed4   0x08000ed4   0x00000010   Code   RO          571    i.bsp_AIN2_ON       bsp_motor.o
+    0x08000ee4   0x08000ee4   0x00000010   Code   RO          572    i.bsp_BIN1_OFF      bsp_motor.o
+    0x08000ef4   0x08000ef4   0x00000010   Code   RO          573    i.bsp_BIN1_ON       bsp_motor.o
+    0x08000f04   0x08000f04   0x00000010   Code   RO          574    i.bsp_BIN2_OFF      bsp_motor.o
+    0x08000f14   0x08000f14   0x00000010   Code   RO          575    i.bsp_BIN2_ON       bsp_motor.o
+    0x08000f24   0x08000f24   0x00000034   Code   RO          278    i.bsp_CheckTimer    bsp_timer.o
+    0x08000f58   0x08000f58   0x00000078   Code   RO          576    i.bsp_InitGPIO_MotorOut  bsp_motor.o
+    0x08000fd0   0x08000fd0   0x0000000c   Code   RO          577    i.bsp_InitMotor     bsp_motor.o
+    0x08000fdc   0x08000fdc   0x000000a4   Code   RO          578    i.bsp_InitMotorTimer  bsp_motor.o
+    0x08001080   0x08001080   0x0000001c   Code   RO          283    i.bsp_SoftTimerDec  bsp_timer.o
+    0x0800109c   0x0800109c   0x00000094   Code   RO          286    i.bsp_StartTimer    bsp_timer.o
+    0x08001130   0x08001130   0x00000010   Code   RO          579    i.bsp_changeMotorSpeed  bsp_motor.o
+    0x08001140   0x08001140   0x00000020   Code   RO          222    i.bsp_get_led_ttlState  bsp_led.o
+    0x08001160   0x08001160   0x00000010   Code   RO            2    i.bsp_init          main.o
+    0x08001170   0x08001170   0x00000034   Code   RO          223    i.bsp_led1_init     bsp_led.o
+    0x080011a4   0x080011a4   0x00000034   Code   RO          224    i.bsp_led2_init     bsp_led.o
+    0x080011d8   0x080011d8   0x00000020   Code   RO          225    i.bsp_led_off       bsp_led.o
+    0x080011f8   0x080011f8   0x00000028   Code   RO          226    i.bsp_led_on        bsp_led.o
+    0x08001220   0x08001220   0x0000009c   Code   RO          291    i.bsp_timer_init    bsp_timer.o
+    0x080012bc   0x080012bc   0x00000088   Code   RO          479    i.bsp_usart_debug_init  bsp_usart.o
+    0x08001344   0x08001344   0x00000024   Code   RO          480    i.fputc             bsp_usart.o
+    0x08001368   0x08001368   0x00000020   Code   RO            3    i.main              main.o
+    0x08001388   0x08001388   0x00000008   Code   RO            4    i.middleware_init   main.o
+    0x08001390   0x08001390   0x0000003c   Code   RO         3814    i.mw_SetMotorSpeed_Left  mw_motor.o
+    0x080013cc   0x080013cc   0x0000003c   Code   RO         3815    i.mw_SetMotorSpeed_Right  mw_motor.o
+    0x08001408   0x08001408   0x00000010   Code   RO         3722    i.mw_get_led1_state  mw_led.o
+    0x08001418   0x08001418   0x00000010   Code   RO         3723    i.mw_get_led2_state  mw_led.o
+    0x08001428   0x08001428   0x00000028   Code   RO         3724    i.mw_get_led_obj    mw_led.o
+    0x08001450   0x08001450   0x0000000a   Code   RO         3725    i.mw_led1_off       mw_led.o
+    0x0800145a   0x0800145a   0x0000000a   Code   RO         3726    i.mw_led1_on        mw_led.o
+    0x08001464   0x08001464   0x0000000a   Code   RO         3727    i.mw_led2_off       mw_led.o
+    0x0800146e   0x0800146e   0x0000000a   Code   RO         3728    i.mw_led2_on        mw_led.o
+    0x08001478   0x08001478   0x00000070   Code   RO         3729    i.mw_led_drv_init   mw_led.o
+    0x080014e8   0x080014e8   0x00000014   Code   RO         3816    i.mw_motor_goAhead  mw_motor.o
+    0x080014fc   0x080014fc   0x00000014   Code   RO         3817    i.mw_motor_goBack   mw_motor.o
+    0x08001510   0x08001510   0x00000016   Code   RO         3818    i.mw_motor_selfLeft  mw_motor.o
+    0x08001526   0x08001526   0x00000012   Code   RO         3819    i.mw_motor_selfRight  mw_motor.o
+    0x08001538   0x08001538   0x00000010   Code   RO         3820    i.mw_motor_stop     mw_motor.o
+    0x08001548   0x08001548   0x00000014   Code   RO         3821    i.mw_motor_turnLeft  mw_motor.o
+    0x0800155c   0x0800155c   0x00000012   Code   RO         3822    i.mw_motor_turnRight  mw_motor.o
+    0x0800156e   0x0800156e   0x0000000a   Code   RO         3774    i.mw_softTimer_get_led_indicator_timeUp_flag  mw_soft_timer.o
+    0x08001578   0x08001578   0x0000000e   Code   RO         3775    i.mw_softTimer_led_indicator_config  mw_soft_timer.o
+    0x08001586   0x08001586   0x00000030   Data   RO          293    .constdata          bsp_timer.o
+    0x080015b6   0x080015b6   0x00000002   PAD
+    0x080015b8   0x080015b8   0x00000020   Data   RO         4183    Region$$Table       anon$$obj.o
 
 
-    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080015d0, Size: 0x000004c0, Max: 0x00005000, ABSOLUTE)
+    Execution Region RW_IRAM1 (Exec base: 0x20000000, Load base: 0x080015d8, Size: 0x000004c0, Max: 0x00005000, ABSOLUTE)
 
     Exec Addr    Load Addr    Size         Type   Attr      Idx    E Section Name        Object
 
-    0x20000000   0x080015d0   0x00000007   Data   RW          151    .data               app_led.o
-    0x20000007   0x080015d7   0x00000002   Data   RW          205    .data               app_motor.o
-    0x20000009   0x080015d9   0x00000003   PAD
-    0x2000000c   0x080015dc   0x0000001c   Data   RW          294    .data               bsp_timer.o
-    0x20000028   0x080015f8   0x00000004   Data   RW          481    .data               bsp_usart.o
-    0x2000002c   0x080015fc   0x00000014   Data   RW          661    .data               system_stm32f10x.o
-    0x20000040   0x08001610   0x00000014   Data   RW         2322    .data               stm32f10x_rcc.o
+    0x20000000   0x080015d8   0x00000007   Data   RW          151    .data               app_led.o
+    0x20000007   0x080015df   0x00000002   Data   RW          205    .data               app_motor.o
+    0x20000009   0x080015e1   0x00000003   PAD
+    0x2000000c   0x080015e4   0x0000001c   Data   RW          294    .data               bsp_timer.o
+    0x20000028   0x08001600   0x00000004   Data   RW          481    .data               bsp_usart.o
+    0x2000002c   0x08001604   0x00000014   Data   RW          661    .data               system_stm32f10x.o
+    0x20000040   0x08001618   0x00000014   Data   RW         2322    .data               stm32f10x_rcc.o
     0x20000054        -       0x00000014   Zero   RW          150    .bss                app_led.o
     0x20000068        -       0x00000030   Zero   RW          292    .bss                bsp_timer.o
     0x20000098        -       0x00000028   Zero   RW         3730    .bss                mw_led.o
@@ -1630,28 +1630,28 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   Object Name
 
-       640         98          0          7         20       4608   app_led.o
-       120         18          0          2          0       1284   app_motor.o
-       208         36          0          0          0      11054   bsp_led.o
-       440         44          0          0          0       5567   bsp_motor.o
-       648        126         48         28         48      52880   bsp_timer.o
-       168         14          0          4          0     226709   bsp_usart.o
+       640         98          0          7         20       4676   app_led.o
+       120         18          0          2          0       1304   app_motor.o
+       208         36          0          0          0      11098   bsp_led.o
+       440         44          0          0          0       5648   bsp_motor.o
+       648        126         48         28         48      53008   bsp_timer.o
+       172         14          0          4          0     226769   bsp_usart.o
          0          0          0          0          0         32   core_cm3.o
-        60          4          0          0          0        516   interrupt_handler.o
-        64          0          0          0          0     219979   main.o
-        20         10          0          0          0        615   misc.o
-       224         44          0          0         40       4181   mw_led.o
-       254          0          0          0          0       4640   mw_motor.o
-        24          0          0          0          0       1117   mw_soft_timer.o
-        36          8        236          0       1024        960   startup_stm32f10x_md.o
-       286          0          0          0          0       3496   stm32f10x_gpio.o
-       340         44          0         20          0      15332   stm32f10x_rcc.o
-       466         52          0          0          0      28230   stm32f10x_tim.o
-       554         28          0          0          0      13861   stm32f10x_usart.o
-       328         28          0         20          0       2869   system_stm32f10x.o
+        60          4          0          0          0        520   interrupt_handler.o
+        64          0          0          0          0     220043   main.o
+        20         10          0          0          0        623   misc.o
+       224         44          0          0         40       4253   mw_led.o
+       254          0          0          0          0       4696   mw_motor.o
+        24          0          0          0          0       1133   mw_soft_timer.o
+        36          8        236          0       1024        968   startup_stm32f10x_md.o
+       286          0          0          0          0       3524   stm32f10x_gpio.o
+       340         44          0         20          0      15396   stm32f10x_rcc.o
+       470         52          0          0          0      28314   stm32f10x_tim.o
+       554         28          0          0          0      13921   stm32f10x_usart.o
+       328         28          0         20          0       2901   system_stm32f10x.o
 
     ----------------------------------------------------------------------
-      4894        554        318         84       1132     597930   Object Totals
+      4902        554        318         84       1132     598827   Object Totals
          0          0         32          0          0          0   (incl. Generated)
         14          0          2          3          0          0   (incl. Padding)
 
@@ -1693,15 +1693,15 @@ Image component sizes
 
       Code (inc. data)   RO Data    RW Data    ZI Data      Debug   
 
-      5266        580        318         84       1132     593818   Grand Totals
-      5266        580        318         84       1132     593818   ELF Image Totals
-      5266        580        318         84          0          0   ROM Totals
+      5274        580        318         84       1132     594715   Grand Totals
+      5274        580        318         84       1132     594715   ELF Image Totals
+      5274        580        318         84          0          0   ROM Totals
 
 ==============================================================================
 
-    Total RO  Size (Code + RO Data)                 5584 (   5.45kB)
+    Total RO  Size (Code + RO Data)                 5592 (   5.46kB)
     Total RW  Size (RW Data + ZI Data)              1216 (   1.19kB)
-    Total ROM Size (Code + RO Data + RW Data)       5668 (   5.54kB)
+    Total ROM Size (Code + RO Data + RW Data)       5676 (   5.54kB)
 
 ==============================================================================