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卡尔曼滤波（非矩阵）参考程序

     STRING.Usart.Is.Working..1                C01D      12      18       1   .rodata1    
MODULE:                 -- Start12.c.o --
- PROCEDURES:
     Init                                    FE8040      29      41       2   .text       
     _Startup                                  C000       B      11       0   .init       
- VARIABLES:
     _startupData                              C00B       6       6       3   .startData  
- LABELS:
     __SEG_END_SSTACK                          2100       0       0       1               
MODULE:                 -- MATH.C.o (ansixb.lib) --
- PROCEDURES:
     logb                                    FE8069       E      14       4   .text       
     fabs                                    FE8077      10      16       6   .text       
     is_special                              FE8087      39      57       8   .text       
     sqrt_r                                  FE80C0      C5     197       3   .text       
     sqrt                                    FE8185      42      66       6   .text       
     SetSign                                 FE81C7      21      33       4   .text       
     atan2                                   FE81E8     503    1283      35   .text       
- VARIABLES:
     infinity                                  C015       4       4       4   .rodata     
     nan_union                                 C019       4       4       2   .rodata     
MODULE:                 -- MATHF.C.o (ansixb.lib) --
- PROCEDURES:
     atan2f                                  FE86EB      13      19       2   .text       
- VARIABLES:
MODULE:                 -- DANSI.C.o (ansixb.lib) --
- PROCEDURES:
     frexp                                     C02F       3       3       2   NON_BANKED  
     ldexp                                     C032       3       3       5   NON_BANKED  
- VARIABLES:
MODULE:                 -- FADD.C.o (ansixb.lib) --
- PROCEDURES:
     F_ADDKL                                   C035      5E      94       1   NON_BANKED  
     _FADD                                     C093      15      21      34   NON_BANKED  
     _FSUB                                     C0A8      13      19       8   NON_BANKED  
     _FNEG                                     C0BB       B      11       3   NON_BANKED  
- VARIABLES:
MODULE:                 -- FANSI.C.o (ansixb.lib) --
- PROCEDURES:
     F_FREXP                                   C0C6      1F      31       1   NON_BANKED  
     F_LDEXP                                   C0E5      15      21       1   NON_BANKED  
     frexpf                                    C0FA      19      25       1   NON_BANKED  
     RetErrDom                                 C113       D      13       1   NON_BANKED  
     ldexpf                                    C120      1E      30       1   NON_BANKED  
- VARIABLES:
MODULE:                 -- FCMP.C.o (ansixb.lib) --
- PROCEDURES:
     _FCMP                                     C13E      26      38       7   NON_BANKED  
- VARIABLES:
MODULE:                 -- FCONV.C.o (ansixb.lib) --
- PROCEDURES:
     F_TOLONGK                                 C164      32      50       1   NON_BANKED  
     F_FRLONGK                                 C196      1E      30       1   NON_BANKED  
     _FUFLOAT                                  C1B4      12      18       3   NON_BANKED  
     _FSTRUNC                                  C1C6      11      17       2   NON_BANKED  
- VARIABLES:
MODULE:                 -- FMUL.C.o (ansixb.lib) --
- PROCEDURES:
     F_DIVKL                                   C1D7      84     132       1   NON_BANKED  
     F_MULKL                                   C25B      57      87       1   NON_BANKED  
     _FMUL                                     C2B2      14      20      20   NON_BANKED  
     _FDIV                                     C2C6      1E      30       6   NON_BANKED  
- VARIABLES:
MODULE:                 -- FREGS.C.o (ansixb.lib) --
- PROCEDURES:
     F_PULK                                    C2E4      15      21       4   NON_BANKED  
     F_PULL                                    C2F9      15      21       5   NON_BANKED  
     F_PSHK                                    C30E      13      19       6   NON_BANKED  
     F_TLK                                     C321       D      13       2   NON_BANKED  
     F_XGKL                                    C32E      21      33       2   NON_BANKED  
     F_CLRK                                    C34F       B      11       2   NON_BANKED  
     F_MAXK                                    C35A       9       9       2   NON_BANKED  
     F_NORMK                                   C363      37      55       4   NON_BANKED  
- VARIABLES:
MODULE:                 -- rtshc12.c.o (ansixb.lib) --
- PROCEDURES:
     _LCMP                                     C39A       A      10       1   NON_BANKED  
     _NEG_P                                    C3A4       C      12       1   NON_BANKED  
     _CASE_CHECKED_BYTE                        C3B0      14      20       4   NON_BANKED  
- VARIABLES:
     errno                                     212A       2       2       3   .common     
MODULE:                 -- VREGS.C.o (ansixb.lib) --
- PROCEDURES:
     L_NEGK                                    C3C4       7       7       1   NON_BANKED  
     L_PSHK                                    C3CB       8       8       1   NON_BANKED  
     UL_PULK                                   C3D3       3       3       1   NON_BANKED  
- VARIABLES:
MODULE:                 -- analog.c.o --
- PROCEDURES:
     ADC_Init                                FE86FE      21      33       2   .text       
- VARIABLES:
MODULE:                 -- timer0.c.o --
- PROCEDURES:
     PIT_init                                FE871F      1C      28       2   .text       
     PIT0                                      C3D6      31      49       1   NON_BANKED  
- VARIABLES:
     TimeCount                                 2100       A      10       4   .bss        
     _Vector_66                                FF7A       2       2       0   .abs_section_ff7a
MODULE:                 -- uart.c.o --
- PROCEDURES:
     UART_Init                               FE873B       C      12       2   .text       
     uart_putchar                            FE8747       9       9       4   .text       
     uart_putstr                             FE8750      24      36       2   .text       
- VARIABLES:
MODULE:                 -- outputdata.c.o --
- PROCEDURES:
     CRC_CHECK                               FE8774      43      67       2   .text       
     OutPut_Data                             FE87B7      BC     188       2   .text       
- VARIABLES:
     OutData                                   210A      10      16       8   .bss        
MODULE:                 -- kem.c.o --
- PROCEDURES:
     kalman_update                           FE8873     260     608       4   .text       
- VARIABLES:
     QingJiao                                  211A       4       4       4   .bss        
     Gyro_Data                                 211E       4       4       4   .bss        
     RealData.1                                2122       4       4       6   .bss        
     RealData_P.2                              2126       4       4       4   .bss        

*********************************************************************************************
MODULE STATISTIC
  Name                                      Data   Code  Const
---------------------------------------------------------------------------------------------
  MC9S12XS128.c.o                            360      0      0
  main.c.o                                     0     64     18
  Start12.c.o                                  0     52      0
  MATH.C.o (ansixb.lib)                        0   1666      8
  MATHF.C.o (ansixb.lib)                       0     19      0
  DANSI.C.o (ansixb.lib)                       0      6      0
  FADD.C.o (ansixb.lib)                        0    145      0
  FANSI.C.o (ansixb.lib)                       0    120      0
  FCMP.C.o (ansixb.lib)                        0     38      0
  FCONV.C.o (ansixb.lib)                       0    115      0
  FMUL.C.o (ansixb.lib)                        0    269      0
  FREGS.C.o (ansixb.lib)                       0    182      0
  rtshc12.c.o (ansixb.lib)                     2     42      0
  VREGS.C.o (ansixb.lib)                       0     18      0
  analog.c.o                                   0     33      0
  timer0.c.o                                  10     77      2
  uart.c.o                                     0     57      0
  outputdata.c.o                              16    255      0
  kem.c.o                                     16    608      0
  other                                      256     12      2

*********************************************************************************************
SECTION USE IN OBJECT-ALLOCATION SECTION
---------------------------------------------------------------------------------------------
SECTION: ".text"
  SetBusCLK_64M DeviceInit main Init logb fabs is_special sqrt_r sqrt SetSign 
  atan2 atan2f ADC_Init PIT_init UART_Init uart_putchar uart_putstr CRC_CHECK 
  OutPut_Data kalman_update 
SECTION: ".bss"
  TimeCount OutData QingJiao Gyro_Data RealData.1 RealData_P.2 
SECTION: ".init"
  _Startup 
SECTION: ".rodata"
  infinity nan_union 
SECTION: ".rodata1"
  STRING.Usart.Is.Working..1 
SECTION: "NON_BANKED"
  frexp ldexp F_ADDKL _FADD _FSUB _FNEG F_FREXP F_LDEXP frexpf RetErrDom 
  ldexpf _FCMP F_TOLONGK F_FRLONGK _FUFLOAT _FSTRUNC F_DIVKL F_MULKL _FMUL 
  _FDIV F_PULK F_PULL F_PSHK F_TLK F_XGKL F_CLRK F_MAXK F_N