
========================================================================

** ELF Header Information

    File Name: .\obj\UART.axf

    Machine class: ELFCLASS32 (32-bit)
    Data encoding: ELFDATA2LSB (Little endian)
    Header version: EV_CURRENT (Current version)
    Operating System ABI: none
    ABI Version: 0
    File Type: ET_EXEC (Executable) (2)
    Machine: EM_ARM (ARM)

    Image Entry point: 0x000000f1
    Flags: EF_ARM_HASENTRY (0x05000002)

    ARM ELF revision: 5 (ABI version 2)

    Built with
    ARM C/C++ Compiler, 4.1 [Build 894]
    ARM Assembler, 4.1 [Build 894]
    ARM Linker, 4.1 [Build 894] 

    Header size: 52 bytes (0x34)
    Program header entry size: 32 bytes (0x20)
    Section header entry size: 40 bytes (0x28)

    Program header entries: 1
    Section header entries: 16

    Program header offset: 835368 (0x000cbf28)
    Section header offset: 835400 (0x000cbf48)

    Section header string table index: 15

========================================================================

** Program header #0 (PT_LOAD) [PF_X + PF_W + PF_R + PF_ARM_ENTRY]
    Size : 35576 bytes (28716 bytes in file)
    Virtual address: 0x00000000 (Alignment 8)


========================================================================

** Section #1 'ER_RO' (SHT_PROGBITS) [SHF_ALLOC + SHF_EXECINSTR]
    Size   : 28304 bytes (alignment 8)
    Address: 0x00000000

    $d.realdata
    RESET
    __Vectors
        0x00000000:    20001c68    h..     DCD    536878184
        0x00000004:    000000f1    ....    DCD    241
        0x00000008:    0000010d    ....    DCD    269
        0x0000000c:    000000d5    ....    DCD    213
        0x00000010:    00000000    ....    DCD    0
        0x00000014:    00000000    ....    DCD    0
        0x00000018:    00000000    ....    DCD    0
        0x0000001c:    00000000    ....    DCD    0
        0x00000020:    00000000    ....    DCD    0
        0x00000024:    00000000    ....    DCD    0
        0x00000028:    00000000    ....    DCD    0
        0x0000002c:    00000111    ....    DCD    273
        0x00000030:    00000000    ....    DCD    0
        0x00000034:    00000000    ....    DCD    0
        0x00000038:    00000113    ....    DCD    275
        0x0000003c:    000056a5    .V..    DCD    22181
        0x00000040:    00000117    ....    DCD    279
        0x00000044:    00000117    ....    DCD    279
        0x00000048:    00000117    ....    DCD    279
        0x0000004c:    00000117    ....    DCD    279
        0x00000050:    00004855    UH..    DCD    18517
        0x00000054:    00000117    ....    DCD    279
        0x00000058:    00000117    ....    DCD    279
        0x0000005c:    00000000    ....    DCD    0
        0x00000060:    000057e9    .W..    DCD    22505
        0x00000064:    00000117    ....    DCD    279
        0x00000068:    00000117    ....    DCD    279
        0x0000006c:    00000117    ....    DCD    279
        0x00000070:    00005811    .X..    DCD    22545
        0x00000074:    00005851    QX..    DCD    22609
        0x00000078:    00000117    ....    DCD    279
        0x0000007c:    00000117    ....    DCD    279
        0x00000080:    00000117    ....    DCD    279
        0x00000084:    00000117    ....    DCD    279
        0x00000088:    00000117    ....    DCD    279
        0x0000008c:    00000117    ....    DCD    279
        0x00000090:    00000117    ....    DCD    279
        0x00000094:    00000117    ....    DCD    279
        0x00000098:    00000117    ....    DCD    279
        0x0000009c:    00000117    ....    DCD    279
        0x000000a0:    00000117    ....    DCD    279
        0x000000a4:    00000117    ....    DCD    279
        0x000000a8:    00000117    ....    DCD    279
        0x000000ac:    00000117    ....    DCD    279
        0x000000b0:    00000117    ....    DCD    279
        0x000000b4:    00004511    .E..    DCD    17681
        0x000000b8:    00000117    ....    DCD    279
        0x000000bc:    0000505d    ]P..    DCD    20573
    $t
    .ARM.Collect$$$$00000000
    .ARM.Collect$$$$00000001
    __main
    _main_stk
        0x000000c0:    4803        .H      LDR      r0,__lit__00000000 ; [0xd0] = 0x20001c68
        0x000000c2:    4685        .F      MOV      sp,r0
    .ARM.Collect$$$$00000004
    _main_scatterload
        0x000000c4:    f004f9e8    ....    BL       __scatterload ; 0x4498
    .ARM.Collect$$$$00000008
    .ARM.Collect$$$$00000009
    __main_after_scatterload
    _main_clock
    _main_init
        0x000000c8:    4800        .H      LDR      r0,[pc,#0] ; [0xcc] = 0x67d1
        0x000000ca:    4700        .G      BX       r0
    $d
        0x000000cc:    000067d1    .g..    DCD    26577
    .ARM.Collect$$$$00002712
    __lit__00000000
        0x000000d0:    20001c68    h..     DCD    536878184
    $t
    .emb_text
    HardFault_Handler
        0x000000d4:    2004        .       MOVS     r0,#4
        0x000000d6:    4671        qF      MOV      r1,lr
        0x000000d8:    4208        .B      TST      r0,r1
        0x000000da:    d002        ..      BEQ      0xe2 ; HardFault_Handler + 14
        0x000000dc:    f3ef8009    ....    MRS      r0,PSP
        0x000000e0:    e001        ..      B        0xe6 ; HardFault_Handler + 18
        0x000000e2:    f3ef8008    ....    MRS      r0,MSP
        0x000000e6:    4671        qF      MOV      r1,lr
        0x000000e8:    4a00        .J      LDR      r2,[pc,#0] ; [0xec] = 0x48e9
        0x000000ea:    4710        .G      BX       r2
    $d
        0x000000ec:    000048e9    .H..    DCD    18665
    $t
    .text
    Reset_Handler
        0x000000f0:    4809        .H      LDR      r0,[pc,#36] ; [0x118] = 0x50000100
        0x000000f2:    490a        .I      LDR      r1,[pc,#40] ; [0x11c] = 0x59
        0x000000f4:    6001        .`      STR      r1,[r0,#0]
        0x000000f6:    490a        .I      LDR      r1,[pc,#40] ; [0x120] = 0x16
        0x000000f8:    6001        .`      STR      r1,[r0,#0]
        0x000000fa:    490a        .I      LDR      r1,[pc,#40] ; [0x124] = 0x88
        0x000000fc:    6001        .`      STR      r1,[r0,#0]
        0x000000fe:    4a0a        .J      LDR      r2,[pc,#40] ; [0x128] = 0x50000060
        0x00000100:    490a        .I      LDR      r1,[pc,#40] ; [0x12c] = 0x5aa5
        0x00000102:    6011        .`      STR      r1,[r2,#0]
        0x00000104:    2100        .!      MOVS     r1,#0
        0x00000106:    6001        .`      STR      r1,[r0,#0]
        0x00000108:    4809        .H      LDR      r0,[pc,#36] ; [0x130] = 0xc1
        0x0000010a:    4700        .G      BX       r0
    NMI_Handler
        0x0000010c:    e7fe        ..      B        NMI_Handler ; 0x10c
        0x0000010e:    e7fe        ..      B        0x10e ; NMI_Handler + 2
    SVC_Handler
        0x00000110:    e7fe        ..      B        SVC_Handler ; 0x110
    PendSV_Handler
        0x00000112:    e7fe        ..      B        PendSV_Handler ; 0x112
        0x00000114:    e7fe        ..      B        0x114 ; PendSV_Handler + 2
    Default_Handler
    ACMP_IRQHandler
    BOD_IRQHandler
    EINT0_IRQHandler
    EINT1_IRQHandler
    GPDEF_IRQHandler
    HIRC_IRQHandler
    I2C0_IRQHandler
    I2C1_IRQHandler
    LCD_IRQHandler
    PDMA_IRQHandler
    PDWU_IRQHandler
    PWM0_IRQHandler
    SC0_IRQHandler
    SC1_IRQHandler
    SPI0_IRQHandler
    SPI1_IRQHandler
    TMR1_IRQHandler
    TMR2_IRQHandler
    TMR3_IRQHandler
    WDT_IRQHandler
        0x00000116:    e7fe        ..      B        Default_Handler ; 0x116
    $d
        0x00000118:    50000100    ...P    DCD    1342177536
        0x0000011c:    00000059    Y...    DCD    89
        0x00000120:    00000016    ....    DCD    22
        0x00000124:    00000088    ....    DCD    136
        0x00000128:    50000060    `..P    DCD    1342177376
        0x0000012c:    00005aa5    .Z..    DCD    23205
        0x00000130:    000000c1    ....    DCD    193
    $t
    .text
    SetZWithoutG_Base
        0x00000134:    49fb        .I      LDR      r1,[pc,#1004] ; [0x524] = 0x200000cc
        0x00000136:    6088        .`      STR      r0,[r1,#8]
        0x00000138:    4770        pG      BX       lr
    GetAHRSPeriod
        0x0000013a:    48fa        .H      LDR      r0,[pc,#1000] ; [0x524] = 0x200000cc
        0x0000013c:    7800        .x      LDRB     r0,[r0,#0]
        0x0000013e:    4770        pG      BX       lr
    TimerSet
        0x00000140:    48f9        .H      LDR      r0,[pc,#996] ; [0x528] = 0x200004ec
        0x00000142:    68c1        .h      LDR      r1,[r0,#0xc]
        0x00000144:    6081        .`      STR      r1,[r0,#8]
        0x00000146:    6881        .h      LDR      r1,[r0,#8]
        0x00000148:    6001        .`      STR      r1,[r0,#0]
        0x0000014a:    4770        pG      BX       lr
    TimerStart
        0x0000014c:    49f6        .I      LDR      r1,[pc,#984] ; [0x528] = 0x200004ec
        0x0000014e:    68c8        .h      LDR      r0,[r1,#0xc]
        0x00000150:    6008        .`      STR      r0,[r1,#0]
        0x00000152:    6088        .`      STR      r0,[r1,#8]
        0x00000154:    4770        pG      BX       lr
    TimerRead
        0x00000156:    48f4        .H      LDR      r0,[pc,#976] ; [0x528] = 0x200004ec
        0x00000158:    68c1        .h      LDR      r1,[r0,#0xc]
        0x0000015a:    6880        .h      LDR      r0,[r0,#8]
        0x0000015c:    1a08        ..      SUBS     r0,r1,r0
        0x0000015e:    4770        pG      BX       lr
    SensorStateInit
        0x00000160:    49f2        .I      LDR      r1,[pc,#968] ; [0x52c] = 0x200002bc
        0x00000162:    2000        .       MOVS     r0,#0
        0x00000164:    7008        .p      STRB     r0,[r1,#0]
        0x00000166:    7048        Hp      STRB     r0,[r1,#1]
        0x00000168:    7088        .p      STRB     r0,[r1,#2]
        0x0000016a:    7108        .q      STRB     r0,[r1,#4]
        0x0000016c:    7148        Hq      STRB     r0,[r1,#5]
        0x0000016e:    7188        .q      STRB     r0,[r1,#6]
        0x00000170:    7208        .r      STRB     r0,[r1,#8]
        0x00000172:    7248        Hr      STRB     r0,[r1,#9]
        0x00000174:    60c8        .`      STR      r0,[r1,#0xc]
        0x00000176:    6108        .a      STR      r0,[r1,#0x10]
        0x00000178:    6148        Ha      STR      r0,[r1,#0x14]
        0x0000017a:    49eb        .I      LDR      r1,[pc,#940] ; [0x528] = 0x200004ec
        0x0000017c:    3910        .9      SUBS     r1,r1,#0x10
        0x0000017e:    7208        .r      STRB     r0,[r1,#8]
        0x00000180:    7308        .s      STRB     r0,[r1,#0xc]
        0x00000182:    7248        Hr      STRB     r0,[r1,#9]
        0x00000184:    7348        Hs      STRB     r0,[r1,#0xd]
        0x00000186:    7288        .r      STRB     r0,[r1,#0xa]
        0x00000188:    2201        ."      MOVS     r2,#1
        0x0000018a:    738a        .s      STRB     r2,[r1,#0xe]
        0x0000018c:    72c8        .r      STRB     r0,[r1,#0xb]
        0x0000018e:    73ca        .s      STRB     r2,[r1,#0xf]
        0x00000190:    4770        pG      BX       lr
    CalInfoInit
        0x00000192:    48e6        .H      LDR      r0,[pc,#920] ; [0x52c] = 0x200002bc
        0x00000194:    2100        .!      MOVS     r1,#0
        0x00000196:    386c        l8      SUBS     r0,r0,#0x6c
        0x00000198:    6001        .`      STR      r1,[r0,#0]
        0x0000019a:    227f        ."      MOVS     r2,#0x7f
        0x0000019c:    6041        A`      STR      r1,[r0,#4]
        0x0000019e:    05d2        ..      LSLS     r2,r2,#23
        0x000001a0:    60c2        .`      STR      r2,[r0,#0xc]
        0x000001a2:    6102        .a      STR      r2,[r0,#0x10]
        0x000001a4:    6081        .`      STR      r1,[r0,#8]
        0x000001a6:    6181        .a      STR      r1,[r0,#0x18]
        0x000001a8:    61c1        .a      STR      r1,[r0,#0x1c]
        0x000001aa:    6142        Ba      STR      r2,[r0,#0x14]
        0x000001ac:    6242        Bb      STR      r2,[r0,#0x24]
        0x000001ae:    6282        .b      STR      r2,[r0,#0x28]
        0x000001b0:    6201        .b      STR      r1,[r0,#0x20]
        0x000001b2:    6301        .c      STR      r1,[r0,#0x30]
        0x000001b4:    6341        Ac      STR      r1,[r0,#0x34]
        0x000001b6:    4bde        .K      LDR      r3,[pc,#888] ; [0x530] = 0x3951b717
        0x000001b8:    63c3        .c      STR      r3,[r0,#0x3c]
        0x000001ba:    6403        .d      STR      r3,[r0,#0x40]
        0x000001bc:    6381        .c      STR      r1,[r0,#0x38]
        0x000001be:    6481        .d      STR      r1,[r0,#0x48]
        0x000001c0:    64c1        .d      STR      r1,[r0,#0x4c]
        0x000001c2:    62c2        .b      STR      r2,[r0,#0x2c]
        0x000001c4:    6443        Cd      STR      r3,[r0,#0x44]
        0x000001c6:    6542        Be      STR      r2,[r0,#0x54]
        0x000001c8:    6501        .e      STR      r1,[r0,#0x50]
        0x000001ca:    4770        pG      BX       lr
    TimeInfoInit
        0x000001cc:    48d6        .H      LDR      r0,[pc,#856] ; [0x528] = 0x200004ec
        0x000001ce:    2100        .!      MOVS     r1,#0
        0x000001d0:    6001        .`      STR      r1,[r0,#0]
        0x000001d2:    6041        A`      STR      r1,[r0,#4]
        0x000001d4:    6081        .`      STR      r1,[r0,#8]
        0x000001d6:    60c1        .`      STR      r1,[r0,#0xc]
        0x000001d8:    4770        pG      BX       lr
    nvtAHRSInit
        0x000001da:    b510        ..      PUSH     {r4,lr}
        0x000001dc:    f000ff14    ....    BL       SetupSecurityID ; 0x1008
        0x000001e0:    f000fefc    ....    BL       CheckSecurityID ; 0xfdc
        0x000001e4:    2800        .(      CMP      r0,#0
        0x000001e6:    d109        ..      BNE      0x1fc ; nvtAHRSInit + 34
        0x000001e8:    f7ffffba    ....    BL       SensorStateInit ; 0x160
        0x000001ec:    f7ffffd1    ....    BL       CalInfoInit ; 0x192
        0x000001f0:    f7ffffec    ....    BL       TimeInfoInit ; 0x1cc
        0x000001f4:    f7ffffaa    ....    BL       TimerStart ; 0x14c
        0x000001f8:    f000ff28    ..(.    BL       AccFilterInit ; 0x104c
        0x000001fc:    bd10        ..      POP      {r4,pc}
    nvtGetEulerRPY
        0x000001fe:    b570        p.      PUSH     {r4-r6,lr}
        0x00000200:    4ac9        .J      LDR      r2,[pc,#804] ; [0x528] = 0x200004ec
        0x00000202:    4604        .F      MOV      r4,r0
        0x00000204:    3218        .2      ADDS     r2,r2,#0x18
        0x00000206:    4615        .F      MOV      r5,r2
        0x00000208:    3d08        .=      SUBS     r5,r5,#8
        0x0000020a:    1d29        ).      ADDS     r1,r5,#4
        0x0000020c:    4628        (F      MOV      r0,r5
        0x0000020e:    f003fa60    ..`.    BL       sensfusion6GetEulerRPY ; 0x36d2
        0x00000212:    6828        (h      LDR      r0,[r5,#0]
        0x00000214:    6020         `      STR      r0,[r4,#0]
        0x00000216:    6868        hh      LDR      r0,[r5,#4]
        0x00000218:    6060        ``      STR      r0,[r4,#4]
        0x0000021a:    68a8        .h      LDR      r0,[r5,#8]
        0x0000021c:    60a0        .`      STR      r0,[r4,#8]
        0x0000021e:    bd70        p.      POP      {r4-r6,pc}
    nvtGetQuaternion
        0x00000220:    b51f        ..      PUSH     {r0-r4,lr}
        0x00000222:    4604        .F      MOV      r4,r0
        0x00000224:    4668        hF      MOV      r0,sp
        0x00000226:    f003fa8e    ....    BL       sensfusion6Getquaternion ; 0x3746
        0x0000022a:    9800        ..      LDR      r0,[sp,#0]
        0x0000022c:    6020         `      STR      r0,[r4,#0]
        0x0000022e:    9801        ..      LDR      r0,[sp,#4]
        0x00000230:    6060        ``      STR      r0,[r4,#4]
        0x00000232:    9802        ..      LDR      r0,[sp,#8]
        0x00000234:    60a0        .`      STR      r0,[r4,#8]
        0x00000236:    9803        ..      LDR      r0,[sp,#0xc]
        0x00000238:    60e0        .`      STR      r0,[r4,#0xc]
        0x0000023a:    bd1f        ..      POP      {r0-r4,pc}
    nvtGetNormAttitude
        0x0000023c:    b510        ..      PUSH     {r4,lr}
        0x0000023e:    4604        .F      MOV      r4,r0
        0x00000240:    48b9        .H      LDR      r0,[pc,#740] ; [0x528] = 0x200004ec
        0x00000242:    301c        .0      ADDS     r0,r0,#0x1c
        0x00000244:    f003fa6d    ..m.    BL       sensfusion6GetGyro ; 0x3722
        0x00000248:    48b7        .H      LDR      r0,[pc,#732] ; [0x528] = 0x200004ec
        0x0000024a:    3010        .0      ADDS     r0,r0,#0x10
        0x0000024c:    68c1        .h      LDR      r1,[r0,#0xc]
        0x0000024e:    6021        !`      STR      r1,[r4,#0]
        0x00000250:    6901        .i      LDR      r1,[r0,#0x10]
        0x00000252:    6061        a`      STR      r1,[r4,#4]
        0x00000254:    6940        @i      LDR      r0,[r0,#0x14]
        0x00000256:    60a0        .`      STR      r0,[r4,#8]
        0x00000258:    bd10        ..      POP      {r4,pc}
    nvtGetNormACC
        0x0000025a:    b510        ..      PUSH     {r4,lr}
        0x0000025c:    4604        .F      MOV      r4,r0
        0x0000025e:    48b2        .H      LDR      r0,[pc,#712] ; [0x528] = 0x200004ec
        0x00000260:    3028        (0      ADDS     r0,r0,#0x28
        0x00000262:    f003fa67    ..g.    BL       sensfusion6GetAcc ; 0x3734
        0x00000266:    48b0        .H      LDR      r0,[pc,#704] ; [0x528] = 0x200004ec
        0x00000268:    3010        .0      ADDS     r0,r0,#0x10
        0x0000026a:    6981        .i      LDR      r1,[r0,#0x18]
        0x0000026c:    6021        !`      STR      r1,[r4,#0]
        0x0000026e:    69c1        .i      LDR      r1,[r0,#0x1c]
        0x00000270:    6061        a`      STR      r1,[r4,#4]
        0x00000272:    6a00        .j      LDR      r0,[r0,#0x20]
        0x00000274:    60a0        .`      STR      r0,[r4,#8]
        0x00000276:    bd10        ..      POP      {r4,pc}
    nvtGetMAGHeading
        0x00000278:    b510        ..      PUSH     {r4,lr}
        0x0000027a:    4604        .F      MOV      r4,r0
        0x0000027c:    48aa        .H      LDR      r0,[pc,#680] ; [0x528] = 0x200004ec
        0x0000027e:    304c        L0      ADDS     r0,r0,#0x4c
        0x00000280:    f003fbe1    ....    BL       sensfusion6GetMagDegree ; 0x3a46
        0x00000284:    48a8        .H      LDR      r0,[pc,#672] ; [0x528] = 0x200004ec
        0x00000286:    3010        .0      ADDS     r0,r0,#0x10
        0x00000288:    6bc1        .k      LDR      r1,[r0,#0x3c]
        0x0000028a:    6021        !`      STR      r1,[r4,#0]
        0x0000028c:    6c01        .l      LDR      r1,[r0,#0x40]
        0x0000028e:    6061        a`      STR      r1,[r4,#4]
        0x00000290:    6c40        @l      LDR      r0,[r0,#0x44]
        0x00000292:    60a0        .`      STR      r0,[r4,#8]
        0x00000294:    bd10        ..      POP      {r4,pc}
    nvtGetEulerNormMAG
        0x00000296:    b510        ..      PUSH     {r4,lr}
        0x00000298:    4604        .F      MOV      r4,r0
        0x0000029a:    48a3        .H      LDR      r0,[pc,#652] ; [0x528] = 0x200004ec
        0x0000029c:    3040        @0      ADDS     r0,r0,#0x40
        0x0000029e:    f003fbc2    ....    BL       sensfusion6GetMagEuler ; 0x3a26
        0x000002a2:    48a1        .H      LDR      r0,[pc,#644] ; [0x528] = 0x200004ec
        0x000002a4:    3010        .0      ADDS     r0,r0,#0x10
        0x000002a6:    6b01        .k      LDR      r1,[r0,#0x30]
        0x000002a8:    6021        !`      STR      r1,[r4,#0]
        0x000002aa:    6b41        Ak      LDR      r1,[r0,#0x34]
        0x000002ac:    6061        a`      STR      r1,[r4,#4]
        0x000002ae:    6b80        .k      LDR      r0,[r0,#0x38]
        0x000002b0:    60a0        .`      STR      r0,[r4,#8]
        0x000002b2:    bd10        ..      POP      {r4,pc}
    nvtGetNormMAG
        0x000002b4:    b510        ..      PUSH     {r4,lr}
        0x000002b6:    4604        .F      MOV      r4,r0
        0x000002b8:    489b        .H      LDR      r0,[pc,#620] ; [0x528] = 0x200004ec
        0x000002ba:    3034        40      ADDS     r0,r0,#0x34
        0x000002bc:    f003fbbb    ....    BL       sensfusion6GetNormMag ; 0x3a36
        0x000002c0:    4899        .H      LDR      r0,[pc,#612] ; [0x528] = 0x200004ec
        0x000002c2:    3010        .0      ADDS     r0,r0,#0x10
        0x000002c4:    6a41        Aj      LDR      r1,[r0,#0x24]
        0x000002c6:    6021        !`      STR      r1,[r4,#0]
        0x000002c8:    6a81        .j      LDR      r1,[r0,#0x28]
        0x000002ca:    6061        a`      STR      r1,[r4,#4]
        0x000002cc:    6ac0        .j      LDR      r0,[r0,#0x2c]
        0x000002ce:    60a0        .`      STR      r0,[r4,#8]
        0x000002d0:    bd10        ..      POP      {r4,pc}
    nvtGetGYRODegree
        0x000002d2:    b510        ..      PUSH     {r4,lr}
        0x000002d4:    4604        .F      MOV      r4,r0
        0x000002d6:    4894        .H      LDR      r0,[pc,#592] ; [0x528] = 0x200004ec
        0x000002d8:    3058        X0      ADDS     r0,r0,#0x58
        0x000002da:    f003fbc0    ....    BL       sensfusion6GetGyroDeg ; 0x3a5e
        0x000002de:    4892        .H      LDR      r0,[pc,#584] ; [0x528] = 0x200004ec
        0x000002e0:    3010        .0      ADDS     r0,r0,#0x10
        0x000002e2:    6c81        .l      LDR      r1,[r0,#0x48]
        0x000002e4:    6021        !`      STR      r1,[r4,#0]
        0x000002e6:    6cc1        .l      LDR      r1,[r0,#0x4c]
        0x000002e8:    6061        a`      STR      r1,[r4,#4]
        0x000002ea:    6d00        .m      LDR      r0,[r0,#0x50]
        0x000002ec:    60a0        .`      STR      r0,[r4,#8]
        0x000002ee:    bd10        ..      POP      {r4,pc}
    nvtGetVelocity
        0x000002f0:    b510        ..      PUSH     {r4,lr}
        0x000002f2:    f003fbbc    ....    BL       sensfusion6GetVelocity ; 0x3a6e
        0x000002f6:    bd10        ..      POP      {r4,pc}
    nvtGetMove
        0x000002f8:    b510        ..      PUSH     {r4,lr}
        0x000002fa:    f003fbc1    ....    BL       sensfusion6GetMove ; 0x3a80
        0x000002fe:    bd10        ..      POP      {r4,pc}
    nvtSetMove
        0x00000300:    b510        ..      PUSH     {r4,lr}
        0x00000302:    f003fbc6    ....    BL       sensfusion6SetMove ; 0x3a92
        0x00000306:    bd10        ..      POP      {r4,pc}
    nvtResetMove
        0x00000308:    b510        ..      PUSH     {r4,lr}
        0x0000030a:    f003fbcb    ....    BL       sensfusion6ResetMove ; 0x3aa4
        0x0000030e:    bd10        ..      POP      {r4,pc}
    nvtUpdateAHRS
        0x00000310:    b5f1        ..      PUSH     {r0,r4-r7,lr}
        0x00000312:    2000        .       MOVS     r0,#0
        0x00000314:    b088        ..      SUB      sp,sp,#0x20
        0x00000316:    9007        ..      STR      r0,[sp,#0x1c]
        0x00000318:    9006        ..      STR      r0,[sp,#0x18]
        0x0000031a:    4607        .F      MOV      r7,r0
        0x0000031c:    4604        .F      MOV      r4,r0
        0x0000031e:    4605        .F      MOV      r5,r0
        0x00000320:    4606        .F      MOV      r6,r0
        0x00000322:    9002        ..      STR      r0,[sp,#8]
        0x00000324:    9001        ..      STR      r0,[sp,#4]
        0x00000326:    9000        ..      STR      r0,[sp,#0]
        0x00000328:    f000fe58    ..X.    BL       CheckSecurityID ; 0xfdc
        0x0000032c:    2800        .(      CMP      r0,#0
        0x0000032e:    d149        I.      BNE      0x3c4 ; nvtUpdateAHRS + 180
        0x00000330:    9808        ..      LDR      r0,[sp,#0x20]
        0x00000332:    07c1        ..      LSLS     r1,r0,#31
        0x00000334:    487f        .H      LDR      r0,[pc,#508] ; [0x534] = 0x200004fc
        0x00000336:    d004        ..      BEQ      0x342 ; nvtUpdateAHRS + 50
        0x00000338:    6d47        Gm      LDR      r7,[r0,#0x54]
        0x0000033a:    6d81        .m      LDR      r1,[r0,#0x58]
        0x0000033c:    9107        ..      STR      r1,[sp,#0x1c]
        0x0000033e:    6dc1        .m      LDR      r1,[r0,#0x5c]
        0x00000340:    9106        ..      STR      r1,[sp,#0x18]
        0x00000342:    9908        ..      LDR      r1,[sp,#0x20]
        0x00000344:    0789        ..      LSLS     r1,r1,#30
        0x00000346:    d502        ..      BPL      0x34e ; nvtUpdateAHRS + 62
        0x00000348:    4604        .F      MOV      r4,r0
        0x0000034a:    3460        `4      ADDS     r4,r4,#0x60
        0x0000034c:    cc70        p.      LDM      r4,{r4-r6}
        0x0000034e:    9908        ..      LDR      r1,[sp,#0x20]
        0x00000350:    0749        I.      LSLS     r1,r1,#29
        0x00000352:    d505        ..      BPL      0x360 ; nvtUpdateAHRS + 80
        0x00000354:    6ec1        .n      LDR      r1,[r0,#0x6c]
        0x00000356:    9102        ..      STR      r1,[sp,#8]
        0x00000358:    6f01        .o      LDR      r1,[r0,#0x70]
        0x0000035a:    9101        ..      STR      r1,[sp,#4]
        0x0000035c:    6f40        @o      LDR      r0,[r0,#0x74]
        0x0000035e:    9000        ..      STR      r0,[sp,#0]
        0x00000360:    4870        pH      LDR      r0,[pc,#448] ; [0x524] = 0x200000cc
        0x00000362:    7800        .x      LDRB     r0,[r0,#0]
        0x00000364:    f003fea9    ....    BL       __aeabi_ui2f ; 0x40ba
        0x00000368:    4973        sI      LDR      r1,[pc,#460] ; [0x538] = 0x447a0000
        0x0000036a:    f003fcbb    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x0000036e:    9a00        ..      LDR      r2,[sp,#0]
        0x00000370:    9901        ..      LDR      r1,[sp,#4]
        0x00000372:    9005        ..      STR      r0,[sp,#0x14]
        0x00000374:    9103        ..      STR      r1,[sp,#0xc]
        0x00000376:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00000378:    9806        ..      LDR      r0,[sp,#0x18]
        0x0000037a:    9204        ..      STR      r2,[sp,#0x10]
        0x0000037c:    9100        ..      STR      r1,[sp,#0]
        0x0000037e:    9001        ..      STR      r0,[sp,#4]
        0x00000380:    463b        ;F      MOV      r3,r7
        0x00000382:    4632        2F      MOV      r2,r6
        0x00000384:    4629        )F      MOV      r1,r5
        0x00000386:    4620         F      MOV      r0,r4
        0x00000388:    f002fe9a    ....    BL       sensfusion9UpdateQ ; 0x30c0
        0x0000038c:    f7fffee3    ....    BL       TimerRead ; 0x156
        0x00000390:    f003fe88    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000394:    2500        .%      MOVS     r5,#0
        0x00000396:    43ed        .C      MVNS     r5,r5
        0x00000398:    4629        )F      MOV      r1,r5
        0x0000039a:    f003fce3    ....    BL       __ARM_scalbnf ; 0x3d64
        0x0000039e:    4604        .F      MOV      r4,r0
        0x000003a0:    4860        `H      LDR      r0,[pc,#384] ; [0x524] = 0x200000cc
        0x000003a2:    7800        .x      LDRB     r0,[r0,#0]
        0x000003a4:    f003fe89    ....    BL       __aeabi_ui2f ; 0x40ba
        0x000003a8:    4629        )F      MOV      r1,r5
        0x000003aa:    f003fcdb    ....    BL       __ARM_scalbnf ; 0x3d64
        0x000003ae:    4621        !F      MOV      r1,r4
        0x000003b0:    f003fc02    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000003b4:    f003feb0    ....    BL       __aeabi_f2uiz ; 0x4118
        0x000003b8:    495a        ZI      LDR      r1,[pc,#360] ; [0x524] = 0x200000cc
        0x000003ba:    7008        .p      STRB     r0,[r1,#0]
        0x000003bc:    f7fffec0    ....    BL       TimerSet ; 0x140
        0x000003c0:    f003f9cd    ....    BL       sensfusion6UpdateMagByEuler ; 0x375e
        0x000003c4:    b009        ..      ADD      sp,sp,#0x24
        0x000003c6:    bdf0        ..      POP      {r4-r7,pc}
    nvtMillisecondTick
        0x000003c8:    b510        ..      PUSH     {r4,lr}
        0x000003ca:    f000fe07    ....    BL       CheckSecurityID ; 0xfdc
        0x000003ce:    2800        .(      CMP      r0,#0
        0x000003d0:    d103        ..      BNE      0x3da ; nvtMillisecondTick + 18
        0x000003d2:    4855        UH      LDR      r0,[pc,#340] ; [0x528] = 0x200004ec
        0x000003d4:    68c1        .h      LDR      r1,[r0,#0xc]
        0x000003d6:    1c49        I.      ADDS     r1,r1,#1
        0x000003d8:    60c1        .`      STR      r1,[r0,#0xc]
        0x000003da:    bd10        ..      POP      {r4,pc}
    GetTickCounter
        0x000003dc:    4852        RH      LDR      r0,[pc,#328] ; [0x528] = 0x200004ec
        0x000003de:    68c0        .h      LDR      r0,[r0,#0xc]
        0x000003e0:    4770        pG      BX       lr
    RawSmoothInput
        0x000003e2:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x000003e4:    2500        .%      MOVS     r5,#0
        0x000003e6:    4a4f        OJ      LDR      r2,[pc,#316] ; [0x524] = 0x200000cc
        0x000003e8:    b081        ..      SUB      sp,sp,#4
        0x000003ea:    4629        )F      MOV      r1,r5
        0x000003ec:    1c52        R.      ADDS     r2,r2,#1
        0x000003ee:    e004        ..      B        0x3fa ; RawSmoothInput + 24
        0x000003f0:    5c53        S\      LDRB     r3,[r2,r1]
        0x000003f2:    195b        [.      ADDS     r3,r3,r5
        0x000003f4:    1c49        I.      ADDS     r1,r1,#1
        0x000003f6:    b2dd        ..      UXTB     r5,r3
        0x000003f8:    b2c9        ..      UXTB     r1,r1
        0x000003fa:    4281        .B      CMP      r1,r0
        0x000003fc:    d3f8        ..      BCC      0x3f0 ; RawSmoothInput + 14
        0x000003fe:    4b4b        KK      LDR      r3,[pc,#300] ; [0x52c] = 0x200002bc
        0x00000400:    2111        .!      MOVS     r1,#0x11
        0x00000402:    2400        .$      MOVS     r4,#0
        0x00000404:    0149        I.      LSLS     r1,r1,#5
        0x00000406:    181e        ..      ADDS     r6,r3,r0
        0x00000408:    1876        v.      ADDS     r6,r6,r1
        0x0000040a:    5c17        .\      LDRB     r7,[r2,r0]
        0x0000040c:    e00f        ..      B        0x42e ; RawSmoothInput + 76
        0x0000040e:    9802        ..      LDR      r0,[sp,#8]
        0x00000410:    0061        a.      LSLS     r1,r4,#1
        0x00000412:    5e40        @^      LDRSH    r0,[r0,r1]
        0x00000414:    f003fe46    ..F.    BL       __aeabi_i2f ; 0x40a4
        0x00000418:    1929        ).      ADDS     r1,r5,r4
        0x0000041a:    222c        ,"      MOVS     r2,#0x2c
        0x0000041c:    4351        QC      MULS     r1,r2,r1
        0x0000041e:    4a43        CJ      LDR      r2,[pc,#268] ; [0x52c] = 0x200002bc
        0x00000420:    1889        ..      ADDS     r1,r1,r2
        0x00000422:    7a32        2z      LDRB     r2,[r6,#8]
        0x00000424:    0092        ..      LSLS     r2,r2,#2
        0x00000426:    1889        ..      ADDS     r1,r1,r2
        0x00000428:    1c64        d.      ADDS     r4,r4,#1
        0x0000042a:    b2e4        ..      UXTB     r4,r4
        0x0000042c:    6448        Hd      STR      r0,[r1,#0x44]
        0x0000042e:    42a7        .B      CMP      r7,r4
        0x00000430:    d8ed        ..      BHI      0x40e ; RawSmoothInput + 44
        0x00000432:    7a30        0z      LDRB     r0,[r6,#8]
        0x00000434:    210b        .!      MOVS     r1,#0xb
        0x00000436:    1c40        @.      ADDS     r0,r0,#1
        0x00000438:    b2c0        ..      UXTB     r0,r0
        0x0000043a:    f003fb45    ..E.    BL       __aeabi_uidiv ; 0x3ac8
        0x0000043e:    7231        1r      STRB     r1,[r6,#8]
        0x00000440:    bdfe        ..      POP      {r1-r7,pc}
    RawSmoothOutput
        0x00000442:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x00000444:    2600        .&      MOVS     r6,#0
        0x00000446:    4a37        7J      LDR      r2,[pc,#220] ; [0x524] = 0x200000cc
        0x00000448:    b081        ..      SUB      sp,sp,#4
        0x0000044a:    4630        0F      MOV      r0,r6
        0x0000044c:    4631        1F      MOV      r1,r6
        0x0000044e:    1c52        R.      ADDS     r2,r2,#1
        0x00000450:    e004        ..      B        0x45c ; RawSmoothOutput + 26
        0x00000452:    5c53        S\      LDRB     r3,[r2,r1]
        0x00000454:    199b        ..      ADDS     r3,r3,r6
        0x00000456:    1c49        I.      ADDS     r1,r1,#1
        0x00000458:    b2de        ..      UXTB     r6,r3
        0x0000045a:    b2c9        ..      UXTB     r1,r1
        0x0000045c:    9b01        ..      LDR      r3,[sp,#4]
        0x0000045e:    4299        .B      CMP      r1,r3
        0x00000460:    d3f7        ..      BCC      0x452 ; RawSmoothOutput + 16
        0x00000462:    2500        .%      MOVS     r5,#0
        0x00000464:    e01d        ..      B        0x4a2 ; RawSmoothOutput + 96
        0x00000466:    1971        q.      ADDS     r1,r6,r5
        0x00000468:    222c        ,"      MOVS     r2,#0x2c
        0x0000046a:    4351        QC      MULS     r1,r2,r1
        0x0000046c:    4a2f        /J      LDR      r2,[pc,#188] ; [0x52c] = 0x200002bc
        0x0000046e:    2400        .$      MOVS     r4,#0
        0x00000470:    188f        ..      ADDS     r7,r1,r2
        0x00000472:    f003fe17    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000476:    00a1        ..      LSLS     r1,r4,#2
        0x00000478:    1879        y.      ADDS     r1,r7,r1
        0x0000047a:    6c49        Il      LDR      r1,[r1,#0x44]
        0x0000047c:    f003fb9c    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000480:    f003fe30    ..0.    BL       __aeabi_f2iz ; 0x40e4
        0x00000484:    1c64        d.      ADDS     r4,r4,#1
        0x00000486:    b2e4        ..      UXTB     r4,r4
        0x00000488:    2c0b        .,      CMP      r4,#0xb
        0x0000048a:    d3f2        ..      BCC      0x472 ; RawSmoothOutput + 48
        0x0000048c:    210b        .!      MOVS     r1,#0xb
        0x0000048e:    f003fb31    ..1.    BL       __aeabi_idiv ; 0x3af4
        0x00000492:    f003fe07    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000496:    9902        ..      LDR      r1,[sp,#8]
        0x00000498:    00aa        ..      LSLS     r2,r5,#2
        0x0000049a:    5088        .P      STR      r0,[r1,r2]
        0x0000049c:    2000        .       MOVS     r0,#0
        0x0000049e:    1c6d        m.      ADDS     r5,r5,#1
        0x000004a0:    b2ed        ..      UXTB     r5,r5
        0x000004a2:    4920         I      LDR      r1,[pc,#128] ; [0x524] = 0x200000cc
        0x000004a4:    9a01        ..      LDR      r2,[sp,#4]
        0x000004a6:    1c49        I.      ADDS     r1,r1,#1
        0x000004a8:    5c89        .\      LDRB     r1,[r1,r2]
        0x000004aa:    42a9        .B      CMP      r1,r5
        0x000004ac:    d8db        ..      BHI      0x466 ; RawSmoothOutput + 36
        0x000004ae:    bdfe        ..      POP      {r1-r7,pc}
    nvtInputSensorRawACC
        0x000004b0:    b570        p.      PUSH     {r4-r6,lr}
        0x000004b2:    4604        .F      MOV      r4,r0
        0x000004b4:    f000fd92    ....    BL       CheckSecurityID ; 0xfdc
        0x000004b8:    2800        .(      CMP      r0,#0
        0x000004ba:    d11d        ..      BNE      0x4f8 ; nvtInputSensorRawACC + 72
        0x000004bc:    481a        .H      LDR      r0,[pc,#104] ; [0x528] = 0x200004ec
        0x000004be:    4d1b        .M      LDR      r5,[pc,#108] ; [0x52c] = 0x200002bc
        0x000004c0:    3810        .8      SUBS     r0,r0,#0x10
        0x000004c2:    7b00        .{      LDRB     r0,[r0,#0xc]
        0x000004c4:    2800        .(      CMP      r0,#0
        0x000004c6:    d006        ..      BEQ      0x4d6 ; nvtInputSensorRawACC + 38
        0x000004c8:    4916        .I      LDR      r1,[pc,#88] ; [0x524] = 0x200000cc
        0x000004ca:    4620         F      MOV      r0,r4
        0x000004cc:    310c        .1      ADDS     r1,r1,#0xc
        0x000004ce:    f000fe4a    ..J.    BL       MultiwiiAccFilter ; 0x1166
        0x000004d2:    4c14        .L      LDR      r4,[pc,#80] ; [0x524] = 0x200000cc
        0x000004d4:    340c        .4      ADDS     r4,r4,#0xc
        0x000004d6:    2000        .       MOVS     r0,#0
        0x000004d8:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000004da:    f003fde3    ....    BL       __aeabi_i2f ; 0x40a4
        0x000004de:    61a8        .a      STR      r0,[r5,#0x18]
        0x000004e0:    2002        .       MOVS     r0,#2
        0x000004e2:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000004e4:    f003fdde    ....    BL       __aeabi_i2f ; 0x40a4
        0x000004e8:    61e8        .a      STR      r0,[r5,#0x1c]
        0x000004ea:    2004        .       MOVS     r0,#4
        0x000004ec:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000004ee:    f003fdd9    ....    BL       __aeabi_i2f ; 0x40a4
        0x000004f2:    6228        (b      STR      r0,[r5,#0x20]
        0x000004f4:    f000fae4    ....    BL       SetCalibrateACC ; 0xac0
        0x000004f8:    bd70        p.      POP      {r4-r6,pc}
    nvtInputSensorRawGYRO
        0x000004fa:    b570        p.      PUSH     {r4-r6,lr}
        0x000004fc:    4604        .F      MOV      r4,r0
        0x000004fe:    f000fd6d    ..m.    BL       CheckSecurityID ; 0xfdc
        0x00000502:    2800        .(      CMP      r0,#0
        0x00000504:    d12c        ,.      BNE      0x560 ; nvtInputSensorRawGYRO + 102
        0x00000506:    4621        !F      MOV      r1,r4
        0x00000508:    2001        .       MOVS     r0,#1
        0x0000050a:    f7ffff6a    ..j.    BL       RawSmoothInput ; 0x3e2
        0x0000050e:    4806        .H      LDR      r0,[pc,#24] ; [0x528] = 0x200004ec
        0x00000510:    3810        .8      SUBS     r0,r0,#0x10
        0x00000512:    7b40        @{      LDRB     r0,[r0,#0xd]
        0x00000514:    2800        .(      CMP      r0,#0
        0x00000516:    d011        ..      BEQ      0x53c ; nvtInputSensorRawGYRO + 66
        0x00000518:    4904        .I      LDR      r1,[pc,#16] ; [0x52c] = 0x200002bc
        0x0000051a:    2001        .       MOVS     r0,#1
        0x0000051c:    3124        $1      ADDS     r1,r1,#0x24
        0x0000051e:    f7ffff90    ....    BL       RawSmoothOutput ; 0x442
        0x00000522:    e01b        ..      B        0x55c ; nvtInputSensorRawGYRO + 98
    $d
        0x00000524:    200000cc    ...     DCD    536871116
        0x00000528:    200004ec    ...     DCD    536872172
        0x0000052c:    200002bc    ...     DCD    536871612
        0x00000530:    3951b717    ..Q9    DCD    961656599
        0x00000534:    200004fc    ...     DCD    536872188
        0x00000538:    447a0000    ..zD    DCD    1148846080
    $t
        0x0000053c:    2000        .       MOVS     r0,#0
        0x0000053e:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00000540:    f003fdb0    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000544:    4db2        .M      LDR      r5,[pc,#712] ; [0x810] = 0x200002bc
        0x00000546:    6268        hb      STR      r0,[r5,#0x24]
        0x00000548:    2002        .       MOVS     r0,#2
        0x0000054a:    5e20         ^      LDRSH    r0,[r4,r0]
        0x0000054c:    f003fdaa    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000550:    62a8        .b      STR      r0,[r5,#0x28]
        0x00000552:    2004        .       MOVS     r0,#4
        0x00000554:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00000556:    f003fda5    ....    BL       __aeabi_i2f ; 0x40a4
        0x0000055a:    62e8        .b      STR      r0,[r5,#0x2c]
        0x0000055c:    f000fa42    ..B.    BL       SetCalibrateGYRO ; 0x9e4
        0x00000560:    bd70        p.      POP      {r4-r6,pc}
    nvtInputSensorRawMAG
        0x00000562:    b570        p.      PUSH     {r4-r6,lr}
        0x00000564:    4604        .F      MOV      r4,r0
        0x00000566:    f000fd39    ..9.    BL       CheckSecurityID ; 0xfdc
        0x0000056a:    2800        .(      CMP      r0,#0
        0x0000056c:    d11f        ..      BNE      0x5ae ; nvtInputSensorRawMAG + 76
        0x0000056e:    4621        !F      MOV      r1,r4
        0x00000570:    2002        .       MOVS     r0,#2
        0x00000572:    f7ffff36    ..6.    BL       RawSmoothInput ; 0x3e2
        0x00000576:    48a7        .H      LDR      r0,[pc,#668] ; [0x814] = 0x200004dc
        0x00000578:    7b80        .{      LDRB     r0,[r0,#0xe]
        0x0000057a:    2800        .(      CMP      r0,#0
        0x0000057c:    d005        ..      BEQ      0x58a ; nvtInputSensorRawMAG + 40
        0x0000057e:    49a4        .I      LDR      r1,[pc,#656] ; [0x810] = 0x200002bc
        0x00000580:    2002        .       MOVS     r0,#2
        0x00000582:    3130        01      ADDS     r1,r1,#0x30
        0x00000584:    f7ffff5d    ..].    BL       RawSmoothOutput ; 0x442
        0x00000588:    e00f        ..      B        0x5aa ; nvtInputSensorRawMAG + 72
        0x0000058a:    2000        .       MOVS     r0,#0
        0x0000058c:    5e20         ^      LDRSH    r0,[r4,r0]
        0x0000058e:    f003fd89    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000592:    4d9f        .M      LDR      r5,[pc,#636] ; [0x810] = 0x200002bc
        0x00000594:    6328        (c      STR      r0,[r5,#0x30]
        0x00000596:    2002        .       MOVS     r0,#2
        0x00000598:    5e20         ^      LDRSH    r0,[r4,r0]
        0x0000059a:    f003fd83    ....    BL       __aeabi_i2f ; 0x40a4
        0x0000059e:    6368        hc      STR      r0,[r5,#0x34]
        0x000005a0:    2004        .       MOVS     r0,#4
        0x000005a2:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000005a4:    f003fd7e    ..~.    BL       __aeabi_i2f ; 0x40a4
        0x000005a8:    63a8        .c      STR      r0,[r5,#0x38]
        0x000005aa:    f000fbd8    ....    BL       SetCalibrateMAG ; 0xd5e
        0x000005ae:    bd70        p.      POP      {r4-r6,pc}
    nvtInputSensorRawBARO
        0x000005b0:    b538        8.      PUSH     {r3-r5,lr}
        0x000005b2:    4604        .F      MOV      r4,r0
        0x000005b4:    f000fd12    ....    BL       CheckSecurityID ; 0xfdc
        0x000005b8:    2800        .(      CMP      r0,#0
        0x000005ba:    d110        ..      BNE      0x5de ; nvtInputSensorRawBARO + 46
        0x000005bc:    8820         .      LDRH     r0,[r4,#0]
        0x000005be:    4669        iF      MOV      r1,sp
        0x000005c0:    8008        ..      STRH     r0,[r1,#0]
        0x000005c2:    8860        `.      LDRH     r0,[r4,#2]
        0x000005c4:    8048        H.      STRH     r0,[r1,#2]
        0x000005c6:    2003        .       MOVS     r0,#3
        0x000005c8:    f7ffff0b    ....    BL       RawSmoothInput ; 0x3e2
        0x000005cc:    4891        .H      LDR      r0,[pc,#580] ; [0x814] = 0x200004dc
        0x000005ce:    7bc0        .{      LDRB     r0,[r0,#0xf]
        0x000005d0:    2800        .(      CMP      r0,#0
        0x000005d2:    d005        ..      BEQ      0x5e0 ; nvtInputSensorRawBARO + 48
        0x000005d4:    498e        .I      LDR      r1,[pc,#568] ; [0x810] = 0x200002bc
        0x000005d6:    2003        .       MOVS     r0,#3
        0x000005d8:    313c        <1      ADDS     r1,r1,#0x3c
        0x000005da:    f7ffff32    ..2.    BL       RawSmoothOutput ; 0x442
        0x000005de:    bd38        8.      POP      {r3-r5,pc}
        0x000005e0:    2000        .       MOVS     r0,#0
        0x000005e2:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000005e4:    f003fd5e    ..^.    BL       __aeabi_i2f ; 0x40a4
        0x000005e8:    4d89        .M      LDR      r5,[pc,#548] ; [0x810] = 0x200002bc
        0x000005ea:    63e8        .c      STR      r0,[r5,#0x3c]
        0x000005ec:    2002        .       MOVS     r0,#2
        0x000005ee:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000005f0:    f003fd58    ..X.    BL       __aeabi_i2f ; 0x40a4
        0x000005f4:    6428        (d      STR      r0,[r5,#0x40]
        0x000005f6:    bd38        8.      POP      {r3-r5,pc}
    nvtInputSensorRaw9D
        0x000005f8:    b570        p.      PUSH     {r4-r6,lr}
        0x000005fa:    4616        .F      MOV      r6,r2
        0x000005fc:    460c        .F      MOV      r4,r1
        0x000005fe:    4605        .F      MOV      r5,r0
        0x00000600:    f000fcec    ....    BL       CheckSecurityID ; 0xfdc
        0x00000604:    2800        .(      CMP      r0,#0
        0x00000606:    d10e        ..      BNE      0x626 ; nvtInputSensorRaw9D + 46
        0x00000608:    2d00        .-      CMP      r5,#0
        0x0000060a:    d002        ..      BEQ      0x612 ; nvtInputSensorRaw9D + 26
        0x0000060c:    4628        (F      MOV      r0,r5
        0x0000060e:    f7ffff4f    ..O.    BL       nvtInputSensorRawACC ; 0x4b0
        0x00000612:    2c00        .,      CMP      r4,#0
        0x00000614:    d002        ..      BEQ      0x61c ; nvtInputSensorRaw9D + 36
        0x00000616:    4620         F      MOV      r0,r4
        0x00000618:    f7ffff6f    ..o.    BL       nvtInputSensorRawGYRO ; 0x4fa
        0x0000061c:    2e00        ..      CMP      r6,#0
        0x0000061e:    d002        ..      BEQ      0x626 ; nvtInputSensorRaw9D + 46
        0x00000620:    4630        0F      MOV      r0,r6
        0x00000622:    f7ffff9e    ....    BL       nvtInputSensorRawMAG ; 0x562
        0x00000626:    bd70        p.      POP      {r4-r6,pc}
    nvtGetAccZWithoutGravity
        0x00000628:    b5f8        ..      PUSH     {r3-r7,lr}
        0x0000062a:    4f7b        {O      LDR      r7,[pc,#492] ; [0x818] = 0x200004fc
        0x0000062c:    460c        .F      MOV      r4,r1
        0x0000062e:    0005        ..      MOVS     r5,r0
        0x00000630:    d009        ..      BEQ      0x646 ; nvtGetAccZWithoutGravity + 30
        0x00000632:    4638        8F      MOV      r0,r7
        0x00000634:    3054        T0      ADDS     r0,r0,#0x54
        0x00000636:    c807        ..      LDM      r0,{r0-r2}
        0x00000638:    f003f855    ..U.    BL       sensfusion6GetAccZWithoutGravity ; 0x36e6
        0x0000063c:    4977        wI      LDR      r1,[pc,#476] ; [0x81c] = 0x200000cc
        0x0000063e:    6889        .h      LDR      r1,[r1,#8]
        0x00000640:    f003fb0b    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00000644:    6028        (`      STR      r0,[r5,#0]
        0x00000646:    2c00        .,      CMP      r4,#0
        0x00000648:    d014        ..      BEQ      0x674 ; nvtGetAccZWithoutGravity + 76
        0x0000064a:    6df8        .m      LDR      r0,[r7,#0x5c]
        0x0000064c:    4601        .F      MOV      r1,r0
        0x0000064e:    f003fb0c    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000652:    4606        .F      MOV      r6,r0
        0x00000654:    6db8        .m      LDR      r0,[r7,#0x58]
        0x00000656:    4601        .F      MOV      r1,r0
        0x00000658:    f003fb07    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000065c:    4605        .F      MOV      r5,r0
        0x0000065e:    6d78        xm      LDR      r0,[r7,#0x54]
        0x00000660:    4601        .F      MOV      r1,r0
        0x00000662:    f003fb02    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000666:    4629        )F      MOV      r1,r5
        0x00000668:    f003faa6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000066c:    4631        1F      MOV      r1,r6
        0x0000066e:    f003faa3    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000672:    6020         `      STR      r0,[r4,#0]
        0x00000674:    bdf8        ..      POP      {r3-r7,pc}
    nvtGetSensorRawACC
        0x00000676:    b570        p.      PUSH     {r4-r6,lr}
        0x00000678:    4604        .F      MOV      r4,r0
        0x0000067a:    f000fcaf    ....    BL       CheckSecurityID ; 0xfdc
        0x0000067e:    2800        .(      CMP      r0,#0
        0x00000680:    d10c        ..      BNE      0x69c ; nvtGetSensorRawACC + 38
        0x00000682:    4d63        cM      LDR      r5,[pc,#396] ; [0x810] = 0x200002bc
        0x00000684:    69a8        .i      LDR      r0,[r5,#0x18]
        0x00000686:    f003fd2d    ..-.    BL       __aeabi_f2iz ; 0x40e4
        0x0000068a:    8020         .      STRH     r0,[r4,#0]
        0x0000068c:    69e8        .i      LDR      r0,[r5,#0x1c]
        0x0000068e:    f003fd29    ..).    BL       __aeabi_f2iz ; 0x40e4
        0x00000692:    8060        `.      STRH     r0,[r4,#2]
        0x00000694:    6a28        (j      LDR      r0,[r5,#0x20]
        0x00000696:    f003fd25    ..%.    BL       __aeabi_f2iz ; 0x40e4
        0x0000069a:    80a0        ..      STRH     r0,[r4,#4]
        0x0000069c:    bd70        p.      POP      {r4-r6,pc}
    nvtGetSensorRawGYRO
        0x0000069e:    b570        p.      PUSH     {r4-r6,lr}
        0x000006a0:    4604        .F      MOV      r4,r0
        0x000006a2:    f000fc9b    ....    BL       CheckSecurityID ; 0xfdc
        0x000006a6:    2800        .(      CMP      r0,#0
        0x000006a8:    d10c        ..      BNE      0x6c4 ; nvtGetSensorRawGYRO + 38
        0x000006aa:    4d59        YM      LDR      r5,[pc,#356] ; [0x810] = 0x200002bc
        0x000006ac:    6a68        hj      LDR      r0,[r5,#0x24]
        0x000006ae:    f003fd19    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000006b2:    8020         .      STRH     r0,[r4,#0]
        0x000006b4:    6aa8        .j      LDR      r0,[r5,#0x28]
        0x000006b6:    f003fd15    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000006ba:    8060        `.      STRH     r0,[r4,#2]
        0x000006bc:    6ae8        .j      LDR      r0,[r5,#0x2c]
        0x000006be:    f003fd11    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000006c2:    80a0        ..      STRH     r0,[r4,#4]
        0x000006c4:    bd70        p.      POP      {r4-r6,pc}
    nvtGetSensorRawMAG
        0x000006c6:    b570        p.      PUSH     {r4-r6,lr}
        0x000006c8:    4604        .F      MOV      r4,r0
        0x000006ca:    f000fc87    ....    BL       CheckSecurityID ; 0xfdc
        0x000006ce:    2800        .(      CMP      r0,#0
        0x000006d0:    d10c        ..      BNE      0x6ec ; nvtGetSensorRawMAG + 38
        0x000006d2:    4d4f        OM      LDR      r5,[pc,#316] ; [0x810] = 0x200002bc
        0x000006d4:    6b28        (k      LDR      r0,[r5,#0x30]
        0x000006d6:    f003fd05    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000006da:    8020         .      STRH     r0,[r4,#0]
        0x000006dc:    6b68        hk      LDR      r0,[r5,#0x34]
        0x000006de:    f003fd01    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000006e2:    8060        `.      STRH     r0,[r4,#2]
        0x000006e4:    6ba8        .k      LDR      r0,[r5,#0x38]
        0x000006e6:    f003fcfd    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000006ea:    80a0        ..      STRH     r0,[r4,#4]
        0x000006ec:    bd70        p.      POP      {r4-r6,pc}
    nvtGetSensorRawBARO
        0x000006ee:    b570        p.      PUSH     {r4-r6,lr}
        0x000006f0:    4604        .F      MOV      r4,r0
        0x000006f2:    f000fc73    ..s.    BL       CheckSecurityID ; 0xfdc
        0x000006f6:    2800        .(      CMP      r0,#0
        0x000006f8:    d108        ..      BNE      0x70c ; nvtGetSensorRawBARO + 30
        0x000006fa:    4d45        EM      LDR      r5,[pc,#276] ; [0x810] = 0x200002bc
        0x000006fc:    6be8        .k      LDR      r0,[r5,#0x3c]
        0x000006fe:    f003fcf1    ....    BL       __aeabi_f2iz ; 0x40e4
        0x00000702:    8020         .      STRH     r0,[r4,#0]
        0x00000704:    6c28        (l      LDR      r0,[r5,#0x40]
        0x00000706:    f003fced    ....    BL       __aeabi_f2iz ; 0x40e4
        0x0000070a:    8060        `.      STRH     r0,[r4,#2]
        0x0000070c:    bd70        p.      POP      {r4-r6,pc}
    nvtSmoothSensorRawData
        0x0000070e:    4a40        @J      LDR      r2,[pc,#256] ; [0x810] = 0x200002bc
        0x00000710:    1851        Q.      ADDS     r1,r2,r1
        0x00000712:    2211        ."      MOVS     r2,#0x11
        0x00000714:    0152        R.      LSLS     r2,r2,#5
        0x00000716:    1889        ..      ADDS     r1,r1,r2
        0x00000718:    7308        .s      STRB     r0,[r1,#0xc]
        0x0000071a:    4770        pG      BX       lr
    nvtGetSensorRaw9D
        0x0000071c:    b570        p.      PUSH     {r4-r6,lr}
        0x0000071e:    4614        .F      MOV      r4,r2
        0x00000720:    460d        .F      MOV      r5,r1
        0x00000722:    4606        .F      MOV      r6,r0
        0x00000724:    f000fc5a    ..Z.    BL       CheckSecurityID ; 0xfdc
        0x00000728:    2800        .(      CMP      r0,#0
        0x0000072a:    d108        ..      BNE      0x73e ; nvtGetSensorRaw9D + 34
        0x0000072c:    4630        0F      MOV      r0,r6
        0x0000072e:    f7ffffa2    ....    BL       nvtGetSensorRawACC ; 0x676
        0x00000732:    4628        (F      MOV      r0,r5
        0x00000734:    f7ffffb3    ....    BL       nvtGetSensorRawGYRO ; 0x69e
        0x00000738:    4620         F      MOV      r0,r4
        0x0000073a:    f7ffffc4    ....    BL       nvtGetSensorRawMAG ; 0x6c6
        0x0000073e:    bd70        p.      POP      {r4-r6,pc}
    nvtGetAccOffset
        0x00000740:    4933        3I      LDR      r1,[pc,#204] ; [0x810] = 0x200002bc
        0x00000742:    396c        l9      SUBS     r1,r1,#0x6c
        0x00000744:    680a        .h      LDR      r2,[r1,#0]
        0x00000746:    6002        .`      STR      r2,[r0,#0]
        0x00000748:    684a        Jh      LDR      r2,[r1,#4]
        0x0000074a:    6042        B`      STR      r2,[r0,#4]
        0x0000074c:    6889        .h      LDR      r1,[r1,#8]
        0x0000074e:    6081        .`      STR      r1,[r0,#8]
        0x00000750:    4770        pG      BX       lr
    nvtGetAccScale
        0x00000752:    492f        /I      LDR      r1,[pc,#188] ; [0x810] = 0x200002bc
        0x00000754:    396c        l9      SUBS     r1,r1,#0x6c
        0x00000756:    68ca        .h      LDR      r2,[r1,#0xc]
        0x00000758:    6002        .`      STR      r2,[r0,#0]
        0x0000075a:    690a        .i      LDR      r2,[r1,#0x10]
        0x0000075c:    6042        B`      STR      r2,[r0,#4]
        0x0000075e:    6949        Ii      LDR      r1,[r1,#0x14]
        0x00000760:    6081        .`      STR      r1,[r0,#8]
        0x00000762:    4770        pG      BX       lr
    nvtGetGyroOffset
        0x00000764:    492a        *I      LDR      r1,[pc,#168] ; [0x810] = 0x200002bc
        0x00000766:    396c        l9      SUBS     r1,r1,#0x6c
        0x00000768:    698a        .i      LDR      r2,[r1,#0x18]
        0x0000076a:    6002        .`      STR      r2,[r0,#0]
        0x0000076c:    69ca        .i      LDR      r2,[r1,#0x1c]
        0x0000076e:    6042        B`      STR      r2,[r0,#4]
        0x00000770:    6a09        .j      LDR      r1,[r1,#0x20]
        0x00000772:    6081        .`      STR      r1,[r0,#8]
        0x00000774:    4770        pG      BX       lr
    nvtGetGyroScale
        0x00000776:    4926        &I      LDR      r1,[pc,#152] ; [0x810] = 0x200002bc
        0x00000778:    396c        l9      SUBS     r1,r1,#0x6c
        0x0000077a:    6a4a        Jj      LDR      r2,[r1,#0x24]
        0x0000077c:    6002        .`      STR      r2,[r0,#0]
        0x0000077e:    6a8a        .j      LDR      r2,[r1,#0x28]
        0x00000780:    6042        B`      STR      r2,[r0,#4]
        0x00000782:    6ac9        .j      LDR      r1,[r1,#0x2c]
        0x00000784:    6081        .`      STR      r1,[r0,#8]
        0x00000786:    4770        pG      BX       lr
    nvtGetMagCalMatrix
        0x00000788:    4b21        !K      LDR      r3,[pc,#132] ; [0x810] = 0x200002bc
        0x0000078a:    b510        ..      PUSH     {r4,lr}
        0x0000078c:    2100        .!      MOVS     r1,#0
        0x0000078e:    3b6c        l;      SUBS     r3,r3,#0x6c
        0x00000790:    008a        ..      LSLS     r2,r1,#2
        0x00000792:    18d4        ..      ADDS     r4,r2,r3
        0x00000794:    6b24        $k      LDR      r4,[r4,#0x30]
        0x00000796:    1c49        I.      ADDS     r1,r1,#1
        0x00000798:    5084        .P      STR      r4,[r0,r2]
        0x0000079a:    290a        .)      CMP      r1,#0xa
        0x0000079c:    dbf8        ..      BLT      0x790 ; nvtGetMagCalMatrix + 8
        0x0000079e:    bd10        ..      POP      {r4,pc}
    nvtSetSensorEnable
        0x000007a0:    4a1b        .J      LDR      r2,[pc,#108] ; [0x810] = 0x200002bc
        0x000007a2:    1810        ..      ADDS     r0,r2,r0
        0x000007a4:    7101        .q      STRB     r1,[r0,#4]
        0x000007a6:    4770        pG      BX       lr
    nvtSetAccOffset
        0x000007a8:    4919        .I      LDR      r1,[pc,#100] ; [0x810] = 0x200002bc
        0x000007aa:    6802        .h      LDR      r2,[r0,#0]
        0x000007ac:    396c        l9      SUBS     r1,r1,#0x6c
        0x000007ae:    600a        .`      STR      r2,[r1,#0]
        0x000007b0:    6842        Bh      LDR      r2,[r0,#4]
        0x000007b2:    604a        J`      STR      r2,[r1,#4]
        0x000007b4:    6880        .h      LDR      r0,[r0,#8]
        0x000007b6:    6088        .`      STR      r0,[r1,#8]
        0x000007b8:    4770        pG      BX       lr
    nvtSetAccScale
        0x000007ba:    4915        .I      LDR      r1,[pc,#84] ; [0x810] = 0x200002bc
        0x000007bc:    6802        .h      LDR      r2,[r0,#0]
        0x000007be:    396c        l9      SUBS     r1,r1,#0x6c
        0x000007c0:    60ca        .`      STR      r2,[r1,#0xc]
        0x000007c2:    6842        Bh      LDR      r2,[r0,#4]
        0x000007c4:    610a        .a      STR      r2,[r1,#0x10]
        0x000007c6:    6880        .h      LDR      r0,[r0,#8]
        0x000007c8:    6148        Ha      STR      r0,[r1,#0x14]
        0x000007ca:    4770        pG      BX       lr
    nvtSetGyroOffset
        0x000007cc:    4910        .I      LDR      r1,[pc,#64] ; [0x810] = 0x200002bc
        0x000007ce:    6802        .h      LDR      r2,[r0,#0]
        0x000007d0:    396c        l9      SUBS     r1,r1,#0x6c
        0x000007d2:    618a        .a      STR      r2,[r1,#0x18]
        0x000007d4:    6842        Bh      LDR      r2,[r0,#4]
        0x000007d6:    61ca        .a      STR      r2,[r1,#0x1c]
        0x000007d8:    6880        .h      LDR      r0,[r0,#8]
        0x000007da:    6208        .b      STR      r0,[r1,#0x20]
        0x000007dc:    4770        pG      BX       lr
    nvtSetGyroScale
        0x000007de:    490c        .I      LDR      r1,[pc,#48] ; [0x810] = 0x200002bc
        0x000007e0:    6802        .h      LDR      r2,[r0,#0]
        0x000007e2:    396c        l9      SUBS     r1,r1,#0x6c
        0x000007e4:    624a        Jb      STR      r2,[r1,#0x24]
        0x000007e6:    6842        Bh      LDR      r2,[r0,#4]
        0x000007e8:    628a        .b      STR      r2,[r1,#0x28]
        0x000007ea:    6880        .h      LDR      r0,[r0,#8]
        0x000007ec:    62c8        .b      STR      r0,[r1,#0x2c]
        0x000007ee:    4770        pG      BX       lr
    nvtSetMagCalMatrix
        0x000007f0:    4b07        .K      LDR      r3,[pc,#28] ; [0x810] = 0x200002bc
        0x000007f2:    b510        ..      PUSH     {r4,lr}
        0x000007f4:    2100        .!      MOVS     r1,#0
        0x000007f6:    3b6c        l;      SUBS     r3,r3,#0x6c
        0x000007f8:    008a        ..      LSLS     r2,r1,#2
        0x000007fa:    5884        .X      LDR      r4,[r0,r2]
        0x000007fc:    18d2        ..      ADDS     r2,r2,r3
        0x000007fe:    1c49        I.      ADDS     r1,r1,#1
        0x00000800:    6314        .c      STR      r4,[r2,#0x30]
        0x00000802:    290a        .)      CMP      r1,#0xa
        0x00000804:    dbf8        ..      BLT      0x7f8 ; nvtSetMagCalMatrix + 8
        0x00000806:    f001ffcf    ....    BL       UpdateMagMasterTime ; 0x27a8
        0x0000080a:    f000fb62    ..b.    BL       SetMagGuass ; 0xed2
        0x0000080e:    bd10        ..      POP      {r4,pc}
    $d
        0x00000810:    200002bc    ...     DCD    536871612
        0x00000814:    200004dc    ...     DCD    536872156
        0x00000818:    200004fc    ...     DCD    536872188
        0x0000081c:    200000cc    ...     DCD    536871116
    $t
    .text
    nvtGyroCenterCalibrate
        0x00000820:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00000822:    4c85        .L      LDR      r4,[pc,#532] ; [0xa38] = 0x200002bc
        0x00000824:    2000        .       MOVS     r0,#0
        0x00000826:    7220         r      STRB     r0,[r4,#8]
        0x00000828:    6ae0        .j      LDR      r0,[r4,#0x2c]
        0x0000082a:    f003fc5b    ..[.    BL       __aeabi_f2iz ; 0x40e4
        0x0000082e:    b206        ..      SXTH     r6,r0
        0x00000830:    6aa0        .j      LDR      r0,[r4,#0x28]
        0x00000832:    f003fc57    ..W.    BL       __aeabi_f2iz ; 0x40e4
        0x00000836:    b205        ..      SXTH     r5,r0
        0x00000838:    6a60        `j      LDR      r0,[r4,#0x24]
        0x0000083a:    f003fc53    ..S.    BL       __aeabi_f2iz ; 0x40e4
        0x0000083e:    b200        ..      SXTH     r0,r0
        0x00000840:    4632        2F      MOV      r2,r6
        0x00000842:    4629        )F      MOV      r1,r5
        0x00000844:    f000ff0f    ....    BL       GyroDynamicCalibrate ; 0x1666
        0x00000848:    7a20         z      LDRB     r0,[r4,#8]
        0x0000084a:    2800        .(      CMP      r0,#0
        0x0000084c:    d00e        ..      BEQ      0x86c ; nvtGyroCenterCalibrate + 76
        0x0000084e:    4a7b        {J      LDR      r2,[pc,#492] ; [0xa3c] = 0x20000270
        0x00000850:    1f11        ..      SUBS     r1,r2,#4
        0x00000852:    1f08        ..      SUBS     r0,r1,#4
        0x00000854:    f000fec7    ....    BL       GetGyroDynamicCenter ; 0x15e6
        0x00000858:    2100        .!      MOVS     r1,#0
        0x0000085a:    4668        hF      MOV      r0,sp
        0x0000085c:    f7fffee4    ....    BL       nvtGetAccZWithoutGravity ; 0x628
        0x00000860:    9800        ..      LDR      r0,[sp,#0]
        0x00000862:    f7fffc67    ..g.    BL       SetZWithoutG_Base ; 0x134
        0x00000866:    f000fb34    ..4.    BL       SetMagGuass ; 0xed2
        0x0000086a:    2001        .       MOVS     r0,#1
        0x0000086c:    bdf8        ..      POP      {r3-r7,pc}
    nvtCalGyroInit
        0x0000086e:    b510        ..      PUSH     {r4,lr}
        0x00000870:    4b73        sK      LDR      r3,[pc,#460] ; [0xa40] = 0x20000574
        0x00000872:    2100        .!      MOVS     r1,#0
        0x00000874:    0082        ..      LSLS     r2,r0,#2
        0x00000876:    5099        .P      STR      r1,[r3,r2]
        0x00000878:    4a72        rJ      LDR      r2,[pc,#456] ; [0xa44] = 0x200000df
        0x0000087a:    1e49        I.      SUBS     r1,r1,#1
        0x0000087c:    5411        .T      STRB     r1,[r2,r0]
        0x0000087e:    4a6e        nJ      LDR      r2,[pc,#440] ; [0xa38] = 0x200002bc
        0x00000880:    2101        .!      MOVS     r1,#1
        0x00000882:    7251        Qr      STRB     r1,[r2,#9]
        0x00000884:    4081        .@      LSLS     r1,r1,r0
        0x00000886:    486f        oH      LDR      r0,[pc,#444] ; [0xa44] = 0x200000df
        0x00000888:    1e40        @.      SUBS     r0,r0,#1
        0x0000088a:    7802        .x      LDRB     r2,[r0,#0]
        0x0000088c:    438a        .C      BICS     r2,r2,r1
        0x0000088e:    7002        .p      STRB     r2,[r0,#0]
        0x00000890:    f7ffffc6    ....    BL       nvtGyroCenterCalibrate ; 0x820
        0x00000894:    2800        .(      CMP      r0,#0
        0x00000896:    d0fb        ..      BEQ      0x890 ; nvtCalGyroInit + 34
        0x00000898:    bd10        ..      POP      {r4,pc}
    nvtGyroIsSteady
        0x0000089a:    b570        p.      PUSH     {r4-r6,lr}
        0x0000089c:    4c66        fL      LDR      r4,[pc,#408] ; [0xa38] = 0x200002bc
        0x0000089e:    6ae0        .j      LDR      r0,[r4,#0x2c]
        0x000008a0:    f003fc20    .. .    BL       __aeabi_f2iz ; 0x40e4
        0x000008a4:    b206        ..      SXTH     r6,r0
        0x000008a6:    6aa0        .j      LDR      r0,[r4,#0x28]
        0x000008a8:    f003fc1c    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000008ac:    b205        ..      SXTH     r5,r0
        0x000008ae:    6a60        `j      LDR      r0,[r4,#0x24]
        0x000008b0:    f003fc18    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000008b4:    b200        ..      SXTH     r0,r0
        0x000008b6:    4632        2F      MOV      r2,r6
        0x000008b8:    4629        )F      MOV      r1,r5
        0x000008ba:    f000fed4    ....    BL       GyroDynamicCalibrate ; 0x1666
        0x000008be:    7a20         z      LDRB     r0,[r4,#8]
        0x000008c0:    2800        .(      CMP      r0,#0
        0x000008c2:    d001        ..      BEQ      0x8c8 ; nvtGyroIsSteady + 46
        0x000008c4:    2000        .       MOVS     r0,#0
        0x000008c6:    bd70        p.      POP      {r4-r6,pc}
        0x000008c8:    2000        .       MOVS     r0,#0
        0x000008ca:    43c0        .C      MVNS     r0,r0
        0x000008cc:    bd70        p.      POP      {r4-r6,pc}
    GyroScaleCalibrate
        0x000008ce:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x000008d0:    4e59        YN      LDR      r6,[pc,#356] ; [0xa38] = 0x200002bc
        0x000008d2:    4604        .F      MOV      r4,r0
        0x000008d4:    b083        ..      SUB      sp,sp,#0xc
        0x000008d6:    6af0        .j      LDR      r0,[r6,#0x2c]
        0x000008d8:    f003fc04    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000008dc:    b207        ..      SXTH     r7,r0
        0x000008de:    6ab0        .j      LDR      r0,[r6,#0x28]
        0x000008e0:    f003fc00    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000008e4:    b205        ..      SXTH     r5,r0
        0x000008e6:    6a70        pj      LDR      r0,[r6,#0x24]
        0x000008e8:    f003fbfc    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000008ec:    b200        ..      SXTH     r0,r0
        0x000008ee:    463a        :F      MOV      r2,r7
        0x000008f0:    4629        )F      MOV      r1,r5
        0x000008f2:    f000feb8    ....    BL       GyroDynamicCalibrate ; 0x1666
        0x000008f6:    4851        QH      LDR      r0,[pc,#324] ; [0xa3c] = 0x20000270
        0x000008f8:    00a5        ..      LSLS     r5,r4,#2
        0x000008fa:    3820         8      SUBS     r0,r0,#0x20
        0x000008fc:    6dc7        .m      LDR      r7,[r0,#0x5c]
        0x000008fe:    1828        (.      ADDS     r0,r5,r0
        0x00000900:    9000        ..      STR      r0,[sp,#0]
        0x00000902:    6980        .i      LDR      r0,[r0,#0x18]
        0x00000904:    4639        9F      MOV      r1,r7
        0x00000906:    f003f9b0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000090a:    9001        ..      STR      r0,[sp,#4]
        0x0000090c:    19a8        ..      ADDS     r0,r5,r6
        0x0000090e:    6a40        @j      LDR      r0,[r0,#0x24]
        0x00000910:    4639        9F      MOV      r1,r7
        0x00000912:    f003f9aa    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000916:    9901        ..      LDR      r1,[sp,#4]
        0x00000918:    f003f99f    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000091c:    9904        ..      LDR      r1,[sp,#0x10]
        0x0000091e:    f003f9a4    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000922:    4f47        GO      LDR      r7,[pc,#284] ; [0xa40] = 0x20000574
        0x00000924:    5979        yY      LDR      r1,[r7,r5]
        0x00000926:    f003f947    ..G.    BL       __aeabi_fadd ; 0x3bb8
        0x0000092a:    5178        xQ      STR      r0,[r7,r5]
        0x0000092c:    4601        .F      MOV      r1,r0
        0x0000092e:    7a70        pz      LDRB     r0,[r6,#9]
        0x00000930:    2300        .#      MOVS     r3,#0
        0x00000932:    4a44        DJ      LDR      r2,[pc,#272] ; [0xa44] = 0x200000df
        0x00000934:    2701        .'      MOVS     r7,#1
        0x00000936:    2800        .(      CMP      r0,#0
        0x00000938:    d006        ..      BEQ      0x948 ; GyroScaleCalibrate + 122
        0x0000093a:    2801        .(      CMP      r0,#1
        0x0000093c:    d009        ..      BEQ      0x952 ; GyroScaleCalibrate + 132
        0x0000093e:    2800        .(      CMP      r0,#0
        0x00000940:    d00a        ..      BEQ      0x958 ; GyroScaleCalibrate + 138
        0x00000942:    2801        .(      CMP      r0,#1
        0x00000944:    d008        ..      BEQ      0x958 ; GyroScaleCalibrate + 138
        0x00000946:    e00b        ..      B        0x960 ; GyroScaleCalibrate + 146
        0x00000948:    7a30        0z      LDRB     r0,[r6,#8]
        0x0000094a:    2801        .(      CMP      r0,#1
        0x0000094c:    d104        ..      BNE      0x958 ; GyroScaleCalibrate + 138
        0x0000094e:    5517        .U      STRB     r7,[r2,r4]
        0x00000950:    e006        ..      B        0x960 ; GyroScaleCalibrate + 146
        0x00000952:    7a30        0z      LDRB     r0,[r6,#8]
        0x00000954:    2801        .(      CMP      r0,#1
        0x00000956:    d002        ..      BEQ      0x95e ; GyroScaleCalibrate + 144
        0x00000958:    7a30        0z      LDRB     r0,[r6,#8]
        0x0000095a:    2800        .(      CMP      r0,#0
        0x0000095c:    d100        ..      BNE      0x960 ; GyroScaleCalibrate + 146
        0x0000095e:    5513        .U      STRB     r3,[r2,r4]
        0x00000960:    7a30        0z      LDRB     r0,[r6,#8]
        0x00000962:    7270        pr      STRB     r0,[r6,#9]
        0x00000964:    5d10        .]      LDRB     r0,[r2,r4]
        0x00000966:    2800        .(      CMP      r0,#0
        0x00000968:    d01a        ..      BEQ      0x9a0 ; GyroScaleCalibrate + 210
        0x0000096a:    22ff        ."      MOVS     r2,#0xff
        0x0000096c:    4834        4H      LDR      r0,[pc,#208] ; [0xa40] = 0x20000574
        0x0000096e:    05d2        ..      LSLS     r2,r2,#23
        0x00000970:    42d1        .B      CMN      r1,r2
        0x00000972:    d201        ..      BCS      0x978 ; GyroScaleCalibrate + 170
        0x00000974:    5941        AY      LDR      r1,[r0,r5]
        0x00000976:    e003        ..      B        0x980 ; GyroScaleCalibrate + 178
        0x00000978:    2201        ."      MOVS     r2,#1
        0x0000097a:    07d2        ..      LSLS     r2,r2,#31
        0x0000097c:    4051        Q@      EORS     r1,r1,r2
        0x0000097e:    5141        AQ      STR      r1,[r0,r5]
        0x00000980:    4831        1H      LDR      r0,[pc,#196] ; [0xa48] = 0x44870000
        0x00000982:    f003f9af    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00000986:    9900        ..      LDR      r1,[sp,#0]
        0x00000988:    4a2e        .J      LDR      r2,[pc,#184] ; [0xa44] = 0x200000df
        0x0000098a:    6248        Hb      STR      r0,[r1,#0x24]
        0x0000098c:    4639        9F      MOV      r1,r7
        0x0000098e:    40a1        .@      LSLS     r1,r1,r4
        0x00000990:    1e52        R.      SUBS     r2,r2,#1
        0x00000992:    7810        .x      LDRB     r0,[r2,#0]
        0x00000994:    4301        .C      ORRS     r1,r1,r0
        0x00000996:    b2c8        ..      UXTB     r0,r1
        0x00000998:    7010        .p      STRB     r0,[r2,#0]
        0x0000099a:    2807        .(      CMP      r0,#7
        0x0000099c:    d002        ..      BEQ      0x9a4 ; GyroScaleCalibrate + 214
        0x0000099e:    2002        .       MOVS     r0,#2
        0x000009a0:    b005        ..      ADD      sp,sp,#0x14
        0x000009a2:    bdf0        ..      POP      {r4-r7,pc}
        0x000009a4:    7077        wp      STRB     r7,[r6,#1]
        0x000009a6:    2001        .       MOVS     r0,#1
        0x000009a8:    e7fa        ..      B        0x9a0 ; GyroScaleCalibrate + 210
    nvtGyroScaleCalibrate
        0x000009aa:    b570        p.      PUSH     {r4-r6,lr}
        0x000009ac:    4d25        %M      LDR      r5,[pc,#148] ; [0xa44] = 0x200000df
        0x000009ae:    4604        .F      MOV      r4,r0
        0x000009b0:    5728        (W      LDRSB    r0,[r5,r4]
        0x000009b2:    1c41        A.      ADDS     r1,r0,#1
        0x000009b4:    d002        ..      BEQ      0x9bc ; nvtGyroScaleCalibrate + 18
        0x000009b6:    2800        .(      CMP      r0,#0
        0x000009b8:    d004        ..      BEQ      0x9c4 ; nvtGyroScaleCalibrate + 26
        0x000009ba:    e00f        ..      B        0x9dc ; nvtGyroScaleCalibrate + 50
        0x000009bc:    f7fffbc6    ....    BL       TimerStart ; 0x14c
        0x000009c0:    2000        .       MOVS     r0,#0
        0x000009c2:    e00a        ..      B        0x9da ; nvtGyroScaleCalibrate + 48
        0x000009c4:    f7fffbc7    ....    BL       TimerRead ; 0x156
        0x000009c8:    f003fb6c    ..l.    BL       __aeabi_i2f ; 0x40a4
        0x000009cc:    491f        .I      LDR      r1,[pc,#124] ; [0xa4c] = 0x447a0000
        0x000009ce:    f003f989    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000009d2:    4601        .F      MOV      r1,r0
        0x000009d4:    4620         F      MOV      r0,r4
        0x000009d6:    f7ffff7a    ..z.    BL       GyroScaleCalibrate ; 0x8ce
        0x000009da:    5528        (U      STRB     r0,[r5,r4]
        0x000009dc:    f7fffbb0    ....    BL       TimerSet ; 0x140
        0x000009e0:    5728        (W      LDRSB    r0,[r5,r4]
        0x000009e2:    bd70        p.      POP      {r4-r6,pc}
    SetCalibrateGYRO
        0x000009e4:    b570        p.      PUSH     {r4-r6,lr}
        0x000009e6:    4c15        .L      LDR      r4,[pc,#84] ; [0xa3c] = 0x20000270
        0x000009e8:    4e13        .N      LDR      r6,[pc,#76] ; [0xa38] = 0x200002bc
        0x000009ea:    3c20         <      SUBS     r4,r4,#0x20
        0x000009ec:    69a1        .i      LDR      r1,[r4,#0x18]
        0x000009ee:    6a70        pj      LDR      r0,[r6,#0x24]
        0x000009f0:    f003f933    ..3.    BL       __aeabi_fsub ; 0x3c5a
        0x000009f4:    6a61        aj      LDR      r1,[r4,#0x24]
        0x000009f6:    f003f938    ..8.    BL       __aeabi_fmul ; 0x3c6a
        0x000009fa:    4d15        .M      LDR      r5,[pc,#84] ; [0xa50] = 0x200004fc
        0x000009fc:    6628        (f      STR      r0,[r5,#0x60]
        0x000009fe:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00000a00:    6ab0        .j      LDR      r0,[r6,#0x28]
        0x00000a02:    f003f92a    ..*.    BL       __aeabi_fsub ; 0x3c5a
        0x00000a06:    6aa1        .j      LDR      r1,[r4,#0x28]
        0x00000a08:    f003f92f    ../.    BL       __aeabi_fmul ; 0x3c6a
        0x00000a0c:    6668        hf      STR      r0,[r5,#0x64]
        0x00000a0e:    6a21        !j      LDR      r1,[r4,#0x20]
        0x00000a10:    6af0        .j      LDR      r0,[r6,#0x2c]
        0x00000a12:    f003f922    ..".    BL       __aeabi_fsub ; 0x3c5a
        0x00000a16:    6ae1        .j      LDR      r1,[r4,#0x2c]
        0x00000a18:    f003f927    ..'.    BL       __aeabi_fmul ; 0x3c6a
        0x00000a1c:    66a8        .f      STR      r0,[r5,#0x68]
        0x00000a1e:    bd70        p.      POP      {r4-r6,pc}
    nvtGetCalibratedGYRO
        0x00000a20:    490b        .I      LDR      r1,[pc,#44] ; [0xa50] = 0x200004fc
        0x00000a22:    6e0a        .n      LDR      r2,[r1,#0x60]
        0x00000a24:    6002        .`      STR      r2,[r0,#0]
        0x00000a26:    6e4a        Jn      LDR      r2,[r1,#0x64]
        0x00000a28:    6042        B`      STR      r2,[r0,#4]
        0x00000a2a:    6e89        .n      LDR      r1,[r1,#0x68]
        0x00000a2c:    6081        .`      STR      r1,[r0,#8]
        0x00000a2e:    4770        pG      BX       lr
    nvtSetGYRODegPLSB
        0x00000a30:    4902        .I      LDR      r1,[pc,#8] ; [0xa3c] = 0x20000270
        0x00000a32:    3920         9      SUBS     r1,r1,#0x20
        0x00000a34:    65c8        .e      STR      r0,[r1,#0x5c]
        0x00000a36:    4770        pG      BX       lr
    $d
        0x00000a38:    200002bc    ...     DCD    536871612
        0x00000a3c:    20000270    p..     DCD    536871536
        0x00000a40:    20000574    t..     DCD    536872308
        0x00000a44:    200000df    ...     DCD    536871135
        0x00000a48:    44870000    ...D    DCD    1149698048
        0x00000a4c:    447a0000    ..zD    DCD    1148846080
        0x00000a50:    200004fc    ...     DCD    536872188
    $t
    .text
    FilterACCInit
        0x00000a54:    2200        ."      MOVS     r2,#0
        0x00000a56:    4bac        .K      LDR      r3,[pc,#688] ; [0xd08] = 0x200006f4
        0x00000a58:    4610        .F      MOV      r0,r2
        0x00000a5a:    701a        .p      STRB     r2,[r3,#0]
        0x00000a5c:    705a        Zp      STRB     r2,[r3,#1]
        0x00000a5e:    709a        .p      STRB     r2,[r3,#2]
        0x00000a60:    0081        ..      LSLS     r1,r0,#2
        0x00000a62:    18c9        ..      ADDS     r1,r1,r3
        0x00000a64:    604a        J`      STR      r2,[r1,#4]
        0x00000a66:    610a        .a      STR      r2,[r1,#0x10]
        0x00000a68:    61ca        .a      STR      r2,[r1,#0x1c]
        0x00000a6a:    628a        .b      STR      r2,[r1,#0x28]
        0x00000a6c:    0041        A.      LSLS     r1,r0,#1
        0x00000a6e:    18c9        ..      ADDS     r1,r1,r3
        0x00000a70:    1c40        @.      ADDS     r0,r0,#1
        0x00000a72:    868a        ..      STRH     r2,[r1,#0x34]
        0x00000a74:    2803        .(      CMP      r0,#3
        0x00000a76:    dbf3        ..      BLT      0xa60 ; FilterACCInit + 12
        0x00000a78:    4770        pG      BX       lr
    nvtCalACCInit
        0x00000a7a:    2000        .       MOVS     r0,#0
        0x00000a7c:    4aa2        .J      LDR      r2,[pc,#648] ; [0xd08] = 0x200006f4
        0x00000a7e:    4601        .F      MOV      r1,r0
        0x00000a80:    3a0c        .:      SUBS     r2,r2,#0xc
        0x00000a82:    0043        C.      LSLS     r3,r0,#1
        0x00000a84:    1c40        @.      ADDS     r0,r0,#1
        0x00000a86:    52d1        .R      STRH     r1,[r2,r3]
        0x00000a88:    2806        .(      CMP      r0,#6
        0x00000a8a:    dbfa        ..      BLT      0xa82 ; nvtCalACCInit + 8
        0x00000a8c:    489f        .H      LDR      r0,[pc,#636] ; [0xd0c] = 0x200002bc
        0x00000a8e:    7001        .p      STRB     r1,[r0,#0]
        0x00000a90:    489f        .H      LDR      r0,[pc,#636] ; [0xd10] = 0x200000e2
        0x00000a92:    7001        .p      STRB     r1,[r0,#0]
        0x00000a94:    4770        pG      BX       lr
    UpdateCalibrateInfoACC
        0x00000a96:    b510        ..      PUSH     {r4,lr}
        0x00000a98:    2001        .       MOVS     r0,#1
        0x00000a9a:    f001fe33    ..3.    BL       GetCalibrateParams ; 0x2704
        0x00000a9e:    499d        .I      LDR      r1,[pc,#628] ; [0xd14] = 0x20000250
        0x00000aa0:    6802        .h      LDR      r2,[r0,#0]
        0x00000aa2:    600a        .`      STR      r2,[r1,#0]
        0x00000aa4:    6842        Bh      LDR      r2,[r0,#4]
        0x00000aa6:    604a        J`      STR      r2,[r1,#4]
        0x00000aa8:    6882        .h      LDR      r2,[r0,#8]
        0x00000aaa:    608a        .`      STR      r2,[r1,#8]
        0x00000aac:    68c2        .h      LDR      r2,[r0,#0xc]
        0x00000aae:    60ca        .`      STR      r2,[r1,#0xc]
        0x00000ab0:    6902        .i      LDR      r2,[r0,#0x10]
        0x00000ab2:    610a        .a      STR      r2,[r1,#0x10]
        0x00000ab4:    6940        @i      LDR      r0,[r0,#0x14]
        0x00000ab6:    6148        Ha      STR      r0,[r1,#0x14]
        0x00000ab8:    4994        .I      LDR      r1,[pc,#592] ; [0xd0c] = 0x200002bc
        0x00000aba:    2001        .       MOVS     r0,#1
        0x00000abc:    7008        .p      STRB     r0,[r1,#0]
        0x00000abe:    bd10        ..      POP      {r4,pc}
    SetCalibrateACC
        0x00000ac0:    b570        p.      PUSH     {r4-r6,lr}
        0x00000ac2:    4c94        .L      LDR      r4,[pc,#592] ; [0xd14] = 0x20000250
        0x00000ac4:    4e91        .N      LDR      r6,[pc,#580] ; [0xd0c] = 0x200002bc
        0x00000ac6:    6821        !h      LDR      r1,[r4,#0]
        0x00000ac8:    69b0        .i      LDR      r0,[r6,#0x18]
        0x00000aca:    f003f8c6    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00000ace:    68e1        .h      LDR      r1,[r4,#0xc]
        0x00000ad0:    f003f8cb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000ad4:    4d90        .M      LDR      r5,[pc,#576] ; [0xd18] = 0x200004fc
        0x00000ad6:    6568        he      STR      r0,[r5,#0x54]
        0x00000ad8:    6861        ah      LDR      r1,[r4,#4]
        0x00000ada:    69f0        .i      LDR      r0,[r6,#0x1c]
        0x00000adc:    f003f8bd    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00000ae0:    6921        !i      LDR      r1,[r4,#0x10]
        0x00000ae2:    f003f8c2    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000ae6:    65a8        .e      STR      r0,[r5,#0x58]
        0x00000ae8:    68a1        .h      LDR      r1,[r4,#8]
        0x00000aea:    6a30        0j      LDR      r0,[r6,#0x20]
        0x00000aec:    f003f8b5    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00000af0:    6961        ai      LDR      r1,[r4,#0x14]
        0x00000af2:    f003f8ba    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000af6:    65e8        .e      STR      r0,[r5,#0x5c]
        0x00000af8:    bd70        p.      POP      {r4-r6,pc}
    nvtGetCalibratedACC
        0x00000afa:    4987        .I      LDR      r1,[pc,#540] ; [0xd18] = 0x200004fc
        0x00000afc:    6d4a        Jm      LDR      r2,[r1,#0x54]
        0x00000afe:    6002        .`      STR      r2,[r0,#0]
        0x00000b00:    6d8a        .m      LDR      r2,[r1,#0x58]
        0x00000b02:    6042        B`      STR      r2,[r0,#4]
        0x00000b04:    6dc9        .m      LDR      r1,[r1,#0x5c]
        0x00000b06:    6081        .`      STR      r1,[r0,#8]
        0x00000b08:    4770        pG      BX       lr
    SampleFilter
        0x00000b0a:    b5fe        ..      PUSH     {r1-r7,lr}
        0x00000b0c:    4c7e        ~L      LDR      r4,[pc,#504] ; [0xd08] = 0x200006f4
        0x00000b0e:    4d7f        .M      LDR      r5,[pc,#508] ; [0xd0c] = 0x200002bc
        0x00000b10:    7820         x      LDRB     r0,[r4,#0]
        0x00000b12:    2800        .(      CMP      r0,#0
        0x00000b14:    d004        ..      BEQ      0xb20 ; SampleFilter + 22
        0x00000b16:    2801        .(      CMP      r0,#1
        0x00000b18:    d03b        ;.      BEQ      0xb92 ; SampleFilter + 136
        0x00000b1a:    2802        .(      CMP      r0,#2
        0x00000b1c:    d07e        ~.      BEQ      0xc1c ; SampleFilter + 274
        0x00000b1e:    e0ae        ..      B        0xc7e ; SampleFilter + 372
        0x00000b20:    2600        .&      MOVS     r6,#0
        0x00000b22:    00b7        ..      LSLS     r7,r6,#2
        0x00000b24:    193d        =.      ADDS     r5,r7,r4
        0x00000b26:    6868        hh      LDR      r0,[r5,#4]
        0x00000b28:    f003fabc    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000b2c:    4977        wI      LDR      r1,[pc,#476] ; [0xd0c] = 0x200002bc
        0x00000b2e:    1879        y.      ADDS     r1,r7,r1
        0x00000b30:    698f        .i      LDR      r7,[r1,#0x18]
        0x00000b32:    4639        9F      MOV      r1,r7
        0x00000b34:    f003f840    ..@.    BL       __aeabi_fadd ; 0x3bb8
        0x00000b38:    f003fad4    ....    BL       __aeabi_f2iz ; 0x40e4
        0x00000b3c:    4639        9F      MOV      r1,r7
        0x00000b3e:    6068        h`      STR      r0,[r5,#4]
        0x00000b40:    4608        .F      MOV      r0,r1
        0x00000b42:    f003f892    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000b46:    4607        .F      MOV      r7,r0
        0x00000b48:    6928        (i      LDR      r0,[r5,#0x10]
        0x00000b4a:    f003fab6    ....    BL       __aeabi_ui2f ; 0x40ba
        0x00000b4e:    4639        9F      MOV      r1,r7
        0x00000b50:    f003f832    ..2.    BL       __aeabi_fadd ; 0x3bb8
        0x00000b54:    f003fae0    ....    BL       __aeabi_f2uiz ; 0x4118
        0x00000b58:    1c76        v.      ADDS     r6,r6,#1
        0x00000b5a:    6128        (a      STR      r0,[r5,#0x10]
        0x00000b5c:    2e03        ..      CMP      r6,#3
        0x00000b5e:    dbe0        ..      BLT      0xb22 ; SampleFilter + 24
        0x00000b60:    7860        `x      LDRB     r0,[r4,#1]
        0x00000b62:    1c40        @.      ADDS     r0,r0,#1
        0x00000b64:    b2c0        ..      UXTB     r0,r0
        0x00000b66:    7060        `p      STRB     r0,[r4,#1]
        0x00000b68:    2820         (      CMP      r0,#0x20
        0x00000b6a:    d311        ..      BCC      0xb90 ; SampleFilter + 134
        0x00000b6c:    2000        .       MOVS     r0,#0
        0x00000b6e:    0081        ..      LSLS     r1,r0,#2
        0x00000b70:    190a        ..      ADDS     r2,r1,r4
        0x00000b72:    6851        Qh      LDR      r1,[r2,#4]
        0x00000b74:    6913        .i      LDR      r3,[r2,#0x10]
        0x00000b76:    4349        IC      MULS     r1,r1,r1
        0x00000b78:    17cd        ..      ASRS     r5,r1,#31
        0x00000b7a:    0eed        ..      LSRS     r5,r5,#27
        0x00000b7c:    1869        i.      ADDS     r1,r5,r1
        0x00000b7e:    1149        I.      ASRS     r1,r1,#5
        0x00000b80:    1a59        Y.      SUBS     r1,r3,r1
        0x00000b82:    1c49        I.      ADDS     r1,r1,#1
        0x00000b84:    1c40        @.      ADDS     r0,r0,#1
        0x00000b86:    61d1        .a      STR      r1,[r2,#0x1c]
        0x00000b88:    2803        .(      CMP      r0,#3
        0x00000b8a:    dbf0        ..      BLT      0xb6e ; SampleFilter + 100
        0x00000b8c:    2001        .       MOVS     r0,#1
        0x00000b8e:    7020         p      STRB     r0,[r4,#0]
        0x00000b90:    e075        u.      B        0xc7e ; SampleFilter + 372
        0x00000b92:    6860        `h      LDR      r0,[r4,#4]
        0x00000b94:    17c1        ..      ASRS     r1,r0,#31
        0x00000b96:    0ec9        ..      LSRS     r1,r1,#27
        0x00000b98:    1808        ..      ADDS     r0,r1,r0
        0x00000b9a:    1140        @.      ASRS     r0,r0,#5
        0x00000b9c:    f003fa82    ....    BL       __aeabi_i2f ; 0x40a4
        0x00000ba0:    69a9        .i      LDR      r1,[r5,#0x18]
        0x00000ba2:    9101        ..      STR      r1,[sp,#4]
        0x00000ba4:    f003f85d    ..].    BL       __aeabi_frsub ; 0x3c62
        0x00000ba8:    f003fab6    ....    BL       __aeabi_f2uiz ; 0x4118
        0x00000bac:    4607        .F      MOV      r7,r0
        0x00000bae:    68a0        .h      LDR      r0,[r4,#8]
        0x00000bb0:    17c1        ..      ASRS     r1,r0,#31
        0x00000bb2:    0ec9        ..      LSRS     r1,r1,#27
        0x00000bb4:    1808        ..      ADDS     r0,r1,r0
        0x00000bb6:    1140        @.      ASRS     r0,r0,#5
        0x00000bb8:    f003fa74    ..t.    BL       __aeabi_i2f ; 0x40a4
        0x00000bbc:    69e9        .i      LDR      r1,[r5,#0x1c]
        0x00000bbe:    9100        ..      STR      r1,[sp,#0]
        0x00000bc0:    f003f84f    ..O.    BL       __aeabi_frsub ; 0x3c62
        0x00000bc4:    f003faa8    ....    BL       __aeabi_f2uiz ; 0x4118
        0x00000bc8:    4606        .F      MOV      r6,r0
        0x00000bca:    68e0        .h      LDR      r0,[r4,#0xc]
        0x00000bcc:    17c1        ..      ASRS     r1,r0,#31
        0x00000bce:    0ec9        ..      LSRS     r1,r1,#27
        0x00000bd0:    1808        ..      ADDS     r0,r1,r0
        0x00000bd2:    1140        @.      ASRS     r0,r0,#5
        0x00000bd4:    f003fa66    ..f.    BL       __aeabi_i2f ; 0x40a4
        0x00000bd8:    6a2d        -j      LDR      r5,[r5,#0x20]
        0x00000bda:    4629        )F      MOV      r1,r5
        0x00000bdc:    f003f841    ..A.    BL       __aeabi_frsub ; 0x3c62
        0x00000be0:    f003fa9a    ....    BL       __aeabi_f2uiz ; 0x4118
        0x00000be4:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00000be6:    437f        .C      MULS     r7,r7,r7
        0x00000be8:    00ca        ..      LSLS     r2,r1,#3
        0x00000bea:    1889        ..      ADDS     r1,r1,r2
        0x00000bec:    428f        .B      CMP      r7,r1
        0x00000bee:    d22b        +.      BCS      0xc48 ; SampleFilter + 318
        0x00000bf0:    6a21        !j      LDR      r1,[r4,#0x20]
        0x00000bf2:    4376        vC      MULS     r6,r6,r6
        0x00000bf4:    00ca        ..      LSLS     r2,r1,#3
        0x00000bf6:    1889        ..      ADDS     r1,r1,r2
        0x00000bf8:    428e        .B      CMP      r6,r1
        0x00000bfa:    d225        %.      BCS      0xc48 ; SampleFilter + 318
        0x00000bfc:    6a61        aj      LDR      r1,[r4,#0x24]
        0x00000bfe:    4340        @C      MULS     r0,r0,r0
        0x00000c00:    00ca        ..      LSLS     r2,r1,#3
        0x00000c02:    1889        ..      ADDS     r1,r1,r2
        0x00000c04:    4288        .B      CMP      r0,r1
        0x00000c06:    d21f        ..      BCS      0xc48 ; SampleFilter + 318
        0x00000c08:    78a0        .x      LDRB     r0,[r4,#2]
        0x00000c0a:    1c40        @.      ADDS     r0,r0,#1
        0x00000c0c:    70a0        .p      STRB     r0,[r4,#2]
        0x00000c0e:    6aa0        .j      LDR      r0,[r4,#0x28]
        0x00000c10:    f003fa48    ..H.    BL       __aeabi_i2f ; 0x40a4
        0x00000c14:    9901        ..      LDR      r1,[sp,#4]
        0x00000c16:    f002ffcf    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000c1a:    e000        ..      B        0xc1e ; SampleFilter + 276
        0x00000c1c:    e02d        -.      B        0xc7a ; SampleFilter + 368
        0x00000c1e:    f003fa61    ..a.    BL       __aeabi_f2iz ; 0x40e4
        0x00000c22:    62a0        .b      STR      r0,[r4,#0x28]
        0x00000c24:    6ae0        .j      LDR      r0,[r4,#0x2c]
        0x00000c26:    f003fa3d    ..=.    BL       __aeabi_i2f ; 0x40a4
        0x00000c2a:    9900        ..      LDR      r1,[sp,#0]
        0x00000c2c:    f002ffc4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000c30:    f003fa58    ..X.    BL       __aeabi_f2iz ; 0x40e4
        0x00000c34:    62e0        .b      STR      r0,[r4,#0x2c]
        0x00000c36:    6b20         k      LDR      r0,[r4,#0x30]
        0x00000c38:    f003fa34    ..4.    BL       __aeabi_i2f ; 0x40a4
        0x00000c3c:    4629        )F      MOV      r1,r5
        0x00000c3e:    f002ffbb    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000c42:    f003fa4f    ..O.    BL       __aeabi_f2iz ; 0x40e4
        0x00000c46:    6320         c      STR      r0,[r4,#0x30]
        0x00000c48:    78a0        .x      LDRB     r0,[r4,#2]
        0x00000c4a:    2820         (      CMP      r0,#0x20
        0x00000c4c:    d317        ..      BCC      0xc7e ; SampleFilter + 372
        0x00000c4e:    6aa0        .j      LDR      r0,[r4,#0x28]
        0x00000c50:    17c1        ..      ASRS     r1,r0,#31
        0x00000c52:    0ec9        ..      LSRS     r1,r1,#27
        0x00000c54:    1808        ..      ADDS     r0,r1,r0
        0x00000c56:    1140        @.      ASRS     r0,r0,#5
        0x00000c58:    86a0        ..      STRH     r0,[r4,#0x34]
        0x00000c5a:    6ae0        .j      LDR      r0,[r4,#0x2c]
        0x00000c5c:    17c1        ..      ASRS     r1,r0,#31
        0x00000c5e:    0ec9        ..      LSRS     r1,r1,#27
        0x00000c60:    1808        ..      ADDS     r0,r1,r0
        0x00000c62:    1140        @.      ASRS     r0,r0,#5
        0x00000c64:    86e0        ..      STRH     r0,[r4,#0x36]
        0x00000c66:    6b20         k      LDR      r0,[r4,#0x30]
        0x00000c68:    17c1        ..      ASRS     r1,r0,#31
        0x00000c6a:    0ec9        ..      LSRS     r1,r1,#27
        0x00000c6c:    1808        ..      ADDS     r0,r1,r0
        0x00000c6e:    1140        @.      ASRS     r0,r0,#5
        0x00000c70:    8720         .      STRH     r0,[r4,#0x38]
        0x00000c72:    2002        .       MOVS     r0,#2
        0x00000c74:    7020         p      STRB     r0,[r4,#0]
        0x00000c76:    2001        .       MOVS     r0,#1
        0x00000c78:    bdfe        ..      POP      {r1-r7,pc}
        0x00000c7a:    f7fffeeb    ....    BL       FilterACCInit ; 0xa54
        0x00000c7e:    2000        .       MOVS     r0,#0
        0x00000c80:    bdfe        ..      POP      {r1-r7,pc}
    nvtCalACCBufferFill
        0x00000c82:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00000c84:    4604        .F      MOV      r4,r0
        0x00000c86:    f7ffff40    ..@.    BL       SampleFilter ; 0xb0a
        0x00000c8a:    4f1f        .O      LDR      r7,[pc,#124] ; [0xd08] = 0x200006f4
        0x00000c8c:    4601        .F      MOV      r1,r0
        0x00000c8e:    3f0c        .?      SUBS     r7,r7,#0xc
        0x00000c90:    0060        `.      LSLS     r0,r4,#1
        0x00000c92:    2900        .)      CMP      r1,#0
        0x00000c94:    d012        ..      BEQ      0xcbc ; nvtCalACCBufferFill + 58
        0x00000c96:    210a        .!      MOVS     r1,#0xa
        0x00000c98:    5a3b        ;Z      LDRH     r3,[r7,r0]
        0x00000c9a:    4361        aC      MULS     r1,r4,r1
        0x00000c9c:    18c9        ..      ADDS     r1,r1,r3
        0x00000c9e:    004a        J.      LSLS     r2,r1,#1
        0x00000ca0:    1889        ..      ADDS     r1,r1,r2
        0x00000ca2:    4a19        .J      LDR      r2,[pc,#100] ; [0xd08] = 0x200006f4
        0x00000ca4:    b209        ..      SXTH     r1,r1
        0x00000ca6:    4d1d        .M      LDR      r5,[pc,#116] ; [0xd1c] = 0x20000580
        0x00000ca8:    8e96        ..      LDRH     r6,[r2,#0x34]
        0x00000caa:    0049        I.      LSLS     r1,r1,#1
        0x00000cac:    526e        nR      STRH     r6,[r5,r1]
        0x00000cae:    1949        I.      ADDS     r1,r1,r5
        0x00000cb0:    8ed6        ..      LDRH     r6,[r2,#0x36]
        0x00000cb2:    804e        N.      STRH     r6,[r1,#2]
        0x00000cb4:    8f12        ..      LDRH     r2,[r2,#0x38]
        0x00000cb6:    808a        ..      STRH     r2,[r1,#4]
        0x00000cb8:    1c5b        [.      ADDS     r3,r3,#1
        0x00000cba:    523b        ;R      STRH     r3,[r7,r0]
        0x00000cbc:    5e38        8^      LDRSH    r0,[r7,r0]
        0x00000cbe:    280a        .(      CMP      r0,#0xa
        0x00000cc0:    db1b        ..      BLT      0xcfa ; nvtCalACCBufferFill + 120
        0x00000cc2:    4913        .I      LDR      r1,[pc,#76] ; [0xd10] = 0x200000e2
        0x00000cc4:    2001        .       MOVS     r0,#1
        0x00000cc6:    780a        .x      LDRB     r2,[r1,#0]
        0x00000cc8:    40a0        .@      LSLS     r0,r0,r4
        0x00000cca:    4310        .C      ORRS     r0,r0,r2
        0x00000ccc:    b240        @.      SXTB     r0,r0
        0x00000cce:    7008        .p      STRB     r0,[r1,#0]
        0x00000cd0:    283f        ?(      CMP      r0,#0x3f
        0x00000cd2:    d002        ..      BEQ      0xcda ; nvtCalACCBufferFill + 88
        0x00000cd4:    2c00        .,      CMP      r4,#0
        0x00000cd6:    d008        ..      BEQ      0xcea ; nvtCalACCBufferFill + 104
        0x00000cd8:    e00d        ..      B        0xcf6 ; nvtCalACCBufferFill + 116
        0x00000cda:    213c        <!      MOVS     r1,#0x3c
        0x00000cdc:    480f        .H      LDR      r0,[pc,#60] ; [0xd1c] = 0x20000580
        0x00000cde:    f001fd07    ....    BL       AccCalibrate ; 0x26f0
        0x00000ce2:    f7fffed8    ....    BL       UpdateCalibrateInfoACC ; 0xa96
        0x00000ce6:    2001        .       MOVS     r0,#1
        0x00000ce8:    bdf8        ..      POP      {r3-r7,pc}
        0x00000cea:    210a        .!      MOVS     r1,#0xa
        0x00000cec:    480b        .H      LDR      r0,[pc,#44] ; [0xd1c] = 0x20000580
        0x00000cee:    f001fd15    ....    BL       AccZCalibrate ; 0x271c
        0x00000cf2:    f7fffed0    ....    BL       UpdateCalibrateInfoACC ; 0xa96
        0x00000cf6:    2000        .       MOVS     r0,#0
        0x00000cf8:    bdf8        ..      POP      {r3-r7,pc}
        0x00000cfa:    2000        .       MOVS     r0,#0
        0x00000cfc:    43c0        .C      MVNS     r0,r0
        0x00000cfe:    bdf8        ..      POP      {r3-r7,pc}
    nvtSetAccG_PER_LSB
        0x00000d00:    4904        .I      LDR      r1,[pc,#16] ; [0xd14] = 0x20000250
        0x00000d02:    6588        .e      STR      r0,[r1,#0x58]
        0x00000d04:    4770        pG      BX       lr
    $d
        0x00000d06:    0000        ..      DCW    0
        0x00000d08:    200006f4    ...     DCD    536872692
        0x00000d0c:    200002bc    ...     DCD    536871612
        0x00000d10:    200000e2    ...     DCD    536871138
        0x00000d14:    20000250    P..     DCD    536871504
        0x00000d18:    200004fc    ...     DCD    536872188
        0x00000d1c:    20000580    ...     DCD    536872320
    $t
    .text
    nvtCalMAGInit
        0x00000d20:    487d        }H      LDR      r0,[pc,#500] ; [0xf18] = 0x200000e4
        0x00000d22:    2100        .!      MOVS     r1,#0
        0x00000d24:    8001        ..      STRH     r1,[r0,#0]
        0x00000d26:    487d        }H      LDR      r0,[pc,#500] ; [0xf1c] = 0x200002bc
        0x00000d28:    4a7d        }J      LDR      r2,[pc,#500] ; [0xf20] = 0x20000250
        0x00000d2a:    7081        .p      STRB     r1,[r0,#2]
        0x00000d2c:    487c        |H      LDR      r0,[pc,#496] ; [0xf20] = 0x20000250
        0x00000d2e:    3260        `2      ADDS     r2,r2,#0x60
        0x00000d30:    6641        Af      STR      r1,[r0,#0x64]
        0x00000d32:    487c        |H      LDR      r0,[pc,#496] ; [0xf24] = 0x200004dc
        0x00000d34:    7b83        .{      LDRB     r3,[r0,#0xe]
        0x00000d36:    7293        .r      STRB     r3,[r2,#0xa]
        0x00000d38:    7381        .s      STRB     r1,[r0,#0xe]
        0x00000d3a:    4770        pG      BX       lr
    UpdateCalibrateInfoMAG
        0x00000d3c:    b510        ..      PUSH     {r4,lr}
        0x00000d3e:    2004        .       MOVS     r0,#4
        0x00000d40:    f001fce0    ....    BL       GetCalibrateParams ; 0x2704
        0x00000d44:    4b76        vK      LDR      r3,[pc,#472] ; [0xf20] = 0x20000250
        0x00000d46:    2100        .!      MOVS     r1,#0
        0x00000d48:    008a        ..      LSLS     r2,r1,#2
        0x00000d4a:    5884        .X      LDR      r4,[r0,r2]
        0x00000d4c:    18d2        ..      ADDS     r2,r2,r3
        0x00000d4e:    1c49        I.      ADDS     r1,r1,#1
        0x00000d50:    6314        .c      STR      r4,[r2,#0x30]
        0x00000d52:    290a        .)      CMP      r1,#0xa
        0x00000d54:    dbf8        ..      BLT      0xd48 ; UpdateCalibrateInfoMAG + 12
        0x00000d56:    4971        qI      LDR      r1,[pc,#452] ; [0xf1c] = 0x200002bc
        0x00000d58:    2001        .       MOVS     r0,#1
        0x00000d5a:    7088        .p      STRB     r0,[r1,#2]
        0x00000d5c:    bd10        ..      POP      {r4,pc}
    SetCalibrateMAG
        0x00000d5e:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00000d60:    486e        nH      LDR      r0,[pc,#440] ; [0xf1c] = 0x200002bc
        0x00000d62:    4e71        qN      LDR      r6,[pc,#452] ; [0xf28] = 0x200004fc
        0x00000d64:    6b03        .k      LDR      r3,[r0,#0x30]
        0x00000d66:    b08f        ..      SUB      sp,sp,#0x3c
        0x00000d68:    0058        X.      LSLS     r0,r3,#1
        0x00000d6a:    0e01        ..      LSRS     r1,r0,#24
        0x00000d6c:    486b        kH      LDR      r0,[pc,#428] ; [0xf1c] = 0x200002bc
        0x00000d6e:    6b85        .k      LDR      r5,[r0,#0x38]
        0x00000d70:    6b44        Dk      LDR      r4,[r0,#0x34]
        0x00000d72:    d105        ..      BNE      0xd80 ; SetCalibrateMAG + 34
        0x00000d74:    0060        `.      LSLS     r0,r4,#1
        0x00000d76:    0e00        ..      LSRS     r0,r0,#24
        0x00000d78:    d102        ..      BNE      0xd80 ; SetCalibrateMAG + 34
        0x00000d7a:    0068        h.      LSLS     r0,r5,#1
        0x00000d7c:    0e00        ..      LSRS     r0,r0,#24
        0x00000d7e:    d059        Y.      BEQ      0xe34 ; SetCalibrateMAG + 214
        0x00000d80:    2000        .       MOVS     r0,#0
        0x00000d82:    af05        ..      ADD      r7,sp,#0x14
        0x00000d84:    0081        ..      LSLS     r1,r0,#2
        0x00000d86:    4a66        fJ      LDR      r2,[pc,#408] ; [0xf20] = 0x20000250
        0x00000d88:    1c40        @.      ADDS     r0,r0,#1
        0x00000d8a:    188a        ..      ADDS     r2,r1,r2
        0x00000d8c:    6b12        .k      LDR      r2,[r2,#0x30]
        0x00000d8e:    507a        zP      STR      r2,[r7,r1]
        0x00000d90:    280a        .(      CMP      r0,#0xa
        0x00000d92:    dbf7        ..      BLT      0xd84 ; SetCalibrateMAG + 38
        0x00000d94:    4618        .F      MOV      r0,r3
        0x00000d96:    9905        ..      LDR      r1,[sp,#0x14]
        0x00000d98:    f002ff5f    .._.    BL       __aeabi_fsub ; 0x3c5a
        0x00000d9c:    9001        ..      STR      r0,[sp,#4]
        0x00000d9e:    4620         F      MOV      r0,r4
        0x00000da0:    9906        ..      LDR      r1,[sp,#0x18]
        0x00000da2:    f002ff5a    ..Z.    BL       __aeabi_fsub ; 0x3c5a
        0x00000da6:    9003        ..      STR      r0,[sp,#0xc]
        0x00000da8:    4628        (F      MOV      r0,r5
        0x00000daa:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00000dac:    f002ff55    ..U.    BL       __aeabi_fsub ; 0x3c5a
        0x00000db0:    4604        .F      MOV      r4,r0
        0x00000db2:    4621        !F      MOV      r1,r4
        0x00000db4:    980d        ..      LDR      r0,[sp,#0x34]
        0x00000db6:    f002ff58    ..X.    BL       __aeabi_fmul ; 0x3c6a
        0x00000dba:    4607        .F      MOV      r7,r0
        0x00000dbc:    9903        ..      LDR      r1,[sp,#0xc]
        0x00000dbe:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00000dc0:    f002ff53    ..S.    BL       __aeabi_fmul ; 0x3c6a
        0x00000dc4:    4605        .F      MOV      r5,r0
        0x00000dc6:    9901        ..      LDR      r1,[sp,#4]
        0x00000dc8:    9808        ..      LDR      r0,[sp,#0x20]
        0x00000dca:    f002ff4e    ..N.    BL       __aeabi_fmul ; 0x3c6a
        0x00000dce:    4629        )F      MOV      r1,r5
        0x00000dd0:    f002fef2    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000dd4:    4639        9F      MOV      r1,r7
        0x00000dd6:    f002feef    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000dda:    66f0        .f      STR      r0,[r6,#0x6c]
        0x00000ddc:    4621        !F      MOV      r1,r4
        0x00000dde:    980c        ..      LDR      r0,[sp,#0x30]
        0x00000de0:    f002ff43    ..C.    BL       __aeabi_fmul ; 0x3c6a
        0x00000de4:    4607        .F      MOV      r7,r0
        0x00000de6:    9903        ..      LDR      r1,[sp,#0xc]
        0x00000de8:    9809        ..      LDR      r0,[sp,#0x24]
        0x00000dea:    f002ff3e    ..>.    BL       __aeabi_fmul ; 0x3c6a
        0x00000dee:    4605        .F      MOV      r5,r0
        0x00000df0:    9901        ..      LDR      r1,[sp,#4]
        0x00000df2:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00000df4:    f002ff39    ..9.    BL       __aeabi_fmul ; 0x3c6a
        0x00000df8:    4629        )F      MOV      r1,r5
        0x00000dfa:    f002fedd    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000dfe:    4639        9F      MOV      r1,r7
        0x00000e00:    f002feda    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000e04:    6730        0g      STR      r0,[r6,#0x70]
        0x00000e06:    4621        !F      MOV      r1,r4
        0x00000e08:    980a        ..      LDR      r0,[sp,#0x28]
        0x00000e0a:    f002ff2e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000e0e:    4604        .F      MOV      r4,r0
        0x00000e10:    9903        ..      LDR      r1,[sp,#0xc]
        0x00000e12:    980c        ..      LDR      r0,[sp,#0x30]
        0x00000e14:    f002ff29    ..).    BL       __aeabi_fmul ; 0x3c6a
        0x00000e18:    4605        .F      MOV      r5,r0
        0x00000e1a:    9901        ..      LDR      r1,[sp,#4]
        0x00000e1c:    980d        ..      LDR      r0,[sp,#0x34]
        0x00000e1e:    f002ff24    ..$.    BL       __aeabi_fmul ; 0x3c6a
        0x00000e22:    4629        )F      MOV      r1,r5
        0x00000e24:    f002fec8    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000e28:    4621        !F      MOV      r1,r4
        0x00000e2a:    f002fec5    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00000e2e:    6770        pg      STR      r0,[r6,#0x74]
        0x00000e30:    b00f        ..      ADD      sp,sp,#0x3c
        0x00000e32:    bdf0        ..      POP      {r4-r7,pc}
        0x00000e34:    2000        .       MOVS     r0,#0
        0x00000e36:    66f0        .f      STR      r0,[r6,#0x6c]
        0x00000e38:    6730        0g      STR      r0,[r6,#0x70]
        0x00000e3a:    e7f8        ..      B        0xe2e ; SetCalibrateMAG + 208
    nvtGetCalibratedMAG
        0x00000e3c:    493a        :I      LDR      r1,[pc,#232] ; [0xf28] = 0x200004fc
        0x00000e3e:    6eca        .n      LDR      r2,[r1,#0x6c]
        0x00000e40:    6002        .`      STR      r2,[r0,#0]
        0x00000e42:    6f0a        .o      LDR      r2,[r1,#0x70]
        0x00000e44:    6042        B`      STR      r2,[r0,#4]
        0x00000e46:    6f49        Io      LDR      r1,[r1,#0x74]
        0x00000e48:    6081        .`      STR      r1,[r0,#8]
        0x00000e4a:    4770        pG      BX       lr
    nvtCalMAGBufferFill
        0x00000e4c:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00000e4e:    4832        2H      LDR      r0,[pc,#200] ; [0xf18] = 0x200000e4
        0x00000e50:    4e32        2N      LDR      r6,[pc,#200] ; [0xf1c] = 0x200002bc
        0x00000e52:    8804        ..      LDRH     r4,[r0,#0]
        0x00000e54:    0060        `.      LSLS     r0,r4,#1
        0x00000e56:    1820         .      ADDS     r0,r4,r0
        0x00000e58:    b205        ..      SXTH     r5,r0
        0x00000e5a:    6b30        0k      LDR      r0,[r6,#0x30]
        0x00000e5c:    f003f942    ..B.    BL       __aeabi_f2iz ; 0x40e4
        0x00000e60:    4f32        2O      LDR      r7,[pc,#200] ; [0xf2c] = 0x20000730
        0x00000e62:    006d        m.      LSLS     r5,r5,#1
        0x00000e64:    5378        xS      STRH     r0,[r7,r5]
        0x00000e66:    6b70        pk      LDR      r0,[r6,#0x34]
        0x00000e68:    f003f93c    ..<.    BL       __aeabi_f2iz ; 0x40e4
        0x00000e6c:    19ed        ..      ADDS     r5,r5,r7
        0x00000e6e:    8068        h.      STRH     r0,[r5,#2]
        0x00000e70:    6bb0        .k      LDR      r0,[r6,#0x38]
        0x00000e72:    f003f937    ..7.    BL       __aeabi_f2iz ; 0x40e4
        0x00000e76:    80a8        ..      STRH     r0,[r5,#4]
        0x00000e78:    1c64        d.      ADDS     r4,r4,#1
        0x00000e7a:    b220         .      SXTH     r0,r4
        0x00000e7c:    4926        &I      LDR      r1,[pc,#152] ; [0xf18] = 0x200000e4
        0x00000e7e:    2878        x(      CMP      r0,#0x78
        0x00000e80:    8008        ..      STRH     r0,[r1,#0]
        0x00000e82:    db0c        ..      BLT      0xe9e ; nvtCalMAGBufferFill + 82
        0x00000e84:    2178        x!      MOVS     r1,#0x78
        0x00000e86:    4638        8F      MOV      r0,r7
        0x00000e88:    f001fc20    .. .    BL       MagCalibrate ; 0x26cc
        0x00000e8c:    f7ffff56    ..V.    BL       UpdateCalibrateInfoMAG ; 0xd3c
        0x00000e90:    4823        #H      LDR      r0,[pc,#140] ; [0xf20] = 0x20000250
        0x00000e92:    4924        $I      LDR      r1,[pc,#144] ; [0xf24] = 0x200004dc
        0x00000e94:    3060        `0      ADDS     r0,r0,#0x60
        0x00000e96:    7a80        .z      LDRB     r0,[r0,#0xa]
        0x00000e98:    7388        .s      STRB     r0,[r1,#0xe]
        0x00000e9a:    2001        .       MOVS     r0,#1
        0x00000e9c:    bdf8        ..      POP      {r3-r7,pc}
        0x00000e9e:    2000        .       MOVS     r0,#0
        0x00000ea0:    43c0        .C      MVNS     r0,r0
        0x00000ea2:    bdf8        ..      POP      {r3-r7,pc}
    nvtSetMagGaussPLSB
        0x00000ea4:    491e        .I      LDR      r1,[pc,#120] ; [0xf20] = 0x20000250
        0x00000ea6:    6608        .f      STR      r0,[r1,#0x60]
        0x00000ea8:    4770        pG      BX       lr
    nvtGetMagCalQFactor
        0x00000eaa:    b510        ..      PUSH     {r4,lr}
        0x00000eac:    481c        .H      LDR      r0,[pc,#112] ; [0xf20] = 0x20000250
        0x00000eae:    4920         I      LDR      r1,[pc,#128] ; [0xf30] = 0x437f0000
        0x00000eb0:    6e40        @n      LDR      r0,[r0,#0x64]
        0x00000eb2:    4288        .B      CMP      r0,r1
        0x00000eb4:    dc0b        ..      BGT      0xece ; nvtGetMagCalQFactor + 36
        0x00000eb6:    491f        .I      LDR      r1,[pc,#124] ; [0xf34] = 0xc37f0000
        0x00000eb8:    4288        .B      CMP      r0,r1
        0x00000eba:    d808        ..      BHI      0xece ; nvtGetMagCalQFactor + 36
        0x00000ebc:    0041        A.      LSLS     r1,r0,#1
        0x00000ebe:    0e09        ..      LSRS     r1,r1,#24
        0x00000ec0:    d005        ..      BEQ      0xece ; nvtGetMagCalQFactor + 36
        0x00000ec2:    0040        @.      LSLS     r0,r0,#1
        0x00000ec4:    0840        @.      LSRS     r0,r0,#1
        0x00000ec6:    f003f927    ..'.    BL       __aeabi_f2uiz ; 0x4118
        0x00000eca:    b2c0        ..      UXTB     r0,r0
        0x00000ecc:    bd10        ..      POP      {r4,pc}
        0x00000ece:    20ff        .       MOVS     r0,#0xff
        0x00000ed0:    bd10        ..      POP      {r4,pc}
    SetMagGuass
        0x00000ed2:    b570        p.      PUSH     {r4-r6,lr}
        0x00000ed4:    4c14        .L      LDR      r4,[pc,#80] ; [0xf28] = 0x200004fc
        0x00000ed6:    6f60        `o      LDR      r0,[r4,#0x74]
        0x00000ed8:    4601        .F      MOV      r1,r0
        0x00000eda:    f002fec6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000ede:    4605        .F      MOV      r5,r0
        0x00000ee0:    6f20         o      LDR      r0,[r4,#0x70]
        0x00000ee2:    4601        .F      MOV      r1,r0
        0x00000ee4:    f002fec1    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000ee8:    4606        .F      MOV      r6,r0
        0x00000eea:    6ee0        .n      LDR      r0,[r4,#0x6c]
        0x00000eec:    4601        .F      MOV      r1,r0
        0x00000eee:    f002febc    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00000ef2:    4631        1F      MOV      r1,r6
        0x00000ef4:    f002fe60    ..`.    BL       __aeabi_fadd ; 0x3bb8
        0x00000ef8:    4629        )F      MOV      r1,r5
        0x00000efa:    f002fe5d    ..].    BL       __aeabi_fadd ; 0x3bb8
        0x00000efe:    f003f945    ..E.    BL       __aeabi_f2d ; 0x418c
        0x00000f02:    f005fe23    ..#.    BL       sqrt ; 0x6b4c
        0x00000f06:    f003f958    ..X.    BL       __aeabi_d2f ; 0x41ba
        0x00000f0a:    4903        .I      LDR      r1,[pc,#12] ; [0xf18] = 0x200000e4
        0x00000f0c:    6048        H`      STR      r0,[r1,#4]
        0x00000f0e:    bd70        p.      POP      {r4-r6,pc}
    GetMagGuass
        0x00000f10:    4801        .H      LDR      r0,[pc,#4] ; [0xf18] = 0x200000e4
        0x00000f12:    6840        @h      LDR      r0,[r0,#4]
        0x00000f14:    4770        pG      BX       lr
    $d
        0x00000f16:    0000        ..      DCW    0
        0x00000f18:    200000e4    ...     DCD    536871140
        0x00000f1c:    200002bc    ...     DCD    536871612
        0x00000f20:    20000250    P..     DCD    536871504
        0x00000f24:    200004dc    ...     DCD    536872156
        0x00000f28:    200004fc    ...     DCD    536872188
        0x00000f2c:    20000730    0..     DCD    536872752
        0x00000f30:    437f0000    ...C    DCD    1132396544
        0x00000f34:    c37f0000    ....    DCD    3279880192
    $t
    .text
    FMCReadDID
        0x00000f38:    4841        AH      LDR      r0,[pc,#260] ; [0x1040] = 0x5000c000
        0x00000f3a:    210c        .!      MOVS     r1,#0xc
        0x00000f3c:    60c1        .`      STR      r1,[r0,#0xc]
        0x00000f3e:    2100        .!      MOVS     r1,#0
        0x00000f40:    6041        A`      STR      r1,[r0,#4]
        0x00000f42:    2101        .!      MOVS     r1,#1
        0x00000f44:    6101        .a      STR      r1,[r0,#0x10]
        0x00000f46:    6901        .i      LDR      r1,[r0,#0x10]
        0x00000f48:    07c9        ..      LSLS     r1,r1,#31
        0x00000f4a:    d1fc        ..      BNE      0xf46 ; FMCReadDID + 14
        0x00000f4c:    6880        .h      LDR      r0,[r0,#8]
        0x00000f4e:    4770        pG      BX       lr
    FMCReadPID
        0x00000f50:    483b        ;H      LDR      r0,[pc,#236] ; [0x1040] = 0x5000c000
        0x00000f52:    210c        .!      MOVS     r1,#0xc
        0x00000f54:    60c1        .`      STR      r1,[r0,#0xc]
        0x00000f56:    2104        .!      MOVS     r1,#4
        0x00000f58:    6041        A`      STR      r1,[r0,#4]
        0x00000f5a:    2101        .!      MOVS     r1,#1
        0x00000f5c:    6101        .a      STR      r1,[r0,#0x10]
        0x00000f5e:    6901        .i      LDR      r1,[r0,#0x10]
        0x00000f60:    07c9        ..      LSLS     r1,r1,#31
        0x00000f62:    d1fc        ..      BNE      0xf5e ; FMCReadPID + 14
        0x00000f64:    6880        .h      LDR      r0,[r0,#8]
        0x00000f66:    4770        pG      BX       lr
    FMCReadUID
        0x00000f68:    b570        p.      PUSH     {r4-r6,lr}
        0x00000f6a:    2100        .!      MOVS     r1,#0
        0x00000f6c:    2504        .%      MOVS     r5,#4
        0x00000f6e:    4a34        4J      LDR      r2,[pc,#208] ; [0x1040] = 0x5000c000
        0x00000f70:    460c        .F      MOV      r4,r1
        0x00000f72:    2601        .&      MOVS     r6,#1
        0x00000f74:    60d5        .`      STR      r5,[r2,#0xc]
        0x00000f76:    008b        ..      LSLS     r3,r1,#2
        0x00000f78:    6053        S`      STR      r3,[r2,#4]
        0x00000f7a:    6094        .`      STR      r4,[r2,#8]
        0x00000f7c:    6116        .a      STR      r6,[r2,#0x10]
        0x00000f7e:    6913        .i      LDR      r3,[r2,#0x10]
        0x00000f80:    2b00        .+      CMP      r3,#0
        0x00000f82:    d1fc        ..      BNE      0xf7e ; FMCReadUID + 22
        0x00000f84:    6893        .h      LDR      r3,[r2,#8]
        0x00000f86:    1c49        I.      ADDS     r1,r1,#1
        0x00000f88:    c008        ..      STM      r0!,{r3}
        0x00000f8a:    b2c9        ..      UXTB     r1,r1
        0x00000f8c:    2903        .)      CMP      r1,#3
        0x00000f8e:    d3f1        ..      BCC      0xf74 ; FMCReadUID + 12
        0x00000f90:    2000        .       MOVS     r0,#0
        0x00000f92:    bd70        p.      POP      {r4-r6,pc}
    FMCReadUCID
        0x00000f94:    b570        p.      PUSH     {r4-r6,lr}
        0x00000f96:    2100        .!      MOVS     r1,#0
        0x00000f98:    2504        .%      MOVS     r5,#4
        0x00000f9a:    4a29        )J      LDR      r2,[pc,#164] ; [0x1040] = 0x5000c000
        0x00000f9c:    460c        .F      MOV      r4,r1
        0x00000f9e:    2601        .&      MOVS     r6,#1
        0x00000fa0:    60d5        .`      STR      r5,[r2,#0xc]
        0x00000fa2:    008b        ..      LSLS     r3,r1,#2
        0x00000fa4:    33ff        .3      ADDS     r3,r3,#0xff
        0x00000fa6:    3301        .3      ADDS     r3,#1
        0x00000fa8:    6053        S`      STR      r3,[r2,#4]
        0x00000faa:    6094        .`      STR      r4,[r2,#8]
        0x00000fac:    6116        .a      STR      r6,[r2,#0x10]
        0x00000fae:    f3bf8f6f    ..o.    ISB      
        0x00000fb2:    6913        .i      LDR      r3,[r2,#0x10]
        0x00000fb4:    2b00        .+      CMP      r3,#0
        0x00000fb6:    d1fc        ..      BNE      0xfb2 ; FMCReadUCID + 30
        0x00000fb8:    6813        .h      LDR      r3,[r2,#0]
        0x00000fba:    065b        [.      LSLS     r3,r3,#25
        0x00000fbc:    d506        ..      BPL      0xfcc ; FMCReadUCID + 56
        0x00000fbe:    6810        .h      LDR      r0,[r2,#0]
        0x00000fc0:    2140        @!      MOVS     r1,#0x40
        0x00000fc2:    4308        .C      ORRS     r0,r0,r1
        0x00000fc4:    6010        .`      STR      r0,[r2,#0]
        0x00000fc6:    2000        .       MOVS     r0,#0
        0x00000fc8:    43c0        .C      MVNS     r0,r0
        0x00000fca:    bd70        p.      POP      {r4-r6,pc}
        0x00000fcc:    6893        .h      LDR      r3,[r2,#8]
        0x00000fce:    1c49        I.      ADDS     r1,r1,#1
        0x00000fd0:    c008        ..      STM      r0!,{r3}
        0x00000fd2:    b2c9        ..      UXTB     r1,r1
        0x00000fd4:    2904        .)      CMP      r1,#4
        0x00000fd6:    d3e3        ..      BCC      0xfa0 ; FMCReadUCID + 12
        0x00000fd8:    2000        .       MOVS     r0,#0
        0x00000fda:    bd70        p.      POP      {r4-r6,pc}
    CheckSecurityID
        0x00000fdc:    b530        0.      PUSH     {r4,r5,lr}
        0x00000fde:    4a19        .J      LDR      r2,[pc,#100] ; [0x1044] = 0x200000ec
        0x00000fe0:    2103        .!      MOVS     r1,#3
        0x00000fe2:    2000        .       MOVS     r0,#0
        0x00000fe4:    1d13        ..      ADDS     r3,r2,#4
        0x00000fe6:    6814        .h      LDR      r4,[r2,#0]
        0x00000fe8:    0085        ..      LSLS     r5,r0,#2
        0x00000fea:    595d        ]Y      LDR      r5,[r3,r5]
        0x00000fec:    0b24        $.      LSRS     r4,r4,#12
        0x00000fee:    0b2d        -.      LSRS     r5,r5,#12
        0x00000ff0:    0324        $.      LSLS     r4,r4,#12
        0x00000ff2:    032d        -.      LSLS     r5,r5,#12
        0x00000ff4:    42ac        .B      CMP      r4,r5
        0x00000ff6:    d101        ..      BNE      0xffc ; CheckSecurityID + 32
        0x00000ff8:    2000        .       MOVS     r0,#0
        0x00000ffa:    bd30        0.      POP      {r4,r5,pc}
        0x00000ffc:    1c40        @.      ADDS     r0,r0,#1
        0x00000ffe:    b2c0        ..      UXTB     r0,r0
        0x00001000:    4288        .B      CMP      r0,r1
        0x00001002:    d3f0        ..      BCC      0xfe6 ; CheckSecurityID + 10
        0x00001004:    2001        .       MOVS     r0,#1
        0x00001006:    bd30        0.      POP      {r4,r5,pc}
    SetupSecurityID
        0x00001008:    b510        ..      PUSH     {r4,lr}
        0x0000100a:    2001        .       MOVS     r0,#1
        0x0000100c:    f3808810    ....    MSR      PRIMASK,r0
        0x00001010:    f004fa32    ..2.    BL       SYS_UnlockReg ; 0x5478
        0x00001014:    f003fc16    ....    BL       FMC_Open ; 0x4844
        0x00001018:    480b        .H      LDR      r0,[pc,#44] ; [0x1048] = 0x20000a00
        0x0000101a:    f7ffffa5    ....    BL       FMCReadUID ; 0xf68
        0x0000101e:    480a        .H      LDR      r0,[pc,#40] ; [0x1048] = 0x20000a00
        0x00001020:    300c        .0      ADDS     r0,r0,#0xc
        0x00001022:    f7ffffb7    ....    BL       FMCReadUCID ; 0xf94
        0x00001026:    f7ffff87    ....    BL       FMCReadDID ; 0xf38
        0x0000102a:    4906        .I      LDR      r1,[pc,#24] ; [0x1044] = 0x200000ec
        0x0000102c:    6008        .`      STR      r0,[r1,#0]
        0x0000102e:    f003fc01    ....    BL       FMC_Close ; 0x4834
        0x00001032:    f004fa1b    ....    BL       SYS_LockReg ; 0x546c
        0x00001036:    2000        .       MOVS     r0,#0
        0x00001038:    f3808810    ....    MSR      PRIMASK,r0
        0x0000103c:    bd10        ..      POP      {r4,pc}
    $d
        0x0000103e:    0000        ..      DCW    0
        0x00001040:    5000c000    ...P    DCD    1342226432
        0x00001044:    200000ec    ...     DCD    536871148
        0x00001048:    20000a00    ...     DCD    536873472
    $t
    .text
    AccFilterInit
        0x0000104c:    b510        ..      PUSH     {r4,lr}
        0x0000104e:    f7fff874    ..t.    BL       GetAHRSPeriod ; 0x13a
        0x00001052:    4601        .F      MOV      r1,r0
        0x00001054:    207d        }       MOVS     r0,#0x7d
        0x00001056:    00c0        ..      LSLS     r0,r0,#3
        0x00001058:    f002fd36    ..6.    BL       __aeabi_uidiv ; 0x3ac8
        0x0000105c:    f003f834    ..4.    BL       __aeabi_ui2d ; 0x40c8
        0x00001060:    4a73        sJ      LDR      r2,[pc,#460] ; [0x1230] = 0x70a3d70b
        0x00001062:    4b74        tK      LDR      r3,[pc,#464] ; [0x1234] = 0x404f6a3d
        0x00001064:    f002ffa6    ....    BL       __aeabi_ddiv ; 0x3fb4
        0x00001068:    4602        .F      MOV      r2,r0
        0x0000106a:    460b        .F      MOV      r3,r1
        0x0000106c:    2000        .       MOVS     r0,#0
        0x0000106e:    4972        rI      LDR      r1,[pc,#456] ; [0x1238] = 0x40700000
        0x00001070:    f002ffa0    ....    BL       __aeabi_ddiv ; 0x3fb4
        0x00001074:    2200        ."      MOVS     r2,#0
        0x00001076:    4b71        qK      LDR      r3,[pc,#452] ; [0x123c] = 0x3fe00000
        0x00001078:    f002fe80    ....    BL       __aeabi_dadd ; 0x3d7c
        0x0000107c:    f003f862    ..b.    BL       __aeabi_d2iz ; 0x4144
        0x00001080:    496f        oI      LDR      r1,[pc,#444] ; [0x1240] = 0x200000fc
        0x00001082:    7008        .p      STRB     r0,[r1,#0]
        0x00001084:    bd10        ..      POP      {r4,pc}
    iirLPFilterSingle
        0x00001086:    b510        ..      PUSH     {r4,lr}
        0x00001088:    24ff        .$      MOVS     r4,#0xff
        0x0000108a:    3401        .4      ADDS     r4,#1
        0x0000108c:    6813        .h      LDR      r3,[r2,#0]
        0x0000108e:    42a1        .B      CMP      r1,r4
        0x00001090:    dd01        ..      BLE      0x1096 ; iirLPFilterSingle + 16
        0x00001092:    4621        !F      MOV      r1,r4
        0x00001094:    e002        ..      B        0x109c ; iirLPFilterSingle + 22
        0x00001096:    2901        .)      CMP      r1,#1
        0x00001098:    da00        ..      BGE      0x109c ; iirLPFilterSingle + 22
        0x0000109a:    2101        .!      MOVS     r1,#1
        0x0000109c:    0200        ..      LSLS     r0,r0,#8
        0x0000109e:    1ac0        ..      SUBS     r0,r0,r3
        0x000010a0:    1200        ..      ASRS     r0,r0,#8
        0x000010a2:    4348        HC      MULS     r0,r1,r0
        0x000010a4:    18c1        ..      ADDS     r1,r0,r3
        0x000010a6:    060b        ..      LSLS     r3,r1,#24
        0x000010a8:    1208        ..      ASRS     r0,r1,#8
        0x000010aa:    0fdb        ..      LSRS     r3,r3,#31
        0x000010ac:    18c0        ..      ADDS     r0,r0,r3
        0x000010ae:    b200        ..      SXTH     r0,r0
        0x000010b0:    6011        .`      STR      r1,[r2,#0]
        0x000010b2:    bd10        ..      POP      {r4,pc}
    imuAccIIRLPFilter
        0x000010b4:    b570        p.      PUSH     {r4-r6,lr}
        0x000010b6:    460c        .F      MOV      r4,r1
        0x000010b8:    4605        .F      MOV      r5,r0
        0x000010ba:    f7fff83e    ..>.    BL       GetAHRSPeriod ; 0x13a
        0x000010be:    4601        .F      MOV      r1,r0
        0x000010c0:    207d        }       MOVS     r0,#0x7d
        0x000010c2:    00c0        ..      LSLS     r0,r0,#3
        0x000010c4:    f002fd00    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000010c8:    f002fffe    ....    BL       __aeabi_ui2d ; 0x40c8
        0x000010cc:    4a58        XJ      LDR      r2,[pc,#352] ; [0x1230] = 0x70a3d70b
        0x000010ce:    4b59        YK      LDR      r3,[pc,#356] ; [0x1234] = 0x404f6a3d
        0x000010d0:    f002ff70    ..p.    BL       __aeabi_ddiv ; 0x3fb4
        0x000010d4:    4602        .F      MOV      r2,r0
        0x000010d6:    460b        .F      MOV      r3,r1
        0x000010d8:    2000        .       MOVS     r0,#0
        0x000010da:    4957        WI      LDR      r1,[pc,#348] ; [0x1238] = 0x40700000
        0x000010dc:    f002ff6a    ..j.    BL       __aeabi_ddiv ; 0x3fb4
        0x000010e0:    2200        ."      MOVS     r2,#0
        0x000010e2:    4b56        VK      LDR      r3,[pc,#344] ; [0x123c] = 0x3fe00000
        0x000010e4:    f002fe4a    ..J.    BL       __aeabi_dadd ; 0x3d7c
        0x000010e8:    f003f82c    ..,.    BL       __aeabi_d2iz ; 0x4144
        0x000010ec:    b2c1        ..      UXTB     r1,r0
        0x000010ee:    4e54        TN      LDR      r6,[pc,#336] ; [0x1240] = 0x200000fc
        0x000010f0:    2000        .       MOVS     r0,#0
        0x000010f2:    7031        1p      STRB     r1,[r6,#0]
        0x000010f4:    5e28        (^      LDRSH    r0,[r5,r0]
        0x000010f6:    4a53        SJ      LDR      r2,[pc,#332] ; [0x1244] = 0x20000a1c
        0x000010f8:    f7ffffc5    ....    BL       iirLPFilterSingle ; 0x1086
        0x000010fc:    8020         .      STRH     r0,[r4,#0]
        0x000010fe:    4a51        QJ      LDR      r2,[pc,#324] ; [0x1244] = 0x20000a1c
        0x00001100:    2002        .       MOVS     r0,#2
        0x00001102:    5e28        (^      LDRSH    r0,[r5,r0]
        0x00001104:    1d12        ..      ADDS     r2,r2,#4
        0x00001106:    7831        1x      LDRB     r1,[r6,#0]
        0x00001108:    f7ffffbd    ....    BL       iirLPFilterSingle ; 0x1086
        0x0000110c:    8060        `.      STRH     r0,[r4,#2]
        0x0000110e:    4a4d        MJ      LDR      r2,[pc,#308] ; [0x1244] = 0x20000a1c
        0x00001110:    2004        .       MOVS     r0,#4
        0x00001112:    5e28        (^      LDRSH    r0,[r5,r0]
        0x00001114:    3208        .2      ADDS     r2,r2,#8
        0x00001116:    7831        1x      LDRB     r1,[r6,#0]
        0x00001118:    f7ffffb5    ....    BL       iirLPFilterSingle ; 0x1086
        0x0000111c:    80a0        ..      STRH     r0,[r4,#4]
        0x0000111e:    bd70        p.      POP      {r4-r6,pc}
    FilterCalibrateACC
        0x00001120:    b570        p.      PUSH     {r4-r6,lr}
        0x00001122:    4606        .F      MOV      r6,r0
        0x00001124:    460d        .F      MOV      r5,r1
        0x00001126:    6808        .h      LDR      r0,[r1,#0]
        0x00001128:    f002ffbc    ....    BL       __aeabi_i2f ; 0x40a4
        0x0000112c:    4c46        FL      LDR      r4,[pc,#280] ; [0x1248] = 0x20000250
        0x0000112e:    6821        !h      LDR      r1,[r4,#0]
        0x00001130:    f002fd93    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001134:    68e1        .h      LDR      r1,[r4,#0xc]
        0x00001136:    f002fd98    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000113a:    6030        0`      STR      r0,[r6,#0]
        0x0000113c:    6868        hh      LDR      r0,[r5,#4]
        0x0000113e:    f002ffb1    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001142:    6861        ah      LDR      r1,[r4,#4]
        0x00001144:    f002fd89    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001148:    6921        !i      LDR      r1,[r4,#0x10]
        0x0000114a:    f002fd8e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000114e:    6070        p`      STR      r0,[r6,#4]
        0x00001150:    68a8        .h      LDR      r0,[r5,#8]
        0x00001152:    f002ffa7    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001156:    68a1        .h      LDR      r1,[r4,#8]
        0x00001158:    f002fd7f    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000115c:    6961        ai      LDR      r1,[r4,#0x14]
        0x0000115e:    f002fd84    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001162:    60b0        .`      STR      r0,[r6,#8]
        0x00001164:    bd70        p.      POP      {r4-r6,pc}
    MultiwiiAccFilter
        0x00001166:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00001168:    4e35        5N      LDR      r6,[pc,#212] ; [0x1240] = 0x200000fc
        0x0000116a:    460c        .F      MOV      r4,r1
        0x0000116c:    4d35        5M      LDR      r5,[pc,#212] ; [0x1244] = 0x20000a1c
        0x0000116e:    2100        .!      MOVS     r1,#0
        0x00001170:    1d36        6.      ADDS     r6,r6,#4
        0x00001172:    b085        ..      SUB      sp,sp,#0x14
        0x00001174:    350c        .5      ADDS     r5,r5,#0xc
        0x00001176:    008a        ..      LSLS     r2,r1,#2
        0x00001178:    58b3        .X      LDR      r3,[r6,r2]
        0x0000117a:    111f        ..      ASRS     r7,r3,#4
        0x0000117c:    1bdb        ..      SUBS     r3,r3,r7
        0x0000117e:    004f        O.      LSLS     r7,r1,#1
        0x00001180:    50b3        .P      STR      r3,[r6,r2]
        0x00001182:    5fc7        ._      LDRSH    r7,[r0,r7]
        0x00001184:    1c49        I.      ADDS     r1,r1,#1
        0x00001186:    19db        ..      ADDS     r3,r3,r7
        0x00001188:    50b3        .P      STR      r3,[r6,r2]
        0x0000118a:    111b        ..      ASRS     r3,r3,#4
        0x0000118c:    b2c9        ..      UXTB     r1,r1
        0x0000118e:    50ab        .P      STR      r3,[r5,r2]
        0x00001190:    2903        .)      CMP      r1,#3
        0x00001192:    d3f0        ..      BCC      0x1176 ; MultiwiiAccFilter + 16
        0x00001194:    492b        +I      LDR      r1,[pc,#172] ; [0x1244] = 0x20000a1c
        0x00001196:    4668        hF      MOV      r0,sp
        0x00001198:    310c        .1      ADDS     r1,r1,#0xc
        0x0000119a:    f7ffffc1    ....    BL       FilterCalibrateACC ; 0x1120
        0x0000119e:    9902        ..      LDR      r1,[sp,#8]
        0x000011a0:    4608        .F      MOV      r0,r1
        0x000011a2:    f002fd62    ..b.    BL       __aeabi_fmul ; 0x3c6a
        0x000011a6:    9901        ..      LDR      r1,[sp,#4]
        0x000011a8:    9003        ..      STR      r0,[sp,#0xc]
        0x000011aa:    4608        .F      MOV      r0,r1
        0x000011ac:    f002fd5d    ..].    BL       __aeabi_fmul ; 0x3c6a
        0x000011b0:    9900        ..      LDR      r1,[sp,#0]
        0x000011b2:    4606        .F      MOV      r6,r0
        0x000011b4:    4608        .F      MOV      r0,r1
        0x000011b6:    f002fd58    ..X.    BL       __aeabi_fmul ; 0x3c6a
        0x000011ba:    4631        1F      MOV      r1,r6
        0x000011bc:    f002fcfc    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000011c0:    9903        ..      LDR      r1,[sp,#0xc]
        0x000011c2:    f002fcf9    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000011c6:    4606        .F      MOV      r6,r0
        0x000011c8:    4820         H      LDR      r0,[pc,#128] ; [0x124c] = 0xc0c7ae13
        0x000011ca:    4921        !I      LDR      r1,[pc,#132] ; [0x1250] = 0x71eb84
        0x000011cc:    1830        0.      ADDS     r0,r6,r0
        0x000011ce:    4288        .B      CMP      r0,r1
        0x000011d0:    d203        ..      BCS      0x11da ; MultiwiiAccFilter + 116
        0x000011d2:    8828        (.      LDRH     r0,[r5,#0]
        0x000011d4:    8020         .      STRH     r0,[r4,#0]
        0x000011d6:    88a8        ..      LDRH     r0,[r5,#4]
        0x000011d8:    e025        %.      B        0x1226 ; MultiwiiAccFilter + 192
        0x000011da:    207f        .       MOVS     r0,#0x7f
        0x000011dc:    05c0        ..      LSLS     r0,r0,#23
        0x000011de:    9903        ..      LDR      r1,[sp,#0xc]
        0x000011e0:    f002fd3b    ..;.    BL       __aeabi_fsub ; 0x3c5a
        0x000011e4:    4607        .F      MOV      r7,r0
        0x000011e6:    4630        0F      MOV      r0,r6
        0x000011e8:    9903        ..      LDR      r1,[sp,#0xc]
        0x000011ea:    f002fd36    ..6.    BL       __aeabi_fsub ; 0x3c5a
        0x000011ee:    4601        .F      MOV      r1,r0
        0x000011f0:    4638        8F      MOV      r0,r7
        0x000011f2:    f002fd77    ..w.    BL       __aeabi_fdiv ; 0x3ce4
        0x000011f6:    f002ffc9    ....    BL       __aeabi_f2d ; 0x418c
        0x000011fa:    f005fca7    ....    BL       sqrt ; 0x6b4c
        0x000011fe:    f002ffdc    ....    BL       __aeabi_d2f ; 0x41ba
        0x00001202:    4606        .F      MOV      r6,r0
        0x00001204:    6828        (h      LDR      r0,[r5,#0]
        0x00001206:    f002ff4d    ..M.    BL       __aeabi_i2f ; 0x40a4
        0x0000120a:    4631        1F      MOV      r1,r6
        0x0000120c:    f002fd2d    ..-.    BL       __aeabi_fmul ; 0x3c6a
        0x00001210:    f002ff68    ..h.    BL       __aeabi_f2iz ; 0x40e4
        0x00001214:    8020         .      STRH     r0,[r4,#0]
        0x00001216:    6868        hh      LDR      r0,[r5,#4]
        0x00001218:    f002ff44    ..D.    BL       __aeabi_i2f ; 0x40a4
        0x0000121c:    4631        1F      MOV      r1,r6
        0x0000121e:    f002fd24    ..$.    BL       __aeabi_fmul ; 0x3c6a
        0x00001222:    f002ff5f    .._.    BL       __aeabi_f2iz ; 0x40e4
        0x00001226:    8060        `.      STRH     r0,[r4,#2]
        0x00001228:    8928        (.      LDRH     r0,[r5,#8]
        0x0000122a:    80a0        ..      STRH     r0,[r4,#4]
        0x0000122c:    b005        ..      ADD      sp,sp,#0x14
        0x0000122e:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x00001230:    70a3d70b    ...p    DCD    1889785611
        0x00001234:    404f6a3d    =jO@    DCD    1078946365
        0x00001238:    40700000    ..p@    DCD    1081081856
        0x0000123c:    3fe00000    ...?    DCD    1071644672
        0x00001240:    200000fc    ...     DCD    536871164
        0x00001244:    20000a1c    ...     DCD    536873500
        0x00001248:    20000250    P..     DCD    536871504
        0x0000124c:    c0c7ae13    ....    DCD    3234311699
        0x00001250:    0071eb84    ..q.    DCD    7465860
    $t
    .text
    shiftBufferR
        0x00001254:    b510        ..      PUSH     {r4,lr}
        0x00001256:    22ff        ."      MOVS     r2,#0xff
        0x00001258:    e005        ..      B        0x1266 ; shiftBufferR + 18
        0x0000125a:    0053        S.      LSLS     r3,r2,#1
        0x0000125c:    185c        \.      ADDS     r4,r3,r1
        0x0000125e:    3c40        @<      SUBS     r4,r4,#0x40
        0x00001260:    8fe4        ..      LDRH     r4,[r4,#0x3e]
        0x00001262:    52cc        .R      STRH     r4,[r1,r3]
        0x00001264:    1e52        R.      SUBS     r2,r2,#1
        0x00001266:    4282        .B      CMP      r2,r0
        0x00001268:    dcf7        ..      BGT      0x125a ; shiftBufferR + 6
        0x0000126a:    bd10        ..      POP      {r4,pc}
    pushBuffer
        0x0000126c:    1dc3        ..      ADDS     r3,r0,#7
        0x0000126e:    b510        ..      PUSH     {r4,lr}
        0x00001270:    33ff        .3      ADDS     r3,r3,#0xff
        0x00001272:    33fa        .3      ADDS     r3,r3,#0xfa
        0x00001274:    2212        ."      MOVS     r2,#0x12
        0x00001276:    5e9a        .^      LDRSH    r2,[r3,r2]
        0x00001278:    17d4        ..      ASRS     r4,r2,#31
        0x0000127a:    0e24        $.      LSRS     r4,r4,#24
        0x0000127c:    18a4        ..      ADDS     r4,r4,r2
        0x0000127e:    0a24        $.      LSRS     r4,r4,#8
        0x00001280:    0224        $.      LSLS     r4,r4,#8
        0x00001282:    1b14        ..      SUBS     r4,r2,r4
        0x00001284:    0064        d.      LSLS     r4,r4,#1
        0x00001286:    1c52        R.      ADDS     r2,r2,#1
        0x00001288:    1820         .      ADDS     r0,r4,r0
        0x0000128a:    825a        Z.      STRH     r2,[r3,#0x12]
        0x0000128c:    8001        ..      STRH     r1,[r0,#0]
        0x0000128e:    2012        .       MOVS     r0,#0x12
        0x00001290:    5e18        .^      LDRSH    r0,[r3,r0]
        0x00001292:    28ff        .(      CMP      r0,#0xff
        0x00001294:    dc01        ..      BGT      0x129a ; pushBuffer + 46
        0x00001296:    2000        .       MOVS     r0,#0
        0x00001298:    bd10        ..      POP      {r4,pc}
        0x0000129a:    2001        .       MOVS     r0,#1
        0x0000129c:    bd10        ..      POP      {r4,pc}
    CheckMean
        0x0000129e:    b510        ..      PUSH     {r4,lr}
        0x000012a0:    4604        .F      MOV      r4,r0
        0x000012a2:    2000        .       MOVS     r0,#0
        0x000012a4:    4601        .F      MOV      r1,r0
        0x000012a6:    004a        J.      LSLS     r2,r1,#1
        0x000012a8:    5ea2        .^      LDRSH    r2,[r4,r2]
        0x000012aa:    1c49        I.      ADDS     r1,r1,#1
        0x000012ac:    1810        ..      ADDS     r0,r2,r0
        0x000012ae:    29ff        .)      CMP      r1,#0xff
        0x000012b0:    ddf9        ..      BLE      0x12a6 ; CheckMean + 8
        0x000012b2:    f002fef7    ....    BL       __aeabi_i2f ; 0x40a4
        0x000012b6:    2107        .!      MOVS     r1,#7
        0x000012b8:    43c9        .C      MVNS     r1,r1
        0x000012ba:    f002fd53    ..S.    BL       __ARM_scalbnf ; 0x3d64
        0x000012be:    34ff        .4      ADDS     r4,r4,#0xff
        0x000012c0:    34ff        .4      ADDS     r4,r4,#0xff
        0x000012c2:    3402        .4      ADDS     r4,#2
        0x000012c4:    6020         `      STR      r0,[r4,#0]
        0x000012c6:    bd10        ..      POP      {r4,pc}
    CheckStandardDV
        0x000012c8:    b5f8        ..      PUSH     {r3-r7,lr}
        0x000012ca:    2500        .%      MOVS     r5,#0
        0x000012cc:    1dc7        ..      ADDS     r7,r0,#7
        0x000012ce:    37ff        .7      ADDS     r7,r7,#0xff
        0x000012d0:    4606        .F      MOV      r6,r0
        0x000012d2:    37fa        .7      ADDS     r7,r7,#0xfa
        0x000012d4:    6838        8h      LDR      r0,[r7,#0]
        0x000012d6:    462c        ,F      MOV      r4,r5
        0x000012d8:    9000        ..      STR      r0,[sp,#0]
        0x000012da:    0060        `.      LSLS     r0,r4,#1
        0x000012dc:    5e30        0^      LDRSH    r0,[r6,r0]
        0x000012de:    f002fee1    ....    BL       __aeabi_i2f ; 0x40a4
        0x000012e2:    9900        ..      LDR      r1,[sp,#0]
        0x000012e4:    f002fcb9    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000012e8:    4601        .F      MOV      r1,r0
        0x000012ea:    f002fcbe    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000012ee:    4629        )F      MOV      r1,r5
        0x000012f0:    f002fc62    ..b.    BL       __aeabi_fadd ; 0x3bb8
        0x000012f4:    1c64        d.      ADDS     r4,r4,#1
        0x000012f6:    4605        .F      MOV      r5,r0
        0x000012f8:    2cff        .,      CMP      r4,#0xff
        0x000012fa:    ddee        ..      BLE      0x12da ; CheckStandardDV + 18
        0x000012fc:    49f2        .I      LDR      r1,[pc,#968] ; [0x16c8] = 0x437f0000
        0x000012fe:    f002fcf1    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00001302:    f002ff43    ..C.    BL       __aeabi_f2d ; 0x418c
        0x00001306:    f005fc21    ..!.    BL       sqrt ; 0x6b4c
        0x0000130a:    f002ff56    ..V.    BL       __aeabi_d2f ; 0x41ba
        0x0000130e:    60b8        .`      STR      r0,[r7,#8]
        0x00001310:    bdf8        ..      POP      {r3-r7,pc}
    CheckMedian
        0x00001312:    21ff        .!      MOVS     r1,#0xff
        0x00001314:    3101        .1      ADDS     r1,#1
        0x00001316:    5a09        .Z      LDRH     r1,[r1,r0]
        0x00001318:    30ff        .0      ADDS     r0,r0,#0xff
        0x0000131a:    30ff        .0      ADDS     r0,r0,#0xff
        0x0000131c:    3002        .0      ADDS     r0,#2
        0x0000131e:    8081        ..      STRH     r1,[r0,#4]
        0x00001320:    4770        pG      BX       lr
    CheckMode
        0x00001322:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00001324:    2200        ."      MOVS     r2,#0
        0x00001326:    4684        .F      MOV      r12,r0
        0x00001328:    4696        .F      MOV      lr,r2
        0x0000132a:    4613        .F      MOV      r3,r2
        0x0000132c:    9200        ..      STR      r2,[sp,#0]
        0x0000132e:    2600        .&      MOVS     r6,#0
        0x00001330:    4631        1F      MOV      r1,r6
        0x00001332:    005d        ].      LSLS     r5,r3,#1
        0x00001334:    e00d        ..      B        0x1352 ; CheckMode + 48
        0x00001336:    4fe5        .O      LDR      r7,[pc,#916] ; [0x16cc] = 0x20001070
        0x00001338:    4660        `F      MOV      r0,r12
        0x0000133a:    004c        L.      LSLS     r4,r1,#1
        0x0000133c:    5f40        @_      LDRSH    r0,[r0,r5]
        0x0000133e:    5f3f        ?_      LDRSH    r7,[r7,r4]
        0x00001340:    42b8        .B      CMP      r0,r7
        0x00001342:    d104        ..      BNE      0x134e ; CheckMode + 44
        0x00001344:    4ee2        .N      LDR      r6,[pc,#904] ; [0x16d0] = 0x20001270
        0x00001346:    5b30        0[      LDRH     r0,[r6,r4]
        0x00001348:    1c40        @.      ADDS     r0,r0,#1
        0x0000134a:    5330        0S      STRH     r0,[r6,r4]
        0x0000134c:    2601        .&      MOVS     r6,#1
        0x0000134e:    1c49        I.      ADDS     r1,r1,#1
        0x00001350:    b209        ..      SXTH     r1,r1
        0x00001352:    4291        .B      CMP      r1,r2
        0x00001354:    dbef        ..      BLT      0x1336 ; CheckMode + 20
        0x00001356:    2e00        ..      CMP      r6,#0
        0x00001358:    d10b        ..      BNE      0x1372 ; CheckMode + 80
        0x0000135a:    4660        `F      MOV      r0,r12
        0x0000135c:    5b44        D[      LDRH     r4,[r0,r5]
        0x0000135e:    49db        .I      LDR      r1,[pc,#876] ; [0x16cc] = 0x20001070
        0x00001360:    0050        P.      LSLS     r0,r2,#1
        0x00001362:    520c        .R      STRH     r4,[r1,r0]
        0x00001364:    49da        .I      LDR      r1,[pc,#872] ; [0x16d0] = 0x20001270
        0x00001366:    1c52        R.      ADDS     r2,r2,#1
        0x00001368:    1840        @.      ADDS     r0,r0,r1
        0x0000136a:    8801        ..      LDRH     r1,[r0,#0]
        0x0000136c:    b212        ..      SXTH     r2,r2
        0x0000136e:    1c49        I.      ADDS     r1,r1,#1
        0x00001370:    8001        ..      STRH     r1,[r0,#0]
        0x00001372:    1c5b        [.      ADDS     r3,r3,#1
        0x00001374:    b21b        ..      SXTH     r3,r3
        0x00001376:    2bff        .+      CMP      r3,#0xff
        0x00001378:    ddd9        ..      BLE      0x132e ; CheckMode + 12
        0x0000137a:    2000        .       MOVS     r0,#0
        0x0000137c:    4bd4        .K      LDR      r3,[pc,#848] ; [0x16d0] = 0x20001270
        0x0000137e:    e007        ..      B        0x1390 ; CheckMode + 110
        0x00001380:    0041        A.      LSLS     r1,r0,#1
        0x00001382:    5e59        Y^      LDRSH    r1,[r3,r1]
        0x00001384:    4571        qE      CMP      r1,lr
        0x00001386:    dd01        ..      BLE      0x138c ; CheckMode + 106
        0x00001388:    468e        .F      MOV      lr,r1
        0x0000138a:    9000        ..      STR      r0,[sp,#0]
        0x0000138c:    1c40        @.      ADDS     r0,r0,#1
        0x0000138e:    b200        ..      SXTH     r0,r0
        0x00001390:    4290        .B      CMP      r0,r2
        0x00001392:    dbf5        ..      BLT      0x1380 ; CheckMode + 94
        0x00001394:    9800        ..      LDR      r0,[sp,#0]
        0x00001396:    0041        A.      LSLS     r1,r0,#1
        0x00001398:    48cc        .H      LDR      r0,[pc,#816] ; [0x16cc] = 0x20001070
        0x0000139a:    5a41        AZ      LDRH     r1,[r0,r1]
        0x0000139c:    4660        `F      MOV      r0,r12
        0x0000139e:    30ff        .0      ADDS     r0,r0,#0xff
        0x000013a0:    30ff        .0      ADDS     r0,r0,#0xff
        0x000013a2:    3002        .0      ADDS     r0,#2
        0x000013a4:    80c1        ..      STRH     r1,[r0,#6]
        0x000013a6:    bdf8        ..      POP      {r3-r7,pc}
    CheckEmpirical
        0x000013a8:    b5f0        ..      PUSH     {r4-r7,lr}
        0x000013aa:    4606        .F      MOV      r6,r0
        0x000013ac:    48c9        .H      LDR      r0,[pc,#804] ; [0x16d4] = 0x6ca0
        0x000013ae:    b085        ..      SUB      sp,sp,#0x14
        0x000013b0:    c807        ..      LDM      r0,{r0-r2}
        0x000013b2:    466b        kF      MOV      r3,sp
        0x000013b4:    1df4        ..      ADDS     r4,r6,#7
        0x000013b6:    c307        ..      STM      r3!,{r0-r2}
        0x000013b8:    2500        .%      MOVS     r5,#0
        0x000013ba:    34ff        .4      ADDS     r4,r4,#0xff
        0x000013bc:    34fa        .4      ADDS     r4,r4,#0xfa
        0x000013be:    49c6        .I      LDR      r1,[pc,#792] ; [0x16d8] = 0x40400000
        0x000013c0:    68a0        .h      LDR      r0,[r4,#8]
        0x000013c2:    f002fc52    ..R.    BL       __aeabi_fmul ; 0x3c6a
        0x000013c6:    4607        .F      MOV      r7,r0
        0x000013c8:    2004        .       MOVS     r0,#4
        0x000013ca:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000013cc:    f002fe6a    ..j.    BL       __aeabi_i2f ; 0x40a4
        0x000013d0:    4639        9F      MOV      r1,r7
        0x000013d2:    f002fc42    ..B.    BL       __aeabi_fsub ; 0x3c5a
        0x000013d6:    006f        o.      LSLS     r7,r5,#1
        0x000013d8:    9003        ..      STR      r0,[sp,#0xc]
        0x000013da:    5ff0        ._      LDRSH    r0,[r6,r7]
        0x000013dc:    f002fe62    ..b.    BL       __aeabi_i2f ; 0x40a4
        0x000013e0:    9903        ..      LDR      r1,[sp,#0xc]
        0x000013e2:    f002ff07    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x000013e6:    d202        ..      BCS      0x13ee ; CheckEmpirical + 70
        0x000013e8:    4668        hF      MOV      r0,sp
        0x000013ea:    8005        ..      STRH     r5,[r0,#0]
        0x000013ec:    e067        g.      B        0x14be ; CheckEmpirical + 278
        0x000013ee:    2101        .!      MOVS     r1,#1
        0x000013f0:    68a0        .h      LDR      r0,[r4,#8]
        0x000013f2:    f002fcb7    ....    BL       __ARM_scalbnf ; 0x3d64
        0x000013f6:    9003        ..      STR      r0,[sp,#0xc]
        0x000013f8:    2004        .       MOVS     r0,#4
        0x000013fa:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000013fc:    f002fe52    ..R.    BL       __aeabi_i2f ; 0x40a4
        0x00001400:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001402:    f002fc2a    ..*.    BL       __aeabi_fsub ; 0x3c5a
        0x00001406:    9003        ..      STR      r0,[sp,#0xc]
        0x00001408:    5ff0        ._      LDRSH    r0,[r6,r7]
        0x0000140a:    f002fe4b    ..K.    BL       __aeabi_i2f ; 0x40a4
        0x0000140e:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001410:    f002fef0    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x00001414:    d202        ..      BCS      0x141c ; CheckEmpirical + 116
        0x00001416:    4668        hF      MOV      r0,sp
        0x00001418:    8045        E.      STRH     r5,[r0,#2]
        0x0000141a:    e050        P.      B        0x14be ; CheckEmpirical + 278
        0x0000141c:    2004        .       MOVS     r0,#4
        0x0000141e:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00001420:    f002fe40    ..@.    BL       __aeabi_i2f ; 0x40a4
        0x00001424:    68a1        .h      LDR      r1,[r4,#8]
        0x00001426:    f002fc18    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000142a:    9003        ..      STR      r0,[sp,#0xc]
        0x0000142c:    5ff0        ._      LDRSH    r0,[r6,r7]
        0x0000142e:    f002fe39    ..9.    BL       __aeabi_i2f ; 0x40a4
        0x00001432:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001434:    f002fede    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x00001438:    d202        ..      BCS      0x1440 ; CheckEmpirical + 152
        0x0000143a:    4668        hF      MOV      r0,sp
        0x0000143c:    8085        ..      STRH     r5,[r0,#4]
        0x0000143e:    e03e        >.      B        0x14be ; CheckEmpirical + 278
        0x00001440:    2004        .       MOVS     r0,#4
        0x00001442:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00001444:    f002fe2e    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001448:    68a1        .h      LDR      r1,[r4,#8]
        0x0000144a:    f002fbb5    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000144e:    9003        ..      STR      r0,[sp,#0xc]
        0x00001450:    5ff0        ._      LDRSH    r0,[r6,r7]
        0x00001452:    f002fe27    ..'.    BL       __aeabi_i2f ; 0x40a4
        0x00001456:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001458:    f002fecc    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x0000145c:    d202        ..      BCS      0x1464 ; CheckEmpirical + 188
        0x0000145e:    4668        hF      MOV      r0,sp
        0x00001460:    80c5        ..      STRH     r5,[r0,#6]
        0x00001462:    e02c        ,.      B        0x14be ; CheckEmpirical + 278
        0x00001464:    2101        .!      MOVS     r1,#1
        0x00001466:    68a0        .h      LDR      r0,[r4,#8]
        0x00001468:    f002fc7c    ..|.    BL       __ARM_scalbnf ; 0x3d64
        0x0000146c:    9003        ..      STR      r0,[sp,#0xc]
        0x0000146e:    2004        .       MOVS     r0,#4
        0x00001470:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00001472:    f002fe17    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001476:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001478:    f002fb9e    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000147c:    9003        ..      STR      r0,[sp,#0xc]
        0x0000147e:    5ff0        ._      LDRSH    r0,[r6,r7]
        0x00001480:    f002fe10    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001484:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001486:    f002feb5    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x0000148a:    d202        ..      BCS      0x1492 ; CheckEmpirical + 234
        0x0000148c:    4668        hF      MOV      r0,sp
        0x0000148e:    8105        ..      STRH     r5,[r0,#8]
        0x00001490:    e015        ..      B        0x14be ; CheckEmpirical + 278
        0x00001492:    4991        .I      LDR      r1,[pc,#580] ; [0x16d8] = 0x40400000
        0x00001494:    68a0        .h      LDR      r0,[r4,#8]
        0x00001496:    f002fbe8    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000149a:    9003        ..      STR      r0,[sp,#0xc]
        0x0000149c:    2004        .       MOVS     r0,#4
        0x0000149e:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000014a0:    f002fe00    ....    BL       __aeabi_i2f ; 0x40a4
        0x000014a4:    9903        ..      LDR      r1,[sp,#0xc]
        0x000014a6:    f002fb87    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000014aa:    9003        ..      STR      r0,[sp,#0xc]
        0x000014ac:    5ff0        ._      LDRSH    r0,[r6,r7]
        0x000014ae:    f002fdf9    ....    BL       __aeabi_i2f ; 0x40a4
        0x000014b2:    9903        ..      LDR      r1,[sp,#0xc]
        0x000014b4:    f002fe9e    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x000014b8:    d201        ..      BCS      0x14be ; CheckEmpirical + 278
        0x000014ba:    4668        hF      MOV      r0,sp
        0x000014bc:    8145        E.      STRH     r5,[r0,#0xa]
        0x000014be:    1c6d        m.      ADDS     r5,r5,#1
        0x000014c0:    b22d        -.      SXTH     r5,r5
        0x000014c2:    2dff        .-      CMP      r5,#0xff
        0x000014c4:    dc00        ..      BGT      0x14c8 ; CheckEmpirical + 288
        0x000014c6:    e77a        z.      B        0x13be ; CheckEmpirical + 22
        0x000014c8:    466a        jF      MOV      r2,sp
        0x000014ca:    200a        .       MOVS     r0,#0xa
        0x000014cc:    2100        .!      MOVS     r1,#0
        0x000014ce:    5e10        .^      LDRSH    r0,[r2,r0]
        0x000014d0:    5e51        Q^      LDRSH    r1,[r2,r1]
        0x000014d2:    1a40        @.      SUBS     r0,r0,r1
        0x000014d4:    2164        d!      MOVS     r1,#0x64
        0x000014d6:    1c40        @.      ADDS     r0,r0,#1
        0x000014d8:    4348        HC      MULS     r0,r1,r0
        0x000014da:    17c1        ..      ASRS     r1,r0,#31
        0x000014dc:    0e09        ..      LSRS     r1,r1,#24
        0x000014de:    1808        ..      ADDS     r0,r1,r0
        0x000014e0:    1200        ..      ASRS     r0,r0,#8
        0x000014e2:    8220         .      STRH     r0,[r4,#0x10]
        0x000014e4:    2108        .!      MOVS     r1,#8
        0x000014e6:    2002        .       MOVS     r0,#2
        0x000014e8:    5e51        Q^      LDRSH    r1,[r2,r1]
        0x000014ea:    5e10        .^      LDRSH    r0,[r2,r0]
        0x000014ec:    1a08        ..      SUBS     r0,r1,r0
        0x000014ee:    2164        d!      MOVS     r1,#0x64
        0x000014f0:    1c40        @.      ADDS     r0,r0,#1
        0x000014f2:    4348        HC      MULS     r0,r1,r0
        0x000014f4:    17c1        ..      ASRS     r1,r0,#31
        0x000014f6:    0e09        ..      LSRS     r1,r1,#24
        0x000014f8:    1808        ..      ADDS     r0,r1,r0
        0x000014fa:    1200        ..      ASRS     r0,r0,#8
        0x000014fc:    81e0        ..      STRH     r0,[r4,#0xe]
        0x000014fe:    2006        .       MOVS     r0,#6
        0x00001500:    2104        .!      MOVS     r1,#4
        0x00001502:    5e10        .^      LDRSH    r0,[r2,r0]
        0x00001504:    5e51        Q^      LDRSH    r1,[r2,r1]
        0x00001506:    1a40        @.      SUBS     r0,r0,r1
        0x00001508:    2164        d!      MOVS     r1,#0x64
        0x0000150a:    1c40        @.      ADDS     r0,r0,#1
        0x0000150c:    4348        HC      MULS     r0,r1,r0
        0x0000150e:    17c1        ..      ASRS     r1,r0,#31
        0x00001510:    0e09        ..      LSRS     r1,r1,#24
        0x00001512:    1808        ..      ADDS     r0,r1,r0
        0x00001514:    1200        ..      ASRS     r0,r0,#8
        0x00001516:    81a0        ..      STRH     r0,[r4,#0xc]
        0x00001518:    b005        ..      ADD      sp,sp,#0x14
        0x0000151a:    bdf0        ..      POP      {r4-r7,pc}
    comp
        0x0000151c:    6802        .h      LDR      r2,[r0,#0]
        0x0000151e:    6808        .h      LDR      r0,[r1,#0]
        0x00001520:    4282        .B      CMP      r2,r0
        0x00001522:    dd01        ..      BLE      0x1528 ; comp + 12
        0x00001524:    2001        .       MOVS     r0,#1
        0x00001526:    4770        pG      BX       lr
        0x00001528:    4282        .B      CMP      r2,r0
        0x0000152a:    da02        ..      BGE      0x1532 ; comp + 22
        0x0000152c:    2000        .       MOVS     r0,#0
        0x0000152e:    43c0        .C      MVNS     r0,r0
        0x00001530:    4770        pG      BX       lr
        0x00001532:    2000        .       MOVS     r0,#0
        0x00001534:    4770        pG      BX       lr
    swap
        0x00001536:    8802        ..      LDRH     r2,[r0,#0]
        0x00001538:    880b        ..      LDRH     r3,[r1,#0]
        0x0000153a:    8003        ..      STRH     r3,[r0,#0]
        0x0000153c:    800a        ..      STRH     r2,[r1,#0]
        0x0000153e:    4770        pG      BX       lr
    partition
        0x00001540:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00001542:    4606        .F      MOV      r6,r0
        0x00001544:    0050        P.      LSLS     r0,r2,#1
        0x00001546:    9000        ..      STR      r0,[sp,#0]
        0x00001548:    5e30        0^      LDRSH    r0,[r6,r0]
        0x0000154a:    460c        .F      MOV      r4,r1
        0x0000154c:    4684        .F      MOV      r12,r0
        0x0000154e:    1e48        H.      SUBS     r0,r1,#1
        0x00001550:    b205        ..      SXTH     r5,r0
        0x00001552:    1e57        W.      SUBS     r7,r2,#1
        0x00001554:    e00c        ..      B        0x1570 ; partition + 48
        0x00001556:    0060        `.      LSLS     r0,r4,#1
        0x00001558:    5e32        2^      LDRSH    r2,[r6,r0]
        0x0000155a:    4562        bE      CMP      r2,r12
        0x0000155c:    dc06        ..      BGT      0x156c ; partition + 44
        0x0000155e:    1c6d        m.      ADDS     r5,r5,#1
        0x00001560:    b22d        -.      SXTH     r5,r5
        0x00001562:    1981        ..      ADDS     r1,r0,r6
        0x00001564:    0068        h.      LSLS     r0,r5,#1
        0x00001566:    1980        ..      ADDS     r0,r0,r6
        0x00001568:    f7ffffe5    ....    BL       swap ; 0x1536
        0x0000156c:    1c64        d.      ADDS     r4,r4,#1
        0x0000156e:    b224        $.      SXTH     r4,r4
        0x00001570:    42bc        .B      CMP      r4,r7
        0x00001572:    ddf0        ..      BLE      0x1556 ; partition + 22
        0x00001574:    9800        ..      LDR      r0,[sp,#0]
        0x00001576:    1981        ..      ADDS     r1,r0,r6
        0x00001578:    0068        h.      LSLS     r0,r5,#1
        0x0000157a:    1980        ..      ADDS     r0,r0,r6
        0x0000157c:    1c80        ..      ADDS     r0,r0,#2
        0x0000157e:    f7ffffda    ....    BL       swap ; 0x1536
        0x00001582:    1c6d        m.      ADDS     r5,r5,#1
        0x00001584:    b228        (.      SXTH     r0,r5
        0x00001586:    bdf8        ..      POP      {r3-r7,pc}
    quickSortIterative
        0x00001588:    b5f7        ..      PUSH     {r0-r2,r4-r7,lr}
        0x0000158a:    b0ff        ..      SUB      sp,sp,#0x1fc
        0x0000158c:    b081        ..      SUB      sp,sp,#4
        0x0000158e:    466f        oF      MOV      r7,sp
        0x00001590:    8039        9.      STRH     r1,[r7,#0]
        0x00001592:    2401        .$      MOVS     r4,#1
        0x00001594:    807a        z.      STRH     r2,[r7,#2]
        0x00001596:    0060        `.      LSLS     r0,r4,#1
        0x00001598:    5e3d        =^      LDRSH    r5,[r7,r0]
        0x0000159a:    1e64        d.      SUBS     r4,r4,#1
        0x0000159c:    b220         .      SXTH     r0,r4
        0x0000159e:    0041        A.      LSLS     r1,r0,#1
        0x000015a0:    5e7e        ~^      LDRSH    r6,[r7,r1]
        0x000015a2:    1e40        @.      SUBS     r0,r0,#1
        0x000015a4:    b204        ..      SXTH     r4,r0
        0x000015a6:    462a        *F      MOV      r2,r5
        0x000015a8:    4631        1F      MOV      r1,r6
        0x000015aa:    9880        ..      LDR      r0,[sp,#0x200]
        0x000015ac:    f7ffffc8    ....    BL       partition ; 0x1540
        0x000015b0:    1e41        A.      SUBS     r1,r0,#1
        0x000015b2:    42b1        .B      CMP      r1,r6
        0x000015b4:    dd07        ..      BLE      0x15c6 ; quickSortIterative + 62
        0x000015b6:    1c64        d.      ADDS     r4,r4,#1
        0x000015b8:    b222        ".      SXTH     r2,r4
        0x000015ba:    0053        S.      LSLS     r3,r2,#1
        0x000015bc:    1c52        R.      ADDS     r2,r2,#1
        0x000015be:    b214        ..      SXTH     r4,r2
        0x000015c0:    52fe        .R      STRH     r6,[r7,r3]
        0x000015c2:    0062        b.      LSLS     r2,r4,#1
        0x000015c4:    52b9        .R      STRH     r1,[r7,r2]
        0x000015c6:    1c40        @.      ADDS     r0,r0,#1
        0x000015c8:    42a8        .B      CMP      r0,r5
        0x000015ca:    da07        ..      BGE      0x15dc ; quickSortIterative + 84
        0x000015cc:    1c64        d.      ADDS     r4,r4,#1
        0x000015ce:    b221        !.      SXTH     r1,r4
        0x000015d0:    004a        J.      LSLS     r2,r1,#1
        0x000015d2:    1c49        I.      ADDS     r1,r1,#1
        0x000015d4:    52b8        .R      STRH     r0,[r7,r2]
        0x000015d6:    b20c        ..      SXTH     r4,r1
        0x000015d8:    0060        `.      LSLS     r0,r4,#1
        0x000015da:    523d        =R      STRH     r5,[r7,r0]
        0x000015dc:    2c00        .,      CMP      r4,#0
        0x000015de:    dada        ..      BGE      0x1596 ; quickSortIterative + 14
        0x000015e0:    b07f        ..      ADD      sp,sp,#0x1fc
        0x000015e2:    b004        ..      ADD      sp,sp,#0x10
        0x000015e4:    bdf0        ..      POP      {r4-r7,pc}
    GetGyroDynamicCenter
        0x000015e6:    b510        ..      PUSH     {r4,lr}
        0x000015e8:    4b3c        <K      LDR      r3,[pc,#240] ; [0x16dc] = 0x200002bc
        0x000015ea:    68dc        .h      LDR      r4,[r3,#0xc]
        0x000015ec:    6004        .`      STR      r4,[r0,#0]
        0x000015ee:    6918        .i      LDR      r0,[r3,#0x10]
        0x000015f0:    6008        .`      STR      r0,[r1,#0]
        0x000015f2:    6958        Xi      LDR      r0,[r3,#0x14]
        0x000015f4:    6010        .`      STR      r0,[r2,#0]
        0x000015f6:    bd10        ..      POP      {r4,pc}
    CheckNormalDistribution
        0x000015f8:    b570        p.      PUSH     {r4-r6,lr}
        0x000015fa:    4d39        9M      LDR      r5,[pc,#228] ; [0x16e0] = 0x20000e34
        0x000015fc:    4c39        9L      LDR      r4,[pc,#228] ; [0x16e4] = 0x20000c34
        0x000015fe:    69e9        .i      LDR      r1,[r5,#0x1c]
        0x00001600:    68a0        .h      LDR      r0,[r4,#8]
        0x00001602:    f002fad9    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001606:    4e31        1N      LDR      r6,[pc,#196] ; [0x16cc] = 0x20001070
        0x00001608:    3e3c        <>      SUBS     r6,r6,#0x3c
        0x0000160a:    6b31        1k      LDR      r1,[r6,#0x30]
        0x0000160c:    f002fad4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001610:    4a35        5J      LDR      r2,[pc,#212] ; [0x16e8] = 0x41f00000
        0x00001612:    4932        2I      LDR      r1,[pc,#200] ; [0x16dc] = 0x200002bc
        0x00001614:    4290        .B      CMP      r0,r2
        0x00001616:    da07        ..      BGE      0x1628 ; CheckNormalDistribution + 48
        0x00001618:    6820         h      LDR      r0,[r4,#0]
        0x0000161a:    60c8        .`      STR      r0,[r1,#0xc]
        0x0000161c:    6968        hi      LDR      r0,[r5,#0x14]
        0x0000161e:    6108        .a      STR      r0,[r1,#0x10]
        0x00001620:    6ab0        .j      LDR      r0,[r6,#0x28]
        0x00001622:    6148        Ha      STR      r0,[r1,#0x14]
        0x00001624:    2001        .       MOVS     r0,#1
        0x00001626:    e000        ..      B        0x162a ; CheckNormalDistribution + 50
        0x00001628:    2000        .       MOVS     r0,#0
        0x0000162a:    7208        .r      STRB     r0,[r1,#8]
        0x0000162c:    bd70        p.      POP      {r4-r6,pc}
    CheckGyroNormalParam
        0x0000162e:    b570        p.      PUSH     {r4-r6,lr}
        0x00001630:    4604        .F      MOV      r4,r0
        0x00001632:    22ff        ."      MOVS     r2,#0xff
        0x00001634:    2100        .!      MOVS     r1,#0
        0x00001636:    f7ffffa7    ....    BL       quickSortIterative ; 0x1588
        0x0000163a:    4620         F      MOV      r0,r4
        0x0000163c:    f7fffe2f    ../.    BL       CheckMean ; 0x129e
        0x00001640:    4620         F      MOV      r0,r4
        0x00001642:    f7fffe41    ..A.    BL       CheckStandardDV ; 0x12c8
        0x00001646:    20ff        .       MOVS     r0,#0xff
        0x00001648:    3001        .0      ADDS     r0,#1
        0x0000164a:    1de5        ..      ADDS     r5,r4,#7
        0x0000164c:    5b01        .[      LDRH     r1,[r0,r4]
        0x0000164e:    35ff        .5      ADDS     r5,r5,#0xff
        0x00001650:    35fa        .5      ADDS     r5,r5,#0xfa
        0x00001652:    80a9        ..      STRH     r1,[r5,#4]
        0x00001654:    4620         F      MOV      r0,r4
        0x00001656:    f7fffe64    ..d.    BL       CheckMode ; 0x1322
        0x0000165a:    4620         F      MOV      r0,r4
        0x0000165c:    f7fffea4    ....    BL       CheckEmpirical ; 0x13a8
        0x00001660:    2000        .       MOVS     r0,#0
        0x00001662:    8268        h.      STRH     r0,[r5,#0x12]
        0x00001664:    bd70        p.      POP      {r4-r6,pc}
    GyroDynamicCalibrate
        0x00001666:    b570        p.      PUSH     {r4-r6,lr}
        0x00001668:    460d        .F      MOV      r5,r1
        0x0000166a:    4601        .F      MOV      r1,r0
        0x0000166c:    4614        .F      MOV      r4,r2
        0x0000166e:    481f        .H      LDR      r0,[pc,#124] ; [0x16ec] = 0x20000a34
        0x00001670:    f7fffdfc    ....    BL       pushBuffer ; 0x126c
        0x00001674:    481b        .H      LDR      r0,[pc,#108] ; [0x16e4] = 0x20000c34
        0x00001676:    4629        )F      MOV      r1,r5
        0x00001678:    3014        .0      ADDS     r0,r0,#0x14
        0x0000167a:    4605        .F      MOV      r5,r0
        0x0000167c:    f7fffdf6    ....    BL       pushBuffer ; 0x126c
        0x00001680:    4817        .H      LDR      r0,[pc,#92] ; [0x16e0] = 0x20000e34
        0x00001682:    4621        !F      MOV      r1,r4
        0x00001684:    3028        (0      ADDS     r0,r0,#0x28
        0x00001686:    4604        .F      MOV      r4,r0
        0x00001688:    f7fffdf0    ....    BL       pushBuffer ; 0x126c
        0x0000168c:    2800        .(      CMP      r0,#0
        0x0000168e:    d00a        ..      BEQ      0x16a6 ; GyroDynamicCalibrate + 64
        0x00001690:    4816        .H      LDR      r0,[pc,#88] ; [0x16ec] = 0x20000a34
        0x00001692:    f7ffffcc    ....    BL       CheckGyroNormalParam ; 0x162e
        0x00001696:    4628        (F      MOV      r0,r5
        0x00001698:    f7ffffc9    ....    BL       CheckGyroNormalParam ; 0x162e
        0x0000169c:    4620         F      MOV      r0,r4
        0x0000169e:    f7ffffc6    ....    BL       CheckGyroNormalParam ; 0x162e
        0x000016a2:    f7ffffa9    ....    BL       CheckNormalDistribution ; 0x15f8
        0x000016a6:    bd70        p.      POP      {r4-r6,pc}
    GyroDynamicGetDrift
        0x000016a8:    2285        ."      MOVS     r2,#0x85
        0x000016aa:    0092        ..      LSLS     r2,r2,#2
        0x000016ac:    4351        QC      MULS     r1,r2,r1
        0x000016ae:    4a0f        .J      LDR      r2,[pc,#60] ; [0x16ec] = 0x20000a34
        0x000016b0:    b510        ..      PUSH     {r4,lr}
        0x000016b2:    1889        ..      ADDS     r1,r1,r2
        0x000016b4:    2285        ."      MOVS     r2,#0x85
        0x000016b6:    0092        ..      LSLS     r2,r2,#2
        0x000016b8:    f002fa5d    ..].    BL       __aeabi_memcpy ; 0x3b76
        0x000016bc:    bd10        ..      POP      {r4,pc}
    GyroDynamicGetSteady
        0x000016be:    4807        .H      LDR      r0,[pc,#28] ; [0x16dc] = 0x200002bc
        0x000016c0:    7a00        .z      LDRB     r0,[r0,#8]
        0x000016c2:    4770        pG      BX       lr
    GyroDynamicInit
        0x000016c4:    4770        pG      BX       lr
    $d
        0x000016c6:    0000        ..      DCW    0
        0x000016c8:    437f0000    ...C    DCD    1132396544
        0x000016cc:    20001070    p..     DCD    536875120
        0x000016d0:    20001270    p..     DCD    536875632
        0x000016d4:    00006ca0    .l..    DCD    27808
        0x000016d8:    40400000    ..@@    DCD    1077936128
        0x000016dc:    200002bc    ...     DCD    536871612
        0x000016e0:    20000e34    4..     DCD    536874548
        0x000016e4:    20000c34    4..     DCD    536874036
        0x000016e8:    41f00000    ...A    DCD    1106247680
        0x000016ec:    20000a34    4..     DCD    536873524
    $t
    .text
    reset_calibration_matrices
        0x000016f0:    b570        p.      PUSH     {r4-r6,lr}
        0x000016f2:    2100        .!      MOVS     r1,#0
        0x000016f4:    4ef9        .N      LDR      r6,[pc,#996] ; [0x1adc] = 0x200016b4
        0x000016f6:    4dfa        .M      LDR      r5,[pc,#1000] ; [0x1ae0] = 0x20001524
        0x000016f8:    460a        .F      MOV      r2,r1
        0x000016fa:    0088        ..      LSLS     r0,r1,#2
        0x000016fc:    5032        2P      STR      r2,[r6,r0]
        0x000016fe:    2328        (#      MOVS     r3,#0x28
        0x00001700:    2000        .       MOVS     r0,#0
        0x00001702:    434b        KC      MULS     r3,r1,r3
        0x00001704:    195b        [.      ADDS     r3,r3,r5
        0x00001706:    0084        ..      LSLS     r4,r0,#2
        0x00001708:    1c40        @.      ADDS     r0,r0,#1
        0x0000170a:    511a        .Q      STR      r2,[r3,r4]
        0x0000170c:    280a        .(      CMP      r0,#0xa
        0x0000170e:    dbfa        ..      BLT      0x1706 ; reset_calibration_matrices + 22
        0x00001710:    1c49        I.      ADDS     r1,r1,#1
        0x00001712:    290a        .)      CMP      r1,#0xa
        0x00001714:    dbf1        ..      BLT      0x16fa ; reset_calibration_matrices + 10
        0x00001716:    bd70        p.      POP      {r4-r6,pc}
    setup_acc_beta
        0x00001718:    b500        ..      PUSH     {lr}
        0x0000171a:    f7ffffe9    ....    BL       reset_calibration_matrices ; 0x16f0
        0x0000171e:    49f0        .I      LDR      r1,[pc,#960] ; [0x1ae0] = 0x20001524
        0x00001720:    2000        .       MOVS     r0,#0
        0x00001722:    3990        .9      SUBS     r1,r1,#0x90
        0x00001724:    6088        .`      STR      r0,[r1,#8]
        0x00001726:    6048        H`      STR      r0,[r1,#4]
        0x00001728:    6008        .`      STR      r0,[r1,#0]
        0x0000172a:    48ee        .H      LDR      r0,[pc,#952] ; [0x1ae4] = 0x397fda40
        0x0000172c:    6148        Ha      STR      r0,[r1,#0x14]
        0x0000172e:    6108        .a      STR      r0,[r1,#0x10]
        0x00001730:    60c8        .`      STR      r0,[r1,#0xc]
        0x00001732:    bd00        ..      POP      {pc}
    setup_mag_beta
        0x00001734:    b570        p.      PUSH     {r4-r6,lr}
        0x00001736:    f7ffffdb    ....    BL       reset_calibration_matrices ; 0x16f0
        0x0000173a:    4de9        .M      LDR      r5,[pc,#932] ; [0x1ae0] = 0x20001524
        0x0000173c:    3db4        .=      SUBS     r5,r5,#0xb4
        0x0000173e:    69a8        .i      LDR      r0,[r5,#0x18]
        0x00001740:    f002fcb0    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001744:    462c        ,F      MOV      r4,r5
        0x00001746:    3424        $4      ADDS     r4,r4,#0x24
        0x00001748:    6020         `      STR      r0,[r4,#0]
        0x0000174a:    69e8        .i      LDR      r0,[r5,#0x1c]
        0x0000174c:    f002fcaa    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001750:    6060        ``      STR      r0,[r4,#4]
        0x00001752:    6a28        (j      LDR      r0,[r5,#0x20]
        0x00001754:    f002fca6    ....    BL       __aeabi_i2f ; 0x40a4
        0x00001758:    60a0        .`      STR      r0,[r4,#8]
        0x0000175a:    48e3        .H      LDR      r0,[pc,#908] ; [0x1ae8] = 0x20000250
        0x0000175c:    6e00        .n      LDR      r0,[r0,#0x60]
        0x0000175e:    60e0        .`      STR      r0,[r4,#0xc]
        0x00001760:    6120         a      STR      r0,[r4,#0x10]
        0x00001762:    6160        `a      STR      r0,[r4,#0x14]
        0x00001764:    2000        .       MOVS     r0,#0
        0x00001766:    61a0        .a      STR      r0,[r4,#0x18]
        0x00001768:    61e0        .a      STR      r0,[r4,#0x1c]
        0x0000176a:    6220         b      STR      r0,[r4,#0x20]
        0x0000176c:    207f        .       MOVS     r0,#0x7f
        0x0000176e:    05c0        ..      LSLS     r0,r0,#23
        0x00001770:    6260        `b      STR      r0,[r4,#0x24]
        0x00001772:    bd70        p.      POP      {r4-r6,pc}
    update_calibration_matrices
        0x00001774:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x00001776:    b087        ..      SUB      sp,sp,#0x1c
        0x00001778:    2400        .$      MOVS     r4,#0
        0x0000177a:    4fd9        .O      LDR      r7,[pc,#868] ; [0x1ae0] = 0x20001524
        0x0000177c:    00a5        ..      LSLS     r5,r4,#2
        0x0000177e:    3f90        .?      SUBS     r7,r7,#0x90
        0x00001780:    19e8        ..      ADDS     r0,r5,r7
        0x00001782:    68c6        .h      LDR      r6,[r0,#0xc]
        0x00001784:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00001786:    0061        a.      LSLS     r1,r4,#1
        0x00001788:    5e40        @^      LDRSH    r0,[r0,r1]
        0x0000178a:    f002fc8b    ....    BL       __aeabi_i2f ; 0x40a4
        0x0000178e:    5979        yY      LDR      r1,[r7,r5]
        0x00001790:    f002fa63    ..c.    BL       __aeabi_fsub ; 0x3c5a
        0x00001794:    4607        .F      MOV      r7,r0
        0x00001796:    4631        1F      MOV      r1,r6
        0x00001798:    4608        .F      MOV      r0,r1
        0x0000179a:    f002fa66    ..f.    BL       __aeabi_fmul ; 0x3c6a
        0x0000179e:    4639        9F      MOV      r1,r7
        0x000017a0:    f002fa63    ..c.    BL       __aeabi_fmul ; 0x3c6a
        0x000017a4:    4639        9F      MOV      r1,r7
        0x000017a6:    f002fa60    ..`.    BL       __aeabi_fmul ; 0x3c6a
        0x000017aa:    9908        ..      LDR      r1,[sp,#0x20]
        0x000017ac:    f002fa59    ..Y.    BL       __aeabi_frsub ; 0x3c62
        0x000017b0:    9008        ..      STR      r0,[sp,#0x20]
        0x000017b2:    2101        .!      MOVS     r1,#1
        0x000017b4:    4630        0F      MOV      r0,r6
        0x000017b6:    f002fad5    ....    BL       __ARM_scalbnf ; 0x3d64
        0x000017ba:    4631        1F      MOV      r1,r6
        0x000017bc:    f002fa55    ..U.    BL       __aeabi_fmul ; 0x3c6a
        0x000017c0:    4639        9F      MOV      r1,r7
        0x000017c2:    f002fa52    ..R.    BL       __aeabi_fmul ; 0x3c6a
        0x000017c6:    4669        iF      MOV      r1,sp
        0x000017c8:    5148        HQ      STR      r0,[r1,r5]
        0x000017ca:    2103        .!      MOVS     r1,#3
        0x000017cc:    0789        ..      LSLS     r1,r1,#30
        0x000017ce:    4630        0F      MOV      r0,r6
        0x000017d0:    f002fa4b    ..K.    BL       __aeabi_fmul ; 0x3c6a
        0x000017d4:    4639        9F      MOV      r1,r7
        0x000017d6:    f002fa48    ..H.    BL       __aeabi_fmul ; 0x3c6a
        0x000017da:    4639        9F      MOV      r1,r7
        0x000017dc:    f002fa45    ..E.    BL       __aeabi_fmul ; 0x3c6a
        0x000017e0:    4669        iF      MOV      r1,sp
        0x000017e2:    1869        i.      ADDS     r1,r5,r1
        0x000017e4:    1c64        d.      ADDS     r4,r4,#1
        0x000017e6:    60c8        .`      STR      r0,[r1,#0xc]
        0x000017e8:    2c03        .,      CMP      r4,#3
        0x000017ea:    dbc6        ..      BLT      0x177a ; update_calibration_matrices + 6
        0x000017ec:    2500        .%      MOVS     r5,#0
        0x000017ee:    00ac        ..      LSLS     r4,r5,#2
        0x000017f0:    466e        nF      MOV      r6,sp
        0x000017f2:    5930        0Y      LDR      r0,[r6,r4]
        0x000017f4:    9006        ..      STR      r0,[sp,#0x18]
        0x000017f6:    9908        ..      LDR      r1,[sp,#0x20]
        0x000017f8:    f002fa37    ..7.    BL       __aeabi_fmul ; 0x3c6a
        0x000017fc:    4fb7        .O      LDR      r7,[pc,#732] ; [0x1adc] = 0x200016b4
        0x000017fe:    5939        9Y      LDR      r1,[r7,r4]
        0x00001800:    f002f9da    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001804:    5138        8Q      STR      r0,[r7,r4]
        0x00001806:    48b6        .H      LDR      r0,[pc,#728] ; [0x1ae0] = 0x20001524
        0x00001808:    2128        (!      MOVS     r1,#0x28
        0x0000180a:    2400        .$      MOVS     r4,#0
        0x0000180c:    4369        iC      MULS     r1,r5,r1
        0x0000180e:    180f        ..      ADDS     r7,r1,r0
        0x00001810:    00a6        ..      LSLS     r6,r4,#2
        0x00001812:    4668        hF      MOV      r0,sp
        0x00001814:    5981        .Y      LDR      r1,[r0,r6]
        0x00001816:    9806        ..      LDR      r0,[sp,#0x18]
        0x00001818:    f002fa27    ..'.    BL       __aeabi_fmul ; 0x3c6a
        0x0000181c:    59b9        .Y      LDR      r1,[r7,r6]
        0x0000181e:    f002f9cb    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001822:    1c64        d.      ADDS     r4,r4,#1
        0x00001824:    51b8        .Q      STR      r0,[r7,r6]
        0x00001826:    2c06        .,      CMP      r4,#6
        0x00001828:    dbf2        ..      BLT      0x1810 ; update_calibration_matrices + 156
        0x0000182a:    1c6d        m.      ADDS     r5,r5,#1
        0x0000182c:    2d06        .-      CMP      r5,#6
        0x0000182e:    dbde        ..      BLT      0x17ee ; update_calibration_matrices + 122
        0x00001830:    b009        ..      ADD      sp,sp,#0x24
        0x00001832:    bdf0        ..      POP      {r4-r7,pc}
    update_calibration_matrices_mag
        0x00001834:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x00001836:    4604        .F      MOV      r4,r0
        0x00001838:    2000        .       MOVS     r0,#0
        0x0000183a:    b0a9        ..      SUB      sp,sp,#0xa4
        0x0000183c:    5e20         ^      LDRSH    r0,[r4,r0]
        0x0000183e:    f002fc31    ..1.    BL       __aeabi_i2f ; 0x40a4
        0x00001842:    901f        ..      STR      r0,[sp,#0x7c]
        0x00001844:    2002        .       MOVS     r0,#2
        0x00001846:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00001848:    f002fc2c    ..,.    BL       __aeabi_i2f ; 0x40a4
        0x0000184c:    9020         .      STR      r0,[sp,#0x80]
        0x0000184e:    2004        .       MOVS     r0,#4
        0x00001850:    5e20         ^      LDRSH    r0,[r4,r0]
        0x00001852:    f002fc27    ..'.    BL       __aeabi_i2f ; 0x40a4
        0x00001856:    4ea2        .N      LDR      r6,[pc,#648] ; [0x1ae0] = 0x20001524
        0x00001858:    2400        .$      MOVS     r4,#0
        0x0000185a:    466f        oF      MOV      r7,sp
        0x0000185c:    3e90        .>      SUBS     r6,r6,#0x90
        0x0000185e:    9021        !.      STR      r0,[sp,#0x84]
        0x00001860:    00a5        ..      LSLS     r5,r4,#2
        0x00001862:    a81f        ..      ADD      r0,sp,#0x7c
        0x00001864:    5971        qY      LDR      r1,[r6,r5]
        0x00001866:    5940        @Y      LDR      r0,[r0,r5]
        0x00001868:    f002f9f7    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000186c:    5178        xQ      STR      r0,[r7,r5]
        0x0000186e:    4601        .F      MOV      r1,r0
        0x00001870:    f002f9fb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001874:    a915        ..      ADD      r1,sp,#0x54
        0x00001876:    1c64        d.      ADDS     r4,r4,#1
        0x00001878:    5148        HQ      STR      r0,[r1,r5]
        0x0000187a:    2c03        .,      CMP      r4,#3
        0x0000187c:    dbf0        ..      BLT      0x1860 ; update_calibration_matrices_mag + 44
        0x0000187e:    9902        ..      LDR      r1,[sp,#8]
        0x00001880:    9800        ..      LDR      r0,[sp,#0]
        0x00001882:    f002f9f2    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001886:    6a31        1j      LDR      r1,[r6,#0x20]
        0x00001888:    9123        #.      STR      r1,[sp,#0x8c]
        0x0000188a:    f002f9ee    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000188e:    4605        .F      MOV      r5,r0
        0x00001890:    9902        ..      LDR      r1,[sp,#8]
        0x00001892:    9801        ..      LDR      r0,[sp,#4]
        0x00001894:    f002f9e9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001898:    69f1        .i      LDR      r1,[r6,#0x1c]
        0x0000189a:    9124        $.      STR      r1,[sp,#0x90]
        0x0000189c:    f002f9e5    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000018a0:    4604        .F      MOV      r4,r0
        0x000018a2:    9901        ..      LDR      r1,[sp,#4]
        0x000018a4:    9800        ..      LDR      r0,[sp,#0]
        0x000018a6:    f002f9e0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000018aa:    69b1        .i      LDR      r1,[r6,#0x18]
        0x000018ac:    9122        ".      STR      r1,[sp,#0x88]
        0x000018ae:    f002f9dc    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000018b2:    4621        !F      MOV      r1,r4
        0x000018b4:    f002f980    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000018b8:    4629        )F      MOV      r1,r5
        0x000018ba:    f002f97d    ..}.    BL       __aeabi_fadd ; 0x3bb8
        0x000018be:    2101        .!      MOVS     r1,#1
        0x000018c0:    f002fa50    ..P.    BL       __ARM_scalbnf ; 0x3d64
        0x000018c4:    4607        .F      MOV      r7,r0
        0x000018c6:    6970        pi      LDR      r0,[r6,#0x14]
        0x000018c8:    9025        %.      STR      r0,[sp,#0x94]
        0x000018ca:    9925        %.      LDR      r1,[sp,#0x94]
        0x000018cc:    9817        ..      LDR      r0,[sp,#0x5c]
        0x000018ce:    f002f9cc    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000018d2:    9026        &.      STR      r0,[sp,#0x98]
        0x000018d4:    6935        5i      LDR      r5,[r6,#0x10]
        0x000018d6:    9816        ..      LDR      r0,[sp,#0x58]
        0x000018d8:    4629        )F      MOV      r1,r5
        0x000018da:    f002f9c6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000018de:    900a        ..      STR      r0,[sp,#0x28]
        0x000018e0:    68f4        .h      LDR      r4,[r6,#0xc]
        0x000018e2:    9815        ..      LDR      r0,[sp,#0x54]
        0x000018e4:    4621        !F      MOV      r1,r4
        0x000018e6:    f002f9c0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000018ea:    990a        ..      LDR      r1,[sp,#0x28]
        0x000018ec:    f002f964    ..d.    BL       __aeabi_fadd ; 0x3bb8
        0x000018f0:    9926        &.      LDR      r1,[sp,#0x98]
        0x000018f2:    f002f961    ..a.    BL       __aeabi_fadd ; 0x3bb8
        0x000018f6:    4639        9F      MOV      r1,r7
        0x000018f8:    f002f95e    ..^.    BL       __aeabi_fadd ; 0x3bb8
        0x000018fc:    6a76        vj      LDR      r6,[r6,#0x24]
        0x000018fe:    4607        .F      MOV      r7,r0
        0x00001900:    4631        1F      MOV      r1,r6
        0x00001902:    4608        .F      MOV      r0,r1
        0x00001904:    f002f9b1    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001908:    4601        .F      MOV      r1,r0
        0x0000190a:    900a        ..      STR      r0,[sp,#0x28]
        0x0000190c:    4638        8F      MOV      r0,r7
        0x0000190e:    f002f9e9    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00001912:    4607        .F      MOV      r7,r0
        0x00001914:    4601        .F      MOV      r1,r0
        0x00001916:    982a        *.      LDR      r0,[sp,#0xa8]
        0x00001918:    f002f99f    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000191c:    902a        *.      STR      r0,[sp,#0xa8]
        0x0000191e:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001920:    9028        (.      STR      r0,[sp,#0xa0]
        0x00001922:    9923        #.      LDR      r1,[sp,#0x8c]
        0x00001924:    9802        ..      LDR      r0,[sp,#8]
        0x00001926:    f002f9a0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000192a:    9027        '.      STR      r0,[sp,#0x9c]
        0x0000192c:    9922        ".      LDR      r1,[sp,#0x88]
        0x0000192e:    9801        ..      LDR      r0,[sp,#4]
        0x00001930:    f002f99b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001934:    9026        &.      STR      r0,[sp,#0x98]
        0x00001936:    4621        !F      MOV      r1,r4
        0x00001938:    9800        ..      LDR      r0,[sp,#0]
        0x0000193a:    f002f996    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000193e:    9926        &.      LDR      r1,[sp,#0x98]
        0x00001940:    f002f93a    ..:.    BL       __aeabi_fadd ; 0x3bb8
        0x00001944:    9927        '.      LDR      r1,[sp,#0x9c]
        0x00001946:    f002f937    ..7.    BL       __aeabi_fadd ; 0x3bb8
        0x0000194a:    2101        .!      MOVS     r1,#1
        0x0000194c:    f002fa0a    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00001950:    9928        (.      LDR      r1,[sp,#0xa0]
        0x00001952:    f002f9c7    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00001956:    900b        ..      STR      r0,[sp,#0x2c]
        0x00001958:    9c0a        ..      LDR      r4,[sp,#0x28]
        0x0000195a:    9924        $.      LDR      r1,[sp,#0x90]
        0x0000195c:    9802        ..      LDR      r0,[sp,#8]
        0x0000195e:    f002f984    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001962:    9026        &.      STR      r0,[sp,#0x98]
        0x00001964:    9922        ".      LDR      r1,[sp,#0x88]
        0x00001966:    9800        ..      LDR      r0,[sp,#0]
        0x00001968:    f002f97f    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000196c:    9022        ".      STR      r0,[sp,#0x88]
        0x0000196e:    4629        )F      MOV      r1,r5
        0x00001970:    9801        ..      LDR      r0,[sp,#4]
        0x00001972:    f002f97a    ..z.    BL       __aeabi_fmul ; 0x3c6a
        0x00001976:    9922        ".      LDR      r1,[sp,#0x88]
        0x00001978:    f002f91e    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000197c:    9926        &.      LDR      r1,[sp,#0x98]
        0x0000197e:    f002f91b    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001982:    2101        .!      MOVS     r1,#1
        0x00001984:    f002f9ee    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00001988:    4621        !F      MOV      r1,r4
        0x0000198a:    f002f9ab    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x0000198e:    900c        ..      STR      r0,[sp,#0x30]
        0x00001990:    9c0a        ..      LDR      r4,[sp,#0x28]
        0x00001992:    9923        #.      LDR      r1,[sp,#0x8c]
        0x00001994:    9800        ..      LDR      r0,[sp,#0]
        0x00001996:    f002f968    ..h.    BL       __aeabi_fmul ; 0x3c6a
        0x0000199a:    9022        ".      STR      r0,[sp,#0x88]
        0x0000199c:    9924        $.      LDR      r1,[sp,#0x90]
        0x0000199e:    9801        ..      LDR      r0,[sp,#4]
        0x000019a0:    f002f963    ..c.    BL       __aeabi_fmul ; 0x3c6a
        0x000019a4:    4605        .F      MOV      r5,r0
        0x000019a6:    9925        %.      LDR      r1,[sp,#0x94]
        0x000019a8:    9802        ..      LDR      r0,[sp,#8]
        0x000019aa:    f002f95e    ..^.    BL       __aeabi_fmul ; 0x3c6a
        0x000019ae:    4629        )F      MOV      r1,r5
        0x000019b0:    f002f902    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000019b4:    9922        ".      LDR      r1,[sp,#0x88]
        0x000019b6:    f002f8ff    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000019ba:    2101        .!      MOVS     r1,#1
        0x000019bc:    f002f9d2    ....    BL       __ARM_scalbnf ; 0x3d64
        0x000019c0:    4621        !F      MOV      r1,r4
        0x000019c2:    f002f98f    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000019c6:    900d        ..      STR      r0,[sp,#0x34]
        0x000019c8:    2401        .$      MOVS     r4,#1
        0x000019ca:    9815        ..      LDR      r0,[sp,#0x54]
        0x000019cc:    07e4        ..      LSLS     r4,r4,#31
        0x000019ce:    4060        `@      EORS     r0,r0,r4
        0x000019d0:    990a        ..      LDR      r1,[sp,#0x28]
        0x000019d2:    f002f987    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000019d6:    900e        ..      STR      r0,[sp,#0x38]
        0x000019d8:    9816        ..      LDR      r0,[sp,#0x58]
        0x000019da:    990a        ..      LDR      r1,[sp,#0x28]
        0x000019dc:    4060        `@      EORS     r0,r0,r4
        0x000019de:    f002f981    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000019e2:    900f        ..      STR      r0,[sp,#0x3c]
        0x000019e4:    9817        ..      LDR      r0,[sp,#0x5c]
        0x000019e6:    990a        ..      LDR      r1,[sp,#0x28]
        0x000019e8:    4060        `@      EORS     r0,r0,r4
        0x000019ea:    f002f97b    ..{.    BL       __aeabi_fdiv ; 0x3ce4
        0x000019ee:    9010        ..      STR      r0,[sp,#0x40]
        0x000019f0:    1064        d.      ASRS     r4,r4,#1
        0x000019f2:    4621        !F      MOV      r1,r4
        0x000019f4:    9d0a        ..      LDR      r5,[sp,#0x28]
        0x000019f6:    9800        ..      LDR      r0,[sp,#0]
        0x000019f8:    f002f937    ..7.    BL       __aeabi_fmul ; 0x3c6a
        0x000019fc:    9022        ".      STR      r0,[sp,#0x88]
        0x000019fe:    9901        ..      LDR      r1,[sp,#4]
        0x00001a00:    f002f933    ..3.    BL       __aeabi_fmul ; 0x3c6a
        0x00001a04:    4629        )F      MOV      r1,r5
        0x00001a06:    f002f96d    ..m.    BL       __aeabi_fdiv ; 0x3ce4
        0x00001a0a:    9011        ..      STR      r0,[sp,#0x44]
        0x00001a0c:    4621        !F      MOV      r1,r4
        0x00001a0e:    9d0a        ..      LDR      r5,[sp,#0x28]
        0x00001a10:    9801        ..      LDR      r0,[sp,#4]
        0x00001a12:    f002f92a    ..*.    BL       __aeabi_fmul ; 0x3c6a
        0x00001a16:    9902        ..      LDR      r1,[sp,#8]
        0x00001a18:    f002f927    ..'.    BL       __aeabi_fmul ; 0x3c6a
        0x00001a1c:    4629        )F      MOV      r1,r5
        0x00001a1e:    f002f961    ..a.    BL       __aeabi_fdiv ; 0x3ce4
        0x00001a22:    9012        ..      STR      r0,[sp,#0x48]
        0x00001a24:    9c0a        ..      LDR      r4,[sp,#0x28]
        0x00001a26:    9902        ..      LDR      r1,[sp,#8]
        0x00001a28:    9822        ".      LDR      r0,[sp,#0x88]
        0x00001a2a:    f002f91e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001a2e:    4621        !F      MOV      r1,r4
        0x00001a30:    f002f958    ..X.    BL       __aeabi_fdiv ; 0x3ce4
        0x00001a34:    9013        ..      STR      r0,[sp,#0x4c]
        0x00001a36:    2101        .!      MOVS     r1,#1
        0x00001a38:    4638        8F      MOV      r0,r7
        0x00001a3a:    f002f993    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00001a3e:    4631        1F      MOV      r1,r6
        0x00001a40:    f002f950    ..P.    BL       __aeabi_fdiv ; 0x3ce4
        0x00001a44:    2500        .%      MOVS     r5,#0
        0x00001a46:    9014        ..      STR      r0,[sp,#0x50]
        0x00001a48:    00ac        ..      LSLS     r4,r5,#2
        0x00001a4a:    ae0b        ..      ADD      r6,sp,#0x2c
        0x00001a4c:    5930        0Y      LDR      r0,[r6,r4]
        0x00001a4e:    900a        ..      STR      r0,[sp,#0x28]
        0x00001a50:    992a        *.      LDR      r1,[sp,#0xa8]
        0x00001a52:    f002f90a    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001a56:    4f21        !O      LDR      r7,[pc,#132] ; [0x1adc] = 0x200016b4
        0x00001a58:    5939        9Y      LDR      r1,[r7,r4]
        0x00001a5a:    f002f8ad    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001a5e:    5138        8Q      STR      r0,[r7,r4]
        0x00001a60:    491f        .I      LDR      r1,[pc,#124] ; [0x1ae0] = 0x20001524
        0x00001a62:    4628        (F      MOV      r0,r5
        0x00001a64:    2228        ("      MOVS     r2,#0x28
        0x00001a66:    2400        .$      MOVS     r4,#0
        0x00001a68:    4350        PC      MULS     r0,r2,r0
        0x00001a6a:    1847        G.      ADDS     r7,r0,r1
        0x00001a6c:    00a6        ..      LSLS     r6,r4,#2
        0x00001a6e:    a80b        ..      ADD      r0,sp,#0x2c
        0x00001a70:    5981        .Y      LDR      r1,[r0,r6]
        0x00001a72:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001a74:    f002f8f9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001a78:    59b9        .Y      LDR      r1,[r7,r6]
        0x00001a7a:    f002f89d    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001a7e:    1c64        d.      ADDS     r4,r4,#1
        0x00001a80:    51b8        .Q      STR      r0,[r7,r6]
        0x00001a82:    2c0a        .,      CMP      r4,#0xa
        0x00001a84:    dbf2        ..      BLT      0x1a6c ; update_calibration_matrices_mag + 568
        0x00001a86:    1c6d        m.      ADDS     r5,r5,#1
        0x00001a88:    2d0a        .-      CMP      r5,#0xa
        0x00001a8a:    dbdd        ..      BLT      0x1a48 ; update_calibration_matrices_mag + 532
        0x00001a8c:    b02b        +.      ADD      sp,sp,#0xac
        0x00001a8e:    bdf0        ..      POP      {r4-r7,pc}
    compute_calibration_matrices_acc
        0x00001a90:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00001a92:    460d        .F      MOV      r5,r1
        0x00001a94:    4606        .F      MOV      r6,r0
        0x00001a96:    f7fffe2b    ..+.    BL       reset_calibration_matrices ; 0x16f0
        0x00001a9a:    2400        .$      MOVS     r4,#0
        0x00001a9c:    277f        .'      MOVS     r7,#0x7f
        0x00001a9e:    05ff        ..      LSLS     r7,r7,#23
        0x00001aa0:    e006        ..      B        0x1ab0 ; compute_calibration_matrices_acc + 32
        0x00001aa2:    2006        .       MOVS     r0,#6
        0x00001aa4:    4360        `C      MULS     r0,r4,r0
        0x00001aa6:    1980        ..      ADDS     r0,r0,r6
        0x00001aa8:    4639        9F      MOV      r1,r7
        0x00001aaa:    f7fffe63    ..c.    BL       update_calibration_matrices ; 0x1774
        0x00001aae:    1c64        d.      ADDS     r4,r4,#1
        0x00001ab0:    42ac        .B      CMP      r4,r5
        0x00001ab2:    dbf6        ..      BLT      0x1aa2 ; compute_calibration_matrices_acc + 18
        0x00001ab4:    bdf8        ..      POP      {r3-r7,pc}
    compute_calibration_matrices_mag
        0x00001ab6:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00001ab8:    460d        .F      MOV      r5,r1
        0x00001aba:    4606        .F      MOV      r6,r0
        0x00001abc:    f7fffe18    ....    BL       reset_calibration_matrices ; 0x16f0
        0x00001ac0:    2400        .$      MOVS     r4,#0
        0x00001ac2:    277f        .'      MOVS     r7,#0x7f
        0x00001ac4:    05ff        ..      LSLS     r7,r7,#23
        0x00001ac6:    e006        ..      B        0x1ad6 ; compute_calibration_matrices_mag + 32
        0x00001ac8:    2006        .       MOVS     r0,#6
        0x00001aca:    4360        `C      MULS     r0,r4,r0
        0x00001acc:    1980        ..      ADDS     r0,r0,r6
        0x00001ace:    4639        9F      MOV      r1,r7
        0x00001ad0:    f7fffeb0    ....    BL       update_calibration_matrices_mag ; 0x1834
        0x00001ad4:    1c64        d.      ADDS     r4,r4,#1
        0x00001ad6:    42ac        .B      CMP      r4,r5
        0x00001ad8:    dbf6        ..      BLT      0x1ac8 ; compute_calibration_matrices_mag + 18
        0x00001ada:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x00001adc:    200016b4    ...     DCD    536876724
        0x00001ae0:    20001524    $..     DCD    536876324
        0x00001ae4:    397fda40    @..9    DCD    964680256
        0x00001ae8:    20000250    P..     DCD    536871504
    $t
    Det
        0x00001aec:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00001aee:    b089        ..      SUB      sp,sp,#0x24
        0x00001af0:    2200        ."      MOVS     r2,#0
        0x00001af2:    466d        mF      MOV      r5,sp
        0x00001af4:    0053        S.      LSLS     r3,r2,#1
        0x00001af6:    18d4        ..      ADDS     r4,r2,r3
        0x00001af8:    230c        .#      MOVS     r3,#0xc
        0x00001afa:    2100        .!      MOVS     r1,#0
        0x00001afc:    4353        SC      MULS     r3,r2,r3
        0x00001afe:    195b        [.      ADDS     r3,r3,r5
        0x00001b00:    1866        f.      ADDS     r6,r4,r1
        0x00001b02:    00b6        ..      LSLS     r6,r6,#2
        0x00001b04:    008f        ..      LSLS     r7,r1,#2
        0x00001b06:    5986        .Y      LDR      r6,[r0,r6]
        0x00001b08:    1c49        I.      ADDS     r1,r1,#1
        0x00001b0a:    51de        .Q      STR      r6,[r3,r7]
        0x00001b0c:    2903        .)      CMP      r1,#3
        0x00001b0e:    dbf7        ..      BLT      0x1b00 ; Det + 20
        0x00001b10:    1c52        R.      ADDS     r2,r2,#1
        0x00001b12:    2a03        .*      CMP      r2,#3
        0x00001b14:    dbee        ..      BLT      0x1af4 ; Det + 8
        0x00001b16:    9906        ..      LDR      r1,[sp,#0x18]
        0x00001b18:    9804        ..      LDR      r0,[sp,#0x10]
        0x00001b1a:    f002f8a6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b1e:    4604        .F      MOV      r4,r0
        0x00001b20:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00001b22:    9803        ..      LDR      r0,[sp,#0xc]
        0x00001b24:    f002f8a1    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b28:    4621        !F      MOV      r1,r4
        0x00001b2a:    f002f896    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001b2e:    9902        ..      LDR      r1,[sp,#8]
        0x00001b30:    f002f89b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b34:    4605        .F      MOV      r5,r0
        0x00001b36:    9906        ..      LDR      r1,[sp,#0x18]
        0x00001b38:    9805        ..      LDR      r0,[sp,#0x14]
        0x00001b3a:    f002f896    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b3e:    4604        .F      MOV      r4,r0
        0x00001b40:    9908        ..      LDR      r1,[sp,#0x20]
        0x00001b42:    9803        ..      LDR      r0,[sp,#0xc]
        0x00001b44:    f002f891    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b48:    4621        !F      MOV      r1,r4
        0x00001b4a:    f002f886    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001b4e:    9901        ..      LDR      r1,[sp,#4]
        0x00001b50:    f002f88b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b54:    4604        .F      MOV      r4,r0
        0x00001b56:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00001b58:    9805        ..      LDR      r0,[sp,#0x14]
        0x00001b5a:    f002f886    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b5e:    4606        .F      MOV      r6,r0
        0x00001b60:    9908        ..      LDR      r1,[sp,#0x20]
        0x00001b62:    9804        ..      LDR      r0,[sp,#0x10]
        0x00001b64:    f002f881    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001b68:    4631        1F      MOV      r1,r6
        0x00001b6a:    f002f876    ..v.    BL       __aeabi_fsub ; 0x3c5a
        0x00001b6e:    9900        ..      LDR      r1,[sp,#0]
        0x00001b70:    f002f87b    ..{.    BL       __aeabi_fmul ; 0x3c6a
        0x00001b74:    4621        !F      MOV      r1,r4
        0x00001b76:    f002f870    ..p.    BL       __aeabi_fsub ; 0x3c5a
        0x00001b7a:    4629        )F      MOV      r1,r5
        0x00001b7c:    f002f81c    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001b80:    e656        V.      B        0x1830 ; update_calibration_matrices + 188
    Jacobi_Cyclic_Method
        0x00001b82:    b5ff        ..      PUSH     {r0-r7,lr}
        0x00001b84:    b095        ..      SUB      sp,sp,#0x54
        0x00001b86:    9818        ..      LDR      r0,[sp,#0x60]
        0x00001b88:    2801        .(      CMP      r0,#1
        0x00001b8a:    db0d        ..      BLT      0x1ba8 ; Jacobi_Cyclic_Method + 38
        0x00001b8c:    4601        .F      MOV      r1,r0
        0x00001b8e:    207f        .       MOVS     r0,#0x7f
        0x00001b90:    05c0        ..      LSLS     r0,r0,#23
        0x00001b92:    2901        .)      CMP      r1,#1
        0x00001b94:    d002        ..      BEQ      0x1b9c ; Jacobi_Cyclic_Method + 26
        0x00001b96:    2200        ."      MOVS     r2,#0
        0x00001b98:    9916        ..      LDR      r1,[sp,#0x58]
        0x00001b9a:    e017        ..      B        0x1bcc ; Jacobi_Cyclic_Method + 74
        0x00001b9c:    9917        ..      LDR      r1,[sp,#0x5c]
        0x00001b9e:    680a        .h      LDR      r2,[r1,#0]
        0x00001ba0:    9915        ..      LDR      r1,[sp,#0x54]
        0x00001ba2:    600a        .`      STR      r2,[r1,#0]
        0x00001ba4:    9916        ..      LDR      r1,[sp,#0x58]
        0x00001ba6:    6008        .`      STR      r0,[r1,#0]
        0x00001ba8:    b019        ..      ADD      sp,sp,#0x64
        0x00001baa:    bdf0        ..      POP      {r4-r7,pc}
        0x00001bac:    2000        .       MOVS     r0,#0
        0x00001bae:    237f        .#      MOVS     r3,#0x7f
        0x00001bb0:    05db        ..      LSLS     r3,r3,#23
        0x00001bb2:    4604        .F      MOV      r4,r0
        0x00001bb4:    e006        ..      B        0x1bc4 ; Jacobi_Cyclic_Method + 66
        0x00001bb6:    4282        .B      CMP      r2,r0
        0x00001bb8:    d101        ..      BNE      0x1bbe ; Jacobi_Cyclic_Method + 60
        0x00001bba:    600b        .`      STR      r3,[r1,#0]
        0x00001bbc:    e000        ..      B        0x1bc0 ; Jacobi_Cyclic_Method + 62
        0x00001bbe:    600c        .`      STR      r4,[r1,#0]
        0x00001bc0:    1c40        @.      ADDS     r0,r0,#1
        0x00001bc2:    1d09        ..      ADDS     r1,r1,#4
        0x00001bc4:    9d18        ..      LDR      r5,[sp,#0x60]
        0x00001bc6:    42a8        .B      CMP      r0,r5
        0x00001bc8:    dbf5        ..      BLT      0x1bb6 ; Jacobi_Cyclic_Method + 52
        0x00001bca:    1c52        R.      ADDS     r2,r2,#1
        0x00001bcc:    9818        ..      LDR      r0,[sp,#0x60]
        0x00001bce:    4282        .B      CMP      r2,r0
        0x00001bd0:    dbec        ..      BLT      0x1bac ; Jacobi_Cyclic_Method + 42
        0x00001bd2:    1e40        @.      SUBS     r0,r0,#1
        0x00001bd4:    9009        ..      STR      r0,[sp,#0x24]
        0x00001bd6:    2700        .'      MOVS     r7,#0
        0x00001bd8:    9818        ..      LDR      r0,[sp,#0x60]
        0x00001bda:    463d        =F      MOV      r5,r7
        0x00001bdc:    0080        ..      LSLS     r0,r0,#2
        0x00001bde:    9e17        ..      LDR      r6,[sp,#0x5c]
        0x00001be0:    900a        ..      STR      r0,[sp,#0x28]
        0x00001be2:    e011        ..      B        0x1c08 ; Jacobi_Cyclic_Method + 134
        0x00001be4:    1c6c        l.      ADDS     r4,r5,#1
        0x00001be6:    e009        ..      B        0x1bfc ; Jacobi_Cyclic_Method + 122
        0x00001be8:    00a0        ..      LSLS     r0,r4,#2
        0x00001bea:    5830        0X      LDR      r0,[r6,r0]
        0x00001bec:    4601        .F      MOV      r1,r0
        0x00001bee:    f002f83c    ..<.    BL       __aeabi_fmul ; 0x3c6a
        0x00001bf2:    4639        9F      MOV      r1,r7
        0x00001bf4:    f001ffe0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001bf8:    4607        .F      MOV      r7,r0
        0x00001bfa:    1c64        d.      ADDS     r4,r4,#1
        0x00001bfc:    9818        ..      LDR      r0,[sp,#0x60]
        0x00001bfe:    4284        .B      CMP      r4,r0
        0x00001c00:    dbf2        ..      BLT      0x1be8 ; Jacobi_Cyclic_Method + 102
        0x00001c02:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001c04:    1986        ..      ADDS     r6,r0,r6
        0x00001c06:    1c6d        m.      ADDS     r5,r5,#1
        0x00001c08:    9809        ..      LDR      r0,[sp,#0x24]
        0x00001c0a:    4285        .B      CMP      r5,r0
        0x00001c0c:    dbea        ..      BLT      0x1be4 ; Jacobi_Cyclic_Method + 98
        0x00001c0e:    2101        .!      MOVS     r1,#1
        0x00001c10:    4638        8F      MOV      r0,r7
        0x00001c12:    f002f8a7    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00001c16:    f002fab9    ....    BL       __aeabi_f2d ; 0x418c
        0x00001c1a:    f004ff97    ....    BL       sqrt ; 0x6b4c
        0x00001c1e:    f002facc    ....    BL       __aeabi_d2f ; 0x41ba
        0x00001c22:    2133        3!      MOVS     r1,#0x33
        0x00001c24:    43c9        .C      MVNS     r1,r1
        0x00001c26:    9010        ..      STR      r0,[sp,#0x40]
        0x00001c28:    f002f89c    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00001c2c:    217f        .!      MOVS     r1,#0x7f
        0x00001c2e:    9014        ..      STR      r0,[sp,#0x50]
        0x00001c30:    05c9        ..      LSLS     r1,r1,#23
        0x00001c32:    9810        ..      LDR      r0,[sp,#0x40]
        0x00001c34:    f001ffc0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001c38:    9011        ..      STR      r0,[sp,#0x44]
        0x00001c3a:    e141        A.      B        0x1ec0 ; Jacobi_Cyclic_Method + 830
        0x00001c3c:    49fe        .I      LDR      r1,[pc,#1016] ; [0x2038] = 0x41200000
        0x00001c3e:    9810        ..      LDR      r0,[sp,#0x40]
        0x00001c40:    f002f850    ..P.    BL       __aeabi_fdiv ; 0x3ce4
        0x00001c44:    4601        .F      MOV      r1,r0
        0x00001c46:    9010        ..      STR      r0,[sp,#0x40]
        0x00001c48:    9811        ..      LDR      r0,[sp,#0x44]
        0x00001c4a:    f002fad3    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x00001c4e:    d3f4        ..      BCC      0x1c3a ; Jacobi_Cyclic_Method + 184
        0x00001c50:    2000        .       MOVS     r0,#0
        0x00001c52:    9011        ..      STR      r0,[sp,#0x44]
        0x00001c54:    9d17        ..      LDR      r5,[sp,#0x5c]
        0x00001c56:    e12e        ..      B        0x1eb6 ; Jacobi_Cyclic_Method + 820
        0x00001c58:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001c5a:    1947        G.      ADDS     r7,r0,r5
        0x00001c5c:    9712        ..      STR      r7,[sp,#0x48]
        0x00001c5e:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00001c60:    e10b        ..      B        0x1e7a ; Jacobi_Cyclic_Method + 760
        0x00001c62:    0086        ..      LSLS     r6,r0,#2
        0x00001c64:    59a8        .Y      LDR      r0,[r5,r6]
        0x00001c66:    9910        ..      LDR      r1,[sp,#0x40]
        0x00001c68:    0040        @.      LSLS     r0,r0,#1
        0x00001c6a:    0840        @.      LSRS     r0,r0,#1
        0x00001c6c:    f002fac2    ....    BL       __aeabi_cfcmpeq ; 0x41f4
        0x00001c70:    d37d        }.      BCC      0x1d6e ; Jacobi_Cyclic_Method + 492
        0x00001c72:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00001c74:    59b9        .Y      LDR      r1,[r7,r6]
        0x00001c76:    0080        ..      LSLS     r0,r0,#2
        0x00001c78:    9006        ..      STR      r0,[sp,#0x18]
        0x00001c7a:    5828        (X      LDR      r0,[r5,r0]
        0x00001c7c:    f001ffed    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001c80:    2100        .!      MOVS     r1,#0
        0x00001c82:    43c9        .C      MVNS     r1,r1
        0x00001c84:    f002f86e    ..n.    BL       __ARM_scalbnf ; 0x3d64
        0x00001c88:    59a9        .Y      LDR      r1,[r5,r6]
        0x00001c8a:    f002f82b    ..+.    BL       __aeabi_fdiv ; 0x3ce4
        0x00001c8e:    4604        .F      MOV      r4,r0
        0x00001c90:    4601        .F      MOV      r1,r0
        0x00001c92:    f001ffea    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001c96:    217f        .!      MOVS     r1,#0x7f
        0x00001c98:    05c9        ..      LSLS     r1,r1,#23
        0x00001c9a:    f001ff8d    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001c9e:    f002fa75    ..u.    BL       __aeabi_f2d ; 0x418c
        0x00001ca2:    f004ff53    ..S.    BL       sqrt ; 0x6b4c
        0x00001ca6:    f002fa88    ....    BL       __aeabi_d2f ; 0x41ba
        0x00001caa:    21ff        .!      MOVS     r1,#0xff
        0x00001cac:    05c9        ..      LSLS     r1,r1,#23
        0x00001cae:    42cc        .B      CMN      r4,r1
        0x00001cb0:    d301        ..      BCC      0x1cb6 ; Jacobi_Cyclic_Method + 308
        0x00001cb2:    0209        ..      LSLS     r1,r1,#8
        0x00001cb4:    4048        H@      EORS     r0,r0,r1
        0x00001cb6:    4621        !F      MOV      r1,r4
        0x00001cb8:    f001ffcf    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001cbc:    4601        .F      MOV      r1,r0
        0x00001cbe:    9001        ..      STR      r0,[sp,#4]
        0x00001cc0:    f001ffd3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001cc4:    247f        .$      MOVS     r4,#0x7f
        0x00001cc6:    05e4        ..      LSLS     r4,r4,#23
        0x00001cc8:    4621        !F      MOV      r1,r4
        0x00001cca:    9000        ..      STR      r0,[sp,#0]
        0x00001ccc:    f001ff74    ..t.    BL       __aeabi_fadd ; 0x3bb8
        0x00001cd0:    4601        .F      MOV      r1,r0
        0x00001cd2:    9800        ..      LDR      r0,[sp,#0]
        0x00001cd4:    f002f806    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00001cd8:    4601        .F      MOV      r1,r0
        0x00001cda:    9008        ..      STR      r0,[sp,#0x20]
        0x00001cdc:    4620         F      MOV      r0,r4
        0x00001cde:    f001ffbc    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001ce2:    900c        ..      STR      r0,[sp,#0x30]
        0x00001ce4:    9808        ..      LDR      r0,[sp,#0x20]
        0x00001ce6:    f002fa51    ..Q.    BL       __aeabi_f2d ; 0x418c
        0x00001cea:    f004ff2f    ../.    BL       sqrt ; 0x6b4c
        0x00001cee:    f002fa64    ..d.    BL       __aeabi_d2f ; 0x41ba
        0x00001cf2:    9000        ..      STR      r0,[sp,#0]
        0x00001cf4:    21ff        .!      MOVS     r1,#0xff
        0x00001cf6:    9801        ..      LDR      r0,[sp,#4]
        0x00001cf8:    05c9        ..      LSLS     r1,r1,#23
        0x00001cfa:    42c8        .B      CMN      r0,r1
        0x00001cfc:    d303        ..      BCC      0x1d06 ; Jacobi_Cyclic_Method + 388
        0x00001cfe:    9800        ..      LDR      r0,[sp,#0]
        0x00001d00:    0209        ..      LSLS     r1,r1,#8
        0x00001d02:    4048        H@      EORS     r0,r0,r1
        0x00001d04:    9000        ..      STR      r0,[sp,#0]
        0x00001d06:    980c        ..      LDR      r0,[sp,#0x30]
        0x00001d08:    f002fa40    ..@.    BL       __aeabi_f2d ; 0x418c
        0x00001d0c:    f004ff1e    ....    BL       sqrt ; 0x6b4c
        0x00001d10:    f002fa53    ..S.    BL       __aeabi_d2f ; 0x41ba
        0x00001d14:    9002        ..      STR      r0,[sp,#8]
        0x00001d16:    2101        .!      MOVS     r1,#1
        0x00001d18:    9800        ..      LDR      r0,[sp,#0]
        0x00001d1a:    f002f823    ..#.    BL       __ARM_scalbnf ; 0x3d64
        0x00001d1e:    9902        ..      LDR      r1,[sp,#8]
        0x00001d20:    f001ffa3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001d24:    4601        .F      MOV      r1,r0
        0x00001d26:    9817        ..      LDR      r0,[sp,#0x5c]
        0x00001d28:    9007        ..      STR      r0,[sp,#0x1c]
        0x00001d2a:    9806        ..      LDR      r0,[sp,#0x18]
        0x00001d2c:    5828        (X      LDR      r0,[r5,r0]
        0x00001d2e:    9001        ..      STR      r0,[sp,#4]
        0x00001d30:    59bc        .Y      LDR      r4,[r7,r6]
        0x00001d32:    59a8        .Y      LDR      r0,[r5,r6]
        0x00001d34:    f001ff99    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001d38:    9004        ..      STR      r0,[sp,#0x10]
        0x00001d3a:    9005        ..      STR      r0,[sp,#0x14]
        0x00001d3c:    4620         F      MOV      r0,r4
        0x00001d3e:    9908        ..      LDR      r1,[sp,#0x20]
        0x00001d40:    f001ff93    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001d44:    900b        ..      STR      r0,[sp,#0x2c]
        0x00001d46:    990c        ..      LDR      r1,[sp,#0x30]
        0x00001d48:    9801        ..      LDR      r0,[sp,#4]
        0x00001d4a:    f001ff8e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001d4e:    990b        ..      LDR      r1,[sp,#0x2c]
        0x00001d50:    f001ff32    ..2.    BL       __aeabi_fadd ; 0x3bb8
        0x00001d54:    9905        ..      LDR      r1,[sp,#0x14]
        0x00001d56:    f001ff2f    ../.    BL       __aeabi_fadd ; 0x3bb8
        0x00001d5a:    9906        ..      LDR      r1,[sp,#0x18]
        0x00001d5c:    5068        hP      STR      r0,[r5,r1]
        0x00001d5e:    4620         F      MOV      r0,r4
        0x00001d60:    990c        ..      LDR      r1,[sp,#0x30]
        0x00001d62:    f001ff82    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001d66:    4604        .F      MOV      r4,r0
        0x00001d68:    9908        ..      LDR      r1,[sp,#0x20]
        0x00001d6a:    9801        ..      LDR      r0,[sp,#4]
        0x00001d6c:    e000        ..      B        0x1d70 ; Jacobi_Cyclic_Method + 494
        0x00001d6e:    e081        ..      B        0x1e74 ; Jacobi_Cyclic_Method + 754
        0x00001d70:    f001ff7b    ..{.    BL       __aeabi_fmul ; 0x3c6a
        0x00001d74:    4621        !F      MOV      r1,r4
        0x00001d76:    f001ff1f    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001d7a:    9904        ..      LDR      r1,[sp,#0x10]
        0x00001d7c:    f001ff6d    ..m.    BL       __aeabi_fsub ; 0x3c5a
        0x00001d80:    51b8        .Q      STR      r0,[r7,r6]
        0x00001d82:    2000        .       MOVS     r0,#0
        0x00001d84:    51a8        .Q      STR      r0,[r5,r6]
        0x00001d86:    9906        ..      LDR      r1,[sp,#0x18]
        0x00001d88:    4604        .F      MOV      r4,r0
        0x00001d8a:    5078        xP      STR      r0,[r7,r1]
        0x00001d8c:    e045        E.      B        0x1e1a ; Jacobi_Cyclic_Method + 664
        0x00001d8e:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00001d90:    4284        .B      CMP      r4,r0
        0x00001d92:    d03d        =.      BEQ      0x1e10 ; Jacobi_Cyclic_Method + 654
        0x00001d94:    9803        ..      LDR      r0,[sp,#0xc]
        0x00001d96:    4284        .B      CMP      r4,r0
        0x00001d98:    d03a        :.      BEQ      0x1e10 ; Jacobi_Cyclic_Method + 654
        0x00001d9a:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00001d9c:    4284        .B      CMP      r4,r0
        0x00001d9e:    da03        ..      BGE      0x1da8 ; Jacobi_Cyclic_Method + 550
        0x00001da0:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00001da2:    9806        ..      LDR      r0,[sp,#0x18]
        0x00001da4:    5808        .X      LDR      r0,[r1,r0]
        0x00001da6:    e001        ..      B        0x1dac ; Jacobi_Cyclic_Method + 554
        0x00001da8:    00a0        ..      LSLS     r0,r4,#2
        0x00001daa:    5828        (X      LDR      r0,[r5,r0]
        0x00001dac:    9001        ..      STR      r0,[sp,#4]
        0x00001dae:    9803        ..      LDR      r0,[sp,#0xc]
        0x00001db0:    4284        .B      CMP      r4,r0
        0x00001db2:    da02        ..      BGE      0x1dba ; Jacobi_Cyclic_Method + 568
        0x00001db4:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00001db6:    5980        .Y      LDR      r0,[r0,r6]
        0x00001db8:    e001        ..      B        0x1dbe ; Jacobi_Cyclic_Method + 572
        0x00001dba:    00a0        ..      LSLS     r0,r4,#2
        0x00001dbc:    5838        8X      LDR      r0,[r7,r0]
        0x00001dbe:    9005        ..      STR      r0,[sp,#0x14]
        0x00001dc0:    9900        ..      LDR      r1,[sp,#0]
        0x00001dc2:    f001ff52    ..R.    BL       __aeabi_fmul ; 0x3c6a
        0x00001dc6:    9004        ..      STR      r0,[sp,#0x10]
        0x00001dc8:    9902        ..      LDR      r1,[sp,#8]
        0x00001dca:    9801        ..      LDR      r0,[sp,#4]
        0x00001dcc:    f001ff4d    ..M.    BL       __aeabi_fmul ; 0x3c6a
        0x00001dd0:    9904        ..      LDR      r1,[sp,#0x10]
        0x00001dd2:    f001fef1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001dd6:    9913        ..      LDR      r1,[sp,#0x4c]
        0x00001dd8:    428c        .B      CMP      r4,r1
        0x00001dda:    da03        ..      BGE      0x1de4 ; Jacobi_Cyclic_Method + 610
        0x00001ddc:    9a07        ..      LDR      r2,[sp,#0x1c]
        0x00001dde:    9906        ..      LDR      r1,[sp,#0x18]
        0x00001de0:    5050        PP      STR      r0,[r2,r1]
        0x00001de2:    e001        ..      B        0x1de8 ; Jacobi_Cyclic_Method + 614
        0x00001de4:    00a1        ..      LSLS     r1,r4,#2
        0x00001de6:    5068        hP      STR      r0,[r5,r1]
        0x00001de8:    9900        ..      LDR      r1,[sp,#0]
        0x00001dea:    9801        ..      LDR      r0,[sp,#4]
        0x00001dec:    f001ff3d    ..=.    BL       __aeabi_fmul ; 0x3c6a
        0x00001df0:    9001        ..      STR      r0,[sp,#4]
        0x00001df2:    9902        ..      LDR      r1,[sp,#8]
        0x00001df4:    9805        ..      LDR      r0,[sp,#0x14]
        0x00001df6:    f001ff38    ..8.    BL       __aeabi_fmul ; 0x3c6a
        0x00001dfa:    9901        ..      LDR      r1,[sp,#4]
        0x00001dfc:    f001ff2d    ..-.    BL       __aeabi_fsub ; 0x3c5a
        0x00001e00:    9903        ..      LDR      r1,[sp,#0xc]
        0x00001e02:    428c        .B      CMP      r4,r1
        0x00001e04:    da02        ..      BGE      0x1e0c ; Jacobi_Cyclic_Method + 650
        0x00001e06:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00001e08:    5188        .Q      STR      r0,[r1,r6]
        0x00001e0a:    e001        ..      B        0x1e10 ; Jacobi_Cyclic_Method + 654
        0x00001e0c:    00a1        ..      LSLS     r1,r4,#2
        0x00001e0e:    5078        xP      STR      r0,[r7,r1]
        0x00001e10:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00001e12:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001e14:    1840        @.      ADDS     r0,r0,r1
        0x00001e16:    1c64        d.      ADDS     r4,r4,#1
        0x00001e18:    9007        ..      STR      r0,[sp,#0x1c]
        0x00001e1a:    9818        ..      LDR      r0,[sp,#0x60]
        0x00001e1c:    4284        .B      CMP      r4,r0
        0x00001e1e:    dbb6        ..      BLT      0x1d8e ; Jacobi_Cyclic_Method + 524
        0x00001e20:    2000        .       MOVS     r0,#0
        0x00001e22:    9c16        ..      LDR      r4,[sp,#0x58]
        0x00001e24:    e022        ".      B        0x1e6c ; Jacobi_Cyclic_Method + 746
        0x00001e26:    9806        ..      LDR      r0,[sp,#0x18]
        0x00001e28:    5820         X      LDR      r0,[r4,r0]
        0x00001e2a:    9001        ..      STR      r0,[sp,#4]
        0x00001e2c:    59a0        .Y      LDR      r0,[r4,r6]
        0x00001e2e:    9005        ..      STR      r0,[sp,#0x14]
        0x00001e30:    9900        ..      LDR      r1,[sp,#0]
        0x00001e32:    f001ff1a    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001e36:    9007        ..      STR      r0,[sp,#0x1c]
        0x00001e38:    9902        ..      LDR      r1,[sp,#8]
        0x00001e3a:    9801        ..      LDR      r0,[sp,#4]
        0x00001e3c:    f001ff15    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001e40:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00001e42:    f001feb9    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00001e46:    9906        ..      LDR      r1,[sp,#0x18]
        0x00001e48:    5060        `P      STR      r0,[r4,r1]
        0x00001e4a:    9900        ..      LDR      r1,[sp,#0]
        0x00001e4c:    9801        ..      LDR      r0,[sp,#4]
        0x00001e4e:    f001ff0c    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001e52:    9001        ..      STR      r0,[sp,#4]
        0x00001e54:    9902        ..      LDR      r1,[sp,#8]
        0x00001e56:    9805        ..      LDR      r0,[sp,#0x14]
        0x00001e58:    f001ff07    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00001e5c:    9901        ..      LDR      r1,[sp,#4]
        0x00001e5e:    f001fefc    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00001e62:    51a0        .Q      STR      r0,[r4,r6]
        0x00001e64:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001e66:    1904        ..      ADDS     r4,r0,r4
        0x00001e68:    9804        ..      LDR      r0,[sp,#0x10]
        0x00001e6a:    1c40        @.      ADDS     r0,r0,#1
        0x00001e6c:    9004        ..      STR      r0,[sp,#0x10]
        0x00001e6e:    9918        ..      LDR      r1,[sp,#0x60]
        0x00001e70:    4288        .B      CMP      r0,r1
        0x00001e72:    dbd8        ..      BLT      0x1e26 ; Jacobi_Cyclic_Method + 676
        0x00001e74:    980a        ..      LDR      r0,[sp,#0x28]
        0x00001e76:    19c7        ..      ADDS     r7,r0,r7
        0x00001e78:    9803        ..      LDR      r0,[sp,#0xc]
        0x00001e7a:    9918        ..      LDR      r1,[sp,#0x60]
        0x00001e7c:    1c40        @.      ADDS     r0,r0,#1
        0x00001e7e:    9003        ..      STR      r0,[sp,#0xc]
        0x00001e80:    4288        .B      CMP      r0,r1
        0x00001e82:    da00        ..      BGE      0x1e86 ; Jacobi_Cyclic_Method + 772
        0x00001e84:    e6ed        ..      B        0x1c62 ; Jacobi_Cyclic_Method + 224
        0x00001e86:    2400        .$      MOVS     r4,#0
        0x00001e88:    e00f        ..      B        0x1eaa ; Jacobi_Cyclic_Method + 808
        0x00001e8a:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00001e8c:    4284        .B      CMP      r4,r0
        0x00001e8e:    d00b        ..      BEQ      0x1ea8 ; Jacobi_Cyclic_Method + 806
        0x00001e90:    00a6        ..      LSLS     r6,r4,#2
        0x00001e92:    59a8        .Y      LDR      r0,[r5,r6]
        0x00001e94:    9911        ..      LDR      r1,[sp,#0x44]
        0x00001e96:    0040        @.      LSLS     r0,r0,#1
        0x00001e98:    0840        @.      LSRS     r0,r0,#1
        0x00001e9a:    f002f9b5    ....    BL       __aeabi_cfrcmple ; 0x4208
        0x00001e9e:    d203        ..      BCS      0x1ea8 ; Jacobi_Cyclic_Method + 806
        0x00001ea0:    59a8        .Y      LDR      r0,[r5,r6]
        0x00001ea2:    0040        @.      LSLS     r0,r0,#1
        0x00001ea4:    0840        @.      LSRS     r0,r0,#1
        0x00001ea6:    9011        ..      STR      r0,[sp,#0x44]
        0x00001ea8:    1c64        d.      ADDS     r4,r4,#1
        0x00001eaa:    9818        ..      LDR      r0,[sp,#0x60]
        0x00001eac:    4284        .B      CMP      r4,r0
        0x00001eae:    dbec        ..      BLT      0x1e8a ; Jacobi_Cyclic_Method + 776
        0x00001eb0:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00001eb2:    9d12        ..      LDR      r5,[sp,#0x48]
        0x00001eb4:    1c40        @.      ADDS     r0,r0,#1
        0x00001eb6:    9013        ..      STR      r0,[sp,#0x4c]
        0x00001eb8:    9909        ..      LDR      r1,[sp,#0x24]
        0x00001eba:    4288        .B      CMP      r0,r1
        0x00001ebc:    da00        ..      BGE      0x1ec0 ; Jacobi_Cyclic_Method + 830
        0x00001ebe:    e6cb        ..      B        0x1c58 ; Jacobi_Cyclic_Method + 214
        0x00001ec0:    9914        ..      LDR      r1,[sp,#0x50]
        0x00001ec2:    9810        ..      LDR      r0,[sp,#0x40]
        0x00001ec4:    f002f9a0    ....    BL       __aeabi_cfrcmple ; 0x4208
        0x00001ec8:    d200        ..      BCS      0x1ecc ; Jacobi_Cyclic_Method + 842
        0x00001eca:    e6b7        ..      B        0x1c3c ; Jacobi_Cyclic_Method + 186
        0x00001ecc:    2000        .       MOVS     r0,#0
        0x00001ece:    9917        ..      LDR      r1,[sp,#0x5c]
        0x00001ed0:    e006        ..      B        0x1ee0 ; Jacobi_Cyclic_Method + 862
        0x00001ed2:    0082        ..      LSLS     r2,r0,#2
        0x00001ed4:    9b15        ..      LDR      r3,[sp,#0x54]
        0x00001ed6:    588c        .X      LDR      r4,[r1,r2]
        0x00001ed8:    509c        .P      STR      r4,[r3,r2]
        0x00001eda:    9a0a        ..      LDR      r2,[sp,#0x28]
        0x00001edc:    1851        Q.      ADDS     r1,r2,r1
        0x00001ede:    1c40        @.      ADDS     r0,r0,#1
        0x00001ee0:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00001ee2:    4290        .B      CMP      r0,r2
        0x00001ee4:    dbf5        ..      BLT      0x1ed2 ; Jacobi_Cyclic_Method + 848
        0x00001ee6:    e65f        _.      B        0x1ba8 ; Jacobi_Cyclic_Method + 38
    compute_eigenvalue
        0x00001ee8:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00001eea:    4604        .F      MOV      r4,r0
        0x00001eec:    b0ab        ..      SUB      sp,sp,#0xac
        0x00001eee:    68c0        .h      LDR      r0,[r0,#0xc]
        0x00001ef0:    9000        ..      STR      r0,[sp,#0]
        0x00001ef2:    69a0        .i      LDR      r0,[r4,#0x18]
        0x00001ef4:    9001        ..      STR      r0,[sp,#4]
        0x00001ef6:    6a20         j      LDR      r0,[r4,#0x20]
        0x00001ef8:    9002        ..      STR      r0,[sp,#8]
        0x00001efa:    69a0        .i      LDR      r0,[r4,#0x18]
        0x00001efc:    9003        ..      STR      r0,[sp,#0xc]
        0x00001efe:    6920         i      LDR      r0,[r4,#0x10]
        0x00001f00:    9004        ..      STR      r0,[sp,#0x10]
        0x00001f02:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x00001f04:    9005        ..      STR      r0,[sp,#0x14]
        0x00001f06:    6a20         j      LDR      r0,[r4,#0x20]
        0x00001f08:    9006        ..      STR      r0,[sp,#0x18]
        0x00001f0a:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x00001f0c:    9007        ..      STR      r0,[sp,#0x1c]
        0x00001f0e:    6960        `i      LDR      r0,[r4,#0x14]
        0x00001f10:    9008        ..      STR      r0,[sp,#0x20]
        0x00001f12:    2000        .       MOVS     r0,#0
        0x00001f14:    1c40        @.      ADDS     r0,r0,#1
        0x00001f16:    2803        .(      CMP      r0,#3
        0x00001f18:    dbfc        ..      BLT      0x1f14 ; compute_eigenvalue + 44
        0x00001f1a:    2303        .#      MOVS     r3,#3
        0x00001f1c:    466a        jF      MOV      r2,sp
        0x00001f1e:    a90c        ..      ADD      r1,sp,#0x30
        0x00001f20:    a827        '.      ADD      r0,sp,#0x9c
        0x00001f22:    f7fffe2e    ....    BL       Jacobi_Cyclic_Method ; 0x1b82
        0x00001f26:    4d45        EM      LDR      r5,[pc,#276] ; [0x203c] = 0x80800000
        0x00001f28:    2000        .       MOVS     r0,#0
        0x00001f2a:    ab27        '.      ADD      r3,sp,#0x9c
        0x00001f2c:    022e        ..      LSLS     r6,r5,#8
        0x00001f2e:    0081        ..      LSLS     r1,r0,#2
        0x00001f30:    585a        ZX      LDR      r2,[r3,r1]
        0x00001f32:    42aa        .B      CMP      r2,r5
        0x00001f34:    d307        ..      BCC      0x1f46 ; compute_eigenvalue + 94
        0x00001f36:    220c        ."      MOVS     r2,#0xc
        0x00001f38:    4607        .F      MOV      r7,r0
        0x00001f3a:    4357        WC      MULS     r7,r2,r7
        0x00001f3c:    466a        jF      MOV      r2,sp
        0x00001f3e:    18ba        ..      ADDS     r2,r7,r2
        0x00001f40:    5857        WX      LDR      r7,[r2,r1]
        0x00001f42:    4077        w@      EORS     r7,r7,r6
        0x00001f44:    5057        WP      STR      r7,[r2,r1]
        0x00001f46:    1c40        @.      ADDS     r0,r0,#1
        0x00001f48:    2803        .(      CMP      r0,#3
        0x00001f4a:    dbf0        ..      BLT      0x1f2e ; compute_eigenvalue + 70
        0x00001f4c:    2100        .!      MOVS     r1,#0
        0x00001f4e:    ad0c        ..      ADD      r5,sp,#0x30
        0x00001f50:    220c        ."      MOVS     r2,#0xc
        0x00001f52:    434a        JC      MULS     r2,r1,r2
        0x00001f54:    ab1e        ..      ADD      r3,sp,#0x78
        0x00001f56:    2000        .       MOVS     r0,#0
        0x00001f58:    18d2        ..      ADDS     r2,r2,r3
        0x00001f5a:    008f        ..      LSLS     r7,r1,#2
        0x00001f5c:    260c        .&      MOVS     r6,#0xc
        0x00001f5e:    4603        .F      MOV      r3,r0
        0x00001f60:    4373        sC      MULS     r3,r6,r3
        0x00001f62:    195b        [.      ADDS     r3,r3,r5
        0x00001f64:    0086        ..      LSLS     r6,r0,#2
        0x00001f66:    59db        .Y      LDR      r3,[r3,r7]
        0x00001f68:    1c40        @.      ADDS     r0,r0,#1
        0x00001f6a:    5193        .Q      STR      r3,[r2,r6]
        0x00001f6c:    2803        .(      CMP      r0,#3
        0x00001f6e:    dbf5        ..      BLT      0x1f5c ; compute_eigenvalue + 116
        0x00001f70:    1c49        I.      ADDS     r1,r1,#1
        0x00001f72:    2903        .)      CMP      r1,#3
        0x00001f74:    dbec        ..      BLT      0x1f50 ; compute_eigenvalue + 104
        0x00001f76:    2000        .       MOVS     r0,#0
        0x00001f78:    1c40        @.      ADDS     r0,r0,#1
        0x00001f7a:    2803        .(      CMP      r0,#3
        0x00001f7c:    dbfc        ..      BLT      0x1f78 ; compute_eigenvalue + 144
        0x00001f7e:    2100        .!      MOVS     r1,#0
        0x00001f80:    ae15        ..      ADD      r6,sp,#0x54
        0x00001f82:    220c        ."      MOVS     r2,#0xc
        0x00001f84:    2000        .       MOVS     r0,#0
        0x00001f86:    434a        JC      MULS     r2,r1,r2
        0x00001f88:    1992        ..      ADDS     r2,r2,r6
        0x00001f8a:    0087        ..      LSLS     r7,r0,#2
        0x00001f8c:    2300        .#      MOVS     r3,#0
        0x00001f8e:    1c40        @.      ADDS     r0,r0,#1
        0x00001f90:    51d3        .Q      STR      r3,[r2,r7]
        0x00001f92:    2803        .(      CMP      r0,#3
        0x00001f94:    dbf9        ..      BLT      0x1f8a ; compute_eigenvalue + 162
        0x00001f96:    1c49        I.      ADDS     r1,r1,#1
        0x00001f98:    2903        .)      CMP      r1,#3
        0x00001f9a:    dbf2        ..      BLT      0x1f82 ; compute_eigenvalue + 154
        0x00001f9c:    2000        .       MOVS     r0,#0
        0x00001f9e:    1c40        @.      ADDS     r0,r0,#1
        0x00001fa0:    2803        .(      CMP      r0,#3
        0x00001fa2:    dbfc        ..      BLT      0x1f9e ; compute_eigenvalue + 182
        0x00001fa4:    9800        ..      LDR      r0,[sp,#0]
        0x00001fa6:    f002f8f1    ....    BL       __aeabi_f2d ; 0x418c
        0x00001faa:    f004fdcf    ....    BL       sqrt ; 0x6b4c
        0x00001fae:    f002f904    ....    BL       __aeabi_d2f ; 0x41ba
        0x00001fb2:    9000        ..      STR      r0,[sp,#0]
        0x00001fb4:    9804        ..      LDR      r0,[sp,#0x10]
        0x00001fb6:    f002f8e9    ....    BL       __aeabi_f2d ; 0x418c
        0x00001fba:    f004fdc7    ....    BL       sqrt ; 0x6b4c
        0x00001fbe:    f002f8fc    ....    BL       __aeabi_d2f ; 0x41ba
        0x00001fc2:    9004        ..      STR      r0,[sp,#0x10]
        0x00001fc4:    9808        ..      LDR      r0,[sp,#0x20]
        0x00001fc6:    f002f8e1    ....    BL       __aeabi_f2d ; 0x418c
        0x00001fca:    f004fdbf    ....    BL       sqrt ; 0x6b4c
        0x00001fce:    f002f8f4    ....    BL       __aeabi_d2f ; 0x41ba
        0x00001fd2:    9008        ..      STR      r0,[sp,#0x20]
        0x00001fd4:    2000        .       MOVS     r0,#0
        0x00001fd6:    1c40        @.      ADDS     r0,r0,#1
        0x00001fd8:    2803        .(      CMP      r0,#3
        0x00001fda:    dbfc        ..      BLT      0x1fd6 ; compute_eigenvalue + 238
        0x00001fdc:    2000        .       MOVS     r0,#0
        0x00001fde:    900b        ..      STR      r0,[sp,#0x2c]
        0x00001fe0:    220c        ."      MOVS     r2,#0xc
        0x00001fe2:    a90c        ..      ADD      r1,sp,#0x30
        0x00001fe4:    4350        PC      MULS     r0,r2,r0
        0x00001fe6:    1841        A.      ADDS     r1,r0,r1
        0x00001fe8:    910a        ..      STR      r1,[sp,#0x28]
        0x00001fea:    2700        .'      MOVS     r7,#0
        0x00001fec:    a915        ..      ADD      r1,sp,#0x54
        0x00001fee:    1840        @.      ADDS     r0,r0,r1
        0x00001ff0:    9009        ..      STR      r0,[sp,#0x24]
        0x00001ff2:    2500        .%      MOVS     r5,#0
        0x00001ff4:    00be        ..      LSLS     r6,r7,#2
        0x00001ff6:    200c        .       MOVS     r0,#0xc
        0x00001ff8:    4368        hC      MULS     r0,r5,r0
        0x00001ffa:    4669        iF      MOV      r1,sp
        0x00001ffc:    1840        @.      ADDS     r0,r0,r1
        0x00001ffe:    5981        .Y      LDR      r1,[r0,r6]
        0x00002000:    980a        ..      LDR      r0,[sp,#0x28]
        0x00002002:    00aa        ..      LSLS     r2,r5,#2
        0x00002004:    5880        .X      LDR      r0,[r0,r2]
        0x00002006:    f001fe30    ..0.    BL       __aeabi_fmul ; 0x3c6a
        0x0000200a:    9909        ..      LDR      r1,[sp,#0x24]
        0x0000200c:    5989        .Y      LDR      r1,[r1,r6]
        0x0000200e:    f001fdd3    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002012:    9909        ..      LDR      r1,[sp,#0x24]
        0x00002014:    1c6d        m.      ADDS     r5,r5,#1
        0x00002016:    5188        .Q      STR      r0,[r1,r6]
        0x00002018:    2d03        .-      CMP      r5,#3
        0x0000201a:    dbec        ..      BLT      0x1ff6 ; compute_eigenvalue + 270
        0x0000201c:    1c7f        ..      ADDS     r7,r7,#1
        0x0000201e:    2f03        ./      CMP      r7,#3
        0x00002020:    dbe7        ..      BLT      0x1ff2 ; compute_eigenvalue + 266
        0x00002022:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00002024:    1c40        @.      ADDS     r0,r0,#1
        0x00002026:    900b        ..      STR      r0,[sp,#0x2c]
        0x00002028:    2803        .(      CMP      r0,#3
        0x0000202a:    dbd9        ..      BLT      0x1fe0 ; compute_eigenvalue + 248
        0x0000202c:    2000        .       MOVS     r0,#0
        0x0000202e:    1c40        @.      ADDS     r0,r0,#1
        0x00002030:    2803        .(      CMP      r0,#3
        0x00002032:    dbfc        ..      BLT      0x202e ; compute_eigenvalue + 326
        0x00002034:    2100        .!      MOVS     r1,#0
        0x00002036:    e003        ..      B        0x2040 ; compute_eigenvalue + 344
    $d
        0x00002038:    41200000    .. A    DCD    1092616192
        0x0000203c:    80800000    ....    DCD    2155872256
    $t
        0x00002040:    460a        .F      MOV      r2,r1
        0x00002042:    466e        nF      MOV      r6,sp
        0x00002044:    230c        .#      MOVS     r3,#0xc
        0x00002046:    2000        .       MOVS     r0,#0
        0x00002048:    434b        KC      MULS     r3,r1,r3
        0x0000204a:    199b        ..      ADDS     r3,r3,r6
        0x0000204c:    0085        ..      LSLS     r5,r0,#2
        0x0000204e:    1c40        @.      ADDS     r0,r0,#1
        0x00002050:    515a        ZQ      STR      r2,[r3,r5]
        0x00002052:    2803        .(      CMP      r0,#3
        0x00002054:    dbfa        ..      BLT      0x204c ; compute_eigenvalue + 356
        0x00002056:    1c49        I.      ADDS     r1,r1,#1
        0x00002058:    2903        .)      CMP      r1,#3
        0x0000205a:    dbf3        ..      BLT      0x2044 ; compute_eigenvalue + 348
        0x0000205c:    2000        .       MOVS     r0,#0
        0x0000205e:    900b        ..      STR      r0,[sp,#0x2c]
        0x00002060:    230c        .#      MOVS     r3,#0xc
        0x00002062:    a915        ..      ADD      r1,sp,#0x54
        0x00002064:    4358        XC      MULS     r0,r3,r0
        0x00002066:    1841        A.      ADDS     r1,r0,r1
        0x00002068:    2700        .'      MOVS     r7,#0
        0x0000206a:    466a        jF      MOV      r2,sp
        0x0000206c:    1880        ..      ADDS     r0,r0,r2
        0x0000206e:    910a        ..      STR      r1,[sp,#0x28]
        0x00002070:    9009        ..      STR      r0,[sp,#0x24]
        0x00002072:    2500        .%      MOVS     r5,#0
        0x00002074:    00be        ..      LSLS     r6,r7,#2
        0x00002076:    200c        .       MOVS     r0,#0xc
        0x00002078:    4368        hC      MULS     r0,r5,r0
        0x0000207a:    a91e        ..      ADD      r1,sp,#0x78
        0x0000207c:    1840        @.      ADDS     r0,r0,r1
        0x0000207e:    5981        .Y      LDR      r1,[r0,r6]
        0x00002080:    980a        ..      LDR      r0,[sp,#0x28]
        0x00002082:    00aa        ..      LSLS     r2,r5,#2
        0x00002084:    5880        .X      LDR      r0,[r0,r2]
        0x00002086:    f001fdf0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000208a:    9909        ..      LDR      r1,[sp,#0x24]
        0x0000208c:    5989        .Y      LDR      r1,[r1,r6]
        0x0000208e:    f001fd93    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002092:    4601        .F      MOV      r1,r0
        0x00002094:    9809        ..      LDR      r0,[sp,#0x24]
        0x00002096:    1c6d        m.      ADDS     r5,r5,#1
        0x00002098:    5181        .Q      STR      r1,[r0,r6]
        0x0000209a:    2d03        .-      CMP      r5,#3
        0x0000209c:    dbeb        ..      BLT      0x2076 ; compute_eigenvalue + 398
        0x0000209e:    1c7f        ..      ADDS     r7,r7,#1
        0x000020a0:    2f03        ./      CMP      r7,#3
        0x000020a2:    dbe6        ..      BLT      0x2072 ; compute_eigenvalue + 394
        0x000020a4:    980b        ..      LDR      r0,[sp,#0x2c]
        0x000020a6:    1c40        @.      ADDS     r0,r0,#1
        0x000020a8:    900b        ..      STR      r0,[sp,#0x2c]
        0x000020aa:    2803        .(      CMP      r0,#3
        0x000020ac:    dbd8        ..      BLT      0x2060 ; compute_eigenvalue + 376
        0x000020ae:    2000        .       MOVS     r0,#0
        0x000020b0:    1c40        @.      ADDS     r0,r0,#1
        0x000020b2:    2803        .(      CMP      r0,#3
        0x000020b4:    dbfc        ..      BLT      0x20b0 ; compute_eigenvalue + 456
        0x000020b6:    9800        ..      LDR      r0,[sp,#0]
        0x000020b8:    60e0        .`      STR      r0,[r4,#0xc]
        0x000020ba:    9801        ..      LDR      r0,[sp,#4]
        0x000020bc:    61a0        .a      STR      r0,[r4,#0x18]
        0x000020be:    9802        ..      LDR      r0,[sp,#8]
        0x000020c0:    6220         b      STR      r0,[r4,#0x20]
        0x000020c2:    9804        ..      LDR      r0,[sp,#0x10]
        0x000020c4:    6120         a      STR      r0,[r4,#0x10]
        0x000020c6:    9805        ..      LDR      r0,[sp,#0x14]
        0x000020c8:    61e0        .a      STR      r0,[r4,#0x1c]
        0x000020ca:    9808        ..      LDR      r0,[sp,#0x20]
        0x000020cc:    6160        `a      STR      r0,[r4,#0x14]
        0x000020ce:    e4dd        ..      B        0x1a8c ; update_calibration_matrices_mag + 600
    find_delta
        0x000020d0:    b5f1        ..      PUSH     {r0,r4-r7,lr}
        0x000020d2:    b084        ..      SUB      sp,sp,#0x10
        0x000020d4:    2700        .'      MOVS     r7,#0
        0x000020d6:    e037        7.      B        0x2148 ; find_delta + 120
        0x000020d8:    1c7d        }.      ADDS     r5,r7,#1
        0x000020da:    e031        1.      B        0x2140 ; find_delta + 112
        0x000020dc:    2028        (       MOVS     r0,#0x28
        0x000020de:    4639        9F      MOV      r1,r7
        0x000020e0:    4341        AC      MULS     r1,r0,r1
        0x000020e2:    48f7        .H      LDR      r0,[pc,#988] ; [0x24c0] = 0x20001524
        0x000020e4:    00ae        ..      LSLS     r6,r5,#2
        0x000020e6:    1808        ..      ADDS     r0,r1,r0
        0x000020e8:    00b9        ..      LSLS     r1,r7,#2
        0x000020ea:    9102        ..      STR      r1,[sp,#8]
        0x000020ec:    5841        AX      LDR      r1,[r0,r1]
        0x000020ee:    5980        .Y      LDR      r0,[r0,r6]
        0x000020f0:    f001fdf8    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000020f4:    9000        ..      STR      r0,[sp,#0]
        0x000020f6:    0040        @.      LSLS     r0,r0,#1
        0x000020f8:    0e00        ..      LSRS     r0,r0,#24
        0x000020fa:    d020         .      BEQ      0x213e ; find_delta + 110
        0x000020fc:    4cf1        .L      LDR      r4,[pc,#964] ; [0x24c4] = 0x200016b4
        0x000020fe:    9802        ..      LDR      r0,[sp,#8]
        0x00002100:    5821        !X      LDR      r1,[r4,r0]
        0x00002102:    9800        ..      LDR      r0,[sp,#0]
        0x00002104:    f001fdb1    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002108:    59a1        .Y      LDR      r1,[r4,r6]
        0x0000210a:    f001fdaa    ....    BL       __aeabi_frsub ; 0x3c62
        0x0000210e:    51a0        .Q      STR      r0,[r4,r6]
        0x00002110:    462c        ,F      MOV      r4,r5
        0x00002112:    e011        ..      B        0x2138 ; find_delta + 104
        0x00002114:    2028        (       MOVS     r0,#0x28
        0x00002116:    4621        !F      MOV      r1,r4
        0x00002118:    4341        AC      MULS     r1,r0,r1
        0x0000211a:    48e9        .H      LDR      r0,[pc,#932] ; [0x24c0] = 0x20001524
        0x0000211c:    1809        ..      ADDS     r1,r1,r0
        0x0000211e:    9802        ..      LDR      r0,[sp,#8]
        0x00002120:    9101        ..      STR      r1,[sp,#4]
        0x00002122:    5809        .X      LDR      r1,[r1,r0]
        0x00002124:    9800        ..      LDR      r0,[sp,#0]
        0x00002126:    f001fda0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000212a:    9901        ..      LDR      r1,[sp,#4]
        0x0000212c:    5989        .Y      LDR      r1,[r1,r6]
        0x0000212e:    f001fd98    ....    BL       __aeabi_frsub ; 0x3c62
        0x00002132:    9901        ..      LDR      r1,[sp,#4]
        0x00002134:    1c64        d.      ADDS     r4,r4,#1
        0x00002136:    5188        .Q      STR      r0,[r1,r6]
        0x00002138:    9804        ..      LDR      r0,[sp,#0x10]
        0x0000213a:    4284        .B      CMP      r4,r0
        0x0000213c:    dbea        ..      BLT      0x2114 ; find_delta + 68
        0x0000213e:    1c6d        m.      ADDS     r5,r5,#1
        0x00002140:    9804        ..      LDR      r0,[sp,#0x10]
        0x00002142:    4285        .B      CMP      r5,r0
        0x00002144:    dbca        ..      BLT      0x20dc ; find_delta + 12
        0x00002146:    1c7f        ..      ADDS     r7,r7,#1
        0x00002148:    9804        ..      LDR      r0,[sp,#0x10]
        0x0000214a:    4287        .B      CMP      r7,r0
        0x0000214c:    dbc4        ..      BLT      0x20d8 ; find_delta + 8
        0x0000214e:    1e44        D.      SUBS     r4,r0,#1
        0x00002150:    d425        %.      BMI      0x219e ; find_delta + 206
        0x00002152:    2028        (       MOVS     r0,#0x28
        0x00002154:    4621        !F      MOV      r1,r4
        0x00002156:    4341        AC      MULS     r1,r0,r1
        0x00002158:    48d9        .H      LDR      r0,[pc,#868] ; [0x24c0] = 0x20001524
        0x0000215a:    00a5        ..      LSLS     r5,r4,#2
        0x0000215c:    180f        ..      ADDS     r7,r1,r0
        0x0000215e:    9500        ..      STR      r5,[sp,#0]
        0x00002160:    4ed8        .N      LDR      r6,[pc,#864] ; [0x24c4] = 0x200016b4
        0x00002162:    5979        yY      LDR      r1,[r7,r5]
        0x00002164:    5970        pY      LDR      r0,[r6,r5]
        0x00002166:    f001fdbd    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x0000216a:    5170        pQ      STR      r0,[r6,r5]
        0x0000216c:    207f        .       MOVS     r0,#0x7f
        0x0000216e:    05c0        ..      LSLS     r0,r0,#23
        0x00002170:    5178        xQ      STR      r0,[r7,r5]
        0x00002172:    2500        .%      MOVS     r5,#0
        0x00002174:    e00f        ..      B        0x2196 ; find_delta + 198
        0x00002176:    49d3        .I      LDR      r1,[pc,#844] ; [0x24c4] = 0x200016b4
        0x00002178:    9a00        ..      LDR      r2,[sp,#0]
        0x0000217a:    00ae        ..      LSLS     r6,r5,#2
        0x0000217c:    59b8        .Y      LDR      r0,[r7,r6]
        0x0000217e:    5889        .X      LDR      r1,[r1,r2]
        0x00002180:    f001fd73    ..s.    BL       __aeabi_fmul ; 0x3c6a
        0x00002184:    49cf        .I      LDR      r1,[pc,#828] ; [0x24c4] = 0x200016b4
        0x00002186:    5989        .Y      LDR      r1,[r1,r6]
        0x00002188:    f001fd6b    ..k.    BL       __aeabi_frsub ; 0x3c62
        0x0000218c:    49cd        .I      LDR      r1,[pc,#820] ; [0x24c4] = 0x200016b4
        0x0000218e:    5188        .Q      STR      r0,[r1,r6]
        0x00002190:    2000        .       MOVS     r0,#0
        0x00002192:    51b8        .Q      STR      r0,[r7,r6]
        0x00002194:    1c6d        m.      ADDS     r5,r5,#1
        0x00002196:    42a5        .B      CMP      r5,r4
        0x00002198:    dbed        ..      BLT      0x2176 ; find_delta + 166
        0x0000219a:    1e64        d.      SUBS     r4,r4,#1
        0x0000219c:    d5d9        ..      BPL      0x2152 ; find_delta + 130
        0x0000219e:    4ac9        .J      LDR      r2,[pc,#804] ; [0x24c4] = 0x200016b4
        0x000021a0:    2000        .       MOVS     r0,#0
        0x000021a2:    4613        .F      MOV      r3,r2
        0x000021a4:    3328        (3      ADDS     r3,r3,#0x28
        0x000021a6:    e003        ..      B        0x21b0 ; find_delta + 224
        0x000021a8:    0081        ..      LSLS     r1,r0,#2
        0x000021aa:    5854        TX      LDR      r4,[r2,r1]
        0x000021ac:    505c        \P      STR      r4,[r3,r1]
        0x000021ae:    1c40        @.      ADDS     r0,r0,#1
        0x000021b0:    9904        ..      LDR      r1,[sp,#0x10]
        0x000021b2:    4288        .B      CMP      r0,r1
        0x000021b4:    dbf8        ..      BLT      0x21a8 ; find_delta + 216
        0x000021b6:    b005        ..      ADD      sp,sp,#0x14
        0x000021b8:    bdf0        ..      POP      {r4-r7,pc}
    VerifyBetaAcc
        0x000021ba:    2000        .       MOVS     r0,#0
        0x000021bc:    1c40        @.      ADDS     r0,r0,#1
        0x000021be:    2803        .(      CMP      r0,#3
        0x000021c0:    dbfc        ..      BLT      0x21bc ; VerifyBetaAcc + 2
        0x000021c2:    4770        pG      BX       lr
    VerifyBetaMagCircle
        0x000021c4:    4770        pG      BX       lr
    VerifyBetaMag
        0x000021c6:    b5f0        ..      PUSH     {r4-r7,lr}
        0x000021c8:    4604        .F      MOV      r4,r0
        0x000021ca:    2000        .       MOVS     r0,#0
        0x000021cc:    b097        ..      SUB      sp,sp,#0x5c
        0x000021ce:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000021d0:    f001ff68    ..h.    BL       __aeabi_i2f ; 0x40a4
        0x000021d4:    9014        ..      STR      r0,[sp,#0x50]
        0x000021d6:    2002        .       MOVS     r0,#2
        0x000021d8:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000021da:    f001ff63    ..c.    BL       __aeabi_i2f ; 0x40a4
        0x000021de:    9015        ..      STR      r0,[sp,#0x54]
        0x000021e0:    2004        .       MOVS     r0,#4
        0x000021e2:    5e20         ^      LDRSH    r0,[r4,r0]
        0x000021e4:    f001ff5e    ..^.    BL       __aeabi_i2f ; 0x40a4
        0x000021e8:    4eb5        .N      LDR      r6,[pc,#724] ; [0x24c0] = 0x20001524
        0x000021ea:    2400        .$      MOVS     r4,#0
        0x000021ec:    466f        oF      MOV      r7,sp
        0x000021ee:    3e90        .>      SUBS     r6,r6,#0x90
        0x000021f0:    9016        ..      STR      r0,[sp,#0x58]
        0x000021f2:    00a5        ..      LSLS     r5,r4,#2
        0x000021f4:    a814        ..      ADD      r0,sp,#0x50
        0x000021f6:    5971        qY      LDR      r1,[r6,r5]
        0x000021f8:    5940        @Y      LDR      r0,[r0,r5]
        0x000021fa:    f001fd2e    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000021fe:    5178        xQ      STR      r0,[r7,r5]
        0x00002200:    4601        .F      MOV      r1,r0
        0x00002202:    f001fd32    ..2.    BL       __aeabi_fmul ; 0x3c6a
        0x00002206:    a90a        ..      ADD      r1,sp,#0x28
        0x00002208:    1c64        d.      ADDS     r4,r4,#1
        0x0000220a:    5148        HQ      STR      r0,[r1,r5]
        0x0000220c:    2c03        .,      CMP      r4,#3
        0x0000220e:    dbf0        ..      BLT      0x21f2 ; VerifyBetaMag + 44
        0x00002210:    9902        ..      LDR      r1,[sp,#8]
        0x00002212:    9800        ..      LDR      r0,[sp,#0]
        0x00002214:    f001fd29    ..).    BL       __aeabi_fmul ; 0x3c6a
        0x00002218:    6a31        1j      LDR      r1,[r6,#0x20]
        0x0000221a:    f001fd26    ..&.    BL       __aeabi_fmul ; 0x3c6a
        0x0000221e:    4605        .F      MOV      r5,r0
        0x00002220:    9902        ..      LDR      r1,[sp,#8]
        0x00002222:    9801        ..      LDR      r0,[sp,#4]
        0x00002224:    f001fd21    ..!.    BL       __aeabi_fmul ; 0x3c6a
        0x00002228:    69f1        .i      LDR      r1,[r6,#0x1c]
        0x0000222a:    f001fd1e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000222e:    4604        .F      MOV      r4,r0
        0x00002230:    9901        ..      LDR      r1,[sp,#4]
        0x00002232:    9800        ..      LDR      r0,[sp,#0]
        0x00002234:    f001fd19    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002238:    69b1        .i      LDR      r1,[r6,#0x18]
        0x0000223a:    f001fd16    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000223e:    4621        !F      MOV      r1,r4
        0x00002240:    f001fcba    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002244:    4629        )F      MOV      r1,r5
        0x00002246:    f001fcb7    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000224a:    2101        .!      MOVS     r1,#1
        0x0000224c:    f001fd8a    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00002250:    4604        .F      MOV      r4,r0
        0x00002252:    6971        qi      LDR      r1,[r6,#0x14]
        0x00002254:    980c        ..      LDR      r0,[sp,#0x30]
        0x00002256:    f001fd08    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000225a:    4607        .F      MOV      r7,r0
        0x0000225c:    6931        1i      LDR      r1,[r6,#0x10]
        0x0000225e:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00002260:    f001fd03    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002264:    4605        .F      MOV      r5,r0
        0x00002266:    68f1        .h      LDR      r1,[r6,#0xc]
        0x00002268:    980a        ..      LDR      r0,[sp,#0x28]
        0x0000226a:    f001fcfe    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000226e:    4629        )F      MOV      r1,r5
        0x00002270:    f001fca2    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002274:    4639        9F      MOV      r1,r7
        0x00002276:    f001fc9f    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000227a:    4621        !F      MOV      r1,r4
        0x0000227c:    f001fc9c    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002280:    4604        .F      MOV      r4,r0
        0x00002282:    6a70        pj      LDR      r0,[r6,#0x24]
        0x00002284:    4601        .F      MOV      r1,r0
        0x00002286:    f001fcf0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000228a:    4621        !F      MOV      r1,r4
        0x0000228c:    f001fce9    ....    BL       __aeabi_frsub ; 0x3c62
        0x00002290:    4c8d        .L      LDR      r4,[pc,#564] ; [0x24c8] = 0x20000250
        0x00002292:    6e61        an      LDR      r1,[r4,#0x64]
        0x00002294:    f001fc90    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002298:    6660        `f      STR      r0,[r4,#0x64]
        0x0000229a:    b017        ..      ADD      sp,sp,#0x5c
        0x0000229c:    bdf0        ..      POP      {r4-r7,pc}
    VerifyBetaMagAvg
        0x0000229e:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x000022a0:    2000        .       MOVS     r0,#0
        0x000022a2:    4d87        .M      LDR      r5,[pc,#540] ; [0x24c0] = 0x20001524
        0x000022a4:    b099        ..      SUB      sp,sp,#0x64
        0x000022a6:    4604        .F      MOV      r4,r0
        0x000022a8:    3d90        .=      SUBS     r5,r5,#0x90
        0x000022aa:    9014        ..      STR      r0,[sp,#0x50]
        0x000022ac:    e06a        j.      B        0x2384 ; VerifyBetaMagAvg + 230
        0x000022ae:    2006        .       MOVS     r0,#6
        0x000022b0:    9919        ..      LDR      r1,[sp,#0x64]
        0x000022b2:    4360        `C      MULS     r0,r4,r0
        0x000022b4:    1846        F.      ADDS     r6,r0,r1
        0x000022b6:    2000        .       MOVS     r0,#0
        0x000022b8:    5e30        0^      LDRSH    r0,[r6,r0]
        0x000022ba:    f001fef3    ....    BL       __aeabi_i2f ; 0x40a4
        0x000022be:    9015        ..      STR      r0,[sp,#0x54]
        0x000022c0:    2002        .       MOVS     r0,#2
        0x000022c2:    5e30        0^      LDRSH    r0,[r6,r0]
        0x000022c4:    f001feee    ....    BL       __aeabi_i2f ; 0x40a4
        0x000022c8:    9016        ..      STR      r0,[sp,#0x58]
        0x000022ca:    2004        .       MOVS     r0,#4
        0x000022cc:    5e30        0^      LDRSH    r0,[r6,r0]
        0x000022ce:    f001fee9    ....    BL       __aeabi_i2f ; 0x40a4
        0x000022d2:    2600        .&      MOVS     r6,#0
        0x000022d4:    9017        ..      STR      r0,[sp,#0x5c]
        0x000022d6:    00b7        ..      LSLS     r7,r6,#2
        0x000022d8:    a815        ..      ADD      r0,sp,#0x54
        0x000022da:    59e9        .Y      LDR      r1,[r5,r7]
        0x000022dc:    59c0        .Y      LDR      r0,[r0,r7]
        0x000022de:    f001fcbc    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000022e2:    4669        iF      MOV      r1,sp
        0x000022e4:    51c8        .Q      STR      r0,[r1,r7]
        0x000022e6:    4601        .F      MOV      r1,r0
        0x000022e8:    f001fcbf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000022ec:    a90a        ..      ADD      r1,sp,#0x28
        0x000022ee:    1c76        v.      ADDS     r6,r6,#1
        0x000022f0:    51c8        .Q      STR      r0,[r1,r7]
        0x000022f2:    2e03        ..      CMP      r6,#3
        0x000022f4:    dbef        ..      BLT      0x22d6 ; VerifyBetaMagAvg + 56
        0x000022f6:    9902        ..      LDR      r1,[sp,#8]
        0x000022f8:    9800        ..      LDR      r0,[sp,#0]
        0x000022fa:    f001fcb6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000022fe:    6a29        )j      LDR      r1,[r5,#0x20]
        0x00002300:    f001fcb3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002304:    4607        .F      MOV      r7,r0
        0x00002306:    9902        ..      LDR      r1,[sp,#8]
        0x00002308:    9801        ..      LDR      r0,[sp,#4]
        0x0000230a:    f001fcae    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000230e:    69e9        .i      LDR      r1,[r5,#0x1c]
        0x00002310:    f001fcab    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002314:    4606        .F      MOV      r6,r0
        0x00002316:    9901        ..      LDR      r1,[sp,#4]
        0x00002318:    9800        ..      LDR      r0,[sp,#0]
        0x0000231a:    f001fca6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000231e:    69a9        .i      LDR      r1,[r5,#0x18]
        0x00002320:    f001fca3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002324:    4631        1F      MOV      r1,r6
        0x00002326:    f001fc47    ..G.    BL       __aeabi_fadd ; 0x3bb8
        0x0000232a:    4639        9F      MOV      r1,r7
        0x0000232c:    f001fc44    ..D.    BL       __aeabi_fadd ; 0x3bb8
        0x00002330:    2101        .!      MOVS     r1,#1
        0x00002332:    f001fd17    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00002336:    4606        .F      MOV      r6,r0
        0x00002338:    6969        ii      LDR      r1,[r5,#0x14]
        0x0000233a:    980c        ..      LDR      r0,[sp,#0x30]
        0x0000233c:    f001fc95    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002340:    9018        ..      STR      r0,[sp,#0x60]
        0x00002342:    6929        )i      LDR      r1,[r5,#0x10]
        0x00002344:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00002346:    f001fc90    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000234a:    4607        .F      MOV      r7,r0
        0x0000234c:    68e9        .h      LDR      r1,[r5,#0xc]
        0x0000234e:    980a        ..      LDR      r0,[sp,#0x28]
        0x00002350:    f001fc8b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002354:    4639        9F      MOV      r1,r7
        0x00002356:    f001fc2f    ../.    BL       __aeabi_fadd ; 0x3bb8
        0x0000235a:    9918        ..      LDR      r1,[sp,#0x60]
        0x0000235c:    f001fc2c    ..,.    BL       __aeabi_fadd ; 0x3bb8
        0x00002360:    4631        1F      MOV      r1,r6
        0x00002362:    f001fc29    ..).    BL       __aeabi_fadd ; 0x3bb8
        0x00002366:    4606        .F      MOV      r6,r0
        0x00002368:    6a68        hj      LDR      r0,[r5,#0x24]
        0x0000236a:    4601        .F      MOV      r1,r0
        0x0000236c:    f001fc7d    ..}.    BL       __aeabi_fmul ; 0x3c6a
        0x00002370:    4601        .F      MOV      r1,r0
        0x00002372:    4630        0F      MOV      r0,r6
        0x00002374:    f001fcb6    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00002378:    4601        .F      MOV      r1,r0
        0x0000237a:    9814        ..      LDR      r0,[sp,#0x50]
        0x0000237c:    f001fc1c    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002380:    1c64        d.      ADDS     r4,r4,#1
        0x00002382:    9014        ..      STR      r0,[sp,#0x50]
        0x00002384:    981a        ..      LDR      r0,[sp,#0x68]
        0x00002386:    4284        .B      CMP      r4,r0
        0x00002388:    db91        ..      BLT      0x22ae ; VerifyBetaMagAvg + 16
        0x0000238a:    f001fe8b    ....    BL       __aeabi_i2f ; 0x40a4
        0x0000238e:    4601        .F      MOV      r1,r0
        0x00002390:    9814        ..      LDR      r0,[sp,#0x50]
        0x00002392:    f001fca7    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00002396:    b01b        ..      ADD      sp,sp,#0x6c
        0x00002398:    bdf0        ..      POP      {r4-r7,pc}
    calibrate_model_acc
        0x0000239a:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x0000239c:    2000        .       MOVS     r0,#0
        0x0000239e:    b085        ..      SUB      sp,sp,#0x14
        0x000023a0:    9002        ..      STR      r0,[sp,#8]
        0x000023a2:    484a        JH      LDR      r0,[pc,#296] ; [0x24cc] = 0x3089705f
        0x000023a4:    9000        ..      STR      r0,[sp,#0]
        0x000023a6:    484a        JH      LDR      r0,[pc,#296] ; [0x24d0] = 0x42c80000
        0x000023a8:    2514        .%      MOVS     r5,#0x14
        0x000023aa:    9001        ..      STR      r0,[sp,#4]
        0x000023ac:    e063        c.      B        0x2476 ; calibrate_model_acc + 220
        0x000023ae:    9906        ..      LDR      r1,[sp,#0x18]
        0x000023b0:    9805        ..      LDR      r0,[sp,#0x14]
        0x000023b2:    f7fffb6d    ..m.    BL       compute_calibration_matrices_acc ; 0x1a90
        0x000023b6:    2006        .       MOVS     r0,#6
        0x000023b8:    f7fffe8a    ....    BL       find_delta ; 0x20d0
        0x000023bc:    4e40        @N      LDR      r6,[pc,#256] ; [0x24c0] = 0x20001524
        0x000023be:    3e18        .>      SUBS     r6,r6,#0x18
        0x000023c0:    6970        pi      LDR      r0,[r6,#0x14]
        0x000023c2:    4601        .F      MOV      r1,r0
        0x000023c4:    f001fc51    ..Q.    BL       __aeabi_fmul ; 0x3c6a
        0x000023c8:    4c3e        >L      LDR      r4,[pc,#248] ; [0x24c4] = 0x200016b4
        0x000023ca:    4607        .F      MOV      r7,r0
        0x000023cc:    3428        (4      ADDS     r4,r4,#0x28
        0x000023ce:    6960        `i      LDR      r0,[r4,#0x14]
        0x000023d0:    4601        .F      MOV      r1,r0
        0x000023d2:    f001fc4a    ..J.    BL       __aeabi_fmul ; 0x3c6a
        0x000023d6:    4639        9F      MOV      r1,r7
        0x000023d8:    f001fc84    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000023dc:    9004        ..      STR      r0,[sp,#0x10]
        0x000023de:    6930        0i      LDR      r0,[r6,#0x10]
        0x000023e0:    4601        .F      MOV      r1,r0
        0x000023e2:    f001fc42    ..B.    BL       __aeabi_fmul ; 0x3c6a
        0x000023e6:    4607        .F      MOV      r7,r0
        0x000023e8:    6920         i      LDR      r0,[r4,#0x10]
        0x000023ea:    4601        .F      MOV      r1,r0
        0x000023ec:    f001fc3d    ..=.    BL       __aeabi_fmul ; 0x3c6a
        0x000023f0:    4639        9F      MOV      r1,r7
        0x000023f2:    f001fc77    ..w.    BL       __aeabi_fdiv ; 0x3ce4
        0x000023f6:    4607        .F      MOV      r7,r0
        0x000023f8:    68f0        .h      LDR      r0,[r6,#0xc]
        0x000023fa:    4601        .F      MOV      r1,r0
        0x000023fc:    f001fc35    ..5.    BL       __aeabi_fmul ; 0x3c6a
        0x00002400:    4606        .F      MOV      r6,r0
        0x00002402:    68e0        .h      LDR      r0,[r4,#0xc]
        0x00002404:    4601        .F      MOV      r1,r0
        0x00002406:    f001fc30    ..0.    BL       __aeabi_fmul ; 0x3c6a
        0x0000240a:    4631        1F      MOV      r1,r6
        0x0000240c:    f001fc6a    ..j.    BL       __aeabi_fdiv ; 0x3ce4
        0x00002410:    4606        .F      MOV      r6,r0
        0x00002412:    68a0        .h      LDR      r0,[r4,#8]
        0x00002414:    4601        .F      MOV      r1,r0
        0x00002416:    f001fc28    ..(.    BL       __aeabi_fmul ; 0x3c6a
        0x0000241a:    9003        ..      STR      r0,[sp,#0xc]
        0x0000241c:    6860        `h      LDR      r0,[r4,#4]
        0x0000241e:    4601        .F      MOV      r1,r0
        0x00002420:    f001fc23    ..#.    BL       __aeabi_fmul ; 0x3c6a
        0x00002424:    9001        ..      STR      r0,[sp,#4]
        0x00002426:    6820         h      LDR      r0,[r4,#0]
        0x00002428:    4601        .F      MOV      r1,r0
        0x0000242a:    f001fc1e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000242e:    9901        ..      LDR      r1,[sp,#4]
        0x00002430:    f001fbc2    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002434:    9903        ..      LDR      r1,[sp,#0xc]
        0x00002436:    f001fbbf    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000243a:    4631        1F      MOV      r1,r6
        0x0000243c:    f001fbbc    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002440:    4639        9F      MOV      r1,r7
        0x00002442:    f001fbb9    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002446:    9904        ..      LDR      r1,[sp,#0x10]
        0x00002448:    f001fbb6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000244c:    9001        ..      STR      r0,[sp,#4]
        0x0000244e:    2000        .       MOVS     r0,#0
        0x00002450:    1c40        @.      ADDS     r0,r0,#1
        0x00002452:    2806        .(      CMP      r0,#6
        0x00002454:    dbfc        ..      BLT      0x2450 ; calibrate_model_acc + 182
        0x00002456:    4f1a        .O      LDR      r7,[pc,#104] ; [0x24c0] = 0x20001524
        0x00002458:    2600        .&      MOVS     r6,#0
        0x0000245a:    3f90        .?      SUBS     r7,r7,#0x90
        0x0000245c:    4819        .H      LDR      r0,[pc,#100] ; [0x24c4] = 0x200016b4
        0x0000245e:    00b4        ..      LSLS     r4,r6,#2
        0x00002460:    3028        (0      ADDS     r0,r0,#0x28
        0x00002462:    5901        .Y      LDR      r1,[r0,r4]
        0x00002464:    5938        8Y      LDR      r0,[r7,r4]
        0x00002466:    f001fbf8    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000246a:    1c76        v.      ADDS     r6,r6,#1
        0x0000246c:    5138        8Q      STR      r0,[r7,r4]
        0x0000246e:    2e06        ..      CMP      r6,#6
        0x00002470:    dbf4        ..      BLT      0x245c ; calibrate_model_acc + 194
        0x00002472:    f7fff93d    ..=.    BL       reset_calibration_matrices ; 0x16f0
        0x00002476:    1e6d        m.      SUBS     r5,r5,#1
        0x00002478:    d404        ..      BMI      0x2484 ; calibrate_model_acc + 234
        0x0000247a:    9900        ..      LDR      r1,[sp,#0]
        0x0000247c:    9801        ..      LDR      r0,[sp,#4]
        0x0000247e:    f001fec3    ....    BL       __aeabi_cfrcmple ; 0x4208
        0x00002482:    d394        ..      BCC      0x23ae ; calibrate_model_acc + 20
        0x00002484:    4b0e        .K      LDR      r3,[pc,#56] ; [0x24c0] = 0x20001524
        0x00002486:    2000        .       MOVS     r0,#0
        0x00002488:    3b18        .;      SUBS     r3,r3,#0x18
        0x0000248a:    461a        .F      MOV      r2,r3
        0x0000248c:    3a78        x:      SUBS     r2,r2,#0x78
        0x0000248e:    0081        ..      LSLS     r1,r0,#2
        0x00002490:    5854        TX      LDR      r4,[r2,r1]
        0x00002492:    1c40        @.      ADDS     r0,r0,#1
        0x00002494:    505c        \P      STR      r4,[r3,r1]
        0x00002496:    2806        .(      CMP      r0,#6
        0x00002498:    dbf9        ..      BLT      0x248e ; calibrate_model_acc + 244
        0x0000249a:    2000        .       MOVS     r0,#0
        0x0000249c:    1c40        @.      ADDS     r0,r0,#1
        0x0000249e:    2806        .(      CMP      r0,#6
        0x000024a0:    dbfc        ..      BLT      0x249c ; calibrate_model_acc + 258
        0x000024a2:    2200        ."      MOVS     r2,#0
        0x000024a4:    2006        .       MOVS     r0,#6
        0x000024a6:    9905        ..      LDR      r1,[sp,#0x14]
        0x000024a8:    4350        PC      MULS     r0,r2,r0
        0x000024aa:    1840        @.      ADDS     r0,r0,r1
        0x000024ac:    4611        .F      MOV      r1,r2
        0x000024ae:    f7fffe84    ....    BL       VerifyBetaAcc ; 0x21ba
        0x000024b2:    1c52        R.      ADDS     r2,r2,#1
        0x000024b4:    2a3c        <*      CMP      r2,#0x3c
        0x000024b6:    dbf5        ..      BLT      0x24a4 ; calibrate_model_acc + 266
        0x000024b8:    9802        ..      LDR      r0,[sp,#8]
        0x000024ba:    b007        ..      ADD      sp,sp,#0x1c
        0x000024bc:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x000024be:    0000        ..      DCW    0
        0x000024c0:    20001524    $..     DCD    536876324
        0x000024c4:    200016b4    ...     DCD    536876724
        0x000024c8:    20000250    P..     DCD    536871504
        0x000024cc:    3089705f    _p.0    DCD    814313567
        0x000024d0:    42c80000    ...B    DCD    1120403456
    $t
    calibrate_model_mag
        0x000024d4:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x000024d6:    b083        ..      SUB      sp,sp,#0xc
        0x000024d8:    48ae        .H      LDR      r0,[pc,#696] ; [0x2794] = 0x447a0000
        0x000024da:    9001        ..      STR      r0,[sp,#4]
        0x000024dc:    263c        <&      MOVS     r6,#0x3c
        0x000024de:    2000        .       MOVS     r0,#0
        0x000024e0:    43c0        .C      MVNS     r0,r0
        0x000024e2:    9000        ..      STR      r0,[sp,#0]
        0x000024e4:    e05a        Z.      B        0x259c ; calibrate_model_mag + 200
        0x000024e6:    2500        .%      MOVS     r5,#0
        0x000024e8:    9904        ..      LDR      r1,[sp,#0x10]
        0x000024ea:    9803        ..      LDR      r0,[sp,#0xc]
        0x000024ec:    f7fffae3    ....    BL       compute_calibration_matrices_mag ; 0x1ab6
        0x000024f0:    200a        .       MOVS     r0,#0xa
        0x000024f2:    f7fffded    ....    BL       find_delta ; 0x20d0
        0x000024f6:    4fa8        .O      LDR      r7,[pc,#672] ; [0x2798] = 0x200016dc
        0x000024f8:    4ca8        .L      LDR      r4,[pc,#672] ; [0x279c] = 0x20001494
        0x000024fa:    6839        9h      LDR      r1,[r7,#0]
        0x000024fc:    6820         h      LDR      r0,[r4,#0]
        0x000024fe:    f001fbac    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002502:    6020         `      STR      r0,[r4,#0]
        0x00002504:    6879        yh      LDR      r1,[r7,#4]
        0x00002506:    6860        `h      LDR      r0,[r4,#4]
        0x00002508:    f001fba7    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000250c:    6060        ``      STR      r0,[r4,#4]
        0x0000250e:    68b9        .h      LDR      r1,[r7,#8]
        0x00002510:    68a0        .h      LDR      r0,[r4,#8]
        0x00002512:    f001fba2    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002516:    60a0        .`      STR      r0,[r4,#8]
        0x00002518:    2403        .$      MOVS     r4,#3
        0x0000251a:    489f        .H      LDR      r0,[pc,#636] ; [0x2798] = 0x200016dc
        0x0000251c:    00a7        ..      LSLS     r7,r4,#2
        0x0000251e:    59c1        .Y      LDR      r1,[r0,r7]
        0x00002520:    489e        .H      LDR      r0,[pc,#632] ; [0x279c] = 0x20001494
        0x00002522:    59c0        .Y      LDR      r0,[r0,r7]
        0x00002524:    f001fb99    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002528:    499c        .I      LDR      r1,[pc,#624] ; [0x279c] = 0x20001494
        0x0000252a:    1c64        d.      ADDS     r4,r4,#1
        0x0000252c:    51c8        .Q      STR      r0,[r1,r7]
        0x0000252e:    2c09        .,      CMP      r4,#9
        0x00002530:    dbf3        ..      BLT      0x251a ; calibrate_model_mag + 70
        0x00002532:    4f99        .O      LDR      r7,[pc,#612] ; [0x2798] = 0x200016dc
        0x00002534:    4c99        .L      LDR      r4,[pc,#612] ; [0x279c] = 0x20001494
        0x00002536:    6a79        yj      LDR      r1,[r7,#0x24]
        0x00002538:    6a60        `j      LDR      r0,[r4,#0x24]
        0x0000253a:    f001fb8e    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000253e:    6260        `b      STR      r0,[r4,#0x24]
        0x00002540:    2400        .$      MOVS     r4,#0
        0x00002542:    00a0        ..      LSLS     r0,r4,#2
        0x00002544:    5838        8X      LDR      r0,[r7,r0]
        0x00002546:    4601        .F      MOV      r1,r0
        0x00002548:    f001fb8f    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000254c:    4629        )F      MOV      r1,r5
        0x0000254e:    f001fb33    ..3.    BL       __aeabi_fadd ; 0x3bb8
        0x00002552:    1c64        d.      ADDS     r4,r4,#1
        0x00002554:    4605        .F      MOV      r5,r0
        0x00002556:    2c0a        .,      CMP      r4,#0xa
        0x00002558:    dbf3        ..      BLT      0x2542 ; calibrate_model_mag + 110
        0x0000255a:    9904        ..      LDR      r1,[sp,#0x10]
        0x0000255c:    9803        ..      LDR      r0,[sp,#0xc]
        0x0000255e:    f7fffe9e    ....    BL       VerifyBetaMagAvg ; 0x229e
        0x00002562:    4604        .F      MOV      r4,r0
        0x00002564:    4629        )F      MOV      r1,r5
        0x00002566:    9801        ..      LDR      r0,[sp,#4]
        0x00002568:    f001fe4e    ..N.    BL       __aeabi_cfrcmple ; 0x4208
        0x0000256c:    d211        ..      BCS      0x2592 ; calibrate_model_mag + 190
        0x0000256e:    2001        .       MOVS     r0,#1
        0x00002570:    0780        ..      LSLS     r0,r0,#30
        0x00002572:    4284        .B      CMP      r4,r0
        0x00002574:    da0d        ..      BGE      0x2592 ; calibrate_model_mag + 190
        0x00002576:    4240        @B      RSBS     r0,r0,#0
        0x00002578:    4284        .B      CMP      r4,r0
        0x0000257a:    d20a        ..      BCS      0x2592 ; calibrate_model_mag + 190
        0x0000257c:    4a87        .J      LDR      r2,[pc,#540] ; [0x279c] = 0x20001494
        0x0000257e:    2000        .       MOVS     r0,#0
        0x00002580:    4b86        .K      LDR      r3,[pc,#536] ; [0x279c] = 0x20001494
        0x00002582:    3228        (2      ADDS     r2,r2,#0x28
        0x00002584:    0081        ..      LSLS     r1,r0,#2
        0x00002586:    585c        \X      LDR      r4,[r3,r1]
        0x00002588:    1c40        @.      ADDS     r0,r0,#1
        0x0000258a:    5054        TP      STR      r4,[r2,r1]
        0x0000258c:    280a        .(      CMP      r0,#0xa
        0x0000258e:    dbf9        ..      BLT      0x2584 ; calibrate_model_mag + 176
        0x00002590:    9501        ..      STR      r5,[sp,#4]
        0x00002592:    4883        .H      LDR      r0,[pc,#524] ; [0x27a0] = 0x3c23d70a
        0x00002594:    4285        .B      CMP      r5,r0
        0x00002596:    db04        ..      BLT      0x25a2 ; calibrate_model_mag + 206
        0x00002598:    f7fff8aa    ....    BL       reset_calibration_matrices ; 0x16f0
        0x0000259c:    1e76        v.      SUBS     r6,r6,#1
        0x0000259e:    d5a2        ..      BPL      0x24e6 ; calibrate_model_mag + 18
        0x000025a0:    e001        ..      B        0x25a6 ; calibrate_model_mag + 210
        0x000025a2:    2e00        ..      CMP      r6,#0
        0x000025a4:    dc0a        ..      BGT      0x25bc ; calibrate_model_mag + 232
        0x000025a6:    4a7d        }J      LDR      r2,[pc,#500] ; [0x279c] = 0x20001494
        0x000025a8:    2000        .       MOVS     r0,#0
        0x000025aa:    4b7c        |K      LDR      r3,[pc,#496] ; [0x279c] = 0x20001494
        0x000025ac:    3228        (2      ADDS     r2,r2,#0x28
        0x000025ae:    0081        ..      LSLS     r1,r0,#2
        0x000025b0:    5854        TX      LDR      r4,[r2,r1]
        0x000025b2:    1c40        @.      ADDS     r0,r0,#1
        0x000025b4:    505c        \P      STR      r4,[r3,r1]
        0x000025b6:    280a        .(      CMP      r0,#0xa
        0x000025b8:    dbf9        ..      BLT      0x25ae ; calibrate_model_mag + 218
        0x000025ba:    e001        ..      B        0x25c0 ; calibrate_model_mag + 236
        0x000025bc:    2000        .       MOVS     r0,#0
        0x000025be:    9000        ..      STR      r0,[sp,#0]
        0x000025c0:    22ff        ."      MOVS     r2,#0xff
        0x000025c2:    2000        .       MOVS     r0,#0
        0x000025c4:    05d2        ..      LSLS     r2,r2,#23
        0x000025c6:    4d75        uM      LDR      r5,[pc,#468] ; [0x279c] = 0x20001494
        0x000025c8:    1e41        A.      SUBS     r1,r0,#1
        0x000025ca:    0083        ..      LSLS     r3,r0,#2
        0x000025cc:    58eb        .X      LDR      r3,[r5,r3]
        0x000025ce:    4293        .B      CMP      r3,r2
        0x000025d0:    d100        ..      BNE      0x25d4 ; calibrate_model_mag + 256
        0x000025d2:    9100        ..      STR      r1,[sp,#0]
        0x000025d4:    1c40        @.      ADDS     r0,r0,#1
        0x000025d6:    280a        .(      CMP      r0,#0xa
        0x000025d8:    dbf7        ..      BLT      0x25ca ; calibrate_model_mag + 246
        0x000025da:    2000        .       MOVS     r0,#0
        0x000025dc:    1c40        @.      ADDS     r0,r0,#1
        0x000025de:    280a        .(      CMP      r0,#0xa
        0x000025e0:    dbfc        ..      BLT      0x25dc ; calibrate_model_mag + 264
        0x000025e2:    2400        .$      MOVS     r4,#0
        0x000025e4:    2006        .       MOVS     r0,#6
        0x000025e6:    9903        ..      LDR      r1,[sp,#0xc]
        0x000025e8:    4360        `C      MULS     r0,r4,r0
        0x000025ea:    1840        @.      ADDS     r0,r0,r1
        0x000025ec:    4621        !F      MOV      r1,r4
        0x000025ee:    f7fffdea    ....    BL       VerifyBetaMag ; 0x21c6
        0x000025f2:    1c64        d.      ADDS     r4,r4,#1
        0x000025f4:    2c78        x,      CMP      r4,#0x78
        0x000025f6:    dbf5        ..      BLT      0x25e4 ; calibrate_model_mag + 272
        0x000025f8:    4868        hH      LDR      r0,[pc,#416] ; [0x279c] = 0x20001494
        0x000025fa:    f7fffc75    ..u.    BL       compute_eigenvalue ; 0x1ee8
        0x000025fe:    4a67        gJ      LDR      r2,[pc,#412] ; [0x279c] = 0x20001494
        0x00002600:    6828        (h      LDR      r0,[r5,#0]
        0x00002602:    3250        P2      ADDS     r2,r2,#0x50
        0x00002604:    6010        .`      STR      r0,[r2,#0]
        0x00002606:    6868        hh      LDR      r0,[r5,#4]
        0x00002608:    6050        P`      STR      r0,[r2,#4]
        0x0000260a:    68a8        .h      LDR      r0,[r5,#8]
        0x0000260c:    6090        .`      STR      r0,[r2,#8]
        0x0000260e:    2003        .       MOVS     r0,#3
        0x00002610:    0081        ..      LSLS     r1,r0,#2
        0x00002612:    586b        kX      LDR      r3,[r5,r1]
        0x00002614:    1c40        @.      ADDS     r0,r0,#1
        0x00002616:    5053        SP      STR      r3,[r2,r1]
        0x00002618:    2809        .(      CMP      r0,#9
        0x0000261a:    dbf9        ..      BLT      0x2610 ; calibrate_model_mag + 316
        0x0000261c:    6a68        hj      LDR      r0,[r5,#0x24]
        0x0000261e:    6250        Pb      STR      r0,[r2,#0x24]
        0x00002620:    2000        .       MOVS     r0,#0
        0x00002622:    1c40        @.      ADDS     r0,r0,#1
        0x00002624:    2809        .(      CMP      r0,#9
        0x00002626:    dbfc        ..      BLT      0x2622 ; calibrate_model_mag + 334
        0x00002628:    2000        .       MOVS     r0,#0
        0x0000262a:    1c40        @.      ADDS     r0,r0,#1
        0x0000262c:    2878        x(      CMP      r0,#0x78
        0x0000262e:    dbfc        ..      BLT      0x262a ; calibrate_model_mag + 342
        0x00002630:    9800        ..      LDR      r0,[sp,#0]
        0x00002632:    e5c0        ..      B        0x21b6 ; find_delta + 230
    EllipsoidInit
        0x00002634:    4859        YH      LDR      r0,[pc,#356] ; [0x279c] = 0x20001494
        0x00002636:    217d        }!      MOVS     r1,#0x7d
        0x00002638:    00c9        ..      LSLS     r1,r1,#3
        0x0000263a:    3824        $8      SUBS     r0,r0,#0x24
        0x0000263c:    424a        JB      RSBS     r2,r1,#0
        0x0000263e:    c006        ..      STM      r0!,{r1,r2}
        0x00002640:    6001        .`      STR      r1,[r0,#0]
        0x00002642:    6042        B`      STR      r2,[r0,#4]
        0x00002644:    60c2        .`      STR      r2,[r0,#0xc]
        0x00002646:    6081        .`      STR      r1,[r0,#8]
        0x00002648:    4770        pG      BX       lr
    UpdateEllipsoidRange
        0x0000264a:    b570        p.      PUSH     {r4-r6,lr}
        0x0000264c:    4c53        SL      LDR      r4,[pc,#332] ; [0x279c] = 0x20001494
        0x0000264e:    2200        ."      MOVS     r2,#0
        0x00002650:    3c24        $<      SUBS     r4,r4,#0x24
        0x00002652:    e021        !.      B        0x2698 ; UpdateEllipsoidRange + 78
        0x00002654:    2306        .#      MOVS     r3,#6
        0x00002656:    4615        .F      MOV      r5,r2
        0x00002658:    435d        ]C      MULS     r5,r3,r5
        0x0000265a:    5f43        C_      LDRSH    r3,[r0,r5]
        0x0000265c:    6866        fh      LDR      r6,[r4,#4]
        0x0000265e:    429e        .B      CMP      r6,r3
        0x00002660:    da00        ..      BGE      0x2664 ; UpdateEllipsoidRange + 26
        0x00002662:    6063        c`      STR      r3,[r4,#4]
        0x00002664:    6826        &h      LDR      r6,[r4,#0]
        0x00002666:    429e        .B      CMP      r6,r3
        0x00002668:    dd00        ..      BLE      0x266c ; UpdateEllipsoidRange + 34
        0x0000266a:    6023        #`      STR      r3,[r4,#0]
        0x0000266c:    182d        -.      ADDS     r5,r5,r0
        0x0000266e:    2302        .#      MOVS     r3,#2
        0x00002670:    5eeb        .^      LDRSH    r3,[r5,r3]
        0x00002672:    68e6        .h      LDR      r6,[r4,#0xc]
        0x00002674:    429e        .B      CMP      r6,r3
        0x00002676:    da00        ..      BGE      0x267a ; UpdateEllipsoidRange + 48
        0x00002678:    60e3        .`      STR      r3,[r4,#0xc]
        0x0000267a:    68a6        .h      LDR      r6,[r4,#8]
        0x0000267c:    429e        .B      CMP      r6,r3
        0x0000267e:    dd00        ..      BLE      0x2682 ; UpdateEllipsoidRange + 56
        0x00002680:    60a3        .`      STR      r3,[r4,#8]
        0x00002682:    2304        .#      MOVS     r3,#4
        0x00002684:    5eeb        .^      LDRSH    r3,[r5,r3]
        0x00002686:    6966        fi      LDR      r6,[r4,#0x14]
        0x00002688:    429e        .B      CMP      r6,r3
        0x0000268a:    da00        ..      BGE      0x268e ; UpdateEllipsoidRange + 68
        0x0000268c:    6163        ca      STR      r3,[r4,#0x14]
        0x0000268e:    6925        %i      LDR      r5,[r4,#0x10]
        0x00002690:    429d        .B      CMP      r5,r3
        0x00002692:    dd00        ..      BLE      0x2696 ; UpdateEllipsoidRange + 76
        0x00002694:    6123        #a      STR      r3,[r4,#0x10]
        0x00002696:    1c52        R.      ADDS     r2,r2,#1
        0x00002698:    428a        .B      CMP      r2,r1
        0x0000269a:    dbdb        ..      BLT      0x2654 ; UpdateEllipsoidRange + 10
        0x0000269c:    bd70        p.      POP      {r4-r6,pc}
    PreCaculateEllipsoidCenter
        0x0000269e:    483f        ?H      LDR      r0,[pc,#252] ; [0x279c] = 0x20001494
        0x000026a0:    3824        $8      SUBS     r0,r0,#0x24
        0x000026a2:    c806        ..      LDM      r0!,{r1,r2}
        0x000026a4:    1889        ..      ADDS     r1,r1,r2
        0x000026a6:    0fca        ..      LSRS     r2,r1,#31
        0x000026a8:    1851        Q.      ADDS     r1,r2,r1
        0x000026aa:    1049        I.      ASRS     r1,r1,#1
        0x000026ac:    6101        .a      STR      r1,[r0,#0x10]
        0x000026ae:    6842        Bh      LDR      r2,[r0,#4]
        0x000026b0:    6801        .h      LDR      r1,[r0,#0]
        0x000026b2:    1889        ..      ADDS     r1,r1,r2
        0x000026b4:    0fca        ..      LSRS     r2,r1,#31
        0x000026b6:    1851        Q.      ADDS     r1,r2,r1
        0x000026b8:    1049        I.      ASRS     r1,r1,#1
        0x000026ba:    6141        Aa      STR      r1,[r0,#0x14]
        0x000026bc:    68c2        .h      LDR      r2,[r0,#0xc]
        0x000026be:    6881        .h      LDR      r1,[r0,#8]
        0x000026c0:    1889        ..      ADDS     r1,r1,r2
        0x000026c2:    0fca        ..      LSRS     r2,r1,#31
        0x000026c4:    1851        Q.      ADDS     r1,r2,r1
        0x000026c6:    1049        I.      ASRS     r1,r1,#1
        0x000026c8:    6181        .a      STR      r1,[r0,#0x18]
        0x000026ca:    4770        pG      BX       lr
    MagCalibrate
        0x000026cc:    b570        p.      PUSH     {r4-r6,lr}
        0x000026ce:    460c        .F      MOV      r4,r1
        0x000026d0:    4605        .F      MOV      r5,r0
        0x000026d2:    f7ffffaf    ....    BL       EllipsoidInit ; 0x2634
        0x000026d6:    4621        !F      MOV      r1,r4
        0x000026d8:    4628        (F      MOV      r0,r5
        0x000026da:    f7ffffb6    ....    BL       UpdateEllipsoidRange ; 0x264a
        0x000026de:    f7ffffde    ....    BL       PreCaculateEllipsoidCenter ; 0x269e
        0x000026e2:    f7fff827    ..'.    BL       setup_mag_beta ; 0x1734
        0x000026e6:    4621        !F      MOV      r1,r4
        0x000026e8:    4628        (F      MOV      r0,r5
        0x000026ea:    f7fffef3    ....    BL       calibrate_model_mag ; 0x24d4
        0x000026ee:    bd70        p.      POP      {r4-r6,pc}
    AccCalibrate
        0x000026f0:    b570        p.      PUSH     {r4-r6,lr}
        0x000026f2:    460c        .F      MOV      r4,r1
        0x000026f4:    4605        .F      MOV      r5,r0
        0x000026f6:    f7fff80f    ....    BL       setup_acc_beta ; 0x1718
        0x000026fa:    4621        !F      MOV      r1,r4
        0x000026fc:    4628        (F      MOV      r0,r5
        0x000026fe:    f7fffe4c    ..L.    BL       calibrate_model_acc ; 0x239a
        0x00002702:    bd70        p.      POP      {r4-r6,pc}
    GetCalibrateParams
        0x00002704:    2801        .(      CMP      r0,#1
        0x00002706:    d003        ..      BEQ      0x2710 ; GetCalibrateParams + 12
        0x00002708:    2804        .(      CMP      r0,#4
        0x0000270a:    d004        ..      BEQ      0x2716 ; GetCalibrateParams + 18
        0x0000270c:    2000        .       MOVS     r0,#0
        0x0000270e:    4770        pG      BX       lr
        0x00002710:    4822        "H      LDR      r0,[pc,#136] ; [0x279c] = 0x20001494
        0x00002712:    3078        x0      ADDS     r0,r0,#0x78
        0x00002714:    4770        pG      BX       lr
        0x00002716:    4821        !H      LDR      r0,[pc,#132] ; [0x279c] = 0x20001494
        0x00002718:    3050        P0      ADDS     r0,r0,#0x50
        0x0000271a:    4770        pG      BX       lr
    AccZCalibrate
        0x0000271c:    b5f8        ..      PUSH     {r3-r7,lr}
        0x0000271e:    460e        .F      MOV      r6,r1
        0x00002720:    4601        .F      MOV      r1,r0
        0x00002722:    2000        .       MOVS     r0,#0
        0x00002724:    4604        .F      MOV      r4,r0
        0x00002726:    4625        %F      MOV      r5,r4
        0x00002728:    4602        .F      MOV      r2,r0
        0x0000272a:    e00c        ..      B        0x2746 ; AccZCalibrate + 42
        0x0000272c:    2306        .#      MOVS     r3,#6
        0x0000272e:    4353        SC      MULS     r3,r2,r3
        0x00002730:    5ecf        .^      LDRSH    r7,[r1,r3]
        0x00002732:    185b        [.      ADDS     r3,r3,r1
        0x00002734:    19c0        ..      ADDS     r0,r0,r7
        0x00002736:    2702        .'      MOVS     r7,#2
        0x00002738:    5fdf        ._      LDRSH    r7,[r3,r7]
        0x0000273a:    19e4        ..      ADDS     r4,r4,r7
        0x0000273c:    2704        .'      MOVS     r7,#4
        0x0000273e:    5fdf        ._      LDRSH    r7,[r3,r7]
        0x00002740:    19ed        ..      ADDS     r5,r5,r7
        0x00002742:    1c52        R.      ADDS     r2,r2,#1
        0x00002744:    b2d2        ..      UXTB     r2,r2
        0x00002746:    42b2        .B      CMP      r2,r6
        0x00002748:    dbf0        ..      BLT      0x272c ; AccZCalibrate + 16
        0x0000274a:    4631        1F      MOV      r1,r6
        0x0000274c:    f001f9d2    ....    BL       __aeabi_idiv ; 0x3af4
        0x00002750:    f001fca8    ....    BL       __aeabi_i2f ; 0x40a4
        0x00002754:    4f11        .O      LDR      r7,[pc,#68] ; [0x279c] = 0x20001494
        0x00002756:    4631        1F      MOV      r1,r6
        0x00002758:    3778        x7      ADDS     r7,r7,#0x78
        0x0000275a:    6038        8`      STR      r0,[r7,#0]
        0x0000275c:    4620         F      MOV      r0,r4
        0x0000275e:    f001f9c9    ....    BL       __aeabi_idiv ; 0x3af4
        0x00002762:    f001fc9f    ....    BL       __aeabi_i2f ; 0x40a4
        0x00002766:    6078        x`      STR      r0,[r7,#4]
        0x00002768:    480e        .H      LDR      r0,[pc,#56] ; [0x27a4] = 0x20000250
        0x0000276a:    6d84        .m      LDR      r4,[r0,#0x58]
        0x0000276c:    207f        .       MOVS     r0,#0x7f
        0x0000276e:    4621        !F      MOV      r1,r4
        0x00002770:    05c0        ..      LSLS     r0,r0,#23
        0x00002772:    f001fab7    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00002776:    9000        ..      STR      r0,[sp,#0]
        0x00002778:    4628        (F      MOV      r0,r5
        0x0000277a:    4631        1F      MOV      r1,r6
        0x0000277c:    f001f9ba    ....    BL       __aeabi_idiv ; 0x3af4
        0x00002780:    f001fc90    ....    BL       __aeabi_i2f ; 0x40a4
        0x00002784:    9900        ..      LDR      r1,[sp,#0]
        0x00002786:    f001fa68    ..h.    BL       __aeabi_fsub ; 0x3c5a
        0x0000278a:    60fc        .`      STR      r4,[r7,#0xc]
        0x0000278c:    613c        <a      STR      r4,[r7,#0x10]
        0x0000278e:    617c        |a      STR      r4,[r7,#0x14]
        0x00002790:    60b8        .`      STR      r0,[r7,#8]
        0x00002792:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x00002794:    447a0000    ..zD    DCD    1148846080
        0x00002798:    200016dc    ...     DCD    536876764
        0x0000279c:    20001494    ...     DCD    536876180
        0x000027a0:    3c23d70a    ..#<    DCD    1008981770
        0x000027a4:    20000250    P..     DCD    536871504
    $t
    .text
    UpdateMagMasterTime
        0x000027a8:    b510        ..      PUSH     {r4,lr}
        0x000027aa:    f7fdfe17    ....    BL       GetTickCounter ; 0x3dc
        0x000027ae:    217d        }!      MOVS     r1,#0x7d
        0x000027b0:    00c9        ..      LSLS     r1,r1,#3
        0x000027b2:    1840        @.      ADDS     r0,r0,r1
        0x000027b4:    4afe        .J      LDR      r2,[pc,#1016] ; [0x2bb0] = 0x2000018c
        0x000027b6:    217f        .!      MOVS     r1,#0x7f
        0x000027b8:    6090        .`      STR      r0,[r2,#8]
        0x000027ba:    05c9        ..      LSLS     r1,r1,#23
        0x000027bc:    4610        .F      MOV      r0,r2
        0x000027be:    3880        .8      SUBS     r0,r0,#0x80
        0x000027c0:    6741        Ag      STR      r1,[r0,#0x74]
        0x000027c2:    2100        .!      MOVS     r1,#0
        0x000027c4:    6781        .g      STR      r1,[r0,#0x78]
        0x000027c6:    67c1        .g      STR      r1,[r0,#0x7c]
        0x000027c8:    6011        .`      STR      r1,[r2,#0]
        0x000027ca:    bd10        ..      POP      {r4,pc}
    ComputeEuler
        0x000027cc:    b5f0        ..      PUSH     {r4-r7,lr}
        0x000027ce:    4cf8        .L      LDR      r4,[pc,#992] ; [0x2bb0] = 0x2000018c
        0x000027d0:    b087        ..      SUB      sp,sp,#0x1c
        0x000027d2:    3c80        .<      SUBS     r4,r4,#0x80
        0x000027d4:    6fe1        .o      LDR      r1,[r4,#0x7c]
        0x000027d6:    9103        ..      STR      r1,[sp,#0xc]
        0x000027d8:    6f60        `o      LDR      r0,[r4,#0x74]
        0x000027da:    9001        ..      STR      r0,[sp,#4]
        0x000027dc:    f001fa45    ..E.    BL       __aeabi_fmul ; 0x3c6a
        0x000027e0:    4605        .F      MOV      r5,r0
        0x000027e2:    48f3        .H      LDR      r0,[pc,#972] ; [0x2bb0] = 0x2000018c
        0x000027e4:    6801        .h      LDR      r1,[r0,#0]
        0x000027e6:    9100        ..      STR      r1,[sp,#0]
        0x000027e8:    6fa0        .o      LDR      r0,[r4,#0x78]
        0x000027ea:    9004        ..      STR      r0,[sp,#0x10]
        0x000027ec:    f001fa3d    ..=.    BL       __aeabi_fmul ; 0x3c6a
        0x000027f0:    4629        )F      MOV      r1,r5
        0x000027f2:    f001fa32    ..2.    BL       __aeabi_fsub ; 0x3c5a
        0x000027f6:    2101        .!      MOVS     r1,#1
        0x000027f8:    f001fab4    ....    BL       __ARM_scalbnf ; 0x3d64
        0x000027fc:    6220         b      STR      r0,[r4,#0x20]
        0x000027fe:    4605        .F      MOV      r5,r0
        0x00002800:    9900        ..      LDR      r1,[sp,#0]
        0x00002802:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002804:    f001fa31    ..1.    BL       __aeabi_fmul ; 0x3c6a
        0x00002808:    4606        .F      MOV      r6,r0
        0x0000280a:    9904        ..      LDR      r1,[sp,#0x10]
        0x0000280c:    9801        ..      LDR      r0,[sp,#4]
        0x0000280e:    f001fa2c    ..,.    BL       __aeabi_fmul ; 0x3c6a
        0x00002812:    4631        1F      MOV      r1,r6
        0x00002814:    f001f9d0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002818:    2101        .!      MOVS     r1,#1
        0x0000281a:    f001faa3    ....    BL       __ARM_scalbnf ; 0x3d64
        0x0000281e:    6260        `b      STR      r0,[r4,#0x24]
        0x00002820:    9900        ..      LDR      r1,[sp,#0]
        0x00002822:    4608        .F      MOV      r0,r1
        0x00002824:    f001fa21    ..!.    BL       __aeabi_fmul ; 0x3c6a
        0x00002828:    9903        ..      LDR      r1,[sp,#0xc]
        0x0000282a:    9005        ..      STR      r0,[sp,#0x14]
        0x0000282c:    9006        ..      STR      r0,[sp,#0x18]
        0x0000282e:    4608        .F      MOV      r0,r1
        0x00002830:    f001fa1b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002834:    9904        ..      LDR      r1,[sp,#0x10]
        0x00002836:    4607        .F      MOV      r7,r0
        0x00002838:    4608        .F      MOV      r0,r1
        0x0000283a:    f001fa16    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000283e:    9901        ..      LDR      r1,[sp,#4]
        0x00002840:    4606        .F      MOV      r6,r0
        0x00002842:    4608        .F      MOV      r0,r1
        0x00002844:    f001fa11    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002848:    4631        1F      MOV      r1,r6
        0x0000284a:    9002        ..      STR      r0,[sp,#8]
        0x0000284c:    f001fa05    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002850:    4639        9F      MOV      r1,r7
        0x00002852:    f001fa02    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002856:    9906        ..      LDR      r1,[sp,#0x18]
        0x00002858:    f001f9ae    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000285c:    62a0        .b      STR      r0,[r4,#0x28]
        0x0000285e:    207f        .       MOVS     r0,#0x7f
        0x00002860:    05c0        ..      LSLS     r0,r0,#23
        0x00002862:    4285        .B      CMP      r5,r0
        0x00002864:    dc02        ..      BGT      0x286c ; ComputeEuler + 160
        0x00002866:    48d3        .H      LDR      r0,[pc,#844] ; [0x2bb4] = 0xbf800000
        0x00002868:    4285        .B      CMP      r5,r0
        0x0000286a:    d900        ..      BLS      0x286e ; ComputeEuler + 162
        0x0000286c:    6220         b      STR      r0,[r4,#0x20]
        0x0000286e:    4631        1F      MOV      r1,r6
        0x00002870:    9d05        ..      LDR      r5,[sp,#0x14]
        0x00002872:    9802        ..      LDR      r0,[sp,#8]
        0x00002874:    f001f9a0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002878:    4639        9F      MOV      r1,r7
        0x0000287a:    f001f9ee    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000287e:    4629        )F      MOV      r1,r5
        0x00002880:    f001f9eb    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002884:    f001fc82    ....    BL       __aeabi_f2d ; 0x418c
        0x00002888:    4605        .F      MOV      r5,r0
        0x0000288a:    460e        .F      MOV      r6,r1
        0x0000288c:    9903        ..      LDR      r1,[sp,#0xc]
        0x0000288e:    9804        ..      LDR      r0,[sp,#0x10]
        0x00002890:    f001f9eb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002894:    4607        .F      MOV      r7,r0
        0x00002896:    9900        ..      LDR      r1,[sp,#0]
        0x00002898:    9801        ..      LDR      r0,[sp,#4]
        0x0000289a:    f001f9e6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000289e:    4639        9F      MOV      r1,r7
        0x000028a0:    f001f98a    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000028a4:    2101        .!      MOVS     r1,#1
        0x000028a6:    f001fa5d    ..].    BL       __ARM_scalbnf ; 0x3d64
        0x000028aa:    f001fc6f    ..o.    BL       __aeabi_f2d ; 0x418c
        0x000028ae:    462a        *F      MOV      r2,r5
        0x000028b0:    4633        3F      MOV      r3,r6
        0x000028b2:    f003fe7b    ..{.    BL       atan2 ; 0x65ac
        0x000028b6:    f001fc80    ....    BL       __aeabi_d2f ; 0x41ba
        0x000028ba:    64e0        .d      STR      r0,[r4,#0x4c]
        0x000028bc:    6aa0        .j      LDR      r0,[r4,#0x28]
        0x000028be:    f001fc65    ..e.    BL       __aeabi_f2d ; 0x418c
        0x000028c2:    4605        .F      MOV      r5,r0
        0x000028c4:    460e        .F      MOV      r6,r1
        0x000028c6:    6a60        `j      LDR      r0,[r4,#0x24]
        0x000028c8:    f001fc60    ..`.    BL       __aeabi_f2d ; 0x418c
        0x000028cc:    462a        *F      MOV      r2,r5
        0x000028ce:    4633        3F      MOV      r3,r6
        0x000028d0:    f003fe6c    ..l.    BL       atan2 ; 0x65ac
        0x000028d4:    f001fc71    ..q.    BL       __aeabi_d2f ; 0x41ba
        0x000028d8:    4605        .F      MOV      r5,r0
        0x000028da:    6460        `d      STR      r0,[r4,#0x44]
        0x000028dc:    2101        .!      MOVS     r1,#1
        0x000028de:    6a20         j      LDR      r0,[r4,#0x20]
        0x000028e0:    07c9        ..      LSLS     r1,r1,#31
        0x000028e2:    4048        H@      EORS     r0,r0,r1
        0x000028e4:    6aa1        .j      LDR      r1,[r4,#0x28]
        0x000028e6:    f001f9fd    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000028ea:    f001fc4f    ..O.    BL       __aeabi_f2d ; 0x418c
        0x000028ee:    f003fd4d    ..M.    BL       atan ; 0x638c
        0x000028f2:    f001fc62    ..b.    BL       __aeabi_d2f ; 0x41ba
        0x000028f6:    4fb0        .O      LDR      r7,[pc,#704] ; [0x2bb8] = 0x43340000
        0x000028f8:    4606        .F      MOV      r6,r0
        0x000028fa:    64a0        .d      STR      r0,[r4,#0x48]
        0x000028fc:    4639        9F      MOV      r1,r7
        0x000028fe:    6ce0        .l      LDR      r0,[r4,#0x4c]
        0x00002900:    f001f9b3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002904:    49ad        .I      LDR      r1,[pc,#692] ; [0x2bbc] = 0x40490fdb
        0x00002906:    f001f9ed    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x0000290a:    65a0        .e      STR      r0,[r4,#0x58]
        0x0000290c:    4639        9F      MOV      r1,r7
        0x0000290e:    4630        0F      MOV      r0,r6
        0x00002910:    f001f9ab    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002914:    49a9        .I      LDR      r1,[pc,#676] ; [0x2bbc] = 0x40490fdb
        0x00002916:    f001f9e5    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x0000291a:    6560        `e      STR      r0,[r4,#0x54]
        0x0000291c:    4639        9F      MOV      r1,r7
        0x0000291e:    4628        (F      MOV      r0,r5
        0x00002920:    f001f9a3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002924:    49a5        .I      LDR      r1,[pc,#660] ; [0x2bbc] = 0x40490fdb
        0x00002926:    f001f9dd    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x0000292a:    6520         e      STR      r0,[r4,#0x50]
        0x0000292c:    b007        ..      ADD      sp,sp,#0x1c
        0x0000292e:    bdf0        ..      POP      {r4-r7,pc}
    filterA
        0x00002930:    4aa3        .J      LDR      r2,[pc,#652] ; [0x2bc0] = 0x2000171c
        0x00002932:    0081        ..      LSLS     r1,r0,#2
        0x00002934:    5850        PX      LDR      r0,[r2,r1]
        0x00002936:    4ba3        .K      LDR      r3,[pc,#652] ; [0x2bc4] = 0x3c23d70a
        0x00002938:    4298        .B      CMP      r0,r3
        0x0000293a:    dc04        ..      BGT      0x2946 ; filterA + 22
        0x0000293c:    4ba2        .K      LDR      r3,[pc,#648] ; [0x2bc8] = 0xbc23d70a
        0x0000293e:    4298        .B      CMP      r0,r3
        0x00002940:    d801        ..      BHI      0x2946 ; filterA + 22
        0x00002942:    2000        .       MOVS     r0,#0
        0x00002944:    5050        PP      STR      r0,[r2,r1]
        0x00002946:    4770        pG      BX       lr
    CheckAccSteady
        0x00002948:    21ff        .!      MOVS     r1,#0xff
        0x0000294a:    05c9        ..      LSLS     r1,r1,#23
        0x0000294c:    42c8        .B      CMN      r0,r1
        0x0000294e:    d301        ..      BCC      0x2954 ; CheckAccSteady + 12
        0x00002950:    0209        ..      LSLS     r1,r1,#8
        0x00002952:    4048        H@      EORS     r0,r0,r1
        0x00002954:    4a9d        .J      LDR      r2,[pc,#628] ; [0x2bcc] = 0x3dcccccd
        0x00002956:    4996        .I      LDR      r1,[pc,#600] ; [0x2bb0] = 0x2000018c
        0x00002958:    4290        .B      CMP      r0,r2
        0x0000295a:    da04        ..      BGE      0x2966 ; CheckAccSteady + 30
        0x0000295c:    207f        .       MOVS     r0,#0x7f
        0x0000295e:    05c0        ..      LSLS     r0,r0,#23
        0x00002960:    6048        H`      STR      r0,[r1,#4]
        0x00002962:    2001        .       MOVS     r0,#1
        0x00002964:    4770        pG      BX       lr
        0x00002966:    2000        .       MOVS     r0,#0
        0x00002968:    6048        H`      STR      r0,[r1,#4]
        0x0000296a:    4770        pG      BX       lr
    ComputeMotion
        0x0000296c:    b5ff        ..      PUSH     {r0-r7,lr}
        0x0000296e:    4c90        .L      LDR      r4,[pc,#576] ; [0x2bb0] = 0x2000018c
        0x00002970:    460d        .F      MOV      r5,r1
        0x00002972:    3c80        .<      SUBS     r4,r4,#0x80
        0x00002974:    b08d        ..      SUB      sp,sp,#0x34
        0x00002976:    6a21        !j      LDR      r1,[r4,#0x20]
        0x00002978:    9105        ..      STR      r1,[sp,#0x14]
        0x0000297a:    f001f96e    ..n.    BL       __aeabi_fsub ; 0x3c5a
        0x0000297e:    4e90        .N      LDR      r6,[pc,#576] ; [0x2bc0] = 0x2000171c
        0x00002980:    4607        .F      MOV      r7,r0
        0x00002982:    6030        0`      STR      r0,[r6,#0]
        0x00002984:    9004        ..      STR      r0,[sp,#0x10]
        0x00002986:    6a61        aj      LDR      r1,[r4,#0x24]
        0x00002988:    4628        (F      MOV      r0,r5
        0x0000298a:    9100        ..      STR      r1,[sp,#0]
        0x0000298c:    f001f965    ..e.    BL       __aeabi_fsub ; 0x3c5a
        0x00002990:    6070        p`      STR      r0,[r6,#4]
        0x00002992:    9006        ..      STR      r0,[sp,#0x18]
        0x00002994:    4605        .F      MOV      r5,r0
        0x00002996:    6aa1        .j      LDR      r1,[r4,#0x28]
        0x00002998:    9102        ..      STR      r1,[sp,#8]
        0x0000299a:    980f        ..      LDR      r0,[sp,#0x3c]
        0x0000299c:    f001f95d    ..].    BL       __aeabi_fsub ; 0x3c5a
        0x000029a0:    60b0        .`      STR      r0,[r6,#8]
        0x000029a2:    4601        .F      MOV      r1,r0
        0x000029a4:    9003        ..      STR      r0,[sp,#0xc]
        0x000029a6:    9802        ..      LDR      r0,[sp,#8]
        0x000029a8:    f001f95f    .._.    BL       __aeabi_fmul ; 0x3c6a
        0x000029ac:    9001        ..      STR      r0,[sp,#4]
        0x000029ae:    4629        )F      MOV      r1,r5
        0x000029b0:    9800        ..      LDR      r0,[sp,#0]
        0x000029b2:    f001f95a    ..Z.    BL       __aeabi_fmul ; 0x3c6a
        0x000029b6:    4605        .F      MOV      r5,r0
        0x000029b8:    4639        9F      MOV      r1,r7
        0x000029ba:    9805        ..      LDR      r0,[sp,#0x14]
        0x000029bc:    f001f955    ..U.    BL       __aeabi_fmul ; 0x3c6a
        0x000029c0:    4629        )F      MOV      r1,r5
        0x000029c2:    f001f8f9    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000029c6:    9901        ..      LDR      r1,[sp,#4]
        0x000029c8:    f001f8f6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000029cc:    9009        ..      STR      r0,[sp,#0x24]
        0x000029ce:    6de0        .m      LDR      r0,[r4,#0x5c]
        0x000029d0:    9001        ..      STR      r0,[sp,#4]
        0x000029d2:    0040        @.      LSLS     r0,r0,#1
        0x000029d4:    0e01        ..      LSRS     r1,r0,#24
        0x000029d6:    4620         F      MOV      r0,r4
        0x000029d8:    6e05        .n      LDR      r5,[r0,#0x60]
        0x000029da:    6e44        Dn      LDR      r4,[r0,#0x64]
        0x000029dc:    d105        ..      BNE      0x29ea ; ComputeMotion + 126
        0x000029de:    0068        h.      LSLS     r0,r5,#1
        0x000029e0:    0e00        ..      LSRS     r0,r0,#24
        0x000029e2:    d102        ..      BNE      0x29ea ; ComputeMotion + 126
        0x000029e4:    0060        `.      LSLS     r0,r4,#1
        0x000029e6:    0e00        ..      LSRS     r0,r0,#24
        0x000029e8:    d07d        }.      BEQ      0x2ae6 ; ComputeMotion + 378
        0x000029ea:    4620         F      MOV      r0,r4
        0x000029ec:    9903        ..      LDR      r1,[sp,#0xc]
        0x000029ee:    f001f93c    ..<.    BL       __aeabi_fmul ; 0x3c6a
        0x000029f2:    9007        ..      STR      r0,[sp,#0x1c]
        0x000029f4:    4628        (F      MOV      r0,r5
        0x000029f6:    9906        ..      LDR      r1,[sp,#0x18]
        0x000029f8:    f001f937    ..7.    BL       __aeabi_fmul ; 0x3c6a
        0x000029fc:    4607        .F      MOV      r7,r0
        0x000029fe:    9904        ..      LDR      r1,[sp,#0x10]
        0x00002a00:    9801        ..      LDR      r0,[sp,#4]
        0x00002a02:    f001f932    ..2.    BL       __aeabi_fmul ; 0x3c6a
        0x00002a06:    4639        9F      MOV      r1,r7
        0x00002a08:    f001f8d6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002a0c:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00002a0e:    f001f8d3    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002a12:    9007        ..      STR      r0,[sp,#0x1c]
        0x00002a14:    4620         F      MOV      r0,r4
        0x00002a16:    9900        ..      LDR      r1,[sp,#0]
        0x00002a18:    f001f927    ..'.    BL       __aeabi_fmul ; 0x3c6a
        0x00002a1c:    4607        .F      MOV      r7,r0
        0x00002a1e:    4628        (F      MOV      r0,r5
        0x00002a20:    9902        ..      LDR      r1,[sp,#8]
        0x00002a22:    f001f922    ..".    BL       __aeabi_fmul ; 0x3c6a
        0x00002a26:    4639        9F      MOV      r1,r7
        0x00002a28:    f001f917    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002a2c:    4607        .F      MOV      r7,r0
        0x00002a2e:    9902        ..      LDR      r1,[sp,#8]
        0x00002a30:    9801        ..      LDR      r0,[sp,#4]
        0x00002a32:    f001f91a    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a36:    9002        ..      STR      r0,[sp,#8]
        0x00002a38:    4620         F      MOV      r0,r4
        0x00002a3a:    9905        ..      LDR      r1,[sp,#0x14]
        0x00002a3c:    f001f915    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a40:    9902        ..      LDR      r1,[sp,#8]
        0x00002a42:    f001f90a    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002a46:    4604        .F      MOV      r4,r0
        0x00002a48:    4628        (F      MOV      r0,r5
        0x00002a4a:    9905        ..      LDR      r1,[sp,#0x14]
        0x00002a4c:    f001f90d    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a50:    4605        .F      MOV      r5,r0
        0x00002a52:    9900        ..      LDR      r1,[sp,#0]
        0x00002a54:    9801        ..      LDR      r0,[sp,#4]
        0x00002a56:    f001f908    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a5a:    4629        )F      MOV      r1,r5
        0x00002a5c:    f001f8fd    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002a60:    9903        ..      LDR      r1,[sp,#0xc]
        0x00002a62:    f001f902    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a66:    4605        .F      MOV      r5,r0
        0x00002a68:    4620         F      MOV      r0,r4
        0x00002a6a:    9906        ..      LDR      r1,[sp,#0x18]
        0x00002a6c:    f001f8fd    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a70:    4604        .F      MOV      r4,r0
        0x00002a72:    4638        8F      MOV      r0,r7
        0x00002a74:    9904        ..      LDR      r1,[sp,#0x10]
        0x00002a76:    f001f8f8    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a7a:    4621        !F      MOV      r1,r4
        0x00002a7c:    f001f89c    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002a80:    4629        )F      MOV      r1,r5
        0x00002a82:    f001f899    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002a86:    6070        p`      STR      r0,[r6,#4]
        0x00002a88:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00002a8a:    6030        0`      STR      r0,[r6,#0]
        0x00002a8c:    4c50        PL      LDR      r4,[pc,#320] ; [0x2bd0] = 0x411ccccd
        0x00002a8e:    4621        !F      MOV      r1,r4
        0x00002a90:    f001f8eb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a94:    9007        ..      STR      r0,[sp,#0x1c]
        0x00002a96:    4621        !F      MOV      r1,r4
        0x00002a98:    6870        ph      LDR      r0,[r6,#4]
        0x00002a9a:    f001f8e6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002a9e:    9002        ..      STR      r0,[sp,#8]
        0x00002aa0:    4621        !F      MOV      r1,r4
        0x00002aa2:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002aa4:    f001f8e1    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002aa8:    4d45        EM      LDR      r5,[pc,#276] ; [0x2bc0] = 0x2000171c
        0x00002aaa:    9000        ..      STR      r0,[sp,#0]
        0x00002aac:    3530        05      ADDS     r5,r5,#0x30
        0x00002aae:    682f        /h      LDR      r7,[r5,#0]
        0x00002ab0:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00002ab2:    4639        9F      MOV      r1,r7
        0x00002ab4:    f001f880    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002ab8:    2100        .!      MOVS     r1,#0
        0x00002aba:    43c9        .C      MVNS     r1,r1
        0x00002abc:    f001f952    ..R.    BL       __ARM_scalbnf ; 0x3d64
        0x00002ac0:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002ac2:    f001f8d2    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002ac6:    462c        ,F      MOV      r4,r5
        0x00002ac8:    3c0c        .<      SUBS     r4,r4,#0xc
        0x00002aca:    4606        .F      MOV      r6,r0
        0x00002acc:    6020         `      STR      r0,[r4,#0]
        0x00002ace:    6868        hh      LDR      r0,[r5,#4]
        0x00002ad0:    9003        ..      STR      r0,[sp,#0xc]
        0x00002ad2:    9903        ..      LDR      r1,[sp,#0xc]
        0x00002ad4:    9802        ..      LDR      r0,[sp,#8]
        0x00002ad6:    f001f86f    ..o.    BL       __aeabi_fadd ; 0x3bb8
        0x00002ada:    2100        .!      MOVS     r1,#0
        0x00002adc:    43c9        .C      MVNS     r1,r1
        0x00002ade:    f001f941    ..A.    BL       __ARM_scalbnf ; 0x3d64
        0x00002ae2:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002ae4:    e000        ..      B        0x2ae8 ; ComputeMotion + 380
        0x00002ae6:    e0c4        ..      B        0x2c72 ; ComputeMotion + 774
        0x00002ae8:    f001f8bf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002aec:    6060        ``      STR      r0,[r4,#4]
        0x00002aee:    9005        ..      STR      r0,[sp,#0x14]
        0x00002af0:    68a8        .h      LDR      r0,[r5,#8]
        0x00002af2:    9001        ..      STR      r0,[sp,#4]
        0x00002af4:    9901        ..      LDR      r1,[sp,#4]
        0x00002af6:    9800        ..      LDR      r0,[sp,#0]
        0x00002af8:    f001f85e    ..^.    BL       __aeabi_fadd ; 0x3bb8
        0x00002afc:    2100        .!      MOVS     r1,#0
        0x00002afe:    43c9        .C      MVNS     r1,r1
        0x00002b00:    f001f930    ..0.    BL       __ARM_scalbnf ; 0x3d64
        0x00002b04:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b06:    f001f8b0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002b0a:    60a0        .`      STR      r0,[r4,#8]
        0x00002b0c:    3c0c        .<      SUBS     r4,r4,#0xc
        0x00002b0e:    9004        ..      STR      r0,[sp,#0x10]
        0x00002b10:    6820         h      LDR      r0,[r4,#0]
        0x00002b12:    4631        1F      MOV      r1,r6
        0x00002b14:    9008        ..      STR      r0,[sp,#0x20]
        0x00002b16:    f001f84f    ..O.    BL       __aeabi_fadd ; 0x3bb8
        0x00002b1a:    4626        &F      MOV      r6,r4
        0x00002b1c:    3e0c        .>      SUBS     r6,r6,#0xc
        0x00002b1e:    6030        0`      STR      r0,[r6,#0]
        0x00002b20:    900a        ..      STR      r0,[sp,#0x28]
        0x00002b22:    6860        `h      LDR      r0,[r4,#4]
        0x00002b24:    9006        ..      STR      r0,[sp,#0x18]
        0x00002b26:    9905        ..      LDR      r1,[sp,#0x14]
        0x00002b28:    f001f846    ..F.    BL       __aeabi_fadd ; 0x3bb8
        0x00002b2c:    6070        p`      STR      r0,[r6,#4]
        0x00002b2e:    900b        ..      STR      r0,[sp,#0x2c]
        0x00002b30:    68a0        .h      LDR      r0,[r4,#8]
        0x00002b32:    9005        ..      STR      r0,[sp,#0x14]
        0x00002b34:    9904        ..      LDR      r1,[sp,#0x10]
        0x00002b36:    f001f83f    ..?.    BL       __aeabi_fadd ; 0x3bb8
        0x00002b3a:    60b0        .`      STR      r0,[r6,#8]
        0x00002b3c:    9004        ..      STR      r0,[sp,#0x10]
        0x00002b3e:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b40:    9808        ..      LDR      r0,[sp,#0x20]
        0x00002b42:    f001f892    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002b46:    4923        #I      LDR      r1,[pc,#140] ; [0x2bd4] = 0x42c80000
        0x00002b48:    f001f88f    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002b4c:    9008        ..      STR      r0,[sp,#0x20]
        0x00002b4e:    4638        8F      MOV      r0,r7
        0x00002b50:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b52:    f001f88a    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002b56:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b58:    f001f887    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002b5c:    2100        .!      MOVS     r1,#0
        0x00002b5e:    43c9        .C      MVNS     r1,r1
        0x00002b60:    f001f900    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00002b64:    491b        .I      LDR      r1,[pc,#108] ; [0x2bd4] = 0x42c80000
        0x00002b66:    f001f880    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002b6a:    3e18        .>      SUBS     r6,r6,#0x18
        0x00002b6c:    6831        1h      LDR      r1,[r6,#0]
        0x00002b6e:    f001f823    ..#.    BL       __aeabi_fadd ; 0x3bb8
        0x00002b72:    9908        ..      LDR      r1,[sp,#0x20]
        0x00002b74:    f001f820    .. .    BL       __aeabi_fadd ; 0x3bb8
        0x00002b78:    4627        'F      MOV      r7,r4
        0x00002b7a:    3f30        0?      SUBS     r7,r7,#0x30
        0x00002b7c:    6038        8`      STR      r0,[r7,#0]
        0x00002b7e:    9008        ..      STR      r0,[sp,#0x20]
        0x00002b80:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b82:    9806        ..      LDR      r0,[sp,#0x18]
        0x00002b84:    f001f871    ..q.    BL       __aeabi_fmul ; 0x3c6a
        0x00002b88:    4912        .I      LDR      r1,[pc,#72] ; [0x2bd4] = 0x42c80000
        0x00002b8a:    f001f86e    ..n.    BL       __aeabi_fmul ; 0x3c6a
        0x00002b8e:    9006        ..      STR      r0,[sp,#0x18]
        0x00002b90:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b92:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002b94:    f001f869    ..i.    BL       __aeabi_fmul ; 0x3c6a
        0x00002b98:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002b9a:    f001f866    ..f.    BL       __aeabi_fmul ; 0x3c6a
        0x00002b9e:    2100        .!      MOVS     r1,#0
        0x00002ba0:    43c9        .C      MVNS     r1,r1
        0x00002ba2:    f001f8df    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00002ba6:    490b        .I      LDR      r1,[pc,#44] ; [0x2bd4] = 0x42c80000
        0x00002ba8:    f001f85f    .._.    BL       __aeabi_fmul ; 0x3c6a
        0x00002bac:    6871        qh      LDR      r1,[r6,#4]
        0x00002bae:    e013        ..      B        0x2bd8 ; ComputeMotion + 620
    $d
        0x00002bb0:    2000018c    ...     DCD    536871308
        0x00002bb4:    bf800000    ....    DCD    3212836864
        0x00002bb8:    43340000    ..4C    DCD    1127481344
        0x00002bbc:    40490fdb    ..I@    DCD    1078530011
        0x00002bc0:    2000171c    ...     DCD    536876828
        0x00002bc4:    3c23d70a    ..#<    DCD    1008981770
        0x00002bc8:    bc23d70a    ..#.    DCD    3156465418
        0x00002bcc:    3dcccccd    ...=    DCD    1036831949
        0x00002bd0:    411ccccd    ...A    DCD    1092406477
        0x00002bd4:    42c80000    ...B    DCD    1120403456
    $t
        0x00002bd8:    f000ffee    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002bdc:    9906        ..      LDR      r1,[sp,#0x18]
        0x00002bde:    f000ffeb    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002be2:    6078        x`      STR      r0,[r7,#4]
        0x00002be4:    9003        ..      STR      r0,[sp,#0xc]
        0x00002be6:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002be8:    9805        ..      LDR      r0,[sp,#0x14]
        0x00002bea:    f001f83e    ..>.    BL       __aeabi_fmul ; 0x3c6a
        0x00002bee:    49fe        .I      LDR      r1,[pc,#1016] ; [0x2fe8] = 0x42c80000
        0x00002bf0:    f001f83b    ..;.    BL       __aeabi_fmul ; 0x3c6a
        0x00002bf4:    9005        ..      STR      r0,[sp,#0x14]
        0x00002bf6:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002bf8:    9801        ..      LDR      r0,[sp,#4]
        0x00002bfa:    f001f836    ..6.    BL       __aeabi_fmul ; 0x3c6a
        0x00002bfe:    9916        ..      LDR      r1,[sp,#0x58]
        0x00002c00:    f001f833    ..3.    BL       __aeabi_fmul ; 0x3c6a
        0x00002c04:    2100        .!      MOVS     r1,#0
        0x00002c06:    43c9        .C      MVNS     r1,r1
        0x00002c08:    f001f8ac    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00002c0c:    49f6        .I      LDR      r1,[pc,#984] ; [0x2fe8] = 0x42c80000
        0x00002c0e:    f001f82c    ..,.    BL       __aeabi_fmul ; 0x3c6a
        0x00002c12:    68b1        .h      LDR      r1,[r6,#8]
        0x00002c14:    f000ffd0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002c18:    9905        ..      LDR      r1,[sp,#0x14]
        0x00002c1a:    f000ffcd    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002c1e:    4601        .F      MOV      r1,r0
        0x00002c20:    60b8        .`      STR      r0,[r7,#8]
        0x00002c22:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00002c24:    6028        (`      STR      r0,[r5,#0]
        0x00002c26:    9802        ..      LDR      r0,[sp,#8]
        0x00002c28:    6068        h`      STR      r0,[r5,#4]
        0x00002c2a:    9800        ..      LDR      r0,[sp,#0]
        0x00002c2c:    60a8        .`      STR      r0,[r5,#8]
        0x00002c2e:    980a        ..      LDR      r0,[sp,#0x28]
        0x00002c30:    6020         `      STR      r0,[r4,#0]
        0x00002c32:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00002c34:    6060        ``      STR      r0,[r4,#4]
        0x00002c36:    9804        ..      LDR      r0,[sp,#0x10]
        0x00002c38:    60a0        .`      STR      r0,[r4,#8]
        0x00002c3a:    9808        ..      LDR      r0,[sp,#0x20]
        0x00002c3c:    6030        0`      STR      r0,[r6,#0]
        0x00002c3e:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002c40:    60b1        .`      STR      r1,[r6,#8]
        0x00002c42:    6070        p`      STR      r0,[r6,#4]
        0x00002c44:    9809        ..      LDR      r0,[sp,#0x24]
        0x00002c46:    f7fffe7f    ....    BL       CheckAccSteady ; 0x2948
        0x00002c4a:    2800        .(      CMP      r0,#0
        0x00002c4c:    d00f        ..      BEQ      0x2c6e ; ComputeMotion + 770
        0x00002c4e:    4de7        .M      LDR      r5,[pc,#924] ; [0x2fec] = 0x3f7d70a4
        0x00002c50:    6820         h      LDR      r0,[r4,#0]
        0x00002c52:    4629        )F      MOV      r1,r5
        0x00002c54:    f001f809    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002c58:    6020         `      STR      r0,[r4,#0]
        0x00002c5a:    4629        )F      MOV      r1,r5
        0x00002c5c:    6860        `h      LDR      r0,[r4,#4]
        0x00002c5e:    f001f804    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002c62:    6060        ``      STR      r0,[r4,#4]
        0x00002c64:    4629        )F      MOV      r1,r5
        0x00002c66:    68a0        .h      LDR      r0,[r4,#8]
        0x00002c68:    f000ffff    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002c6c:    60a0        .`      STR      r0,[r4,#8]
        0x00002c6e:    b011        ..      ADD      sp,sp,#0x44
        0x00002c70:    bdf0        ..      POP      {r4-r7,pc}
        0x00002c72:    6830        0h      LDR      r0,[r6,#0]
        0x00002c74:    e70a        ..      B        0x2a8c ; ComputeMotion + 288
    invSqrt
        0x00002c76:    b510        ..      PUSH     {r4,lr}
        0x00002c78:    2100        .!      MOVS     r1,#0
        0x00002c7a:    4604        .F      MOV      r4,r0
        0x00002c7c:    43c9        .C      MVNS     r1,r1
        0x00002c7e:    f001f871    ..q.    BL       __ARM_scalbnf ; 0x3d64
        0x00002c82:    4adb        .J      LDR      r2,[pc,#876] ; [0x2ff0] = 0x5f3759df
        0x00002c84:    1061        a.      ASRS     r1,r4,#1
        0x00002c86:    1a54        T.      SUBS     r4,r2,r1
        0x00002c88:    4621        !F      MOV      r1,r4
        0x00002c8a:    f000ffee    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002c8e:    4621        !F      MOV      r1,r4
        0x00002c90:    f000ffeb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002c94:    21ff        .!      MOVS     r1,#0xff
        0x00002c96:    0589        ..      LSLS     r1,r1,#22
        0x00002c98:    f000ffe3    ....    BL       __aeabi_frsub ; 0x3c62
        0x00002c9c:    4621        !F      MOV      r1,r4
        0x00002c9e:    f000ffe4    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002ca2:    bd10        ..      POP      {r4,pc}
    sensfusion6UpdateQ
        0x00002ca4:    b5ff        ..      PUSH     {r0-r7,lr}
        0x00002ca6:    b091        ..      SUB      sp,sp,#0x44
        0x00002ca8:    2000        .       MOVS     r0,#0
        0x00002caa:    4dd2        .M      LDR      r5,[pc,#840] ; [0x2ff4] = 0x40490fdb
        0x00002cac:    460f        .F      MOV      r7,r1
        0x00002cae:    9004        ..      STR      r0,[sp,#0x10]
        0x00002cb0:    4629        )F      MOV      r1,r5
        0x00002cb2:    9811        ..      LDR      r0,[sp,#0x44]
        0x00002cb4:    f000ffd9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002cb8:    4ecf        .N      LDR      r6,[pc,#828] ; [0x2ff8] = 0x43340000
        0x00002cba:    4631        1F      MOV      r1,r6
        0x00002cbc:    f001f812    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00002cc0:    4cce        .L      LDR      r4,[pc,#824] ; [0x2ffc] = 0x2000010c
        0x00002cc2:    4629        )F      MOV      r1,r5
        0x00002cc4:    6160        `a      STR      r0,[r4,#0x14]
        0x00002cc6:    4638        8F      MOV      r0,r7
        0x00002cc8:    f000ffcf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002ccc:    4631        1F      MOV      r1,r6
        0x00002cce:    f001f809    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00002cd2:    61a0        .a      STR      r0,[r4,#0x18]
        0x00002cd4:    4629        )F      MOV      r1,r5
        0x00002cd6:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00002cd8:    f000ffc7    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002cdc:    4631        1F      MOV      r1,r6
        0x00002cde:    f001f801    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00002ce2:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00002ce4:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002ce6:    9811        ..      LDR      r0,[sp,#0x44]
        0x00002ce8:    f000ffbf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002cec:    6ae1        .j      LDR      r1,[r4,#0x2c]
        0x00002cee:    f000ff63    ..c.    BL       __aeabi_fadd ; 0x3bb8
        0x00002cf2:    62e0        .b      STR      r0,[r4,#0x2c]
        0x00002cf4:    4638        8F      MOV      r0,r7
        0x00002cf6:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002cf8:    f000ffb7    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002cfc:    6b21        !k      LDR      r1,[r4,#0x30]
        0x00002cfe:    f000ff5b    ..[.    BL       __aeabi_fadd ; 0x3bb8
        0x00002d02:    6320         c      STR      r0,[r4,#0x30]
        0x00002d04:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002d06:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00002d08:    f000ffaf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002d0c:    6b61        ak      LDR      r1,[r4,#0x34]
        0x00002d0e:    f000ff53    ..S.    BL       __aeabi_fadd ; 0x3bb8
        0x00002d12:    6360        `c      STR      r0,[r4,#0x34]
        0x00002d14:    9814        ..      LDR      r0,[sp,#0x50]
        0x00002d16:    0040        @.      LSLS     r0,r0,#1
        0x00002d18:    0e00        ..      LSRS     r0,r0,#24
        0x00002d1a:    d107        ..      BNE      0x2d2c ; sensfusion6UpdateQ + 136
        0x00002d1c:    981a        ..      LDR      r0,[sp,#0x68]
        0x00002d1e:    0040        @.      LSLS     r0,r0,#1
        0x00002d20:    0e00        ..      LSRS     r0,r0,#24
        0x00002d22:    d103        ..      BNE      0x2d2c ; sensfusion6UpdateQ + 136
        0x00002d24:    981b        ..      LDR      r0,[sp,#0x6c]
        0x00002d26:    0040        @.      LSLS     r0,r0,#1
        0x00002d28:    0e00        ..      LSRS     r0,r0,#24
        0x00002d2a:    d07c        |.      BEQ      0x2e26 ; sensfusion6UpdateQ + 386
        0x00002d2c:    9811        ..      LDR      r0,[sp,#0x44]
        0x00002d2e:    0040        @.      LSLS     r0,r0,#1
        0x00002d30:    0e00        ..      LSRS     r0,r0,#24
        0x00002d32:    d109        ..      BNE      0x2d48 ; sensfusion6UpdateQ + 164
        0x00002d34:    0078        x.      LSLS     r0,r7,#1
        0x00002d36:    0e00        ..      LSRS     r0,r0,#24
        0x00002d38:    d106        ..      BNE      0x2d48 ; sensfusion6UpdateQ + 164
        0x00002d3a:    9813        ..      LDR      r0,[sp,#0x4c]
        0x00002d3c:    0040        @.      LSLS     r0,r0,#1
        0x00002d3e:    0e00        ..      LSRS     r0,r0,#24
        0x00002d40:    d102        ..      BNE      0x2d48 ; sensfusion6UpdateQ + 164
        0x00002d42:    2041        A       MOVS     r0,#0x41
        0x00002d44:    0600        ..      LSLS     r0,r0,#24
        0x00002d46:    9004        ..      STR      r0,[sp,#0x10]
        0x00002d48:    991b        ..      LDR      r1,[sp,#0x6c]
        0x00002d4a:    4608        .F      MOV      r0,r1
        0x00002d4c:    f000ff8d    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002d50:    991a        ..      LDR      r1,[sp,#0x68]
        0x00002d52:    4605        .F      MOV      r5,r0
        0x00002d54:    4608        .F      MOV      r0,r1
        0x00002d56:    f000ff88    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002d5a:    9914        ..      LDR      r1,[sp,#0x50]
        0x00002d5c:    4606        .F      MOV      r6,r0
        0x00002d5e:    4608        .F      MOV      r0,r1
        0x00002d60:    f000ff83    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002d64:    4631        1F      MOV      r1,r6
        0x00002d66:    f000ff27    ..'.    BL       __aeabi_fadd ; 0x3bb8
        0x00002d6a:    4629        )F      MOV      r1,r5
        0x00002d6c:    f000ff24    ..$.    BL       __aeabi_fadd ; 0x3bb8
        0x00002d70:    f7ffff81    ....    BL       invSqrt ; 0x2c76
        0x00002d74:    4605        .F      MOV      r5,r0
        0x00002d76:    4601        .F      MOV      r1,r0
        0x00002d78:    9814        ..      LDR      r0,[sp,#0x50]
        0x00002d7a:    f000ff76    ..v.    BL       __aeabi_fmul ; 0x3c6a
        0x00002d7e:    63a0        .c      STR      r0,[r4,#0x38]
        0x00002d80:    9005        ..      STR      r0,[sp,#0x14]
        0x00002d82:    4629        )F      MOV      r1,r5
        0x00002d84:    981a        ..      LDR      r0,[sp,#0x68]
        0x00002d86:    f000ff70    ..p.    BL       __aeabi_fmul ; 0x3c6a
        0x00002d8a:    63e0        .c      STR      r0,[r4,#0x3c]
        0x00002d8c:    9003        ..      STR      r0,[sp,#0xc]
        0x00002d8e:    4629        )F      MOV      r1,r5
        0x00002d90:    981b        ..      LDR      r0,[sp,#0x6c]
        0x00002d92:    f000ff6a    ..j.    BL       __aeabi_fmul ; 0x3c6a
        0x00002d96:    6420         d      STR      r0,[r4,#0x40]
        0x00002d98:    9002        ..      STR      r0,[sp,#8]
        0x00002d9a:    6fe1        .o      LDR      r1,[r4,#0x7c]
        0x00002d9c:    9106        ..      STR      r1,[sp,#0x18]
        0x00002d9e:    6f60        `o      LDR      r0,[r4,#0x74]
        0x00002da0:    9001        ..      STR      r0,[sp,#4]
        0x00002da2:    f000ff62    ..b.    BL       __aeabi_fmul ; 0x3c6a
        0x00002da6:    4606        .F      MOV      r6,r0
        0x00002da8:    4894        .H      LDR      r0,[pc,#592] ; [0x2ffc] = 0x2000010c
        0x00002daa:    3080        .0      ADDS     r0,r0,#0x80
        0x00002dac:    6801        .h      LDR      r1,[r0,#0]
        0x00002dae:    6fa0        .o      LDR      r0,[r4,#0x78]
        0x00002db0:    460d        .F      MOV      r5,r1
        0x00002db2:    9000        ..      STR      r0,[sp,#0]
        0x00002db4:    f000ff59    ..Y.    BL       __aeabi_fmul ; 0x3c6a
        0x00002db8:    4631        1F      MOV      r1,r6
        0x00002dba:    f000ff4e    ..N.    BL       __aeabi_fsub ; 0x3c5a
        0x00002dbe:    4607        .F      MOV      r7,r0
        0x00002dc0:    4629        )F      MOV      r1,r5
        0x00002dc2:    9806        ..      LDR      r0,[sp,#0x18]
        0x00002dc4:    f000ff51    ..Q.    BL       __aeabi_fmul ; 0x3c6a
        0x00002dc8:    4606        .F      MOV      r6,r0
        0x00002dca:    9900        ..      LDR      r1,[sp,#0]
        0x00002dcc:    9801        ..      LDR      r0,[sp,#4]
        0x00002dce:    f000ff4c    ..L.    BL       __aeabi_fmul ; 0x3c6a
        0x00002dd2:    4631        1F      MOV      r1,r6
        0x00002dd4:    f000fef0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002dd8:    4606        .F      MOV      r6,r0
        0x00002dda:    4629        )F      MOV      r1,r5
        0x00002ddc:    4608        .F      MOV      r0,r1
        0x00002dde:    f000ff44    ..D.    BL       __aeabi_fmul ; 0x3c6a
        0x00002de2:    9901        ..      LDR      r1,[sp,#4]
        0x00002de4:    4605        .F      MOV      r5,r0
        0x00002de6:    4608        .F      MOV      r0,r1
        0x00002de8:    f000ff3f    ..?.    BL       __aeabi_fmul ; 0x3c6a
        0x00002dec:    213f        ?!      MOVS     r1,#0x3f
        0x00002dee:    0609        ..      LSLS     r1,r1,#24
        0x00002df0:    f000ff33    ..3.    BL       __aeabi_fsub ; 0x3c5a
        0x00002df4:    4629        )F      MOV      r1,r5
        0x00002df6:    f000fedf    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002dfa:    4605        .F      MOV      r5,r0
        0x00002dfc:    4631        1F      MOV      r1,r6
        0x00002dfe:    9802        ..      LDR      r0,[sp,#8]
        0x00002e00:    f000ff33    ..3.    BL       __aeabi_fmul ; 0x3c6a
        0x00002e04:    9000        ..      STR      r0,[sp,#0]
        0x00002e06:    4629        )F      MOV      r1,r5
        0x00002e08:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002e0a:    f000ff2e    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e0e:    9900        ..      LDR      r1,[sp,#0]
        0x00002e10:    f000ff23    ..#.    BL       __aeabi_fsub ; 0x3c5a
        0x00002e14:    9000        ..      STR      r0,[sp,#0]
        0x00002e16:    4629        )F      MOV      r1,r5
        0x00002e18:    9805        ..      LDR      r0,[sp,#0x14]
        0x00002e1a:    f000ff26    ..&.    BL       __aeabi_fmul ; 0x3c6a
        0x00002e1e:    4605        .F      MOV      r5,r0
        0x00002e20:    4639        9F      MOV      r1,r7
        0x00002e22:    9802        ..      LDR      r0,[sp,#8]
        0x00002e24:    e000        ..      B        0x2e28 ; sensfusion6UpdateQ + 388
        0x00002e26:    e068        h.      B        0x2efa ; sensfusion6UpdateQ + 598
        0x00002e28:    f000ff1f    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e2c:    4629        )F      MOV      r1,r5
        0x00002e2e:    f000ff14    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002e32:    9001        ..      STR      r0,[sp,#4]
        0x00002e34:    4639        9F      MOV      r1,r7
        0x00002e36:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002e38:    f000ff17    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e3c:    4605        .F      MOV      r5,r0
        0x00002e3e:    4631        1F      MOV      r1,r6
        0x00002e40:    9805        ..      LDR      r0,[sp,#0x14]
        0x00002e42:    f000ff12    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e46:    4629        )F      MOV      r1,r5
        0x00002e48:    f000ff07    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00002e4c:    9002        ..      STR      r0,[sp,#8]
        0x00002e4e:    2001        .       MOVS     r0,#1
        0x00002e50:    6865        eh      LDR      r5,[r4,#4]
        0x00002e52:    05c0        ..      LSLS     r0,r0,#23
        0x00002e54:    4285        .B      CMP      r5,r0
        0x00002e56:    db33        3.      BLT      0x2ec0 ; sensfusion6UpdateQ + 540
        0x00002e58:    4628        (F      MOV      r0,r5
        0x00002e5a:    9900        ..      LDR      r1,[sp,#0]
        0x00002e5c:    f000ff05    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e60:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002e62:    f000ff02    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e66:    68a1        .h      LDR      r1,[r4,#8]
        0x00002e68:    f000fea6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002e6c:    60a0        .`      STR      r0,[r4,#8]
        0x00002e6e:    4607        .F      MOV      r7,r0
        0x00002e70:    4628        (F      MOV      r0,r5
        0x00002e72:    9901        ..      LDR      r1,[sp,#4]
        0x00002e74:    f000fef9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e78:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002e7a:    f000fef6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e7e:    68e1        .h      LDR      r1,[r4,#0xc]
        0x00002e80:    f000fe9a    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002e84:    60e0        .`      STR      r0,[r4,#0xc]
        0x00002e86:    4606        .F      MOV      r6,r0
        0x00002e88:    4628        (F      MOV      r0,r5
        0x00002e8a:    9902        ..      LDR      r1,[sp,#8]
        0x00002e8c:    f000feed    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e90:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002e92:    f000feea    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002e96:    6921        !i      LDR      r1,[r4,#0x10]
        0x00002e98:    f000fe8e    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002e9c:    4605        .F      MOV      r5,r0
        0x00002e9e:    6120         a      STR      r0,[r4,#0x10]
        0x00002ea0:    4639        9F      MOV      r1,r7
        0x00002ea2:    6960        `i      LDR      r0,[r4,#0x14]
        0x00002ea4:    f000fe88    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002ea8:    6160        `a      STR      r0,[r4,#0x14]
        0x00002eaa:    4631        1F      MOV      r1,r6
        0x00002eac:    69a0        .i      LDR      r0,[r4,#0x18]
        0x00002eae:    f000fe83    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002eb2:    61a0        .a      STR      r0,[r4,#0x18]
        0x00002eb4:    4629        )F      MOV      r1,r5
        0x00002eb6:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x00002eb8:    f000fe7e    ..~.    BL       __aeabi_fadd ; 0x3bb8
        0x00002ebc:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00002ebe:    e003        ..      B        0x2ec8 ; sensfusion6UpdateQ + 548
        0x00002ec0:    2000        .       MOVS     r0,#0
        0x00002ec2:    60a0        .`      STR      r0,[r4,#8]
        0x00002ec4:    60e0        .`      STR      r0,[r4,#0xc]
        0x00002ec6:    6120         a      STR      r0,[r4,#0x10]
        0x00002ec8:    6820         h      LDR      r0,[r4,#0]
        0x00002eca:    9900        ..      LDR      r1,[sp,#0]
        0x00002ecc:    4605        .F      MOV      r5,r0
        0x00002ece:    f000fecc    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002ed2:    6961        ai      LDR      r1,[r4,#0x14]
        0x00002ed4:    f000fe70    ..p.    BL       __aeabi_fadd ; 0x3bb8
        0x00002ed8:    6160        `a      STR      r0,[r4,#0x14]
        0x00002eda:    4628        (F      MOV      r0,r5
        0x00002edc:    9901        ..      LDR      r1,[sp,#4]
        0x00002ede:    f000fec4    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002ee2:    69a1        .i      LDR      r1,[r4,#0x18]
        0x00002ee4:    f000fe68    ..h.    BL       __aeabi_fadd ; 0x3bb8
        0x00002ee8:    61a0        .a      STR      r0,[r4,#0x18]
        0x00002eea:    4628        (F      MOV      r0,r5
        0x00002eec:    9902        ..      LDR      r1,[sp,#8]
        0x00002eee:    f000febc    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002ef2:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00002ef4:    f000fe60    ..`.    BL       __aeabi_fadd ; 0x3bb8
        0x00002ef8:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00002efa:    213f        ?!      MOVS     r1,#0x3f
        0x00002efc:    0609        ..      LSLS     r1,r1,#24
        0x00002efe:    9804        ..      LDR      r0,[sp,#0x10]
        0x00002f00:    f000fe5a    ..Z.    BL       __aeabi_fadd ; 0x3bb8
        0x00002f04:    991c        ..      LDR      r1,[sp,#0x70]
        0x00002f06:    f000feb0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f0a:    4605        .F      MOV      r5,r0
        0x00002f0c:    6961        ai      LDR      r1,[r4,#0x14]
        0x00002f0e:    f000feac    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f12:    6160        `a      STR      r0,[r4,#0x14]
        0x00002f14:    9000        ..      STR      r0,[sp,#0]
        0x00002f16:    4628        (F      MOV      r0,r5
        0x00002f18:    69a1        .i      LDR      r1,[r4,#0x18]
        0x00002f1a:    f000fea6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f1e:    61a0        .a      STR      r0,[r4,#0x18]
        0x00002f20:    9002        ..      STR      r0,[sp,#8]
        0x00002f22:    4628        (F      MOV      r0,r5
        0x00002f24:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00002f26:    f000fea0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f2a:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00002f2c:    900a        ..      STR      r0,[sp,#0x28]
        0x00002f2e:    6f66        fo      LDR      r6,[r4,#0x74]
        0x00002f30:    9603        ..      STR      r6,[sp,#0xc]
        0x00002f32:    6fa5        .o      LDR      r5,[r4,#0x78]
        0x00002f34:    6fe0        .o      LDR      r0,[r4,#0x7c]
        0x00002f36:    9010        ..      STR      r0,[sp,#0x40]
        0x00002f38:    9001        ..      STR      r0,[sp,#4]
        0x00002f3a:    4830        0H      LDR      r0,[pc,#192] ; [0x2ffc] = 0x2000010c
        0x00002f3c:    990a        ..      LDR      r1,[sp,#0x28]
        0x00002f3e:    3080        .0      ADDS     r0,r0,#0x80
        0x00002f40:    6800        .h      LDR      r0,[r0,#0]
        0x00002f42:    9005        ..      STR      r0,[sp,#0x14]
        0x00002f44:    f000fe91    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f48:    9004        ..      STR      r0,[sp,#0x10]
        0x00002f4a:    9902        ..      LDR      r1,[sp,#8]
        0x00002f4c:    9801        ..      LDR      r0,[sp,#4]
        0x00002f4e:    f000fe8c    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f52:    4607        .F      MOV      r7,r0
        0x00002f54:    2001        .       MOVS     r0,#1
        0x00002f56:    07c0        ..      LSLS     r0,r0,#31
        0x00002f58:    4068        h@      EORS     r0,r0,r5
        0x00002f5a:    9900        ..      LDR      r1,[sp,#0]
        0x00002f5c:    f000fe85    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00002f60:    4639        9F      MOV      r1,r7
        0x00002f62:    f000fe7a    ..z.    BL       __aeabi_fsub ; 0x3c5a
        0x00002f66:    9904        ..      LDR      r1,[sp,#0x10]
        0x00002f68:    f000fe77    ..w.    BL       __aeabi_fsub ; 0x3c5a
        0x00002f6c:    4631        1F      MOV      r1,r6
        0x00002f6e:    f000fe23    ..#.    BL       __aeabi_fadd ; 0x3bb8
        0x00002f72:    6760        `g      STR      r0,[r4,#0x74]
        0x00002f74:    9004        ..      STR      r0,[sp,#0x10]
        0x00002f76:    9902        ..      LDR      r1,[sp,#8]
        0x00002f78:    9805        ..      LDR      r0,[sp,#0x14]
        0x00002f7a:    f000fe76    ..v.    BL       __aeabi_fmul ; 0x3c6a
        0x00002f7e:    4607        .F      MOV      r7,r0
        0x00002f80:    990a        ..      LDR      r1,[sp,#0x28]
        0x00002f82:    9801        ..      LDR      r0,[sp,#4]
        0x00002f84:    f000fe71    ..q.    BL       __aeabi_fmul ; 0x3c6a
        0x00002f88:    4606        .F      MOV      r6,r0
        0x00002f8a:    9900        ..      LDR      r1,[sp,#0]
        0x00002f8c:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002f8e:    f000fe6c    ..l.    BL       __aeabi_fmul ; 0x3c6a
        0x00002f92:    4631        1F      MOV      r1,r6
        0x00002f94:    f000fe10    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002f98:    4639        9F      MOV      r1,r7
        0x00002f9a:    f000fe5e    ..^.    BL       __aeabi_fsub ; 0x3c5a
        0x00002f9e:    4629        )F      MOV      r1,r5
        0x00002fa0:    f000fe0a    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002fa4:    67a0        .g      STR      r0,[r4,#0x78]
        0x00002fa6:    4607        .F      MOV      r7,r0
        0x00002fa8:    9900        ..      LDR      r1,[sp,#0]
        0x00002faa:    9805        ..      LDR      r0,[sp,#0x14]
        0x00002fac:    f000fe5d    ..].    BL       __aeabi_fmul ; 0x3c6a
        0x00002fb0:    9006        ..      STR      r0,[sp,#0x18]
        0x00002fb2:    4628        (F      MOV      r0,r5
        0x00002fb4:    990a        ..      LDR      r1,[sp,#0x28]
        0x00002fb6:    f000fe58    ..X.    BL       __aeabi_fmul ; 0x3c6a
        0x00002fba:    4606        .F      MOV      r6,r0
        0x00002fbc:    9902        ..      LDR      r1,[sp,#8]
        0x00002fbe:    9803        ..      LDR      r0,[sp,#0xc]
        0x00002fc0:    f000fe53    ..S.    BL       __aeabi_fmul ; 0x3c6a
        0x00002fc4:    4631        1F      MOV      r1,r6
        0x00002fc6:    f000fe48    ..H.    BL       __aeabi_fsub ; 0x3c5a
        0x00002fca:    9906        ..      LDR      r1,[sp,#0x18]
        0x00002fcc:    f000fdf4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002fd0:    9910        ..      LDR      r1,[sp,#0x40]
        0x00002fd2:    f000fdf1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00002fd6:    67e0        .g      STR      r0,[r4,#0x7c]
        0x00002fd8:    4606        .F      MOV      r6,r0
        0x00002fda:    9900        ..      LDR      r1,[sp,#0]
        0x00002fdc:    9801        ..      LDR      r0,[sp,#4]
        0x00002fde:    f000fe44    ..D.    BL       __aeabi_fmul ; 0x3c6a
        0x00002fe2:    9000        ..      STR      r0,[sp,#0]
        0x00002fe4:    4628        (F      MOV      r0,r5
        0x00002fe6:    e00b        ..      B        0x3000 ; sensfusion6UpdateQ + 860
    $d
        0x00002fe8:    42c80000    ...B    DCD    1120403456
        0x00002fec:    3f7d70a4    .p}?    DCD    1065185444
        0x00002ff0:    5f3759df    .Y7_    DCD    1597463007
        0x00002ff4:    40490fdb    ..I@    DCD    1078530011
        0x00002ff8:    43340000    ..4C    DCD    1127481344
        0x00002ffc:    2000010c    ...     DCD    536871180
    $t
        0x00003000:    9902        ..      LDR      r1,[sp,#8]
        0x00003002:    f000fe32    ..2.    BL       __aeabi_fmul ; 0x3c6a
        0x00003006:    4605        .F      MOV      r5,r0
        0x00003008:    990a        ..      LDR      r1,[sp,#0x28]
        0x0000300a:    9803        ..      LDR      r0,[sp,#0xc]
        0x0000300c:    f000fe2d    ..-.    BL       __aeabi_fmul ; 0x3c6a
        0x00003010:    4629        )F      MOV      r1,r5
        0x00003012:    f000fdd1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003016:    9900        ..      LDR      r1,[sp,#0]
        0x00003018:    f000fe1f    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000301c:    9905        ..      LDR      r1,[sp,#0x14]
        0x0000301e:    f000fdcb    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003022:    49fe        .I      LDR      r1,[pc,#1016] ; [0x341c] = 0x2000018c
        0x00003024:    6008        .`      STR      r0,[r1,#0]
        0x00003026:    4601        .F      MOV      r1,r0
        0x00003028:    f000fe1f    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000302c:    4631        1F      MOV      r1,r6
        0x0000302e:    9000        ..      STR      r0,[sp,#0]
        0x00003030:    4608        .F      MOV      r0,r1
        0x00003032:    f000fe1a    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003036:    4605        .F      MOV      r5,r0
        0x00003038:    4639        9F      MOV      r1,r7
        0x0000303a:    4608        .F      MOV      r0,r1
        0x0000303c:    f000fe15    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003040:    9904        ..      LDR      r1,[sp,#0x10]
        0x00003042:    4606        .F      MOV      r6,r0
        0x00003044:    4608        .F      MOV      r0,r1
        0x00003046:    f000fe10    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000304a:    4631        1F      MOV      r1,r6
        0x0000304c:    f000fdb4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003050:    4629        )F      MOV      r1,r5
        0x00003052:    f000fdb1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003056:    9900        ..      LDR      r1,[sp,#0]
        0x00003058:    f000fdae    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000305c:    f7fffe0b    ....    BL       invSqrt ; 0x2c76
        0x00003060:    4605        .F      MOV      r5,r0
        0x00003062:    4601        .F      MOV      r1,r0
        0x00003064:    6f60        `o      LDR      r0,[r4,#0x74]
        0x00003066:    f000fe00    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000306a:    6760        `g      STR      r0,[r4,#0x74]
        0x0000306c:    4629        )F      MOV      r1,r5
        0x0000306e:    6fa0        .o      LDR      r0,[r4,#0x78]
        0x00003070:    f000fdfb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003074:    67a0        .g      STR      r0,[r4,#0x78]
        0x00003076:    4629        )F      MOV      r1,r5
        0x00003078:    6fe0        .o      LDR      r0,[r4,#0x7c]
        0x0000307a:    f000fdf6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000307e:    67e0        .g      STR      r0,[r4,#0x7c]
        0x00003080:    48e6        .H      LDR      r0,[pc,#920] ; [0x341c] = 0x2000018c
        0x00003082:    4629        )F      MOV      r1,r5
        0x00003084:    6800        .h      LDR      r0,[r0,#0]
        0x00003086:    f000fdf0    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000308a:    49e4        .I      LDR      r1,[pc,#912] ; [0x341c] = 0x2000018c
        0x0000308c:    6008        .`      STR      r0,[r1,#0]
        0x0000308e:    f7fffb9d    ....    BL       ComputeEuler ; 0x27cc
        0x00003092:    981c        ..      LDR      r0,[sp,#0x70]
        0x00003094:    9000        ..      STR      r0,[sp,#0]
        0x00003096:    462b        +F      MOV      r3,r5
        0x00003098:    9a1b        ..      LDR      r2,[sp,#0x6c]
        0x0000309a:    991a        ..      LDR      r1,[sp,#0x68]
        0x0000309c:    9814        ..      LDR      r0,[sp,#0x50]
        0x0000309e:    f7fffc65    ..e.    BL       ComputeMotion ; 0x296c
        0x000030a2:    b015        ..      ADD      sp,sp,#0x54
        0x000030a4:    bdf0        ..      POP      {r4-r7,pc}
    checkMagFail
        0x000030a6:    0040        @.      LSLS     r0,r0,#1
        0x000030a8:    0e00        ..      LSRS     r0,r0,#24
        0x000030aa:    d105        ..      BNE      0x30b8 ; checkMagFail + 18
        0x000030ac:    0048        H.      LSLS     r0,r1,#1
        0x000030ae:    0e00        ..      LSRS     r0,r0,#24
        0x000030b0:    d102        ..      BNE      0x30b8 ; checkMagFail + 18
        0x000030b2:    0050        P.      LSLS     r0,r2,#1
        0x000030b4:    0e00        ..      LSRS     r0,r0,#24
        0x000030b6:    d001        ..      BEQ      0x30bc ; checkMagFail + 22
        0x000030b8:    2000        .       MOVS     r0,#0
        0x000030ba:    4770        pG      BX       lr
        0x000030bc:    2001        .       MOVS     r0,#1
        0x000030be:    4770        pG      BX       lr
    sensfusion9UpdateQ
        0x000030c0:    b5ff        ..      PUSH     {r0-r7,lr}
        0x000030c2:    b091        ..      SUB      sp,sp,#0x44
        0x000030c4:    ab1c        ..      ADD      r3,sp,#0x70
        0x000030c6:    cb07        ..      LDM      r3!,{r0-r2}
        0x000030c8:    2700        .'      MOVS     r7,#0
        0x000030ca:    f7ffffec    ....    BL       checkMagFail ; 0x30a6
        0x000030ce:    2800        .(      CMP      r0,#0
        0x000030d0:    d009        ..      BEQ      0x30e6 ; sensfusion9UpdateQ + 38
        0x000030d2:    981a        ..      LDR      r0,[sp,#0x68]
        0x000030d4:    466b        kF      MOV      r3,sp
        0x000030d6:    9a1f        ..      LDR      r2,[sp,#0x7c]
        0x000030d8:    991b        ..      LDR      r1,[sp,#0x6c]
        0x000030da:    c307        ..      STM      r3!,{r0-r2}
        0x000030dc:    ac11        ..      ADD      r4,sp,#0x44
        0x000030de:    cc0f        ..      LDM      r4!,{r0-r3}
        0x000030e0:    f7fffde0    ....    BL       sensfusion6UpdateQ ; 0x2ca4
        0x000030e4:    e7dd        ..      B        0x30a2 ; sensfusion6UpdateQ + 1022
        0x000030e6:    9811        ..      LDR      r0,[sp,#0x44]
        0x000030e8:    0040        @.      LSLS     r0,r0,#1
        0x000030ea:    0e00        ..      LSRS     r0,r0,#24
        0x000030ec:    d109        ..      BNE      0x3102 ; sensfusion9UpdateQ + 66
        0x000030ee:    9812        ..      LDR      r0,[sp,#0x48]
        0x000030f0:    0040        @.      LSLS     r0,r0,#1
        0x000030f2:    0e00        ..      LSRS     r0,r0,#24
        0x000030f4:    d105        ..      BNE      0x3102 ; sensfusion9UpdateQ + 66
        0x000030f6:    9813        ..      LDR      r0,[sp,#0x4c]
        0x000030f8:    0040        @.      LSLS     r0,r0,#1
        0x000030fa:    0e00        ..      LSRS     r0,r0,#24
        0x000030fc:    d101        ..      BNE      0x3102 ; sensfusion9UpdateQ + 66
        0x000030fe:    2741        A'      MOVS     r7,#0x41
        0x00003100:    063f        ?.      LSLS     r7,r7,#24
        0x00003102:    4dc7        .M      LDR      r5,[pc,#796] ; [0x3420] = 0x40490fdb
        0x00003104:    9811        ..      LDR      r0,[sp,#0x44]
        0x00003106:    4629        )F      MOV      r1,r5
        0x00003108:    f000fdaf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000310c:    4ec5        .N      LDR      r6,[pc,#788] ; [0x3424] = 0x43340000
        0x0000310e:    4631        1F      MOV      r1,r6
        0x00003110:    f000fde8    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00003114:    4cc1        .L      LDR      r4,[pc,#772] ; [0x341c] = 0x2000018c
        0x00003116:    4629        )F      MOV      r1,r5
        0x00003118:    3c80        .<      SUBS     r4,r4,#0x80
        0x0000311a:    6160        `a      STR      r0,[r4,#0x14]
        0x0000311c:    9812        ..      LDR      r0,[sp,#0x48]
        0x0000311e:    f000fda4    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003122:    4631        1F      MOV      r1,r6
        0x00003124:    f000fdde    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00003128:    61a0        .a      STR      r0,[r4,#0x18]
        0x0000312a:    4629        )F      MOV      r1,r5
        0x0000312c:    9813        ..      LDR      r0,[sp,#0x4c]
        0x0000312e:    f000fd9c    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003132:    4631        1F      MOV      r1,r6
        0x00003134:    f000fdd6    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x00003138:    61e0        .a      STR      r0,[r4,#0x1c]
        0x0000313a:    991f        ..      LDR      r1,[sp,#0x7c]
        0x0000313c:    9811        ..      LDR      r0,[sp,#0x44]
        0x0000313e:    f000fd94    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003142:    6ae1        .j      LDR      r1,[r4,#0x2c]
        0x00003144:    f000fd38    ..8.    BL       __aeabi_fadd ; 0x3bb8
        0x00003148:    62e0        .b      STR      r0,[r4,#0x2c]
        0x0000314a:    991f        ..      LDR      r1,[sp,#0x7c]
        0x0000314c:    9812        ..      LDR      r0,[sp,#0x48]
        0x0000314e:    f000fd8c    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003152:    6b21        !k      LDR      r1,[r4,#0x30]
        0x00003154:    f000fd30    ..0.    BL       __aeabi_fadd ; 0x3bb8
        0x00003158:    6320         c      STR      r0,[r4,#0x30]
        0x0000315a:    991f        ..      LDR      r1,[sp,#0x7c]
        0x0000315c:    9813        ..      LDR      r0,[sp,#0x4c]
        0x0000315e:    f000fd84    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003162:    6b61        ak      LDR      r1,[r4,#0x34]
        0x00003164:    f000fd28    ..(.    BL       __aeabi_fadd ; 0x3bb8
        0x00003168:    6360        `c      STR      r0,[r4,#0x34]
        0x0000316a:    9814        ..      LDR      r0,[sp,#0x50]
        0x0000316c:    0040        @.      LSLS     r0,r0,#1
        0x0000316e:    0e00        ..      LSRS     r0,r0,#24
        0x00003170:    d107        ..      BNE      0x3182 ; sensfusion9UpdateQ + 194
        0x00003172:    981a        ..      LDR      r0,[sp,#0x68]
        0x00003174:    0040        @.      LSLS     r0,r0,#1
        0x00003176:    0e00        ..      LSRS     r0,r0,#24
        0x00003178:    d103        ..      BNE      0x3182 ; sensfusion9UpdateQ + 194
        0x0000317a:    981b        ..      LDR      r0,[sp,#0x6c]
        0x0000317c:    0040        @.      LSLS     r0,r0,#1
        0x0000317e:    0e00        ..      LSRS     r0,r0,#24
        0x00003180:    d07d        }.      BEQ      0x327e ; sensfusion9UpdateQ + 446
        0x00003182:    991b        ..      LDR      r1,[sp,#0x6c]
        0x00003184:    4608        .F      MOV      r0,r1
        0x00003186:    f000fd70    ..p.    BL       __aeabi_fmul ; 0x3c6a
        0x0000318a:    991a        ..      LDR      r1,[sp,#0x68]
        0x0000318c:    4606        .F      MOV      r6,r0
        0x0000318e:    4608        .F      MOV      r0,r1
        0x00003190:    f000fd6b    ..k.    BL       __aeabi_fmul ; 0x3c6a
        0x00003194:    9914        ..      LDR      r1,[sp,#0x50]
        0x00003196:    4605        .F      MOV      r5,r0
        0x00003198:    4608        .F      MOV      r0,r1
        0x0000319a:    f000fd66    ..f.    BL       __aeabi_fmul ; 0x3c6a
        0x0000319e:    4629        )F      MOV      r1,r5
        0x000031a0:    f000fd0a    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000031a4:    4631        1F      MOV      r1,r6
        0x000031a6:    f000fd07    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000031aa:    f7fffd64    ..d.    BL       invSqrt ; 0x2c76
        0x000031ae:    4605        .F      MOV      r5,r0
        0x000031b0:    4601        .F      MOV      r1,r0
        0x000031b2:    9814        ..      LDR      r0,[sp,#0x50]
        0x000031b4:    f000fd59    ..Y.    BL       __aeabi_fmul ; 0x3c6a
        0x000031b8:    63a0        .c      STR      r0,[r4,#0x38]
        0x000031ba:    4629        )F      MOV      r1,r5
        0x000031bc:    981a        ..      LDR      r0,[sp,#0x68]
        0x000031be:    f000fd54    ..T.    BL       __aeabi_fmul ; 0x3c6a
        0x000031c2:    63e0        .c      STR      r0,[r4,#0x3c]
        0x000031c4:    4629        )F      MOV      r1,r5
        0x000031c6:    981b        ..      LDR      r0,[sp,#0x6c]
        0x000031c8:    f000fd4f    ..O.    BL       __aeabi_fmul ; 0x3c6a
        0x000031cc:    6420         d      STR      r0,[r4,#0x40]
        0x000031ce:    991e        ..      LDR      r1,[sp,#0x78]
        0x000031d0:    4608        .F      MOV      r0,r1
        0x000031d2:    f000fd4a    ..J.    BL       __aeabi_fmul ; 0x3c6a
        0x000031d6:    991d        ..      LDR      r1,[sp,#0x74]
        0x000031d8:    4606        .F      MOV      r6,r0
        0x000031da:    4608        .F      MOV      r0,r1
        0x000031dc:    f000fd45    ..E.    BL       __aeabi_fmul ; 0x3c6a
        0x000031e0:    991c        ..      LDR      r1,[sp,#0x70]
        0x000031e2:    4605        .F      MOV      r5,r0
        0x000031e4:    4608        .F      MOV      r0,r1
        0x000031e6:    f000fd40    ..@.    BL       __aeabi_fmul ; 0x3c6a
        0x000031ea:    4629        )F      MOV      r1,r5
        0x000031ec:    f000fce4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000031f0:    4631        1F      MOV      r1,r6
        0x000031f2:    f000fce1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000031f6:    f7fffd3e    ..>.    BL       invSqrt ; 0x2c76
        0x000031fa:    4606        .F      MOV      r6,r0
        0x000031fc:    4601        .F      MOV      r1,r0
        0x000031fe:    981c        ..      LDR      r0,[sp,#0x70]
        0x00003200:    f000fd33    ..3.    BL       __aeabi_fmul ; 0x3c6a
        0x00003204:    4d88        .M      LDR      r5,[pc,#544] ; [0x3428] = 0x20001758
        0x00003206:    4631        1F      MOV      r1,r6
        0x00003208:    6028        (`      STR      r0,[r5,#0]
        0x0000320a:    65e0        .e      STR      r0,[r4,#0x5c]
        0x0000320c:    900b        ..      STR      r0,[sp,#0x2c]
        0x0000320e:    981d        ..      LDR      r0,[sp,#0x74]
        0x00003210:    f000fd2b    ..+.    BL       __aeabi_fmul ; 0x3c6a
        0x00003214:    6068        h`      STR      r0,[r5,#4]
        0x00003216:    6620         f      STR      r0,[r4,#0x60]
        0x00003218:    9009        ..      STR      r0,[sp,#0x24]
        0x0000321a:    4631        1F      MOV      r1,r6
        0x0000321c:    981e        ..      LDR      r0,[sp,#0x78]
        0x0000321e:    f000fd24    ..$.    BL       __aeabi_fmul ; 0x3c6a
        0x00003222:    60a8        .`      STR      r0,[r5,#8]
        0x00003224:    6660        `f      STR      r0,[r4,#0x64]
        0x00003226:    900c        ..      STR      r0,[sp,#0x30]
        0x00003228:    6f61        ao      LDR      r1,[r4,#0x74]
        0x0000322a:    460e        .F      MOV      r6,r1
        0x0000322c:    4630        0F      MOV      r0,r6
        0x0000322e:    f000fd1c    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003232:    900d        ..      STR      r0,[sp,#0x34]
        0x00003234:    6fa1        .o      LDR      r1,[r4,#0x78]
        0x00003236:    4630        0F      MOV      r0,r6
        0x00003238:    9101        ..      STR      r1,[sp,#4]
        0x0000323a:    f000fd16    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000323e:    9002        ..      STR      r0,[sp,#8]
        0x00003240:    6fe1        .o      LDR      r1,[r4,#0x7c]
        0x00003242:    4630        0F      MOV      r0,r6
        0x00003244:    9100        ..      STR      r1,[sp,#0]
        0x00003246:    f000fd10    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000324a:    9004        ..      STR      r0,[sp,#0x10]
        0x0000324c:    4873        sH      LDR      r0,[pc,#460] ; [0x341c] = 0x2000018c
        0x0000324e:    6801        .h      LDR      r1,[r0,#0]
        0x00003250:    4630        0F      MOV      r0,r6
        0x00003252:    460d        .F      MOV      r5,r1
        0x00003254:    f000fd09    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003258:    9006        ..      STR      r0,[sp,#0x18]
        0x0000325a:    9901        ..      LDR      r1,[sp,#4]
        0x0000325c:    4608        .F      MOV      r0,r1
        0x0000325e:    f000fd04    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003262:    900f        ..      STR      r0,[sp,#0x3c]
        0x00003264:    9900        ..      LDR      r1,[sp,#0]
        0x00003266:    9801        ..      LDR      r0,[sp,#4]
        0x00003268:    f000fcff    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000326c:    9007        ..      STR      r0,[sp,#0x1c]
        0x0000326e:    4629        )F      MOV      r1,r5
        0x00003270:    9801        ..      LDR      r0,[sp,#4]
        0x00003272:    f000fcfa    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003276:    9005        ..      STR      r0,[sp,#0x14]
        0x00003278:    9900        ..      LDR      r1,[sp,#0]
        0x0000327a:    4608        .F      MOV      r0,r1
        0x0000327c:    e000        ..      B        0x3280 ; sensfusion9UpdateQ + 448
        0x0000327e:    e15b        [.      B        0x3538 ; sensfusion9UpdateQ + 1144
        0x00003280:    f000fcf3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003284:    9001        ..      STR      r0,[sp,#4]
        0x00003286:    4629        )F      MOV      r1,r5
        0x00003288:    9800        ..      LDR      r0,[sp,#0]
        0x0000328a:    f000fcee    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000328e:    4629        )F      MOV      r1,r5
        0x00003290:    9003        ..      STR      r0,[sp,#0xc]
        0x00003292:    4608        .F      MOV      r0,r1
        0x00003294:    f000fce9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003298:    900a        ..      STR      r0,[sp,#0x28]
        0x0000329a:    9904        ..      LDR      r1,[sp,#0x10]
        0x0000329c:    9805        ..      LDR      r0,[sp,#0x14]
        0x0000329e:    f000fc8b    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000032a2:    990c        ..      LDR      r1,[sp,#0x30]
        0x000032a4:    f000fce1    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000032a8:    4606        .F      MOV      r6,r0
        0x000032aa:    9906        ..      LDR      r1,[sp,#0x18]
        0x000032ac:    9807        ..      LDR      r0,[sp,#0x1c]
        0x000032ae:    f000fcd4    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000032b2:    9008        ..      STR      r0,[sp,#0x20]
        0x000032b4:    9909        ..      LDR      r1,[sp,#0x24]
        0x000032b6:    f000fcd8    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000032ba:    4605        .F      MOV      r5,r0
        0x000032bc:    203f        ?       MOVS     r0,#0x3f
        0x000032be:    0600        ..      LSLS     r0,r0,#24
        0x000032c0:    9901        ..      LDR      r1,[sp,#4]
        0x000032c2:    f000fcca    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000032c6:    990a        ..      LDR      r1,[sp,#0x28]
        0x000032c8:    f000fcc7    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000032cc:    900e        ..      STR      r0,[sp,#0x38]
        0x000032ce:    990b        ..      LDR      r1,[sp,#0x2c]
        0x000032d0:    f000fccb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000032d4:    4629        )F      MOV      r1,r5
        0x000032d6:    f000fc6f    ..o.    BL       __aeabi_fadd ; 0x3bb8
        0x000032da:    4631        1F      MOV      r1,r6
        0x000032dc:    f000fc6c    ..l.    BL       __aeabi_fadd ; 0x3bb8
        0x000032e0:    2101        .!      MOVS     r1,#1
        0x000032e2:    f000fd3f    ..?.    BL       __ARM_scalbnf ; 0x3d64
        0x000032e6:    4605        .F      MOV      r5,r0
        0x000032e8:    9902        ..      LDR      r1,[sp,#8]
        0x000032ea:    9803        ..      LDR      r0,[sp,#0xc]
        0x000032ec:    f000fcb5    ....    BL       __aeabi_fsub ; 0x3c5a
        0x000032f0:    990c        ..      LDR      r1,[sp,#0x30]
        0x000032f2:    f000fcba    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000032f6:    900c        ..      STR      r0,[sp,#0x30]
        0x000032f8:    203f        ?       MOVS     r0,#0x3f
        0x000032fa:    0600        ..      LSLS     r0,r0,#24
        0x000032fc:    990f        ..      LDR      r1,[sp,#0x3c]
        0x000032fe:    f000fcac    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00003302:    9000        ..      STR      r0,[sp,#0]
        0x00003304:    990a        ..      LDR      r1,[sp,#0x28]
        0x00003306:    f000fca8    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000330a:    9909        ..      LDR      r1,[sp,#0x24]
        0x0000330c:    f000fcad    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003310:    4606        .F      MOV      r6,r0
        0x00003312:    9906        ..      LDR      r1,[sp,#0x18]
        0x00003314:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00003316:    f000fc4f    ..O.    BL       __aeabi_fadd ; 0x3bb8
        0x0000331a:    990b        ..      LDR      r1,[sp,#0x2c]
        0x0000331c:    f000fca5    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003320:    4631        1F      MOV      r1,r6
        0x00003322:    f000fc49    ..I.    BL       __aeabi_fadd ; 0x3bb8
        0x00003326:    990c        ..      LDR      r1,[sp,#0x30]
        0x00003328:    f000fc46    ..F.    BL       __aeabi_fadd ; 0x3bb8
        0x0000332c:    2101        .!      MOVS     r1,#1
        0x0000332e:    f000fd19    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00003332:    4601        .F      MOV      r1,r0
        0x00003334:    f000fc99    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003338:    4606        .F      MOV      r6,r0
        0x0000333a:    4629        )F      MOV      r1,r5
        0x0000333c:    4608        .F      MOV      r0,r1
        0x0000333e:    f000fc94    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003342:    4631        1F      MOV      r1,r6
        0x00003344:    f000fc38    ..8.    BL       __aeabi_fadd ; 0x3bb8
        0x00003348:    f000ff20    .. .    BL       __aeabi_f2d ; 0x418c
        0x0000334c:    f003fbfe    ....    BL       sqrt ; 0x6b4c
        0x00003350:    f000ff33    ..3.    BL       __aeabi_d2f ; 0x41ba
        0x00003354:    9009        ..      STR      r0,[sp,#0x24]
        0x00003356:    9901        ..      LDR      r1,[sp,#4]
        0x00003358:    9800        ..      LDR      r0,[sp,#0]
        0x0000335a:    f000fc7e    ..~.    BL       __aeabi_fsub ; 0x3c5a
        0x0000335e:    6e61        an      LDR      r1,[r4,#0x64]
        0x00003360:    f000fc83    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003364:    4606        .F      MOV      r6,r0
        0x00003366:    9902        ..      LDR      r1,[sp,#8]
        0x00003368:    9803        ..      LDR      r0,[sp,#0xc]
        0x0000336a:    f000fc25    ..%.    BL       __aeabi_fadd ; 0x3bb8
        0x0000336e:    9001        ..      STR      r0,[sp,#4]
        0x00003370:    6e21        !n      LDR      r1,[r4,#0x60]
        0x00003372:    9107        ..      STR      r1,[sp,#0x1c]
        0x00003374:    f000fc79    ..y.    BL       __aeabi_fmul ; 0x3c6a
        0x00003378:    4605        .F      MOV      r5,r0
        0x0000337a:    9904        ..      LDR      r1,[sp,#0x10]
        0x0000337c:    9805        ..      LDR      r0,[sp,#0x14]
        0x0000337e:    f000fc6c    ..l.    BL       __aeabi_fsub ; 0x3c5a
        0x00003382:    9003        ..      STR      r0,[sp,#0xc]
        0x00003384:    6de1        .m      LDR      r1,[r4,#0x5c]
        0x00003386:    910b        ..      STR      r1,[sp,#0x2c]
        0x00003388:    f000fc6f    ..o.    BL       __aeabi_fmul ; 0x3c6a
        0x0000338c:    4629        )F      MOV      r1,r5
        0x0000338e:    f000fc13    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003392:    4631        1F      MOV      r1,r6
        0x00003394:    f000fc10    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003398:    2101        .!      MOVS     r1,#1
        0x0000339a:    f000fce3    ....    BL       __ARM_scalbnf ; 0x3d64
        0x0000339e:    4606        .F      MOV      r6,r0
        0x000033a0:    9803        ..      LDR      r0,[sp,#0xc]
        0x000033a2:    9000        ..      STR      r0,[sp,#0]
        0x000033a4:    9801        ..      LDR      r0,[sp,#4]
        0x000033a6:    213f        ?!      MOVS     r1,#0x3f
        0x000033a8:    9004        ..      STR      r0,[sp,#0x10]
        0x000033aa:    0609        ..      LSLS     r1,r1,#24
        0x000033ac:    980d        ..      LDR      r0,[sp,#0x34]
        0x000033ae:    f000fc54    ..T.    BL       __aeabi_fsub ; 0x3c5a
        0x000033b2:    990a        ..      LDR      r1,[sp,#0x28]
        0x000033b4:    f000fc00    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000033b8:    9002        ..      STR      r0,[sp,#8]
        0x000033ba:    4631        1F      MOV      r1,r6
        0x000033bc:    9803        ..      LDR      r0,[sp,#0xc]
        0x000033be:    f000fc54    ..T.    BL       __aeabi_fmul ; 0x3c6a
        0x000033c2:    4605        .F      MOV      r5,r0
        0x000033c4:    9909        ..      LDR      r1,[sp,#0x24]
        0x000033c6:    980e        ..      LDR      r0,[sp,#0x38]
        0x000033c8:    f000fc4f    ..O.    BL       __aeabi_fmul ; 0x3c6a
        0x000033cc:    4629        )F      MOV      r1,r5
        0x000033ce:    f000fbf3    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000033d2:    9006        ..      STR      r0,[sp,#0x18]
        0x000033d4:    4631        1F      MOV      r1,r6
        0x000033d6:    9801        ..      LDR      r0,[sp,#4]
        0x000033d8:    f000fc47    ..G.    BL       __aeabi_fmul ; 0x3c6a
        0x000033dc:    4605        .F      MOV      r5,r0
        0x000033de:    9909        ..      LDR      r1,[sp,#0x24]
        0x000033e0:    9808        ..      LDR      r0,[sp,#0x20]
        0x000033e2:    f000fc42    ..B.    BL       __aeabi_fmul ; 0x3c6a
        0x000033e6:    4629        )F      MOV      r1,r5
        0x000033e8:    f000fbe6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000033ec:    4605        .F      MOV      r5,r0
        0x000033ee:    6c20         l      LDR      r0,[r4,#0x40]
        0x000033f0:    9904        ..      LDR      r1,[sp,#0x10]
        0x000033f2:    9003        ..      STR      r0,[sp,#0xc]
        0x000033f4:    f000fc39    ..9.    BL       __aeabi_fmul ; 0x3c6a
        0x000033f8:    4606        .F      MOV      r6,r0
        0x000033fa:    6be0        .k      LDR      r0,[r4,#0x3c]
        0x000033fc:    9902        ..      LDR      r1,[sp,#8]
        0x000033fe:    9001        ..      STR      r0,[sp,#4]
        0x00003400:    f000fc33    ..3.    BL       __aeabi_fmul ; 0x3c6a
        0x00003404:    4631        1F      MOV      r1,r6
        0x00003406:    f000fc28    ..(.    BL       __aeabi_fsub ; 0x3c5a
        0x0000340a:    2101        .!      MOVS     r1,#1
        0x0000340c:    f000fcaa    ....    BL       __ARM_scalbnf ; 0x3d64
        0x00003410:    2100        .!      MOVS     r1,#0
        0x00003412:    f000fbd1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003416:    9008        ..      STR      r0,[sp,#0x20]
        0x00003418:    9902        ..      LDR      r1,[sp,#8]
        0x0000341a:    e007        ..      B        0x342c ; sensfusion9UpdateQ + 876
    $d
        0x0000341c:    2000018c    ...     DCD    536871308
        0x00003420:    40490fdb    ..I@    DCD    1078530011
        0x00003424:    43340000    ..4C    DCD    1127481344
        0x00003428:    20001758    X..     DCD    536876888
    $t
        0x0000342c:    6ba0        .k      LDR      r0,[r4,#0x38]
        0x0000342e:    9005        ..      STR      r0,[sp,#0x14]
        0x00003430:    f000fc1b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003434:    4606        .F      MOV      r6,r0
        0x00003436:    9900        ..      LDR      r1,[sp,#0]
        0x00003438:    9803        ..      LDR      r0,[sp,#0xc]
        0x0000343a:    f000fc16    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000343e:    4631        1F      MOV      r1,r6
        0x00003440:    f000fc0b    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00003444:    2101        .!      MOVS     r1,#1
        0x00003446:    f000fc8d    ....    BL       __ARM_scalbnf ; 0x3d64
        0x0000344a:    2100        .!      MOVS     r1,#0
        0x0000344c:    f000fbb4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003450:    9002        ..      STR      r0,[sp,#8]
        0x00003452:    9906        ..      LDR      r1,[sp,#0x18]
        0x00003454:    9807        ..      LDR      r0,[sp,#0x1c]
        0x00003456:    f000fc08    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000345a:    4606        .F      MOV      r6,r0
        0x0000345c:    4629        )F      MOV      r1,r5
        0x0000345e:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00003460:    f000fc03    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003464:    4631        1F      MOV      r1,r6
        0x00003466:    f000fbf8    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000346a:    4605        .F      MOV      r5,r0
        0x0000346c:    9900        ..      LDR      r1,[sp,#0]
        0x0000346e:    9801        ..      LDR      r0,[sp,#4]
        0x00003470:    f000fbfb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003474:    4606        .F      MOV      r6,r0
        0x00003476:    9904        ..      LDR      r1,[sp,#0x10]
        0x00003478:    9805        ..      LDR      r0,[sp,#0x14]
        0x0000347a:    f000fbf6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000347e:    4631        1F      MOV      r1,r6
        0x00003480:    f000fbeb    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00003484:    4629        )F      MOV      r1,r5
        0x00003486:    f000fb97    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000348a:    9000        ..      STR      r0,[sp,#0]
        0x0000348c:    2001        .       MOVS     r0,#1
        0x0000348e:    6865        eh      LDR      r5,[r4,#4]
        0x00003490:    05c0        ..      LSLS     r0,r0,#23
        0x00003492:    4285        .B      CMP      r5,r0
        0x00003494:    db33        3.      BLT      0x34fe ; sensfusion9UpdateQ + 1086
        0x00003496:    4628        (F      MOV      r0,r5
        0x00003498:    9908        ..      LDR      r1,[sp,#0x20]
        0x0000349a:    f000fbe6    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000349e:    991f        ..      LDR      r1,[sp,#0x7c]
        0x000034a0:    f000fbe3    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000034a4:    68a1        .h      LDR      r1,[r4,#8]
        0x000034a6:    f000fb87    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000034aa:    60a0        .`      STR      r0,[r4,#8]
        0x000034ac:    9001        ..      STR      r0,[sp,#4]
        0x000034ae:    4628        (F      MOV      r0,r5
        0x000034b0:    9902        ..      LDR      r1,[sp,#8]
        0x000034b2:    f000fbda    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000034b6:    991f        ..      LDR      r1,[sp,#0x7c]
        0x000034b8:    f000fbd7    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000034bc:    68e1        .h      LDR      r1,[r4,#0xc]
        0x000034be:    f000fb7b    ..{.    BL       __aeabi_fadd ; 0x3bb8
        0x000034c2:    60e0        .`      STR      r0,[r4,#0xc]
        0x000034c4:    4606        .F      MOV      r6,r0
        0x000034c6:    4628        (F      MOV      r0,r5
        0x000034c8:    9900        ..      LDR      r1,[sp,#0]
        0x000034ca:    f000fbce    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000034ce:    991f        ..      LDR      r1,[sp,#0x7c]
        0x000034d0:    f000fbcb    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000034d4:    6921        !i      LDR      r1,[r4,#0x10]
        0x000034d6:    f000fb6f    ..o.    BL       __aeabi_fadd ; 0x3bb8
        0x000034da:    6120         a      STR      r0,[r4,#0x10]
        0x000034dc:    4605        .F      MOV      r5,r0
        0x000034de:    9901        ..      LDR      r1,[sp,#4]
        0x000034e0:    6960        `i      LDR      r0,[r4,#0x14]
        0x000034e2:    f000fb69    ..i.    BL       __aeabi_fadd ; 0x3bb8
        0x000034e6:    6160        `a      STR      r0,[r4,#0x14]
        0x000034e8:    4631        1F      MOV      r1,r6
        0x000034ea:    69a0        .i      LDR      r0,[r4,#0x18]
        0x000034ec:    f000fb64    ..d.    BL       __aeabi_fadd ; 0x3bb8
        0x000034f0:    61a0        .a      STR      r0,[r4,#0x18]
        0x000034f2:    4629        )F      MOV      r1,r5
        0x000034f4:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x000034f6:    f000fb5f    .._.    BL       __aeabi_fadd ; 0x3bb8
        0x000034fa:    61e0        .a      STR      r0,[r4,#0x1c]
        0x000034fc:    e003        ..      B        0x3506 ; sensfusion9UpdateQ + 1094
        0x000034fe:    2000        .       MOVS     r0,#0
        0x00003500:    60a0        .`      STR      r0,[r4,#8]
        0x00003502:    60e0        .`      STR      r0,[r4,#0xc]
        0x00003504:    6120         a      STR      r0,[r4,#0x10]
        0x00003506:    6820         h      LDR      r0,[r4,#0]
        0x00003508:    9908        ..      LDR      r1,[sp,#0x20]
        0x0000350a:    4605        .F      MOV      r5,r0
        0x0000350c:    f000fbad    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003510:    6961        ai      LDR      r1,[r4,#0x14]
        0x00003512:    f000fb51    ..Q.    BL       __aeabi_fadd ; 0x3bb8
        0x00003516:    6160        `a      STR      r0,[r4,#0x14]
        0x00003518:    4628        (F      MOV      r0,r5
        0x0000351a:    9902        ..      LDR      r1,[sp,#8]
        0x0000351c:    f000fba5    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003520:    69a1        .i      LDR      r1,[r4,#0x18]
        0x00003522:    f000fb49    ..I.    BL       __aeabi_fadd ; 0x3bb8
        0x00003526:    61a0        .a      STR      r0,[r4,#0x18]
        0x00003528:    4628        (F      MOV      r0,r5
        0x0000352a:    9900        ..      LDR      r1,[sp,#0]
        0x0000352c:    f000fb9d    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003530:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00003532:    f000fb41    ..A.    BL       __aeabi_fadd ; 0x3bb8
        0x00003536:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00003538:    f7fcff50    ..P.    BL       GetTickCounter ; 0x3dc
        0x0000353c:    4df7        .M      LDR      r5,[pc,#988] ; [0x391c] = 0x2000018c
        0x0000353e:    68a9        .h      LDR      r1,[r5,#8]
        0x00003540:    4288        .B      CMP      r0,r1
        0x00003542:    d916        ..      BLS      0x3572 ; sensfusion9UpdateQ + 1202
        0x00003544:    213f        ?!      MOVS     r1,#0x3f
        0x00003546:    0609        ..      LSLS     r1,r1,#24
        0x00003548:    4638        8F      MOV      r0,r7
        0x0000354a:    f000fb35    ..5.    BL       __aeabi_fadd ; 0x3bb8
        0x0000354e:    991f        ..      LDR      r1,[sp,#0x7c]
        0x00003550:    f000fb8b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003554:    4606        .F      MOV      r6,r0
        0x00003556:    6961        ai      LDR      r1,[r4,#0x14]
        0x00003558:    f000fb87    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000355c:    6160        `a      STR      r0,[r4,#0x14]
        0x0000355e:    4630        0F      MOV      r0,r6
        0x00003560:    69a1        .i      LDR      r1,[r4,#0x18]
        0x00003562:    f000fb82    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003566:    61a0        .a      STR      r0,[r4,#0x18]
        0x00003568:    4630        0F      MOV      r0,r6
        0x0000356a:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x0000356c:    f000fb7d    ..}.    BL       __aeabi_fmul ; 0x3c6a
        0x00003570:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00003572:    6f67        go      LDR      r7,[r4,#0x74]
        0x00003574:    9705        ..      STR      r7,[sp,#0x14]
        0x00003576:    6fa6        .o      LDR      r6,[r4,#0x78]
        0x00003578:    6fe0        .o      LDR      r0,[r4,#0x7c]
        0x0000357a:    900e        ..      STR      r0,[sp,#0x38]
        0x0000357c:    9001        ..      STR      r0,[sp,#4]
        0x0000357e:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00003580:    48e6        .H      LDR      r0,[pc,#920] ; [0x391c] = 0x2000018c
        0x00003582:    9106        ..      STR      r1,[sp,#0x18]
        0x00003584:    6800        .h      LDR      r0,[r0,#0]
        0x00003586:    9003        ..      STR      r0,[sp,#0xc]
        0x00003588:    f000fb6f    ..o.    BL       __aeabi_fmul ; 0x3c6a
        0x0000358c:    9002        ..      STR      r0,[sp,#8]
        0x0000358e:    69a1        .i      LDR      r1,[r4,#0x18]
        0x00003590:    9108        ..      STR      r1,[sp,#0x20]
        0x00003592:    9801        ..      LDR      r0,[sp,#4]
        0x00003594:    f000fb69    ..i.    BL       __aeabi_fmul ; 0x3c6a
        0x00003598:    4605        .F      MOV      r5,r0
        0x0000359a:    2001        .       MOVS     r0,#1
        0x0000359c:    07c0        ..      LSLS     r0,r0,#31
        0x0000359e:    6961        ai      LDR      r1,[r4,#0x14]
        0x000035a0:    4070        p@      EORS     r0,r0,r6
        0x000035a2:    9100        ..      STR      r1,[sp,#0]
        0x000035a4:    f000fb61    ..a.    BL       __aeabi_fmul ; 0x3c6a
        0x000035a8:    4629        )F      MOV      r1,r5
        0x000035aa:    f000fb56    ..V.    BL       __aeabi_fsub ; 0x3c5a
        0x000035ae:    9902        ..      LDR      r1,[sp,#8]
        0x000035b0:    f000fb53    ..S.    BL       __aeabi_fsub ; 0x3c5a
        0x000035b4:    4639        9F      MOV      r1,r7
        0x000035b6:    f000faff    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000035ba:    6760        `g      STR      r0,[r4,#0x74]
        0x000035bc:    9002        ..      STR      r0,[sp,#8]
        0x000035be:    9908        ..      LDR      r1,[sp,#0x20]
        0x000035c0:    9803        ..      LDR      r0,[sp,#0xc]
        0x000035c2:    f000fb52    ..R.    BL       __aeabi_fmul ; 0x3c6a
        0x000035c6:    4607        .F      MOV      r7,r0
        0x000035c8:    9906        ..      LDR      r1,[sp,#0x18]
        0x000035ca:    9801        ..      LDR      r0,[sp,#4]
        0x000035cc:    f000fb4d    ..M.    BL       __aeabi_fmul ; 0x3c6a
        0x000035d0:    4605        .F      MOV      r5,r0
        0x000035d2:    9900        ..      LDR      r1,[sp,#0]
        0x000035d4:    9805        ..      LDR      r0,[sp,#0x14]
        0x000035d6:    f000fb48    ..H.    BL       __aeabi_fmul ; 0x3c6a
        0x000035da:    4629        )F      MOV      r1,r5
        0x000035dc:    f000faec    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000035e0:    4639        9F      MOV      r1,r7
        0x000035e2:    f000fb3a    ..:.    BL       __aeabi_fsub ; 0x3c5a
        0x000035e6:    4631        1F      MOV      r1,r6
        0x000035e8:    f000fae6    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000035ec:    67a0        .g      STR      r0,[r4,#0x78]
        0x000035ee:    4607        .F      MOV      r7,r0
        0x000035f0:    9900        ..      LDR      r1,[sp,#0]
        0x000035f2:    9803        ..      LDR      r0,[sp,#0xc]
        0x000035f4:    f000fb39    ..9.    BL       __aeabi_fmul ; 0x3c6a
        0x000035f8:    9004        ..      STR      r0,[sp,#0x10]
        0x000035fa:    4630        0F      MOV      r0,r6
        0x000035fc:    9906        ..      LDR      r1,[sp,#0x18]
        0x000035fe:    f000fb34    ..4.    BL       __aeabi_fmul ; 0x3c6a
        0x00003602:    4605        .F      MOV      r5,r0
        0x00003604:    9908        ..      LDR      r1,[sp,#0x20]
        0x00003606:    9805        ..      LDR      r0,[sp,#0x14]
        0x00003608:    f000fb2f    ../.    BL       __aeabi_fmul ; 0x3c6a
        0x0000360c:    4629        )F      MOV      r1,r5
        0x0000360e:    f000fb24    ..$.    BL       __aeabi_fsub ; 0x3c5a
        0x00003612:    9904        ..      LDR      r1,[sp,#0x10]
        0x00003614:    f000fad0    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003618:    990e        ..      LDR      r1,[sp,#0x38]
        0x0000361a:    f000facd    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000361e:    67e0        .g      STR      r0,[r4,#0x7c]
        0x00003620:    4605        .F      MOV      r5,r0
        0x00003622:    9900        ..      LDR      r1,[sp,#0]
        0x00003624:    9801        ..      LDR      r0,[sp,#4]
        0x00003626:    f000fb20    .. .    BL       __aeabi_fmul ; 0x3c6a
        0x0000362a:    9000        ..      STR      r0,[sp,#0]
        0x0000362c:    4630        0F      MOV      r0,r6
        0x0000362e:    9908        ..      LDR      r1,[sp,#0x20]
        0x00003630:    f000fb1b    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003634:    4606        .F      MOV      r6,r0
        0x00003636:    9906        ..      LDR      r1,[sp,#0x18]
        0x00003638:    9805        ..      LDR      r0,[sp,#0x14]
        0x0000363a:    f000fb16    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000363e:    4631        1F      MOV      r1,r6
        0x00003640:    f000faba    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003644:    9900        ..      LDR      r1,[sp,#0]
        0x00003646:    f000fb08    ....    BL       __aeabi_fsub ; 0x3c5a
        0x0000364a:    9903        ..      LDR      r1,[sp,#0xc]
        0x0000364c:    f000fab4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003650:    49b2        .I      LDR      r1,[pc,#712] ; [0x391c] = 0x2000018c
        0x00003652:    6008        .`      STR      r0,[r1,#0]
        0x00003654:    4601        .F      MOV      r1,r0
        0x00003656:    f000fb08    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000365a:    4629        )F      MOV      r1,r5
        0x0000365c:    9000        ..      STR      r0,[sp,#0]
        0x0000365e:    4608        .F      MOV      r0,r1
        0x00003660:    f000fb03    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003664:    4605        .F      MOV      r5,r0
        0x00003666:    4639        9F      MOV      r1,r7
        0x00003668:    4608        .F      MOV      r0,r1
        0x0000366a:    f000fafe    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000366e:    9902        ..      LDR      r1,[sp,#8]
        0x00003670:    4606        .F      MOV      r6,r0
        0x00003672:    4608        .F      MOV      r0,r1
        0x00003674:    f000faf9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003678:    4631        1F      MOV      r1,r6
        0x0000367a:    f000fa9d    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000367e:    4629        )F      MOV      r1,r5
        0x00003680:    f000fa9a    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003684:    9900        ..      LDR      r1,[sp,#0]
        0x00003686:    f000fa97    ....    BL       __aeabi_fadd ; 0x3bb8
        0x0000368a:    f7fffaf4    ....    BL       invSqrt ; 0x2c76
        0x0000368e:    4605        .F      MOV      r5,r0
        0x00003690:    4601        .F      MOV      r1,r0
        0x00003692:    6f60        `o      LDR      r0,[r4,#0x74]
        0x00003694:    f000fae9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003698:    6760        `g      STR      r0,[r4,#0x74]
        0x0000369a:    4629        )F      MOV      r1,r5
        0x0000369c:    6fa0        .o      LDR      r0,[r4,#0x78]
        0x0000369e:    f000fae4    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000036a2:    67a0        .g      STR      r0,[r4,#0x78]
        0x000036a4:    4629        )F      MOV      r1,r5
        0x000036a6:    6fe0        .o      LDR      r0,[r4,#0x7c]
        0x000036a8:    f000fadf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000036ac:    67e0        .g      STR      r0,[r4,#0x7c]
        0x000036ae:    489b        .H      LDR      r0,[pc,#620] ; [0x391c] = 0x2000018c
        0x000036b0:    4629        )F      MOV      r1,r5
        0x000036b2:    6800        .h      LDR      r0,[r0,#0]
        0x000036b4:    f000fad9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000036b8:    4998        .I      LDR      r1,[pc,#608] ; [0x391c] = 0x2000018c
        0x000036ba:    6008        .`      STR      r0,[r1,#0]
        0x000036bc:    f7fff886    ....    BL       ComputeEuler ; 0x27cc
        0x000036c0:    981f        ..      LDR      r0,[sp,#0x7c]
        0x000036c2:    9000        ..      STR      r0,[sp,#0]
        0x000036c4:    462b        +F      MOV      r3,r5
        0x000036c6:    9a1b        ..      LDR      r2,[sp,#0x6c]
        0x000036c8:    991a        ..      LDR      r1,[sp,#0x68]
        0x000036ca:    9814        ..      LDR      r0,[sp,#0x50]
        0x000036cc:    f7fff94e    ..N.    BL       ComputeMotion ; 0x296c
        0x000036d0:    e4e7        ..      B        0x30a2 ; sensfusion6UpdateQ + 1022
    sensfusion6GetEulerRPY
        0x000036d2:    4b92        .K      LDR      r3,[pc,#584] ; [0x391c] = 0x2000018c
        0x000036d4:    b510        ..      PUSH     {r4,lr}
        0x000036d6:    3b80        .;      SUBS     r3,r3,#0x80
        0x000036d8:    6d9c        .m      LDR      r4,[r3,#0x58]
        0x000036da:    6014        .`      STR      r4,[r2,#0]
        0x000036dc:    6d5a        Zm      LDR      r2,[r3,#0x54]
        0x000036de:    600a        .`      STR      r2,[r1,#0]
        0x000036e0:    6d19        .m      LDR      r1,[r3,#0x50]
        0x000036e2:    6001        .`      STR      r1,[r0,#0]
        0x000036e4:    bd10        ..      POP      {r4,pc}
    sensfusion6GetAccZWithoutGravity
        0x000036e6:    b5f8        ..      PUSH     {r3-r7,lr}
        0x000036e8:    4c8c        .L      LDR      r4,[pc,#560] ; [0x391c] = 0x2000018c
        0x000036ea:    460e        .F      MOV      r6,r1
        0x000036ec:    4607        .F      MOV      r7,r0
        0x000036ee:    3c80        .<      SUBS     r4,r4,#0x80
        0x000036f0:    4610        .F      MOV      r0,r2
        0x000036f2:    6aa1        .j      LDR      r1,[r4,#0x28]
        0x000036f4:    f000fab9    ....    BL       __aeabi_fmul ; 0x3c6a
        0x000036f8:    4605        .F      MOV      r5,r0
        0x000036fa:    4630        0F      MOV      r0,r6
        0x000036fc:    6a61        aj      LDR      r1,[r4,#0x24]
        0x000036fe:    f000fab4    ....    BL       __aeabi_fmul ; 0x3c6a
        0x00003702:    4606        .F      MOV      r6,r0
        0x00003704:    4638        8F      MOV      r0,r7
        0x00003706:    6a21        !j      LDR      r1,[r4,#0x20]
        0x00003708:    f000faaf    ....    BL       __aeabi_fmul ; 0x3c6a
        0x0000370c:    4631        1F      MOV      r1,r6
        0x0000370e:    f000fa53    ..S.    BL       __aeabi_fadd ; 0x3bb8
        0x00003712:    4629        )F      MOV      r1,r5
        0x00003714:    f000fa50    ..P.    BL       __aeabi_fadd ; 0x3bb8
        0x00003718:    217f        .!      MOVS     r1,#0x7f
        0x0000371a:    05c9        ..      LSLS     r1,r1,#23
        0x0000371c:    f000fa9d    ....    BL       __aeabi_fsub ; 0x3c5a
        0x00003720:    bdf8        ..      POP      {r3-r7,pc}
    sensfusion6GetGyro
        0x00003722:    497e        ~I      LDR      r1,[pc,#504] ; [0x391c] = 0x2000018c
        0x00003724:    3980        .9      SUBS     r1,r1,#0x80
        0x00003726:    694a        Ji      LDR      r2,[r1,#0x14]
        0x00003728:    6002        .`      STR      r2,[r0,#0]
        0x0000372a:    698a        .i      LDR      r2,[r1,#0x18]
        0x0000372c:    6042        B`      STR      r2,[r0,#4]
        0x0000372e:    69c9        .i      LDR      r1,[r1,#0x1c]
        0x00003730:    6081        .`      STR      r1,[r0,#8]
        0x00003732:    4770        pG      BX       lr
    sensfusion6GetAcc
        0x00003734:    4979        yI      LDR      r1,[pc,#484] ; [0x391c] = 0x2000018c
        0x00003736:    3980        .9      SUBS     r1,r1,#0x80
        0x00003738:    6b8a        .k      LDR      r2,[r1,#0x38]
        0x0000373a:    6002        .`      STR      r2,[r0,#0]
        0x0000373c:    6bca        .k      LDR      r2,[r1,#0x3c]
        0x0000373e:    6042        B`      STR      r2,[r0,#4]
        0x00003740:    6c09        .l      LDR      r1,[r1,#0x40]
        0x00003742:    6081        .`      STR      r1,[r0,#8]
        0x00003744:    4770        pG      BX       lr
    sensfusion6Getquaternion
        0x00003746:    4975        uI      LDR      r1,[pc,#468] ; [0x391c] = 0x2000018c
        0x00003748:    3980        .9      SUBS     r1,r1,#0x80
        0x0000374a:    6f4a        Jo      LDR      r2,[r1,#0x74]
        0x0000374c:    6002        .`      STR      r2,[r0,#0]
        0x0000374e:    6f8a        .o      LDR      r2,[r1,#0x78]
        0x00003750:    6042        B`      STR      r2,[r0,#4]
        0x00003752:    6fc9        .o      LDR      r1,[r1,#0x7c]
        0x00003754:    6081        .`      STR      r1,[r0,#8]
        0x00003756:    4971        qI      LDR      r1,[pc,#452] ; [0x391c] = 0x2000018c
        0x00003758:    6809        .h      LDR      r1,[r1,#0]
        0x0000375a:    60c1        .`      STR      r1,[r0,#0xc]
        0x0000375c:    4770        pG      BX       lr
    sensfusion6UpdateMagByEuler
        0x0000375e:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00003760:    4c6e        nL      LDR      r4,[pc,#440] ; [0x391c] = 0x2000018c
        0x00003762:    b087        ..      SUB      sp,sp,#0x1c
        0x00003764:    2000        .       MOVS     r0,#0
        0x00003766:    3c80        .<      SUBS     r4,r4,#0x80
        0x00003768:    9000        ..      STR      r0,[sp,#0]
        0x0000376a:    6c60        `l      LDR      r0,[r4,#0x44]
        0x0000376c:    f000fd0e    ....    BL       __aeabi_f2d ; 0x418c
        0x00003770:    f003f99a    ....    BL       sin ; 0x6aa8
        0x00003774:    4d6a        jM      LDR      r5,[pc,#424] ; [0x3920] = 0x20001758
        0x00003776:    4606        .F      MOV      r6,r0
        0x00003778:    460f        .F      MOV      r7,r1
        0x0000377a:    68a8        .h      LDR      r0,[r5,#8]
        0x0000377c:    f000fd06    ....    BL       __aeabi_f2d ; 0x418c
        0x00003780:    4632        2F      MOV      r2,r6
        0x00003782:    463b        ;F      MOV      r3,r7
        0x00003784:    f000fbae    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00003788:    9103        ..      STR      r1,[sp,#0xc]
        0x0000378a:    9002        ..      STR      r0,[sp,#8]
        0x0000378c:    6c60        `l      LDR      r0,[r4,#0x44]
        0x0000378e:    f000fcfd    ....    BL       __aeabi_f2d ; 0x418c
        0x00003792:    f002ffc7    ....    BL       cos ; 0x6724
        0x00003796:    4606        .F      MOV      r6,r0
        0x00003798:    460f        .F      MOV      r7,r1
        0x0000379a:    6868        hh      LDR      r0,[r5,#4]
        0x0000379c:    f000fcf6    ....    BL       __aeabi_f2d ; 0x418c
        0x000037a0:    4632        2F      MOV      r2,r6
        0x000037a2:    463b        ;F      MOV      r3,r7
        0x000037a4:    f000fb9e    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000037a8:    9b03        ..      LDR      r3,[sp,#0xc]
        0x000037aa:    9a02        ..      LDR      r2,[sp,#8]
        0x000037ac:    f000fb8b    ....    BL       __aeabi_dsub ; 0x3ec6
        0x000037b0:    f000fd03    ....    BL       __aeabi_d2f ; 0x41ba
        0x000037b4:    6620         f      STR      r0,[r4,#0x60]
        0x000037b6:    9900        ..      LDR      r1,[sp,#0]
        0x000037b8:    6ca0        .l      LDR      r0,[r4,#0x48]
        0x000037ba:    f000f9fd    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000037be:    f000fce5    ....    BL       __aeabi_f2d ; 0x418c
        0x000037c2:    f003f971    ..q.    BL       sin ; 0x6aa8
        0x000037c6:    4607        .F      MOV      r7,r0
        0x000037c8:    9101        ..      STR      r1,[sp,#4]
        0x000037ca:    6c60        `l      LDR      r0,[r4,#0x44]
        0x000037cc:    f000fcde    ....    BL       __aeabi_f2d ; 0x418c
        0x000037d0:    f002ffa8    ....    BL       cos ; 0x6724
        0x000037d4:    9002        ..      STR      r0,[sp,#8]
        0x000037d6:    460e        .F      MOV      r6,r1
        0x000037d8:    68a8        .h      LDR      r0,[r5,#8]
        0x000037da:    f000fcd7    ....    BL       __aeabi_f2d ; 0x418c
        0x000037de:    4633        3F      MOV      r3,r6
        0x000037e0:    9a02        ..      LDR      r2,[sp,#8]
        0x000037e2:    f000fb7f    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000037e6:    463a        :F      MOV      r2,r7
        0x000037e8:    9b01        ..      LDR      r3,[sp,#4]
        0x000037ea:    f000fb7b    ..{.    BL       __aeabi_dmul ; 0x3ee4
        0x000037ee:    9105        ..      STR      r1,[sp,#0x14]
        0x000037f0:    9004        ..      STR      r0,[sp,#0x10]
        0x000037f2:    6c60        `l      LDR      r0,[r4,#0x44]
        0x000037f4:    f000fcca    ....    BL       __aeabi_f2d ; 0x418c
        0x000037f8:    f003f956    ..V.    BL       sin ; 0x6aa8
        0x000037fc:    4606        .F      MOV      r6,r0
        0x000037fe:    460f        .F      MOV      r7,r1
        0x00003800:    6ca0        .l      LDR      r0,[r4,#0x48]
        0x00003802:    f000fcc3    ....    BL       __aeabi_f2d ; 0x418c
        0x00003806:    f003f94f    ..O.    BL       sin ; 0x6aa8
        0x0000380a:    9103        ..      STR      r1,[sp,#0xc]
        0x0000380c:    9002        ..      STR      r0,[sp,#8]
        0x0000380e:    6868        hh      LDR      r0,[r5,#4]
        0x00003810:    f000fcbc    ....    BL       __aeabi_f2d ; 0x418c
        0x00003814:    9b03        ..      LDR      r3,[sp,#0xc]
        0x00003816:    9a02        ..      LDR      r2,[sp,#8]
        0x00003818:    f000fb64    ..d.    BL       __aeabi_dmul ; 0x3ee4
        0x0000381c:    4632        2F      MOV      r2,r6
        0x0000381e:    463b        ;F      MOV      r3,r7
        0x00003820:    f000fb60    ..`.    BL       __aeabi_dmul ; 0x3ee4
        0x00003824:    4606        .F      MOV      r6,r0
        0x00003826:    460f        .F      MOV      r7,r1
        0x00003828:    9900        ..      LDR      r1,[sp,#0]
        0x0000382a:    6ca0        .l      LDR      r0,[r4,#0x48]
        0x0000382c:    f000f9c4    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003830:    f000fcac    ....    BL       __aeabi_f2d ; 0x418c
        0x00003834:    f002ff76    ..v.    BL       cos ; 0x6724
        0x00003838:    9103        ..      STR      r1,[sp,#0xc]
        0x0000383a:    9002        ..      STR      r0,[sp,#8]
        0x0000383c:    6828        (h      LDR      r0,[r5,#0]
        0x0000383e:    f000fca5    ....    BL       __aeabi_f2d ; 0x418c
        0x00003842:    9b03        ..      LDR      r3,[sp,#0xc]
        0x00003844:    9a02        ..      LDR      r2,[sp,#8]
        0x00003846:    f000fb4d    ..M.    BL       __aeabi_dmul ; 0x3ee4
        0x0000384a:    4632        2F      MOV      r2,r6
        0x0000384c:    463b        ;F      MOV      r3,r7
        0x0000384e:    f000fa95    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00003852:    9b05        ..      LDR      r3,[sp,#0x14]
        0x00003854:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00003856:    f000fa91    ....    BL       __aeabi_dadd ; 0x3d7c
        0x0000385a:    f000fcae    ....    BL       __aeabi_d2f ; 0x41ba
        0x0000385e:    65e0        .e      STR      r0,[r4,#0x5c]
        0x00003860:    6c60        `l      LDR      r0,[r4,#0x44]
        0x00003862:    f000fc93    ....    BL       __aeabi_f2d ; 0x418c
        0x00003866:    f002ff5d    ..].    BL       cos ; 0x6724
        0x0000386a:    9101        ..      STR      r1,[sp,#4]
        0x0000386c:    4607        .F      MOV      r7,r0
        0x0000386e:    9900        ..      LDR      r1,[sp,#0]
        0x00003870:    6ca0        .l      LDR      r0,[r4,#0x48]
        0x00003872:    f000f9a1    ....    BL       __aeabi_fadd ; 0x3bb8
        0x00003876:    f000fc89    ....    BL       __aeabi_f2d ; 0x418c
        0x0000387a:    f002ff53    ..S.    BL       cos ; 0x6724
        0x0000387e:    9002        ..      STR      r0,[sp,#8]
        0x00003880:    460e        .F      MOV      r6,r1
        0x00003882:    68a8        .h      LDR      r0,[r5,#8]
        0x00003884:    f000fc82    ....    BL       __aeabi_f2d ; 0x418c
        0x00003888:    4633        3F      MOV      r3,r6
        0x0000388a:    9a02        ..      LDR      r2,[sp,#8]
        0x0000388c:    f000fb2a    ..*.    BL       __aeabi_dmul ; 0x3ee4
        0x00003890:    463a        :F      MOV      r2,r7
        0x00003892:    9b01        ..      LDR      r3,[sp,#4]
        0x00003894:    f000fb26    ..&.    BL       __aeabi_dmul ; 0x3ee4
        0x00003898:    9105        ..      STR      r1,[sp,#0x14]
        0x0000389a:    9004        ..      STR      r0,[sp,#0x10]
        0x0000389c:    6c60        `l      LDR      r0,[r4,#0x44]
        0x0000389e:    f000fc75    ..u.    BL       __aeabi_f2d ; 0x418c
        0x000038a2:    f003f901    ....    BL       sin ; 0x6aa8
        0x000038a6:    9103        ..      STR      r1,[sp,#0xc]
        0x000038a8:    9002        ..      STR      r0,[sp,#8]
        0x000038aa:    9900        ..      LDR      r1,[sp,#0]
        0x000038ac:    6ca0        .l      LDR      r0,[r4,#0x48]
        0x000038ae:    f000f983    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000038b2:    f000fc6b    ..k.    BL       __aeabi_f2d ; 0x418c
        0x000038b6:    f002ff35    ..5.    BL       cos ; 0x6724
        0x000038ba:    4606        .F      MOV      r6,r0
        0x000038bc:    460f        .F      MOV      r7,r1
        0x000038be:    6868        hh      LDR      r0,[r5,#4]
        0x000038c0:    f000fc64    ..d.    BL       __aeabi_f2d ; 0x418c
        0x000038c4:    4632        2F      MOV      r2,r6
        0x000038c6:    463b        ;F      MOV      r3,r7
        0x000038c8:    f000fb0c    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000038cc:    9b03        ..      LDR      r3,[sp,#0xc]
        0x000038ce:    9a02        ..      LDR      r2,[sp,#8]
        0x000038d0:    f000fb08    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000038d4:    9101        ..      STR      r1,[sp,#4]
        0x000038d6:    4607        .F      MOV      r7,r0
        0x000038d8:    9900        ..      LDR      r1,[sp,#0]
        0x000038da:    6ca0        .l      LDR      r0,[r4,#0x48]
        0x000038dc:    f000f96c    ..l.    BL       __aeabi_fadd ; 0x3bb8
        0x000038e0:    f000fc54    ..T.    BL       __aeabi_f2d ; 0x418c
        0x000038e4:    f003f8e0    ....    BL       sin ; 0x6aa8
        0x000038e8:    460e        .F      MOV      r6,r1
        0x000038ea:    9000        ..      STR      r0,[sp,#0]
        0x000038ec:    2101        .!      MOVS     r1,#1
        0x000038ee:    6828        (h      LDR      r0,[r5,#0]
        0x000038f0:    07c9        ..      LSLS     r1,r1,#31
        0x000038f2:    4048        H@      EORS     r0,r0,r1
        0x000038f4:    f000fc4a    ..J.    BL       __aeabi_f2d ; 0x418c
        0x000038f8:    4633        3F      MOV      r3,r6
        0x000038fa:    9a00        ..      LDR      r2,[sp,#0]
        0x000038fc:    f000faf2    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00003900:    463a        :F      MOV      r2,r7
        0x00003902:    9b01        ..      LDR      r3,[sp,#4]
        0x00003904:    f000fa3a    ..:.    BL       __aeabi_dadd ; 0x3d7c
        0x00003908:    9b05        ..      LDR      r3,[sp,#0x14]
        0x0000390a:    9a04        ..      LDR      r2,[sp,#0x10]
        0x0000390c:    f000fa36    ..6.    BL       __aeabi_dadd ; 0x3d7c
        0x00003910:    f000fc53    ..S.    BL       __aeabi_d2f ; 0x41ba
        0x00003914:    6660        `f      STR      r0,[r4,#0x64]
        0x00003916:    b007        ..      ADD      sp,sp,#0x1c
        0x00003918:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x0000391a:    0000        ..      DCW    0
        0x0000391c:    2000018c    ...     DCD    536871308
        0x00003920:    20001758    X..     DCD    536876888
    $t
    caculate_mag_degree
        0x00003924:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00003926:    4c63        cL      LDR      r4,[pc,#396] ; [0x3ab4] = 0x2000010c
        0x00003928:    6de0        .m      LDR      r0,[r4,#0x5c]
        0x0000392a:    f000fc2f    ../.    BL       __aeabi_f2d ; 0x418c
        0x0000392e:    4605        .F      MOV      r5,r0
        0x00003930:    460e        .F      MOV      r6,r1
        0x00003932:    2101        .!      MOVS     r1,#1
        0x00003934:    6e20         n      LDR      r0,[r4,#0x60]
        0x00003936:    07c9        ..      LSLS     r1,r1,#31
        0x00003938:    4048        H@      EORS     r0,r0,r1
        0x0000393a:    f000fc27    ..'.    BL       __aeabi_f2d ; 0x418c
        0x0000393e:    462a        *F      MOV      r2,r5
        0x00003940:    4633        3F      MOV      r3,r6
        0x00003942:    f002fe33    ..3.    BL       atan2 ; 0x65ac
        0x00003946:    f000fc38    ..8.    BL       __aeabi_d2f ; 0x41ba
        0x0000394a:    4605        .F      MOV      r5,r0
        0x0000394c:    6de0        .m      LDR      r0,[r4,#0x5c]
        0x0000394e:    f000fc1d    ....    BL       __aeabi_f2d ; 0x418c
        0x00003952:    4606        .F      MOV      r6,r0
        0x00003954:    460f        .F      MOV      r7,r1
        0x00003956:    6e60        `n      LDR      r0,[r4,#0x64]
        0x00003958:    f000fc18    ....    BL       __aeabi_f2d ; 0x418c
        0x0000395c:    4632        2F      MOV      r2,r6
        0x0000395e:    463b        ;F      MOV      r3,r7
        0x00003960:    f002fe24    ..$.    BL       atan2 ; 0x65ac
        0x00003964:    f000fc29    ..).    BL       __aeabi_d2f ; 0x41ba
        0x00003968:    4606        .F      MOV      r6,r0
        0x0000396a:    6e60        `n      LDR      r0,[r4,#0x64]
        0x0000396c:    f000fc0e    ....    BL       __aeabi_f2d ; 0x418c
        0x00003970:    9100        ..      STR      r1,[sp,#0]
        0x00003972:    4607        .F      MOV      r7,r0
        0x00003974:    2101        .!      MOVS     r1,#1
        0x00003976:    6e20         n      LDR      r0,[r4,#0x60]
        0x00003978:    07c9        ..      LSLS     r1,r1,#31
        0x0000397a:    4048        H@      EORS     r0,r0,r1
        0x0000397c:    f000fc06    ....    BL       __aeabi_f2d ; 0x418c
        0x00003980:    463a        :F      MOV      r2,r7
        0x00003982:    9b00        ..      LDR      r3,[sp,#0]
        0x00003984:    f002fe12    ....    BL       atan2 ; 0x65ac
        0x00003988:    f000fc17    ....    BL       __aeabi_d2f ; 0x41ba
        0x0000398c:    4604        .F      MOV      r4,r0
        0x0000398e:    20ff        .       MOVS     r0,#0xff
        0x00003990:    05c0        ..      LSLS     r0,r0,#23
        0x00003992:    4f49        IO      LDR      r7,[pc,#292] ; [0x3ab8] = 0x40c90fdb
        0x00003994:    42c5        .B      CMN      r5,r0
        0x00003996:    d304        ..      BCC      0x39a2 ; caculate_mag_degree + 126
        0x00003998:    4639        9F      MOV      r1,r7
        0x0000399a:    4628        (F      MOV      r0,r5
        0x0000399c:    f000f90c    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000039a0:    4605        .F      MOV      r5,r0
        0x000039a2:    42bd        .B      CMP      r5,r7
        0x000039a4:    dd04        ..      BLE      0x39b0 ; caculate_mag_degree + 140
        0x000039a6:    4639        9F      MOV      r1,r7
        0x000039a8:    4628        (F      MOV      r0,r5
        0x000039aa:    f000f956    ..V.    BL       __aeabi_fsub ; 0x3c5a
        0x000039ae:    4605        .F      MOV      r5,r0
        0x000039b0:    20ff        .       MOVS     r0,#0xff
        0x000039b2:    05c0        ..      LSLS     r0,r0,#23
        0x000039b4:    42c6        .B      CMN      r6,r0
        0x000039b6:    d304        ..      BCC      0x39c2 ; caculate_mag_degree + 158
        0x000039b8:    4639        9F      MOV      r1,r7
        0x000039ba:    4630        0F      MOV      r0,r6
        0x000039bc:    f000f8fc    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000039c0:    4606        .F      MOV      r6,r0
        0x000039c2:    42be        .B      CMP      r6,r7
        0x000039c4:    dd04        ..      BLE      0x39d0 ; caculate_mag_degree + 172
        0x000039c6:    4639        9F      MOV      r1,r7
        0x000039c8:    4630        0F      MOV      r0,r6
        0x000039ca:    f000f946    ..F.    BL       __aeabi_fsub ; 0x3c5a
        0x000039ce:    4606        .F      MOV      r6,r0
        0x000039d0:    20ff        .       MOVS     r0,#0xff
        0x000039d2:    05c0        ..      LSLS     r0,r0,#23
        0x000039d4:    42c4        .B      CMN      r4,r0
        0x000039d6:    d304        ..      BCC      0x39e2 ; caculate_mag_degree + 190
        0x000039d8:    4639        9F      MOV      r1,r7
        0x000039da:    4620         F      MOV      r0,r4
        0x000039dc:    f000f8ec    ....    BL       __aeabi_fadd ; 0x3bb8
        0x000039e0:    4604        .F      MOV      r4,r0
        0x000039e2:    4639        9F      MOV      r1,r7
        0x000039e4:    428c        .B      CMP      r4,r1
        0x000039e6:    dd03        ..      BLE      0x39f0 ; caculate_mag_degree + 204
        0x000039e8:    4620         F      MOV      r0,r4
        0x000039ea:    f000f936    ..6.    BL       __aeabi_fsub ; 0x3c5a
        0x000039ee:    4604        .F      MOV      r4,r0
        0x000039f0:    4f32        2O      LDR      r7,[pc,#200] ; [0x3abc] = 0x43340000
        0x000039f2:    4628        (F      MOV      r0,r5
        0x000039f4:    4639        9F      MOV      r1,r7
        0x000039f6:    f000f938    ..8.    BL       __aeabi_fmul ; 0x3c6a
        0x000039fa:    4931        1I      LDR      r1,[pc,#196] ; [0x3ac0] = 0x40490fdb
        0x000039fc:    f000f972    ..r.    BL       __aeabi_fdiv ; 0x3ce4
        0x00003a00:    4d2c        ,M      LDR      r5,[pc,#176] ; [0x3ab4] = 0x2000010c
        0x00003a02:    4639        9F      MOV      r1,r7
        0x00003a04:    66a8        .f      STR      r0,[r5,#0x68]
        0x00003a06:    4630        0F      MOV      r0,r6
        0x00003a08:    f000f92f    ../.    BL       __aeabi_fmul ; 0x3c6a
        0x00003a0c:    492c        ,I      LDR      r1,[pc,#176] ; [0x3ac0] = 0x40490fdb
        0x00003a0e:    f000f969    ..i.    BL       __aeabi_fdiv ; 0x3ce4
        0x00003a12:    66e8        .f      STR      r0,[r5,#0x6c]
        0x00003a14:    4639        9F      MOV      r1,r7
        0x00003a16:    4620         F      MOV      r0,r4
        0x00003a18:    f000f927    ..'.    BL       __aeabi_fmul ; 0x3c6a
        0x00003a1c:    4928        (I      LDR      r1,[pc,#160] ; [0x3ac0] = 0x40490fdb
        0x00003a1e:    f000f961    ..a.    BL       __aeabi_fdiv ; 0x3ce4
        0x00003a22:    6728        (g      STR      r0,[r5,#0x70]
        0x00003a24:    bdf8        ..      POP      {r3-r7,pc}
    sensfusion6GetMagEuler
        0x00003a26:    4923        #I      LDR      r1,[pc,#140] ; [0x3ab4] = 0x2000010c
        0x00003a28:    6dca        .m      LDR      r2,[r1,#0x5c]
        0x00003a2a:    6002        .`      STR      r2,[r0,#0]
        0x00003a2c:    6e0a        .n      LDR      r2,[r1,#0x60]
        0x00003a2e:    6042        B`      STR      r2,[r0,#4]
        0x00003a30:    6e49        In      LDR      r1,[r1,#0x64]
        0x00003a32:    6081        .`      STR      r1,[r0,#8]
        0x00003a34:    4770        pG      BX       lr
    sensfusion6GetNormMag
        0x00003a36:    4923        #I      LDR      r1,[pc,#140] ; [0x3ac4] = 0x20001758
        0x00003a38:    680a        .h      LDR      r2,[r1,#0]
        0x00003a3a:    6002        .`      STR      r2,[r0,#0]
        0x00003a3c:    684a        Jh      LDR      r2,[r1,#4]
        0x00003a3e:    6042        B`      STR      r2,[r0,#4]
        0x00003a40:    6889        .h      LDR      r1,[r1,#8]
        0x00003a42:    6081        .`      STR      r1,[r0,#8]
        0x00003a44:    4770        pG      BX       lr
    sensfusion6GetMagDegree
        0x00003a46:    b510        ..      PUSH     {r4,lr}
        0x00003a48:    4604        .F      MOV      r4,r0
        0x00003a4a:    f7ffff6b    ..k.    BL       caculate_mag_degree ; 0x3924
        0x00003a4e:    4819        .H      LDR      r0,[pc,#100] ; [0x3ab4] = 0x2000010c
        0x00003a50:    6e81        .n      LDR      r1,[r0,#0x68]
        0x00003a52:    6021        !`      STR      r1,[r4,#0]
        0x00003a54:    6ec1        .n      LDR      r1,[r0,#0x6c]
        0x00003a56:    6061        a`      STR      r1,[r4,#4]
        0x00003a58:    6f00        .o      LDR      r0,[r0,#0x70]
        0x00003a5a:    60a0        .`      STR      r0,[r4,#8]
        0x00003a5c:    bd10        ..      POP      {r4,pc}
    sensfusion6GetGyroDeg
        0x00003a5e:    4915        .I      LDR      r1,[pc,#84] ; [0x3ab4] = 0x2000010c
        0x00003a60:    6aca        .j      LDR      r2,[r1,#0x2c]
        0x00003a62:    6002        .`      STR      r2,[r0,#0]
        0x00003a64:    6b0a        .k      LDR      r2,[r1,#0x30]
        0x00003a66:    6042        B`      STR      r2,[r0,#4]
        0x00003a68:    6b49        Ik      LDR      r1,[r1,#0x34]
        0x00003a6a:    6081        .`      STR      r1,[r0,#8]
        0x00003a6c:    4770        pG      BX       lr
    sensfusion6GetVelocity
        0x00003a6e:    4915        .I      LDR      r1,[pc,#84] ; [0x3ac4] = 0x20001758
        0x00003a70:    3930        09      SUBS     r1,r1,#0x30
        0x00003a72:    680a        .h      LDR      r2,[r1,#0]
        0x00003a74:    6002        .`      STR      r2,[r0,#0]
        0x00003a76:    684a        Jh      LDR      r2,[r1,#4]
        0x00003a78:    6042        B`      STR      r2,[r0,#4]
        0x00003a7a:    6889        .h      LDR      r1,[r1,#8]
        0x00003a7c:    6081        .`      STR      r1,[r0,#8]
        0x00003a7e:    4770        pG      BX       lr
    sensfusion6GetMove
        0x00003a80:    4910        .I      LDR      r1,[pc,#64] ; [0x3ac4] = 0x20001758
        0x00003a82:    3954        T9      SUBS     r1,r1,#0x54
        0x00003a84:    680a        .h      LDR      r2,[r1,#0]
        0x00003a86:    6002        .`      STR      r2,[r0,#0]
        0x00003a88:    684a        Jh      LDR      r2,[r1,#4]
        0x00003a8a:    6042        B`      STR      r2,[r0,#4]
        0x00003a8c:    6889        .h      LDR      r1,[r1,#8]
        0x00003a8e:    6081        .`      STR      r1,[r0,#8]
        0x00003a90:    4770        pG      BX       lr
    sensfusion6SetMove
        0x00003a92:    490c        .I      LDR      r1,[pc,#48] ; [0x3ac4] = 0x20001758
        0x00003a94:    6802        .h      LDR      r2,[r0,#0]
        0x00003a96:    3954        T9      SUBS     r1,r1,#0x54
        0x00003a98:    600a        .`      STR      r2,[r1,#0]
        0x00003a9a:    6842        Bh      LDR      r2,[r0,#4]
        0x00003a9c:    604a        J`      STR      r2,[r1,#4]
        0x00003a9e:    6880        .h      LDR      r0,[r0,#8]
        0x00003aa0:    6088        .`      STR      r0,[r1,#8]
        0x00003aa2:    4770        pG      BX       lr
    sensfusion6ResetMove
        0x00003aa4:    4807        .H      LDR      r0,[pc,#28] ; [0x3ac4] = 0x20001758
        0x00003aa6:    2100        .!      MOVS     r1,#0
        0x00003aa8:    3854        T8      SUBS     r0,r0,#0x54
        0x00003aaa:    6001        .`      STR      r1,[r0,#0]
        0x00003aac:    6041        A`      STR      r1,[r0,#4]
        0x00003aae:    6081        .`      STR      r1,[r0,#8]
        0x00003ab0:    4770        pG      BX       lr
    $d
        0x00003ab2:    0000        ..      DCW    0
        0x00003ab4:    2000010c    ...     DCD    536871180
        0x00003ab8:    40c90fdb    ...@    DCD    1086918619
        0x00003abc:    43340000    ..4C    DCD    1127481344
        0x00003ac0:    40490fdb    ..I@    DCD    1078530011
        0x00003ac4:    20001758    X..     DCD    536876888
    $t
    .text
    __aeabi_uidiv
    __aeabi_uidivmod
        0x00003ac8:    b530        0.      PUSH     {r4,r5,lr}
        0x00003aca:    460b        .F      MOV      r3,r1
        0x00003acc:    4601        .F      MOV      r1,r0
        0x00003ace:    2000        .       MOVS     r0,#0
        0x00003ad0:    2220         "      MOVS     r2,#0x20
        0x00003ad2:    2401        .$      MOVS     r4,#1
        0x00003ad4:    e009        ..      B        0x3aea ; __aeabi_uidiv + 34
        0x00003ad6:    460d        .F      MOV      r5,r1
        0x00003ad8:    40d5        .@      LSRS     r5,r5,r2
        0x00003ada:    429d        .B      CMP      r5,r3
        0x00003adc:    d305        ..      BCC      0x3aea ; __aeabi_uidiv + 34
        0x00003ade:    461d        .F      MOV      r5,r3
        0x00003ae0:    4095        .@      LSLS     r5,r5,r2
        0x00003ae2:    1b49        I.      SUBS     r1,r1,r5
        0x00003ae4:    4625        %F      MOV      r5,r4
        0x00003ae6:    4095        .@      LSLS     r5,r5,r2
        0x00003ae8:    1940        @.      ADDS     r0,r0,r5
        0x00003aea:    4615        .F      MOV      r5,r2
        0x00003aec:    1e52        R.      SUBS     r2,r2,#1
        0x00003aee:    2d00        .-      CMP      r5,#0
        0x00003af0:    dcf1        ..      BGT      0x3ad6 ; __aeabi_uidiv + 14
        0x00003af2:    bd30        0.      POP      {r4,r5,pc}
    .text
    __aeabi_idiv
    __aeabi_idivmod
        0x00003af4:    b570        p.      PUSH     {r4-r6,lr}
        0x00003af6:    2400        .$      MOVS     r4,#0
        0x00003af8:    4625        %F      MOV      r5,r4
        0x00003afa:    2800        .(      CMP      r0,#0
        0x00003afc:    da01        ..      BGE      0x3b02 ; __aeabi_idiv + 14
        0x00003afe:    2401        .$      MOVS     r4,#1
        0x00003b00:    4240        @B      RSBS     r0,r0,#0
        0x00003b02:    2900        .)      CMP      r1,#0
        0x00003b04:    da01        ..      BGE      0x3b0a ; __aeabi_idiv + 22
        0x00003b06:    2501        .%      MOVS     r5,#1
        0x00003b08:    4249        IB      RSBS     r1,r1,#0
        0x00003b0a:    f7ffffdd    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00003b0e:    42ac        .B      CMP      r4,r5
        0x00003b10:    d000        ..      BEQ      0x3b14 ; __aeabi_idiv + 32
        0x00003b12:    4240        @B      RSBS     r0,r0,#0
        0x00003b14:    2c00        .,      CMP      r4,#0
        0x00003b16:    d000        ..      BEQ      0x3b1a ; __aeabi_idiv + 38
        0x00003b18:    4249        IB      RSBS     r1,r1,#0
        0x00003b1a:    bd70        p.      POP      {r4-r6,pc}
    .text
    __aeabi_uldivmod
        0x00003b1c:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00003b1e:    b41f        ..      PUSH     {r0-r4}
        0x00003b20:    2700        .'      MOVS     r7,#0
        0x00003b22:    b082        ..      SUB      sp,sp,#8
        0x00003b24:    4605        .F      MOV      r5,r0
        0x00003b26:    460e        .F      MOV      r6,r1
        0x00003b28:    2440        @$      MOVS     r4,#0x40
        0x00003b2a:    9700        ..      STR      r7,[sp,#0]
        0x00003b2c:    e019        ..      B        0x3b62 ; __aeabi_uldivmod + 70
        0x00003b2e:    4622        "F      MOV      r2,r4
        0x00003b30:    4628        (F      MOV      r0,r5
        0x00003b32:    4631        1F      MOV      r1,r6
        0x00003b34:    f000fb82    ....    BL       __aeabi_llsr ; 0x423c
        0x00003b38:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00003b3a:    9b05        ..      LDR      r3,[sp,#0x14]
        0x00003b3c:    1a80        ..      SUBS     r0,r0,r2
        0x00003b3e:    4199        .A      SBCS     r1,r1,r3
        0x00003b40:    d30f        ..      BCC      0x3b62 ; __aeabi_uldivmod + 70
        0x00003b42:    4610        .F      MOV      r0,r2
        0x00003b44:    4619        .F      MOV      r1,r3
        0x00003b46:    4622        "F      MOV      r2,r4
        0x00003b48:    f000fb68    ..h.    BL       __aeabi_llsl ; 0x421c
        0x00003b4c:    1a2d        -.      SUBS     r5,r5,r0
        0x00003b4e:    418e        .A      SBCS     r6,r6,r1
        0x00003b50:    4622        "F      MOV      r2,r4
        0x00003b52:    2001        .       MOVS     r0,#1
        0x00003b54:    2100        .!      MOVS     r1,#0
        0x00003b56:    f000fb61    ..a.    BL       __aeabi_llsl ; 0x421c
        0x00003b5a:    9a00        ..      LDR      r2,[sp,#0]
        0x00003b5c:    183f        ?.      ADDS     r7,r7,r0
        0x00003b5e:    414a        JA      ADCS     r2,r2,r1
        0x00003b60:    9200        ..      STR      r2,[sp,#0]
        0x00003b62:    4620         F      MOV      r0,r4
        0x00003b64:    1e64        d.      SUBS     r4,r4,#1
        0x00003b66:    2800        .(      CMP      r0,#0
        0x00003b68:    dce1        ..      BGT      0x3b2e ; __aeabi_uldivmod + 18
        0x00003b6a:    9900        ..      LDR      r1,[sp,#0]
        0x00003b6c:    4638        8F      MOV      r0,r7
        0x00003b6e:    462a        *F      MOV      r2,r5
        0x00003b70:    4633        3F      MOV      r3,r6
        0x00003b72:    b007        ..      ADD      sp,sp,#0x1c
        0x00003b74:    bdf0        ..      POP      {r4-r7,pc}
    .text
    __aeabi_memcpy
    __aeabi_memcpy4
    __aeabi_memcpy8
        0x00003b76:    4603        .F      MOV      r3,r0
        0x00003b78:    430b        .C      ORRS     r3,r3,r1
        0x00003b7a:    079b        ..      LSLS     r3,r3,#30
        0x00003b7c:    d003        ..      BEQ      0x3b86 ; __aeabi_memcpy + 16
        0x00003b7e:    e009        ..      B        0x3b94 ; __aeabi_memcpy + 30
        0x00003b80:    c908        ..      LDM      r1!,{r3}
        0x00003b82:    1f12        ..      SUBS     r2,r2,#4
        0x00003b84:    c008        ..      STM      r0!,{r3}
        0x00003b86:    2a04        .*      CMP      r2,#4
        0x00003b88:    d2fa        ..      BCS      0x3b80 ; __aeabi_memcpy + 10
        0x00003b8a:    e003        ..      B        0x3b94 ; __aeabi_memcpy + 30
        0x00003b8c:    780b        .x      LDRB     r3,[r1,#0]
        0x00003b8e:    1c49        I.      ADDS     r1,r1,#1
        0x00003b90:    7003        .p      STRB     r3,[r0,#0]
        0x00003b92:    1c40        @.      ADDS     r0,r0,#1
        0x00003b94:    1e52        R.      SUBS     r2,r2,#1
        0x00003b96:    d2f9        ..      BCS      0x3b8c ; __aeabi_memcpy + 22
        0x00003b98:    4770        pG      BX       lr
    .text
    strncmp
        0x00003b9a:    b530        0.      PUSH     {r4,r5,lr}
        0x00003b9c:    4605        .F      MOV      r5,r0
        0x00003b9e:    2000        .       MOVS     r0,#0
        0x00003ba0:    4603        .F      MOV      r3,r0
        0x00003ba2:    e000        ..      B        0x3ba6 ; strncmp + 12
        0x00003ba4:    1c5b        [.      ADDS     r3,r3,#1
        0x00003ba6:    4293        .B      CMP      r3,r2
        0x00003ba8:    d205        ..      BCS      0x3bb6 ; strncmp + 28
        0x00003baa:    5cec        .\      LDRB     r4,[r5,r3]
        0x00003bac:    5cc8        .\      LDRB     r0,[r1,r3]
        0x00003bae:    1a20         .      SUBS     r0,r4,r0
        0x00003bb0:    d101        ..      BNE      0x3bb6 ; strncmp + 28
        0x00003bb2:    2c00        .,      CMP      r4,#0
        0x00003bb4:    d1f6        ..      BNE      0x3ba4 ; strncmp + 10
        0x00003bb6:    bd30        0.      POP      {r4,r5,pc}
    .text
    __aeabi_fadd
        0x00003bb8:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00003bba:    4602        .F      MOV      r2,r0
        0x00003bbc:    404a        J@      EORS     r2,r2,r1
        0x00003bbe:    0fd4        ..      LSRS     r4,r2,#31
        0x00003bc0:    0042        B.      LSLS     r2,r0,#1
        0x00003bc2:    004b        K.      LSLS     r3,r1,#1
        0x00003bc4:    0852        R.      LSRS     r2,r2,#1
        0x00003bc6:    085b        [.      LSRS     r3,r3,#1
        0x00003bc8:    429a        .B      CMP      r2,r3
        0x00003bca:    d202        ..      BCS      0x3bd2 ; __aeabi_fadd + 26
        0x00003bcc:    4602        .F      MOV      r2,r0
        0x00003bce:    4608        .F      MOV      r0,r1
        0x00003bd0:    4611        .F      MOV      r1,r2
        0x00003bd2:    004a        J.      LSLS     r2,r1,#1
        0x00003bd4:    d023        #.      BEQ      0x3c1e ; __aeabi_fadd + 102
        0x00003bd6:    0dc3        ..      LSRS     r3,r0,#23
        0x00003bd8:    004a        J.      LSLS     r2,r1,#1
        0x00003bda:    b2dd        ..      UXTB     r5,r3
        0x00003bdc:    0e12        ..      LSRS     r2,r2,#24
        0x00003bde:    1aad        ..      SUBS     r5,r5,r2
        0x00003be0:    2d20         -      CMP      r5,#0x20
        0x00003be2:    da35        5.      BGE      0x3c50 ; __aeabi_fadd + 152
        0x00003be4:    0249        I.      LSLS     r1,r1,#9
        0x00003be6:    2601        .&      MOVS     r6,#1
        0x00003be8:    0a49        I.      LSRS     r1,r1,#9
        0x00003bea:    05f6        ..      LSLS     r6,r6,#23
        0x00003bec:    198a        ..      ADDS     r2,r1,r6
        0x00003bee:    2c00        .,      CMP      r4,#0
        0x00003bf0:    d000        ..      BEQ      0x3bf4 ; __aeabi_fadd + 60
        0x00003bf2:    4252        RB      RSBS     r2,r2,#0
        0x00003bf4:    2120         !      MOVS     r1,#0x20
        0x00003bf6:    1b4f        O.      SUBS     r7,r1,r5
        0x00003bf8:    4611        .F      MOV      r1,r2
        0x00003bfa:    40b9        .@      LSLS     r1,r1,r7
        0x00003bfc:    412a        *A      ASRS     r2,r2,r5
        0x00003bfe:    1810        ..      ADDS     r0,r2,r0
        0x00003c00:    0dc2        ..      LSRS     r2,r0,#23
        0x00003c02:    429a        .B      CMP      r2,r3
        0x00003c04:    d021        !.      BEQ      0x3c4a ; __aeabi_fadd + 146
        0x00003c06:    2c00        .,      CMP      r4,#0
        0x00003c08:    d017        ..      BEQ      0x3c3a ; __aeabi_fadd + 130
        0x00003c0a:    2d01        .-      CMP      r5,#1
        0x00003c0c:    dc08        ..      BGT      0x3c20 ; __aeabi_fadd + 104
        0x00003c0e:    05da        ..      LSLS     r2,r3,#23
        0x00003c10:    1a80        ..      SUBS     r0,r0,r2
        0x00003c12:    0fd2        ..      LSRS     r2,r2,#31
        0x00003c14:    1980        ..      ADDS     r0,r0,r6
        0x00003c16:    07d2        ..      LSLS     r2,r2,#31
        0x00003c18:    b2db        ..      UXTB     r3,r3
        0x00003c1a:    f000fb3b    ..;.    BL       _float_epilogue ; 0x4294
        0x00003c1e:    bdf8        ..      POP      {r3-r7,pc}
        0x00003c20:    05da        ..      LSLS     r2,r3,#23
        0x00003c22:    1a80        ..      SUBS     r0,r0,r2
        0x00003c24:    2301        .#      MOVS     r3,#1
        0x00003c26:    0040        @.      LSLS     r0,r0,#1
        0x00003c28:    061b        ..      LSLS     r3,r3,#24
        0x00003c2a:    18c0        ..      ADDS     r0,r0,r3
        0x00003c2c:    1880        ..      ADDS     r0,r0,r2
        0x00003c2e:    425a        ZB      RSBS     r2,r3,#0
        0x00003c30:    1880        ..      ADDS     r0,r0,r2
        0x00003c32:    0fca        ..      LSRS     r2,r1,#31
        0x00003c34:    4310        .C      ORRS     r0,r0,r2
        0x00003c36:    0049        I.      LSLS     r1,r1,#1
        0x00003c38:    e007        ..      B        0x3c4a ; __aeabi_fadd + 146
        0x00003c3a:    0849        I.      LSRS     r1,r1,#1
        0x00003c3c:    07c2        ..      LSLS     r2,r0,#31
        0x00003c3e:    4311        .C      ORRS     r1,r1,r2
        0x00003c40:    05da        ..      LSLS     r2,r3,#23
        0x00003c42:    1a80        ..      SUBS     r0,r0,r2
        0x00003c44:    1980        ..      ADDS     r0,r0,r6
        0x00003c46:    0840        @.      LSRS     r0,r0,#1
        0x00003c48:    1880        ..      ADDS     r0,r0,r2
        0x00003c4a:    f000fb1b    ....    BL       __I$use$fp ; 0x4284
        0x00003c4e:    bdf8        ..      POP      {r3-r7,pc}
        0x00003c50:    0061        a.      LSLS     r1,r4,#1
        0x00003c52:    2201        ."      MOVS     r2,#1
        0x00003c54:    1a51        Q.      SUBS     r1,r2,r1
        0x00003c56:    1b00        ..      SUBS     r0,r0,r4
        0x00003c58:    e7f7        ..      B        0x3c4a ; __aeabi_fadd + 146
    __aeabi_fsub
        0x00003c5a:    2201        ."      MOVS     r2,#1
        0x00003c5c:    07d2        ..      LSLS     r2,r2,#31
        0x00003c5e:    4051        Q@      EORS     r1,r1,r2
        0x00003c60:    e7aa        ..      B        __aeabi_fadd ; 0x3bb8
    __aeabi_frsub
        0x00003c62:    2201        ."      MOVS     r2,#1
        0x00003c64:    07d2        ..      LSLS     r2,r2,#31
        0x00003c66:    4050        P@      EORS     r0,r0,r2
        0x00003c68:    e7a6        ..      B        __aeabi_fadd ; 0x3bb8
    .text
    __aeabi_fmul
        0x00003c6a:    4602        .F      MOV      r2,r0
        0x00003c6c:    b570        p.      PUSH     {r4-r6,lr}
        0x00003c6e:    404a        J@      EORS     r2,r2,r1
        0x00003c70:    0fd3        ..      LSRS     r3,r2,#31
        0x00003c72:    07db        ..      LSLS     r3,r3,#31
        0x00003c74:    0040        @.      LSLS     r0,r0,#1
        0x00003c76:    d02d        -.      BEQ      0x3cd4 ; __aeabi_fmul + 106
        0x00003c78:    004a        J.      LSLS     r2,r1,#1
        0x00003c7a:    d02a        *.      BEQ      0x3cd2 ; __aeabi_fmul + 104
        0x00003c7c:    0e01        ..      LSRS     r1,r0,#24
        0x00003c7e:    0e14        ..      LSRS     r4,r2,#24
        0x00003c80:    1909        ..      ADDS     r1,r1,r4
        0x00003c82:    0200        ..      LSLS     r0,r0,#8
        0x00003c84:    0212        ..      LSLS     r2,r2,#8
        0x00003c86:    0a40        @.      LSRS     r0,r0,#9
        0x00003c88:    0a52        R.      LSRS     r2,r2,#9
        0x00003c8a:    1884        ..      ADDS     r4,r0,r2
        0x00003c8c:    01e5        ..      LSLS     r5,r4,#7
        0x00003c8e:    4604        .F      MOV      r4,r0
        0x00003c90:    4354        TC      MULS     r4,r2,r4
        0x00003c92:    0a00        ..      LSRS     r0,r0,#8
        0x00003c94:    0a12        ..      LSRS     r2,r2,#8
        0x00003c96:    042e        ..      LSLS     r6,r5,#16
        0x00003c98:    4350        PC      MULS     r0,r2,r0
        0x00003c9a:    19a4        ..      ADDS     r4,r4,r6
        0x00003c9c:    1942        B.      ADDS     r2,r0,r5
        0x00003c9e:    0c20         .      LSRS     r0,r4,#16
        0x00003ca0:    43c5        .C      MVNS     r5,r0
        0x00003ca2:    18aa        ..      ADDS     r2,r5,r2
        0x00003ca4:    0c12        ..      LSRS     r2,r2,#16
        0x00003ca6:    2501        .%      MOVS     r5,#1
        0x00003ca8:    397f        .9      SUBS     r1,r1,#0x7f
        0x00003caa:    1c52        R.      ADDS     r2,r2,#1
        0x00003cac:    03ad        ..      LSLS     r5,r5,#14
        0x00003cae:    1952        R.      ADDS     r2,r2,r5
        0x00003cb0:    0412        ..      LSLS     r2,r2,#16
        0x00003cb2:    0424        $.      LSLS     r4,r4,#16
        0x00003cb4:    d000        ..      BEQ      0x3cb8 ; __aeabi_fmul + 78
        0x00003cb6:    1c52        R.      ADDS     r2,r2,#1
        0x00003cb8:    4310        .C      ORRS     r0,r0,r2
        0x00003cba:    d401        ..      BMI      0x3cc0 ; __aeabi_fmul + 86
        0x00003cbc:    0040        @.      LSLS     r0,r0,#1
        0x00003cbe:    1e49        I.      SUBS     r1,r1,#1
        0x00003cc0:    b2c2        ..      UXTB     r2,r0
        0x00003cc2:    060c        ..      LSLS     r4,r1,#24
        0x00003cc4:    09c0        ..      LSRS     r0,r0,#7
        0x00003cc6:    1820         .      ADDS     r0,r4,r0
        0x00003cc8:    1c40        @.      ADDS     r0,r0,#1
        0x00003cca:    0840        @.      LSRS     r0,r0,#1
        0x00003ccc:    2a80        .*      CMP      r2,#0x80
        0x00003cce:    d002        ..      BEQ      0x3cd6 ; __aeabi_fmul + 108
        0x00003cd0:    e003        ..      B        0x3cda ; __aeabi_fmul + 112
        0x00003cd2:    2000        .       MOVS     r0,#0
        0x00003cd4:    bd70        p.      POP      {r4-r6,pc}
        0x00003cd6:    0840        @.      LSRS     r0,r0,#1
        0x00003cd8:    0040        @.      LSLS     r0,r0,#1
        0x00003cda:    2900        .)      CMP      r1,#0
        0x00003cdc:    da00        ..      BGE      0x3ce0 ; __aeabi_fmul + 118
        0x00003cde:    2000        .       MOVS     r0,#0
        0x00003ce0:    4318        .C      ORRS     r0,r0,r3
        0x00003ce2:    bd70        p.      POP      {r4-r6,pc}
    .text
    __aeabi_fdiv
        0x00003ce4:    b570        p.      PUSH     {r4-r6,lr}
        0x00003ce6:    4602        .F      MOV      r2,r0
        0x00003ce8:    404a        J@      EORS     r2,r2,r1
        0x00003cea:    0fd5        ..      LSRS     r5,r2,#31
        0x00003cec:    0040        @.      LSLS     r0,r0,#1
        0x00003cee:    004a        J.      LSLS     r2,r1,#1
        0x00003cf0:    07ed        ..      LSLS     r5,r5,#31
        0x00003cf2:    0840        @.      LSRS     r0,r0,#1
        0x00003cf4:    0852        R.      LSRS     r2,r2,#1
        0x00003cf6:    2800        .(      CMP      r0,#0
        0x00003cf8:    d016        ..      BEQ      0x3d28 ; __aeabi_fdiv + 68
        0x00003cfa:    2a00        .*      CMP      r2,#0
        0x00003cfc:    d014        ..      BEQ      0x3d28 ; __aeabi_fdiv + 68
        0x00003cfe:    0041        A.      LSLS     r1,r0,#1
        0x00003d00:    0e0c        ..      LSRS     r4,r1,#24
        0x00003d02:    0051        Q.      LSLS     r1,r2,#1
        0x00003d04:    0e0b        ..      LSRS     r3,r1,#24
        0x00003d06:    0241        A.      LSLS     r1,r0,#9
        0x00003d08:    2001        .       MOVS     r0,#1
        0x00003d0a:    05c0        ..      LSLS     r0,r0,#23
        0x00003d0c:    0252        R.      LSLS     r2,r2,#9
        0x00003d0e:    0a49        I.      LSRS     r1,r1,#9
        0x00003d10:    0a52        R.      LSRS     r2,r2,#9
        0x00003d12:    1ae4        ..      SUBS     r4,r4,r3
        0x00003d14:    1809        ..      ADDS     r1,r1,r0
        0x00003d16:    1812        ..      ADDS     r2,r2,r0
        0x00003d18:    347d        }4      ADDS     r4,r4,#0x7d
        0x00003d1a:    4291        .B      CMP      r1,r2
        0x00003d1c:    d301        ..      BCC      0x3d22 ; __aeabi_fdiv + 62
        0x00003d1e:    1c64        d.      ADDS     r4,r4,#1
        0x00003d20:    e000        ..      B        0x3d24 ; __aeabi_fdiv + 64
        0x00003d22:    0049        I.      LSLS     r1,r1,#1
        0x00003d24:    2c00        .,      CMP      r4,#0
        0x00003d26:    da01        ..      BGE      0x3d2c ; __aeabi_fdiv + 72
        0x00003d28:    2000        .       MOVS     r0,#0
        0x00003d2a:    bd70        p.      POP      {r4-r6,pc}
        0x00003d2c:    2300        .#      MOVS     r3,#0
        0x00003d2e:    4291        .B      CMP      r1,r2
        0x00003d30:    d301        ..      BCC      0x3d36 ; __aeabi_fdiv + 82
        0x00003d32:    1a89        ..      SUBS     r1,r1,r2
        0x00003d34:    4303        .C      ORRS     r3,r3,r0
        0x00003d36:    0840        @.      LSRS     r0,r0,#1
        0x00003d38:    0049        I.      LSLS     r1,r1,#1
        0x00003d3a:    2800        .(      CMP      r0,#0
        0x00003d3c:    d1f7        ..      BNE      0x3d2e ; __aeabi_fdiv + 74
        0x00003d3e:    2900        .)      CMP      r1,#0
        0x00003d40:    d00a        ..      BEQ      0x3d58 ; __aeabi_fdiv + 116
        0x00003d42:    4291        .B      CMP      r1,r2
        0x00003d44:    d102        ..      BNE      0x3d4c ; __aeabi_fdiv + 104
        0x00003d46:    2101        .!      MOVS     r1,#1
        0x00003d48:    07c9        ..      LSLS     r1,r1,#31
        0x00003d4a:    e005        ..      B        0x3d58 ; __aeabi_fdiv + 116
        0x00003d4c:    4291        .B      CMP      r1,r2
        0x00003d4e:    d201        ..      BCS      0x3d54 ; __aeabi_fdiv + 112
        0x00003d50:    2101        .!      MOVS     r1,#1
        0x00003d52:    e001        ..      B        0x3d58 ; __aeabi_fdiv + 116
        0x00003d54:    2101        .!      MOVS     r1,#1
        0x00003d56:    43c9        .C      MVNS     r1,r1
        0x00003d58:    05e0        ..      LSLS     r0,r4,#23
        0x00003d5a:    18c0        ..      ADDS     r0,r0,r3
        0x00003d5c:    1940        @.      ADDS     r0,r0,r5
        0x00003d5e:    f000fa91    ....    BL       __I$use$fp ; 0x4284
        0x00003d62:    bd70        p.      POP      {r4-r6,pc}
    .text
    __ARM_scalbnf
    scalbnf
        0x00003d64:    0042        B.      LSLS     r2,r0,#1
        0x00003d66:    d005        ..      BEQ      0x3d74 ; __ARM_scalbnf + 16
        0x00003d68:    0042        B.      LSLS     r2,r0,#1
        0x00003d6a:    0e12        ..      LSRS     r2,r2,#24
        0x00003d6c:    4252        RB      RSBS     r2,r2,#0
        0x00003d6e:    428a        .B      CMP      r2,r1
        0x00003d70:    db01        ..      BLT      0x3d76 ; __ARM_scalbnf + 18
        0x00003d72:    2000        .       MOVS     r0,#0
        0x00003d74:    4770        pG      BX       lr
        0x00003d76:    05c9        ..      LSLS     r1,r1,#23
        0x00003d78:    1808        ..      ADDS     r0,r1,r0
        0x00003d7a:    4770        pG      BX       lr
    .text
    __aeabi_dadd
        0x00003d7c:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00003d7e:    4607        .F      MOV      r7,r0
        0x00003d80:    4608        .F      MOV      r0,r1
        0x00003d82:    4058        X@      EORS     r0,r0,r3
        0x00003d84:    b087        ..      SUB      sp,sp,#0x1c
        0x00003d86:    0fc0        ..      LSRS     r0,r0,#31
        0x00003d88:    9004        ..      STR      r0,[sp,#0x10]
        0x00003d8a:    0048        H.      LSLS     r0,r1,#1
        0x00003d8c:    460c        .F      MOV      r4,r1
        0x00003d8e:    0059        Y.      LSLS     r1,r3,#1
        0x00003d90:    0840        @.      LSRS     r0,r0,#1
        0x00003d92:    0849        I.      LSRS     r1,r1,#1
        0x00003d94:    1abd        ..      SUBS     r5,r7,r2
        0x00003d96:    4188        .A      SBCS     r0,r0,r1
        0x00003d98:    d205        ..      BCS      0x3da6 ; __aeabi_dadd + 42
        0x00003d9a:    4638        8F      MOV      r0,r7
        0x00003d9c:    4621        !F      MOV      r1,r4
        0x00003d9e:    4617        .F      MOV      r7,r2
        0x00003da0:    461c        .F      MOV      r4,r3
        0x00003da2:    4602        .F      MOV      r2,r0
        0x00003da4:    460b        .F      MOV      r3,r1
        0x00003da6:    0058        X.      LSLS     r0,r3,#1
        0x00003da8:    0840        @.      LSRS     r0,r0,#1
        0x00003daa:    4310        .C      ORRS     r0,r0,r2
        0x00003dac:    d103        ..      BNE      0x3db6 ; __aeabi_dadd + 58
        0x00003dae:    4638        8F      MOV      r0,r7
        0x00003db0:    4621        !F      MOV      r1,r4
        0x00003db2:    b007        ..      ADD      sp,sp,#0x1c
        0x00003db4:    bdf0        ..      POP      {r4-r7,pc}
        0x00003db6:    0d20         .      LSRS     r0,r4,#20
        0x00003db8:    9003        ..      STR      r0,[sp,#0xc]
        0x00003dba:    0540        @.      LSLS     r0,r0,#21
        0x00003dbc:    0059        Y.      LSLS     r1,r3,#1
        0x00003dbe:    0d40        @.      LSRS     r0,r0,#21
        0x00003dc0:    0d49        I.      LSRS     r1,r1,#21
        0x00003dc2:    9005        ..      STR      r0,[sp,#0x14]
        0x00003dc4:    1a40        @.      SUBS     r0,r0,r1
        0x00003dc6:    9002        ..      STR      r0,[sp,#8]
        0x00003dc8:    2840        @(      CMP      r0,#0x40
        0x00003dca:    da6f        o.      BGE      0x3eac ; __aeabi_dadd + 304
        0x00003dcc:    0318        ..      LSLS     r0,r3,#12
        0x00003dce:    2101        .!      MOVS     r1,#1
        0x00003dd0:    0b00        ..      LSRS     r0,r0,#12
        0x00003dd2:    0509        ..      LSLS     r1,r1,#20
        0x00003dd4:    4308        .C      ORRS     r0,r0,r1
        0x00003dd6:    9001        ..      STR      r0,[sp,#4]
        0x00003dd8:    9804        ..      LDR      r0,[sp,#0x10]
        0x00003dda:    9200        ..      STR      r2,[sp,#0]
        0x00003ddc:    2800        .(      CMP      r0,#0
        0x00003dde:    d006        ..      BEQ      0x3dee ; __aeabi_dadd + 114
        0x00003de0:    4611        .F      MOV      r1,r2
        0x00003de2:    9a01        ..      LDR      r2,[sp,#4]
        0x00003de4:    4249        IB      RSBS     r1,r1,#0
        0x00003de6:    2000        .       MOVS     r0,#0
        0x00003de8:    4190        .A      SBCS     r0,r0,r2
        0x00003dea:    9100        ..      STR      r1,[sp,#0]
        0x00003dec:    9001        ..      STR      r0,[sp,#4]
        0x00003dee:    9802        ..      LDR      r0,[sp,#8]
        0x00003df0:    2140        @!      MOVS     r1,#0x40
        0x00003df2:    1a0a        ..      SUBS     r2,r1,r0
        0x00003df4:    9901        ..      LDR      r1,[sp,#4]
        0x00003df6:    9800        ..      LDR      r0,[sp,#0]
        0x00003df8:    f000fa10    ....    BL       __aeabi_llsl ; 0x421c
        0x00003dfc:    4606        .F      MOV      r6,r0
        0x00003dfe:    460d        .F      MOV      r5,r1
        0x00003e00:    4668        hF      MOV      r0,sp
        0x00003e02:    c807        ..      LDM      r0,{r0-r2}
        0x00003e04:    f000fa2b    ..+.    BL       __aeabi_lasr ; 0x425e
        0x00003e08:    19c0        ..      ADDS     r0,r0,r7
        0x00003e0a:    4161        aA      ADCS     r1,r1,r4
        0x00003e0c:    9a03        ..      LDR      r2,[sp,#0xc]
        0x00003e0e:    0d0b        ..      LSRS     r3,r1,#20
        0x00003e10:    17d7        ..      ASRS     r7,r2,#31
        0x00003e12:    4053        S@      EORS     r3,r3,r2
        0x00003e14:    433b        ;C      ORRS     r3,r3,r7
        0x00003e16:    d043        C.      BEQ      0x3ea0 ; __aeabi_dadd + 292
        0x00003e18:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00003e1a:    2a00        .*      CMP      r2,#0
        0x00003e1c:    d02b        +.      BEQ      0x3e76 ; __aeabi_dadd + 250
        0x00003e1e:    9a02        ..      LDR      r2,[sp,#8]
        0x00003e20:    2a01        .*      CMP      r2,#1
        0x00003e22:    9a03        ..      LDR      r2,[sp,#0xc]
        0x00003e24:    dc12        ..      BGT      0x3e4c ; __aeabi_dadd + 208
        0x00003e26:    0512        ..      LSLS     r2,r2,#20
        0x00003e28:    2300        .#      MOVS     r3,#0
        0x00003e2a:    1ac0        ..      SUBS     r0,r0,r3
        0x00003e2c:    4191        .A      SBCS     r1,r1,r2
        0x00003e2e:    2401        .$      MOVS     r4,#1
        0x00003e30:    0524        $.      LSLS     r4,r4,#20
        0x00003e32:    1c00        ..      ADDS     r0,r0,#0
        0x00003e34:    4161        aA      ADCS     r1,r1,r4
        0x00003e36:    0fd2        ..      LSRS     r2,r2,#31
        0x00003e38:    9c05        ..      LDR      r4,[sp,#0x14]
        0x00003e3a:    07d2        ..      LSLS     r2,r2,#31
        0x00003e3c:    9300        ..      STR      r3,[sp,#0]
        0x00003e3e:    9201        ..      STR      r2,[sp,#4]
        0x00003e40:    9402        ..      STR      r4,[sp,#8]
        0x00003e42:    4632        2F      MOV      r2,r6
        0x00003e44:    462b        +F      MOV      r3,r5
        0x00003e46:    f000fa6c    ..l.    BL       _double_epilogue ; 0x4322
        0x00003e4a:    e7b2        ..      B        0x3db2 ; __aeabi_dadd + 54
        0x00003e4c:    0513        ..      LSLS     r3,r2,#20
        0x00003e4e:    4a24        $J      LDR      r2,[pc,#144] ; [0x3ee0] = 0xffe00000
        0x00003e50:    460f        .F      MOV      r7,r1
        0x00003e52:    189c        ..      ADDS     r4,r3,r2
        0x00003e54:    2200        ."      MOVS     r2,#0
        0x00003e56:    1a80        ..      SUBS     r0,r0,r2
        0x00003e58:    419f        .A      SBCS     r7,r7,r3
        0x00003e5a:    2101        .!      MOVS     r1,#1
        0x00003e5c:    0509        ..      LSLS     r1,r1,#20
        0x00003e5e:    1c00        ..      ADDS     r0,r0,#0
        0x00003e60:    414f        OA      ADCS     r7,r7,r1
        0x00003e62:    1800        ..      ADDS     r0,r0,r0
        0x00003e64:    417f        .A      ADCS     r7,r7,r7
        0x00003e66:    1810        ..      ADDS     r0,r2,r0
        0x00003e68:    4621        !F      MOV      r1,r4
        0x00003e6a:    4179        yA      ADCS     r1,r1,r7
        0x00003e6c:    0fea        ..      LSRS     r2,r5,#31
        0x00003e6e:    4310        .C      ORRS     r0,r0,r2
        0x00003e70:    19b6        ..      ADDS     r6,r6,r6
        0x00003e72:    416d        mA      ADCS     r5,r5,r5
        0x00003e74:    e014        ..      B        0x3ea0 ; __aeabi_dadd + 292
        0x00003e76:    07ea        ..      LSLS     r2,r5,#31
        0x00003e78:    086d        m.      LSRS     r5,r5,#1
        0x00003e7a:    07c3        ..      LSLS     r3,r0,#31
        0x00003e7c:    431d        .C      ORRS     r5,r5,r3
        0x00003e7e:    0876        v.      LSRS     r6,r6,#1
        0x00003e80:    9b03        ..      LDR      r3,[sp,#0xc]
        0x00003e82:    4316        .C      ORRS     r6,r6,r2
        0x00003e84:    2200        ."      MOVS     r2,#0
        0x00003e86:    051b        ..      LSLS     r3,r3,#20
        0x00003e88:    1a80        ..      SUBS     r0,r0,r2
        0x00003e8a:    4199        .A      SBCS     r1,r1,r3
        0x00003e8c:    2401        .$      MOVS     r4,#1
        0x00003e8e:    0524        $.      LSLS     r4,r4,#20
        0x00003e90:    1c00        ..      ADDS     r0,r0,#0
        0x00003e92:    4161        aA      ADCS     r1,r1,r4
        0x00003e94:    07cc        ..      LSLS     r4,r1,#31
        0x00003e96:    0840        @.      LSRS     r0,r0,#1
        0x00003e98:    4320         C      ORRS     r0,r0,r4
        0x00003e9a:    0849        I.      LSRS     r1,r1,#1
        0x00003e9c:    1880        ..      ADDS     r0,r0,r2
        0x00003e9e:    4159        YA      ADCS     r1,r1,r3
        0x00003ea0:    4632        2F      MOV      r2,r6
        0x00003ea2:    462b        +F      MOV      r3,r5
        0x00003ea4:    f000fa30    ..0.    BL       _double_round ; 0x4308
        0x00003ea8:    e783        ..      B        0x3db2 ; __aeabi_dadd + 54
        0x00003eaa:    e7ff        ..      B        0x3eac ; __aeabi_dadd + 304
        0x00003eac:    9804        ..      LDR      r0,[sp,#0x10]
        0x00003eae:    2201        ."      MOVS     r2,#1
        0x00003eb0:    0040        @.      LSLS     r0,r0,#1
        0x00003eb2:    17c1        ..      ASRS     r1,r0,#31
        0x00003eb4:    1a12        ..      SUBS     r2,r2,r0
        0x00003eb6:    2300        .#      MOVS     r3,#0
        0x00003eb8:    418b        .A      SBCS     r3,r3,r1
        0x00003eba:    9804        ..      LDR      r0,[sp,#0x10]
        0x00003ebc:    4621        !F      MOV      r1,r4
        0x00003ebe:    17c5        ..      ASRS     r5,r0,#31
        0x00003ec0:    1a38        8.      SUBS     r0,r7,r0
        0x00003ec2:    41a9        .A      SBCS     r1,r1,r5
        0x00003ec4:    e7ee        ..      B        0x3ea4 ; __aeabi_dadd + 296
    __aeabi_dsub
        0x00003ec6:    b430        0.      PUSH     {r4,r5}
        0x00003ec8:    2401        .$      MOVS     r4,#1
        0x00003eca:    07e4        ..      LSLS     r4,r4,#31
        0x00003ecc:    4063        c@      EORS     r3,r3,r4
        0x00003ece:    bc30        0.      POP      {r4,r5}
        0x00003ed0:    e754        T.      B        __aeabi_dadd ; 0x3d7c
    __aeabi_drsub
        0x00003ed2:    b430        0.      PUSH     {r4,r5}
        0x00003ed4:    2401        .$      MOVS     r4,#1
        0x00003ed6:    07e4        ..      LSLS     r4,r4,#31
        0x00003ed8:    4061        a@      EORS     r1,r1,r4
        0x00003eda:    bc30        0.      POP      {r4,r5}
        0x00003edc:    e74e        N.      B        __aeabi_dadd ; 0x3d7c
    $d
        0x00003ede:    0000        ..      DCW    0
        0x00003ee0:    ffe00000    ....    DCD    4292870144
    $t
    .text
    __aeabi_dmul
        0x00003ee4:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00003ee6:    b41f        ..      PUSH     {r0-r4}
        0x00003ee8:    b088        ..      SUB      sp,sp,#0x20
        0x00003eea:    990b        ..      LDR      r1,[sp,#0x2c]
        0x00003eec:    9809        ..      LDR      r0,[sp,#0x24]
        0x00003eee:    4048        H@      EORS     r0,r0,r1
        0x00003ef0:    0fc1        ..      LSRS     r1,r0,#31
        0x00003ef2:    07c9        ..      LSLS     r1,r1,#31
        0x00003ef4:    9100        ..      STR      r1,[sp,#0]
        0x00003ef6:    9909        ..      LDR      r1,[sp,#0x24]
        0x00003ef8:    2000        .       MOVS     r0,#0
        0x00003efa:    0049        I.      LSLS     r1,r1,#1
        0x00003efc:    0849        I.      LSRS     r1,r1,#1
        0x00003efe:    9109        ..      STR      r1,[sp,#0x24]
        0x00003f00:    990b        ..      LDR      r1,[sp,#0x2c]
        0x00003f02:    4686        .F      MOV      lr,r0
        0x00003f04:    0049        I.      LSLS     r1,r1,#1
        0x00003f06:    0849        I.      LSRS     r1,r1,#1
        0x00003f08:    910b        ..      STR      r1,[sp,#0x2c]
        0x00003f0a:    9909        ..      LDR      r1,[sp,#0x24]
        0x00003f0c:    9808        ..      LDR      r0,[sp,#0x20]
        0x00003f0e:    4308        .C      ORRS     r0,r0,r1
        0x00003f10:    d003        ..      BEQ      0x3f1a ; __aeabi_dmul + 54
        0x00003f12:    990b        ..      LDR      r1,[sp,#0x2c]
        0x00003f14:    980a        ..      LDR      r0,[sp,#0x28]
        0x00003f16:    4308        .C      ORRS     r0,r0,r1
        0x00003f18:    d103        ..      BNE      0x3f22 ; __aeabi_dmul + 62
        0x00003f1a:    2000        .       MOVS     r0,#0
        0x00003f1c:    4601        .F      MOV      r1,r0
        0x00003f1e:    b00d        ..      ADD      sp,sp,#0x34
        0x00003f20:    bdf0        ..      POP      {r4-r7,pc}
        0x00003f22:    9809        ..      LDR      r0,[sp,#0x24]
        0x00003f24:    2401        .$      MOVS     r4,#1
        0x00003f26:    0040        @.      LSLS     r0,r0,#1
        0x00003f28:    0d42        B.      LSRS     r2,r0,#21
        0x00003f2a:    0048        H.      LSLS     r0,r1,#1
        0x00003f2c:    0d41        A.      LSRS     r1,r0,#21
        0x00003f2e:    9809        ..      LDR      r0,[sp,#0x24]
        0x00003f30:    0524        $.      LSLS     r4,r4,#20
        0x00003f32:    0300        ..      LSLS     r0,r0,#12
        0x00003f34:    0b00        ..      LSRS     r0,r0,#12
        0x00003f36:    4320         C      ORRS     r0,r0,r4
        0x00003f38:    9009        ..      STR      r0,[sp,#0x24]
        0x00003f3a:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00003f3c:    ae0a        ..      ADD      r6,sp,#0x28
        0x00003f3e:    0300        ..      LSLS     r0,r0,#12
        0x00003f40:    0b00        ..      LSRS     r0,r0,#12
        0x00003f42:    4320         C      ORRS     r0,r0,r4
        0x00003f44:    900b        ..      STR      r0,[sp,#0x2c]
        0x00003f46:    1850        P.      ADDS     r0,r2,r1
        0x00003f48:    4919        .I      LDR      r1,[pc,#100] ; [0x3fb0] = 0xfffffc0d
        0x00003f4a:    1840        @.      ADDS     r0,r0,r1
        0x00003f4c:    2200        ."      MOVS     r2,#0
        0x00003f4e:    9001        ..      STR      r0,[sp,#4]
        0x00003f50:    4614        .F      MOV      r4,r2
        0x00003f52:    4610        .F      MOV      r0,r2
        0x00003f54:    e001        ..      B        0x3f5a ; __aeabi_dmul + 118
        0x00003f56:    2803        .(      CMP      r0,#3
        0x00003f58:    da01        ..      BGE      0x3f5e ; __aeabi_dmul + 122
        0x00003f5a:    4603        .F      MOV      r3,r0
        0x00003f5c:    e000        ..      B        0x3f60 ; __aeabi_dmul + 124
        0x00003f5e:    2303        .#      MOVS     r3,#3
        0x00003f60:    469c        .F      MOV      r12,r3
        0x00003f62:    1ac1        ..      SUBS     r1,r0,r3
        0x00003f64:    e00a        ..      B        0x3f7c ; __aeabi_dmul + 152
        0x00003f66:    005f        _.      LSLS     r7,r3,#1
        0x00003f68:    ad08        ..      ADD      r5,sp,#0x20
        0x00003f6a:    5bed        .[      LDRH     r5,[r5,r7]
        0x00003f6c:    004f        O.      LSLS     r7,r1,#1
        0x00003f6e:    5bf7        .[      LDRH     r7,[r6,r7]
        0x00003f70:    437d        }C      MULS     r5,r7,r5
        0x00003f72:    2700        .'      MOVS     r7,#0
        0x00003f74:    18aa        ..      ADDS     r2,r5,r2
        0x00003f76:    417c        |A      ADCS     r4,r4,r7
        0x00003f78:    1e5b        [.      SUBS     r3,r3,#1
        0x00003f7a:    1c49        I.      ADDS     r1,r1,#1
        0x00003f7c:    4561        aE      CMP      r1,r12
        0x00003f7e:    ddf2        ..      BLE      0x3f66 ; __aeabi_dmul + 130
        0x00003f80:    0043        C.      LSLS     r3,r0,#1
        0x00003f82:    a904        ..      ADD      r1,sp,#0x10
        0x00003f84:    52ca        .R      STRH     r2,[r1,r3]
        0x00003f86:    0421        !.      LSLS     r1,r4,#16
        0x00003f88:    0c12        ..      LSRS     r2,r2,#16
        0x00003f8a:    430a        .C      ORRS     r2,r2,r1
        0x00003f8c:    0c24        $.      LSRS     r4,r4,#16
        0x00003f8e:    1c40        @.      ADDS     r0,r0,#1
        0x00003f90:    2808        .(      CMP      r0,#8
        0x00003f92:    dbe0        ..      BLT      0x3f56 ; __aeabi_dmul + 114
        0x00003f94:    9801        ..      LDR      r0,[sp,#4]
        0x00003f96:    9002        ..      STR      r0,[sp,#8]
        0x00003f98:    9900        ..      LDR      r1,[sp,#0]
        0x00003f9a:    4670        pF      MOV      r0,lr
        0x00003f9c:    9101        ..      STR      r1,[sp,#4]
        0x00003f9e:    9000        ..      STR      r0,[sp,#0]
        0x00003fa0:    9b05        ..      LDR      r3,[sp,#0x14]
        0x00003fa2:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00003fa4:    9907        ..      LDR      r1,[sp,#0x1c]
        0x00003fa6:    9806        ..      LDR      r0,[sp,#0x18]
        0x00003fa8:    f000f9bb    ....    BL       _double_epilogue ; 0x4322
        0x00003fac:    e7b7        ..      B        0x3f1e ; __aeabi_dmul + 58
    $d
        0x00003fae:    0000        ..      DCW    0
        0x00003fb0:    fffffc0d    ....    DCD    4294966285
    $t
    .text
    __aeabi_ddiv
        0x00003fb4:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00003fb6:    460c        .F      MOV      r4,r1
        0x00003fb8:    405c        \@      EORS     r4,r4,r3
        0x00003fba:    b085        ..      SUB      sp,sp,#0x14
        0x00003fbc:    0fe4        ..      LSRS     r4,r4,#31
        0x00003fbe:    07e4        ..      LSLS     r4,r4,#31
        0x00003fc0:    9403        ..      STR      r4,[sp,#0xc]
        0x00003fc2:    004c        L.      LSLS     r4,r1,#1
        0x00003fc4:    2600        .&      MOVS     r6,#0
        0x00003fc6:    0864        d.      LSRS     r4,r4,#1
        0x00003fc8:    0059        Y.      LSLS     r1,r3,#1
        0x00003fca:    4694        .F      MOV      r12,r2
        0x00003fcc:    0849        I.      LSRS     r1,r1,#1
        0x00003fce:    4602        .F      MOV      r2,r0
        0x00003fd0:    9602        ..      STR      r6,[sp,#8]
        0x00003fd2:    4322        "C      ORRS     r2,r2,r4
        0x00003fd4:    d021        !.      BEQ      0x401a ; __aeabi_ddiv + 102
        0x00003fd6:    4662        bF      MOV      r2,r12
        0x00003fd8:    430a        .C      ORRS     r2,r2,r1
        0x00003fda:    d01e        ..      BEQ      0x401a ; __aeabi_ddiv + 102
        0x00003fdc:    0062        b.      LSLS     r2,r4,#1
        0x00003fde:    0d57        W.      LSRS     r7,r2,#21
        0x00003fe0:    004a        J.      LSLS     r2,r1,#1
        0x00003fe2:    030e        ..      LSLS     r6,r1,#12
        0x00003fe4:    0323        #.      LSLS     r3,r4,#12
        0x00003fe6:    0d55        U.      LSRS     r5,r2,#21
        0x00003fe8:    4602        .F      MOV      r2,r0
        0x00003fea:    2401        .$      MOVS     r4,#1
        0x00003fec:    492c        ,I      LDR      r1,[pc,#176] ; [0x40a0] = 0x3fd
        0x00003fee:    0524        $.      LSLS     r4,r4,#20
        0x00003ff0:    1b78        x.      SUBS     r0,r7,r5
        0x00003ff2:    0b1b        ..      LSRS     r3,r3,#12
        0x00003ff4:    0b36        6.      LSRS     r6,r6,#12
        0x00003ff6:    1840        @.      ADDS     r0,r0,r1
        0x00003ff8:    9000        ..      STR      r0,[sp,#0]
        0x00003ffa:    4323        #C      ORRS     r3,r3,r4
        0x00003ffc:    4326        &C      ORRS     r6,r6,r4
        0x00003ffe:    4660        `F      MOV      r0,r12
        0x00004000:    461c        .F      MOV      r4,r3
        0x00004002:    1a10        ..      SUBS     r0,r2,r0
        0x00004004:    41b4        .A      SBCS     r4,r4,r6
        0x00004006:    d303        ..      BCC      0x4010 ; __aeabi_ddiv + 92
        0x00004008:    9800        ..      LDR      r0,[sp,#0]
        0x0000400a:    1c40        @.      ADDS     r0,r0,#1
        0x0000400c:    9000        ..      STR      r0,[sp,#0]
        0x0000400e:    e002        ..      B        0x4016 ; __aeabi_ddiv + 98
        0x00004010:    1892        ..      ADDS     r2,r2,r2
        0x00004012:    9800        ..      LDR      r0,[sp,#0]
        0x00004014:    415b        [A      ADCS     r3,r3,r3
        0x00004016:    2800        .(      CMP      r0,#0
        0x00004018:    da03        ..      BGE      0x4022 ; __aeabi_ddiv + 110
        0x0000401a:    2000        .       MOVS     r0,#0
        0x0000401c:    4601        .F      MOV      r1,r0
        0x0000401e:    b005        ..      ADD      sp,sp,#0x14
        0x00004020:    bdf0        ..      POP      {r4-r7,pc}
        0x00004022:    2000        .       MOVS     r0,#0
        0x00004024:    2101        .!      MOVS     r1,#1
        0x00004026:    0509        ..      LSLS     r1,r1,#20
        0x00004028:    4607        .F      MOV      r7,r0
        0x0000402a:    4686        .F      MOV      lr,r0
        0x0000402c:    e011        ..      B        0x4052 ; __aeabi_ddiv + 158
        0x0000402e:    4664        dF      MOV      r4,r12
        0x00004030:    461d        .F      MOV      r5,r3
        0x00004032:    1b14        ..      SUBS     r4,r2,r4
        0x00004034:    41b5        .A      SBCS     r5,r5,r6
        0x00004036:    d306        ..      BCC      0x4046 ; __aeabi_ddiv + 146
        0x00004038:    4665        eF      MOV      r5,r12
        0x0000403a:    1b52        R.      SUBS     r2,r2,r5
        0x0000403c:    41b3        .A      SBCS     r3,r3,r6
        0x0000403e:    4674        tF      MOV      r4,lr
        0x00004040:    4307        .C      ORRS     r7,r7,r0
        0x00004042:    430c        .C      ORRS     r4,r4,r1
        0x00004044:    46a6        .F      MOV      lr,r4
        0x00004046:    07cd        ..      LSLS     r5,r1,#31
        0x00004048:    0840        @.      LSRS     r0,r0,#1
        0x0000404a:    0849        I.      LSRS     r1,r1,#1
        0x0000404c:    4328        (C      ORRS     r0,r0,r5
        0x0000404e:    1892        ..      ADDS     r2,r2,r2
        0x00004050:    415b        [A      ADCS     r3,r3,r3
        0x00004052:    4605        .F      MOV      r5,r0
        0x00004054:    430d        .C      ORRS     r5,r5,r1
        0x00004056:    d1ea        ..      BNE      0x402e ; __aeabi_ddiv + 122
        0x00004058:    4610        .F      MOV      r0,r2
        0x0000405a:    4318        .C      ORRS     r0,r0,r3
        0x0000405c:    d013        ..      BEQ      0x4086 ; __aeabi_ddiv + 210
        0x0000405e:    4660        `F      MOV      r0,r12
        0x00004060:    4619        .F      MOV      r1,r3
        0x00004062:    4050        P@      EORS     r0,r0,r2
        0x00004064:    4071        q@      EORS     r1,r1,r6
        0x00004066:    4308        .C      ORRS     r0,r0,r1
        0x00004068:    d103        ..      BNE      0x4072 ; __aeabi_ddiv + 190
        0x0000406a:    2200        ."      MOVS     r2,#0
        0x0000406c:    2301        .#      MOVS     r3,#1
        0x0000406e:    07db        ..      LSLS     r3,r3,#31
        0x00004070:    e009        ..      B        0x4086 ; __aeabi_ddiv + 210
        0x00004072:    4660        `F      MOV      r0,r12
        0x00004074:    1a10        ..      SUBS     r0,r2,r0
        0x00004076:    41b3        .A      SBCS     r3,r3,r6
        0x00004078:    d202        ..      BCS      0x4080 ; __aeabi_ddiv + 204
        0x0000407a:    2201        ."      MOVS     r2,#1
        0x0000407c:    2300        .#      MOVS     r3,#0
        0x0000407e:    e002        ..      B        0x4086 ; __aeabi_ddiv + 210
        0x00004080:    2201        ."      MOVS     r2,#1
        0x00004082:    43d2        .C      MVNS     r2,r2
        0x00004084:    1053        S.      ASRS     r3,r2,#1
        0x00004086:    9800        ..      LDR      r0,[sp,#0]
        0x00004088:    4674        tF      MOV      r4,lr
        0x0000408a:    0501        ..      LSLS     r1,r0,#20
        0x0000408c:    1c38        8.      ADDS     r0,r7,#0
        0x0000408e:    4161        aA      ADCS     r1,r1,r4
        0x00004090:    9c02        ..      LDR      r4,[sp,#8]
        0x00004092:    9d03        ..      LDR      r5,[sp,#0xc]
        0x00004094:    1900        ..      ADDS     r0,r0,r4
        0x00004096:    4169        iA      ADCS     r1,r1,r5
        0x00004098:    f000f936    ..6.    BL       _double_round ; 0x4308
        0x0000409c:    e7bf        ..      B        0x401e ; __aeabi_ddiv + 106
    $d
        0x0000409e:    0000        ..      DCW    0
        0x000040a0:    000003fd    ....    DCD    1021
    $t
    .text
    __aeabi_i2f
        0x000040a4:    17c2        ..      ASRS     r2,r0,#31
        0x000040a6:    0fc1        ..      LSRS     r1,r0,#31
        0x000040a8:    4050        P@      EORS     r0,r0,r2
        0x000040aa:    b510        ..      PUSH     {r4,lr}
        0x000040ac:    1840        @.      ADDS     r0,r0,r1
        0x000040ae:    07ca        ..      LSLS     r2,r1,#31
        0x000040b0:    2396        .#      MOVS     r3,#0x96
        0x000040b2:    2100        .!      MOVS     r1,#0
        0x000040b4:    f000f8ee    ....    BL       _float_epilogue ; 0x4294
        0x000040b8:    bd10        ..      POP      {r4,pc}
    .text
    __aeabi_ui2f
        0x000040ba:    b510        ..      PUSH     {r4,lr}
        0x000040bc:    2200        ."      MOVS     r2,#0
        0x000040be:    2396        .#      MOVS     r3,#0x96
        0x000040c0:    4611        .F      MOV      r1,r2
        0x000040c2:    f000f8e7    ....    BL       _float_epilogue ; 0x4294
        0x000040c6:    bd10        ..      POP      {r4,pc}
    .text
    __aeabi_ui2d
        0x000040c8:    b50e        ..      PUSH     {r1-r3,lr}
        0x000040ca:    4905        .I      LDR      r1,[pc,#20] ; [0x40e0] = 0x433
        0x000040cc:    9102        ..      STR      r1,[sp,#8]
        0x000040ce:    2100        .!      MOVS     r1,#0
        0x000040d0:    9100        ..      STR      r1,[sp,#0]
        0x000040d2:    460a        .F      MOV      r2,r1
        0x000040d4:    460b        .F      MOV      r3,r1
        0x000040d6:    9101        ..      STR      r1,[sp,#4]
        0x000040d8:    f000f923    ..#.    BL       _double_epilogue ; 0x4322
        0x000040dc:    b003        ..      ADD      sp,sp,#0xc
        0x000040de:    bd00        ..      POP      {pc}
    $d
        0x000040e0:    00000433    3...    DCD    1075
    $t
    .text
    __aeabi_f2iz
        0x000040e4:    0fc2        ..      LSRS     r2,r0,#31
        0x000040e6:    0040        @.      LSLS     r0,r0,#1
        0x000040e8:    0840        @.      LSRS     r0,r0,#1
        0x000040ea:    0dc1        ..      LSRS     r1,r0,#23
        0x000040ec:    0240        @.      LSLS     r0,r0,#9
        0x000040ee:    2301        .#      MOVS     r3,#1
        0x000040f0:    0a40        @.      LSRS     r0,r0,#9
        0x000040f2:    05db        ..      LSLS     r3,r3,#23
        0x000040f4:    07d2        ..      LSLS     r2,r2,#31
        0x000040f6:    18c0        ..      ADDS     r0,r0,r3
        0x000040f8:    297f        .)      CMP      r1,#0x7f
        0x000040fa:    da01        ..      BGE      0x4100 ; __aeabi_f2iz + 28
        0x000040fc:    2000        .       MOVS     r0,#0
        0x000040fe:    4770        pG      BX       lr
        0x00004100:    2996        .)      CMP      r1,#0x96
        0x00004102:    dc03        ..      BGT      0x410c ; __aeabi_f2iz + 40
        0x00004104:    2396        .#      MOVS     r3,#0x96
        0x00004106:    1a59        Y.      SUBS     r1,r3,r1
        0x00004108:    40c8        .@      LSRS     r0,r0,r1
        0x0000410a:    e001        ..      B        0x4110 ; __aeabi_f2iz + 44
        0x0000410c:    3996        .9      SUBS     r1,r1,#0x96
        0x0000410e:    4088        .@      LSLS     r0,r0,r1
        0x00004110:    2a00        .*      CMP      r2,#0
        0x00004112:    d0f4        ..      BEQ      0x40fe ; __aeabi_f2iz + 26
        0x00004114:    4240        @B      RSBS     r0,r0,#0
        0x00004116:    4770        pG      BX       lr
    .text
    __aeabi_f2uiz
        0x00004118:    0040        @.      LSLS     r0,r0,#1
        0x0000411a:    0840        @.      LSRS     r0,r0,#1
        0x0000411c:    0dc1        ..      LSRS     r1,r0,#23
        0x0000411e:    0240        @.      LSLS     r0,r0,#9
        0x00004120:    2201        ."      MOVS     r2,#1
        0x00004122:    0a40        @.      LSRS     r0,r0,#9
        0x00004124:    05d2        ..      LSLS     r2,r2,#23
        0x00004126:    1880        ..      ADDS     r0,r0,r2
        0x00004128:    297f        .)      CMP      r1,#0x7f
        0x0000412a:    da01        ..      BGE      0x4130 ; __aeabi_f2uiz + 24
        0x0000412c:    2000        .       MOVS     r0,#0
        0x0000412e:    4770        pG      BX       lr
        0x00004130:    2996        .)      CMP      r1,#0x96
        0x00004132:    dc03        ..      BGT      0x413c ; __aeabi_f2uiz + 36
        0x00004134:    2296        ."      MOVS     r2,#0x96
        0x00004136:    1a51        Q.      SUBS     r1,r2,r1
        0x00004138:    40c8        .@      LSRS     r0,r0,r1
        0x0000413a:    4770        pG      BX       lr
        0x0000413c:    3996        .9      SUBS     r1,r1,#0x96
        0x0000413e:    4088        .@      LSLS     r0,r0,r1
        0x00004140:    4770        pG      BX       lr
        0x00004142:    0000        ..      MOVS     r0,r0
    .text
    __aeabi_d2iz
        0x00004144:    b570        p.      PUSH     {r4-r6,lr}
        0x00004146:    0fcd        ..      LSRS     r5,r1,#31
        0x00004148:    004a        J.      LSLS     r2,r1,#1
        0x0000414a:    0309        ..      LSLS     r1,r1,#12
        0x0000414c:    2301        .#      MOVS     r3,#1
        0x0000414e:    0b09        ..      LSRS     r1,r1,#12
        0x00004150:    051b        ..      LSLS     r3,r3,#20
        0x00004152:    4319        .C      ORRS     r1,r1,r3
        0x00004154:    4b0b        .K      LDR      r3,[pc,#44] ; [0x4184] = 0x3ff
        0x00004156:    07ed        ..      LSLS     r5,r5,#31
        0x00004158:    2400        .$      MOVS     r4,#0
        0x0000415a:    0d52        R.      LSRS     r2,r2,#21
        0x0000415c:    429a        .B      CMP      r2,r3
        0x0000415e:    da01        ..      BGE      0x4164 ; __aeabi_d2iz + 32
        0x00004160:    2000        .       MOVS     r0,#0
        0x00004162:    bd70        p.      POP      {r4-r6,pc}
        0x00004164:    4b07        .K      LDR      r3,[pc,#28] ; [0x4184] = 0x3ff
        0x00004166:    3334        43      ADDS     r3,r3,#0x34
        0x00004168:    429a        .B      CMP      r2,r3
        0x0000416a:    dc03        ..      BGT      0x4174 ; __aeabi_d2iz + 48
        0x0000416c:    1a9a        ..      SUBS     r2,r3,r2
        0x0000416e:    f000f865    ..e.    BL       __aeabi_llsr ; 0x423c
        0x00004172:    e002        ..      B        0x417a ; __aeabi_d2iz + 54
        0x00004174:    4904        .I      LDR      r1,[pc,#16] ; [0x4188] = 0xfffffbcd
        0x00004176:    1851        Q.      ADDS     r1,r2,r1
        0x00004178:    4088        .@      LSLS     r0,r0,r1
        0x0000417a:    432c        ,C      ORRS     r4,r4,r5
        0x0000417c:    d0f1        ..      BEQ      0x4162 ; __aeabi_d2iz + 30
        0x0000417e:    4240        @B      RSBS     r0,r0,#0
        0x00004180:    bd70        p.      POP      {r4-r6,pc}
    $d
        0x00004182:    0000        ..      DCW    0
        0x00004184:    000003ff    ....    DCD    1023
        0x00004188:    fffffbcd    ....    DCD    4294966221
    $t
    .text
    __aeabi_f2d
        0x0000418c:    0fc2        ..      LSRS     r2,r0,#31
        0x0000418e:    07d2        ..      LSLS     r2,r2,#31
        0x00004190:    0040        @.      LSLS     r0,r0,#1
        0x00004192:    0840        @.      LSRS     r0,r0,#1
        0x00004194:    d00e        ..      BEQ      0x41b4 ; __aeabi_f2d + 40
        0x00004196:    0dc1        ..      LSRS     r1,r0,#23
        0x00004198:    2307        .#      MOVS     r3,#7
        0x0000419a:    01db        ..      LSLS     r3,r3,#7
        0x0000419c:    18c9        ..      ADDS     r1,r1,r3
        0x0000419e:    0509        ..      LSLS     r1,r1,#20
        0x000041a0:    0240        @.      LSLS     r0,r0,#9
        0x000041a2:    4311        .C      ORRS     r1,r1,r2
        0x000041a4:    0a40        @.      LSRS     r0,r0,#9
        0x000041a6:    2200        ."      MOVS     r2,#0
        0x000041a8:    08c3        ..      LSRS     r3,r0,#3
        0x000041aa:    0752        R.      LSLS     r2,r2,#29
        0x000041ac:    431a        .C      ORRS     r2,r2,r3
        0x000041ae:    0740        @.      LSLS     r0,r0,#29
        0x000041b0:    4311        .C      ORRS     r1,r1,r2
        0x000041b2:    4770        pG      BX       lr
        0x000041b4:    2000        .       MOVS     r0,#0
        0x000041b6:    4601        .F      MOV      r1,r0
        0x000041b8:    4770        pG      BX       lr
    .text
    __aeabi_d2f
        0x000041ba:    0fcb        ..      LSRS     r3,r1,#31
        0x000041bc:    07db        ..      LSLS     r3,r3,#31
        0x000041be:    0049        I.      LSLS     r1,r1,#1
        0x000041c0:    b510        ..      PUSH     {r4,lr}
        0x000041c2:    0849        I.      LSRS     r1,r1,#1
        0x000041c4:    4602        .F      MOV      r2,r0
        0x000041c6:    430a        .C      ORRS     r2,r2,r1
        0x000041c8:    d007        ..      BEQ      0x41da ; __aeabi_d2f + 32
        0x000041ca:    0d0a        ..      LSRS     r2,r1,#20
        0x000041cc:    2407        .$      MOVS     r4,#7
        0x000041ce:    0309        ..      LSLS     r1,r1,#12
        0x000041d0:    01e4        ..      LSLS     r4,r4,#7
        0x000041d2:    0b09        ..      LSRS     r1,r1,#12
        0x000041d4:    1b12        ..      SUBS     r2,r2,r4
        0x000041d6:    2a00        .*      CMP      r2,#0
        0x000041d8:    dc01        ..      BGT      0x41de ; __aeabi_d2f + 36
        0x000041da:    2000        .       MOVS     r0,#0
        0x000041dc:    bd10        ..      POP      {r4,pc}
        0x000041de:    00c9        ..      LSLS     r1,r1,#3
        0x000041e0:    0f44        D.      LSRS     r4,r0,#29
        0x000041e2:    430c        .C      ORRS     r4,r4,r1
        0x000041e4:    00c1        ..      LSLS     r1,r0,#3
        0x000041e6:    18e0        ..      ADDS     r0,r4,r3
        0x000041e8:    05d2        ..      LSLS     r2,r2,#23
        0x000041ea:    1880        ..      ADDS     r0,r0,r2
        0x000041ec:    f000f84a    ..J.    BL       __I$use$fp ; 0x4284
        0x000041f0:    bd10        ..      POP      {r4,pc}
        0x000041f2:    0000        ..      MOVS     r0,r0
    .text
    __aeabi_cfcmpeq
    __aeabi_cfcmple
        0x000041f4:    2201        ."      MOVS     r2,#1
        0x000041f6:    07d2        ..      LSLS     r2,r2,#31
        0x000041f8:    2800        .(      CMP      r0,#0
        0x000041fa:    db00        ..      BLT      0x41fe ; __aeabi_cfcmpeq + 10
        0x000041fc:    1a10        ..      SUBS     r0,r2,r0
        0x000041fe:    2900        .)      CMP      r1,#0
        0x00004200:    db00        ..      BLT      0x4204 ; __aeabi_cfcmpeq + 16
        0x00004202:    1a51        Q.      SUBS     r1,r2,r1
        0x00004204:    4281        .B      CMP      r1,r0
        0x00004206:    4770        pG      BX       lr
    .text
    __aeabi_cfrcmple
        0x00004208:    2201        ."      MOVS     r2,#1
        0x0000420a:    07d2        ..      LSLS     r2,r2,#31
        0x0000420c:    2800        .(      CMP      r0,#0
        0x0000420e:    db00        ..      BLT      0x4212 ; __aeabi_cfrcmple + 10
        0x00004210:    1a10        ..      SUBS     r0,r2,r0
        0x00004212:    2900        .)      CMP      r1,#0
        0x00004214:    db00        ..      BLT      0x4218 ; __aeabi_cfrcmple + 16
        0x00004216:    1a51        Q.      SUBS     r1,r2,r1
        0x00004218:    4288        .B      CMP      r0,r1
        0x0000421a:    4770        pG      BX       lr
    .text
    __aeabi_llsl
    _ll_shift_l
        0x0000421c:    b510        ..      PUSH     {r4,lr}
        0x0000421e:    2a20         *      CMP      r2,#0x20
        0x00004220:    db04        ..      BLT      0x422c ; __aeabi_llsl + 16
        0x00004222:    4601        .F      MOV      r1,r0
        0x00004224:    3a20         :      SUBS     r2,r2,#0x20
        0x00004226:    4091        .@      LSLS     r1,r1,r2
        0x00004228:    2000        .       MOVS     r0,#0
        0x0000422a:    bd10        ..      POP      {r4,pc}
        0x0000422c:    4091        .@      LSLS     r1,r1,r2
        0x0000422e:    2320         #      MOVS     r3,#0x20
        0x00004230:    1a9c        ..      SUBS     r4,r3,r2
        0x00004232:    4603        .F      MOV      r3,r0
        0x00004234:    40e3        .@      LSRS     r3,r3,r4
        0x00004236:    4319        .C      ORRS     r1,r1,r3
        0x00004238:    4090        .@      LSLS     r0,r0,r2
        0x0000423a:    bd10        ..      POP      {r4,pc}
    .text
    __aeabi_llsr
    _ll_ushift_r
        0x0000423c:    b510        ..      PUSH     {r4,lr}
        0x0000423e:    2a20         *      CMP      r2,#0x20
        0x00004240:    db04        ..      BLT      0x424c ; __aeabi_llsr + 16
        0x00004242:    4608        .F      MOV      r0,r1
        0x00004244:    3a20         :      SUBS     r2,r2,#0x20
        0x00004246:    40d0        .@      LSRS     r0,r0,r2
        0x00004248:    2100        .!      MOVS     r1,#0
        0x0000424a:    bd10        ..      POP      {r4,pc}
        0x0000424c:    460b        .F      MOV      r3,r1
        0x0000424e:    40d3        .@      LSRS     r3,r3,r2
        0x00004250:    40d0        .@      LSRS     r0,r0,r2
        0x00004252:    2420         $      MOVS     r4,#0x20
        0x00004254:    1aa2        ..      SUBS     r2,r4,r2
        0x00004256:    4091        .@      LSLS     r1,r1,r2
        0x00004258:    4308        .C      ORRS     r0,r0,r1
        0x0000425a:    4619        .F      MOV      r1,r3
        0x0000425c:    bd10        ..      POP      {r4,pc}
    .text
    __aeabi_lasr
    _ll_sshift_r
        0x0000425e:    b510        ..      PUSH     {r4,lr}
        0x00004260:    2a20         *      CMP      r2,#0x20
        0x00004262:    db06        ..      BLT      0x4272 ; __aeabi_lasr + 20
        0x00004264:    17cb        ..      ASRS     r3,r1,#31
        0x00004266:    4608        .F      MOV      r0,r1
        0x00004268:    3a20         :      SUBS     r2,r2,#0x20
        0x0000426a:    4110        .A      ASRS     r0,r0,r2
        0x0000426c:    17c1        ..      ASRS     r1,r0,#31
        0x0000426e:    4319        .C      ORRS     r1,r1,r3
        0x00004270:    bd10        ..      POP      {r4,pc}
        0x00004272:    460b        .F      MOV      r3,r1
        0x00004274:    4113        .A      ASRS     r3,r3,r2
        0x00004276:    40d0        .@      LSRS     r0,r0,r2
        0x00004278:    2420         $      MOVS     r4,#0x20
        0x0000427a:    1aa2        ..      SUBS     r2,r4,r2
        0x0000427c:    4091        .@      LSLS     r1,r1,r2
        0x0000427e:    4308        .C      ORRS     r0,r0,r1
        0x00004280:    4619        .F      MOV      r1,r3
        0x00004282:    bd10        ..      POP      {r4,pc}
    .text
    .text
    __I$use$fp
    _float_round
        0x00004284:    2900        .)      CMP      r1,#0
        0x00004286:    da04        ..      BGE      0x4292 ; __I$use$fp + 14
        0x00004288:    1c40        @.      ADDS     r0,r0,#1
        0x0000428a:    0049        I.      LSLS     r1,r1,#1
        0x0000428c:    d101        ..      BNE      0x4292 ; __I$use$fp + 14
        0x0000428e:    0840        @.      LSRS     r0,r0,#1
        0x00004290:    0040        @.      LSLS     r0,r0,#1
        0x00004292:    4770        pG      BX       lr
    _float_epilogue
        0x00004294:    b470        p.      PUSH     {r4-r6}
        0x00004296:    2400        .$      MOVS     r4,#0
        0x00004298:    0c05        ..      LSRS     r5,r0,#16
        0x0000429a:    d105        ..      BNE      0x42a8 ; _float_epilogue + 20
        0x0000429c:    2410        .$      MOVS     r4,#0x10
        0x0000429e:    0400        ..      LSLS     r0,r0,#16
        0x000042a0:    d102        ..      BNE      0x42a8 ; _float_epilogue + 20
        0x000042a2:    2900        .)      CMP      r1,#0
        0x000042a4:    d022        ".      BEQ      0x42ec ; _float_epilogue + 88
        0x000042a6:    2411        .$      MOVS     r4,#0x11
        0x000042a8:    0e05        ..      LSRS     r5,r0,#24
        0x000042aa:    d101        ..      BNE      0x42b0 ; _float_epilogue + 28
        0x000042ac:    3408        .4      ADDS     r4,r4,#8
        0x000042ae:    0200        ..      LSLS     r0,r0,#8
        0x000042b0:    0f05        ..      LSRS     r5,r0,#28
        0x000042b2:    d101        ..      BNE      0x42b8 ; _float_epilogue + 36
        0x000042b4:    1d24        $.      ADDS     r4,r4,#4
        0x000042b6:    0100        ..      LSLS     r0,r0,#4
        0x000042b8:    0f85        ..      LSRS     r5,r0,#30
        0x000042ba:    d101        ..      BNE      0x42c0 ; _float_epilogue + 44
        0x000042bc:    1ca4        ..      ADDS     r4,r4,#2
        0x000042be:    0080        ..      LSLS     r0,r0,#2
        0x000042c0:    2800        .(      CMP      r0,#0
        0x000042c2:    db01        ..      BLT      0x42c8 ; _float_epilogue + 52
        0x000042c4:    1c64        d.      ADDS     r4,r4,#1
        0x000042c6:    0040        @.      LSLS     r0,r0,#1
        0x000042c8:    2900        .)      CMP      r1,#0
        0x000042ca:    d008        ..      BEQ      0x42de ; _float_epilogue + 74
        0x000042cc:    2520         %      MOVS     r5,#0x20
        0x000042ce:    1b2e        ..      SUBS     r6,r5,r4
        0x000042d0:    460d        .F      MOV      r5,r1
        0x000042d2:    40f5        .@      LSRS     r5,r5,r6
        0x000042d4:    40a1        .@      LSLS     r1,r1,r4
        0x000042d6:    d000        ..      BEQ      0x42da ; _float_epilogue + 70
        0x000042d8:    2101        .!      MOVS     r1,#1
        0x000042da:    430d        .C      ORRS     r5,r5,r1
        0x000042dc:    4328        (C      ORRS     r0,r0,r5
        0x000042de:    1b1b        ..      SUBS     r3,r3,r4
        0x000042e0:    0601        ..      LSLS     r1,r0,#24
        0x000042e2:    1ddb        ..      ADDS     r3,r3,#7
        0x000042e4:    0a00        ..      LSRS     r0,r0,#8
        0x000042e6:    2b00        .+      CMP      r3,#0
        0x000042e8:    da02        ..      BGE      0x42f0 ; _float_epilogue + 92
        0x000042ea:    2000        .       MOVS     r0,#0
        0x000042ec:    bc70        p.      POP      {r4-r6}
        0x000042ee:    4770        pG      BX       lr
        0x000042f0:    05db        ..      LSLS     r3,r3,#23
        0x000042f2:    1818        ..      ADDS     r0,r3,r0
        0x000042f4:    1880        ..      ADDS     r0,r0,r2
        0x000042f6:    2900        .)      CMP      r1,#0
        0x000042f8:    daf8        ..      BGE      0x42ec ; _float_epilogue + 88
        0x000042fa:    1c40        @.      ADDS     r0,r0,#1
        0x000042fc:    0049        I.      LSLS     r1,r1,#1
        0x000042fe:    d1f5        ..      BNE      0x42ec ; _float_epilogue + 88
        0x00004300:    bc70        p.      POP      {r4-r6}
        0x00004302:    0840        @.      LSRS     r0,r0,#1
        0x00004304:    0040        @.      LSLS     r0,r0,#1
        0x00004306:    4770        pG      BX       lr
    .text
    _double_round
        0x00004308:    b510        ..      PUSH     {r4,lr}
        0x0000430a:    2b00        .+      CMP      r3,#0
        0x0000430c:    da08        ..      BGE      0x4320 ; _double_round + 24
        0x0000430e:    2400        .$      MOVS     r4,#0
        0x00004310:    1c40        @.      ADDS     r0,r0,#1
        0x00004312:    4161        aA      ADCS     r1,r1,r4
        0x00004314:    1892        ..      ADDS     r2,r2,r2
        0x00004316:    415b        [A      ADCS     r3,r3,r3
        0x00004318:    431a        .C      ORRS     r2,r2,r3
        0x0000431a:    d101        ..      BNE      0x4320 ; _double_round + 24
        0x0000431c:    0840        @.      LSRS     r0,r0,#1
        0x0000431e:    0040        @.      LSLS     r0,r0,#1
        0x00004320:    bd10        ..      POP      {r4,pc}
    _double_epilogue
        0x00004322:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00004324:    b41f        ..      PUSH     {r0-r4}
        0x00004326:    b082        ..      SUB      sp,sp,#8
        0x00004328:    4605        .F      MOV      r5,r0
        0x0000432a:    000c        ..      MOVS     r4,r1
        0x0000432c:    d003        ..      BEQ      0x4336 ; _double_epilogue + 20
        0x0000432e:    4608        .F      MOV      r0,r1
        0x00004330:    f001fb40    ..@.    BL       __ARM_clz ; 0x59b4
        0x00004334:    e002        ..      B        0x433c ; _double_epilogue + 26
        0x00004336:    f001fb3d    ..=.    BL       __ARM_clz ; 0x59b4
        0x0000433a:    3020         0      ADDS     r0,r0,#0x20
        0x0000433c:    4602        .F      MOV      r2,r0
        0x0000433e:    9000        ..      STR      r0,[sp,#0]
        0x00004340:    4621        !F      MOV      r1,r4
        0x00004342:    4628        (F      MOV      r0,r5
        0x00004344:    f7ffff6a    ..j.    BL       __aeabi_llsl ; 0x421c
        0x00004348:    9b04        ..      LDR      r3,[sp,#0x10]
        0x0000434a:    9a05        ..      LDR      r2,[sp,#0x14]
        0x0000434c:    4606        .F      MOV      r6,r0
        0x0000434e:    460f        .F      MOV      r7,r1
        0x00004350:    4318        .C      ORRS     r0,r0,r3
        0x00004352:    4311        .C      ORRS     r1,r1,r2
        0x00004354:    4308        .C      ORRS     r0,r0,r1
        0x00004356:    d103        ..      BNE      0x4360 ; _double_epilogue + 62
        0x00004358:    4630        0F      MOV      r0,r6
        0x0000435a:    4639        9F      MOV      r1,r7
        0x0000435c:    b007        ..      ADD      sp,sp,#0x1c
        0x0000435e:    bdf0        ..      POP      {r4-r7,pc}
        0x00004360:    4618        .F      MOV      r0,r3
        0x00004362:    4310        .C      ORRS     r0,r0,r2
        0x00004364:    d017        ..      BEQ      0x4396 ; _double_epilogue + 116
        0x00004366:    9800        ..      LDR      r0,[sp,#0]
        0x00004368:    2140        @!      MOVS     r1,#0x40
        0x0000436a:    1a0a        ..      SUBS     r2,r1,r0
        0x0000436c:    4618        .F      MOV      r0,r3
        0x0000436e:    9905        ..      LDR      r1,[sp,#0x14]
        0x00004370:    f7ffff64    ..d.    BL       __aeabi_llsr ; 0x423c
        0x00004374:    4604        .F      MOV      r4,r0
        0x00004376:    460d        .F      MOV      r5,r1
        0x00004378:    9a00        ..      LDR      r2,[sp,#0]
        0x0000437a:    9905        ..      LDR      r1,[sp,#0x14]
        0x0000437c:    9804        ..      LDR      r0,[sp,#0x10]
        0x0000437e:    f7ffff4d    ..M.    BL       __aeabi_llsl ; 0x421c
        0x00004382:    4308        .C      ORRS     r0,r0,r1
        0x00004384:    d001        ..      BEQ      0x438a ; _double_epilogue + 104
        0x00004386:    2001        .       MOVS     r0,#1
        0x00004388:    e000        ..      B        0x438c ; _double_epilogue + 106
        0x0000438a:    2000        .       MOVS     r0,#0
        0x0000438c:    17c1        ..      ASRS     r1,r0,#31
        0x0000438e:    4304        .C      ORRS     r4,r4,r0
        0x00004390:    430d        .C      ORRS     r5,r5,r1
        0x00004392:    4326        &C      ORRS     r6,r6,r4
        0x00004394:    432f        /C      ORRS     r7,r7,r5
        0x00004396:    9900        ..      LDR      r1,[sp,#0]
        0x00004398:    980e        ..      LDR      r0,[sp,#0x38]
        0x0000439a:    0af4        ..      LSRS     r4,r6,#11
        0x0000439c:    1a40        @.      SUBS     r0,r0,r1
        0x0000439e:    0579        y.      LSLS     r1,r7,#21
        0x000043a0:    300a        .0      ADDS     r0,r0,#0xa
        0x000043a2:    0573        s.      LSLS     r3,r6,#21
        0x000043a4:    2200        ."      MOVS     r2,#0
        0x000043a6:    430c        .C      ORRS     r4,r4,r1
        0x000043a8:    0afd        ..      LSRS     r5,r7,#11
        0x000043aa:    2800        .(      CMP      r0,#0
        0x000043ac:    da02        ..      BGE      0x43b4 ; _double_epilogue + 146
        0x000043ae:    2000        .       MOVS     r0,#0
        0x000043b0:    4601        .F      MOV      r1,r0
        0x000043b2:    e7d3        ..      B        0x435c ; _double_epilogue + 58
        0x000043b4:    0501        ..      LSLS     r1,r0,#20
        0x000043b6:    1910        ..      ADDS     r0,r2,r4
        0x000043b8:    4169        iA      ADCS     r1,r1,r5
        0x000043ba:    9c0c        ..      LDR      r4,[sp,#0x30]
        0x000043bc:    9d0d        ..      LDR      r5,[sp,#0x34]
        0x000043be:    1900        ..      ADDS     r0,r0,r4
        0x000043c0:    4169        iA      ADCS     r1,r1,r5
        0x000043c2:    f7ffffa1    ....    BL       _double_round ; 0x4308
        0x000043c6:    e7c9        ..      B        0x435c ; _double_epilogue + 58
    .text
    __ARM_scalbn
    scalbn
        0x000043c8:    b570        p.      PUSH     {r4-r6,lr}
        0x000043ca:    004b        K.      LSLS     r3,r1,#1
        0x000043cc:    085b        [.      LSRS     r3,r3,#1
        0x000043ce:    4604        .F      MOV      r4,r0
        0x000043d0:    431c        .C      ORRS     r4,r4,r3
        0x000043d2:    d00a        ..      BEQ      0x43ea ; __ARM_scalbn + 34
        0x000043d4:    0d1c        ..      LSRS     r4,r3,#20
        0x000043d6:    2600        .&      MOVS     r6,#0
        0x000043d8:    4633        3F      MOV      r3,r6
        0x000043da:    4265        eB      RSBS     r5,r4,#0
        0x000043dc:    41b3        .A      SBCS     r3,r3,r6
        0x000043de:    17d4        ..      ASRS     r4,r2,#31
        0x000043e0:    1aad        ..      SUBS     r5,r5,r2
        0x000043e2:    41a3        .A      SBCS     r3,r3,r4
        0x000043e4:    db02        ..      BLT      0x43ec ; __ARM_scalbn + 36
        0x000043e6:    2000        .       MOVS     r0,#0
        0x000043e8:    4601        .F      MOV      r1,r0
        0x000043ea:    bd70        p.      POP      {r4-r6,pc}
        0x000043ec:    0512        ..      LSLS     r2,r2,#20
        0x000043ee:    1c00        ..      ADDS     r0,r0,#0
        0x000043f0:    4151        QA      ADCS     r1,r1,r2
        0x000043f2:    bd70        p.      POP      {r4-r6,pc}
    .text
    _dsqrt
        0x000043f4:    b5fe        ..      PUSH     {r1-r7,lr}
        0x000043f6:    2300        .#      MOVS     r3,#0
        0x000043f8:    461a        .F      MOV      r2,r3
        0x000043fa:    1a1b        ..      SUBS     r3,r3,r0
        0x000043fc:    418a        .A      SBCS     r2,r2,r1
        0x000043fe:    db03        ..      BLT      0x4408 ; _dsqrt + 20
        0x00004400:    2000        .       MOVS     r0,#0
        0x00004402:    4601        .F      MOV      r1,r0
        0x00004404:    b003        ..      ADD      sp,sp,#0xc
        0x00004406:    bdf0        ..      POP      {r4-r7,pc}
        0x00004408:    004a        J.      LSLS     r2,r1,#1
        0x0000440a:    030f        ..      LSLS     r7,r1,#12
        0x0000440c:    2101        .!      MOVS     r1,#1
        0x0000440e:    0b3f        ?.      LSRS     r7,r7,#12
        0x00004410:    0509        ..      LSLS     r1,r1,#20
        0x00004412:    0d52        R.      LSRS     r2,r2,#21
        0x00004414:    430f        .C      ORRS     r7,r7,r1
        0x00004416:    07d1        ..      LSLS     r1,r2,#31
        0x00004418:    d102        ..      BNE      0x4420 ; _dsqrt + 44
        0x0000441a:    1800        ..      ADDS     r0,r0,r0
        0x0000441c:    417f        .A      ADCS     r7,r7,r7
        0x0000441e:    1e52        R.      SUBS     r2,r2,#1
        0x00004420:    1051        Q.      ASRS     r1,r2,#1
        0x00004422:    31ff        .1      ADDS     r1,r1,#0xff
        0x00004424:    31ff        .1      ADDS     r1,r1,#0xff
        0x00004426:    3101        .1      ADDS     r1,#1
        0x00004428:    2500        .%      MOVS     r5,#0
        0x0000442a:    4606        .F      MOV      r6,r0
        0x0000442c:    462c        ,F      MOV      r4,r5
        0x0000442e:    4628        (F      MOV      r0,r5
        0x00004430:    9500        ..      STR      r5,[sp,#0]
        0x00004432:    9101        ..      STR      r1,[sp,#4]
        0x00004434:    4602        .F      MOV      r2,r0
        0x00004436:    2101        .!      MOVS     r1,#1
        0x00004438:    2000        .       MOVS     r0,#0
        0x0000443a:    0509        ..      LSLS     r1,r1,#20
        0x0000443c:    f7fffefe    ....    BL       __aeabi_llsr ; 0x423c
        0x00004440:    1943        C.      ADDS     r3,r0,r5
        0x00004442:    4161        aA      ADCS     r1,r1,r4
        0x00004444:    18e8        ..      ADDS     r0,r5,r3
        0x00004446:    4622        "F      MOV      r2,r4
        0x00004448:    4684        .F      MOV      r12,r0
        0x0000444a:    468e        .F      MOV      lr,r1
        0x0000444c:    414a        JA      ADCS     r2,r2,r1
        0x0000444e:    4661        aF      MOV      r1,r12
        0x00004450:    4638        8F      MOV      r0,r7
        0x00004452:    1a71        q.      SUBS     r1,r6,r1
        0x00004454:    4190        .A      SBCS     r0,r0,r2
        0x00004456:    d304        ..      BCC      0x4462 ; _dsqrt + 110
        0x00004458:    4660        `F      MOV      r0,r12
        0x0000445a:    1a36        6.      SUBS     r6,r6,r0
        0x0000445c:    4197        .A      SBCS     r7,r7,r2
        0x0000445e:    4674        tF      MOV      r4,lr
        0x00004460:    461d        .F      MOV      r5,r3
        0x00004462:    19b6        ..      ADDS     r6,r6,r6
        0x00004464:    9800        ..      LDR      r0,[sp,#0]
        0x00004466:    417f        .A      ADCS     r7,r7,r7
        0x00004468:    1c40        @.      ADDS     r0,r0,#1
        0x0000446a:    9000        ..      STR      r0,[sp,#0]
        0x0000446c:    2834        4(      CMP      r0,#0x34
        0x0000446e:    dde1        ..      BLE      0x4434 ; _dsqrt + 64
        0x00004470:    1969        i.      ADDS     r1,r5,r5
        0x00004472:    4620         F      MOV      r0,r4
        0x00004474:    4160        `A      ADCS     r0,r0,r4
        0x00004476:    1b89        ..      SUBS     r1,r1,r6
        0x00004478:    41b8        .A      SBCS     r0,r0,r7
        0x0000447a:    d203        ..      BCS      0x4484 ; _dsqrt + 144
        0x0000447c:    2200        ."      MOVS     r2,#0
        0x0000447e:    43d2        .C      MVNS     r2,r2
        0x00004480:    4613        .F      MOV      r3,r2
        0x00004482:    e001        ..      B        0x4488 ; _dsqrt + 148
        0x00004484:    2200        ."      MOVS     r2,#0
        0x00004486:    4613        .F      MOV      r3,r2
        0x00004488:    9801        ..      LDR      r0,[sp,#4]
        0x0000448a:    0501        ..      LSLS     r1,r0,#20
        0x0000448c:    1c28        (.      ADDS     r0,r5,#0
        0x0000448e:    4161        aA      ADCS     r1,r1,r4
        0x00004490:    f7ffff3a    ..:.    BL       _double_round ; 0x4308
        0x00004494:    e7b6        ..      B        0x4404 ; _dsqrt + 16
        0x00004496:    0000        ..      MOVS     r0,r0
    .text
    __scatterload
    __scatterload_rt2
        0x00004498:    4c06        .L      LDR      r4,[pc,#24] ; [0x44b4] = 0x6e70
        0x0000449a:    2501        .%      MOVS     r5,#1
        0x0000449c:    4e06        .N      LDR      r6,[pc,#24] ; [0x44b8] = 0x6e90
        0x0000449e:    e005        ..      B        0x44ac ; __scatterload + 20
        0x000044a0:    4620         F      MOV      r0,r4
        0x000044a2:    68e3        .h      LDR      r3,[r4,#0xc]
        0x000044a4:    c807        ..      LDM      r0,{r0-r2}
        0x000044a6:    432b        +C      ORRS     r3,r3,r5
        0x000044a8:    4798        .G      BLX      r3
        0x000044aa:    3410        .4      ADDS     r4,r4,#0x10
        0x000044ac:    42b4        .B      CMP      r4,r6
        0x000044ae:    d3f7        ..      BCC      0x44a0 ; __scatterload + 8
        0x000044b0:    f7fbfe0a    ....    BL       __main_after_scatterload ; 0xc8
    $d
        0x000044b4:    00006e70    pn..    DCD    28272
        0x000044b8:    00006e90    .n..    DCD    28304
    $t
    .text
    __aeabi_i2d
        0x000044bc:    b50e        ..      PUSH     {r1-r3,lr}
        0x000044be:    17c2        ..      ASRS     r2,r0,#31
        0x000044c0:    0fc1        ..      LSRS     r1,r0,#31
        0x000044c2:    4050        P@      EORS     r0,r0,r2
        0x000044c4:    07ca        ..      LSLS     r2,r1,#31
        0x000044c6:    1840        @.      ADDS     r0,r0,r1
        0x000044c8:    2100        .!      MOVS     r1,#0
        0x000044ca:    4b05        .K      LDR      r3,[pc,#20] ; [0x44e0] = 0x433
        0x000044cc:    9302        ..      STR      r3,[sp,#8]
        0x000044ce:    9201        ..      STR      r2,[sp,#4]
        0x000044d0:    9100        ..      STR      r1,[sp,#0]
        0x000044d2:    460a        .F      MOV      r2,r1
        0x000044d4:    460b        .F      MOV      r3,r1
        0x000044d6:    f7ffff24    ..$.    BL       _double_epilogue ; 0x4322
        0x000044da:    b003        ..      ADD      sp,sp,#0xc
        0x000044dc:    bd00        ..      POP      {pc}
    $d
        0x000044de:    0000        ..      DCW    0
        0x000044e0:    00000433    3...    DCD    1075
    $t
    i.ADC_EnableInt
    ADC_EnableInt
        0x000044e4:    07cb        ..      LSLS     r3,r1,#31
        0x000044e6:    4809        .H      LDR      r0,[pc,#36] ; [0x450c] = 0x400e0040
        0x000044e8:    2202        ."      MOVS     r2,#2
        0x000044ea:    2b00        .+      CMP      r3,#0
        0x000044ec:    d002        ..      BEQ      0x44f4 ; ADC_EnableInt + 16
        0x000044ee:    6883        .h      LDR      r3,[r0,#8]
        0x000044f0:    4313        .C      ORRS     r3,r3,r2
        0x000044f2:    6083        .`      STR      r3,[r0,#8]
        0x000044f4:    078b        ..      LSLS     r3,r1,#30
        0x000044f6:    d502        ..      BPL      0x44fe ; ADC_EnableInt + 26
        0x000044f8:    6903        .i      LDR      r3,[r0,#0x10]
        0x000044fa:    4313        .C      ORRS     r3,r3,r2
        0x000044fc:    6103        .a      STR      r3,[r0,#0x10]
        0x000044fe:    0749        I.      LSLS     r1,r1,#29
        0x00004500:    d502        ..      BPL      0x4508 ; ADC_EnableInt + 36
        0x00004502:    6941        Ai      LDR      r1,[r0,#0x14]
        0x00004504:    4311        .C      ORRS     r1,r1,r2
        0x00004506:    6141        Aa      STR      r1,[r0,#0x14]
        0x00004508:    4770        pG      BX       lr
    $d
        0x0000450a:    0000        ..      DCW    0
        0x0000450c:    400e0040    @..@    DCD    1074659392
    $t
    i.ADC_IRQHandler
    ADC_IRQHandler
        0x00004510:    b510        ..      PUSH     {r4,lr}
        0x00004512:    490b        .I      LDR      r1,[pc,#44] ; [0x4540] = 0x400e0040
        0x00004514:    6988        .i      LDR      r0,[r1,#0x18]
        0x00004516:    07c0        ..      LSLS     r0,r0,#31
        0x00004518:    0fc0        ..      LSRS     r0,r0,#31
        0x0000451a:    07c2        ..      LSLS     r2,r0,#31
        0x0000451c:    d00a        ..      BEQ      0x4534 ; ADC_IRQHandler + 36
        0x0000451e:    4b08        .K      LDR      r3,[pc,#32] ; [0x4540] = 0x400e0040
        0x00004520:    3b40        @;      SUBS     r3,r3,#0x40
        0x00004522:    691a        .i      LDR      r2,[r3,#0x10]
        0x00004524:    0514        ..      LSLS     r4,r2,#20
        0x00004526:    4a07        .J      LDR      r2,[pc,#28] ; [0x4544] = 0x20000040
        0x00004528:    0d24        $.      LSRS     r4,r4,#20
        0x0000452a:    6294        .b      STR      r4,[r2,#0x28]
        0x0000452c:    695b        [i      LDR      r3,[r3,#0x14]
        0x0000452e:    051b        ..      LSLS     r3,r3,#20
        0x00004530:    0d1b        ..      LSRS     r3,r3,#20
        0x00004532:    62d3        .b      STR      r3,[r2,#0x2c]
        0x00004534:    698a        .i      LDR      r2,[r1,#0x18]
        0x00004536:    08d2        ..      LSRS     r2,r2,#3
        0x00004538:    00d2        ..      LSLS     r2,r2,#3
        0x0000453a:    4302        .C      ORRS     r2,r2,r0
        0x0000453c:    618a        .a      STR      r2,[r1,#0x18]
        0x0000453e:    bd10        ..      POP      {r4,pc}
    $d
        0x00004540:    400e0040    @..@    DCD    1074659392
        0x00004544:    20000040    @..     DCD    536870976
    $t
    i.ADC_Open
    ADC_Open
        0x00004548:    b530        0.      PUSH     {r4,r5,lr}
        0x0000454a:    4808        .H      LDR      r0,[pc,#32] ; [0x456c] = 0x400e0040
        0x0000454c:    6884        .h      LDR      r4,[r0,#8]
        0x0000454e:    1505        ..      ASRS     r5,r0,#20
        0x00004550:    43ac        .C      BICS     r4,r4,r5
        0x00004552:    430c        .C      ORRS     r4,r4,r1
        0x00004554:    6084        .`      STR      r4,[r0,#8]
        0x00004556:    6881        .h      LDR      r1,[r0,#8]
        0x00004558:    240c        .$      MOVS     r4,#0xc
        0x0000455a:    43a1        .C      BICS     r1,r1,r4
        0x0000455c:    4311        .C      ORRS     r1,r1,r2
        0x0000455e:    6081        .`      STR      r1,[r0,#8]
        0x00004560:    6881        .h      LDR      r1,[r0,#8]
        0x00004562:    03a2        ..      LSLS     r2,r4,#14
        0x00004564:    4391        .C      BICS     r1,r1,r2
        0x00004566:    6081        .`      STR      r1,[r0,#8]
        0x00004568:    60c3        .`      STR      r3,[r0,#0xc]
        0x0000456a:    bd30        0.      POP      {r4,r5,pc}
    $d
        0x0000456c:    400e0040    @..@    DCD    1074659392
    $t
    i.AccCalibrationZ
    AccCalibrationZ
        0x00004570:    b510        ..      PUSH     {r4,lr}
        0x00004572:    f7fcfa82    ....    BL       nvtCalACCInit ; 0xa7a
        0x00004576:    4c0b        .L      LDR      r4,[pc,#44] ; [0x45a4] = 0x20000074
        0x00004578:    2001        .       MOVS     r0,#1
        0x0000457a:    f000f951    ..Q.    BL       DelayMsec ; 0x4820
        0x0000457e:    f000fe7f    ....    BL       Read_MPU6050_AccX ; 0x5280
        0x00004582:    8020         .      STRH     r0,[r4,#0]
        0x00004584:    f000fe87    ....    BL       Read_MPU6050_AccY ; 0x5296
        0x00004588:    8060        `.      STRH     r0,[r4,#2]
        0x0000458a:    f000fe8f    ....    BL       Read_MPU6050_AccZ ; 0x52ac
        0x0000458e:    80a0        ..      STRH     r0,[r4,#4]
        0x00004590:    4804        .H      LDR      r0,[pc,#16] ; [0x45a4] = 0x20000074
        0x00004592:    f7fbff8d    ....    BL       nvtInputSensorRawACC ; 0x4b0
        0x00004596:    2000        .       MOVS     r0,#0
        0x00004598:    f7fcfb73    ..s.    BL       nvtCalACCBufferFill ; 0xc82
        0x0000459c:    1c40        @.      ADDS     r0,r0,#1
        0x0000459e:    d0eb        ..      BEQ      0x4578 ; AccCalibrationZ + 8
        0x000045a0:    bd10        ..      POP      {r4,pc}
    $d
        0x000045a2:    0000        ..      DCW    0
        0x000045a4:    20000074    t..     DCD    536871028
    $t
    i.Buzz
    Buzz
        0x000045a8:    b570        p.      PUSH     {r4-r6,lr}
        0x000045aa:    4605        .F      MOV      r5,r0
        0x000045ac:    2400        .$      MOVS     r4,#0
        0x000045ae:    4e0a        .N      LDR      r6,[pc,#40] ; [0x45d8] = 0x40040000
        0x000045b0:    e00f        ..      B        0x45d2 ; Buzz + 42
        0x000045b2:    2108        .!      MOVS     r1,#8
        0x000045b4:    4630        0F      MOV      r0,r6
        0x000045b6:    f000fcb3    ....    BL       PWM_EnableOutput ; 0x4f20
        0x000045ba:    2032        2       MOVS     r0,#0x32
        0x000045bc:    f000f930    ..0.    BL       DelayMsec ; 0x4820
        0x000045c0:    2108        .!      MOVS     r1,#8
        0x000045c2:    4630        0F      MOV      r0,r6
        0x000045c4:    f000fca8    ....    BL       PWM_DisableOutput ; 0x4f18
        0x000045c8:    2032        2       MOVS     r0,#0x32
        0x000045ca:    f000f929    ..).    BL       DelayMsec ; 0x4820
        0x000045ce:    1c64        d.      ADDS     r4,r4,#1
        0x000045d0:    b2e4        ..      UXTB     r4,r4
        0x000045d2:    42ac        .B      CMP      r4,r5
        0x000045d4:    d3ed        ..      BCC      0x45b2 ; Buzz + 10
        0x000045d6:    bd70        p.      POP      {r4-r6,pc}
    $d
        0x000045d8:    40040000    ...@    DCD    1074003968
    $t
    i.CLK_EnableModuleClock
    CLK_EnableModuleClock
        0x000045dc:    0fc1        ..      LSRS     r1,r0,#31
        0x000045de:    008a        ..      LSLS     r2,r1,#2
        0x000045e0:    4904        .I      LDR      r1,[pc,#16] ; [0x45f4] = 0x50000200
        0x000045e2:    1851        Q.      ADDS     r1,r2,r1
        0x000045e4:    684a        Jh      LDR      r2,[r1,#4]
        0x000045e6:    06c3        ..      LSLS     r3,r0,#27
        0x000045e8:    0edb        ..      LSRS     r3,r3,#27
        0x000045ea:    2001        .       MOVS     r0,#1
        0x000045ec:    4098        .@      LSLS     r0,r0,r3
        0x000045ee:    4302        .C      ORRS     r2,r2,r0
        0x000045f0:    604a        J`      STR      r2,[r1,#4]
        0x000045f2:    4770        pG      BX       lr
    $d
        0x000045f4:    50000200    ...P    DCD    1342177792
    $t
    i.CLK_EnablePLL
    CLK_EnablePLL
        0x000045f8:    b5f3        ..      PUSH     {r0,r1,r4-r7,lr}
        0x000045fa:    4822        "H      LDR      r0,[pc,#136] ; [0x4684] = 0xf42400
        0x000045fc:    b081        ..      SUB      sp,sp,#4
        0x000045fe:    460f        .F      MOV      r7,r1
        0x00004600:    4281        .B      CMP      r1,r0
        0x00004602:    d201        ..      BCS      0x4608 ; CLK_EnablePLL + 16
        0x00004604:    4607        .F      MOV      r7,r0
        0x00004606:    e003        ..      B        0x4610 ; CLK_EnablePLL + 24
        0x00004608:    491f        .I      LDR      r1,[pc,#124] ; [0x4688] = 0x1e84800
        0x0000460a:    428f        .B      CMP      r7,r1
        0x0000460c:    d900        ..      BLS      0x4610 ; CLK_EnablePLL + 24
        0x0000460e:    460f        .F      MOV      r7,r1
        0x00004610:    2601        .&      MOVS     r6,#1
        0x00004612:    9a01        ..      LDR      r2,[sp,#4]
        0x00004614:    491d        .I      LDR      r1,[pc,#116] ; [0x468c] = 0xb71b00
        0x00004616:    0476        v.      LSLS     r6,r6,#17
        0x00004618:    4d1d        .M      LDR      r5,[pc,#116] ; [0x4690] = 0x50000200
        0x0000461a:    2a00        .*      CMP      r2,#0
        0x0000461c:    d015        ..      BEQ      0x464a ; CLK_EnablePLL + 82
        0x0000461e:    6a6a        jj      LDR      r2,[r5,#0x24]
        0x00004620:    4332        2C      ORRS     r2,r2,r6
        0x00004622:    626a        jb      STR      r2,[r5,#0x24]
        0x00004624:    682a        *h      LDR      r2,[r5,#0]
        0x00004626:    04d2        ..      LSLS     r2,r2,#19
        0x00004628:    d400        ..      BMI      0x462c ; CLK_EnablePLL + 52
        0x0000462a:    4608        .F      MOV      r0,r1
        0x0000462c:    4919        .I      LDR      r1,[pc,#100] ; [0x4694] = 0xf4240
        0x0000462e:    f7fffa4b    ..K.    BL       __aeabi_uidiv ; 0x3ac8
        0x00004632:    4604        .F      MOV      r4,r0
        0x00004634:    4917        .I      LDR      r1,[pc,#92] ; [0x4694] = 0xf4240
        0x00004636:    4638        8F      MOV      r0,r7
        0x00004638:    f7fffa46    ..F.    BL       __aeabi_uidiv ; 0x3ac8
        0x0000463c:    2820         (      CMP      r0,#0x20
        0x0000463e:    d801        ..      BHI      0x4644 ; CLK_EnablePLL + 76
        0x00004640:    2c10        .,      CMP      r4,#0x10
        0x00004642:    d906        ..      BLS      0x4652 ; CLK_EnablePLL + 90
        0x00004644:    0840        @.      LSRS     r0,r0,#1
        0x00004646:    0864        d.      LSRS     r4,r4,#1
        0x00004648:    e7f8        ..      B        0x463c ; CLK_EnablePLL + 68
        0x0000464a:    6a68        hj      LDR      r0,[r5,#0x24]
        0x0000464c:    43b0        .C      BICS     r0,r0,r6
        0x0000464e:    6268        hb      STR      r0,[r5,#0x24]
        0x00004650:    e7eb        ..      B        0x462a ; CLK_EnablePLL + 50
        0x00004652:    0221        !.      LSLS     r1,r4,#8
        0x00004654:    39ff        .9      SUBS     r1,r1,#0xff
        0x00004656:    3901        .9      SUBS     r1,#1
        0x00004658:    4301        .C      ORRS     r1,r1,r0
        0x0000465a:    6a68        hj      LDR      r0,[r5,#0x24]
        0x0000465c:    4a0e        .J      LDR      r2,[pc,#56] ; [0x4698] = 0xfffff0c0
        0x0000465e:    4010        .@      ANDS     r0,r0,r2
        0x00004660:    4308        .C      ORRS     r0,r0,r1
        0x00004662:    6268        hb      STR      r0,[r5,#0x24]
        0x00004664:    9801        ..      LDR      r0,[sp,#4]
        0x00004666:    42b0        .B      CMP      r0,r6
        0x00004668:    6a68        hj      LDR      r0,[r5,#0x24]
        0x0000466a:    d101        ..      BNE      0x4670 ; CLK_EnablePLL + 120
        0x0000466c:    4330        0C      ORRS     r0,r0,r6
        0x0000466e:    e000        ..      B        0x4672 ; CLK_EnablePLL + 122
        0x00004670:    43b0        .C      BICS     r0,r0,r6
        0x00004672:    6268        hb      STR      r0,[r5,#0x24]
        0x00004674:    6a68        hj      LDR      r0,[r5,#0x24]
        0x00004676:    2101        .!      MOVS     r1,#1
        0x00004678:    0409        ..      LSLS     r1,r1,#16
        0x0000467a:    4388        .C      BICS     r0,r0,r1
        0x0000467c:    6268        hb      STR      r0,[r5,#0x24]
        0x0000467e:    f000f839    ..9.    BL       CLK_GetPLLClockFreq ; 0x46f4
        0x00004682:    bdfe        ..      POP      {r1-r7,pc}
    $d
        0x00004684:    00f42400    .$..    DCD    16000000
        0x00004688:    01e84800    .H..    DCD    32000000
        0x0000468c:    00b71b00    ....    DCD    12000000
        0x00004690:    50000200    ...P    DCD    1342177792
        0x00004694:    000f4240    @B..    DCD    1000000
        0x00004698:    fffff0c0    ....    DCD    4294963392
    $t
    i.CLK_EnableXtalRC
    CLK_EnableXtalRC
        0x0000469c:    4902        .I      LDR      r1,[pc,#8] ; [0x46a8] = 0x50000200
        0x0000469e:    680a        .h      LDR      r2,[r1,#0]
        0x000046a0:    4302        .C      ORRS     r2,r2,r0
        0x000046a2:    600a        .`      STR      r2,[r1,#0]
        0x000046a4:    4770        pG      BX       lr
    $d
        0x000046a6:    0000        ..      DCW    0
        0x000046a8:    50000200    ...P    DCD    1342177792
    $t
    i.CLK_GetHCLKFreq
    CLK_GetHCLKFreq
        0x000046ac:    b510        ..      PUSH     {r4,lr}
        0x000046ae:    f001f817    ....    BL       SystemCoreClockUpdate ; 0x56e0
        0x000046b2:    4801        .H      LDR      r0,[pc,#4] ; [0x46b8] = 0x20000000
        0x000046b4:    6800        .h      LDR      r0,[r0,#0]
        0x000046b6:    bd10        ..      POP      {r4,pc}
    $d
        0x000046b8:    20000000    ...     DCD    536870912
    $t
    i.CLK_GetPCLKFreq
    CLK_GetPCLKFreq
        0x000046bc:    b510        ..      PUSH     {r4,lr}
        0x000046be:    b088        ..      SUB      sp,sp,#0x20
        0x000046c0:    2220         "      MOVS     r2,#0x20
        0x000046c2:    4909        .I      LDR      r1,[pc,#36] ; [0x46e8] = 0x6c50
        0x000046c4:    4668        hF      MOV      r0,sp
        0x000046c6:    f7fffa56    ..V.    BL       __aeabi_memcpy ; 0x3b76
        0x000046ca:    4808        .H      LDR      r0,[pc,#32] ; [0x46ec] = 0x50000200
        0x000046cc:    6b40        @k      LDR      r0,[r0,#0x34]
        0x000046ce:    0744        D.      LSLS     r4,r0,#29
        0x000046d0:    0f64        d.      LSRS     r4,r4,#29
        0x000046d2:    f001f805    ....    BL       SystemCoreClockUpdate ; 0x56e0
        0x000046d6:    00a0        ..      LSLS     r0,r4,#2
        0x000046d8:    4669        iF      MOV      r1,sp
        0x000046da:    5809        .X      LDR      r1,[r1,r0]
        0x000046dc:    4804        .H      LDR      r0,[pc,#16] ; [0x46f0] = 0x20000000
        0x000046de:    6800        .h      LDR      r0,[r0,#0]
        0x000046e0:    f7fff9f2    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000046e4:    b008        ..      ADD      sp,sp,#0x20
        0x000046e6:    bd10        ..      POP      {r4,pc}
    $d
        0x000046e8:    00006c50    Pl..    DCD    27728
        0x000046ec:    50000200    ...P    DCD    1342177792
        0x000046f0:    20000000    ...     DCD    536870912
    $t
    i.CLK_GetPLLClockFreq
    CLK_GetPLLClockFreq
        0x000046f4:    b510        ..      PUSH     {r4,lr}
        0x000046f6:    490b        .I      LDR      r1,[pc,#44] ; [0x4724] = 0x50000200
        0x000046f8:    6a4a        Jj      LDR      r2,[r1,#0x24]
        0x000046fa:    03d0        ..      LSLS     r0,r2,#15
        0x000046fc:    d501        ..      BPL      0x4702 ; CLK_GetPLLClockFreq + 14
        0x000046fe:    2000        .       MOVS     r0,#0
        0x00004700:    bd10        ..      POP      {r4,pc}
        0x00004702:    4809        .H      LDR      r0,[pc,#36] ; [0x4728] = 0xb71b00
        0x00004704:    0393        ..      LSLS     r3,r2,#14
        0x00004706:    d503        ..      BPL      0x4710 ; CLK_GetPLLClockFreq + 28
        0x00004708:    6a49        Ij      LDR      r1,[r1,#0x24]
        0x0000470a:    04c9        ..      LSLS     r1,r1,#19
        0x0000470c:    d500        ..      BPL      0x4710 ; CLK_GetPLLClockFreq + 28
        0x0000470e:    4807        .H      LDR      r0,[pc,#28] ; [0x472c] = 0xf42400
        0x00004710:    0511        ..      LSLS     r1,r2,#20
        0x00004712:    0692        ..      LSLS     r2,r2,#26
        0x00004714:    0f09        ..      LSRS     r1,r1,#28
        0x00004716:    0e92        ..      LSRS     r2,r2,#26
        0x00004718:    4350        PC      MULS     r0,r2,r0
        0x0000471a:    1c49        I.      ADDS     r1,r1,#1
        0x0000471c:    f7fff9d4    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00004720:    bd10        ..      POP      {r4,pc}
    $d
        0x00004722:    0000        ..      DCW    0
        0x00004724:    50000200    ...P    DCD    1342177792
        0x00004728:    00b71b00    ....    DCD    12000000
        0x0000472c:    00f42400    .$..    DCD    16000000
    $t
    i.CLK_SetCoreClock
    CLK_SetCoreClock
        0x00004730:    b510        ..      PUSH     {r4,lr}
        0x00004732:    490a        .I      LDR      r1,[pc,#40] ; [0x475c] = 0x50000200
        0x00004734:    6809        .h      LDR      r1,[r1,#0]
        0x00004736:    07c9        ..      LSLS     r1,r1,#31
        0x00004738:    4601        .F      MOV      r1,r0
        0x0000473a:    d001        ..      BEQ      0x4740 ; CLK_SetCoreClock + 16
        0x0000473c:    2000        .       MOVS     r0,#0
        0x0000473e:    e001        ..      B        0x4744 ; CLK_SetCoreClock + 20
        0x00004740:    2001        .       MOVS     r0,#1
        0x00004742:    0440        @.      LSLS     r0,r0,#17
        0x00004744:    f7ffff58    ..X.    BL       CLK_EnablePLL ; 0x45f8
        0x00004748:    2004        .       MOVS     r0,#4
        0x0000474a:    f000f845    ..E.    BL       CLK_WaitClockReady ; 0x47d8
        0x0000474e:    2100        .!      MOVS     r1,#0
        0x00004750:    2002        .       MOVS     r0,#2
        0x00004752:    f000f807    ....    BL       CLK_SetHCLK ; 0x4764
        0x00004756:    4802        .H      LDR      r0,[pc,#8] ; [0x4760] = 0x20000000
        0x00004758:    6800        .h      LDR      r0,[r0,#0]
        0x0000475a:    bd10        ..      POP      {r4,pc}
    $d
        0x0000475c:    50000200    ...P    DCD    1342177792
        0x00004760:    20000000    ...     DCD    536870912
    $t
    i.CLK_SetHCLK
    CLK_SetHCLK
        0x00004764:    b510        ..      PUSH     {r4,lr}
        0x00004766:    4a07        .J      LDR      r2,[pc,#28] ; [0x4784] = 0x50000200
        0x00004768:    69d3        .i      LDR      r3,[r2,#0x1c]
        0x0000476a:    091b        ..      LSRS     r3,r3,#4
        0x0000476c:    011b        ..      LSLS     r3,r3,#4
        0x0000476e:    430b        .C      ORRS     r3,r3,r1
        0x00004770:    61d3        .a      STR      r3,[r2,#0x1c]
        0x00004772:    6911        .i      LDR      r1,[r2,#0x10]
        0x00004774:    08c9        ..      LSRS     r1,r1,#3
        0x00004776:    00c9        ..      LSLS     r1,r1,#3
        0x00004778:    4301        .C      ORRS     r1,r1,r0
        0x0000477a:    6111        .a      STR      r1,[r2,#0x10]
        0x0000477c:    f000ffb0    ....    BL       SystemCoreClockUpdate ; 0x56e0
        0x00004780:    bd10        ..      POP      {r4,pc}
    $d
        0x00004782:    0000        ..      DCW    0
        0x00004784:    50000200    ...P    DCD    1342177792
    $t
    i.CLK_SetModuleClock
    CLK_SetModuleClock
        0x00004788:    b570        p.      PUSH     {r4-r6,lr}
        0x0000478a:    0a84        ..      LSRS     r4,r0,#10
        0x0000478c:    0623        #.      LSLS     r3,r4,#24
        0x0000478e:    0e1b        ..      LSRS     r3,r3,#24
        0x00004790:    d00c        ..      BEQ      0x47ac ; CLK_SetModuleClock + 36
        0x00004792:    0303        ..      LSLS     r3,r0,#12
        0x00004794:    0f9b        ..      LSRS     r3,r3,#30
        0x00004796:    4d0f        .M      LDR      r5,[pc,#60] ; [0x47d4] = 0x5000021c
        0x00004798:    009b        ..      LSLS     r3,r3,#2
        0x0000479a:    195b        [.      ADDS     r3,r3,r5
        0x0000479c:    681d        .h      LDR      r5,[r3,#0]
        0x0000479e:    0586        ..      LSLS     r6,r0,#22
        0x000047a0:    b2e4        ..      UXTB     r4,r4
        0x000047a2:    0ef6        ..      LSRS     r6,r6,#27
        0x000047a4:    40b4        .@      LSLS     r4,r4,r6
        0x000047a6:    43a5        .C      BICS     r5,r5,r4
        0x000047a8:    4315        .C      ORRS     r5,r5,r2
        0x000047aa:    601d        .`      STR      r5,[r3,#0]
        0x000047ac:    0e42        B.      LSRS     r2,r0,#25
        0x000047ae:    0712        ..      LSLS     r2,r2,#28
        0x000047b0:    d00e        ..      BEQ      0x47d0 ; CLK_SetModuleClock + 72
        0x000047b2:    0042        B.      LSLS     r2,r0,#1
        0x000047b4:    4b07        .K      LDR      r3,[pc,#28] ; [0x47d4] = 0x5000021c
        0x000047b6:    0f92        ..      LSRS     r2,r2,#30
        0x000047b8:    0092        ..      LSLS     r2,r2,#2
        0x000047ba:    3b0c        .;      SUBS     r3,r3,#0xc
        0x000047bc:    18d2        ..      ADDS     r2,r2,r3
        0x000047be:    6813        .h      LDR      r3,[r2,#0]
        0x000047c0:    00c4        ..      LSLS     r4,r0,#3
        0x000047c2:    0f24        $.      LSRS     r4,r4,#28
        0x000047c4:    01c0        ..      LSLS     r0,r0,#7
        0x000047c6:    0ec0        ..      LSRS     r0,r0,#27
        0x000047c8:    4084        .@      LSLS     r4,r4,r0
        0x000047ca:    43a3        .C      BICS     r3,r3,r4
        0x000047cc:    430b        .C      ORRS     r3,r3,r1
        0x000047ce:    6013        .`      STR      r3,[r2,#0]
        0x000047d0:    bd70        p.      POP      {r4-r6,pc}
    $d
        0x000047d2:    0000        ..      DCW    0
        0x000047d4:    5000021c    ...P    DCD    1342177820
    $t
    i.CLK_WaitClockReady
    CLK_WaitClockReady
        0x000047d8:    b510        ..      PUSH     {r4,lr}
        0x000047da:    4604        .F      MOV      r4,r0
        0x000047dc:    4907        .I      LDR      r1,[pc,#28] ; [0x47fc] = 0x20f580
        0x000047de:    4a08        .J      LDR      r2,[pc,#32] ; [0x4800] = 0x50000200
        0x000047e0:    e005        ..      B        0x47ee ; CLK_WaitClockReady + 22
        0x000047e2:    460b        .F      MOV      r3,r1
        0x000047e4:    1e49        I.      SUBS     r1,r1,#1
        0x000047e6:    2b00        .+      CMP      r3,#0
        0x000047e8:    dc01        ..      BGT      0x47ee ; CLK_WaitClockReady + 22
        0x000047ea:    2000        .       MOVS     r0,#0
        0x000047ec:    bd10        ..      POP      {r4,pc}
        0x000047ee:    68d3        .h      LDR      r3,[r2,#0xc]
        0x000047f0:    4620         F      MOV      r0,r4
        0x000047f2:    4398        .C      BICS     r0,r0,r3
        0x000047f4:    d1f5        ..      BNE      0x47e2 ; CLK_WaitClockReady + 10
        0x000047f6:    2001        .       MOVS     r0,#1
        0x000047f8:    bd10        ..      POP      {r4,pc}
    $d
        0x000047fa:    0000        ..      DCW    0
        0x000047fc:    0020f580    .. .    DCD    2160000
        0x00004800:    50000200    ...P    DCD    1342177792
    $t
    i.ChronographStart
    ChronographStart
        0x00004804:    4904        .I      LDR      r1,[pc,#16] ; [0x4818] = 0x200000b8
        0x00004806:    6809        .h      LDR      r1,[r1,#0]
        0x00004808:    220c        ."      MOVS     r2,#0xc
        0x0000480a:    4350        PC      MULS     r0,r2,r0
        0x0000480c:    4a03        .J      LDR      r2,[pc,#12] ; [0x481c] = 0x20000220
        0x0000480e:    5011        .P      STR      r1,[r2,r0]
        0x00004810:    1880        ..      ADDS     r0,r0,r2
        0x00004812:    6081        .`      STR      r1,[r0,#8]
        0x00004814:    4770        pG      BX       lr
    $d
        0x00004816:    0000        ..      DCW    0
        0x00004818:    200000b8    ...     DCD    536871096
        0x0000481c:    20000220     ..     DCD    536871456
    $t
    i.DelayMsec
    DelayMsec
        0x00004820:    4903        .I      LDR      r1,[pc,#12] ; [0x4830] = 0x200000b8
        0x00004822:    680a        .h      LDR      r2,[r1,#0]
        0x00004824:    680b        .h      LDR      r3,[r1,#0]
        0x00004826:    1a9b        ..      SUBS     r3,r3,r2
        0x00004828:    4283        .B      CMP      r3,r0
        0x0000482a:    dbfb        ..      BLT      0x4824 ; DelayMsec + 4
        0x0000482c:    4770        pG      BX       lr
    $d
        0x0000482e:    0000        ..      DCW    0
        0x00004830:    200000b8    ...     DCD    536871096
    $t
    i.FMC_Close
    FMC_Close
        0x00004834:    4802        .H      LDR      r0,[pc,#8] ; [0x4840] = 0x5000c000
        0x00004836:    6801        .h      LDR      r1,[r0,#0]
        0x00004838:    0849        I.      LSRS     r1,r1,#1
        0x0000483a:    0049        I.      LSLS     r1,r1,#1
        0x0000483c:    6001        .`      STR      r1,[r0,#0]
        0x0000483e:    4770        pG      BX       lr
    $d
        0x00004840:    5000c000    ...P    DCD    1342226432
    $t
    i.FMC_Open
    FMC_Open
        0x00004844:    4802        .H      LDR      r0,[pc,#8] ; [0x4850] = 0x5000c000
        0x00004846:    6801        .h      LDR      r1,[r0,#0]
        0x00004848:    2201        ."      MOVS     r2,#1
        0x0000484a:    4311        .C      ORRS     r1,r1,r2
        0x0000484c:    6001        .`      STR      r1,[r0,#0]
        0x0000484e:    4770        pG      BX       lr
    $d
        0x00004850:    5000c000    ...P    DCD    1342226432
    $t
    i.GPABC_IRQHandler
    GPABC_IRQHandler
        0x00004854:    b510        ..      PUSH     {r4,lr}
        0x00004856:    4811        .H      LDR      r0,[pc,#68] ; [0x489c] = 0x50004040
        0x00004858:    6a01        .j      LDR      r1,[r0,#0x20]
        0x0000485a:    4a11        .J      LDR      r2,[pc,#68] ; [0x48a0] = 0x20000040
        0x0000485c:    04cb        ..      LSLS     r3,r1,#19
        0x0000485e:    2101        .!      MOVS     r1,#1
        0x00004860:    2b00        .+      CMP      r3,#0
        0x00004862:    6a03        .j      LDR      r3,[r0,#0x20]
        0x00004864:    da04        ..      BGE      0x4870 ; GPABC_IRQHandler + 28
        0x00004866:    030c        ..      LSLS     r4,r1,#12
        0x00004868:    4323        #C      ORRS     r3,r3,r4
        0x0000486a:    6203        .b      STR      r3,[r0,#0x20]
        0x0000486c:    7051        Qp      STRB     r1,[r2,#1]
        0x0000486e:    bd10        ..      POP      {r4,pc}
        0x00004870:    049b        ..      LSLS     r3,r3,#18
        0x00004872:    6a03        .j      LDR      r3,[r0,#0x20]
        0x00004874:    d505        ..      BPL      0x4882 ; GPABC_IRQHandler + 46
        0x00004876:    2401        .$      MOVS     r4,#1
        0x00004878:    0364        d.      LSLS     r4,r4,#13
        0x0000487a:    4323        #C      ORRS     r3,r3,r4
        0x0000487c:    6203        .b      STR      r3,[r0,#0x20]
        0x0000487e:    7091        .p      STRB     r1,[r2,#2]
        0x00004880:    bd10        ..      POP      {r4,pc}
        0x00004882:    045b        [.      LSLS     r3,r3,#17
        0x00004884:    d506        ..      BPL      0x4894 ; GPABC_IRQHandler + 64
        0x00004886:    6a03        .j      LDR      r3,[r0,#0x20]
        0x00004888:    2401        .$      MOVS     r4,#1
        0x0000488a:    03a4        ..      LSLS     r4,r4,#14
        0x0000488c:    4323        #C      ORRS     r3,r3,r4
        0x0000488e:    6203        .b      STR      r3,[r0,#0x20]
        0x00004890:    70d1        .p      STRB     r1,[r2,#3]
        0x00004892:    bd10        ..      POP      {r4,pc}
        0x00004894:    6a01        .j      LDR      r1,[r0,#0x20]
        0x00004896:    6201        .b      STR      r1,[r0,#0x20]
        0x00004898:    bd10        ..      POP      {r4,pc}
    $d
        0x0000489a:    0000        ..      DCW    0
        0x0000489c:    50004040    @@.P    DCD    1342193728
        0x000048a0:    20000040    @..     DCD    536870976
    $t
    i.GPIO_EnableInt
    GPIO_EnableInt
        0x000048a4:    b510        ..      PUSH     {r4,lr}
        0x000048a6:    6983        .i      LDR      r3,[r0,#0x18]
        0x000048a8:    0e14        ..      LSRS     r4,r2,#24
        0x000048aa:    408c        .@      LSLS     r4,r4,r1
        0x000048ac:    4323        #C      ORRS     r3,r3,r4
        0x000048ae:    6183        .a      STR      r3,[r0,#0x18]
        0x000048b0:    69c3        .i      LDR      r3,[r0,#0x1c]
        0x000048b2:    0212        ..      LSLS     r2,r2,#8
        0x000048b4:    0a12        ..      LSRS     r2,r2,#8
        0x000048b6:    408a        .@      LSLS     r2,r2,r1
        0x000048b8:    4313        .C      ORRS     r3,r3,r2
        0x000048ba:    61c3        .a      STR      r3,[r0,#0x1c]
        0x000048bc:    bd10        ..      POP      {r4,pc}
    i.GPIO_SetMode
    GPIO_SetMode
        0x000048be:    b5f0        ..      PUSH     {r4-r7,lr}
        0x000048c0:    2300        .#      MOVS     r3,#0
        0x000048c2:    2701        .'      MOVS     r7,#1
        0x000048c4:    463c        <F      MOV      r4,r7
        0x000048c6:    409c        .@      LSLS     r4,r4,r3
        0x000048c8:    420c        .B      TST      r4,r1
        0x000048ca:    d008        ..      BEQ      0x48de ; GPIO_SetMode + 32
        0x000048cc:    6805        .h      LDR      r5,[r0,#0]
        0x000048ce:    005c        \.      LSLS     r4,r3,#1
        0x000048d0:    2603        .&      MOVS     r6,#3
        0x000048d2:    40a6        .@      LSLS     r6,r6,r4
        0x000048d4:    43b5        .C      BICS     r5,r5,r6
        0x000048d6:    4616        .F      MOV      r6,r2
        0x000048d8:    40a6        .@      LSLS     r6,r6,r4
        0x000048da:    4335        5C      ORRS     r5,r5,r6
        0x000048dc:    6005        .`      STR      r5,[r0,#0]
        0x000048de:    1c5b        [.      ADDS     r3,r3,#1
        0x000048e0:    2b10        .+      CMP      r3,#0x10
        0x000048e2:    d3ef        ..      BCC      0x48c4 ; GPIO_SetMode + 6
        0x000048e4:    bdf0        ..      POP      {r4-r7,pc}
        0x000048e6:    0000        ..      MOVS     r0,r0
    i.Hard_Fault_Handler
    Hard_Fault_Handler
    __tagsym$$used
        0x000048e8:    4604        .F      MOV      r4,r0
        0x000048ea:    a003        ..      ADR      r0,{pc}+0xe ; 0x48f8
        0x000048ec:    f001f83e    ..>.    BL       __0printf$5 ; 0x596c
        0x000048f0:    4620         F      MOV      r0,r4
        0x000048f2:    f002f94d    ..M.    BL       stackDump ; 0x6b90
        0x000048f6:    e7fe        ..      B        0x48f6 ; Hard_Fault_Handler + 14
    $d
        0x000048f8:    48206e49    In H    DCD    1210084937
        0x000048fc:    20647261    ard     DCD    543453793
        0x00004900:    6c756146    Faul    DCD    1819631942
        0x00004904:    61482074    t Ha    DCD    1632116852
        0x00004908:    656c646e    ndle    DCD    1701602414
        0x0000490c:    00000a72    r...    DCD    2674
    $t
    i.I2C_Open
    I2C_Open
        0x00004910:    b570        p.      PUSH     {r4-r6,lr}
        0x00004912:    4604        .F      MOV      r4,r0
        0x00004914:    460e        .F      MOV      r6,r1
        0x00004916:    f7fffed1    ....    BL       CLK_GetPCLKFreq ; 0x46bc
        0x0000491a:    4605        .F      MOV      r5,r0
        0x0000491c:    220a        ."      MOVS     r2,#0xa
        0x0000491e:    00b1        ..      LSLS     r1,r6,#2
        0x00004920:    4350        PC      MULS     r0,r2,r0
        0x00004922:    f7fff8d1    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00004926:    1d40        @.      ADDS     r0,r0,#5
        0x00004928:    210a        .!      MOVS     r1,#0xa
        0x0000492a:    f7fff8cd    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x0000492e:    1e40        @.      SUBS     r0,r0,#1
        0x00004930:    60e0        .`      STR      r0,[r4,#0xc]
        0x00004932:    6821        !h      LDR      r1,[r4,#0]
        0x00004934:    2201        ."      MOVS     r2,#1
        0x00004936:    4311        .C      ORRS     r1,r1,r2
        0x00004938:    6021        !`      STR      r1,[r4,#0]
        0x0000493a:    0081        ..      LSLS     r1,r0,#2
        0x0000493c:    1d09        ..      ADDS     r1,r1,#4
        0x0000493e:    4628        (F      MOV      r0,r5
        0x00004940:    f7fff8c2    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00004944:    bd70        p.      POP      {r4-r6,pc}
    i.I2C_SetSlaveAddr
    I2C_SetSlaveAddr
        0x00004946:    0052        R.      LSLS     r2,r2,#1
        0x00004948:    431a        .C      ORRS     r2,r2,r3
        0x0000494a:    2900        .)      CMP      r1,#0
        0x0000494c:    d001        ..      BEQ      0x4952 ; I2C_SetSlaveAddr + 12
        0x0000494e:    2901        .)      CMP      r1,#1
        0x00004950:    d001        ..      BEQ      0x4956 ; I2C_SetSlaveAddr + 16
        0x00004952:    6182        .a      STR      r2,[r0,#0x18]
        0x00004954:    4770        pG      BX       lr
        0x00004956:    61c2        .a      STR      r2,[r0,#0x1c]
        0x00004958:    4770        pG      BX       lr
        0x0000495a:    0000        ..      MOVS     r0,r0
    i.Init_ADC
    Init_ADC
        0x0000495c:    b510        ..      PUSH     {r4,lr}
        0x0000495e:    4c0d        .L      LDR      r4,[pc,#52] ; [0x4994] = 0x400e0000
        0x00004960:    2330        0#      MOVS     r3,#0x30
        0x00004962:    2208        ."      MOVS     r2,#8
        0x00004964:    2100        .!      MOVS     r1,#0
        0x00004966:    4620         F      MOV      r0,r4
        0x00004968:    f7fffdee    ....    BL       ADC_Open ; 0x4548
        0x0000496c:    4909        .I      LDR      r1,[pc,#36] ; [0x4994] = 0x400e0000
        0x0000496e:    3140        @1      ADDS     r1,r1,#0x40
        0x00004970:    6888        .h      LDR      r0,[r1,#8]
        0x00004972:    2201        ."      MOVS     r2,#1
        0x00004974:    4310        .C      ORRS     r0,r0,r2
        0x00004976:    6088        .`      STR      r0,[r1,#8]
        0x00004978:    698a        .i      LDR      r2,[r1,#0x18]
        0x0000497a:    03d0        ..      LSLS     r0,r2,#15
        0x0000497c:    d5fc        ..      BPL      0x4978 ; Init_ADC + 28
        0x0000497e:    6a48        Hj      LDR      r0,[r1,#0x24]
        0x00004980:    07c0        ..      LSLS     r0,r0,#31
        0x00004982:    d0f9        ..      BEQ      0x4978 ; Init_ADC + 28
        0x00004984:    2101        .!      MOVS     r1,#1
        0x00004986:    4620         F      MOV      r0,r4
        0x00004988:    f7fffdac    ....    BL       ADC_EnableInt ; 0x44e4
        0x0000498c:    201d        .       MOVS     r0,#0x1d
        0x0000498e:    f000fa03    ....    BL       NVIC_EnableIRQ ; 0x4d98
        0x00004992:    bd10        ..      POP      {r4,pc}
    $d
        0x00004994:    400e0000    ...@    DCD    1074659328
    $t
    i.Init_AHRS
    Init_AHRS
        0x00004998:    b570        p.      PUSH     {r4-r6,lr}
        0x0000499a:    f000fef9    ....    BL       TIMER_Init ; 0x5790
        0x0000499e:    207d        }       MOVS     r0,#0x7d
        0x000049a0:    00c0        ..      LSLS     r0,r0,#3
        0x000049a2:    f002f873    ..s.    BL       setup_system_tick ; 0x6a8c
        0x000049a6:    f7fbfc18    ....    BL       nvtAHRSInit ; 0x1da
        0x000049aa:    4813        .H      LDR      r0,[pc,#76] ; [0x49f8] = 0x200001c0
        0x000049ac:    2400        .$      MOVS     r4,#0
        0x000049ae:    6004        .`      STR      r4,[r0,#0]
        0x000049b0:    6044        D`      STR      r4,[r0,#4]
        0x000049b2:    2571        q%      MOVS     r5,#0x71
        0x000049b4:    6084        .`      STR      r4,[r0,#8]
        0x000049b6:    05ed        ..      LSLS     r5,r5,#23
        0x000049b8:    3818        .8      SUBS     r0,r0,#0x18
        0x000049ba:    6005        .`      STR      r5,[r0,#0]
        0x000049bc:    6045        E`      STR      r5,[r0,#4]
        0x000049be:    6085        .`      STR      r5,[r0,#8]
        0x000049c0:    f7fbfefb    ....    BL       nvtSetAccScale ; 0x7ba
        0x000049c4:    480c        .H      LDR      r0,[pc,#48] ; [0x49f8] = 0x200001c0
        0x000049c6:    f7fbfeef    ....    BL       nvtSetAccOffset ; 0x7a8
        0x000049ca:    4628        (F      MOV      r0,r5
        0x000049cc:    f7fcf998    ....    BL       nvtSetAccG_PER_LSB ; 0xd00
        0x000049d0:    4809        .H      LDR      r0,[pc,#36] ; [0x49f8] = 0x200001c0
        0x000049d2:    380c        .8      SUBS     r0,r0,#0xc
        0x000049d4:    6004        .`      STR      r4,[r0,#0]
        0x000049d6:    6044        D`      STR      r4,[r0,#4]
        0x000049d8:    6084        .`      STR      r4,[r0,#8]
        0x000049da:    4c08        .L      LDR      r4,[pc,#32] ; [0x49fc] = 0x3d7a0000
        0x000049dc:    3818        .8      SUBS     r0,r0,#0x18
        0x000049de:    6004        .`      STR      r4,[r0,#0]
        0x000049e0:    6044        D`      STR      r4,[r0,#4]
        0x000049e2:    6084        .`      STR      r4,[r0,#8]
        0x000049e4:    f7fbfefb    ....    BL       nvtSetGyroScale ; 0x7de
        0x000049e8:    4803        .H      LDR      r0,[pc,#12] ; [0x49f8] = 0x200001c0
        0x000049ea:    380c        .8      SUBS     r0,r0,#0xc
        0x000049ec:    f7fbfeee    ....    BL       nvtSetGyroOffset ; 0x7cc
        0x000049f0:    4620         F      MOV      r0,r4
        0x000049f2:    f7fcf81d    ....    BL       nvtSetGYRODegPLSB ; 0xa30
        0x000049f6:    bd70        p.      POP      {r4-r6,pc}
    $d
        0x000049f8:    200001c0    ...     DCD    536871360
        0x000049fc:    3d7a0000    ..z=    DCD    1031405568
    $t
    i.Init_Bluetooth
    Init_Bluetooth
        0x00004a00:    b510        ..      PUSH     {r4,lr}
        0x00004a02:    4c0a        .L      LDR      r4,[pc,#40] ; [0x4a2c] = 0x40050000
        0x00004a04:    21e1        .!      MOVS     r1,#0xe1
        0x00004a06:    0249        I.      LSLS     r1,r1,#9
        0x00004a08:    4620         F      MOV      r0,r4
        0x00004a0a:    f000ff3f    ..?.    BL       UART_Open ; 0x588c
        0x00004a0e:    68a0        .h      LDR      r0,[r4,#8]
        0x00004a10:    2103        .!      MOVS     r1,#3
        0x00004a12:    0209        ..      LSLS     r1,r1,#8
        0x00004a14:    4388        .C      BICS     r0,r0,r1
        0x00004a16:    30ff        .0      ADDS     r0,r0,#0xff
        0x00004a18:    3001        .0      ADDS     r0,#1
        0x00004a1a:    60a0        .`      STR      r0,[r4,#8]
        0x00004a1c:    68e0        .h      LDR      r0,[r4,#0xc]
        0x00004a1e:    2101        .!      MOVS     r1,#1
        0x00004a20:    4308        .C      ORRS     r0,r0,r1
        0x00004a22:    60e0        .`      STR      r0,[r4,#0xc]
        0x00004a24:    200c        .       MOVS     r0,#0xc
        0x00004a26:    f000f9b7    ....    BL       NVIC_EnableIRQ ; 0x4d98
        0x00004a2a:    bd10        ..      POP      {r4,pc}
    $d
        0x00004a2c:    40050000    ...@    DCD    1074069504
    $t
    i.Init_DHT11
    Init_DHT11
        0x00004a30:    b570        p.      PUSH     {r4-r6,lr}
        0x00004a32:    4c0e        .L      LDR      r4,[pc,#56] ; [0x4a6c] = 0x40010000
        0x00004a34:    4a0c        .J      LDR      r2,[pc,#48] ; [0x4a68] = 0xf4240
        0x00004a36:    2110        .!      MOVS     r1,#0x10
        0x00004a38:    4620         F      MOV      r0,r4
        0x00004a3a:    f000feb1    ....    BL       TIMER_Open ; 0x57a0
        0x00004a3e:    200b        .       MOVS     r0,#0xb
        0x00004a40:    6060        ``      STR      r0,[r4,#4]
        0x00004a42:    480b        .H      LDR      r0,[pc,#44] ; [0x4a70] = 0xffffff
        0x00004a44:    60a0        .`      STR      r0,[r4,#8]
        0x00004a46:    2203        ."      MOVS     r2,#3
        0x00004a48:    0492        ..      LSLS     r2,r2,#18
        0x00004a4a:    0121        !.      LSLS     r1,r4,#4
        0x00004a4c:    4620         F      MOV      r0,r4
        0x00004a4e:    f000fe57    ..W.    BL       TIMER_EnableCapture ; 0x5700
        0x00004a52:    2201        ."      MOVS     r2,#1
        0x00004a54:    4c07        .L      LDR      r4,[pc,#28] ; [0x4a74] = 0x500040c0
        0x00004a56:    02d5        ..      LSLS     r5,r2,#11
        0x00004a58:    4629        )F      MOV      r1,r5
        0x00004a5a:    4620         F      MOV      r0,r4
        0x00004a5c:    f7ffff2f    ../.    BL       GPIO_SetMode ; 0x48be
        0x00004a60:    6a62        bj      LDR      r2,[r4,#0x24]
        0x00004a62:    432a        *C      ORRS     r2,r2,r5
        0x00004a64:    6262        bb      STR      r2,[r4,#0x24]
        0x00004a66:    bd70        p.      POP      {r4-r6,pc}
    $d
        0x00004a68:    000f4240    @B..    DCD    1000000
        0x00004a6c:    40010000    ...@    DCD    1073807360
        0x00004a70:    00ffffff    ....    DCD    16777215
        0x00004a74:    500040c0    .@.P    DCD    1342193856
    $t
    i.Init_GPIO
    Init_GPIO
        0x00004a78:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00004a7a:    4f1d        .O      LDR      r7,[pc,#116] ; [0x4af0] = 0x50004080
        0x00004a7c:    2201        ."      MOVS     r2,#1
        0x00004a7e:    2110        .!      MOVS     r1,#0x10
        0x00004a80:    4638        8F      MOV      r0,r7
        0x00004a82:    f7ffff1c    ....    BL       GPIO_SetMode ; 0x48be
        0x00004a86:    4d1b        .M      LDR      r5,[pc,#108] ; [0x4af4] = 0x50004280
        0x00004a88:    2401        .$      MOVS     r4,#1
        0x00004a8a:    612c        ,a      STR      r4,[r5,#0x10]
        0x00004a8c:    4622        "F      MOV      r2,r4
        0x00004a8e:    2140        @!      MOVS     r1,#0x40
        0x00004a90:    4638        8F      MOV      r0,r7
        0x00004a92:    f7ffff14    ....    BL       GPIO_SetMode ; 0x48be
        0x00004a96:    61ac        .a      STR      r4,[r5,#0x18]
        0x00004a98:    2201        ."      MOVS     r2,#1
        0x00004a9a:    0311        ..      LSLS     r1,r2,#12
        0x00004a9c:    4638        8F      MOV      r0,r7
        0x00004a9e:    f7ffff0e    ....    BL       GPIO_SetMode ; 0x48be
        0x00004aa2:    2600        .&      MOVS     r6,#0
        0x00004aa4:    632e        .c      STR      r6,[r5,#0x30]
        0x00004aa6:    4632        2F      MOV      r2,r6
        0x00004aa8:    0361        a.      LSLS     r1,r4,#13
        0x00004aaa:    4638        8F      MOV      r0,r7
        0x00004aac:    f7ffff07    ....    BL       GPIO_SetMode ; 0x48be
        0x00004ab0:    480f        .H      LDR      r0,[pc,#60] ; [0x4af0] = 0x50004080
        0x00004ab2:    2201        ."      MOVS     r2,#1
        0x00004ab4:    0391        ..      LSLS     r1,r2,#14
        0x00004ab6:    3880        .8      SUBS     r0,r0,#0x80
        0x00004ab8:    f7ffff01    ....    BL       GPIO_SetMode ; 0x48be
        0x00004abc:    480d        .H      LDR      r0,[pc,#52] ; [0x4af4] = 0x50004280
        0x00004abe:    3880        .8      SUBS     r0,r0,#0x80
        0x00004ac0:    6384        .c      STR      r4,[r0,#0x38]
        0x00004ac2:    480b        .H      LDR      r0,[pc,#44] ; [0x4af0] = 0x50004080
        0x00004ac4:    2201        ."      MOVS     r2,#1
        0x00004ac6:    03d1        ..      LSLS     r1,r2,#15
        0x00004ac8:    3840        @8      SUBS     r0,r0,#0x40
        0x00004aca:    f7fffef8    ....    BL       GPIO_SetMode ; 0x48be
        0x00004ace:    4809        .H      LDR      r0,[pc,#36] ; [0x4af4] = 0x50004280
        0x00004ad0:    3840        @8      SUBS     r0,r0,#0x40
        0x00004ad2:    63c4        .c      STR      r4,[r0,#0x3c]
        0x00004ad4:    4806        .H      LDR      r0,[pc,#24] ; [0x4af0] = 0x50004080
        0x00004ad6:    2201        ."      MOVS     r2,#1
        0x00004ad8:    0291        ..      LSLS     r1,r2,#10
        0x00004ada:    3040        @0      ADDS     r0,r0,#0x40
        0x00004adc:    f7fffeef    ....    BL       GPIO_SetMode ; 0x48be
        0x00004ae0:    4804        .H      LDR      r0,[pc,#16] ; [0x4af4] = 0x50004280
        0x00004ae2:    3040        @0      ADDS     r0,r0,#0x40
        0x00004ae4:    6286        .b      STR      r6,[r0,#0x28]
        0x00004ae6:    4804        .H      LDR      r0,[pc,#16] ; [0x4af8] = 0x20000040
        0x00004ae8:    7901        .y      LDRB     r1,[r0,#4]
        0x00004aea:    7101        .q      STRB     r1,[r0,#4]
        0x00004aec:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x00004aee:    0000        ..      DCW    0
        0x00004af0:    50004080    .@.P    DCD    1342193792
        0x00004af4:    50004280    .B.P    DCD    1342194304
        0x00004af8:    20000040    @..     DCD    536870976
    $t
    i.Init_KEY
    Init_KEY
        0x00004afc:    b570        p.      PUSH     {r4-r6,lr}
        0x00004afe:    2507        .%      MOVS     r5,#7
        0x00004b00:    4c11        .L      LDR      r4,[pc,#68] ; [0x4b48] = 0x50004040
        0x00004b02:    032d        -.      LSLS     r5,r5,#12
        0x00004b04:    2200        ."      MOVS     r2,#0
        0x00004b06:    4629        )F      MOV      r1,r5
        0x00004b08:    4620         F      MOV      r0,r4
        0x00004b0a:    f7fffed8    ....    BL       GPIO_SetMode ; 0x48be
        0x00004b0e:    6a60        `j      LDR      r0,[r4,#0x24]
        0x00004b10:    4328        (C      ORRS     r0,r0,r5
        0x00004b12:    6260        `b      STR      r0,[r4,#0x24]
        0x00004b14:    2201        ."      MOVS     r2,#1
        0x00004b16:    210c        .!      MOVS     r1,#0xc
        0x00004b18:    4620         F      MOV      r0,r4
        0x00004b1a:    f7fffec3    ....    BL       GPIO_EnableInt ; 0x48a4
        0x00004b1e:    2201        ."      MOVS     r2,#1
        0x00004b20:    210d        .!      MOVS     r1,#0xd
        0x00004b22:    4620         F      MOV      r0,r4
        0x00004b24:    f7fffebe    ....    BL       GPIO_EnableInt ; 0x48a4
        0x00004b28:    2201        ."      MOVS     r2,#1
        0x00004b2a:    210e        .!      MOVS     r1,#0xe
        0x00004b2c:    4620         F      MOV      r0,r4
        0x00004b2e:    f7fffeb9    ....    BL       GPIO_EnableInt ; 0x48a4
        0x00004b32:    2004        .       MOVS     r0,#4
        0x00004b34:    f000f930    ..0.    BL       NVIC_EnableIRQ ; 0x4d98
        0x00004b38:    4904        .I      LDR      r1,[pc,#16] ; [0x4b4c] = 0x50004180
        0x00004b3a:    2026        &       MOVS     r0,#0x26
        0x00004b3c:    6008        .`      STR      r0,[r1,#0]
        0x00004b3e:    6960        `i      LDR      r0,[r4,#0x14]
        0x00004b40:    4328        (C      ORRS     r0,r0,r5
        0x00004b42:    6160        `a      STR      r0,[r4,#0x14]
        0x00004b44:    bd70        p.      POP      {r4-r6,pc}
    $d
        0x00004b46:    0000        ..      DCW    0
        0x00004b48:    50004040    @@.P    DCD    1342193728
        0x00004b4c:    50004180    .A.P    DCD    1342194048
    $t
    i.Init_MPU6050
    Init_MPU6050
        0x00004b50:    b510        ..      PUSH     {r4,lr}
        0x00004b52:    2300        .#      MOVS     r3,#0
        0x00004b54:    22d0        ."      MOVS     r2,#0xd0
        0x00004b56:    4619        .F      MOV      r1,r3
        0x00004b58:    480b        .H      LDR      r0,[pc,#44] ; [0x4b88] = 0x40120000
        0x00004b5a:    f7fffef4    ....    BL       I2C_SetSlaveAddr ; 0x4946
        0x00004b5e:    2101        .!      MOVS     r1,#1
        0x00004b60:    206b        k       MOVS     r0,#0x6b
        0x00004b62:    f000f8d1    ....    BL       MPU6050_I2C_SingleWrite ; 0x4d08
        0x00004b66:    2101        .!      MOVS     r1,#1
        0x00004b68:    2019        .       MOVS     r0,#0x19
        0x00004b6a:    f000f8cd    ....    BL       MPU6050_I2C_SingleWrite ; 0x4d08
        0x00004b6e:    2101        .!      MOVS     r1,#1
        0x00004b70:    201a        .       MOVS     r0,#0x1a
        0x00004b72:    f000f8c9    ....    BL       MPU6050_I2C_SingleWrite ; 0x4d08
        0x00004b76:    2118        .!      MOVS     r1,#0x18
        0x00004b78:    201b        .       MOVS     r0,#0x1b
        0x00004b7a:    f000f8c5    ....    BL       MPU6050_I2C_SingleWrite ; 0x4d08
        0x00004b7e:    2100        .!      MOVS     r1,#0
        0x00004b80:    201c        .       MOVS     r0,#0x1c
        0x00004b82:    f000f8c1    ....    BL       MPU6050_I2C_SingleWrite ; 0x4d08
        0x00004b86:    bd10        ..      POP      {r4,pc}
    $d
        0x00004b88:    40120000    ...@    DCD    1074921472
    $t
    i.Init_PWM
    Init_PWM
        0x00004b8c:    b510        ..      PUSH     {r4,lr}
        0x00004b8e:    4c0a        .L      LDR      r4,[pc,#40] ; [0x4bb8] = 0x40040000
        0x00004b90:    227d        }"      MOVS     r2,#0x7d
        0x00004b92:    2314        .#      MOVS     r3,#0x14
        0x00004b94:    00d2        ..      LSLS     r2,r2,#3
        0x00004b96:    2103        .!      MOVS     r1,#3
        0x00004b98:    4620         F      MOV      r0,r4
        0x00004b9a:    f000f907    ....    BL       PWM_ConfigOutputChannel ; 0x4dac
        0x00004b9e:    2108        .!      MOVS     r1,#8
        0x00004ba0:    4620         F      MOV      r0,r4
        0x00004ba2:    f000f9bd    ....    BL       PWM_EnableOutput ; 0x4f20
        0x00004ba6:    2108        .!      MOVS     r1,#8
        0x00004ba8:    4620         F      MOV      r0,r4
        0x00004baa:    f000f9bd    ....    BL       PWM_Start ; 0x4f28
        0x00004bae:    2108        .!      MOVS     r1,#8
        0x00004bb0:    4620         F      MOV      r0,r4
        0x00004bb2:    f000f9b1    ....    BL       PWM_DisableOutput ; 0x4f18
        0x00004bb6:    bd10        ..      POP      {r4,pc}
    $d
        0x00004bb8:    40040000    ...@    DCD    1074003968
    $t
    i.Init_RTC
    Init_RTC
        0x00004bbc:    b500        ..      PUSH     {lr}
        0x00004bbe:    b089        ..      SUB      sp,sp,#0x24
        0x00004bc0:    480e        .H      LDR      r0,[pc,#56] ; [0x4bfc] = 0x7de
        0x00004bc2:    9000        ..      STR      r0,[sp,#0]
        0x00004bc4:    2007        .       MOVS     r0,#7
        0x00004bc6:    9001        ..      STR      r0,[sp,#4]
        0x00004bc8:    2003        .       MOVS     r0,#3
        0x00004bca:    9002        ..      STR      r0,[sp,#8]
        0x00004bcc:    200d        .       MOVS     r0,#0xd
        0x00004bce:    9004        ..      STR      r0,[sp,#0x10]
        0x00004bd0:    201e        .       MOVS     r0,#0x1e
        0x00004bd2:    9005        ..      STR      r0,[sp,#0x14]
        0x00004bd4:    2000        .       MOVS     r0,#0
        0x00004bd6:    9006        ..      STR      r0,[sp,#0x18]
        0x00004bd8:    2004        .       MOVS     r0,#4
        0x00004bda:    9003        ..      STR      r0,[sp,#0xc]
        0x00004bdc:    2001        .       MOVS     r0,#1
        0x00004bde:    9007        ..      STR      r0,[sp,#0x1c]
        0x00004be0:    4668        hF      MOV      r0,sp
        0x00004be2:    f000fa53    ..S.    BL       RTC_Open ; 0x508c
        0x00004be6:    2000        .       MOVS     r0,#0
        0x00004be8:    f000fad0    ....    BL       RTC_SetTickPeriod ; 0x518c
        0x00004bec:    2002        .       MOVS     r0,#2
        0x00004bee:    f000f9af    ....    BL       RTC_EnableInt ; 0x4f50
        0x00004bf2:    201f        .       MOVS     r0,#0x1f
        0x00004bf4:    f000f8d0    ....    BL       NVIC_EnableIRQ ; 0x4d98
        0x00004bf8:    b009        ..      ADD      sp,sp,#0x24
        0x00004bfa:    bd00        ..      POP      {pc}
    $d
        0x00004bfc:    000007de    ....    DCD    2014
    $t
    i.Init_WIFI
    Init_WIFI
        0x00004c00:    b510        ..      PUSH     {r4,lr}
        0x00004c02:    4c0d        .L      LDR      r4,[pc,#52] ; [0x4c38] = 0x40150000
        0x00004c04:    21e1        .!      MOVS     r1,#0xe1
        0x00004c06:    0249        I.      LSLS     r1,r1,#9
        0x00004c08:    4620         F      MOV      r0,r4
        0x00004c0a:    f000fe3f    ..?.    BL       UART_Open ; 0x588c
        0x00004c0e:    68a0        .h      LDR      r0,[r4,#8]
        0x00004c10:    2103        .!      MOVS     r1,#3
        0x00004c12:    0209        ..      LSLS     r1,r1,#8
        0x00004c14:    4388        .C      BICS     r0,r0,r1
        0x00004c16:    30ff        .0      ADDS     r0,r0,#0xff
        0x00004c18:    3001        .0      ADDS     r0,#1
        0x00004c1a:    60a0        .`      STR      r0,[r4,#8]
        0x00004c1c:    68e0        .h      LDR      r0,[r4,#0xc]
        0x00004c1e:    2101        .!      MOVS     r1,#1
        0x00004c20:    4308        .C      ORRS     r0,r0,r1
        0x00004c22:    60e0        .`      STR      r0,[r4,#0xc]
        0x00004c24:    200d        .       MOVS     r0,#0xd
        0x00004c26:    f000f8b7    ....    BL       NVIC_EnableIRQ ; 0x4d98
        0x00004c2a:    200a        .       MOVS     r0,#0xa
        0x00004c2c:    6020         `      STR      r0,[r4,#0]
        0x00004c2e:    204f        O       MOVS     r0,#0x4f
        0x00004c30:    6020         `      STR      r0,[r4,#0]
        0x00004c32:    204b        K       MOVS     r0,#0x4b
        0x00004c34:    6020         `      STR      r0,[r4,#0]
        0x00004c36:    bd10        ..      POP      {r4,pc}
    $d
        0x00004c38:    40150000    ...@    DCD    1075118080
    $t
    i.MPU6050_I2C_SingleRead
    MPU6050_I2C_SingleRead
        0x00004c3c:    b510        ..      PUSH     {r4,lr}
        0x00004c3e:    4931        1I      LDR      r1,[pc,#196] ; [0x4d04] = 0x40120000
        0x00004c40:    680a        .h      LDR      r2,[r1,#0]
        0x00004c42:    2310        .#      MOVS     r3,#0x10
        0x00004c44:    439a        .C      BICS     r2,r2,r3
        0x00004c46:    2308        .#      MOVS     r3,#8
        0x00004c48:    431a        .C      ORRS     r2,r2,r3
        0x00004c4a:    600a        .`      STR      r2,[r1,#0]
        0x00004c4c:    684a        Jh      LDR      r2,[r1,#4]
        0x00004c4e:    07d2        ..      LSLS     r2,r2,#31
        0x00004c50:    d0fc        ..      BEQ      0x4c4c ; MPU6050_I2C_SingleRead + 16
        0x00004c52:    684b        Kh      LDR      r3,[r1,#4]
        0x00004c54:    2201        ."      MOVS     r2,#1
        0x00004c56:    4313        .C      ORRS     r3,r3,r2
        0x00004c58:    604b        K`      STR      r3,[r1,#4]
        0x00004c5a:    684b        Kh      LDR      r3,[r1,#4]
        0x00004c5c:    4313        .C      ORRS     r3,r3,r2
        0x00004c5e:    604b        K`      STR      r3,[r1,#4]
        0x00004c60:    23d0        .#      MOVS     r3,#0xd0
        0x00004c62:    614b        Ka      STR      r3,[r1,#0x14]
        0x00004c64:    680c        .h      LDR      r4,[r1,#0]
        0x00004c66:    231e        .#      MOVS     r3,#0x1e
        0x00004c68:    439c        .C      BICS     r4,r4,r3
        0x00004c6a:    3410        .4      ADDS     r4,r4,#0x10
        0x00004c6c:    600c        .`      STR      r4,[r1,#0]
        0x00004c6e:    684c        Lh      LDR      r4,[r1,#4]
        0x00004c70:    07e4        ..      LSLS     r4,r4,#31
        0x00004c72:    d0fc        ..      BEQ      0x4c6e ; MPU6050_I2C_SingleRead + 50
        0x00004c74:    684c        Lh      LDR      r4,[r1,#4]
        0x00004c76:    4314        .C      ORRS     r4,r4,r2
        0x00004c78:    604c        L`      STR      r4,[r1,#4]
        0x00004c7a:    684c        Lh      LDR      r4,[r1,#4]
        0x00004c7c:    4314        .C      ORRS     r4,r4,r2
        0x00004c7e:    604c        L`      STR      r4,[r1,#4]
        0x00004c80:    6148        Ha      STR      r0,[r1,#0x14]
        0x00004c82:    6808        .h      LDR      r0,[r1,#0]
        0x00004c84:    4398        .C      BICS     r0,r0,r3
        0x00004c86:    3010        .0      ADDS     r0,r0,#0x10
        0x00004c88:    6008        .`      STR      r0,[r1,#0]
        0x00004c8a:    6848        Hh      LDR      r0,[r1,#4]
        0x00004c8c:    07c0        ..      LSLS     r0,r0,#31
        0x00004c8e:    d0fc        ..      BEQ      0x4c8a ; MPU6050_I2C_SingleRead + 78
        0x00004c90:    6848        Hh      LDR      r0,[r1,#4]
        0x00004c92:    4310        .C      ORRS     r0,r0,r2
        0x00004c94:    6048        H`      STR      r0,[r1,#4]
        0x00004c96:    6848        Hh      LDR      r0,[r1,#4]
        0x00004c98:    4310        .C      ORRS     r0,r0,r2
        0x00004c9a:    6048        H`      STR      r0,[r1,#4]
        0x00004c9c:    6808        .h      LDR      r0,[r1,#0]
        0x00004c9e:    4398        .C      BICS     r0,r0,r3
        0x00004ca0:    3018        .0      ADDS     r0,r0,#0x18
        0x00004ca2:    6008        .`      STR      r0,[r1,#0]
        0x00004ca4:    6848        Hh      LDR      r0,[r1,#4]
        0x00004ca6:    07c0        ..      LSLS     r0,r0,#31
        0x00004ca8:    d0fc        ..      BEQ      0x4ca4 ; MPU6050_I2C_SingleRead + 104
        0x00004caa:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cac:    4310        .C      ORRS     r0,r0,r2
        0x00004cae:    6048        H`      STR      r0,[r1,#4]
        0x00004cb0:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cb2:    4310        .C      ORRS     r0,r0,r2
        0x00004cb4:    6048        H`      STR      r0,[r1,#4]
        0x00004cb6:    20d1        .       MOVS     r0,#0xd1
        0x00004cb8:    6148        Ha      STR      r0,[r1,#0x14]
        0x00004cba:    6808        .h      LDR      r0,[r1,#0]
        0x00004cbc:    4398        .C      BICS     r0,r0,r3
        0x00004cbe:    3010        .0      ADDS     r0,r0,#0x10
        0x00004cc0:    6008        .`      STR      r0,[r1,#0]
        0x00004cc2:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cc4:    07c0        ..      LSLS     r0,r0,#31
        0x00004cc6:    d0fc        ..      BEQ      0x4cc2 ; MPU6050_I2C_SingleRead + 134
        0x00004cc8:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cca:    4310        .C      ORRS     r0,r0,r2
        0x00004ccc:    6048        H`      STR      r0,[r1,#4]
        0x00004cce:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cd0:    4310        .C      ORRS     r0,r0,r2
        0x00004cd2:    6048        H`      STR      r0,[r1,#4]
        0x00004cd4:    6808        .h      LDR      r0,[r1,#0]
        0x00004cd6:    4398        .C      BICS     r0,r0,r3
        0x00004cd8:    3010        .0      ADDS     r0,r0,#0x10
        0x00004cda:    6008        .`      STR      r0,[r1,#0]
        0x00004cdc:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cde:    07c0        ..      LSLS     r0,r0,#31
        0x00004ce0:    d0fc        ..      BEQ      0x4cdc ; MPU6050_I2C_SingleRead + 160
        0x00004ce2:    6848        Hh      LDR      r0,[r1,#4]
        0x00004ce4:    4310        .C      ORRS     r0,r0,r2
        0x00004ce6:    6048        H`      STR      r0,[r1,#4]
        0x00004ce8:    6848        Hh      LDR      r0,[r1,#4]
        0x00004cea:    4310        .C      ORRS     r0,r0,r2
        0x00004cec:    6048        H`      STR      r0,[r1,#4]
        0x00004cee:    6948        Hi      LDR      r0,[r1,#0x14]
        0x00004cf0:    680a        .h      LDR      r2,[r1,#0]
        0x00004cf2:    b2c0        ..      UXTB     r0,r0
        0x00004cf4:    2314        .#      MOVS     r3,#0x14
        0x00004cf6:    431a        .C      ORRS     r2,r2,r3
        0x00004cf8:    600a        .`      STR      r2,[r1,#0]
        0x00004cfa:    680a        .h      LDR      r2,[r1,#0]
        0x00004cfc:    0752        R.      LSLS     r2,r2,#29
        0x00004cfe:    d4fc        ..      BMI      0x4cfa ; MPU6050_I2C_SingleRead + 190
        0x00004d00:    bd10        ..      POP      {r4,pc}
    $d
        0x00004d02:    0000        ..      DCW    0
        0x00004d04:    40120000    ...@    DCD    1074921472
    $t
    i.MPU6050_I2C_SingleWrite
    MPU6050_I2C_SingleWrite
        0x00004d08:    b530        0.      PUSH     {r4,r5,lr}
        0x00004d0a:    4a22        "J      LDR      r2,[pc,#136] ; [0x4d94] = 0x40120000
        0x00004d0c:    6813        .h      LDR      r3,[r2,#0]
        0x00004d0e:    2410        .$      MOVS     r4,#0x10
        0x00004d10:    43a3        .C      BICS     r3,r3,r4
        0x00004d12:    2408        .$      MOVS     r4,#8
        0x00004d14:    4323        #C      ORRS     r3,r3,r4
        0x00004d16:    6013        .`      STR      r3,[r2,#0]
        0x00004d18:    6853        Sh      LDR      r3,[r2,#4]
        0x00004d1a:    07db        ..      LSLS     r3,r3,#31
        0x00004d1c:    d0fc        ..      BEQ      0x4d18 ; MPU6050_I2C_SingleWrite + 16
        0x00004d1e:    6853        Sh      LDR      r3,[r2,#4]
        0x00004d20:    2401        .$      MOVS     r4,#1
        0x00004d22:    4323        #C      ORRS     r3,r3,r4
        0x00004d24:    6053        S`      STR      r3,[r2,#4]
        0x00004d26:    6853        Sh      LDR      r3,[r2,#4]
        0x00004d28:    4323        #C      ORRS     r3,r3,r4
        0x00004d2a:    6053        S`      STR      r3,[r2,#4]
        0x00004d2c:    23d0        .#      MOVS     r3,#0xd0
        0x00004d2e:    6153        Sa      STR      r3,[r2,#0x14]
        0x00004d30:    6813        .h      LDR      r3,[r2,#0]
        0x00004d32:    251e        .%      MOVS     r5,#0x1e
        0x00004d34:    43ab        .C      BICS     r3,r3,r5
        0x00004d36:    3310        .3      ADDS     r3,r3,#0x10
        0x00004d38:    6013        .`      STR      r3,[r2,#0]
        0x00004d3a:    6853        Sh      LDR      r3,[r2,#4]
        0x00004d3c:    07db        ..      LSLS     r3,r3,#31
        0x00004d3e:    d0fc        ..      BEQ      0x4d3a ; MPU6050_I2C_SingleWrite + 50
        0x00004d40:    6853        Sh      LDR      r3,[r2,#4]
        0x00004d42:    4323        #C      ORRS     r3,r3,r4
        0x00004d44:    6053        S`      STR      r3,[r2,#4]
        0x00004d46:    6853        Sh      LDR      r3,[r2,#4]
        0x00004d48:    4323        #C      ORRS     r3,r3,r4
        0x00004d4a:    6053        S`      STR      r3,[r2,#4]
        0x00004d4c:    6150        Pa      STR      r0,[r2,#0x14]
        0x00004d4e:    6810        .h      LDR      r0,[r2,#0]
        0x00004d50:    43a8        .C      BICS     r0,r0,r5
        0x00004d52:    3010        .0      ADDS     r0,r0,#0x10
        0x00004d54:    6010        .`      STR      r0,[r2,#0]
        0x00004d56:    6850        Ph      LDR      r0,[r2,#4]
        0x00004d58:    07c0        ..      LSLS     r0,r0,#31
        0x00004d5a:    d0fc        ..      BEQ      0x4d56 ; MPU6050_I2C_SingleWrite + 78
        0x00004d5c:    6850        Ph      LDR      r0,[r2,#4]
        0x00004d5e:    4320         C      ORRS     r0,r0,r4
        0x00004d60:    6050        P`      STR      r0,[r2,#4]
        0x00004d62:    6850        Ph      LDR      r0,[r2,#4]
        0x00004d64:    4320         C      ORRS     r0,r0,r4
        0x00004d66:    6050        P`      STR      r0,[r2,#4]
        0x00004d68:    6151        Qa      STR      r1,[r2,#0x14]
        0x00004d6a:    6810        .h      LDR      r0,[r2,#0]
        0x00004d6c:    43a8        .C      BICS     r0,r0,r5
        0x00004d6e:    3010        .0      ADDS     r0,r0,#0x10
        0x00004d70:    6010        .`      STR      r0,[r2,#0]
        0x00004d72:    6850        Ph      LDR      r0,[r2,#4]
        0x00004d74:    07c0        ..      LSLS     r0,r0,#31
        0x00004d76:    d0fc        ..      BEQ      0x4d72 ; MPU6050_I2C_SingleWrite + 106
        0x00004d78:    6850        Ph      LDR      r0,[r2,#4]
        0x00004d7a:    4320         C      ORRS     r0,r0,r4
        0x00004d7c:    6050        P`      STR      r0,[r2,#4]
        0x00004d7e:    6850        Ph      LDR      r0,[r2,#4]
        0x00004d80:    4320         C      ORRS     r0,r0,r4
        0x00004d82:    6050        P`      STR      r0,[r2,#4]
        0x00004d84:    6810        .h      LDR      r0,[r2,#0]
        0x00004d86:    2114        .!      MOVS     r1,#0x14
        0x00004d88:    4308        .C      ORRS     r0,r0,r1
        0x00004d8a:    6010        .`      STR      r0,[r2,#0]
        0x00004d8c:    6810        .h      LDR      r0,[r2,#0]
        0x00004d8e:    0740        @.      LSLS     r0,r0,#29
        0x00004d90:    d4fc        ..      BMI      0x4d8c ; MPU6050_I2C_SingleWrite + 132
        0x00004d92:    bd30        0.      POP      {r4,r5,pc}
    $d
        0x00004d94:    40120000    ...@    DCD    1074921472
    $t
    i.NVIC_EnableIRQ
    NVIC_EnableIRQ
        0x00004d98:    06c1        ..      LSLS     r1,r0,#27
        0x00004d9a:    0ec9        ..      LSRS     r1,r1,#27
        0x00004d9c:    2001        .       MOVS     r0,#1
        0x00004d9e:    4088        .@      LSLS     r0,r0,r1
        0x00004da0:    4901        .I      LDR      r1,[pc,#4] ; [0x4da8] = 0xe000e100
        0x00004da2:    6008        .`      STR      r0,[r1,#0]
        0x00004da4:    4770        pG      BX       lr
    $d
        0x00004da6:    0000        ..      DCW    0
        0x00004da8:    e000e100    ....    DCD    3758153984
    $t
    i.PWM_ConfigOutputChannel
    PWM_ConfigOutputChannel
        0x00004dac:    b5ff        ..      PUSH     {r0-r7,lr}
        0x00004dae:    4605        .F      MOV      r5,r0
        0x00004db0:    4854        TH      LDR      r0,[pc,#336] ; [0x4f04] = 0x20000000
        0x00004db2:    b083        ..      SUB      sp,sp,#0xc
        0x00004db4:    6800        .h      LDR      r0,[r0,#0]
        0x00004db6:    4694        .F      MOV      r12,r2
        0x00004db8:    9000        ..      STR      r0,[sp,#0]
        0x00004dba:    4853        SH      LDR      r0,[pc,#332] ; [0x4f08] = 0xffff
        0x00004dbc:    4a53        SJ      LDR      r2,[pc,#332] ; [0x4f0c] = 0x50000200
        0x00004dbe:    460e        .F      MOV      r6,r1
        0x00004dc0:    9001        ..      STR      r0,[sp,#4]
        0x00004dc2:    2401        .$      MOVS     r4,#1
        0x00004dc4:    6951        Qi      LDR      r1,[r2,#0x14]
        0x00004dc6:    27ff        .'      MOVS     r7,#0xff
        0x00004dc8:    4630        0F      MOV      r0,r6
        0x00004dca:    2302        .#      MOVS     r3,#2
        0x00004dcc:    4018        .@      ANDS     r0,r0,r3
        0x00004dce:    2330        0#      MOVS     r3,#0x30
        0x00004dd0:    4083        .@      LSLS     r3,r3,r0
        0x00004dd2:    4019        .@      ANDS     r1,r1,r3
        0x00004dd4:    1d00        ..      ADDS     r0,r0,#4
        0x00004dd6:    40c1        .@      LSRS     r1,r1,r0
        0x00004dd8:    484d        MH      LDR      r0,[pc,#308] ; [0x4f10] = 0xb71b00
        0x00004dda:    d00d        ..      BEQ      0x4df8 ; PWM_ConfigOutputChannel + 76
        0x00004ddc:    2901        .)      CMP      r1,#1
        0x00004dde:    d004        ..      BEQ      0x4dea ; PWM_ConfigOutputChannel + 62
        0x00004de0:    2902        .)      CMP      r1,#2
        0x00004de2:    d00a        ..      BEQ      0x4dfa ; PWM_ConfigOutputChannel + 78
        0x00004de4:    2903        .)      CMP      r1,#3
        0x00004de6:    d108        ..      BNE      0x4dfa ; PWM_ConfigOutputChannel + 78
        0x00004de8:    e002        ..      B        0x4df0 ; PWM_ConfigOutputChannel + 68
        0x00004dea:    2001        .       MOVS     r0,#1
        0x00004dec:    03c0        ..      LSLS     r0,r0,#15
        0x00004dee:    e003        ..      B        0x4df8 ; PWM_ConfigOutputChannel + 76
        0x00004df0:    6811        .h      LDR      r1,[r2,#0]
        0x00004df2:    04c9        ..      LSLS     r1,r1,#19
        0x00004df4:    d500        ..      BPL      0x4df8 ; PWM_ConfigOutputChannel + 76
        0x00004df6:    4847        GH      LDR      r0,[pc,#284] ; [0x4f14] = 0xf42400
        0x00004df8:    9000        ..      STR      r0,[sp,#0]
        0x00004dfa:    4661        aF      MOV      r1,r12
        0x00004dfc:    9800        ..      LDR      r0,[sp,#0]
        0x00004dfe:    f7fefe63    ..c.    BL       __aeabi_uidiv ; 0x3ac8
        0x00004e02:    9002        ..      STR      r0,[sp,#8]
        0x00004e04:    4621        !F      MOV      r1,r4
        0x00004e06:    f7fefe5f    .._.    BL       __aeabi_uidiv ; 0x3ac8
        0x00004e0a:    2101        .!      MOVS     r1,#1
        0x00004e0c:    0609        ..      LSLS     r1,r1,#24
        0x00004e0e:    4288        .B      CMP      r0,r1
        0x00004e10:    d812        ..      BHI      0x4e38 ; PWM_ConfigOutputChannel + 140
        0x00004e12:    493d        =I      LDR      r1,[pc,#244] ; [0x4f08] = 0xffff
        0x00004e14:    1841        A.      ADDS     r1,r0,r1
        0x00004e16:    0209        ..      LSLS     r1,r1,#8
        0x00004e18:    0e0f        ..      LSRS     r7,r1,#24
        0x00004e1a:    2f03        ./      CMP      r7,#3
        0x00004e1c:    d200        ..      BCS      0x4e20 ; PWM_ConfigOutputChannel + 116
        0x00004e1e:    2702        .'      MOVS     r7,#2
        0x00004e20:    4639        9F      MOV      r1,r7
        0x00004e22:    f7fefe51    ..Q.    BL       __aeabi_uidiv ; 0x3ac8
        0x00004e26:    2101        .!      MOVS     r1,#1
        0x00004e28:    0409        ..      LSLS     r1,r1,#16
        0x00004e2a:    4288        .B      CMP      r0,r1
        0x00004e2c:    d804        ..      BHI      0x4e38 ; PWM_ConfigOutputChannel + 140
        0x00004e2e:    2801        .(      CMP      r0,#1
        0x00004e30:    d000        ..      BEQ      0x4e34 ; PWM_ConfigOutputChannel + 136
        0x00004e32:    b280        ..      UXTH     r0,r0
        0x00004e34:    9001        ..      STR      r0,[sp,#4]
        0x00004e36:    e005        ..      B        0x4e44 ; PWM_ConfigOutputChannel + 152
        0x00004e38:    0660        `.      LSLS     r0,r4,#25
        0x00004e3a:    0e04        ..      LSRS     r4,r0,#24
        0x00004e3c:    2c11        .,      CMP      r4,#0x11
        0x00004e3e:    d201        ..      BCS      0x4e44 ; PWM_ConfigOutputChannel + 152
        0x00004e40:    9802        ..      LDR      r0,[sp,#8]
        0x00004e42:    e7df        ..      B        0x4e04 ; PWM_ConfigOutputChannel + 88
        0x00004e44:    4639        9F      MOV      r1,r7
        0x00004e46:    9801        ..      LDR      r0,[sp,#4]
        0x00004e48:    4361        aC      MULS     r1,r4,r1
        0x00004e4a:    4341        AC      MULS     r1,r0,r1
        0x00004e4c:    9800        ..      LDR      r0,[sp,#0]
        0x00004e4e:    f7fefe3b    ..;.    BL       __aeabi_uidiv ; 0x3ac8
        0x00004e52:    9000        ..      STR      r0,[sp,#0]
        0x00004e54:    9801        ..      LDR      r0,[sp,#4]
        0x00004e56:    1e7f        ..      SUBS     r7,r7,#1
        0x00004e58:    1e40        @.      SUBS     r0,r0,#1
        0x00004e5a:    b2fa        ..      UXTB     r2,r7
        0x00004e5c:    b287        ..      UXTH     r7,r0
        0x00004e5e:    2c01        .,      CMP      r4,#1
        0x00004e60:    d046        F.      BEQ      0x4ef0 ; PWM_ConfigOutputChannel + 324
        0x00004e62:    2c02        .,      CMP      r4,#2
        0x00004e64:    d046        F.      BEQ      0x4ef4 ; PWM_ConfigOutputChannel + 328
        0x00004e66:    2c04        .,      CMP      r4,#4
        0x00004e68:    d046        F.      BEQ      0x4ef8 ; PWM_ConfigOutputChannel + 332
        0x00004e6a:    2c08        .,      CMP      r4,#8
        0x00004e6c:    d046        F.      BEQ      0x4efc ; PWM_ConfigOutputChannel + 336
        0x00004e6e:    2003        .       MOVS     r0,#3
        0x00004e70:    6929        )i      LDR      r1,[r5,#0x10]
        0x00004e72:    05c9        ..      LSLS     r1,r1,#23
        0x00004e74:    d4fc        ..      BMI      0x4e70 ; PWM_ConfigOutputChannel + 196
        0x00004e76:    682b        +h      LDR      r3,[r5,#0]
        0x00004e78:    0871        q.      LSRS     r1,r6,#1
        0x00004e7a:    00c9        ..      LSLS     r1,r1,#3
        0x00004e7c:    24ff        .$      MOVS     r4,#0xff
        0x00004e7e:    408c        .@      LSLS     r4,r4,r1
        0x00004e80:    43a3        .C      BICS     r3,r3,r4
        0x00004e82:    408a        .@      LSLS     r2,r2,r1
        0x00004e84:    4313        .C      ORRS     r3,r3,r2
        0x00004e86:    602b        +`      STR      r3,[r5,#0]
        0x00004e88:    686a        jh      LDR      r2,[r5,#4]
        0x00004e8a:    00b1        ..      LSLS     r1,r6,#2
        0x00004e8c:    2307        .#      MOVS     r3,#7
        0x00004e8e:    408b        .@      LSLS     r3,r3,r1
        0x00004e90:    439a        .C      BICS     r2,r2,r3
        0x00004e92:    4088        .@      LSLS     r0,r0,r1
        0x00004e94:    4302        .C      ORRS     r2,r2,r0
        0x00004e96:    606a        j`      STR      r2,[r5,#4]
        0x00004e98:    68a8        .h      LDR      r0,[r5,#8]
        0x00004e9a:    00f2        ..      LSLS     r2,r6,#3
        0x00004e9c:    2108        .!      MOVS     r1,#8
        0x00004e9e:    4091        .@      LSLS     r1,r1,r2
        0x00004ea0:    4308        .C      ORRS     r0,r0,r1
        0x00004ea2:    60a8        .`      STR      r0,[r5,#8]
        0x00004ea4:    2210        ."      MOVS     r2,#0x10
        0x00004ea6:    40b2        .@      LSLS     r2,r2,r6
        0x00004ea8:    6929        )i      LDR      r1,[r5,#0x10]
        0x00004eaa:    4610        .F      MOV      r0,r2
        0x00004eac:    4388        .C      BICS     r0,r0,r1
        0x00004eae:    d0fb        ..      BEQ      0x4ea8 ; PWM_ConfigOutputChannel + 252
        0x00004eb0:    210c        .!      MOVS     r1,#0xc
        0x00004eb2:    434e        NC      MULS     r6,r1,r6
        0x00004eb4:    9806        ..      LDR      r0,[sp,#0x18]
        0x00004eb6:    1974        t.      ADDS     r4,r6,r5
        0x00004eb8:    2800        .(      CMP      r0,#0
        0x00004eba:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x00004ebc:    d020         .      BEQ      0x4f00 ; PWM_ConfigOutputChannel + 340
        0x00004ebe:    b280        ..      UXTH     r0,r0
        0x00004ec0:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00004ec2:    9806        ..      LDR      r0,[sp,#0x18]
        0x00004ec4:    1c79        y.      ADDS     r1,r7,#1
        0x00004ec6:    4348        HC      MULS     r0,r1,r0
        0x00004ec8:    2164        d!      MOVS     r1,#0x64
        0x00004eca:    f7fefdfd    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00004ece:    0401        ..      LSLS     r1,r0,#16
        0x00004ed0:    2001        .       MOVS     r0,#1
        0x00004ed2:    0400        ..      LSLS     r0,r0,#16
        0x00004ed4:    1a08        ..      SUBS     r0,r1,r0
        0x00004ed6:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00004ed8:    4308        .C      ORRS     r0,r0,r1
        0x00004eda:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00004edc:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x00004ede:    0c00        ..      LSRS     r0,r0,#16
        0x00004ee0:    0400        ..      LSLS     r0,r0,#16
        0x00004ee2:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00004ee4:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x00004ee6:    4338        8C      ORRS     r0,r0,r7
        0x00004ee8:    61e0        .a      STR      r0,[r4,#0x1c]
        0x00004eea:    9800        ..      LDR      r0,[sp,#0]
        0x00004eec:    b007        ..      ADD      sp,sp,#0x1c
        0x00004eee:    bdf0        ..      POP      {r4-r7,pc}
        0x00004ef0:    2004        .       MOVS     r0,#4
        0x00004ef2:    e7bd        ..      B        0x4e70 ; PWM_ConfigOutputChannel + 196
        0x00004ef4:    2000        .       MOVS     r0,#0
        0x00004ef6:    e7bb        ..      B        0x4e70 ; PWM_ConfigOutputChannel + 196
        0x00004ef8:    2001        .       MOVS     r0,#1
        0x00004efa:    e7b9        ..      B        0x4e70 ; PWM_ConfigOutputChannel + 196
        0x00004efc:    2002        .       MOVS     r0,#2
        0x00004efe:    e7b7        ..      B        0x4e70 ; PWM_ConfigOutputChannel + 196
        0x00004f00:    b280        ..      UXTH     r0,r0
        0x00004f02:    e7ea        ..      B        0x4eda ; PWM_ConfigOutputChannel + 302
    $d
        0x00004f04:    20000000    ...     DCD    536870912
        0x00004f08:    0000ffff    ....    DCD    65535
        0x00004f0c:    50000200    ...P    DCD    1342177792
        0x00004f10:    00b71b00    ....    DCD    12000000
        0x00004f14:    00f42400    .$..    DCD    16000000
    $t
    i.PWM_DisableOutput
    PWM_DisableOutput
        0x00004f18:    6942        Bi      LDR      r2,[r0,#0x14]
        0x00004f1a:    438a        .C      BICS     r2,r2,r1
        0x00004f1c:    6142        Ba      STR      r2,[r0,#0x14]
        0x00004f1e:    4770        pG      BX       lr
    i.PWM_EnableOutput
    PWM_EnableOutput
        0x00004f20:    6942        Bi      LDR      r2,[r0,#0x14]
        0x00004f22:    430a        .C      ORRS     r2,r2,r1
        0x00004f24:    6142        Ba      STR      r2,[r0,#0x14]
        0x00004f26:    4770        pG      BX       lr
    i.PWM_Start
    PWM_Start
        0x00004f28:    b570        p.      PUSH     {r4-r6,lr}
        0x00004f2a:    2300        .#      MOVS     r3,#0
        0x00004f2c:    461a        .F      MOV      r2,r3
        0x00004f2e:    2601        .&      MOVS     r6,#1
        0x00004f30:    4635        5F      MOV      r5,r6
        0x00004f32:    4095        .@      LSLS     r5,r5,r2
        0x00004f34:    4634        4F      MOV      r4,r6
        0x00004f36:    420d        .B      TST      r5,r1
        0x00004f38:    d002        ..      BEQ      0x4f40 ; PWM_Start + 24
        0x00004f3a:    00d5        ..      LSLS     r5,r2,#3
        0x00004f3c:    40ac        .@      LSLS     r4,r4,r5
        0x00004f3e:    4323        #C      ORRS     r3,r3,r4
        0x00004f40:    1c52        R.      ADDS     r2,r2,#1
        0x00004f42:    b2d2        ..      UXTB     r2,r2
        0x00004f44:    2a04        .*      CMP      r2,#4
        0x00004f46:    d3f3        ..      BCC      0x4f30 ; PWM_Start + 8
        0x00004f48:    6881        .h      LDR      r1,[r0,#8]
        0x00004f4a:    4319        .C      ORRS     r1,r1,r3
        0x00004f4c:    6081        .`      STR      r1,[r0,#8]
        0x00004f4e:    bd70        p.      POP      {r4-r6,pc}
    i.RTC_EnableInt
    RTC_EnableInt
        0x00004f50:    4905        .I      LDR      r1,[pc,#20] ; [0x4f68] = 0x40008000
        0x00004f52:    4a04        .J      LDR      r2,[pc,#16] ; [0x4f64] = 0xa965
        0x00004f54:    604a        J`      STR      r2,[r1,#4]
        0x00004f56:    684a        Jh      LDR      r2,[r1,#4]
        0x00004f58:    03d2        ..      LSLS     r2,r2,#15
        0x00004f5a:    d5fc        ..      BPL      0x4f56 ; RTC_EnableInt + 6
        0x00004f5c:    6a8a        .j      LDR      r2,[r1,#0x28]
        0x00004f5e:    4302        .C      ORRS     r2,r2,r0
        0x00004f60:    628a        .b      STR      r2,[r1,#0x28]
        0x00004f62:    4770        pG      BX       lr
    $d
        0x00004f64:    0000a965    e...    DCD    43365
        0x00004f68:    40008000    ...@    DCD    1073774592
    $t
    i.RTC_GetDateAndTime
    RTC_GetDateAndTime
        0x00004f6c:    b510        ..      PUSH     {r4,lr}
        0x00004f6e:    4a39        9J      LDR      r2,[pc,#228] ; [0x5054] = 0x40008000
        0x00004f70:    6951        Qi      LDR      r1,[r2,#0x14]
        0x00004f72:    07cb        ..      LSLS     r3,r1,#31
        0x00004f74:    0fdb        ..      LSRS     r3,r3,#31
        0x00004f76:    61c3        .a      STR      r3,[r0,#0x1c]
        0x00004f78:    6991        .i      LDR      r1,[r2,#0x18]
        0x00004f7a:    0749        I.      LSLS     r1,r1,#29
        0x00004f7c:    0f49        I.      LSRS     r1,r1,#29
        0x00004f7e:    60c1        .`      STR      r1,[r0,#0xc]
        0x00004f80:    6911        .i      LDR      r1,[r2,#0x10]
        0x00004f82:    0209        ..      LSLS     r1,r1,#8
        0x00004f84:    0f0c        ..      LSRS     r4,r1,#28
        0x00004f86:    4934        4I      LDR      r1,[pc,#208] ; [0x5058] = 0x20000008
        0x00004f88:    604c        L`      STR      r4,[r1,#4]
        0x00004f8a:    6914        .i      LDR      r4,[r2,#0x10]
        0x00004f8c:    0324        $.      LSLS     r4,r4,#12
        0x00004f8e:    0f24        $.      LSRS     r4,r4,#28
        0x00004f90:    608c        .`      STR      r4,[r1,#8]
        0x00004f92:    6914        .i      LDR      r4,[r2,#0x10]
        0x00004f94:    04e4        ..      LSLS     r4,r4,#19
        0x00004f96:    0fe4        ..      LSRS     r4,r4,#31
        0x00004f98:    60cc        .`      STR      r4,[r1,#0xc]
        0x00004f9a:    6914        .i      LDR      r4,[r2,#0x10]
        0x00004f9c:    0524        $.      LSLS     r4,r4,#20
        0x00004f9e:    0f24        $.      LSRS     r4,r4,#28
        0x00004fa0:    610c        .a      STR      r4,[r1,#0x10]
        0x00004fa2:    6914        .i      LDR      r4,[r2,#0x10]
        0x00004fa4:    06a4        ..      LSLS     r4,r4,#26
        0x00004fa6:    0fa4        ..      LSRS     r4,r4,#30
        0x00004fa8:    614c        La      STR      r4,[r1,#0x14]
        0x00004faa:    6914        .i      LDR      r4,[r2,#0x10]
        0x00004fac:    0724        $.      LSLS     r4,r4,#28
        0x00004fae:    0f24        $.      LSRS     r4,r4,#28
        0x00004fb0:    618c        .a      STR      r4,[r1,#0x18]
        0x00004fb2:    68d4        .h      LDR      r4,[r2,#0xc]
        0x00004fb4:    02a4        ..      LSLS     r4,r4,#10
        0x00004fb6:    0fa4        ..      LSRS     r4,r4,#30
        0x00004fb8:    61cc        .a      STR      r4,[r1,#0x1c]
        0x00004fba:    68d4        .h      LDR      r4,[r2,#0xc]
        0x00004fbc:    0324        $.      LSLS     r4,r4,#12
        0x00004fbe:    0f24        $.      LSRS     r4,r4,#28
        0x00004fc0:    620c        .b      STR      r4,[r1,#0x20]
        0x00004fc2:    68d4        .h      LDR      r4,[r2,#0xc]
        0x00004fc4:    0464        d.      LSLS     r4,r4,#17
        0x00004fc6:    0f64        d.      LSRS     r4,r4,#29
        0x00004fc8:    624c        Lb      STR      r4,[r1,#0x24]
        0x00004fca:    68d4        .h      LDR      r4,[r2,#0xc]
        0x00004fcc:    0524        $.      LSLS     r4,r4,#20
        0x00004fce:    0f24        $.      LSRS     r4,r4,#28
        0x00004fd0:    628c        .b      STR      r4,[r1,#0x28]
        0x00004fd2:    68d4        .h      LDR      r4,[r2,#0xc]
        0x00004fd4:    0664        d.      LSLS     r4,r4,#25
        0x00004fd6:    0f64        d.      LSRS     r4,r4,#29
        0x00004fd8:    62cc        .b      STR      r4,[r1,#0x2c]
        0x00004fda:    68d2        .h      LDR      r2,[r2,#0xc]
        0x00004fdc:    0712        ..      LSLS     r2,r2,#28
        0x00004fde:    0f12        ..      LSRS     r2,r2,#28
        0x00004fe0:    630a        .c      STR      r2,[r1,#0x30]
        0x00004fe2:    684a        Jh      LDR      r2,[r1,#4]
        0x00004fe4:    240a        .$      MOVS     r4,#0xa
        0x00004fe6:    4362        bC      MULS     r2,r4,r2
        0x00004fe8:    688c        .h      LDR      r4,[r1,#8]
        0x00004fea:    1912        ..      ADDS     r2,r2,r4
        0x00004fec:    247d        }$      MOVS     r4,#0x7d
        0x00004fee:    0124        $.      LSLS     r4,r4,#4
        0x00004ff0:    1912        ..      ADDS     r2,r2,r4
        0x00004ff2:    6002        .`      STR      r2,[r0,#0]
        0x00004ff4:    68ca        .h      LDR      r2,[r1,#0xc]
        0x00004ff6:    240a        .$      MOVS     r4,#0xa
        0x00004ff8:    4362        bC      MULS     r2,r4,r2
        0x00004ffa:    690c        .i      LDR      r4,[r1,#0x10]
        0x00004ffc:    1912        ..      ADDS     r2,r2,r4
        0x00004ffe:    6042        B`      STR      r2,[r0,#4]
        0x00005000:    694a        Ji      LDR      r2,[r1,#0x14]
        0x00005002:    240a        .$      MOVS     r4,#0xa
        0x00005004:    4362        bC      MULS     r2,r4,r2
        0x00005006:    698c        .i      LDR      r4,[r1,#0x18]
        0x00005008:    1912        ..      ADDS     r2,r2,r4
        0x0000500a:    6082        .`      STR      r2,[r0,#8]
        0x0000500c:    69ca        .i      LDR      r2,[r1,#0x1c]
        0x0000500e:    2b00        .+      CMP      r3,#0
        0x00005010:    d004        ..      BEQ      0x501c ; RTC_GetDateAndTime + 176
        0x00005012:    230a        .#      MOVS     r3,#0xa
        0x00005014:    435a        ZC      MULS     r2,r3,r2
        0x00005016:    6a0b        .j      LDR      r3,[r1,#0x20]
        0x00005018:    18d2        ..      ADDS     r2,r2,r3
        0x0000501a:    e009        ..      B        0x5030 ; RTC_GetDateAndTime + 196
        0x0000501c:    230a        .#      MOVS     r3,#0xa
        0x0000501e:    435a        ZC      MULS     r2,r3,r2
        0x00005020:    6a0b        .j      LDR      r3,[r1,#0x20]
        0x00005022:    18d2        ..      ADDS     r2,r2,r3
        0x00005024:    6102        .a      STR      r2,[r0,#0x10]
        0x00005026:    2a15        .*      CMP      r2,#0x15
        0x00005028:    d304        ..      BCC      0x5034 ; RTC_GetDateAndTime + 200
        0x0000502a:    2302        .#      MOVS     r3,#2
        0x0000502c:    3a14        .:      SUBS     r2,r2,#0x14
        0x0000502e:    6203        .b      STR      r3,[r0,#0x20]
        0x00005030:    6102        .a      STR      r2,[r0,#0x10]
        0x00005032:    e001        ..      B        0x5038 ; RTC_GetDateAndTime + 204
        0x00005034:    2201        ."      MOVS     r2,#1
        0x00005036:    6202        .b      STR      r2,[r0,#0x20]
        0x00005038:    6a4a        Jj      LDR      r2,[r1,#0x24]
        0x0000503a:    230a        .#      MOVS     r3,#0xa
        0x0000503c:    435a        ZC      MULS     r2,r3,r2
        0x0000503e:    6a8b        .j      LDR      r3,[r1,#0x28]
        0x00005040:    18d2        ..      ADDS     r2,r2,r3
        0x00005042:    6142        Ba      STR      r2,[r0,#0x14]
        0x00005044:    6aca        .j      LDR      r2,[r1,#0x2c]
        0x00005046:    230a        .#      MOVS     r3,#0xa
        0x00005048:    6b09        .k      LDR      r1,[r1,#0x30]
        0x0000504a:    435a        ZC      MULS     r2,r3,r2
        0x0000504c:    1851        Q.      ADDS     r1,r2,r1
        0x0000504e:    6181        .a      STR      r1,[r0,#0x18]
        0x00005050:    bd10        ..      POP      {r4,pc}
    $d
        0x00005052:    0000        ..      DCW    0
        0x00005054:    40008000    ...@    DCD    1073774592
        0x00005058:    20000008    ...     DCD    536870920
    $t
    i.RTC_IRQHandler
    RTC_IRQHandler
        0x0000505c:    b500        ..      PUSH     {lr}
        0x0000505e:    4809        .H      LDR      r0,[pc,#36] ; [0x5084] = 0x40008000
        0x00005060:    b089        ..      SUB      sp,sp,#0x24
        0x00005062:    6a81        .j      LDR      r1,[r0,#0x28]
        0x00005064:    0789        ..      LSLS     r1,r1,#30
        0x00005066:    d50b        ..      BPL      0x5080 ; RTC_IRQHandler + 36
        0x00005068:    6ac1        .j      LDR      r1,[r0,#0x2c]
        0x0000506a:    0789        ..      LSLS     r1,r1,#30
        0x0000506c:    d508        ..      BPL      0x5080 ; RTC_IRQHandler + 36
        0x0000506e:    2102        .!      MOVS     r1,#2
        0x00005070:    62c1        .b      STR      r1,[r0,#0x2c]
        0x00005072:    4668        hF      MOV      r0,sp
        0x00005074:    f7ffff7a    ..z.    BL       RTC_GetDateAndTime ; 0x4f6c
        0x00005078:    4803        .H      LDR      r0,[pc,#12] ; [0x5088] = 0x20000040
        0x0000507a:    6941        Ai      LDR      r1,[r0,#0x14]
        0x0000507c:    1c49        I.      ADDS     r1,r1,#1
        0x0000507e:    6141        Aa      STR      r1,[r0,#0x14]
        0x00005080:    b009        ..      ADD      sp,sp,#0x24
        0x00005082:    bd00        ..      POP      {pc}
    $d
        0x00005084:    40008000    ...@    DCD    1073774592
        0x00005088:    20000040    @..     DCD    536870976
    $t
    i.RTC_Open
    RTC_Open
        0x0000508c:    b5f8        ..      PUSH     {r3-r7,lr}
        0x0000508e:    4604        .F      MOV      r4,r0
        0x00005090:    4f3b        ;O      LDR      r7,[pc,#236] ; [0x5180] = 0x40008000
        0x00005092:    257d        }%      MOVS     r5,#0x7d
        0x00005094:    4839        9H      LDR      r0,[pc,#228] ; [0x517c] = 0xa5eb1357
        0x00005096:    00ed        ..      LSLS     r5,r5,#3
        0x00005098:    6038        8`      STR      r0,[r7,#0]
        0x0000509a:    6839        9h      LDR      r1,[r7,#0]
        0x0000509c:    2901        .)      CMP      r1,#1
        0x0000509e:    d003        ..      BEQ      0x50a8 ; RTC_Open + 28
        0x000050a0:    6038        8`      STR      r0,[r7,#0]
        0x000050a2:    6838        8h      LDR      r0,[r7,#0]
        0x000050a4:    2801        .(      CMP      r0,#1
        0x000050a6:    d1fc        ..      BNE      0x50a2 ; RTC_Open + 22
        0x000050a8:    2c00        .,      CMP      r4,#0
        0x000050aa:    d066        f.      BEQ      0x517a ; RTC_Open + 238
        0x000050ac:    69e0        .i      LDR      r0,[r4,#0x1c]
        0x000050ae:    4e35        5N      LDR      r6,[pc,#212] ; [0x5184] = 0xa965
        0x000050b0:    2800        .(      CMP      r0,#0
        0x000050b2:    607e        ~`      STR      r6,[r7,#4]
        0x000050b4:    d10d        ..      BNE      0x50d2 ; RTC_Open + 70
        0x000050b6:    6878        xh      LDR      r0,[r7,#4]
        0x000050b8:    03c0        ..      LSLS     r0,r0,#15
        0x000050ba:    d5fc        ..      BPL      0x50b6 ; RTC_Open + 42
        0x000050bc:    6978        xi      LDR      r0,[r7,#0x14]
        0x000050be:    0840        @.      LSRS     r0,r0,#1
        0x000050c0:    0040        @.      LSLS     r0,r0,#1
        0x000050c2:    6178        xa      STR      r0,[r7,#0x14]
        0x000050c4:    6a20         j      LDR      r0,[r4,#0x20]
        0x000050c6:    2802        .(      CMP      r0,#2
        0x000050c8:    d10a        ..      BNE      0x50e0 ; RTC_Open + 84
        0x000050ca:    6920         i      LDR      r0,[r4,#0x10]
        0x000050cc:    3014        .0      ADDS     r0,r0,#0x14
        0x000050ce:    6120         a      STR      r0,[r4,#0x10]
        0x000050d0:    e006        ..      B        0x50e0 ; RTC_Open + 84
        0x000050d2:    6878        xh      LDR      r0,[r7,#4]
        0x000050d4:    03c0        ..      LSLS     r0,r0,#15
        0x000050d6:    d5fc        ..      BPL      0x50d2 ; RTC_Open + 70
        0x000050d8:    6978        xi      LDR      r0,[r7,#0x14]
        0x000050da:    2101        .!      MOVS     r1,#1
        0x000050dc:    4308        .C      ORRS     r0,r0,r1
        0x000050de:    6178        xa      STR      r0,[r7,#0x14]
        0x000050e0:    207d        }       MOVS     r0,#0x7d
        0x000050e2:    6821        !h      LDR      r1,[r4,#0]
        0x000050e4:    0100        ..      LSLS     r0,r0,#4
        0x000050e6:    1a08        ..      SUBS     r0,r1,r0
        0x000050e8:    210a        .!      MOVS     r1,#0xa
        0x000050ea:    f7fefced    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000050ee:    040a        ..      LSLS     r2,r1,#16
        0x000050f0:    0500        ..      LSLS     r0,r0,#20
        0x000050f2:    4302        .C      ORRS     r2,r2,r0
        0x000050f4:    9200        ..      STR      r2,[sp,#0]
        0x000050f6:    210a        .!      MOVS     r1,#0xa
        0x000050f8:    6860        `h      LDR      r0,[r4,#4]
        0x000050fa:    f7fefce5    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000050fe:    9a00        ..      LDR      r2,[sp,#0]
        0x00005100:    0300        ..      LSLS     r0,r0,#12
        0x00005102:    4310        .C      ORRS     r0,r0,r2
        0x00005104:    020a        ..      LSLS     r2,r1,#8
        0x00005106:    4302        .C      ORRS     r2,r2,r0
        0x00005108:    9200        ..      STR      r2,[sp,#0]
        0x0000510a:    210a        .!      MOVS     r1,#0xa
        0x0000510c:    68a0        .h      LDR      r0,[r4,#8]
        0x0000510e:    f7fefcdb    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00005112:    9a00        ..      LDR      r2,[sp,#0]
        0x00005114:    0100        ..      LSLS     r0,r0,#4
        0x00005116:    4310        .C      ORRS     r0,r0,r2
        0x00005118:    4301        .C      ORRS     r1,r1,r0
        0x0000511a:    481b        .H      LDR      r0,[pc,#108] ; [0x5188] = 0x20000008
        0x0000511c:    6001        .`      STR      r1,[r0,#0]
        0x0000511e:    4919        .I      LDR      r1,[pc,#100] ; [0x5184] = 0xa965
        0x00005120:    6079        y`      STR      r1,[r7,#4]
        0x00005122:    6879        yh      LDR      r1,[r7,#4]
        0x00005124:    03c9        ..      LSLS     r1,r1,#15
        0x00005126:    d5fc        ..      BPL      0x5122 ; RTC_Open + 150
        0x00005128:    4817        .H      LDR      r0,[pc,#92] ; [0x5188] = 0x20000008
        0x0000512a:    6800        .h      LDR      r0,[r0,#0]
        0x0000512c:    6138        8a      STR      r0,[r7,#0x10]
        0x0000512e:    210a        .!      MOVS     r1,#0xa
        0x00005130:    6920         i      LDR      r0,[r4,#0x10]
        0x00005132:    f7fefcc9    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00005136:    040e        ..      LSLS     r6,r1,#16
        0x00005138:    0500        ..      LSLS     r0,r0,#20
        0x0000513a:    4306        .C      ORRS     r6,r6,r0
        0x0000513c:    210a        .!      MOVS     r1,#0xa
        0x0000513e:    6960        `i      LDR      r0,[r4,#0x14]
        0x00005140:    f7fefcc2    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00005144:    0300        ..      LSLS     r0,r0,#12
        0x00005146:    4330        0C      ORRS     r0,r0,r6
        0x00005148:    020e        ..      LSLS     r6,r1,#8
        0x0000514a:    4306        .C      ORRS     r6,r6,r0
        0x0000514c:    210a        .!      MOVS     r1,#0xa
        0x0000514e:    69a0        .i      LDR      r0,[r4,#0x18]
        0x00005150:    f7fefcba    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00005154:    0100        ..      LSLS     r0,r0,#4
        0x00005156:    4330        0C      ORRS     r0,r0,r6
        0x00005158:    4301        .C      ORRS     r1,r1,r0
        0x0000515a:    480b        .H      LDR      r0,[pc,#44] ; [0x5188] = 0x20000008
        0x0000515c:    6001        .`      STR      r1,[r0,#0]
        0x0000515e:    4809        .H      LDR      r0,[pc,#36] ; [0x5184] = 0xa965
        0x00005160:    6078        x`      STR      r0,[r7,#4]
        0x00005162:    6878        xh      LDR      r0,[r7,#4]
        0x00005164:    03c0        ..      LSLS     r0,r0,#15
        0x00005166:    d5fc        ..      BPL      0x5162 ; RTC_Open + 214
        0x00005168:    4807        .H      LDR      r0,[pc,#28] ; [0x5188] = 0x20000008
        0x0000516a:    6800        .h      LDR      r0,[r0,#0]
        0x0000516c:    60f8        .`      STR      r0,[r7,#0xc]
        0x0000516e:    68e0        .h      LDR      r0,[r4,#0xc]
        0x00005170:    61b8        .a      STR      r0,[r7,#0x18]
        0x00005172:    4628        (F      MOV      r0,r5
        0x00005174:    1e6d        m.      SUBS     r5,r5,#1
        0x00005176:    2800        .(      CMP      r0,#0
        0x00005178:    d1fb        ..      BNE      0x5172 ; RTC_Open + 230
        0x0000517a:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x0000517c:    a5eb1357    W...    DCD    2783646551
        0x00005180:    40008000    ...@    DCD    1073774592
        0x00005184:    0000a965    e...    DCD    43365
        0x00005188:    20000008    ...     DCD    536870920
    $t
    i.RTC_SetTickPeriod
    RTC_SetTickPeriod
        0x0000518c:    4906        .I      LDR      r1,[pc,#24] ; [0x51a8] = 0x40008000
        0x0000518e:    4a05        .J      LDR      r2,[pc,#20] ; [0x51a4] = 0xa965
        0x00005190:    604a        J`      STR      r2,[r1,#4]
        0x00005192:    684a        Jh      LDR      r2,[r1,#4]
        0x00005194:    03d2        ..      LSLS     r2,r2,#15
        0x00005196:    d5fc        ..      BPL      0x5192 ; RTC_SetTickPeriod + 6
        0x00005198:    6b0a        .k      LDR      r2,[r1,#0x30]
        0x0000519a:    08d2        ..      LSRS     r2,r2,#3
        0x0000519c:    00d2        ..      LSLS     r2,r2,#3
        0x0000519e:    4302        .C      ORRS     r2,r2,r0
        0x000051a0:    630a        .c      STR      r2,[r1,#0x30]
        0x000051a2:    4770        pG      BX       lr
    $d
        0x000051a4:    0000a965    e...    DCD    43365
        0x000051a8:    40008000    ...@    DCD    1073774592
    $t
    i.Read_DHT11
    Read_DHT11
        0x000051ac:    b5f8        ..      PUSH     {r3-r7,lr}
        0x000051ae:    4606        .F      MOV      r6,r0
        0x000051b0:    492d        -I      LDR      r1,[pc,#180] ; [0x5268] = 0x20000058
        0x000051b2:    2000        .       MOVS     r0,#0
        0x000051b4:    6008        .`      STR      r0,[r1,#0]
        0x000051b6:    492d        -I      LDR      r1,[pc,#180] ; [0x526c] = 0x500042c0
        0x000051b8:    4604        .F      MOV      r4,r0
        0x000051ba:    4605        .F      MOV      r5,r0
        0x000051bc:    62c8        .b      STR      r0,[r1,#0x2c]
        0x000051be:    2014        .       MOVS     r0,#0x14
        0x000051c0:    f7fffb2e    ....    BL       DelayMsec ; 0x4820
        0x000051c4:    4f2a        *O      LDR      r7,[pc,#168] ; [0x5270] = 0x40010000
        0x000051c6:    68f8        .h      LDR      r0,[r7,#0xc]
        0x000051c8:    2102        .!      MOVS     r1,#2
        0x000051ca:    4308        .C      ORRS     r0,r0,r1
        0x000051cc:    60f8        .`      STR      r0,[r7,#0xc]
        0x000051ce:    2101        .!      MOVS     r1,#1
        0x000051d0:    4a28        (J      LDR      r2,[pc,#160] ; [0x5274] = 0xe000e100
        0x000051d2:    0208        ..      LSLS     r0,r1,#8
        0x000051d4:    6010        .`      STR      r0,[r2,#0]
        0x000051d6:    6838        8h      LDR      r0,[r7,#0]
        0x000051d8:    4308        .C      ORRS     r0,r0,r1
        0x000051da:    6038        8`      STR      r0,[r7,#0]
        0x000051dc:    4823        #H      LDR      r0,[pc,#140] ; [0x526c] = 0x500042c0
        0x000051de:    62c1        .b      STR      r1,[r0,#0x2c]
        0x000051e0:    f000f94a    ..J.    BL       SYS_UnlockReg ; 0x5478
        0x000051e4:    4824        $H      LDR      r0,[pc,#144] ; [0x5278] = 0x50000040
        0x000051e6:    68c2        .h      LDR      r2,[r0,#0xc]
        0x000051e8:    2107        .!      MOVS     r1,#7
        0x000051ea:    0309        ..      LSLS     r1,r1,#12
        0x000051ec:    438a        .C      BICS     r2,r2,r1
        0x000051ee:    01c1        ..      LSLS     r1,r0,#7
        0x000051f0:    1851        Q.      ADDS     r1,r2,r1
        0x000051f2:    60c1        .`      STR      r1,[r0,#0xc]
        0x000051f4:    2005        .       MOVS     r0,#5
        0x000051f6:    f7fffb13    ....    BL       DelayMsec ; 0x4820
        0x000051fa:    68f8        .h      LDR      r0,[r7,#0xc]
        0x000051fc:    2102        .!      MOVS     r1,#2
        0x000051fe:    4388        .C      BICS     r0,r0,r1
        0x00005200:    60f8        .`      STR      r0,[r7,#0xc]
        0x00005202:    6838        8h      LDR      r0,[r7,#0]
        0x00005204:    0840        @.      LSRS     r0,r0,#1
        0x00005206:    0040        @.      LSLS     r0,r0,#1
        0x00005208:    6038        8`      STR      r0,[r7,#0]
        0x0000520a:    4817        .H      LDR      r0,[pc,#92] ; [0x5268] = 0x20000058
        0x0000520c:    6800        .h      LDR      r0,[r0,#0]
        0x0000520e:    2829        )(      CMP      r0,#0x29
        0x00005210:    d31c        ..      BCC      0x524c ; Read_DHT11 + 160
        0x00005212:    4a1a        .J      LDR      r2,[pc,#104] ; [0x527c] = 0x200001cc
        0x00005214:    0048        H.      LSLS     r0,r1,#1
        0x00005216:    5a10        .Z      LDRH     r0,[r2,r0]
        0x00005218:    281e        .(      CMP      r0,#0x1e
        0x0000521a:    d902        ..      BLS      0x5222 ; Read_DHT11 + 118
        0x0000521c:    0060        `.      LSLS     r0,r4,#1
        0x0000521e:    1c40        @.      ADDS     r0,r0,#1
        0x00005220:    e000        ..      B        0x5224 ; Read_DHT11 + 120
        0x00005222:    0060        `.      LSLS     r0,r4,#1
        0x00005224:    1c49        I.      ADDS     r1,r1,#1
        0x00005226:    b284        ..      UXTH     r4,r0
        0x00005228:    2912        .)      CMP      r1,#0x12
        0x0000522a:    d3f3        ..      BCC      0x5214 ; Read_DHT11 + 104
        0x0000522c:    2012        .       MOVS     r0,#0x12
        0x0000522e:    0041        A.      LSLS     r1,r0,#1
        0x00005230:    5a51        QZ      LDRH     r1,[r2,r1]
        0x00005232:    291e        .)      CMP      r1,#0x1e
        0x00005234:    d902        ..      BLS      0x523c ; Read_DHT11 + 144
        0x00005236:    0069        i.      LSLS     r1,r5,#1
        0x00005238:    1c49        I.      ADDS     r1,r1,#1
        0x0000523a:    e000        ..      B        0x523e ; Read_DHT11 + 146
        0x0000523c:    0069        i.      LSLS     r1,r5,#1
        0x0000523e:    1c40        @.      ADDS     r0,r0,#1
        0x00005240:    b28d        ..      UXTH     r5,r1
        0x00005242:    2822        "(      CMP      r0,#0x22
        0x00005244:    d3f3        ..      BCC      0x522e ; Read_DHT11 + 130
        0x00005246:    8034        4.      STRH     r4,[r6,#0]
        0x00005248:    8075        u.      STRH     r5,[r6,#2]
        0x0000524a:    e002        ..      B        0x5252 ; Read_DHT11 + 166
        0x0000524c:    2000        .       MOVS     r0,#0
        0x0000524e:    8030        0.      STRH     r0,[r6,#0]
        0x00005250:    8070        p.      STRH     r0,[r6,#2]
        0x00005252:    4809        .H      LDR      r0,[pc,#36] ; [0x5278] = 0x50000040
        0x00005254:    68c2        .h      LDR      r2,[r0,#0xc]
        0x00005256:    2107        .!      MOVS     r1,#7
        0x00005258:    0309        ..      LSLS     r1,r1,#12
        0x0000525a:    438a        .C      BICS     r2,r2,r1
        0x0000525c:    60c2        .`      STR      r2,[r0,#0xc]
        0x0000525e:    4903        .I      LDR      r1,[pc,#12] ; [0x526c] = 0x500042c0
        0x00005260:    2001        .       MOVS     r0,#1
        0x00005262:    62c8        .b      STR      r0,[r1,#0x2c]
        0x00005264:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x00005266:    0000        ..      DCW    0
        0x00005268:    20000058    X..     DCD    536871000
        0x0000526c:    500042c0    .B.P    DCD    1342194368
        0x00005270:    40010000    ...@    DCD    1073807360
        0x00005274:    e000e100    ....    DCD    3758153984
        0x00005278:    50000040    @..P    DCD    1342177344
        0x0000527c:    200001cc    ...     DCD    536871372
    $t
    i.Read_MPU6050_AccX
    Read_MPU6050_AccX
        0x00005280:    b510        ..      PUSH     {r4,lr}
        0x00005282:    203c        <       MOVS     r0,#0x3c
        0x00005284:    f7fffcda    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x00005288:    4604        .F      MOV      r4,r0
        0x0000528a:    203b        ;       MOVS     r0,#0x3b
        0x0000528c:    f7fffcd6    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x00005290:    0200        ..      LSLS     r0,r0,#8
        0x00005292:    4320         C      ORRS     r0,r0,r4
        0x00005294:    bd10        ..      POP      {r4,pc}
    i.Read_MPU6050_AccY
    Read_MPU6050_AccY
        0x00005296:    b510        ..      PUSH     {r4,lr}
        0x00005298:    203e        >       MOVS     r0,#0x3e
        0x0000529a:    f7fffccf    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x0000529e:    4604        .F      MOV      r4,r0
        0x000052a0:    203d        =       MOVS     r0,#0x3d
        0x000052a2:    f7fffccb    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052a6:    0200        ..      LSLS     r0,r0,#8
        0x000052a8:    4320         C      ORRS     r0,r0,r4
        0x000052aa:    bd10        ..      POP      {r4,pc}
    i.Read_MPU6050_AccZ
    Read_MPU6050_AccZ
        0x000052ac:    b510        ..      PUSH     {r4,lr}
        0x000052ae:    2040        @       MOVS     r0,#0x40
        0x000052b0:    f7fffcc4    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052b4:    4604        .F      MOV      r4,r0
        0x000052b6:    203f        ?       MOVS     r0,#0x3f
        0x000052b8:    f7fffcc0    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052bc:    0200        ..      LSLS     r0,r0,#8
        0x000052be:    4320         C      ORRS     r0,r0,r4
        0x000052c0:    bd10        ..      POP      {r4,pc}
    i.Read_MPU6050_GyroX
    Read_MPU6050_GyroX
        0x000052c2:    b510        ..      PUSH     {r4,lr}
        0x000052c4:    2044        D       MOVS     r0,#0x44
        0x000052c6:    f7fffcb9    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052ca:    4604        .F      MOV      r4,r0
        0x000052cc:    2043        C       MOVS     r0,#0x43
        0x000052ce:    f7fffcb5    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052d2:    0200        ..      LSLS     r0,r0,#8
        0x000052d4:    4320         C      ORRS     r0,r0,r4
        0x000052d6:    bd10        ..      POP      {r4,pc}
    i.Read_MPU6050_GyroY
    Read_MPU6050_GyroY
        0x000052d8:    b510        ..      PUSH     {r4,lr}
        0x000052da:    2046        F       MOVS     r0,#0x46
        0x000052dc:    f7fffcae    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052e0:    4604        .F      MOV      r4,r0
        0x000052e2:    2045        E       MOVS     r0,#0x45
        0x000052e4:    f7fffcaa    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052e8:    0200        ..      LSLS     r0,r0,#8
        0x000052ea:    4320         C      ORRS     r0,r0,r4
        0x000052ec:    bd10        ..      POP      {r4,pc}
    i.Read_MPU6050_GyroZ
    Read_MPU6050_GyroZ
        0x000052ee:    b510        ..      PUSH     {r4,lr}
        0x000052f0:    2048        H       MOVS     r0,#0x48
        0x000052f2:    f7fffca3    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052f6:    4604        .F      MOV      r4,r0
        0x000052f8:    2047        G       MOVS     r0,#0x47
        0x000052fa:    f7fffc9f    ....    BL       MPU6050_I2C_SingleRead ; 0x4c3c
        0x000052fe:    0200        ..      LSLS     r0,r0,#8
        0x00005300:    4320         C      ORRS     r0,r0,r4
        0x00005302:    bd10        ..      POP      {r4,pc}
    i.SYS_Init
    SYS_Init
        0x00005304:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00005306:    f000f8b7    ....    BL       SYS_UnlockReg ; 0x5478
        0x0000530a:    2006        .       MOVS     r0,#6
        0x0000530c:    f7fff9c6    ....    BL       CLK_EnableXtalRC ; 0x469c
        0x00005310:    2012        .       MOVS     r0,#0x12
        0x00005312:    f7fffa61    ..a.    BL       CLK_WaitClockReady ; 0x47d8
        0x00005316:    484c        LH      LDR      r0,[pc,#304] ; [0x5448] = 0x1e84800
        0x00005318:    f7fffa0a    ....    BL       CLK_SetCoreClock ; 0x4730
        0x0000531c:    4c4b        KL      LDR      r4,[pc,#300] ; [0x544c] = 0x80000009
        0x0000531e:    2200        ."      MOVS     r2,#0
        0x00005320:    4611        .F      MOV      r1,r2
        0x00005322:    4620         F      MOV      r0,r4
        0x00005324:    f7fffa30    ..0.    BL       CLK_SetModuleClock ; 0x4788
        0x00005328:    4d49        IM      LDR      r5,[pc,#292] ; [0x5450] = 0xe0000001
        0x0000532a:    2200        ."      MOVS     r2,#0
        0x0000532c:    4611        .F      MOV      r1,r2
        0x0000532e:    4628        (F      MOV      r0,r5
        0x00005330:    f7fffa2a    ..*.    BL       CLK_SetModuleClock ; 0x4788
        0x00005334:    4e47        GN      LDR      r6,[pc,#284] ; [0x5454] = 0xaf33fe1c
        0x00005336:    2103        .!      MOVS     r1,#3
        0x00005338:    2200        ."      MOVS     r2,#0
        0x0000533a:    04c9        ..      LSLS     r1,r1,#19
        0x0000533c:    4630        0F      MOV      r0,r6
        0x0000533e:    f7fffa23    ..#.    BL       CLK_SetModuleClock ; 0x4788
        0x00005342:    2200        ."      MOVS     r2,#0
        0x00005344:    21c0        .!      MOVS     r1,#0xc0
        0x00005346:    4844        DH      LDR      r0,[pc,#272] ; [0x5458] = 0xa6600015
        0x00005348:    f7fffa1e    ....    BL       CLK_SetModuleClock ; 0x4788
        0x0000534c:    2200        ."      MOVS     r2,#0
        0x0000534e:    0d61        a.      LSRS     r1,r4,#21
        0x00005350:    4842        BH      LDR      r0,[pc,#264] ; [0x545c] = 0xae843d02
        0x00005352:    f7fffa19    ....    BL       CLK_SetModuleClock ; 0x4788
        0x00005356:    0da7        ..      LSRS     r7,r4,#22
        0x00005358:    463a        :F      MOV      r2,r7
        0x0000535a:    2103        .!      MOVS     r1,#3
        0x0000535c:    4840        @H      LDR      r0,[pc,#256] ; [0x5460] = 0xa6003d10
        0x0000535e:    f7fffa13    ....    BL       CLK_SetModuleClock ; 0x4788
        0x00005362:    463a        :F      MOV      r2,r7
        0x00005364:    4f3e        >O      LDR      r7,[pc,#248] ; [0x5460] = 0xa6003d10
        0x00005366:    2103        .!      MOVS     r1,#3
        0x00005368:    1c7f        ..      ADDS     r7,r7,#1
        0x0000536a:    4638        8F      MOV      r0,r7
        0x0000536c:    f7fffa0c    ....    BL       CLK_SetModuleClock ; 0x4788
        0x00005370:    4620         F      MOV      r0,r4
        0x00005372:    f7fff933    ..3.    BL       CLK_EnableModuleClock ; 0x45dc
        0x00005376:    4628        (F      MOV      r0,r5
        0x00005378:    f7fff930    ..0.    BL       CLK_EnableModuleClock ; 0x45dc
        0x0000537c:    4630        0F      MOV      r0,r6
        0x0000537e:    f7fff92d    ..-.    BL       CLK_EnableModuleClock ; 0x45dc
        0x00005382:    4835        5H      LDR      r0,[pc,#212] ; [0x5458] = 0xa6600015
        0x00005384:    f7fff92a    ..*.    BL       CLK_EnableModuleClock ; 0x45dc
        0x00005388:    4834        4H      LDR      r0,[pc,#208] ; [0x545c] = 0xae843d02
        0x0000538a:    f7fff927    ..'.    BL       CLK_EnableModuleClock ; 0x45dc
        0x0000538e:    1e78        x.      SUBS     r0,r7,#1
        0x00005390:    f7fff924    ..$.    BL       CLK_EnableModuleClock ; 0x45dc
        0x00005394:    4638        8F      MOV      r0,r7
        0x00005396:    f7fff921    ..!.    BL       CLK_EnableModuleClock ; 0x45dc
        0x0000539a:    f000f9a1    ....    BL       SystemCoreClockUpdate ; 0x56e0
        0x0000539e:    4831        1H      LDR      r0,[pc,#196] ; [0x5464] = 0x50000040
        0x000053a0:    6841        Ah      LDR      r1,[r0,#4]
        0x000053a2:    220f        ."      MOVS     r2,#0xf
        0x000053a4:    0212        ..      LSLS     r2,r2,#8
        0x000053a6:    4391        .C      BICS     r1,r1,r2
        0x000053a8:    6041        A`      STR      r1,[r0,#4]
        0x000053aa:    6841        Ah      LDR      r1,[r0,#4]
        0x000053ac:    1502        ..      ASRS     r2,r0,#20
        0x000053ae:    4311        .C      ORRS     r1,r1,r2
        0x000053b0:    6041        A`      STR      r1,[r0,#4]
        0x000053b2:    6841        Ah      LDR      r1,[r0,#4]
        0x000053b4:    220f        ."      MOVS     r2,#0xf
        0x000053b6:    0312        ..      LSLS     r2,r2,#12
        0x000053b8:    4391        .C      BICS     r1,r1,r2
        0x000053ba:    6041        A`      STR      r1,[r0,#4]
        0x000053bc:    6841        Ah      LDR      r1,[r0,#4]
        0x000053be:    1402        ..      ASRS     r2,r0,#16
        0x000053c0:    4311        .C      ORRS     r1,r1,r2
        0x000053c2:    6041        A`      STR      r1,[r0,#4]
        0x000053c4:    0411        ..      LSLS     r1,r2,#16
        0x000053c6:    6b0a        .k      LDR      r2,[r1,#0x30]
        0x000053c8:    230f        .#      MOVS     r3,#0xf
        0x000053ca:    041b        ..      LSLS     r3,r3,#16
        0x000053cc:    439a        .C      BICS     r2,r2,r3
        0x000053ce:    630a        .c      STR      r2,[r1,#0x30]
        0x000053d0:    6b0a        .k      LDR      r2,[r1,#0x30]
        0x000053d2:    02c3        ..      LSLS     r3,r0,#11
        0x000053d4:    431a        .C      ORRS     r2,r2,r3
        0x000053d6:    630a        .c      STR      r2,[r1,#0x30]
        0x000053d8:    6b0a        .k      LDR      r2,[r1,#0x30]
        0x000053da:    230f        .#      MOVS     r3,#0xf
        0x000053dc:    051b        ..      LSLS     r3,r3,#20
        0x000053de:    439a        .C      BICS     r2,r2,r3
        0x000053e0:    630a        .c      STR      r2,[r1,#0x30]
        0x000053e2:    6b0a        .k      LDR      r2,[r1,#0x30]
        0x000053e4:    03c3        ..      LSLS     r3,r0,#15
        0x000053e6:    431a        .C      ORRS     r2,r2,r3
        0x000053e8:    630a        .c      STR      r2,[r1,#0x30]
        0x000053ea:    4a1f        .J      LDR      r2,[pc,#124] ; [0x5468] = 0x50004000
        0x000053ec:    6854        Th      LDR      r4,[r2,#4]
        0x000053ee:    0385        ..      LSLS     r5,r0,#14
        0x000053f0:    432c        ,C      ORRS     r4,r4,r5
        0x000053f2:    6054        T`      STR      r4,[r2,#4]
        0x000053f4:    6854        Th      LDR      r4,[r2,#4]
        0x000053f6:    431c        .C      ORRS     r4,r4,r3
        0x000053f8:    6054        T`      STR      r4,[r2,#4]
        0x000053fa:    68c2        .h      LDR      r2,[r0,#0xc]
        0x000053fc:    2370        p#      MOVS     r3,#0x70
        0x000053fe:    439a        .C      BICS     r2,r2,r3
        0x00005400:    3230        02      ADDS     r2,r2,#0x30
        0x00005402:    60c2        .`      STR      r2,[r0,#0xc]
        0x00005404:    6b4b        Kk      LDR      r3,[r1,#0x34]
        0x00005406:    2207        ."      MOVS     r2,#7
        0x00005408:    0412        ..      LSLS     r2,r2,#16
        0x0000540a:    4393        .C      BICS     r3,r3,r2
        0x0000540c:    634b        Kc      STR      r3,[r1,#0x34]
        0x0000540e:    6b4b        Kk      LDR      r3,[r1,#0x34]
        0x00005410:    4313        .C      ORRS     r3,r3,r2
        0x00005412:    634b        Kc      STR      r3,[r1,#0x34]
        0x00005414:    6b4b        Kk      LDR      r3,[r1,#0x34]
        0x00005416:    0112        ..      LSLS     r2,r2,#4
        0x00005418:    4393        .C      BICS     r3,r3,r2
        0x0000541a:    634b        Kc      STR      r3,[r1,#0x34]
        0x0000541c:    6b4b        Kk      LDR      r3,[r1,#0x34]
        0x0000541e:    4313        .C      ORRS     r3,r3,r2
        0x00005420:    634b        Kc      STR      r3,[r1,#0x34]
        0x00005422:    6801        .h      LDR      r1,[r0,#0]
        0x00005424:    0109        ..      LSLS     r1,r1,#4
        0x00005426:    0909        ..      LSRS     r1,r1,#4
        0x00005428:    6001        .`      STR      r1,[r0,#0]
        0x0000542a:    6801        .h      LDR      r1,[r0,#0]
        0x0000542c:    0212        ..      LSLS     r2,r2,#8
        0x0000542e:    4311        .C      ORRS     r1,r1,r2
        0x00005430:    6001        .`      STR      r1,[r0,#0]
        0x00005432:    6841        Ah      LDR      r1,[r0,#4]
        0x00005434:    0909        ..      LSRS     r1,r1,#4
        0x00005436:    0109        ..      LSLS     r1,r1,#4
        0x00005438:    6041        A`      STR      r1,[r0,#4]
        0x0000543a:    6841        Ah      LDR      r1,[r0,#4]
        0x0000543c:    2207        ."      MOVS     r2,#7
        0x0000543e:    4311        .C      ORRS     r1,r1,r2
        0x00005440:    6041        A`      STR      r1,[r0,#4]
        0x00005442:    f000f813    ....    BL       SYS_LockReg ; 0x546c
        0x00005446:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x00005448:    01e84800    .H..    DCD    32000000
        0x0000544c:    80000009    ....    DCD    2147483657
        0x00005450:    e0000001    ....    DCD    3758096385
        0x00005454:    af33fe1c    ..3.    DCD    2939420188
        0x00005458:    a6600015    ..`.    DCD    2791309333
        0x0000545c:    ae843d02    .=..    DCD    2927901954
        0x00005460:    a6003d10    .=..    DCD    2785033488
        0x00005464:    50000040    @..P    DCD    1342177344
        0x00005468:    50004000    .@.P    DCD    1342193664
    $t
    i.SYS_LockReg
    SYS_LockReg
        0x0000546c:    4901        .I      LDR      r1,[pc,#4] ; [0x5474] = 0x50000100
        0x0000546e:    2000        .       MOVS     r0,#0
        0x00005470:    6008        .`      STR      r0,[r1,#0]
        0x00005472:    4770        pG      BX       lr
    $d
        0x00005474:    50000100    ...P    DCD    1342177536
    $t
    i.SYS_UnlockReg
    SYS_UnlockReg
        0x00005478:    b510        ..      PUSH     {r4,lr}
        0x0000547a:    2159        Y!      MOVS     r1,#0x59
        0x0000547c:    2316        .#      MOVS     r3,#0x16
        0x0000547e:    4805        .H      LDR      r0,[pc,#20] ; [0x5494] = 0x50000100
        0x00005480:    2288        ."      MOVS     r2,#0x88
        0x00005482:    e002        ..      B        0x548a ; SYS_UnlockReg + 18
        0x00005484:    6001        .`      STR      r1,[r0,#0]
        0x00005486:    6003        .`      STR      r3,[r0,#0]
        0x00005488:    6002        .`      STR      r2,[r0,#0]
        0x0000548a:    6804        .h      LDR      r4,[r0,#0]
        0x0000548c:    2c01        .,      CMP      r4,#1
        0x0000548e:    d1f9        ..      BNE      0x5484 ; SYS_UnlockReg + 12
        0x00005490:    bd10        ..      POP      {r4,pc}
    $d
        0x00005492:    0000        ..      DCW    0
        0x00005494:    50000100    ...P    DCD    1342177536
    $t
    i.SendChar_ToUART
    SendChar_ToUART
        0x00005498:    4906        .I      LDR      r1,[pc,#24] ; [0x54b4] = 0x40050000
        0x0000549a:    698a        .i      LDR      r2,[r1,#0x18]
        0x0000549c:    0552        R.      LSLS     r2,r2,#21
        0x0000549e:    d4fc        ..      BMI      0x549a ; SendChar_ToUART + 2
        0x000054a0:    6008        .`      STR      r0,[r1,#0]
        0x000054a2:    280a        .(      CMP      r0,#0xa
        0x000054a4:    d104        ..      BNE      0x54b0 ; SendChar_ToUART + 24
        0x000054a6:    6988        .i      LDR      r0,[r1,#0x18]
        0x000054a8:    0540        @.      LSLS     r0,r0,#21
        0x000054aa:    d4fc        ..      BMI      0x54a6 ; SendChar_ToUART + 14
        0x000054ac:    200d        .       MOVS     r0,#0xd
        0x000054ae:    6008        .`      STR      r0,[r1,#0]
        0x000054b0:    4770        pG      BX       lr
    $d
        0x000054b2:    0000        ..      DCW    0
        0x000054b4:    40050000    ...@    DCD    1074069504
    $t
    i.Send_Data
    Send_Data
        0x000054b8:    b5f8        ..      PUSH     {r3-r7,lr}
        0x000054ba:    4a38        8J      LDR      r2,[pc,#224] ; [0x559c] = 0x20000080
        0x000054bc:    8810        ..      LDRH     r0,[r2,#0]
        0x000054be:    f001fbbb    ....    BL       transfer ; 0x6c38
        0x000054c2:    4605        .F      MOV      r5,r0
        0x000054c4:    8850        P.      LDRH     r0,[r2,#2]
        0x000054c6:    f001fbb7    ....    BL       transfer ; 0x6c38
        0x000054ca:    4606        .F      MOV      r6,r0
        0x000054cc:    8890        ..      LDRH     r0,[r2,#4]
        0x000054ce:    f001fbb3    ....    BL       transfer ; 0x6c38
        0x000054d2:    4607        .F      MOV      r7,r0
        0x000054d4:    f7fffef5    ....    BL       Read_MPU6050_GyroX ; 0x52c2
        0x000054d8:    f001fbae    ....    BL       transfer ; 0x6c38
        0x000054dc:    4c2f        /L      LDR      r4,[pc,#188] ; [0x559c] = 0x20000080
        0x000054de:    3c40        @<      SUBS     r4,r4,#0x40
        0x000054e0:    80e0        ..      STRH     r0,[r4,#6]
        0x000054e2:    f7fffef9    ....    BL       Read_MPU6050_GyroY ; 0x52d8
        0x000054e6:    f001fba7    ....    BL       transfer ; 0x6c38
        0x000054ea:    8120         .      STRH     r0,[r4,#8]
        0x000054ec:    f7fffeff    ....    BL       Read_MPU6050_GyroZ ; 0x52ee
        0x000054f0:    f001fba2    ....    BL       transfer ; 0x6c38
        0x000054f4:    8160        `.      STRH     r0,[r4,#0xa]
        0x000054f6:    1228        (.      ASRS     r0,r5,#8
        0x000054f8:    4621        !F      MOV      r1,r4
        0x000054fa:    3146        F1      ADDS     r1,r1,#0x46
        0x000054fc:    7108        .q      STRB     r0,[r1,#4]
        0x000054fe:    714d        Mq      STRB     r5,[r1,#5]
        0x00005500:    1230        0.      ASRS     r0,r6,#8
        0x00005502:    7188        .q      STRB     r0,[r1,#6]
        0x00005504:    71ce        .q      STRB     r6,[r1,#7]
        0x00005506:    1238        8.      ASRS     r0,r7,#8
        0x00005508:    7208        .r      STRB     r0,[r1,#8]
        0x0000550a:    724f        Or      STRB     r7,[r1,#9]
        0x0000550c:    8960        `.      LDRH     r0,[r4,#0xa]
        0x0000550e:    0a00        ..      LSRS     r0,r0,#8
        0x00005510:    7388        .s      STRB     r0,[r1,#0xe]
        0x00005512:    8960        `.      LDRH     r0,[r4,#0xa]
        0x00005514:    73c8        .s      STRB     r0,[r1,#0xf]
        0x00005516:    8920         .      LDRH     r0,[r4,#8]
        0x00005518:    0a00        ..      LSRS     r0,r0,#8
        0x0000551a:    7408        .t      STRB     r0,[r1,#0x10]
        0x0000551c:    8920         .      LDRH     r0,[r4,#8]
        0x0000551e:    7448        Ht      STRB     r0,[r1,#0x11]
        0x00005520:    88e0        ..      LDRH     r0,[r4,#6]
        0x00005522:    0a00        ..      LSRS     r0,r0,#8
        0x00005524:    7488        .t      STRB     r0,[r1,#0x12]
        0x00005526:    88e0        ..      LDRH     r0,[r4,#6]
        0x00005528:    74c8        .t      STRB     r0,[r1,#0x13]
        0x0000552a:    8960        `.      LDRH     r0,[r4,#0xa]
        0x0000552c:    0a00        ..      LSRS     r0,r0,#8
        0x0000552e:    7388        .s      STRB     r0,[r1,#0xe]
        0x00005530:    8960        `.      LDRH     r0,[r4,#0xa]
        0x00005532:    73c8        .s      STRB     r0,[r1,#0xf]
        0x00005534:    8920         .      LDRH     r0,[r4,#8]
        0x00005536:    0a00        ..      LSRS     r0,r0,#8
        0x00005538:    7408        .t      STRB     r0,[r1,#0x10]
        0x0000553a:    8920         .      LDRH     r0,[r4,#8]
        0x0000553c:    7448        Ht      STRB     r0,[r1,#0x11]
        0x0000553e:    88e0        ..      LDRH     r0,[r4,#6]
        0x00005540:    0a00        ..      LSRS     r0,r0,#8
        0x00005542:    7488        .t      STRB     r0,[r1,#0x12]
        0x00005544:    88e0        ..      LDRH     r0,[r4,#6]
        0x00005546:    74c8        .t      STRB     r0,[r1,#0x13]
        0x00005548:    4608        .F      MOV      r0,r1
        0x0000554a:    3816        .8      SUBS     r0,r0,#0x16
        0x0000554c:    8842        B.      LDRH     r2,[r0,#2]
        0x0000554e:    0a12        ..      LSRS     r2,r2,#8
        0x00005550:    760a        .v      STRB     r2,[r1,#0x18]
        0x00005552:    8842        B.      LDRH     r2,[r0,#2]
        0x00005554:    764a        Jv      STRB     r2,[r1,#0x19]
        0x00005556:    8802        ..      LDRH     r2,[r0,#0]
        0x00005558:    0a12        ..      LSRS     r2,r2,#8
        0x0000555a:    778a        .w      STRB     r2,[r1,#0x1e]
        0x0000555c:    8800        ..      LDRH     r0,[r0,#0]
        0x0000555e:    77c8        .w      STRB     r0,[r1,#0x1f]
        0x00005560:    6aa0        .j      LDR      r0,[r4,#0x28]
        0x00005562:    0a01        ..      LSRS     r1,r0,#8
        0x00005564:    4620         F      MOV      r0,r4
        0x00005566:    3066        f0      ADDS     r0,r0,#0x66
        0x00005568:    7101        .q      STRB     r1,[r0,#4]
        0x0000556a:    6aa1        .j      LDR      r1,[r4,#0x28]
        0x0000556c:    7141        Aq      STRB     r1,[r0,#5]
        0x0000556e:    6ae1        .j      LDR      r1,[r4,#0x2c]
        0x00005570:    0a09        ..      LSRS     r1,r1,#8
        0x00005572:    7281        .r      STRB     r1,[r0,#0xa]
        0x00005574:    6ae1        .j      LDR      r1,[r4,#0x2c]
        0x00005576:    72c1        .r      STRB     r1,[r0,#0xb]
        0x00005578:    7921        !y      LDRB     r1,[r4,#4]
        0x0000557a:    7401        .t      STRB     r1,[r0,#0x10]
        0x0000557c:    7960        `y      LDRB     r0,[r4,#5]
        0x0000557e:    2800        .(      CMP      r0,#0
        0x00005580:    d006        ..      BEQ      0x5590 ; Send_Data + 216
        0x00005582:    4621        !F      MOV      r1,r4
        0x00005584:    2231        1"      MOVS     r2,#0x31
        0x00005586:    3146        F1      ADDS     r1,r1,#0x46
        0x00005588:    4805        .H      LDR      r0,[pc,#20] ; [0x55a0] = 0x40150000
        0x0000558a:    f000f9d9    ....    BL       UART_Write ; 0x5940
        0x0000558e:    bdf8        ..      POP      {r3-r7,pc}
        0x00005590:    4902        .I      LDR      r1,[pc,#8] ; [0x559c] = 0x20000080
        0x00005592:    2231        1"      MOVS     r2,#0x31
        0x00005594:    1d89        ..      ADDS     r1,r1,#6
        0x00005596:    4803        .H      LDR      r0,[pc,#12] ; [0x55a4] = 0x40050000
        0x00005598:    e7f7        ..      B        0x558a ; Send_Data + 210
    $d
        0x0000559a:    0000        ..      DCW    0
        0x0000559c:    20000080    ...     DCD    536871040
        0x000055a0:    40150000    ...@    DCD    1075118080
        0x000055a4:    40050000    ...@    DCD    1074069504
    $t
    i.SensorsDynamicCalibrate
    SensorsDynamicCalibrate
        0x000055a8:    b53e        >.      PUSH     {r1-r5,lr}
        0x000055aa:    0780        ..      LSLS     r0,r0,#30
        0x000055ac:    d513        ..      BPL      0x55d6 ; SensorsDynamicCalibrate + 46
        0x000055ae:    480a        .H      LDR      r0,[pc,#40] ; [0x55d8] = 0x2000004c
        0x000055b0:    7840        @x      LDRB     r0,[r0,#1]
        0x000055b2:    2800        .(      CMP      r0,#0
        0x000055b4:    d00f        ..      BEQ      0x55d6 ; SensorsDynamicCalibrate + 46
        0x000055b6:    4c08        .L      LDR      r4,[pc,#32] ; [0x55d8] = 0x2000004c
        0x000055b8:    1ce4        ..      ADDS     r4,r4,#3
        0x000055ba:    7860        `x      LDRB     r0,[r4,#1]
        0x000055bc:    2800        .(      CMP      r0,#0
        0x000055be:    d10a        ..      BNE      0x55d6 ; SensorsDynamicCalibrate + 46
        0x000055c0:    2001        .       MOVS     r0,#1
        0x000055c2:    f7fff92d    ..-.    BL       DelayMsec ; 0x4820
        0x000055c6:    f7fbf92b    ..+.    BL       nvtGyroCenterCalibrate ; 0x820
        0x000055ca:    2801        .(      CMP      r0,#1
        0x000055cc:    d103        ..      BNE      0x55d6 ; SensorsDynamicCalibrate + 46
        0x000055ce:    7060        `p      STRB     r0,[r4,#1]
        0x000055d0:    4668        hF      MOV      r0,sp
        0x000055d2:    f7fbf8c7    ....    BL       nvtGetGyroOffset ; 0x764
        0x000055d6:    bd3e        >.      POP      {r1-r5,pc}
    $d
        0x000055d8:    2000004c    L..     DCD    536870988
    $t
    i.SysGet_HCLKFreq
    SysGet_HCLKFreq
        0x000055dc:    b510        ..      PUSH     {r4,lr}
        0x000055de:    4c0f        .L      LDR      r4,[pc,#60] ; [0x561c] = 0x50000200
        0x000055e0:    6920         i      LDR      r0,[r4,#0x10]
        0x000055e2:    0741        A.      LSLS     r1,r0,#29
        0x000055e4:    480e        .H      LDR      r0,[pc,#56] ; [0x5620] = 0xb71b00
        0x000055e6:    0f49        I.      LSRS     r1,r1,#29
        0x000055e8:    d009        ..      BEQ      0x55fe ; SysGet_HCLKFreq + 34
        0x000055ea:    2901        .)      CMP      r1,#1
        0x000055ec:    d00e        ..      BEQ      0x560c ; SysGet_HCLKFreq + 48
        0x000055ee:    2902        .)      CMP      r1,#2
        0x000055f0:    d00f        ..      BEQ      0x5612 ; SysGet_HCLKFreq + 54
        0x000055f2:    2903        .)      CMP      r1,#3
        0x000055f4:    d010        ..      BEQ      0x5618 ; SysGet_HCLKFreq + 60
        0x000055f6:    6821        !h      LDR      r1,[r4,#0]
        0x000055f8:    04c9        ..      LSLS     r1,r1,#19
        0x000055fa:    d500        ..      BPL      0x55fe ; SysGet_HCLKFreq + 34
        0x000055fc:    4809        .H      LDR      r0,[pc,#36] ; [0x5624] = 0xf42400
        0x000055fe:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00005600:    0709        ..      LSLS     r1,r1,#28
        0x00005602:    0f09        ..      LSRS     r1,r1,#28
        0x00005604:    1c49        I.      ADDS     r1,r1,#1
        0x00005606:    f7fefa5f    .._.    BL       __aeabi_uidiv ; 0x3ac8
        0x0000560a:    bd10        ..      POP      {r4,pc}
        0x0000560c:    2001        .       MOVS     r0,#1
        0x0000560e:    03c0        ..      LSLS     r0,r0,#15
        0x00005610:    e7f5        ..      B        0x55fe ; SysGet_HCLKFreq + 34
        0x00005612:    f000f80b    ....    BL       SysGet_PLLClockFreq ; 0x562c
        0x00005616:    e7f2        ..      B        0x55fe ; SysGet_HCLKFreq + 34
        0x00005618:    4803        .H      LDR      r0,[pc,#12] ; [0x5628] = 0x2710
        0x0000561a:    e7f0        ..      B        0x55fe ; SysGet_HCLKFreq + 34
    $d
        0x0000561c:    50000200    ...P    DCD    1342177792
        0x00005620:    00b71b00    ....    DCD    12000000
        0x00005624:    00f42400    .$..    DCD    16000000
        0x00005628:    00002710    .'..    DCD    10000
    $t
    i.SysGet_PLLClockFreq
    SysGet_PLLClockFreq
        0x0000562c:    b510        ..      PUSH     {r4,lr}
        0x0000562e:    490b        .I      LDR      r1,[pc,#44] ; [0x565c] = 0x50000200
        0x00005630:    6a4a        Jj      LDR      r2,[r1,#0x24]
        0x00005632:    03d0        ..      LSLS     r0,r2,#15
        0x00005634:    d501        ..      BPL      0x563a ; SysGet_PLLClockFreq + 14
        0x00005636:    2000        .       MOVS     r0,#0
        0x00005638:    bd10        ..      POP      {r4,pc}
        0x0000563a:    4809        .H      LDR      r0,[pc,#36] ; [0x5660] = 0xb71b00
        0x0000563c:    0393        ..      LSLS     r3,r2,#14
        0x0000563e:    d503        ..      BPL      0x5648 ; SysGet_PLLClockFreq + 28
        0x00005640:    6a49        Ij      LDR      r1,[r1,#0x24]
        0x00005642:    04c9        ..      LSLS     r1,r1,#19
        0x00005644:    d500        ..      BPL      0x5648 ; SysGet_PLLClockFreq + 28
        0x00005646:    4807        .H      LDR      r0,[pc,#28] ; [0x5664] = 0xf42400
        0x00005648:    0511        ..      LSLS     r1,r2,#20
        0x0000564a:    0692        ..      LSLS     r2,r2,#26
        0x0000564c:    0f09        ..      LSRS     r1,r1,#28
        0x0000564e:    0e92        ..      LSRS     r2,r2,#26
        0x00005650:    4350        PC      MULS     r0,r2,r0
        0x00005652:    1c49        I.      ADDS     r1,r1,#1
        0x00005654:    f7fefa38    ..8.    BL       __aeabi_uidiv ; 0x3ac8
        0x00005658:    bd10        ..      POP      {r4,pc}
    $d
        0x0000565a:    0000        ..      DCW    0
        0x0000565c:    50000200    ...P    DCD    1342177792
        0x00005660:    00b71b00    ....    DCD    12000000
        0x00005664:    00f42400    .$..    DCD    16000000
    $t
    i.SysTick_Config
    SysTick_Config
        0x00005668:    490b        .I      LDR      r1,[pc,#44] ; [0x5698] = 0xffffff
        0x0000566a:    b510        ..      PUSH     {r4,lr}
        0x0000566c:    4288        .B      CMP      r0,r1
        0x0000566e:    d901        ..      BLS      0x5674 ; SysTick_Config + 12
        0x00005670:    2001        .       MOVS     r0,#1
        0x00005672:    bd10        ..      POP      {r4,pc}
        0x00005674:    0201        ..      LSLS     r1,r0,#8
        0x00005676:    0a09        ..      LSRS     r1,r1,#8
        0x00005678:    4808        .H      LDR      r0,[pc,#32] ; [0x569c] = 0xe000e000
        0x0000567a:    1e49        I.      SUBS     r1,r1,#1
        0x0000567c:    6141        Aa      STR      r1,[r0,#0x14]
        0x0000567e:    4908        .I      LDR      r1,[pc,#32] ; [0x56a0] = 0xe000ed04
        0x00005680:    2307        .#      MOVS     r3,#7
        0x00005682:    69ca        .i      LDR      r2,[r1,#0x1c]
        0x00005684:    0212        ..      LSLS     r2,r2,#8
        0x00005686:    0a12        ..      LSRS     r2,r2,#8
        0x00005688:    0444        D.      LSLS     r4,r0,#17
        0x0000568a:    4322        "C      ORRS     r2,r2,r4
        0x0000568c:    61ca        .a      STR      r2,[r1,#0x1c]
        0x0000568e:    2100        .!      MOVS     r1,#0
        0x00005690:    6181        .a      STR      r1,[r0,#0x18]
        0x00005692:    6103        .a      STR      r3,[r0,#0x10]
        0x00005694:    4608        .F      MOV      r0,r1
        0x00005696:    bd10        ..      POP      {r4,pc}
    $d
        0x00005698:    00ffffff    ....    DCD    16777215
        0x0000569c:    e000e000    ....    DCD    3758153728
        0x000056a0:    e000ed04    ....    DCD    3758157060
    $t
    i.SysTick_Handler
    SysTick_Handler
        0x000056a4:    b510        ..      PUSH     {r4,lr}
        0x000056a6:    4c0d        .L      LDR      r4,[pc,#52] ; [0x56dc] = 0x200000b8
        0x000056a8:    217d        }!      MOVS     r1,#0x7d
        0x000056aa:    00c9        ..      LSLS     r1,r1,#3
        0x000056ac:    6820         h      LDR      r0,[r4,#0]
        0x000056ae:    f7fefa0b    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000056b2:    2900        .)      CMP      r1,#0
        0x000056b4:    d10c        ..      BNE      0x56d0 ; SysTick_Handler + 44
        0x000056b6:    6860        `h      LDR      r0,[r4,#4]
        0x000056b8:    68e1        .h      LDR      r1,[r4,#0xc]
        0x000056ba:    1a40        @.      SUBS     r0,r0,r1
        0x000056bc:    f7fefcf2    ....    BL       __aeabi_i2f ; 0x40a4
        0x000056c0:    4601        .F      MOV      r1,r0
        0x000056c2:    207f        .       MOVS     r0,#0x7f
        0x000056c4:    05c0        ..      LSLS     r0,r0,#23
        0x000056c6:    f7fefb0d    ....    BL       __aeabi_fdiv ; 0x3ce4
        0x000056ca:    6120         a      STR      r0,[r4,#0x10]
        0x000056cc:    6860        `h      LDR      r0,[r4,#4]
        0x000056ce:    60e0        .`      STR      r0,[r4,#0xc]
        0x000056d0:    6820         h      LDR      r0,[r4,#0]
        0x000056d2:    1c40        @.      ADDS     r0,r0,#1
        0x000056d4:    6020         `      STR      r0,[r4,#0]
        0x000056d6:    f7fafe77    ..w.    BL       nvtMillisecondTick ; 0x3c8
        0x000056da:    bd10        ..      POP      {r4,pc}
    $d
        0x000056dc:    200000b8    ...     DCD    536871096
    $t
    i.SystemCoreClockUpdate
    SystemCoreClockUpdate
        0x000056e0:    b510        ..      PUSH     {r4,lr}
        0x000056e2:    f7ffff7b    ..{.    BL       SysGet_HCLKFreq ; 0x55dc
        0x000056e6:    4c04        .L      LDR      r4,[pc,#16] ; [0x56f8] = 0x20000000
        0x000056e8:    4904        .I      LDR      r1,[pc,#16] ; [0x56fc] = 0xf4240
        0x000056ea:    6020         `      STR      r0,[r4,#0]
        0x000056ec:    104a        J.      ASRS     r2,r1,#1
        0x000056ee:    1880        ..      ADDS     r0,r0,r2
        0x000056f0:    f7fef9ea    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000056f4:    6060        ``      STR      r0,[r4,#4]
        0x000056f6:    bd10        ..      POP      {r4,pc}
    $d
        0x000056f8:    20000000    ...     DCD    536870912
        0x000056fc:    000f4240    @B..    DCD    1000000
    $t
    i.TIMER_EnableCapture
    TIMER_EnableCapture
        0x00005700:    b510        ..      PUSH     {r4,lr}
        0x00005702:    6803        .h      LDR      r3,[r0,#0]
        0x00005704:    240f        .$      MOVS     r4,#0xf
        0x00005706:    0464        d.      LSLS     r4,r4,#17
        0x00005708:    43a3        .C      BICS     r3,r3,r4
        0x0000570a:    430b        .C      ORRS     r3,r3,r1
        0x0000570c:    2101        .!      MOVS     r1,#1
        0x0000570e:    4313        .C      ORRS     r3,r3,r2
        0x00005710:    0409        ..      LSLS     r1,r1,#16
        0x00005712:    430b        .C      ORRS     r3,r3,r1
        0x00005714:    6003        .`      STR      r3,[r0,#0]
        0x00005716:    bd10        ..      POP      {r4,pc}
    i.TIMER_GetModuleClock
    TIMER_GetModuleClock
        0x00005718:    b51f        ..      PUSH     {r0-r4,lr}
        0x0000571a:    4c16        .L      LDR      r4,[pc,#88] ; [0x5774] = 0x6c90
        0x0000571c:    cc1e        ..      LDM      r4,{r1-r4}
        0x0000571e:    9403        ..      STR      r4,[sp,#0xc]
        0x00005720:    466c        lF      MOV      r4,sp
        0x00005722:    c40e        ..      STM      r4!,{r1-r3}
        0x00005724:    4a14        .J      LDR      r2,[pc,#80] ; [0x5778] = 0x40010000
        0x00005726:    4915        .I      LDR      r1,[pc,#84] ; [0x577c] = 0x50000200
        0x00005728:    4290        .B      CMP      r0,r2
        0x0000572a:    d101        ..      BNE      0x5730 ; TIMER_GetModuleClock + 24
        0x0000572c:    6948        Hi      LDR      r0,[r1,#0x14]
        0x0000572e:    e008        ..      B        0x5742 ; TIMER_GetModuleClock + 42
        0x00005730:    4a13        .J      LDR      r2,[pc,#76] ; [0x5780] = 0x40010100
        0x00005732:    4290        .B      CMP      r0,r2
        0x00005734:    d101        ..      BNE      0x573a ; TIMER_GetModuleClock + 34
        0x00005736:    6948        Hi      LDR      r0,[r1,#0x14]
        0x00005738:    e006        ..      B        0x5748 ; TIMER_GetModuleClock + 48
        0x0000573a:    4a12        .J      LDR      r2,[pc,#72] ; [0x5784] = 0x40110000
        0x0000573c:    4290        .B      CMP      r0,r2
        0x0000573e:    6988        .i      LDR      r0,[r1,#0x18]
        0x00005740:    d102        ..      BNE      0x5748 ; TIMER_GetModuleClock + 48
        0x00005742:    0540        @.      LSLS     r0,r0,#21
        0x00005744:    0f40        @.      LSRS     r0,r0,#29
        0x00005746:    e001        ..      B        0x574c ; TIMER_GetModuleClock + 52
        0x00005748:    0440        @.      LSLS     r0,r0,#17
        0x0000574a:    0f40        @.      LSRS     r0,r0,#29
        0x0000574c:    2804        .(      CMP      r0,#4
        0x0000574e:    d204        ..      BCS      0x575a ; TIMER_GetModuleClock + 66
        0x00005750:    0080        ..      LSLS     r0,r0,#2
        0x00005752:    4669        iF      MOV      r1,sp
        0x00005754:    5808        .X      LDR      r0,[r1,r0]
        0x00005756:    b004        ..      ADD      sp,sp,#0x10
        0x00005758:    bd10        ..      POP      {r4,pc}
        0x0000575a:    2804        .(      CMP      r0,#4
        0x0000575c:    d002        ..      BEQ      0x5764 ; TIMER_GetModuleClock + 76
        0x0000575e:    f7feffa5    ....    BL       CLK_GetHCLKFreq ; 0x46ac
        0x00005762:    e7f8        ..      B        0x5756 ; TIMER_GetModuleClock + 62
        0x00005764:    6808        .h      LDR      r0,[r1,#0]
        0x00005766:    04c0        ..      LSLS     r0,r0,#19
        0x00005768:    d501        ..      BPL      0x576e ; TIMER_GetModuleClock + 86
        0x0000576a:    4807        .H      LDR      r0,[pc,#28] ; [0x5788] = 0xf42400
        0x0000576c:    e7f3        ..      B        0x5756 ; TIMER_GetModuleClock + 62
        0x0000576e:    4807        .H      LDR      r0,[pc,#28] ; [0x578c] = 0xb71b00
        0x00005770:    e7f1        ..      B        0x5756 ; TIMER_GetModuleClock + 62
    $d
        0x00005772:    0000        ..      DCW    0
        0x00005774:    00006c90    .l..    DCD    27792
        0x00005778:    40010000    ...@    DCD    1073807360
        0x0000577c:    50000200    ...P    DCD    1342177792
        0x00005780:    40010100    ...@    DCD    1073807616
        0x00005784:    40110000    ...@    DCD    1074855936
        0x00005788:    00f42400    .$..    DCD    16000000
        0x0000578c:    00b71b00    ....    DCD    12000000
    $t
    i.TIMER_Init
    TIMER_Init
        0x00005790:    2001        .       MOVS     r0,#1
        0x00005792:    4902        .I      LDR      r1,[pc,#8] ; [0x579c] = 0xe000e100
        0x00005794:    07c0        ..      LSLS     r0,r0,#31
        0x00005796:    6008        .`      STR      r0,[r1,#0]
        0x00005798:    4770        pG      BX       lr
    $d
        0x0000579a:    0000        ..      DCW    0
        0x0000579c:    e000e100    ....    DCD    3758153984
    $t
    i.TIMER_Open
    TIMER_Open
        0x000057a0:    b5f7        ..      PUSH     {r0-r2,r4-r7,lr}
        0x000057a2:    4606        .F      MOV      r6,r0
        0x000057a4:    4617        .F      MOV      r7,r2
        0x000057a6:    f7ffffb7    ....    BL       TIMER_GetModuleClock ; 0x5718
        0x000057aa:    4604        .F      MOV      r4,r0
        0x000057ac:    2500        .%      MOVS     r5,#0
        0x000057ae:    0840        @.      LSRS     r0,r0,#1
        0x000057b0:    42b8        .B      CMP      r0,r7
        0x000057b2:    d201        ..      BCS      0x57b8 ; TIMER_Open + 24
        0x000057b4:    2002        .       MOVS     r0,#2
        0x000057b6:    e008        ..      B        0x57ca ; TIMER_Open + 42
        0x000057b8:    490a        .I      LDR      r1,[pc,#40] ; [0x57e4] = 0xffffff
        0x000057ba:    428c        .B      CMP      r4,r1
        0x000057bc:    d901        ..      BLS      0x57c2 ; TIMER_Open + 34
        0x000057be:    2501        .%      MOVS     r5,#1
        0x000057c0:    4604        .F      MOV      r4,r0
        0x000057c2:    4639        9F      MOV      r1,r7
        0x000057c4:    4620         F      MOV      r0,r4
        0x000057c6:    f7fef97f    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000057ca:    60b0        .`      STR      r0,[r6,#8]
        0x000057cc:    6075        u`      STR      r5,[r6,#4]
        0x000057ce:    9901        ..      LDR      r1,[sp,#4]
        0x000057d0:    2201        ."      MOVS     r2,#1
        0x000057d2:    4311        .C      ORRS     r1,r1,r2
        0x000057d4:    6031        1`      STR      r1,[r6,#0]
        0x000057d6:    1c6d        m.      ADDS     r5,r5,#1
        0x000057d8:    4368        hC      MULS     r0,r5,r0
        0x000057da:    4601        .F      MOV      r1,r0
        0x000057dc:    4620         F      MOV      r0,r4
        0x000057de:    f7fef973    ..s.    BL       __aeabi_uidiv ; 0x3ac8
        0x000057e2:    bdfe        ..      POP      {r1-r7,pc}
    $d
        0x000057e4:    00ffffff    ....    DCD    16777215
    $t
    i.TMR0_IRQHandler
    TMR0_IRQHandler
        0x000057e8:    b510        ..      PUSH     {r4,lr}
        0x000057ea:    4a06        .J      LDR      r2,[pc,#24] ; [0x5804] = 0x40010000
        0x000057ec:    6991        .i      LDR      r1,[r2,#0x18]
        0x000057ee:    4806        .H      LDR      r0,[pc,#24] ; [0x5808] = 0x20000040
        0x000057f0:    6983        .i      LDR      r3,[r0,#0x18]
        0x000057f2:    4c06        .L      LDR      r4,[pc,#24] ; [0x580c] = 0x200001cc
        0x000057f4:    005b        [.      LSLS     r3,r3,#1
        0x000057f6:    52e1        .R      STRH     r1,[r4,r3]
        0x000057f8:    6981        .i      LDR      r1,[r0,#0x18]
        0x000057fa:    1c49        I.      ADDS     r1,r1,#1
        0x000057fc:    6181        .a      STR      r1,[r0,#0x18]
        0x000057fe:    2002        .       MOVS     r0,#2
        0x00005800:    6110        .a      STR      r0,[r2,#0x10]
        0x00005802:    bd10        ..      POP      {r4,pc}
    $d
        0x00005804:    40010000    ...@    DCD    1073807360
        0x00005808:    20000040    @..     DCD    536870976
        0x0000580c:    200001cc    ...     DCD    536871372
    $t
    i.UART0_IRQHandler
    UART0_IRQHandler
        0x00005810:    b510        ..      PUSH     {r4,lr}
        0x00005812:    480d        .H      LDR      r0,[pc,#52] ; [0x5848] = 0x40050000
        0x00005814:    6901        .i      LDR      r1,[r0,#0x10]
        0x00005816:    6902        .i      LDR      r2,[r0,#0x10]
        0x00005818:    400a        .@      ANDS     r2,r2,r1
        0x0000581a:    07d1        ..      LSLS     r1,r2,#31
        0x0000581c:    d012        ..      BEQ      0x5844 ; UART0_IRQHandler + 52
        0x0000581e:    2204        ."      MOVS     r2,#4
        0x00005820:    490a        .I      LDR      r1,[pc,#40] ; [0x584c] = 0x20000060
        0x00005822:    f000f877    ..w.    BL       UART_Read ; 0x5914
        0x00005826:    4a09        .J      LDR      r2,[pc,#36] ; [0x584c] = 0x20000060
        0x00005828:    2000        .       MOVS     r0,#0
        0x0000582a:    1d11        ..      ADDS     r1,r2,#4
        0x0000582c:    5c13        .\      LDRB     r3,[r2,r0]
        0x0000582e:    540b        .T      STRB     r3,[r1,r0]
        0x00005830:    1c40        @.      ADDS     r0,r0,#1
        0x00005832:    b2c0        ..      UXTB     r0,r0
        0x00005834:    2804        .(      CMP      r0,#4
        0x00005836:    d3f9        ..      BCC      0x582c ; UART0_IRQHandler + 28
        0x00005838:    4804        .H      LDR      r0,[pc,#16] ; [0x584c] = 0x20000060
        0x0000583a:    2101        .!      MOVS     r1,#1
        0x0000583c:    3820         8      SUBS     r0,r0,#0x20
        0x0000583e:    7001        .p      STRB     r1,[r0,#0]
        0x00005840:    2100        .!      MOVS     r1,#0
        0x00005842:    7141        Aq      STRB     r1,[r0,#5]
        0x00005844:    bd10        ..      POP      {r4,pc}
    $d
        0x00005846:    0000        ..      DCW    0
        0x00005848:    40050000    ...@    DCD    1074069504
        0x0000584c:    20000060    `..     DCD    536871008
    $t
    i.UART1_IRQHandler
    UART1_IRQHandler
        0x00005850:    b510        ..      PUSH     {r4,lr}
        0x00005852:    480c        .H      LDR      r0,[pc,#48] ; [0x5884] = 0x40150000
        0x00005854:    6901        .i      LDR      r1,[r0,#0x10]
        0x00005856:    6902        .i      LDR      r2,[r0,#0x10]
        0x00005858:    400a        .@      ANDS     r2,r2,r1
        0x0000585a:    07d1        ..      LSLS     r1,r2,#31
        0x0000585c:    d011        ..      BEQ      0x5882 ; UART1_IRQHandler + 50
        0x0000585e:    2204        ."      MOVS     r2,#4
        0x00005860:    4909        .I      LDR      r1,[pc,#36] ; [0x5888] = 0x20000060
        0x00005862:    f000f857    ..W.    BL       UART_Read ; 0x5914
        0x00005866:    4908        .I      LDR      r1,[pc,#32] ; [0x5888] = 0x20000060
        0x00005868:    2000        .       MOVS     r0,#0
        0x0000586a:    1d0a        ..      ADDS     r2,r1,#4
        0x0000586c:    5c0b        .\      LDRB     r3,[r1,r0]
        0x0000586e:    5413        .T      STRB     r3,[r2,r0]
        0x00005870:    1c40        @.      ADDS     r0,r0,#1
        0x00005872:    b2c0        ..      UXTB     r0,r0
        0x00005874:    2804        .(      CMP      r0,#4
        0x00005876:    d3f9        ..      BCC      0x586c ; UART1_IRQHandler + 28
        0x00005878:    4903        .I      LDR      r1,[pc,#12] ; [0x5888] = 0x20000060
        0x0000587a:    2001        .       MOVS     r0,#1
        0x0000587c:    3920         9      SUBS     r1,r1,#0x20
        0x0000587e:    7008        .p      STRB     r0,[r1,#0]
        0x00005880:    7148        Hq      STRB     r0,[r1,#5]
        0x00005882:    bd10        ..      POP      {r4,pc}
    $d
        0x00005884:    40150000    ...@    DCD    1075118080
        0x00005888:    20000060    `..     DCD    536871008
    $t
    i.UART_Open
    UART_Open
        0x0000588c:    b57f        ..      PUSH     {r0-r6,lr}
        0x0000588e:    4b1d        .K      LDR      r3,[pc,#116] ; [0x5904] = 0x6c70
        0x00005890:    4604        .F      MOV      r4,r0
        0x00005892:    460e        .F      MOV      r6,r1
        0x00005894:    cb0f        ..      LDM      r3,{r0-r3}
        0x00005896:    466d        mF      MOV      r5,sp
        0x00005898:    c50f        ..      STM      r5!,{r0-r3}
        0x0000589a:    491b        .I      LDR      r1,[pc,#108] ; [0x5908] = 0x50000200
        0x0000589c:    6948        Hi      LDR      r0,[r1,#0x14]
        0x0000589e:    0780        ..      LSLS     r0,r0,#30
        0x000058a0:    0f80        ..      LSRS     r0,r0,#30
        0x000058a2:    2803        .(      CMP      r0,#3
        0x000058a4:    d104        ..      BNE      0x58b0 ; UART_Open + 36
        0x000058a6:    680a        .h      LDR      r2,[r1,#0]
        0x000058a8:    04d2        ..      LSLS     r2,r2,#19
        0x000058aa:    d501        ..      BPL      0x58b0 ; UART_Open + 36
        0x000058ac:    4817        .H      LDR      r0,[pc,#92] ; [0x590c] = 0xf42400
        0x000058ae:    e002        ..      B        0x58b6 ; UART_Open + 42
        0x000058b0:    0080        ..      LSLS     r0,r0,#2
        0x000058b2:    466a        jF      MOV      r2,sp
        0x000058b4:    5810        .X      LDR      r0,[r2,r0]
        0x000058b6:    69c9        .i      LDR      r1,[r1,#0x1c]
        0x000058b8:    0509        ..      LSLS     r1,r1,#20
        0x000058ba:    0f0d        ..      LSRS     r5,r1,#28
        0x000058bc:    1c6d        m.      ADDS     r5,r5,#1
        0x000058be:    2800        .(      CMP      r0,#0
        0x000058c0:    d101        ..      BNE      0x58c6 ; UART_Open + 58
        0x000058c2:    f7fffeb3    ....    BL       SysGet_PLLClockFreq ; 0x562c
        0x000058c6:    4629        )F      MOV      r1,r5
        0x000058c8:    f7fef8fe    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000058cc:    4605        .F      MOV      r5,r0
        0x000058ce:    2000        .       MOVS     r0,#0
        0x000058d0:    63a0        .c      STR      r0,[r4,#0x38]
        0x000058d2:    2003        .       MOVS     r0,#3
        0x000058d4:    60a0        .`      STR      r0,[r4,#8]
        0x000058d6:    2e00        ..      CMP      r6,#0
        0x000058d8:    d013        ..      BEQ      0x5902 ; UART_Open + 118
        0x000058da:    0870        p.      LSRS     r0,r6,#1
        0x000058dc:    1940        @.      ADDS     r0,r0,r5
        0x000058de:    4631        1F      MOV      r1,r6
        0x000058e0:    f7fef8f2    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000058e4:    490a        .I      LDR      r1,[pc,#40] ; [0x5910] = 0xffff
        0x000058e6:    1e40        @.      SUBS     r0,r0,#1
        0x000058e8:    4288        .B      CMP      r0,r1
        0x000058ea:    d909        ..      BLS      0x5900 ; UART_Open + 116
        0x000058ec:    00f0        ..      LSLS     r0,r6,#3
        0x000058ee:    1940        @.      ADDS     r0,r0,r5
        0x000058f0:    4631        1F      MOV      r1,r6
        0x000058f2:    f7fef8e9    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x000058f6:    0900        ..      LSRS     r0,r0,#4
        0x000058f8:    1e40        @.      SUBS     r0,r0,#1
        0x000058fa:    2101        .!      MOVS     r1,#1
        0x000058fc:    07c9        ..      LSLS     r1,r1,#31
        0x000058fe:    4308        .C      ORRS     r0,r0,r1
        0x00005900:    6260        `b      STR      r0,[r4,#0x24]
        0x00005902:    bd7f        ..      POP      {r0-r6,pc}
    $d
        0x00005904:    00006c70    pl..    DCD    27760
        0x00005908:    50000200    ...P    DCD    1342177792
        0x0000590c:    00f42400    .$..    DCD    16000000
        0x00005910:    0000ffff    ....    DCD    65535
    $t
    i.UART_Read
    UART_Read
        0x00005914:    b570        p.      PUSH     {r4-r6,lr}
        0x00005916:    4604        .F      MOV      r4,r0
        0x00005918:    2000        .       MOVS     r0,#0
        0x0000591a:    2501        .%      MOVS     r5,#1
        0x0000591c:    07ad        ..      LSLS     r5,r5,#30
        0x0000591e:    e00c        ..      B        0x593a ; UART_Read + 38
        0x00005920:    2300        .#      MOVS     r3,#0
        0x00005922:    e004        ..      B        0x592e ; UART_Read + 26
        0x00005924:    1c5b        [.      ADDS     r3,r3,#1
        0x00005926:    42ab        .B      CMP      r3,r5
        0x00005928:    d301        ..      BCC      0x592e ; UART_Read + 26
        0x0000592a:    2000        .       MOVS     r0,#0
        0x0000592c:    bd70        p.      POP      {r4-r6,pc}
        0x0000592e:    69a6        .i      LDR      r6,[r4,#0x18]
        0x00005930:    07b6        ..      LSLS     r6,r6,#30
        0x00005932:    d4f7        ..      BMI      0x5924 ; UART_Read + 16
        0x00005934:    6823        #h      LDR      r3,[r4,#0]
        0x00005936:    540b        .T      STRB     r3,[r1,r0]
        0x00005938:    1c40        @.      ADDS     r0,r0,#1
        0x0000593a:    4290        .B      CMP      r0,r2
        0x0000593c:    d3f0        ..      BCC      0x5920 ; UART_Read + 12
        0x0000593e:    bd70        p.      POP      {r4-r6,pc}
    i.UART_Write
    UART_Write
        0x00005940:    b570        p.      PUSH     {r4-r6,lr}
        0x00005942:    4604        .F      MOV      r4,r0
        0x00005944:    2000        .       MOVS     r0,#0
        0x00005946:    2501        .%      MOVS     r5,#1
        0x00005948:    07ad        ..      LSLS     r5,r5,#30
        0x0000594a:    e00c        ..      B        0x5966 ; UART_Write + 38
        0x0000594c:    2300        .#      MOVS     r3,#0
        0x0000594e:    e004        ..      B        0x595a ; UART_Write + 26
        0x00005950:    1c5b        [.      ADDS     r3,r3,#1
        0x00005952:    42ab        .B      CMP      r3,r5
        0x00005954:    d301        ..      BCC      0x595a ; UART_Write + 26
        0x00005956:    2000        .       MOVS     r0,#0
        0x00005958:    bd70        p.      POP      {r4-r6,pc}
        0x0000595a:    69a6        .i      LDR      r6,[r4,#0x18]
        0x0000595c:    05b6        ..      LSLS     r6,r6,#22
        0x0000595e:    d5f7        ..      BPL      0x5950 ; UART_Write + 16
        0x00005960:    5c0b        .\      LDRB     r3,[r1,r0]
        0x00005962:    6023        #`      STR      r3,[r4,#0]
        0x00005964:    1c40        @.      ADDS     r0,r0,#1
        0x00005966:    4290        .B      CMP      r0,r2
        0x00005968:    d1f0        ..      BNE      0x594c ; UART_Write + 12
        0x0000596a:    bd70        p.      POP      {r4-r6,pc}
    i.__0printf$5
    __0printf$5
    __1printf$5
    __2printf
        0x0000596c:    b40f        ..      PUSH     {r0-r3}
        0x0000596e:    b510        ..      PUSH     {r4,lr}
        0x00005970:    a903        ..      ADD      r1,sp,#0xc
        0x00005972:    4b04        .K      LDR      r3,[pc,#16] ; [0x5984] = 0x67c5
        0x00005974:    4a04        .J      LDR      r2,[pc,#16] ; [0x5988] = 0x2000003c
        0x00005976:    9802        ..      LDR      r0,[sp,#8]
        0x00005978:    f000fb96    ....    BL       _printf_core ; 0x60a8
        0x0000597c:    bc10        ..      POP      {r4}
        0x0000597e:    bc08        ..      POP      {r3}
        0x00005980:    b004        ..      ADD      sp,sp,#0x10
        0x00005982:    4718        .G      BX       r3
    $d
        0x00005984:    000067c5    .g..    DCD    26565
        0x00005988:    2000003c    <..     DCD    536870972
    $t
    i.__0sprintf$5
    __0sprintf$5
    __1sprintf$5
    __2sprintf
        0x0000598c:    b40f        ..      PUSH     {r0-r3}
        0x0000598e:    b510        ..      PUSH     {r4,lr}
        0x00005990:    a904        ..      ADD      r1,sp,#0x10
        0x00005992:    4b07        .K      LDR      r3,[pc,#28] ; [0x59b0] = 0x6381
        0x00005994:    aa02        ..      ADD      r2,sp,#8
        0x00005996:    9803        ..      LDR      r0,[sp,#0xc]
        0x00005998:    f000fb86    ....    BL       _printf_core ; 0x60a8
        0x0000599c:    4604        .F      MOV      r4,r0
        0x0000599e:    a902        ..      ADD      r1,sp,#8
        0x000059a0:    2000        .       MOVS     r0,#0
        0x000059a2:    f000fced    ....    BL       _sputc ; 0x6380
        0x000059a6:    4620         F      MOV      r0,r4
        0x000059a8:    bc10        ..      POP      {r4}
        0x000059aa:    bc08        ..      POP      {r3}
        0x000059ac:    b004        ..      ADD      sp,sp,#0x10
        0x000059ae:    4718        .G      BX       r3
    $d
        0x000059b0:    00006381    .c..    DCD    25473
    $t
    i.__ARM_clz
    __ARM_clz
        0x000059b4:    2120         !      MOVS     r1,#0x20
        0x000059b6:    0c02        ..      LSRS     r2,r0,#16
        0x000059b8:    d001        ..      BEQ      0x59be ; __ARM_clz + 10
        0x000059ba:    2110        .!      MOVS     r1,#0x10
        0x000059bc:    4610        .F      MOV      r0,r2
        0x000059be:    0a02        ..      LSRS     r2,r0,#8
        0x000059c0:    d001        ..      BEQ      0x59c6 ; __ARM_clz + 18
        0x000059c2:    3908        .9      SUBS     r1,r1,#8
        0x000059c4:    4610        .F      MOV      r0,r2
        0x000059c6:    0902        ..      LSRS     r2,r0,#4
        0x000059c8:    d001        ..      BEQ      0x59ce ; __ARM_clz + 26
        0x000059ca:    1f09        ..      SUBS     r1,r1,#4
        0x000059cc:    4610        .F      MOV      r0,r2
        0x000059ce:    0882        ..      LSRS     r2,r0,#2
        0x000059d0:    d001        ..      BEQ      0x59d6 ; __ARM_clz + 34
        0x000059d2:    1e89        ..      SUBS     r1,r1,#2
        0x000059d4:    4610        .F      MOV      r0,r2
        0x000059d6:    0842        B.      LSRS     r2,r0,#1
        0x000059d8:    d001        ..      BEQ      0x59de ; __ARM_clz + 42
        0x000059da:    1e88        ..      SUBS     r0,r1,#2
        0x000059dc:    4770        pG      BX       lr
        0x000059de:    1a08        ..      SUBS     r0,r1,r0
        0x000059e0:    4770        pG      BX       lr
    i.__ARM_common_ll_muluu
    __ARM_common_ll_muluu
        0x000059e2:    b4f0        ..      PUSH     {r4-r7}
        0x000059e4:    0c04        ..      LSRS     r4,r0,#16
        0x000059e6:    b28b        ..      UXTH     r3,r1
        0x000059e8:    4626        &F      MOV      r6,r4
        0x000059ea:    b282        ..      UXTH     r2,r0
        0x000059ec:    435e        ^C      MULS     r6,r3,r6
        0x000059ee:    0c0d        ..      LSRS     r5,r1,#16
        0x000059f0:    4610        .F      MOV      r0,r2
        0x000059f2:    0c37        7.      LSRS     r7,r6,#16
        0x000059f4:    4358        XC      MULS     r0,r3,r0
        0x000059f6:    0436        6.      LSLS     r6,r6,#16
        0x000059f8:    1980        ..      ADDS     r0,r0,r6
        0x000059fa:    2100        .!      MOVS     r1,#0
        0x000059fc:    4179        yA      ADCS     r1,r1,r7
        0x000059fe:    4616        .F      MOV      r6,r2
        0x00005a00:    436e        nC      MULS     r6,r5,r6
        0x00005a02:    0c37        7.      LSRS     r7,r6,#16
        0x00005a04:    0436        6.      LSLS     r6,r6,#16
        0x00005a06:    1980        ..      ADDS     r0,r0,r6
        0x00005a08:    4179        yA      ADCS     r1,r1,r7
        0x00005a0a:    4626        &F      MOV      r6,r4
        0x00005a0c:    436e        nC      MULS     r6,r5,r6
        0x00005a0e:    1989        ..      ADDS     r1,r1,r6
        0x00005a10:    bcf0        ..      POP      {r4-r7}
        0x00005a12:    4770        pG      BX       lr
    i.__ARM_fpclassify
    __ARM_fpclassify
        0x00005a14:    0049        I.      LSLS     r1,r1,#1
        0x00005a16:    02ca        ..      LSLS     r2,r1,#11
        0x00005a18:    4310        .C      ORRS     r0,r0,r2
        0x00005a1a:    d000        ..      BEQ      0x5a1e ; __ARM_fpclassify + 10
        0x00005a1c:    2004        .       MOVS     r0,#4
        0x00005a1e:    0d4a        J.      LSRS     r2,r1,#21
        0x00005a20:    d001        ..      BEQ      0x5a26 ; __ARM_fpclassify + 18
        0x00005a22:    2201        ."      MOVS     r2,#1
        0x00005a24:    4310        .C      ORRS     r0,r0,r2
        0x00005a26:    4a05        .J      LDR      r2,[pc,#20] ; [0x5a3c] = 0x7ff
        0x00005a28:    0d49        I.      LSRS     r1,r1,#21
        0x00005a2a:    4291        .B      CMP      r1,r2
        0x00005a2c:    d101        ..      BNE      0x5a32 ; __ARM_fpclassify + 30
        0x00005a2e:    2102        .!      MOVS     r1,#2
        0x00005a30:    4308        .C      ORRS     r0,r0,r1
        0x00005a32:    2801        .(      CMP      r0,#1
        0x00005a34:    d100        ..      BNE      0x5a38 ; __ARM_fpclassify + 36
        0x00005a36:    2005        .       MOVS     r0,#5
        0x00005a38:    4770        pG      BX       lr
    $d
        0x00005a3a:    0000        ..      DCW    0
        0x00005a3c:    000007ff    ....    DCD    2047
    $t
    i.__ieee754_rem_pio2
    __ieee754_rem_pio2
        0x00005a40:    b5f7        ..      PUSH     {r0-r2,r4-r7,lr}
        0x00005a42:    b096        ..      SUB      sp,sp,#0x58
        0x00005a44:    9918        ..      LDR      r1,[sp,#0x60]
        0x00005a46:    2200        ."      MOVS     r2,#0
        0x00005a48:    608a        .`      STR      r2,[r1,#8]
        0x00005a4a:    60ca        .`      STR      r2,[r1,#0xc]
        0x00005a4c:    9917        ..      LDR      r1,[sp,#0x5c]
        0x00005a4e:    9108        ..      STR      r1,[sp,#0x20]
        0x00005a50:    004c        L.      LSLS     r4,r1,#1
        0x00005a52:    49ce        .I      LDR      r1,[pc,#824] ; [0x5d8c] = 0x3fe921fb
        0x00005a54:    0864        d.      LSRS     r4,r4,#1
        0x00005a56:    428c        .B      CMP      r4,r1
        0x00005a58:    dc06        ..      BGT      0x5a68 ; __ieee754_rem_pio2 + 40
        0x00005a5a:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005a5c:    9917        ..      LDR      r1,[sp,#0x5c]
        0x00005a5e:    6051        Q`      STR      r1,[r2,#4]
        0x00005a60:    6010        .`      STR      r0,[r2,#0]
        0x00005a62:    2000        .       MOVS     r0,#0
        0x00005a64:    b019        ..      ADD      sp,sp,#0x64
        0x00005a66:    bdf0        ..      POP      {r4-r7,pc}
        0x00005a68:    49c9        .I      LDR      r1,[pc,#804] ; [0x5d90] = 0x4002d97c
        0x00005a6a:    2700        .'      MOVS     r7,#0
        0x00005a6c:    4dc9        .M      LDR      r5,[pc,#804] ; [0x5d94] = 0x3ff921fb
        0x00005a6e:    43ff        .C      MVNS     r7,r7
        0x00005a70:    428c        .B      CMP      r4,r1
        0x00005a72:    da3b        ;.      BGE      0x5aec ; __ieee754_rem_pio2 + 172
        0x00005a74:    26d3        .&      MOVS     r6,#0xd3
        0x00005a76:    9908        ..      LDR      r1,[sp,#0x20]
        0x00005a78:    0576        v.      LSLS     r6,r6,#21
        0x00005a7a:    2900        .)      CMP      r1,#0
        0x00005a7c:    4ac6        .J      LDR      r2,[pc,#792] ; [0x5d98] = 0x54400000
        0x00005a7e:    9917        ..      LDR      r1,[sp,#0x5c]
        0x00005a80:    462b        +F      MOV      r3,r5
        0x00005a82:    dd19        ..      BLE      0x5ab8 ; __ieee754_rem_pio2 + 120
        0x00005a84:    f7fefa1f    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005a88:    42ac        .B      CMP      r4,r5
        0x00005a8a:    d007        ..      BEQ      0x5a9c ; __ieee754_rem_pio2 + 92
        0x00005a8c:    4ac3        .J      LDR      r2,[pc,#780] ; [0x5d9c] = 0x1a626331
        0x00005a8e:    4bc4        .K      LDR      r3,[pc,#784] ; [0x5da0] = 0x3dd0b461
        0x00005a90:    f7fefa19    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005a94:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005a96:    6051        Q`      STR      r1,[r2,#4]
        0x00005a98:    6010        .`      STR      r0,[r2,#0]
        0x00005a9a:    e00a        ..      B        0x5ab2 ; __ieee754_rem_pio2 + 114
        0x00005a9c:    4632        2F      MOV      r2,r6
        0x00005a9e:    4bc0        .K      LDR      r3,[pc,#768] ; [0x5da0] = 0x3dd0b461
        0x00005aa0:    f7fefa11    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005aa4:    4abf        .J      LDR      r2,[pc,#764] ; [0x5da4] = 0x2e037073
        0x00005aa6:    4bc0        .K      LDR      r3,[pc,#768] ; [0x5da8] = 0x3ba3198a
        0x00005aa8:    f7fefa0d    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005aac:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005aae:    6051        Q`      STR      r1,[r2,#4]
        0x00005ab0:    6010        .`      STR      r0,[r2,#0]
        0x00005ab2:    2001        .       MOVS     r0,#1
        0x00005ab4:    b019        ..      ADD      sp,sp,#0x64
        0x00005ab6:    bdf0        ..      POP      {r4-r7,pc}
        0x00005ab8:    f7fef960    ..`.    BL       __aeabi_dadd ; 0x3d7c
        0x00005abc:    42ac        .B      CMP      r4,r5
        0x00005abe:    d007        ..      BEQ      0x5ad0 ; __ieee754_rem_pio2 + 144
        0x00005ac0:    4ab6        .J      LDR      r2,[pc,#728] ; [0x5d9c] = 0x1a626331
        0x00005ac2:    4bb7        .K      LDR      r3,[pc,#732] ; [0x5da0] = 0x3dd0b461
        0x00005ac4:    f7fef95a    ..Z.    BL       __aeabi_dadd ; 0x3d7c
        0x00005ac8:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005aca:    6051        Q`      STR      r1,[r2,#4]
        0x00005acc:    6010        .`      STR      r0,[r2,#0]
        0x00005ace:    e00a        ..      B        0x5ae6 ; __ieee754_rem_pio2 + 166
        0x00005ad0:    4632        2F      MOV      r2,r6
        0x00005ad2:    4bb3        .K      LDR      r3,[pc,#716] ; [0x5da0] = 0x3dd0b461
        0x00005ad4:    f7fef952    ..R.    BL       __aeabi_dadd ; 0x3d7c
        0x00005ad8:    4ab2        .J      LDR      r2,[pc,#712] ; [0x5da4] = 0x2e037073
        0x00005ada:    4bb3        .K      LDR      r3,[pc,#716] ; [0x5da8] = 0x3ba3198a
        0x00005adc:    f7fef94e    ..N.    BL       __aeabi_dadd ; 0x3d7c
        0x00005ae0:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005ae2:    6051        Q`      STR      r1,[r2,#4]
        0x00005ae4:    6010        .`      STR      r0,[r2,#0]
        0x00005ae6:    4638        8F      MOV      r0,r7
        0x00005ae8:    b019        ..      ADD      sp,sp,#0x64
        0x00005aea:    bdf0        ..      POP      {r4-r7,pc}
        0x00005aec:    49af        .I      LDR      r1,[pc,#700] ; [0x5dac] = 0x413921fb
        0x00005aee:    428c        .B      CMP      r4,r1
        0x00005af0:    9917        ..      LDR      r1,[sp,#0x5c]
        0x00005af2:    dc7c        |.      BGT      0x5bee ; __ieee754_rem_pio2 + 430
        0x00005af4:    0049        I.      LSLS     r1,r1,#1
        0x00005af6:    0849        I.      LSRS     r1,r1,#1
        0x00005af8:    4607        .F      MOV      r7,r0
        0x00005afa:    4aad        .J      LDR      r2,[pc,#692] ; [0x5db0] = 0x6dc9c883
        0x00005afc:    4bad        .K      LDR      r3,[pc,#692] ; [0x5db4] = 0x3fe45f30
        0x00005afe:    9107        ..      STR      r1,[sp,#0x1c]
        0x00005b00:    f7fef9f0    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005b04:    2200        ."      MOVS     r2,#0
        0x00005b06:    4bac        .K      LDR      r3,[pc,#688] ; [0x5db8] = 0x3fe00000
        0x00005b08:    f7fef938    ..8.    BL       __aeabi_dadd ; 0x3d7c
        0x00005b0c:    f7fefb1a    ....    BL       __aeabi_d2iz ; 0x4144
        0x00005b10:    9009        ..      STR      r0,[sp,#0x24]
        0x00005b12:    f7fefcd3    ....    BL       __aeabi_i2d ; 0x44bc
        0x00005b16:    4606        .F      MOV      r6,r0
        0x00005b18:    4a9f        .J      LDR      r2,[pc,#636] ; [0x5d98] = 0x54400000
        0x00005b1a:    462b        +F      MOV      r3,r5
        0x00005b1c:    9101        ..      STR      r1,[sp,#4]
        0x00005b1e:    f7fef9e1    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005b22:    463a        :F      MOV      r2,r7
        0x00005b24:    9b07        ..      LDR      r3,[sp,#0x1c]
        0x00005b26:    f7fef9d4    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00005b2a:    4605        .F      MOV      r5,r0
        0x00005b2c:    460f        .F      MOV      r7,r1
        0x00005b2e:    4a9b        .J      LDR      r2,[pc,#620] ; [0x5d9c] = 0x1a626331
        0x00005b30:    4b9b        .K      LDR      r3,[pc,#620] ; [0x5da0] = 0x3dd0b461
        0x00005b32:    4630        0F      MOV      r0,r6
        0x00005b34:    9901        ..      LDR      r1,[sp,#4]
        0x00005b36:    f7fef9d5    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005b3a:    0d22        ".      LSRS     r2,r4,#20
        0x00005b3c:    2401        .$      MOVS     r4,#1
        0x00005b3e:    920b        ..      STR      r2,[sp,#0x2c]
        0x00005b40:    462a        *F      MOV      r2,r5
        0x00005b42:    463b        ;F      MOV      r3,r7
        0x00005b44:    f7fef9c5    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00005b48:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005b4a:    2c03        .,      CMP      r4,#3
        0x00005b4c:    6051        Q`      STR      r1,[r2,#4]
        0x00005b4e:    6010        .`      STR      r0,[r2,#0]
        0x00005b50:    d039        9.      BEQ      0x5bc6 ; __ieee754_rem_pio2 + 390
        0x00005b52:    9818        ..      LDR      r0,[sp,#0x60]
        0x00005b54:    6840        @h      LDR      r0,[r0,#4]
        0x00005b56:    0040        @.      LSLS     r0,r0,#1
        0x00005b58:    0d41        A.      LSRS     r1,r0,#21
        0x00005b5a:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00005b5c:    1a40        @.      SUBS     r0,r0,r1
        0x00005b5e:    0161        a.      LSLS     r1,r4,#5
        0x00005b60:    1861        a.      ADDS     r1,r4,r1
        0x00005b62:    3911        .9      SUBS     r1,r1,#0x11
        0x00005b64:    4281        .B      CMP      r1,r0
        0x00005b66:    da2e        ..      BGE      0x5bc6 ; __ieee754_rem_pio2 + 390
        0x00005b68:    4994        .I      LDR      r1,[pc,#592] ; [0x5dbc] = 0x1210
        0x00005b6a:    0120         .      LSLS     r0,r4,#4
        0x00005b6c:    4479        yD      ADD      r1,r1,pc
        0x00005b6e:    9707        ..      STR      r7,[sp,#0x1c]
        0x00005b70:    9502        ..      STR      r5,[sp,#8]
        0x00005b72:    900c        ..      STR      r0,[sp,#0x30]
        0x00005b74:    1808        ..      ADDS     r0,r1,r0
        0x00005b76:    6843        Ch      LDR      r3,[r0,#4]
        0x00005b78:    6802        .h      LDR      r2,[r0,#0]
        0x00005b7a:    4630        0F      MOV      r0,r6
        0x00005b7c:    9901        ..      LDR      r1,[sp,#4]
        0x00005b7e:    f7fef9b1    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005b82:    9105        ..      STR      r1,[sp,#0x14]
        0x00005b84:    9004        ..      STR      r0,[sp,#0x10]
        0x00005b86:    9b07        ..      LDR      r3,[sp,#0x1c]
        0x00005b88:    9a02        ..      LDR      r2,[sp,#8]
        0x00005b8a:    f7fef9a2    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00005b8e:    4605        .F      MOV      r5,r0
        0x00005b90:    460f        .F      MOV      r7,r1
        0x00005b92:    9b07        ..      LDR      r3,[sp,#0x1c]
        0x00005b94:    9a02        ..      LDR      r2,[sp,#8]
        0x00005b96:    f7fef99c    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00005b9a:    9b05        ..      LDR      r3,[sp,#0x14]
        0x00005b9c:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00005b9e:    f7fef992    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005ba2:    9105        ..      STR      r1,[sp,#0x14]
        0x00005ba4:    4986        .I      LDR      r1,[pc,#536] ; [0x5dc0] = 0x11d4
        0x00005ba6:    9004        ..      STR      r0,[sp,#0x10]
        0x00005ba8:    4479        yD      ADD      r1,r1,pc
        0x00005baa:    980c        ..      LDR      r0,[sp,#0x30]
        0x00005bac:    1840        @.      ADDS     r0,r0,r1
        0x00005bae:    68c3        .h      LDR      r3,[r0,#0xc]
        0x00005bb0:    6882        .h      LDR      r2,[r0,#8]
        0x00005bb2:    4630        0F      MOV      r0,r6
        0x00005bb4:    9901        ..      LDR      r1,[sp,#4]
        0x00005bb6:    f7fef995    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005bba:    9b05        ..      LDR      r3,[sp,#0x14]
        0x00005bbc:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00005bbe:    f7fef982    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005bc2:    1c64        d.      ADDS     r4,r4,#1
        0x00005bc4:    e7bc        ..      B        0x5b40 ; __ieee754_rem_pio2 + 256
        0x00005bc6:    9808        ..      LDR      r0,[sp,#0x20]
        0x00005bc8:    2800        .(      CMP      r0,#0
        0x00005bca:    da0d        ..      BGE      0x5be8 ; __ieee754_rem_pio2 + 424
        0x00005bcc:    9918        ..      LDR      r1,[sp,#0x60]
        0x00005bce:    2201        ."      MOVS     r2,#1
        0x00005bd0:    6808        .h      LDR      r0,[r1,#0]
        0x00005bd2:    6849        Ih      LDR      r1,[r1,#4]
        0x00005bd4:    07d2        ..      LSLS     r2,r2,#31
        0x00005bd6:    4051        Q@      EORS     r1,r1,r2
        0x00005bd8:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005bda:    6051        Q`      STR      r1,[r2,#4]
        0x00005bdc:    6010        .`      STR      r0,[r2,#0]
        0x00005bde:    9809        ..      LDR      r0,[sp,#0x24]
        0x00005be0:    b019        ..      ADD      sp,sp,#0x64
        0x00005be2:    4240        @B      RSBS     r0,r0,#0
        0x00005be4:    bdf0        ..      POP      {r4-r7,pc}
        0x00005be6:    e002        ..      B        0x5bee ; __ieee754_rem_pio2 + 430
        0x00005be8:    9809        ..      LDR      r0,[sp,#0x24]
        0x00005bea:    b019        ..      ADD      sp,sp,#0x64
        0x00005bec:    bdf0        ..      POP      {r4-r7,pc}
        0x00005bee:    0309        ..      LSLS     r1,r1,#12
        0x00005bf0:    2201        ."      MOVS     r2,#1
        0x00005bf2:    0b09        ..      LSRS     r1,r1,#12
        0x00005bf4:    0512        ..      LSLS     r2,r2,#20
        0x00005bf6:    9010        ..      STR      r0,[sp,#0x40]
        0x00005bf8:    1889        ..      ADDS     r1,r1,r2
        0x00005bfa:    9817        ..      LDR      r0,[sp,#0x5c]
        0x00005bfc:    910f        ..      STR      r1,[sp,#0x3c]
        0x00005bfe:    0040        @.      LSLS     r0,r0,#1
        0x00005c00:    4970        pI      LDR      r1,[pc,#448] ; [0x5dc4] = 0xfffffc0b
        0x00005c02:    0d40        @.      LSRS     r0,r0,#21
        0x00005c04:    1841        A.      ADDS     r1,r0,r1
        0x00005c06:    1148        H.      ASRS     r0,r1,#5
        0x00005c08:    06c9        ..      LSLS     r1,r1,#27
        0x00005c0a:    0ec9        ..      LSRS     r1,r1,#27
        0x00005c0c:    2220         "      MOVS     r2,#0x20
        0x00005c0e:    9112        ..      STR      r1,[sp,#0x48]
        0x00005c10:    1a51        Q.      SUBS     r1,r2,r1
        0x00005c12:    9113        ..      STR      r1,[sp,#0x4c]
        0x00005c14:    2100        .!      MOVS     r1,#0
        0x00005c16:    9106        ..      STR      r1,[sp,#0x18]
        0x00005c18:    9107        ..      STR      r1,[sp,#0x1c]
        0x00005c1a:    496b        kI      LDR      r1,[pc,#428] ; [0x5dc8] = 0x118e
        0x00005c1c:    0080        ..      LSLS     r0,r0,#2
        0x00005c1e:    4479        yD      ADD      r1,r1,pc
        0x00005c20:    1845        E.      ADDS     r5,r0,r1
        0x00005c22:    3514        .5      ADDS     r5,r5,#0x14
        0x00005c24:    2006        .       MOVS     r0,#6
        0x00005c26:    ac07        ..      ADD      r4,sp,#0x1c
        0x00005c28:    9015        ..      STR      r0,[sp,#0x54]
        0x00005c2a:    6828        (h      LDR      r0,[r5,#0]
        0x00005c2c:    9912        ..      LDR      r1,[sp,#0x48]
        0x00005c2e:    9a13        ..      LDR      r2,[sp,#0x4c]
        0x00005c30:    4088        .@      LSLS     r0,r0,r1
        0x00005c32:    6869        ih      LDR      r1,[r5,#4]
        0x00005c34:    40d1        .@      LSRS     r1,r1,r2
        0x00005c36:    4308        .C      ORRS     r0,r0,r1
        0x00005c38:    4607        .F      MOV      r7,r0
        0x00005c3a:    990f        ..      LDR      r1,[sp,#0x3c]
        0x00005c3c:    f7fffed1    ....    BL       __ARM_common_ll_muluu ; 0x59e2
        0x00005c40:    4606        .F      MOV      r6,r0
        0x00005c42:    9111        ..      STR      r1,[sp,#0x44]
        0x00005c44:    4638        8F      MOV      r0,r7
        0x00005c46:    9910        ..      LDR      r1,[sp,#0x40]
        0x00005c48:    f7fffecb    ....    BL       __ARM_common_ll_muluu ; 0x59e2
        0x00005c4c:    6823        #h      LDR      r3,[r4,#0]
        0x00005c4e:    198a        ..      ADDS     r2,r1,r6
        0x00005c50:    181b        ..      ADDS     r3,r3,r0
        0x00005c52:    469c        .F      MOV      r12,r3
        0x00005c54:    4283        .B      CMP      r3,r0
        0x00005c56:    d201        ..      BCS      0x5c5c ; __ieee754_rem_pio2 + 540
        0x00005c58:    2601        .&      MOVS     r6,#1
        0x00005c5a:    e000        ..      B        0x5c5e ; __ieee754_rem_pio2 + 542
        0x00005c5c:    2600        .&      MOVS     r6,#0
        0x00005c5e:    4620         F      MOV      r0,r4
        0x00005c60:    3840        @8      SUBS     r0,r0,#0x40
        0x00005c62:    6bc3        .k      LDR      r3,[r0,#0x3c]
        0x00005c64:    1997        ..      ADDS     r7,r2,r6
        0x00005c66:    19db        ..      ADDS     r3,r3,r7
        0x00005c68:    428a        .B      CMP      r2,r1
        0x00005c6a:    d201        ..      BCS      0x5c70 ; __ieee754_rem_pio2 + 560
        0x00005c6c:    2701        .'      MOVS     r7,#1
        0x00005c6e:    e000        ..      B        0x5c72 ; __ieee754_rem_pio2 + 562
        0x00005c70:    2700        .'      MOVS     r7,#0
        0x00005c72:    9911        ..      LDR      r1,[sp,#0x44]
        0x00005c74:    1879        y.      ADDS     r1,r7,r1
        0x00005c76:    2e00        ..      CMP      r6,#0
        0x00005c78:    d002        ..      BEQ      0x5c80 ; __ieee754_rem_pio2 + 576
        0x00005c7a:    4293        .B      CMP      r3,r2
        0x00005c7c:    d902        ..      BLS      0x5c84 ; __ieee754_rem_pio2 + 580
        0x00005c7e:    e003        ..      B        0x5c88 ; __ieee754_rem_pio2 + 584
        0x00005c80:    4293        .B      CMP      r3,r2
        0x00005c82:    d201        ..      BCS      0x5c88 ; __ieee754_rem_pio2 + 584
        0x00005c84:    2201        ."      MOVS     r2,#1
        0x00005c86:    e000        ..      B        0x5c8a ; __ieee754_rem_pio2 + 586
        0x00005c88:    2200        ."      MOVS     r2,#0
        0x00005c8a:    1889        ..      ADDS     r1,r1,r2
        0x00005c8c:    4662        bF      MOV      r2,r12
        0x00005c8e:    6022        "`      STR      r2,[r4,#0]
        0x00005c90:    63c3        .c      STR      r3,[r0,#0x3c]
        0x00005c92:    6381        .c      STR      r1,[r0,#0x38]
        0x00005c94:    9815        ..      LDR      r0,[sp,#0x54]
        0x00005c96:    1f2d        -.      SUBS     r5,r5,#4
        0x00005c98:    1f24        $.      SUBS     r4,r4,#4
        0x00005c9a:    1e40        @.      SUBS     r0,r0,#1
        0x00005c9c:    9015        ..      STR      r0,[sp,#0x54]
        0x00005c9e:    d1c4        ..      BNE      0x5c2a ; __ieee754_rem_pio2 + 490
        0x00005ca0:    2101        .!      MOVS     r1,#1
        0x00005ca2:    9802        ..      LDR      r0,[sp,#8]
        0x00005ca4:    0749        I.      LSLS     r1,r1,#29
        0x00005ca6:    1840        @.      ADDS     r0,r0,r1
        0x00005ca8:    0f80        ..      LSRS     r0,r0,#30
        0x00005caa:    9011        ..      STR      r0,[sp,#0x44]
        0x00005cac:    9802        ..      LDR      r0,[sp,#8]
        0x00005cae:    9905        ..      LDR      r1,[sp,#0x14]
        0x00005cb0:    0080        ..      LSLS     r0,r0,#2
        0x00005cb2:    9f04        ..      LDR      r7,[sp,#0x10]
        0x00005cb4:    9c03        ..      LDR      r4,[sp,#0xc]
        0x00005cb6:    910b        ..      STR      r1,[sp,#0x2c]
        0x00005cb8:    f7fefc00    ....    BL       __aeabi_i2d ; 0x44bc
        0x00005cbc:    4605        .F      MOV      r5,r0
        0x00005cbe:    460e        .F      MOV      r6,r1
        0x00005cc0:    4620         F      MOV      r0,r4
        0x00005cc2:    f7fefa01    ....    BL       __aeabi_ui2d ; 0x40c8
        0x00005cc6:    221d        ."      MOVS     r2,#0x1d
        0x00005cc8:    43d2        .C      MVNS     r2,r2
        0x00005cca:    f7fefb7d    ..}.    BL       __ARM_scalbn ; 0x43c8
        0x00005cce:    9109        ..      STR      r1,[sp,#0x24]
        0x00005cd0:    900e        ..      STR      r0,[sp,#0x38]
        0x00005cd2:    4638        8F      MOV      r0,r7
        0x00005cd4:    f7fef9f8    ....    BL       __aeabi_ui2d ; 0x40c8
        0x00005cd8:    223d        ="      MOVS     r2,#0x3d
        0x00005cda:    43d2        .C      MVNS     r2,r2
        0x00005cdc:    f7fefb74    ..t.    BL       __ARM_scalbn ; 0x43c8
        0x00005ce0:    910d        ..      STR      r1,[sp,#0x34]
        0x00005ce2:    9012        ..      STR      r0,[sp,#0x48]
        0x00005ce4:    980b        ..      LDR      r0,[sp,#0x2c]
        0x00005ce6:    f7fef9ef    ....    BL       __aeabi_ui2d ; 0x40c8
        0x00005cea:    225d        ]"      MOVS     r2,#0x5d
        0x00005cec:    43d2        .C      MVNS     r2,r2
        0x00005cee:    f7fefb6b    ..k.    BL       __ARM_scalbn ; 0x43c8
        0x00005cf2:    910b        ..      STR      r1,[sp,#0x2c]
        0x00005cf4:    9010        ..      STR      r0,[sp,#0x40]
        0x00005cf6:    9b0d        ..      LDR      r3,[sp,#0x34]
        0x00005cf8:    9a12        ..      LDR      r2,[sp,#0x48]
        0x00005cfa:    f7fef83f    ..?.    BL       __aeabi_dadd ; 0x3d7c
        0x00005cfe:    9b09        ..      LDR      r3,[sp,#0x24]
        0x00005d00:    9a0e        ..      LDR      r2,[sp,#0x38]
        0x00005d02:    f7fef83b    ..;.    BL       __aeabi_dadd ; 0x3d7c
        0x00005d06:    462a        *F      MOV      r2,r5
        0x00005d08:    4633        3F      MOV      r3,r6
        0x00005d0a:    f7fef837    ..7.    BL       __aeabi_dadd ; 0x3d7c
        0x00005d0e:    2000        .       MOVS     r0,#0
        0x00005d10:    460c        .F      MOV      r4,r1
        0x00005d12:    4607        .F      MOV      r7,r0
        0x00005d14:    462a        *F      MOV      r2,r5
        0x00005d16:    4633        3F      MOV      r3,r6
        0x00005d18:    f7fef8d5    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005d1c:    9b09        ..      LDR      r3,[sp,#0x24]
        0x00005d1e:    9a0e        ..      LDR      r2,[sp,#0x38]
        0x00005d20:    f7fef8d1    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005d24:    9b0d        ..      LDR      r3,[sp,#0x34]
        0x00005d26:    9a12        ..      LDR      r2,[sp,#0x48]
        0x00005d28:    f7fef8cd    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005d2c:    9b0b        ..      LDR      r3,[sp,#0x2c]
        0x00005d2e:    9a10        ..      LDR      r2,[sp,#0x40]
        0x00005d30:    f7fef8cf    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00005d34:    4a25        %J      LDR      r2,[pc,#148] ; [0x5dcc] = 0x54442d18
        0x00005d36:    4b26        &K      LDR      r3,[pc,#152] ; [0x5dd0] = 0x3df921fb
        0x00005d38:    f7fef8d4    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005d3c:    4605        .F      MOV      r5,r0
        0x00005d3e:    460e        .F      MOV      r6,r1
        0x00005d40:    4a24        $J      LDR      r2,[pc,#144] ; [0x5dd4] = 0x11a62633
        0x00005d42:    4b25        %K      LDR      r3,[pc,#148] ; [0x5dd8] = 0x3c110b46
        0x00005d44:    4638        8F      MOV      r0,r7
        0x00005d46:    4621        !F      MOV      r1,r4
        0x00005d48:    f7fef8cc    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005d4c:    462a        *F      MOV      r2,r5
        0x00005d4e:    4633        3F      MOV      r3,r6
        0x00005d50:    f7fef814    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00005d54:    4605        .F      MOV      r5,r0
        0x00005d56:    460e        .F      MOV      r6,r1
        0x00005d58:    2215        ."      MOVS     r2,#0x15
        0x00005d5a:    0692        ..      LSLS     r2,r2,#26
        0x00005d5c:    4b1c        .K      LDR      r3,[pc,#112] ; [0x5dd0] = 0x3df921fb
        0x00005d5e:    4638        8F      MOV      r0,r7
        0x00005d60:    4621        !F      MOV      r1,r4
        0x00005d62:    f7fef8bf    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005d66:    462a        *F      MOV      r2,r5
        0x00005d68:    4633        3F      MOV      r3,r6
        0x00005d6a:    f7fef807    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00005d6e:    9a17        ..      LDR      r2,[sp,#0x5c]
        0x00005d70:    2a00        .*      CMP      r2,#0
        0x00005d72:    da05        ..      BGE      0x5d80 ; __ieee754_rem_pio2 + 832
        0x00005d74:    9a11        ..      LDR      r2,[sp,#0x44]
        0x00005d76:    4252        RB      RSBS     r2,r2,#0
        0x00005d78:    9211        ..      STR      r2,[sp,#0x44]
        0x00005d7a:    2201        ."      MOVS     r2,#1
        0x00005d7c:    07d2        ..      LSLS     r2,r2,#31
        0x00005d7e:    4051        Q@      EORS     r1,r1,r2
        0x00005d80:    9a18        ..      LDR      r2,[sp,#0x60]
        0x00005d82:    6051        Q`      STR      r1,[r2,#4]
        0x00005d84:    6010        .`      STR      r0,[r2,#0]
        0x00005d86:    9811        ..      LDR      r0,[sp,#0x44]
        0x00005d88:    b019        ..      ADD      sp,sp,#0x64
        0x00005d8a:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x00005d8c:    3fe921fb    .!.?    DCD    1072243195
        0x00005d90:    4002d97c    |..@    DCD    1073928572
        0x00005d94:    3ff921fb    .!.?    DCD    1073291771
        0x00005d98:    54400000    ..@T    DCD    1413480448
        0x00005d9c:    1a626331    1cb.    DCD    442655537
        0x00005da0:    3dd0b461    a..=    DCD    1037087841
        0x00005da4:    2e037073    sp..    DCD    771977331
        0x00005da8:    3ba3198a    ...;    DCD    1000544650
        0x00005dac:    413921fb    .!9A    DCD    1094263291
        0x00005db0:    6dc9c883    ...m    DCD    1841940611
        0x00005db4:    3fe45f30    0_.?    DCD    1071931184
        0x00005db8:    3fe00000    ...?    DCD    1071644672
        0x00005dbc:    00001210    ....    DCD    4624
        0x00005dc0:    000011d4    ....    DCD    4564
        0x00005dc4:    fffffc0b    ....    DCD    4294966283
        0x00005dc8:    0000118e    ....    DCD    4494
        0x00005dcc:    54442d18    .-DT    DCD    1413754136
        0x00005dd0:    3df921fb    .!.=    DCD    1039737339
        0x00005dd4:    11a62633    3&..    DCD    296101427
        0x00005dd8:    3c110b46    F..<    DCD    1007749958
    $t
    i.__kernel_cos
    __kernel_cos
        0x00005ddc:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00005dde:    b41f        ..      PUSH     {r0-r4}
        0x00005de0:    004e        N.      LSLS     r6,r1,#1
        0x00005de2:    20f9        .       MOVS     r0,#0xf9
        0x00005de4:    0876        v.      LSRS     r6,r6,#1
        0x00005de6:    0580        ..      LSLS     r0,r0,#22
        0x00005de8:    b084        ..      SUB      sp,sp,#0x10
        0x00005dea:    460f        .F      MOV      r7,r1
        0x00005dec:    4286        .B      CMP      r6,r0
        0x00005dee:    da04        ..      BGE      0x5dfa ; __kernel_cos + 30
        0x00005df0:    9804        ..      LDR      r0,[sp,#0x10]
        0x00005df2:    f7fef9a7    ....    BL       __aeabi_d2iz ; 0x4144
        0x00005df6:    2800        .(      CMP      r0,#0
        0x00005df8:    d038        8.      BEQ      0x5e6c ; __kernel_cos + 144
        0x00005dfa:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00005dfc:    463b        ;F      MOV      r3,r7
        0x00005dfe:    4610        .F      MOV      r0,r2
        0x00005e00:    4619        .F      MOV      r1,r3
        0x00005e02:    f7fef86f    ..o.    BL       __aeabi_dmul ; 0x3ee4
        0x00005e06:    4604        .F      MOV      r4,r0
        0x00005e08:    4602        .F      MOV      r2,r0
        0x00005e0a:    482c        ,H      LDR      r0,[pc,#176] ; [0x5ebc] = 0xf32
        0x00005e0c:    460d        .F      MOV      r5,r1
        0x00005e0e:    460b        .F      MOV      r3,r1
        0x00005e10:    2106        .!      MOVS     r1,#6
        0x00005e12:    4478        xD      ADD      r0,r0,pc
        0x00005e14:    f000f85c    ..\.    BL       __kernel_poly ; 0x5ed0
        0x00005e18:    4622        "F      MOV      r2,r4
        0x00005e1a:    462b        +F      MOV      r3,r5
        0x00005e1c:    f7fef862    ..b.    BL       __aeabi_dmul ; 0x3ee4
        0x00005e20:    9101        ..      STR      r1,[sp,#4]
        0x00005e22:    9000        ..      STR      r0,[sp,#0]
        0x00005e24:    4639        9F      MOV      r1,r7
        0x00005e26:    9b07        ..      LDR      r3,[sp,#0x1c]
        0x00005e28:    9a06        ..      LDR      r2,[sp,#0x18]
        0x00005e2a:    9804        ..      LDR      r0,[sp,#0x10]
        0x00005e2c:    f7fef85a    ..Z.    BL       __aeabi_dmul ; 0x3ee4
        0x00005e30:    4607        .F      MOV      r7,r0
        0x00005e32:    9102        ..      STR      r1,[sp,#8]
        0x00005e34:    4620         F      MOV      r0,r4
        0x00005e36:    4629        )F      MOV      r1,r5
        0x00005e38:    9b01        ..      LDR      r3,[sp,#4]
        0x00005e3a:    9a00        ..      LDR      r2,[sp,#0]
        0x00005e3c:    f7fef852    ..R.    BL       __aeabi_dmul ; 0x3ee4
        0x00005e40:    463a        :F      MOV      r2,r7
        0x00005e42:    9b02        ..      LDR      r3,[sp,#8]
        0x00005e44:    f7fef83f    ..?.    BL       __aeabi_dsub ; 0x3ec6
        0x00005e48:    4607        .F      MOV      r7,r0
        0x00005e4a:    2200        ."      MOVS     r2,#0
        0x00005e4c:    9100        ..      STR      r1,[sp,#0]
        0x00005e4e:    43d2        .C      MVNS     r2,r2
        0x00005e50:    4620         F      MOV      r0,r4
        0x00005e52:    4629        )F      MOV      r1,r5
        0x00005e54:    f7fefab8    ....    BL       __ARM_scalbn ; 0x43c8
        0x00005e58:    4a19        .J      LDR      r2,[pc,#100] ; [0x5ec0] = 0x3fd33333
        0x00005e5a:    4296        .B      CMP      r6,r2
        0x00005e5c:    da0a        ..      BGE      0x5e74 ; __kernel_cos + 152
        0x00005e5e:    463a        :F      MOV      r2,r7
        0x00005e60:    9b00        ..      LDR      r3,[sp,#0]
        0x00005e62:    f7fef830    ..0.    BL       __aeabi_dsub ; 0x3ec6
        0x00005e66:    2200        ."      MOVS     r2,#0
        0x00005e68:    4b16        .K      LDR      r3,[pc,#88] ; [0x5ec4] = 0x3ff00000
        0x00005e6a:    e023        #.      B        0x5eb4 ; __kernel_cos + 216
        0x00005e6c:    2000        .       MOVS     r0,#0
        0x00005e6e:    4915        .I      LDR      r1,[pc,#84] ; [0x5ec4] = 0x3ff00000
        0x00005e70:    b009        ..      ADD      sp,sp,#0x24
        0x00005e72:    bdf0        ..      POP      {r4-r7,pc}
        0x00005e74:    4a14        .J      LDR      r2,[pc,#80] ; [0x5ec8] = 0x3fe90000
        0x00005e76:    4296        .B      CMP      r6,r2
        0x00005e78:    dd02        ..      BLE      0x5e80 ; __kernel_cos + 164
        0x00005e7a:    2400        .$      MOVS     r4,#0
        0x00005e7c:    4d13        .M      LDR      r5,[pc,#76] ; [0x5ecc] = 0x3fd20000
        0x00005e7e:    e003        ..      B        0x5e88 ; __kernel_cos + 172
        0x00005e80:    2201        ."      MOVS     r2,#1
        0x00005e82:    0552        R.      LSLS     r2,r2,#21
        0x00005e84:    1ab5        ..      SUBS     r5,r6,r2
        0x00005e86:    2400        .$      MOVS     r4,#0
        0x00005e88:    4622        "F      MOV      r2,r4
        0x00005e8a:    462b        +F      MOV      r3,r5
        0x00005e8c:    f7fef81b    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005e90:    4606        .F      MOV      r6,r0
        0x00005e92:    9101        ..      STR      r1,[sp,#4]
        0x00005e94:    4622        "F      MOV      r2,r4
        0x00005e96:    462b        +F      MOV      r3,r5
        0x00005e98:    2000        .       MOVS     r0,#0
        0x00005e9a:    490a        .I      LDR      r1,[pc,#40] ; [0x5ec4] = 0x3ff00000
        0x00005e9c:    f7fef813    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005ea0:    460d        .F      MOV      r5,r1
        0x00005ea2:    4604        .F      MOV      r4,r0
        0x00005ea4:    463a        :F      MOV      r2,r7
        0x00005ea6:    4630        0F      MOV      r0,r6
        0x00005ea8:    9b00        ..      LDR      r3,[sp,#0]
        0x00005eaa:    9901        ..      LDR      r1,[sp,#4]
        0x00005eac:    f7fef80b    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00005eb0:    4622        "F      MOV      r2,r4
        0x00005eb2:    462b        +F      MOV      r3,r5
        0x00005eb4:    f7fef80d    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00005eb8:    b009        ..      ADD      sp,sp,#0x24
        0x00005eba:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x00005ebc:    00000f32    2...    DCD    3890
        0x00005ec0:    3fd33333    33.?    DCD    1070805811
        0x00005ec4:    3ff00000    ...?    DCD    1072693248
        0x00005ec8:    3fe90000    ...?    DCD    1072234496
        0x00005ecc:    3fd20000    ...?    DCD    1070727168
    $t
    i.__kernel_poly
    __kernel_poly
        0x00005ed0:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00005ed2:    4604        .F      MOV      r4,r0
        0x00005ed4:    1e4f        O.      SUBS     r7,r1,#1
        0x00005ed6:    00c8        ..      LSLS     r0,r1,#3
        0x00005ed8:    3808        .8      SUBS     r0,r0,#8
        0x00005eda:    1821        !.      ADDS     r1,r4,r0
        0x00005edc:    4615        .F      MOV      r5,r2
        0x00005ede:    461e        .F      MOV      r6,r3
        0x00005ee0:    6808        .h      LDR      r0,[r1,#0]
        0x00005ee2:    6849        Ih      LDR      r1,[r1,#4]
        0x00005ee4:    463a        :F      MOV      r2,r7
        0x00005ee6:    2306        .#      MOVS     r3,#6
        0x00005ee8:    439a        .C      BICS     r2,r2,r3
        0x00005eea:    d010        ..      BEQ      0x5f0e ; __kernel_poly + 62
        0x00005eec:    462a        *F      MOV      r2,r5
        0x00005eee:    4633        3F      MOV      r3,r6
        0x00005ef0:    f7fdfff8    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005ef4:    463a        :F      MOV      r2,r7
        0x00005ef6:    00d2        ..      LSLS     r2,r2,#3
        0x00005ef8:    3a08        .:      SUBS     r2,r2,#8
        0x00005efa:    18a3        ..      ADDS     r3,r4,r2
        0x00005efc:    681a        .h      LDR      r2,[r3,#0]
        0x00005efe:    1e7f        ..      SUBS     r7,r7,#1
        0x00005f00:    685b        [h      LDR      r3,[r3,#4]
        0x00005f02:    f7fdff3b    ..;.    BL       __aeabi_dadd ; 0x3d7c
        0x00005f06:    2206        ."      MOVS     r2,#6
        0x00005f08:    463b        ;F      MOV      r3,r7
        0x00005f0a:    4393        .C      BICS     r3,r3,r2
        0x00005f0c:    d1ee        ..      BNE      0x5eec ; __kernel_poly + 28
        0x00005f0e:    2f02        ./      CMP      r7,#2
        0x00005f10:    d023        #.      BEQ      0x5f5a ; __kernel_poly + 138
        0x00005f12:    2f04        ./      CMP      r7,#4
        0x00005f14:    d011        ..      BEQ      0x5f3a ; __kernel_poly + 106
        0x00005f16:    2f06        ./      CMP      r7,#6
        0x00005f18:    d12f        /.      BNE      0x5f7a ; __kernel_poly + 170
        0x00005f1a:    462a        *F      MOV      r2,r5
        0x00005f1c:    4633        3F      MOV      r3,r6
        0x00005f1e:    f7fdffe1    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005f22:    6ae3        .j      LDR      r3,[r4,#0x2c]
        0x00005f24:    6aa2        .j      LDR      r2,[r4,#0x28]
        0x00005f26:    f7fdff29    ..).    BL       __aeabi_dadd ; 0x3d7c
        0x00005f2a:    462a        *F      MOV      r2,r5
        0x00005f2c:    4633        3F      MOV      r3,r6
        0x00005f2e:    f7fdffd9    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005f32:    6a63        cj      LDR      r3,[r4,#0x24]
        0x00005f34:    6a22        "j      LDR      r2,[r4,#0x20]
        0x00005f36:    f7fdff21    ..!.    BL       __aeabi_dadd ; 0x3d7c
        0x00005f3a:    462a        *F      MOV      r2,r5
        0x00005f3c:    4633        3F      MOV      r3,r6
        0x00005f3e:    f7fdffd1    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005f42:    69e3        .i      LDR      r3,[r4,#0x1c]
        0x00005f44:    69a2        .i      LDR      r2,[r4,#0x18]
        0x00005f46:    f7fdff19    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00005f4a:    462a        *F      MOV      r2,r5
        0x00005f4c:    4633        3F      MOV      r3,r6
        0x00005f4e:    f7fdffc9    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005f52:    6963        ci      LDR      r3,[r4,#0x14]
        0x00005f54:    6922        "i      LDR      r2,[r4,#0x10]
        0x00005f56:    f7fdff11    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00005f5a:    462a        *F      MOV      r2,r5
        0x00005f5c:    4633        3F      MOV      r3,r6
        0x00005f5e:    f7fdffc1    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005f62:    68e3        .h      LDR      r3,[r4,#0xc]
        0x00005f64:    68a2        .h      LDR      r2,[r4,#8]
        0x00005f66:    f7fdff09    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00005f6a:    462a        *F      MOV      r2,r5
        0x00005f6c:    4633        3F      MOV      r3,r6
        0x00005f6e:    f7fdffb9    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005f72:    6863        ch      LDR      r3,[r4,#4]
        0x00005f74:    6822        "h      LDR      r2,[r4,#0]
        0x00005f76:    f7fdff01    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00005f7a:    bdf8        ..      POP      {r3-r7,pc}
    i.__kernel_sin
    __kernel_sin
        0x00005f7c:    b5f0        ..      PUSH     {r4-r7,lr}
        0x00005f7e:    b41f        ..      PUSH     {r0-r4}
        0x00005f80:    4605        .F      MOV      r5,r0
        0x00005f82:    0048        H.      LSLS     r0,r1,#1
        0x00005f84:    460c        .F      MOV      r4,r1
        0x00005f86:    21f9        .!      MOVS     r1,#0xf9
        0x00005f88:    0840        @.      LSRS     r0,r0,#1
        0x00005f8a:    0589        ..      LSLS     r1,r1,#22
        0x00005f8c:    b086        ..      SUB      sp,sp,#0x18
        0x00005f8e:    4288        .B      CMP      r0,r1
        0x00005f90:    da0b        ..      BGE      0x5faa ; __kernel_sin + 46
        0x00005f92:    4628        (F      MOV      r0,r5
        0x00005f94:    4621        !F      MOV      r1,r4
        0x00005f96:    f7fffd3d    ..=.    BL       __ARM_fpclassify ; 0x5a14
        0x00005f9a:    2804        .(      CMP      r0,#4
        0x00005f9c:    d101        ..      BNE      0x5fa2 ; __kernel_sin + 38
        0x00005f9e:    f000f863    ..c.    BL       __mathlib_dbl_underflow ; 0x6068
        0x00005fa2:    4628        (F      MOV      r0,r5
        0x00005fa4:    4621        !F      MOV      r1,r4
        0x00005fa6:    b00b        ..      ADD      sp,sp,#0x2c
        0x00005fa8:    bdf0        ..      POP      {r4-r7,pc}
        0x00005faa:    462a        *F      MOV      r2,r5
        0x00005fac:    4623        #F      MOV      r3,r4
        0x00005fae:    4610        .F      MOV      r0,r2
        0x00005fb0:    4619        .F      MOV      r1,r3
        0x00005fb2:    f7fdff97    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005fb6:    4606        .F      MOV      r6,r0
        0x00005fb8:    460f        .F      MOV      r7,r1
        0x00005fba:    462a        *F      MOV      r2,r5
        0x00005fbc:    4623        #F      MOV      r3,r4
        0x00005fbe:    f7fdff91    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00005fc2:    9000        ..      STR      r0,[sp,#0]
        0x00005fc4:    4825        %H      LDR      r0,[pc,#148] ; [0x605c] = 0xe76
        0x00005fc6:    9101        ..      STR      r1,[sp,#4]
        0x00005fc8:    4632        2F      MOV      r2,r6
        0x00005fca:    463b        ;F      MOV      r3,r7
        0x00005fcc:    2105        .!      MOVS     r1,#5
        0x00005fce:    4478        xD      ADD      r0,r0,pc
        0x00005fd0:    f7ffff7e    ..~.    BL       __kernel_poly ; 0x5ed0
        0x00005fd4:    9002        ..      STR      r0,[sp,#8]
        0x00005fd6:    9810        ..      LDR      r0,[sp,#0x40]
        0x00005fd8:    9103        ..      STR      r1,[sp,#0xc]
        0x00005fda:    2800        .(      CMP      r0,#0
        0x00005fdc:    d029        ).      BEQ      0x6032 ; __kernel_sin + 182
        0x00005fde:    4a20         J      LDR      r2,[pc,#128] ; [0x6060] = 0x55555549
        0x00005fe0:    4b20         K      LDR      r3,[pc,#128] ; [0x6064] = 0xbfc55555
        0x00005fe2:    9901        ..      LDR      r1,[sp,#4]
        0x00005fe4:    9800        ..      LDR      r0,[sp,#0]
        0x00005fe6:    f7fdff7d    ..}.    BL       __aeabi_dmul ; 0x3ee4
        0x00005fea:    9004        ..      STR      r0,[sp,#0x10]
        0x00005fec:    9105        ..      STR      r1,[sp,#0x14]
        0x00005fee:    4668        hF      MOV      r0,sp
        0x00005ff0:    c80f        ..      LDM      r0,{r0-r3}
        0x00005ff2:    f7fdff77    ..w.    BL       __aeabi_dmul ; 0x3ee4
        0x00005ff6:    2200        ."      MOVS     r2,#0
        0x00005ff8:    9101        ..      STR      r1,[sp,#4]
        0x00005ffa:    9000        ..      STR      r0,[sp,#0]
        0x00005ffc:    43d2        .C      MVNS     r2,r2
        0x00005ffe:    9909        ..      LDR      r1,[sp,#0x24]
        0x00006000:    9808        ..      LDR      r0,[sp,#0x20]
        0x00006002:    f7fef9e1    ....    BL       __ARM_scalbn ; 0x43c8
        0x00006006:    9b01        ..      LDR      r3,[sp,#4]
        0x00006008:    9a00        ..      LDR      r2,[sp,#0]
        0x0000600a:    f7fdff5c    ..\.    BL       __aeabi_dsub ; 0x3ec6
        0x0000600e:    4632        2F      MOV      r2,r6
        0x00006010:    463b        ;F      MOV      r3,r7
        0x00006012:    f7fdff67    ..g.    BL       __aeabi_dmul ; 0x3ee4
        0x00006016:    9b09        ..      LDR      r3,[sp,#0x24]
        0x00006018:    9a08        ..      LDR      r2,[sp,#0x20]
        0x0000601a:    f7fdff54    ..T.    BL       __aeabi_dsub ; 0x3ec6
        0x0000601e:    9b05        ..      LDR      r3,[sp,#0x14]
        0x00006020:    9a04        ..      LDR      r2,[sp,#0x10]
        0x00006022:    f7fdff50    ..P.    BL       __aeabi_dsub ; 0x3ec6
        0x00006026:    462a        *F      MOV      r2,r5
        0x00006028:    4623        #F      MOV      r3,r4
        0x0000602a:    f7fdff52    ..R.    BL       __aeabi_drsub ; 0x3ed2
        0x0000602e:    b00b        ..      ADD      sp,sp,#0x2c
        0x00006030:    bdf0        ..      POP      {r4-r7,pc}
        0x00006032:    460b        .F      MOV      r3,r1
        0x00006034:    4630        0F      MOV      r0,r6
        0x00006036:    4639        9F      MOV      r1,r7
        0x00006038:    9a02        ..      LDR      r2,[sp,#8]
        0x0000603a:    f7fdff53    ..S.    BL       __aeabi_dmul ; 0x3ee4
        0x0000603e:    4a08        .J      LDR      r2,[pc,#32] ; [0x6060] = 0x55555549
        0x00006040:    4b08        .K      LDR      r3,[pc,#32] ; [0x6064] = 0xbfc55555
        0x00006042:    f7fdfe9b    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00006046:    9b01        ..      LDR      r3,[sp,#4]
        0x00006048:    9a00        ..      LDR      r2,[sp,#0]
        0x0000604a:    f7fdff4b    ..K.    BL       __aeabi_dmul ; 0x3ee4
        0x0000604e:    462a        *F      MOV      r2,r5
        0x00006050:    4623        #F      MOV      r3,r4
        0x00006052:    f7fdfe93    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00006056:    b00b        ..      ADD      sp,sp,#0x2c
        0x00006058:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x0000605a:    0000        ..      DCW    0
        0x0000605c:    00000e76    v...    DCD    3702
        0x00006060:    55555549    IUUU    DCD    1431655753
        0x00006064:    bfc55555    UU..    DCD    3217380693
    $t
    i.__mathlib_dbl_underflow
    __mathlib_dbl_underflow
        0x00006068:    4a03        .J      LDR      r2,[pc,#12] ; [0x6078] = 0xfffffd01
        0x0000606a:    b510        ..      PUSH     {r4,lr}
        0x0000606c:    2000        .       MOVS     r0,#0
        0x0000606e:    0711        ..      LSLS     r1,r2,#28
        0x00006070:    f7fef9aa    ....    BL       __ARM_scalbn ; 0x43c8
        0x00006074:    bd10        ..      POP      {r4,pc}
    $d
        0x00006076:    0000        ..      DCW    0
        0x00006078:    fffffd01    ....    DCD    4294966529
    $t
    i.__scatterload_copy
    __scatterload_copy
        0x0000607c:    e002        ..      B        0x6084 ; __scatterload_copy + 8
        0x0000607e:    c808        ..      LDM      r0!,{r3}
        0x00006080:    1f12        ..      SUBS     r2,r2,#4
        0x00006082:    c108        ..      STM      r1!,{r3}
        0x00006084:    2a00        .*      CMP      r2,#0
        0x00006086:    d1fa        ..      BNE      0x607e ; __scatterload_copy + 2
        0x00006088:    4770        pG      BX       lr
    i.__scatterload_null
    __scatterload_null
        0x0000608a:    4770        pG      BX       lr
    i.__scatterload_zeroinit
    __scatterload_zeroinit
        0x0000608c:    2000        .       MOVS     r0,#0
        0x0000608e:    e001        ..      B        0x6094 ; __scatterload_zeroinit + 8
        0x00006090:    c101        ..      STM      r1!,{r0}
        0x00006092:    1f12        ..      SUBS     r2,r2,#4
        0x00006094:    2a00        .*      CMP      r2,#0
        0x00006096:    d1fb        ..      BNE      0x6090 ; __scatterload_zeroinit + 4
        0x00006098:    4770        pG      BX       lr
        0x0000609a:    0000        ..      MOVS     r0,r0
    i.__set_errno
    __set_errno
        0x0000609c:    4901        .I      LDR      r1,[pc,#4] ; [0x60a4] = 0x20000198
        0x0000609e:    6008        .`      STR      r0,[r1,#0]
        0x000060a0:    4770        pG      BX       lr
    $d
        0x000060a2:    0000        ..      DCW    0
        0x000060a4:    20000198    ...     DCD    536871320
    $t
    i._printf_core
    _printf_core
        0x000060a8:    b5ff        ..      PUSH     {r0-r7,lr}
        0x000060aa:    b08f        ..      SUB      sp,sp,#0x3c
        0x000060ac:    4604        .F      MOV      r4,r0
        0x000060ae:    460f        .F      MOV      r7,r1
        0x000060b0:    2600        .&      MOVS     r6,#0
        0x000060b2:    e147        G.      B        0x6344 ; _printf_core + 668
        0x000060b4:    2825        %(      CMP      r0,#0x25
        0x000060b6:    d158        X.      BNE      0x616a ; _printf_core + 194
        0x000060b8:    2500        .%      MOVS     r5,#0
        0x000060ba:    1c64        d.      ADDS     r4,r4,#1
        0x000060bc:    4aa5        .J      LDR      r2,[pc,#660] ; [0x6354] = 0x12809
        0x000060be:    2101        .!      MOVS     r1,#1
        0x000060c0:    9500        ..      STR      r5,[sp,#0]
        0x000060c2:    7823        #x      LDRB     r3,[r4,#0]
        0x000060c4:    4608        .F      MOV      r0,r1
        0x000060c6:    3b20         ;      SUBS     r3,r3,#0x20
        0x000060c8:    4098        .@      LSLS     r0,r0,r3
        0x000060ca:    4603        .F      MOV      r3,r0
        0x000060cc:    4213        .B      TST      r3,r2
        0x000060ce:    d002        ..      BEQ      0x60d6 ; _printf_core + 46
        0x000060d0:    4305        .C      ORRS     r5,r5,r0
        0x000060d2:    1c64        d.      ADDS     r4,r4,#1
        0x000060d4:    e7f5        ..      B        0x60c2 ; _printf_core + 26
        0x000060d6:    7820         x      LDRB     r0,[r4,#0]
        0x000060d8:    282e        .(      CMP      r0,#0x2e
        0x000060da:    d115        ..      BNE      0x6108 ; _printf_core + 96
        0x000060dc:    2004        .       MOVS     r0,#4
        0x000060de:    4305        .C      ORRS     r5,r5,r0
        0x000060e0:    1c64        d.      ADDS     r4,r4,#1
        0x000060e2:    7820         x      LDRB     r0,[r4,#0]
        0x000060e4:    282a        *(      CMP      r0,#0x2a
        0x000060e6:    d10a        ..      BNE      0x60fe ; _printf_core + 86
        0x000060e8:    cf01        ..      LDM      r7!,{r0}
        0x000060ea:    1c64        d.      ADDS     r4,r4,#1
        0x000060ec:    9000        ..      STR      r0,[sp,#0]
        0x000060ee:    e00b        ..      B        0x6108 ; _printf_core + 96
        0x000060f0:    9900        ..      LDR      r1,[sp,#0]
        0x000060f2:    220a        ."      MOVS     r2,#0xa
        0x000060f4:    4351        QC      MULS     r1,r2,r1
        0x000060f6:    3930        09      SUBS     r1,r1,#0x30
        0x000060f8:    1840        @.      ADDS     r0,r0,r1
        0x000060fa:    1c64        d.      ADDS     r4,r4,#1
        0x000060fc:    9000        ..      STR      r0,[sp,#0]
        0x000060fe:    7820         x      LDRB     r0,[r4,#0]
        0x00006100:    4601        .F      MOV      r1,r0
        0x00006102:    3930        09      SUBS     r1,r1,#0x30
        0x00006104:    2909        .)      CMP      r1,#9
        0x00006106:    d9f3        ..      BLS      0x60f0 ; _printf_core + 72
        0x00006108:    7820         x      LDRB     r0,[r4,#0]
        0x0000610a:    286c        l(      CMP      r0,#0x6c
        0x0000610c:    d00e        ..      BEQ      0x612c ; _printf_core + 132
        0x0000610e:    dc04        ..      BGT      0x611a ; _printf_core + 114
        0x00006110:    284c        L(      CMP      r0,#0x4c
        0x00006112:    d013        ..      BEQ      0x613c ; _printf_core + 148
        0x00006114:    286a        j(      CMP      r0,#0x6a
        0x00006116:    d112        ..      BNE      0x613e ; _printf_core + 150
        0x00006118:    e004        ..      B        0x6124 ; _printf_core + 124
        0x0000611a:    2874        t(      CMP      r0,#0x74
        0x0000611c:    d00e        ..      BEQ      0x613c ; _printf_core + 148
        0x0000611e:    287a        z(      CMP      r0,#0x7a
        0x00006120:    d10d        ..      BNE      0x613e ; _printf_core + 150
        0x00006122:    e00b        ..      B        0x613c ; _printf_core + 148
        0x00006124:    2001        .       MOVS     r0,#1
        0x00006126:    0540        @.      LSLS     r0,r0,#21
        0x00006128:    4305        .C      ORRS     r5,r5,r0
        0x0000612a:    e007        ..      B        0x613c ; _printf_core + 148
        0x0000612c:    2101        .!      MOVS     r1,#1
        0x0000612e:    0509        ..      LSLS     r1,r1,#20
        0x00006130:    7862        bx      LDRB     r2,[r4,#1]
        0x00006132:    430d        .C      ORRS     r5,r5,r1
        0x00006134:    4282        .B      CMP      r2,r0
        0x00006136:    d101        ..      BNE      0x613c ; _printf_core + 148
        0x00006138:    1c64        d.      ADDS     r4,r4,#1
        0x0000613a:    186d        m.      ADDS     r5,r5,r1
        0x0000613c:    1c64        d.      ADDS     r4,r4,#1
        0x0000613e:    7820         x      LDRB     r0,[r4,#0]
        0x00006140:    4686        .F      MOV      lr,r0
        0x00006142:    2869        i(      CMP      r0,#0x69
        0x00006144:    d048        H.      BEQ      0x61d8 ; _printf_core + 304
        0x00006146:    dc08        ..      BGT      0x615a ; _printf_core + 178
        0x00006148:    2800        .(      CMP      r0,#0
        0x0000614a:    d06e        n.      BEQ      0x622a ; _printf_core + 386
        0x0000614c:    2858        X(      CMP      r0,#0x58
        0x0000614e:    d06f        o.      BEQ      0x6230 ; _printf_core + 392
        0x00006150:    2863        c(      CMP      r0,#0x63
        0x00006152:    d00f        ..      BEQ      0x6174 ; _printf_core + 204
        0x00006154:    2864        d(      CMP      r0,#0x64
        0x00006156:    d108        ..      BNE      0x616a ; _printf_core + 194
        0x00006158:    e03e        >.      B        0x61d8 ; _printf_core + 304
        0x0000615a:    2870        p(      CMP      r0,#0x70
        0x0000615c:    d06d        m.      BEQ      0x623a ; _printf_core + 402
        0x0000615e:    2873        s(      CMP      r0,#0x73
        0x00006160:    d011        ..      BEQ      0x6186 ; _printf_core + 222
        0x00006162:    2875        u(      CMP      r0,#0x75
        0x00006164:    d05f        _.      BEQ      0x6226 ; _printf_core + 382
        0x00006166:    2878        x(      CMP      r0,#0x78
        0x00006168:    d062        b.      BEQ      0x6230 ; _printf_core + 392
        0x0000616a:    9a12        ..      LDR      r2,[sp,#0x48]
        0x0000616c:    9911        ..      LDR      r1,[sp,#0x44]
        0x0000616e:    4790        .G      BLX      r2
        0x00006170:    1c76        v.      ADDS     r6,r6,#1
        0x00006172:    e0e6        ..      B        0x6342 ; _printf_core + 666
        0x00006174:    cf01        ..      LDM      r7!,{r0}
        0x00006176:    4669        iF      MOV      r1,sp
        0x00006178:    7208        .r      STRB     r0,[r1,#8]
        0x0000617a:    2000        .       MOVS     r0,#0
        0x0000617c:    7248        Hr      STRB     r0,[r1,#9]
        0x0000617e:    a802        ..      ADD      r0,sp,#8
        0x00006180:    9001        ..      STR      r0,[sp,#4]
        0x00006182:    2001        .       MOVS     r0,#1
        0x00006184:    e003        ..      B        0x618e ; _printf_core + 230
        0x00006186:    cf01        ..      LDM      r7!,{r0}
        0x00006188:    9001        ..      STR      r0,[sp,#4]
        0x0000618a:    2000        .       MOVS     r0,#0
        0x0000618c:    43c0        .C      MVNS     r0,r0
        0x0000618e:    0769        i.      LSLS     r1,r5,#29
        0x00006190:    d50c        ..      BPL      0x61ac ; _printf_core + 260
        0x00006192:    2500        .%      MOVS     r5,#0
        0x00006194:    e000        ..      B        0x6198 ; _printf_core + 240
        0x00006196:    1c6d        m.      ADDS     r5,r5,#1
        0x00006198:    9900        ..      LDR      r1,[sp,#0]
        0x0000619a:    428d        .B      CMP      r5,r1
        0x0000619c:    da0f        ..      BGE      0x61be ; _printf_core + 278
        0x0000619e:    4285        .B      CMP      r5,r0
        0x000061a0:    dbf9        ..      BLT      0x6196 ; _printf_core + 238
        0x000061a2:    9901        ..      LDR      r1,[sp,#4]
        0x000061a4:    5d49        I]      LDRB     r1,[r1,r5]
        0x000061a6:    2900        .)      CMP      r1,#0
        0x000061a8:    d1f5        ..      BNE      0x6196 ; _printf_core + 238
        0x000061aa:    e008        ..      B        0x61be ; _printf_core + 278
        0x000061ac:    2500        .%      MOVS     r5,#0
        0x000061ae:    e000        ..      B        0x61b2 ; _printf_core + 266
        0x000061b0:    1c6d        m.      ADDS     r5,r5,#1
        0x000061b2:    4285        .B      CMP      r5,r0
        0x000061b4:    dbfc        ..      BLT      0x61b0 ; _printf_core + 264
        0x000061b6:    9901        ..      LDR      r1,[sp,#4]
        0x000061b8:    5d49        I]      LDRB     r1,[r1,r5]
        0x000061ba:    2900        .)      CMP      r1,#0
        0x000061bc:    d1f8        ..      BNE      0x61b0 ; _printf_core + 264
        0x000061be:    1976        v.      ADDS     r6,r6,r5
        0x000061c0:    e007        ..      B        0x61d2 ; _printf_core + 298
        0x000061c2:    9801        ..      LDR      r0,[sp,#4]
        0x000061c4:    9901        ..      LDR      r1,[sp,#4]
        0x000061c6:    7800        .x      LDRB     r0,[r0,#0]
        0x000061c8:    1c49        I.      ADDS     r1,r1,#1
        0x000061ca:    9101        ..      STR      r1,[sp,#4]
        0x000061cc:    9a12        ..      LDR      r2,[sp,#0x48]
        0x000061ce:    9911        ..      LDR      r1,[sp,#0x44]
        0x000061d0:    4790        .G      BLX      r2
        0x000061d2:    1e6d        m.      SUBS     r5,r5,#1
        0x000061d4:    d2f5        ..      BCS      0x61c2 ; _printf_core + 282
        0x000061d6:    e0b4        ..      B        0x6342 ; _printf_core + 666
        0x000061d8:    200a        .       MOVS     r0,#0xa
        0x000061da:    9002        ..      STR      r0,[sp,#8]
        0x000061dc:    2100        .!      MOVS     r1,#0
        0x000061de:    0268        h.      LSLS     r0,r5,#9
        0x000061e0:    0f40        @.      LSRS     r0,r0,#29
        0x000061e2:    9103        ..      STR      r1,[sp,#0xc]
        0x000061e4:    2802        .(      CMP      r0,#2
        0x000061e6:    d00c        ..      BEQ      0x6202 ; _printf_core + 346
        0x000061e8:    cf01        ..      LDM      r7!,{r0}
        0x000061ea:    17c1        ..      ASRS     r1,r0,#31
        0x000061ec:    4684        .F      MOV      r12,r0
        0x000061ee:    2900        .)      CMP      r1,#0
        0x000061f0:    da0e        ..      BGE      0x6210 ; _printf_core + 360
        0x000061f2:    4662        bF      MOV      r2,r12
        0x000061f4:    4608        .F      MOV      r0,r1
        0x000061f6:    4252        RB      RSBS     r2,r2,#0
        0x000061f8:    2100        .!      MOVS     r1,#0
        0x000061fa:    4181        .A      SBCS     r1,r1,r0
        0x000061fc:    4694        .F      MOV      r12,r2
        0x000061fe:    202d        -       MOVS     r0,#0x2d
        0x00006200:    e009        ..      B        0x6216 ; _printf_core + 366
        0x00006202:    1dff        ..      ADDS     r7,r7,#7
        0x00006204:    08ff        ..      LSRS     r7,r7,#3
        0x00006206:    00ff        ..      LSLS     r7,r7,#3
        0x00006208:    6879        yh      LDR      r1,[r7,#4]
        0x0000620a:    6838        8h      LDR      r0,[r7,#0]
        0x0000620c:    3708        .7      ADDS     r7,r7,#8
        0x0000620e:    e7ed        ..      B        0x61ec ; _printf_core + 324
        0x00006210:    0528        (.      LSLS     r0,r5,#20
        0x00006212:    d504        ..      BPL      0x621e ; _printf_core + 374
        0x00006214:    202b        +       MOVS     r0,#0x2b
        0x00006216:    466a        jF      MOV      r2,sp
        0x00006218:    7410        .t      STRB     r0,[r2,#0x10]
        0x0000621a:    2001        .       MOVS     r0,#1
        0x0000621c:    e032        2.      B        0x6284 ; _printf_core + 476
        0x0000621e:    07e8        ..      LSLS     r0,r5,#31
        0x00006220:    d030        0.      BEQ      0x6284 ; _printf_core + 476
        0x00006222:    2020                MOVS     r0,#0x20
        0x00006224:    e7f7        ..      B        0x6216 ; _printf_core + 366
        0x00006226:    200a        .       MOVS     r0,#0xa
        0x00006228:    e003        ..      B        0x6232 ; _printf_core + 394
        0x0000622a:    e08f        ..      B        0x634c ; _printf_core + 676
        0x0000622c:    e000        ..      B        0x6230 ; _printf_core + 392
        0x0000622e:    e004        ..      B        0x623a ; _printf_core + 402
        0x00006230:    2010        .       MOVS     r0,#0x10
        0x00006232:    2100        .!      MOVS     r1,#0
        0x00006234:    9103        ..      STR      r1,[sp,#0xc]
        0x00006236:    9002        ..      STR      r0,[sp,#8]
        0x00006238:    e007        ..      B        0x624a ; _printf_core + 418
        0x0000623a:    2010        .       MOVS     r0,#0x10
        0x0000623c:    9002        ..      STR      r0,[sp,#8]
        0x0000623e:    2100        .!      MOVS     r1,#0
        0x00006240:    2004        .       MOVS     r0,#4
        0x00006242:    4305        .C      ORRS     r5,r5,r0
        0x00006244:    2008        .       MOVS     r0,#8
        0x00006246:    9103        ..      STR      r1,[sp,#0xc]
        0x00006248:    9000        ..      STR      r0,[sp,#0]
        0x0000624a:    0268        h.      LSLS     r0,r5,#9
        0x0000624c:    0f40        @.      LSRS     r0,r0,#29
        0x0000624e:    2802        .(      CMP      r0,#2
        0x00006250:    d01d        ..      BEQ      0x628e ; _printf_core + 486
        0x00006252:    cf01        ..      LDM      r7!,{r0}
        0x00006254:    2100        .!      MOVS     r1,#0
        0x00006256:    4684        .F      MOV      r12,r0
        0x00006258:    2000        .       MOVS     r0,#0
        0x0000625a:    900d        ..      STR      r0,[sp,#0x34]
        0x0000625c:    0728        (.      LSLS     r0,r5,#28
        0x0000625e:    d512        ..      BPL      0x6286 ; _printf_core + 478
        0x00006260:    4670        pF      MOV      r0,lr
        0x00006262:    2870        p(      CMP      r0,#0x70
        0x00006264:    d01a        ..      BEQ      0x629c ; _printf_core + 500
        0x00006266:    9a02        ..      LDR      r2,[sp,#8]
        0x00006268:    2010        .       MOVS     r0,#0x10
        0x0000626a:    9b03        ..      LDR      r3,[sp,#0xc]
        0x0000626c:    4042        B@      EORS     r2,r2,r0
        0x0000626e:    431a        .C      ORRS     r2,r2,r3
        0x00006270:    d109        ..      BNE      0x6286 ; _printf_core + 478
        0x00006272:    4660        `F      MOV      r0,r12
        0x00006274:    4308        .C      ORRS     r0,r0,r1
        0x00006276:    d006        ..      BEQ      0x6286 ; _printf_core + 478
        0x00006278:    2030        0       MOVS     r0,#0x30
        0x0000627a:    466a        jF      MOV      r2,sp
        0x0000627c:    7410        .t      STRB     r0,[r2,#0x10]
        0x0000627e:    4670        pF      MOV      r0,lr
        0x00006280:    7450        Pt      STRB     r0,[r2,#0x11]
        0x00006282:    2002        .       MOVS     r0,#2
        0x00006284:    900d        ..      STR      r0,[sp,#0x34]
        0x00006286:    4670        pF      MOV      r0,lr
        0x00006288:    2858        X(      CMP      r0,#0x58
        0x0000628a:    d011        ..      BEQ      0x62b0 ; _printf_core + 520
        0x0000628c:    e00b        ..      B        0x62a6 ; _printf_core + 510
        0x0000628e:    1dff        ..      ADDS     r7,r7,#7
        0x00006290:    08ff        ..      LSRS     r7,r7,#3
        0x00006292:    00ff        ..      LSLS     r7,r7,#3
        0x00006294:    6879        yh      LDR      r1,[r7,#4]
        0x00006296:    6838        8h      LDR      r0,[r7,#0]
        0x00006298:    3708        .7      ADDS     r7,r7,#8
        0x0000629a:    e7dc        ..      B        0x6256 ; _printf_core + 430
        0x0000629c:    2040        @       MOVS     r0,#0x40
        0x0000629e:    466a        jF      MOV      r2,sp
        0x000062a0:    7410        .t      STRB     r0,[r2,#0x10]
        0x000062a2:    2001        .       MOVS     r0,#1
        0x000062a4:    900d        ..      STR      r0,[sp,#0x34]
        0x000062a6:    a02c        ,.      ADR      r0,{pc}+0xb2 ; 0x6358
        0x000062a8:    9001        ..      STR      r0,[sp,#4]
        0x000062aa:    a80d        ..      ADD      r0,sp,#0x34
        0x000062ac:    900e        ..      STR      r0,[sp,#0x38]
        0x000062ae:    e00d        ..      B        0x62cc ; _printf_core + 548
        0x000062b0:    a02e        ..      ADR      r0,{pc}+0xbc ; 0x636c
        0x000062b2:    e7f9        ..      B        0x62a8 ; _printf_core + 512
        0x000062b4:    4660        `F      MOV      r0,r12
        0x000062b6:    9b03        ..      LDR      r3,[sp,#0xc]
        0x000062b8:    9a02        ..      LDR      r2,[sp,#8]
        0x000062ba:    f7fdfc2f    ../.    BL       __aeabi_uldivmod ; 0x3b1c
        0x000062be:    9b01        ..      LDR      r3,[sp,#4]
        0x000062c0:    4684        .F      MOV      r12,r0
        0x000062c2:    5c9b        .\      LDRB     r3,[r3,r2]
        0x000062c4:    9a0e        ..      LDR      r2,[sp,#0x38]
        0x000062c6:    1e52        R.      SUBS     r2,r2,#1
        0x000062c8:    920e        ..      STR      r2,[sp,#0x38]
        0x000062ca:    7013        .p      STRB     r3,[r2,#0]
        0x000062cc:    4660        `F      MOV      r0,r12
        0x000062ce:    4308        .C      ORRS     r0,r0,r1
        0x000062d0:    d1f0        ..      BNE      0x62b4 ; _printf_core + 524
        0x000062d2:    980e        ..      LDR      r0,[sp,#0x38]
        0x000062d4:    a905        ..      ADD      r1,sp,#0x14
        0x000062d6:    1a08        ..      SUBS     r0,r1,r0
        0x000062d8:    3020         0      ADDS     r0,r0,#0x20
        0x000062da:    9001        ..      STR      r0,[sp,#4]
        0x000062dc:    0768        h.      LSLS     r0,r5,#29
        0x000062de:    d501        ..      BPL      0x62e4 ; _printf_core + 572
        0x000062e0:    9800        ..      LDR      r0,[sp,#0]
        0x000062e2:    e001        ..      B        0x62e8 ; _printf_core + 576
        0x000062e4:    2001        .       MOVS     r0,#1
        0x000062e6:    9000        ..      STR      r0,[sp,#0]
        0x000062e8:    9901        ..      LDR      r1,[sp,#4]
        0x000062ea:    4288        .B      CMP      r0,r1
        0x000062ec:    dd01        ..      BLE      0x62f2 ; _printf_core + 586
        0x000062ee:    1a40        @.      SUBS     r0,r0,r1
        0x000062f0:    e000        ..      B        0x62f4 ; _printf_core + 588
        0x000062f2:    2000        .       MOVS     r0,#0
        0x000062f4:    2500        .%      MOVS     r5,#0
        0x000062f6:    9000        ..      STR      r0,[sp,#0]
        0x000062f8:    e006        ..      B        0x6308 ; _printf_core + 608
        0x000062fa:    a804        ..      ADD      r0,sp,#0x10
        0x000062fc:    9a12        ..      LDR      r2,[sp,#0x48]
        0x000062fe:    5d40        @]      LDRB     r0,[r0,r5]
        0x00006300:    9911        ..      LDR      r1,[sp,#0x44]
        0x00006302:    4790        .G      BLX      r2
        0x00006304:    1c76        v.      ADDS     r6,r6,#1
        0x00006306:    1c6d        m.      ADDS     r5,r5,#1
        0x00006308:    980d        ..      LDR      r0,[sp,#0x34]
        0x0000630a:    4285        .B      CMP      r5,r0
        0x0000630c:    dbf5        ..      BLT      0x62fa ; _printf_core + 594
        0x0000630e:    e004        ..      B        0x631a ; _printf_core + 626
        0x00006310:    9a12        ..      LDR      r2,[sp,#0x48]
        0x00006312:    2030        0       MOVS     r0,#0x30
        0x00006314:    9911        ..      LDR      r1,[sp,#0x44]
        0x00006316:    4790        .G      BLX      r2
        0x00006318:    1c76        v.      ADDS     r6,r6,#1
        0x0000631a:    9900        ..      LDR      r1,[sp,#0]
        0x0000631c:    1e48        H.      SUBS     r0,r1,#1
        0x0000631e:    9000        ..      STR      r0,[sp,#0]
        0x00006320:    2900        .)      CMP      r1,#0
        0x00006322:    dcf5        ..      BGT      0x6310 ; _printf_core + 616
        0x00006324:    e008        ..      B        0x6338 ; _printf_core + 656
        0x00006326:    980e        ..      LDR      r0,[sp,#0x38]
        0x00006328:    990e        ..      LDR      r1,[sp,#0x38]
        0x0000632a:    7800        .x      LDRB     r0,[r0,#0]
        0x0000632c:    1c49        I.      ADDS     r1,r1,#1
        0x0000632e:    910e        ..      STR      r1,[sp,#0x38]
        0x00006330:    9a12        ..      LDR      r2,[sp,#0x48]
        0x00006332:    9911        ..      LDR      r1,[sp,#0x44]
        0x00006334:    4790        .G      BLX      r2
        0x00006336:    1c76        v.      ADDS     r6,r6,#1
        0x00006338:    9901        ..      LDR      r1,[sp,#4]
        0x0000633a:    1e48        H.      SUBS     r0,r1,#1
        0x0000633c:    9001        ..      STR      r0,[sp,#4]
        0x0000633e:    2900        .)      CMP      r1,#0
        0x00006340:    dcf1        ..      BGT      0x6326 ; _printf_core + 638
        0x00006342:    1c64        d.      ADDS     r4,r4,#1
        0x00006344:    7820         x      LDRB     r0,[r4,#0]
        0x00006346:    2800        .(      CMP      r0,#0
        0x00006348:    d000        ..      BEQ      0x634c ; _printf_core + 676
        0x0000634a:    e6b3        ..      B        0x60b4 ; _printf_core + 12
        0x0000634c:    4630        0F      MOV      r0,r6
        0x0000634e:    b013        ..      ADD      sp,sp,#0x4c
        0x00006350:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x00006352:    0000        ..      DCW    0
        0x00006354:    00012809    .(..    DCD    75785
        0x00006358:    33323130    0123    DCD    858927408
        0x0000635c:    37363534    4567    DCD    926299444
        0x00006360:    62613938    89ab    DCD    1650538808
        0x00006364:    66656463    cdef    DCD    1717920867
        0x00006368:    00000000    ....    DCD    0
        0x0000636c:    33323130    0123    DCD    858927408
        0x00006370:    37363534    4567    DCD    926299444
        0x00006374:    42413938    89AB    DCD    1111570744
        0x00006378:    46454443    CDEF    DCD    1178944579
        0x0000637c:    00000000    ....    DCD    0
    $t
    i._sputc
    _sputc
        0x00006380:    680a        .h      LDR      r2,[r1,#0]
        0x00006382:    1c53        S.      ADDS     r3,r2,#1
        0x00006384:    600b        .`      STR      r3,[r1,#0]
        0x00006386:    7010        .p      STRB     r0,[r2,#0]
        0x00006388:    4770        pG      BX       lr
        0x0000638a:    0000        ..      MOVS     r0,r0
    i.atan
    atan
        0x0000638c:    b5f0        ..      PUSH     {r4-r7,lr}
        0x0000638e:    b089        ..      SUB      sp,sp,#0x24
        0x00006390:    4604        .F      MOV      r4,r0
        0x00006392:    460d        .F      MOV      r5,r1
        0x00006394:    0048        H.      LSLS     r0,r1,#1
        0x00006396:    9107        ..      STR      r1,[sp,#0x1c]
        0x00006398:    4973        sI      LDR      r1,[pc,#460] ; [0x6568] = 0x44100000
        0x0000639a:    0840        @.      LSRS     r0,r0,#1
        0x0000639c:    4288        .B      CMP      r0,r1
        0x0000639e:    db16        ..      BLT      0x63ce ; atan + 66
        0x000063a0:    4972        rI      LDR      r1,[pc,#456] ; [0x656c] = 0x7ff00000
        0x000063a2:    4288        .B      CMP      r0,r1
        0x000063a4:    dc03        ..      BGT      0x63ae ; atan + 34
        0x000063a6:    4288        .B      CMP      r0,r1
        0x000063a8:    d108        ..      BNE      0x63bc ; atan + 48
        0x000063aa:    2c00        .,      CMP      r4,#0
        0x000063ac:    d006        ..      BEQ      0x63bc ; atan + 48
        0x000063ae:    2201        ."      MOVS     r2,#1
        0x000063b0:    4620         F      MOV      r0,r4
        0x000063b2:    4629        )F      MOV      r1,r5
        0x000063b4:    f7fef808    ....    BL       __ARM_scalbn ; 0x43c8
        0x000063b8:    b009        ..      ADD      sp,sp,#0x24
        0x000063ba:    bdf0        ..      POP      {r4-r7,pc}
        0x000063bc:    486c        lH      LDR      r0,[pc,#432] ; [0x6570] = 0x54442d18
        0x000063be:    2d00        .-      CMP      r5,#0
        0x000063c0:    dd02        ..      BLE      0x63c8 ; atan + 60
        0x000063c2:    496c        lI      LDR      r1,[pc,#432] ; [0x6574] = 0x3ff921fb
        0x000063c4:    b009        ..      ADD      sp,sp,#0x24
        0x000063c6:    bdf0        ..      POP      {r4-r7,pc}
        0x000063c8:    496b        kI      LDR      r1,[pc,#428] ; [0x6578] = 0xbff921fb
        0x000063ca:    b009        ..      ADD      sp,sp,#0x24
        0x000063cc:    bdf0        ..      POP      {r4-r7,pc}
        0x000063ce:    496b        kI      LDR      r1,[pc,#428] ; [0x657c] = 0x3fdc0000
        0x000063d0:    4288        .B      CMP      r0,r1
        0x000063d2:    da11        ..      BGE      0x63f8 ; atan + 108
        0x000063d4:    496a        jI      LDR      r1,[pc,#424] ; [0x6580] = 0x3e200000
        0x000063d6:    4288        .B      CMP      r0,r1
        0x000063d8:    da0b        ..      BGE      0x63f2 ; atan + 102
        0x000063da:    4620         F      MOV      r0,r4
        0x000063dc:    4629        )F      MOV      r1,r5
        0x000063de:    f7fffb19    ....    BL       __ARM_fpclassify ; 0x5a14
        0x000063e2:    2804        .(      CMP      r0,#4
        0x000063e4:    d101        ..      BNE      0x63ea ; atan + 94
        0x000063e6:    f7fffe3f    ..?.    BL       __mathlib_dbl_underflow ; 0x6068
        0x000063ea:    4620         F      MOV      r0,r4
        0x000063ec:    4629        )F      MOV      r1,r5
        0x000063ee:    b009        ..      ADD      sp,sp,#0x24
        0x000063f0:    bdf0        ..      POP      {r4-r7,pc}
        0x000063f2:    2600        .&      MOVS     r6,#0
        0x000063f4:    43f6        .C      MVNS     r6,r6
        0x000063f6:    e05d        ].      B        0x64b4 ; atan + 296
        0x000063f8:    006d        m.      LSLS     r5,r5,#1
        0x000063fa:    4962        bI      LDR      r1,[pc,#392] ; [0x6584] = 0x3ff30000
        0x000063fc:    086d        m.      LSRS     r5,r5,#1
        0x000063fe:    4288        .B      CMP      r0,r1
        0x00006400:    da32        2.      BGE      0x6468 ; atan + 220
        0x00006402:    4961        aI      LDR      r1,[pc,#388] ; [0x6588] = 0x3fe60000
        0x00006404:    4288        .B      CMP      r0,r1
        0x00006406:    da19        ..      BGE      0x643c ; atan + 176
        0x00006408:    2600        .&      MOVS     r6,#0
        0x0000640a:    2301        .#      MOVS     r3,#1
        0x0000640c:    4632        2F      MOV      r2,r6
        0x0000640e:    079b        ..      LSLS     r3,r3,#30
        0x00006410:    4620         F      MOV      r0,r4
        0x00006412:    4629        )F      MOV      r1,r5
        0x00006414:    f7fdfcb2    ....    BL       __aeabi_dadd ; 0x3d7c
        0x00006418:    4607        .F      MOV      r7,r0
        0x0000641a:    9100        ..      STR      r1,[sp,#0]
        0x0000641c:    2201        ."      MOVS     r2,#1
        0x0000641e:    4620         F      MOV      r0,r4
        0x00006420:    4629        )F      MOV      r1,r5
        0x00006422:    f7fdffd1    ....    BL       __ARM_scalbn ; 0x43c8
        0x00006426:    2200        ."      MOVS     r2,#0
        0x00006428:    4b58        XK      LDR      r3,[pc,#352] ; [0x658c] = 0x3ff00000
        0x0000642a:    f7fdfd4c    ..L.    BL       __aeabi_dsub ; 0x3ec6
        0x0000642e:    463a        :F      MOV      r2,r7
        0x00006430:    9b00        ..      LDR      r3,[sp,#0]
        0x00006432:    f7fdfdbf    ....    BL       __aeabi_ddiv ; 0x3fb4
        0x00006436:    4604        .F      MOV      r4,r0
        0x00006438:    460d        .F      MOV      r5,r1
        0x0000643a:    e03b        ;.      B        0x64b4 ; atan + 296
        0x0000643c:    2601        .&      MOVS     r6,#1
        0x0000643e:    2200        ."      MOVS     r2,#0
        0x00006440:    4b52        RK      LDR      r3,[pc,#328] ; [0x658c] = 0x3ff00000
        0x00006442:    4620         F      MOV      r0,r4
        0x00006444:    4629        )F      MOV      r1,r5
        0x00006446:    f7fdfc99    ....    BL       __aeabi_dadd ; 0x3d7c
        0x0000644a:    4607        .F      MOV      r7,r0
        0x0000644c:    9103        ..      STR      r1,[sp,#0xc]
        0x0000644e:    2200        ."      MOVS     r2,#0
        0x00006450:    4b4e        NK      LDR      r3,[pc,#312] ; [0x658c] = 0x3ff00000
        0x00006452:    4620         F      MOV      r0,r4
        0x00006454:    4629        )F      MOV      r1,r5
        0x00006456:    f7fdfd36    ..6.    BL       __aeabi_dsub ; 0x3ec6
        0x0000645a:    463a        :F      MOV      r2,r7
        0x0000645c:    9b03        ..      LDR      r3,[sp,#0xc]
        0x0000645e:    f7fdfda9    ....    BL       __aeabi_ddiv ; 0x3fb4
        0x00006462:    4604        .F      MOV      r4,r0
        0x00006464:    460d        .F      MOV      r5,r1
        0x00006466:    e025        %.      B        0x64b4 ; atan + 296
        0x00006468:    4949        II      LDR      r1,[pc,#292] ; [0x6590] = 0x40038000
        0x0000646a:    4288        .B      CMP      r0,r1
        0x0000646c:    da19        ..      BGE      0x64a2 ; atan + 278
        0x0000646e:    2602        .&      MOVS     r6,#2
        0x00006470:    2200        ."      MOVS     r2,#0
        0x00006472:    4b48        HK      LDR      r3,[pc,#288] ; [0x6594] = 0x3ff80000
        0x00006474:    4620         F      MOV      r0,r4
        0x00006476:    4629        )F      MOV      r1,r5
        0x00006478:    f7fdfd34    ..4.    BL       __aeabi_dmul ; 0x3ee4
        0x0000647c:    2200        ."      MOVS     r2,#0
        0x0000647e:    4b43        CK      LDR      r3,[pc,#268] ; [0x658c] = 0x3ff00000
        0x00006480:    f7fdfc7c    ..|.    BL       __aeabi_dadd ; 0x3d7c
        0x00006484:    4607        .F      MOV      r7,r0
        0x00006486:    9103        ..      STR      r1,[sp,#0xc]
        0x00006488:    2200        ."      MOVS     r2,#0
        0x0000648a:    4b42        BK      LDR      r3,[pc,#264] ; [0x6594] = 0x3ff80000
        0x0000648c:    4620         F      MOV      r0,r4
        0x0000648e:    4629        )F      MOV      r1,r5
        0x00006490:    f7fdfd19    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00006494:    463a        :F      MOV      r2,r7
        0x00006496:    9b03        ..      LDR      r3,[sp,#0xc]
        0x00006498:    f7fdfd8c    ....    BL       __aeabi_ddiv ; 0x3fb4
        0x0000649c:    4604        .F      MOV      r4,r0
        0x0000649e:    460d        .F      MOV      r5,r1
        0x000064a0:    e008        ..      B        0x64b4 ; atan + 296
        0x000064a2:    2603        .&      MOVS     r6,#3
        0x000064a4:    4622        "F      MOV      r2,r4
        0x000064a6:    462b        +F      MOV      r3,r5
        0x000064a8:    2000        .       MOVS     r0,#0
        0x000064aa:    493b        ;I      LDR      r1,[pc,#236] ; [0x6598] = 0xbff00000
        0x000064ac:    f7fdfd82    ....    BL       __aeabi_ddiv ; 0x3fb4
        0x000064b0:    4604        .F      MOV      r4,r0
        0x000064b2:    460d        .F      MOV      r5,r1
        0x000064b4:    4622        "F      MOV      r2,r4
        0x000064b6:    462b        +F      MOV      r3,r5
        0x000064b8:    4610        .F      MOV      r0,r2
        0x000064ba:    4619        .F      MOV      r1,r3
        0x000064bc:    f7fdfd12    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000064c0:    4602        .F      MOV      r2,r0
        0x000064c2:    460b        .F      MOV      r3,r1
        0x000064c4:    9103        ..      STR      r1,[sp,#0xc]
        0x000064c6:    9002        ..      STR      r0,[sp,#8]
        0x000064c8:    f7fdfd0c    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000064cc:    4602        .F      MOV      r2,r0
        0x000064ce:    9000        ..      STR      r0,[sp,#0]
        0x000064d0:    4832        2H      LDR      r0,[pc,#200] ; [0x659c] = 0x83c
        0x000064d2:    460f        .F      MOV      r7,r1
        0x000064d4:    460b        .F      MOV      r3,r1
        0x000064d6:    2106        .!      MOVS     r1,#6
        0x000064d8:    4478        xD      ADD      r0,r0,pc
        0x000064da:    f7fffcf9    ....    BL       __kernel_poly ; 0x5ed0
        0x000064de:    9b03        ..      LDR      r3,[sp,#0xc]
        0x000064e0:    9a02        ..      LDR      r2,[sp,#8]
        0x000064e2:    f7fdfcff    ....    BL       __aeabi_dmul ; 0x3ee4
        0x000064e6:    9004        ..      STR      r0,[sp,#0x10]
        0x000064e8:    482d        -H      LDR      r0,[pc,#180] ; [0x65a0] = 0x7fc
        0x000064ea:    9102        ..      STR      r1,[sp,#8]
        0x000064ec:    463b        ;F      MOV      r3,r7
        0x000064ee:    2105        .!      MOVS     r1,#5
        0x000064f0:    4478        xD      ADD      r0,r0,pc
        0x000064f2:    9a00        ..      LDR      r2,[sp,#0]
        0x000064f4:    f7fffcec    ....    BL       __kernel_poly ; 0x5ed0
        0x000064f8:    463b        ;F      MOV      r3,r7
        0x000064fa:    9a00        ..      LDR      r2,[sp,#0]
        0x000064fc:    f7fdfcf2    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00006500:    4602        .F      MOV      r2,r0
        0x00006502:    460b        .F      MOV      r3,r1
        0x00006504:    9902        ..      LDR      r1,[sp,#8]
        0x00006506:    9804        ..      LDR      r0,[sp,#0x10]
        0x00006508:    2e00        ..      CMP      r6,#0
        0x0000650a:    da0b        ..      BGE      0x6524 ; atan + 408
        0x0000650c:    f7fdfc36    ..6.    BL       __aeabi_dadd ; 0x3d7c
        0x00006510:    4622        "F      MOV      r2,r4
        0x00006512:    462b        +F      MOV      r3,r5
        0x00006514:    f7fdfce6    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00006518:    4622        "F      MOV      r2,r4
        0x0000651a:    462b        +F      MOV      r3,r5
        0x0000651c:    f7fdfcd9    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00006520:    b009        ..      ADD      sp,sp,#0x24
        0x00006522:    bdf0        ..      POP      {r4-r7,pc}
        0x00006524:    f7fdfc2a    ..*.    BL       __aeabi_dadd ; 0x3d7c
        0x00006528:    4622        "F      MOV      r2,r4
        0x0000652a:    462b        +F      MOV      r3,r5
        0x0000652c:    f7fdfcda    ....    BL       __aeabi_dmul ; 0x3ee4
        0x00006530:    4a1c        .J      LDR      r2,[pc,#112] ; [0x65a4] = 0x798
        0x00006532:    00f6        ..      LSLS     r6,r6,#3
        0x00006534:    447a        zD      ADD      r2,r2,pc
        0x00006536:    1993        ..      ADDS     r3,r2,r6
        0x00006538:    681a        .h      LDR      r2,[r3,#0]
        0x0000653a:    685b        [h      LDR      r3,[r3,#4]
        0x0000653c:    f7fdfcc3    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00006540:    4622        "F      MOV      r2,r4
        0x00006542:    462b        +F      MOV      r3,r5
        0x00006544:    f7fdfcbf    ....    BL       __aeabi_dsub ; 0x3ec6
        0x00006548:    4a17        .J      LDR      r2,[pc,#92] ; [0x65a8] = 0x762
        0x0000654a:    447a        zD      ADD      r2,r2,pc
        0x0000654c:    1993        ..      ADDS     r3,r2,r6
        0x0000654e:    681a        .h      LDR      r2,[r3,#0]
        0x00006550:    685b        [h      LDR      r3,[r3,#4]
        0x00006552:    f7fdfcbe    ....    BL       __aeabi_drsub ; 0x3ed2
        0x00006556:    9a07        ..      LDR      r2,[sp,#0x1c]
        0x00006558:    2a00        .*      CMP      r2,#0
        0x0000655a:    dae1        ..      BGE      0x6520 ; atan + 404
        0x0000655c:    2201        ."      MOVS     r2,#1
        0x0000655e:    07d2        ..      LSLS     r2,r2,#31
        0x00006560:    4051        Q@      EORS     r1,r1,r2
        0x00006562:    b009        ..      ADD      sp,sp,#0x24
        0x00006564:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x00006566:    0000        ..      DCW    0
        0x00006568:    44100000    ...D    DCD    1141899264
        0x0000656c:    7ff00000    ....    DCD    2146435072
        0x00006570:    54442d18    .-DT    DCD    1413754136
        0x00006574:    3ff921fb    .!.?    DCD    1073291771
        0x00006578:    bff921fb    .!..    DCD    3220775419
        0x0000657c:    3fdc0000    ...?    DCD    1071382528
        0x00006580:    3e200000    .. >    DCD    1042284544
        0x00006584:    3ff30000    ...?    DCD    1072889856
        0x00006588:    3fe60000    ...?    DCD    1072037888
        0x0000658c:    3ff00000    ...?    DCD    1072693248
        0x00006590:    40038000    ...@    DCD    1073971200
        0x00006594:    3ff80000    ...?    DCD    1073217536
        0x00006598:    bff00000    ....    DCD    3220176896
        0x0000659c:    0000083c    <...    DCD    2108
        0x000065a0:    000007fc    ....    DCD    2044
        0x000065a4:    00000798    ....    DCD    1944
        0x000065a8:    00000762    b...    DCD    1890
    $t
    i.atan2
    atan2
        0x000065ac:    b5f0        ..      PUSH     {r4-r7,lr}
        0x000065ae:    b41f        ..      PUSH     {r0-r4}
        0x000065b0:    9b03        ..      LDR      r3,[sp,#0xc]
        0x000065b2:    4254        TB      RSBS     r4,r2,#0
        0x000065b4:    005d        ].      LSLS     r5,r3,#1
        0x000065b6:    4616        .F      MOV      r6,r2
        0x000065b8:    4326        &C      ORRS     r6,r6,r4
        0x000065ba:    469c        .F      MOV      r12,r3
        0x000065bc:    0ff4        ..      LSRS     r4,r6,#31
        0x000065be:    086d        m.      LSRS     r5,r5,#1
        0x000065c0:    004b        K.      LSLS     r3,r1,#1
        0x000065c2:    4e4e        NN      LDR      r6,[pc,#312] ; [0x66fc] = 0x7ff00000
        0x000065c4:    085b        [.      LSRS     r3,r3,#1
        0x000065c6:    432c        ,C      ORRS     r4,r4,r5
        0x000065c8:    468e        .F      MOV      lr,r1
        0x000065ca:    42b4        .B      CMP      r4,r6
        0x000065cc:    d805        ..      BHI      0x65da ; atan2 + 46
        0x000065ce:    4247        GB      RSBS     r7,r0,#0
        0x000065d0:    4307        .C      ORRS     r7,r7,r0
        0x000065d2:    0ffc        ..      LSRS     r4,r7,#31
        0x000065d4:    431c        .C      ORRS     r4,r4,r3
        0x000065d6:    42b4        .B      CMP      r4,r6
        0x000065d8:    d904        ..      BLS      0x65e4 ; atan2 + 56
        0x000065da:    4663        cF      MOV      r3,r12
        0x000065dc:    f7fdfbce    ....    BL       __aeabi_dadd ; 0x3d7c
        0x000065e0:    b005        ..      ADD      sp,sp,#0x14
        0x000065e2:    bdf0        ..      POP      {r4-r7,pc}
        0x000065e4:    4e46        FN      LDR      r6,[pc,#280] ; [0x6700] = 0xc0100000
        0x000065e6:    4466        fD      ADD      r6,r6,r12
        0x000065e8:    4316        .C      ORRS     r6,r6,r2
        0x000065ea:    d009        ..      BEQ      0x6600 ; atan2 + 84
        0x000065ec:    0fcc        ..      LSRS     r4,r1,#31
        0x000065ee:    4666        fF      MOV      r6,r12
        0x000065f0:    17b6        ..      ASRS     r6,r6,#30
        0x000065f2:    2702        .'      MOVS     r7,#2
        0x000065f4:    403e        >@      ANDS     r6,r6,r7
        0x000065f6:    4326        &C      ORRS     r6,r6,r4
        0x000065f8:    4604        .F      MOV      r4,r0
        0x000065fa:    431c        .C      ORRS     r4,r4,r3
        0x000065fc:    d004        ..      BEQ      0x6608 ; atan2 + 92
        0x000065fe:    e00b        ..      B        0x6618 ; atan2 + 108
        0x00006600:    f7fffec4    ....    BL       atan ; 0x638c
        0x00006604:    b005        ..      ADD      sp,sp,#0x14
        0x00006606:    bdf0        ..      POP      {r4-r7,pc}
        0x00006608:    2e00        ..      CMP      r6,#0
        0x0000660a:    d0fb        ..      BEQ      0x6604 ; atan2 + 88
        0x0000660c:    2e01        ..      CMP      r6,#1
        0x0000660e:    d0f9        ..      BEQ      0x6604 ; atan2 + 88
        0x00006610:    2e02        ..      CMP      r6,#2
        0x00006612:    d032        2.      BEQ      0x667a ; atan2 + 206
        0x00006614:    2e03        ..      CMP      r6,#3
        0x00006616:    d034        4.      BEQ      0x6682 ; atan2 + 214
        0x00006618:    4614        .F      MOV      r4,r2
        0x0000661a:    432c        ,C      ORRS     r4,r4,r5
        0x0000661c:    d00b        ..      BEQ      0x6636 ; atan2 + 138
        0x0000661e:    4c37        7L      LDR      r4,[pc,#220] ; [0x66fc] = 0x7ff00000
        0x00006620:    42a5        .B      CMP      r5,r4
        0x00006622:    d116        ..      BNE      0x6652 ; atan2 + 166
        0x00006624:    42a3        .B      CMP      r3,r4
        0x00006626:    d10a        ..      BNE      0x663e ; atan2 + 146
        0x00006628:    2101        .!      MOVS     r1,#1
        0x0000662a:    0789        ..      LSLS     r1,r1,#30
        0x0000662c:    438d        .C      BICS     r5,r5,r1
        0x0000662e:    438b        .C      BICS     r3,r3,r1
        0x00006630:    4619        .F      MOV      r1,r3
        0x00006632:    9503        ..      STR      r5,[sp,#0xc]
        0x00006634:    e00d        ..      B        0x6652 ; atan2 + 166
        0x00006636:    4670        pF      MOV      r0,lr
        0x00006638:    2800        .(      CMP      r0,#0
        0x0000663a:    db0f        ..      BLT      0x665c ; atan2 + 176
        0x0000663c:    e025        %.      B        0x668a ; atan2 + 222
        0x0000663e:    4f31        1O      LDR      r7,[pc,#196] ; [0x6704] = 0x734
        0x00006640:    447f        .D      ADD      r7,r7,pc
        0x00006642:    2e00        ..      CMP      r6,#0
        0x00006644:    d00e        ..      BEQ      0x6664 ; atan2 + 184
        0x00006646:    2e01        ..      CMP      r6,#1
        0x00006648:    d010        ..      BEQ      0x666c ; atan2 + 192
        0x0000664a:    2e02        ..      CMP      r6,#2
        0x0000664c:    d015        ..      BEQ      0x667a ; atan2 + 206
        0x0000664e:    2e03        ..      CMP      r6,#3
        0x00006650:    d017        ..      BEQ      0x6682 ; atan2 + 214
        0x00006652:    42a3        .B      CMP      r3,r4
        0x00006654:    d11d        ..      BNE      0x6692 ; atan2 + 230
        0x00006656:    4670        pF      MOV      r0,lr
        0x00006658:    2800        .(      CMP      r0,#0
        0x0000665a:    da16        ..      BGE      0x668a ; atan2 + 222
        0x0000665c:    482a        *H      LDR      r0,[pc,#168] ; [0x6708] = 0x54442d18
        0x0000665e:    492b        +I      LDR      r1,[pc,#172] ; [0x670c] = 0xbff921fb
        0x00006660:    b005        ..      ADD      sp,sp,#0x14
        0x00006662:    bdf0        ..      POP      {r4-r7,pc}
        0x00006664:    6879        yh      LDR      r1,[r7,#4]
        0x00006666:    6838        8h      LDR      r0,[r7,#0]
        0x00006668:    b005        ..      ADD      sp,sp,#0x14
        0x0000666a:    bdf0        ..      POP      {r4-r7,pc}
        0x0000666c:    2201        ."      MOVS     r2,#1
        0x0000666e:    6879        yh      LDR      r1,[r7,#4]
        0x00006670:    07d2        ..      LSLS     r2,r2,#31
        0x00006672:    6838        8h      LDR      r0,[r7,#0]
        0x00006674:    4051        Q@      EORS     r1,r1,r2
        0x00006676:    b005        ..      ADD      sp,sp,#0x14
        0x00006678:    bdf0        ..      POP      {r4-r7,pc}
        0x0000667a:    4823        #H      LDR      r0,[pc,#140] ; [0x6708] = 0x54442d18
        0x0000667c:    4924        $I      LDR      r1,[pc,#144] ; [0x6710] = 0x400921fb
        0x0000667e:    b005        ..      ADD      sp,sp,#0x14
        0x00006680:    bdf0        ..      POP      {r4-r7,pc}
        0x00006682:    4821        !H      LDR      r0,[pc,#132] ; [0x6708] = 0x54442d18
        0x00006684:    4923        #I      LDR      r1,[pc,#140] ; [0x6714] = 0xc00921fb
        0x00006686:    b005        ..      ADD      sp,sp,#0x14
        0x00006688:    bdf0        ..      POP      {r4-r7,pc}
        0x0000668a:    481f        .H      LDR      r0,[pc,#124] ; [0x6708] = 0x54442d18
        0x0000668c:    4922        "I      LDR      r1,[pc,#136] ; [0x6718] = 0x3ff921fb
        0x0000668e:    b005        ..      ADD      sp,sp,#0x14
        0x00006690:    bdf0        ..      POP      {r4-r7,pc}
        0x00006692:    1b5b        [.      SUBS     r3,r3,r5
        0x00006694:    151b        ..      ASRS     r3,r3,#20
        0x00006696:    2b3c        <+      CMP      r3,#0x3c
        0x00006698:    dd02        ..      BLE      0x66a0 ; atan2 + 244
        0x0000669a:    481b        .H      LDR      r0,[pc,#108] ; [0x6708] = 0x54442d18
        0x0000669c:    491e        .I      LDR      r1,[pc,#120] ; [0x6718] = 0x3ff921fb
        0x0000669e:    e010        ..      B        0x66c2 ; atan2 + 278
        0x000066a0:    4664        dF      MOV      r4,r12
        0x000066a2:    2c00        .,      CMP      r4,#0
        0x000066a4:    da06        ..      BGE      0x66b4 ; atan2 + 264
        0x000066a6:    243b        ;$      MOVS     r4,#0x3b
        0x000066a8:    43e4        .C      MVNS     r4,r4
        0x000066aa:    42a3        .B      CMP      r3,r4
        0x000066ac:    da02        ..      BGE      0x66b4 ; atan2 + 264
        0x000066ae:    2000        .       MOVS     r0,#0
        0x000066b0:    4601        .F      MOV      r1,r0
        0x000066b2:    e006        ..      B        0x66c2 ; atan2 + 278
        0x000066b4:    9b03        ..      LDR      r3,[sp,#0xc]
        0x000066b6:    f7fdfc7d    ..}.    BL       __aeabi_ddiv ; 0x3fb4
        0x000066ba:    0049        I.      LSLS     r1,r1,#1
        0x000066bc:    0849        I.      LSRS     r1,r1,#1
        0x000066be:    f7fffe65    ..e.    BL       atan ; 0x638c
        0x000066c2:    2e00        ..      CMP      r6,#0
        0x000066c4:    d0e3        ..      BEQ      0x668e ; atan2 + 226
        0x000066c6:    2e01        ..      CMP      r6,#1
        0x000066c8:    d00b        ..      BEQ      0x66e2 ; atan2 + 310
        0x000066ca:    4a14        .J      LDR      r2,[pc,#80] ; [0x671c] = 0x33145c07
        0x000066cc:    4b14        .K      LDR      r3,[pc,#80] ; [0x6720] = 0x3ca1a626
        0x000066ce:    2e02        ..      CMP      r6,#2
        0x000066d0:    d00c        ..      BEQ      0x66ec ; atan2 + 320
        0x000066d2:    f7fdfbf8    ....    BL       __aeabi_dsub ; 0x3ec6
        0x000066d6:    4a0c        .J      LDR      r2,[pc,#48] ; [0x6708] = 0x54442d18
        0x000066d8:    4b0d        .K      LDR      r3,[pc,#52] ; [0x6710] = 0x400921fb
        0x000066da:    f7fdfbf4    ....    BL       __aeabi_dsub ; 0x3ec6
        0x000066de:    b005        ..      ADD      sp,sp,#0x14
        0x000066e0:    bdf0        ..      POP      {r4-r7,pc}
        0x000066e2:    2201        ."      MOVS     r2,#1
        0x000066e4:    07d2        ..      LSLS     r2,r2,#31
        0x000066e6:    4051        Q@      EORS     r1,r1,r2
        0x000066e8:    b005        ..      ADD      sp,sp,#0x14
        0x000066ea:    bdf0        ..      POP      {r4-r7,pc}
        0x000066ec:    f7fdfbeb    ....    BL       __aeabi_dsub ; 0x3ec6
        0x000066f0:    4a05        .J      LDR      r2,[pc,#20] ; [0x6708] = 0x54442d18
        0x000066f2:    4b07        .K      LDR      r3,[pc,#28] ; [0x6710] = 0x400921fb
        0x000066f4:    f7fdfbed    ....    BL       __aeabi_drsub ; 0x3ed2
        0x000066f8:    b005        ..      ADD      sp,sp,#0x14
        0x000066fa:    bdf0        ..      POP      {r4-r7,pc}
    $d
        0x000066fc:    7ff00000    ....    DCD    2146435072
        0x00006700:    c0100000    ....    DCD    3222274048
        0x00006704:    00000734    4...    DCD    1844
        0x00006708:    54442d18    .-DT    DCD    1413754136
        0x0000670c:    bff921fb    .!..    DCD    3220775419
        0x00006710:    400921fb    .!.@    DCD    1074340347
        0x00006714:    c00921fb    .!..    DCD    3221823995
        0x00006718:    3ff921fb    .!.?    DCD    1073291771
        0x0000671c:    33145c07    .\.3    DCD    856972295
        0x00006720:    3ca1a626    &..<    DCD    1017226790
    $t
    i.cos
    cos
        0x00006724:    b500        ..      PUSH     {lr}
        0x00006726:    004a        J.      LSLS     r2,r1,#1
        0x00006728:    4b24        $K      LDR      r3,[pc,#144] ; [0x67bc] = 0x3fe921fb
        0x0000672a:    0852        R.      LSRS     r2,r2,#1
        0x0000672c:    b087        ..      SUB      sp,sp,#0x1c
        0x0000672e:    429a        .B      CMP      r2,r3
        0x00006730:    dc02        ..      BGT      0x6738 ; cos + 20
        0x00006732:    2200        ."      MOVS     r2,#0
        0x00006734:    4613        .F      MOV      r3,r2
        0x00006736:    e02a        *.      B        0x678e ; cos + 106
        0x00006738:    4b21        !K      LDR      r3,[pc,#132] ; [0x67c0] = 0x7ff00000
        0x0000673a:    429a        .B      CMP      r2,r3
        0x0000673c:    d10c        ..      BNE      0x6758 ; cos + 52
        0x0000673e:    2800        .(      CMP      r0,#0
        0x00006740:    d10c        ..      BNE      0x675c ; cos + 56
        0x00006742:    2001        .       MOVS     r0,#1
        0x00006744:    f7fffcaa    ....    BL       __set_errno ; 0x609c
        0x00006748:    2200        ."      MOVS     r2,#0
        0x0000674a:    4613        .F      MOV      r3,r2
        0x0000674c:    4610        .F      MOV      r0,r2
        0x0000674e:    4611        .F      MOV      r1,r2
        0x00006750:    f7fdfc30    ..0.    BL       __aeabi_ddiv ; 0x3fb4
        0x00006754:    b007        ..      ADD      sp,sp,#0x1c
        0x00006756:    bd00        ..      POP      {pc}
        0x00006758:    429a        .B      CMP      r2,r3
        0x0000675a:    db04        ..      BLT      0x6766 ; cos + 66
        0x0000675c:    2201        ."      MOVS     r2,#1
        0x0000675e:    f7fdfe33    ..3.    BL       __ARM_scalbn ; 0x43c8
        0x00006762:    b007        ..      ADD      sp,sp,#0x1c
        0x00006764:    bd00        ..      POP      {pc}
        0x00006766:    aa02        ..      ADD      r2,sp,#8
        0x00006768:    f7fff96a    ..j.    BL       __ieee754_rem_pio2 ; 0x5a40
        0x0000676c:    0781        ..      LSLS     r1,r0,#30
        0x0000676e:    0f89        ..      LSRS     r1,r1,#30
        0x00006770:    d00b        ..      BEQ      0x678a ; cos + 102
        0x00006772:    2001        .       MOVS     r0,#1
        0x00006774:    2901        .)      CMP      r1,#1
        0x00006776:    d00e        ..      BEQ      0x6796 ; cos + 114
        0x00006778:    2902        .)      CMP      r1,#2
        0x0000677a:    d016        ..      BEQ      0x67aa ; cos + 134
        0x0000677c:    9000        ..      STR      r0,[sp,#0]
        0x0000677e:    a802        ..      ADD      r0,sp,#8
        0x00006780:    c80f        ..      LDM      r0,{r0-r3}
        0x00006782:    f7fffbfb    ....    BL       __kernel_sin ; 0x5f7c
        0x00006786:    b007        ..      ADD      sp,sp,#0x1c
        0x00006788:    bd00        ..      POP      {pc}
        0x0000678a:    a802        ..      ADD      r0,sp,#8
        0x0000678c:    c80f        ..      LDM      r0,{r0-r3}
        0x0000678e:    f7fffb25    ..%.    BL       __kernel_cos ; 0x5ddc
        0x00006792:    b007        ..      ADD      sp,sp,#0x1c
        0x00006794:    bd00        ..      POP      {pc}
        0x00006796:    9000        ..      STR      r0,[sp,#0]
        0x00006798:    a802        ..      ADD      r0,sp,#8
        0x0000679a:    c80f        ..      LDM      r0,{r0-r3}
        0x0000679c:    f7fffbee    ....    BL       __kernel_sin ; 0x5f7c
        0x000067a0:    2201        ."      MOVS     r2,#1
        0x000067a2:    07d2        ..      LSLS     r2,r2,#31
        0x000067a4:    4051        Q@      EORS     r1,r1,r2
        0x000067a6:    b007        ..      ADD      sp,sp,#0x1c
        0x000067a8:    bd00        ..      POP      {pc}
        0x000067aa:    a802        ..      ADD      r0,sp,#8
        0x000067ac:    c80f        ..      LDM      r0,{r0-r3}
        0x000067ae:    f7fffb15    ....    BL       __kernel_cos ; 0x5ddc
        0x000067b2:    2201        ."      MOVS     r2,#1
        0x000067b4:    07d2        ..      LSLS     r2,r2,#31
        0x000067b6:    4051        Q@      EORS     r1,r1,r2
        0x000067b8:    b007        ..      ADD      sp,sp,#0x1c
        0x000067ba:    bd00        ..      POP      {pc}
    $d
        0x000067bc:    3fe921fb    .!.?    DCD    1072243195
        0x000067c0:    7ff00000    ....    DCD    2146435072
    $t
    i.fputc
    fputc
        0x000067c4:    b500        ..      PUSH     {lr}
        0x000067c6:    4603        .F      MOV      r3,r0
        0x000067c8:    f7fefe66    ..f.    BL       SendChar_ToUART ; 0x5498
        0x000067cc:    4618        .F      MOV      r0,r3
        0x000067ce:    bd00        ..      POP      {pc}
    i.main
    main
        0x000067d0:    b50e        ..      PUSH     {r1-r3,lr}
        0x000067d2:    f7fefd97    ....    BL       SYS_Init ; 0x5304
        0x000067d6:    f7fef94f    ..O.    BL       Init_GPIO ; 0x4a78
        0x000067da:    f7fef98f    ....    BL       Init_KEY ; 0x4afc
        0x000067de:    f7fef9d5    ....    BL       Init_PWM ; 0x4b8c
        0x000067e2:    f7fef925    ..%.    BL       Init_DHT11 ; 0x4a30
        0x000067e6:    4990        .I      LDR      r1,[pc,#576] ; [0x6a28] = 0x61a80
        0x000067e8:    4890        .H      LDR      r0,[pc,#576] ; [0x6a2c] = 0x40120000
        0x000067ea:    f7fef891    ....    BL       I2C_Open ; 0x4910
        0x000067ee:    f7fef9af    ....    BL       Init_MPU6050 ; 0x4b50
        0x000067f2:    f7fef9e3    ....    BL       Init_RTC ; 0x4bbc
        0x000067f6:    f7fef8b1    ....    BL       Init_ADC ; 0x495c
        0x000067fa:    f7fef8cd    ....    BL       Init_AHRS ; 0x4998
        0x000067fe:    2201        ."      MOVS     r2,#1
        0x00006800:    0311        ..      LSLS     r1,r2,#12
        0x00006802:    488b        .H      LDR      r0,[pc,#556] ; [0x6a30] = 0x500040c0
        0x00006804:    f7fef85b    ..[.    BL       GPIO_SetMode ; 0x48be
        0x00006808:    4d8a        .M      LDR      r5,[pc,#552] ; [0x6a34] = 0x500042c0
        0x0000680a:    2601        .&      MOVS     r6,#1
        0x0000680c:    632e        .c      STR      r6,[r5,#0x30]
        0x0000680e:    f7fef8f7    ....    BL       Init_Bluetooth ; 0x4a00
        0x00006812:    f7fef9f5    ....    BL       Init_WIFI ; 0x4c00
        0x00006816:    4c88        .L      LDR      r4,[pc,#544] ; [0x6a38] = 0x2000007a
        0x00006818:    4627        'F      MOV      r7,r4
        0x0000681a:    3f2b        +?      SUBS     r7,r7,#0x2b
        0x0000681c:    e011        ..      B        0x6842 ; main + 114
        0x0000681e:    2001        .       MOVS     r0,#1
        0x00006820:    f7fdfffe    ....    BL       DelayMsec ; 0x4820
        0x00006824:    f7fefd4d    ..M.    BL       Read_MPU6050_GyroX ; 0x52c2
        0x00006828:    8020         .      STRH     r0,[r4,#0]
        0x0000682a:    f7fefd55    ..U.    BL       Read_MPU6050_GyroY ; 0x52d8
        0x0000682e:    8060        `.      STRH     r0,[r4,#2]
        0x00006830:    f7fefd5d    ..].    BL       Read_MPU6050_GyroZ ; 0x52ee
        0x00006834:    80a0        ..      STRH     r0,[r4,#4]
        0x00006836:    4880        .H      LDR      r0,[pc,#512] ; [0x6a38] = 0x2000007a
        0x00006838:    f7f9fe5f    .._.    BL       nvtInputSensorRawGYRO ; 0x4fa
        0x0000683c:    2002        .       MOVS     r0,#2
        0x0000683e:    f7fefeb3    ....    BL       SensorsDynamicCalibrate ; 0x55a8
        0x00006842:    7878        xx      LDRB     r0,[r7,#1]
        0x00006844:    2800        .(      CMP      r0,#0
        0x00006846:    d0ea        ..      BEQ      0x681e ; main + 78
        0x00006848:    f7fdfe92    ....    BL       AccCalibrationZ ; 0x4570
        0x0000684c:    6aa8        .j      LDR      r0,[r5,#0x28]
        0x0000684e:    2800        .(      CMP      r0,#0
        0x00006850:    d046        F.      BEQ      0x68e0 ; main + 272
        0x00006852:    2000        .       MOVS     r0,#0
        0x00006854:    4977        wI      LDR      r1,[pc,#476] ; [0x6a34] = 0x500042c0
        0x00006856:    6288        .b      STR      r0,[r1,#0x28]
        0x00006858:    466f        oF      MOV      r7,sp
        0x0000685a:    2500        .%      MOVS     r5,#0
        0x0000685c:    4877        wH      LDR      r0,[pc,#476] ; [0x6a3c] = 0x400e0040
        0x0000685e:    6881        .h      LDR      r1,[r0,#8]
        0x00006860:    2201        ."      MOVS     r2,#1
        0x00006862:    02d2        ..      LSLS     r2,r2,#11
        0x00006864:    4311        .C      ORRS     r1,r1,r2
        0x00006866:    6081        .`      STR      r1,[r0,#8]
        0x00006868:    f7fefd0a    ....    BL       Read_MPU6050_AccX ; 0x5280
        0x0000686c:    4c72        rL      LDR      r4,[pc,#456] ; [0x6a38] = 0x2000007a
        0x0000686e:    1fa4        ..      SUBS     r4,r4,#6
        0x00006870:    8020         .      STRH     r0,[r4,#0]
        0x00006872:    f7fefd10    ....    BL       Read_MPU6050_AccY ; 0x5296
        0x00006876:    8060        `.      STRH     r0,[r4,#2]
        0x00006878:    f7fefd18    ....    BL       Read_MPU6050_AccZ ; 0x52ac
        0x0000687c:    80a0        ..      STRH     r0,[r4,#4]
        0x0000687e:    f7fefd20    .. .    BL       Read_MPU6050_GyroX ; 0x52c2
        0x00006882:    1da4        ..      ADDS     r4,r4,#6
        0x00006884:    8020         .      STRH     r0,[r4,#0]
        0x00006886:    f7fefd27    ..'.    BL       Read_MPU6050_GyroY ; 0x52d8
        0x0000688a:    8060        `.      STRH     r0,[r4,#2]
        0x0000688c:    f7fefd2f    ../.    BL       Read_MPU6050_GyroZ ; 0x52ee
        0x00006890:    80a0        ..      STRH     r0,[r4,#4]
        0x00006892:    1fa0        ..      SUBS     r0,r4,#6
        0x00006894:    f7f9fe0c    ....    BL       nvtInputSensorRawACC ; 0x4b0
        0x00006898:    4620         F      MOV      r0,r4
        0x0000689a:    f7f9fe2e    ....    BL       nvtInputSensorRawGYRO ; 0x4fa
        0x0000689e:    2003        .       MOVS     r0,#3
        0x000068a0:    f7f9fd36    ..6.    BL       nvtUpdateAHRS ; 0x310
        0x000068a4:    4668        hF      MOV      r0,sp
        0x000068a6:    f7f9fcaa    ....    BL       nvtGetEulerRPY ; 0x1fe
        0x000068aa:    2400        .$      MOVS     r4,#0
        0x000068ac:    00a0        ..      LSLS     r0,r4,#2
        0x000068ae:    5838        8X      LDR      r0,[r7,r0]
        0x000068b0:    f7fdfc18    ....    BL       __aeabi_f2iz ; 0x40e4
        0x000068b4:    0062        b.      LSLS     r2,r4,#1
        0x000068b6:    4960        `I      LDR      r1,[pc,#384] ; [0x6a38] = 0x2000007a
        0x000068b8:    1c64        d.      ADDS     r4,r4,#1
        0x000068ba:    1d89        ..      ADDS     r1,r1,#6
        0x000068bc:    b2e4        ..      UXTB     r4,r4
        0x000068be:    5288        .R      STRH     r0,[r1,r2]
        0x000068c0:    2c03        .,      CMP      r4,#3
        0x000068c2:    d3f3        ..      BCC      0x68ac ; main + 220
        0x000068c4:    460c        .F      MOV      r4,r1
        0x000068c6:    3c40        @<      SUBS     r4,r4,#0x40
        0x000068c8:    7820         x      LDRB     r0,[r4,#0]
        0x000068ca:    2800        .(      CMP      r0,#0
        0x000068cc:    d0c6        ..      BEQ      0x685c ; main + 140
        0x000068ce:    4620         F      MOV      r0,r4
        0x000068d0:    2204        ."      MOVS     r2,#4
        0x000068d2:    a15b        [.      ADR      r1,{pc}+0x16e ; 0x6a40
        0x000068d4:    3024        $0      ADDS     r0,r0,#0x24
        0x000068d6:    f7fdf960    ..`.    BL       strncmp ; 0x3b9a
        0x000068da:    2800        .(      CMP      r0,#0
        0x000068dc:    d002        ..      BEQ      0x68e4 ; main + 276
        0x000068de:    e015        ..      B        0x690c ; main + 316
        0x000068e0:    2001        .       MOVS     r0,#1
        0x000068e2:    e7b7        ..      B        0x6854 ; main + 132
        0x000068e4:    2001        .       MOVS     r0,#1
        0x000068e6:    f7fdfe5f    .._.    BL       Buzz ; 0x45a8
        0x000068ea:    2001        .       MOVS     r0,#1
        0x000068ec:    f7fdfe5c    ..\.    BL       Buzz ; 0x45a8
        0x000068f0:    4851        QH      LDR      r0,[pc,#324] ; [0x6a38] = 0x2000007a
        0x000068f2:    a155        U.      ADR      r1,{pc}+0x156 ; 0x6a48
        0x000068f4:    381e        .8      SUBS     r0,r0,#0x1e
        0x000068f6:    f7fff849    ..I.    BL       __0sprintf$5 ; 0x598c
        0x000068fa:    7960        `y      LDRB     r0,[r4,#5]
        0x000068fc:    2800        .(      CMP      r0,#0
        0x000068fe:    d00e        ..      BEQ      0x691e ; main + 334
        0x00006900:    494d        MI      LDR      r1,[pc,#308] ; [0x6a38] = 0x2000007a
        0x00006902:    2204        ."      MOVS     r2,#4
        0x00006904:    391e        .9      SUBS     r1,r1,#0x1e
        0x00006906:    4852        RH      LDR      r0,[pc,#328] ; [0x6a50] = 0x40150000
        0x00006908:    f7fff81a    ....    BL       UART_Write ; 0x5940
        0x0000690c:    484a        JH      LDR      r0,[pc,#296] ; [0x6a38] = 0x2000007a
        0x0000690e:    2204        ."      MOVS     r2,#4
        0x00006910:    a150        P.      ADR      r1,{pc}+0x144 ; 0x6a54
        0x00006912:    3816        .8      SUBS     r0,r0,#0x16
        0x00006914:    f7fdf941    ..A.    BL       strncmp ; 0x3b9a
        0x00006918:    2800        .(      CMP      r0,#0
        0x0000691a:    d005        ..      BEQ      0x6928 ; main + 344
        0x0000691c:    e018        ..      B        0x6950 ; main + 384
        0x0000691e:    4946        FI      LDR      r1,[pc,#280] ; [0x6a38] = 0x2000007a
        0x00006920:    2204        ."      MOVS     r2,#4
        0x00006922:    391e        .9      SUBS     r1,r1,#0x1e
        0x00006924:    484d        MH      LDR      r0,[pc,#308] ; [0x6a5c] = 0x40050000
        0x00006926:    e7ef        ..      B        0x6908 ; main + 312
        0x00006928:    4843        CH      LDR      r0,[pc,#268] ; [0x6a38] = 0x2000007a
        0x0000692a:    a14d        M.      ADR      r1,{pc}+0x136 ; 0x6a60
        0x0000692c:    381e        .8      SUBS     r0,r0,#0x1e
        0x0000692e:    f7fff82d    ..-.    BL       __0sprintf$5 ; 0x598c
        0x00006932:    7960        `y      LDRB     r0,[r4,#5]
        0x00006934:    2800        .(      CMP      r0,#0
        0x00006936:    d014        ..      BEQ      0x6962 ; main + 402
        0x00006938:    493f        ?I      LDR      r1,[pc,#252] ; [0x6a38] = 0x2000007a
        0x0000693a:    2204        ."      MOVS     r2,#4
        0x0000693c:    391e        .9      SUBS     r1,r1,#0x1e
        0x0000693e:    4844        DH      LDR      r0,[pc,#272] ; [0x6a50] = 0x40150000
        0x00006940:    f7fefffe    ....    BL       UART_Write ; 0x5940
        0x00006944:    483c        <H      LDR      r0,[pc,#240] ; [0x6a38] = 0x2000007a
        0x00006946:    380a        .8      SUBS     r0,r0,#0xa
        0x00006948:    f7fefc30    ..0.    BL       Read_DHT11 ; 0x51ac
        0x0000694c:    f7fefdb4    ....    BL       Send_Data ; 0x54b8
        0x00006950:    4839        9H      LDR      r0,[pc,#228] ; [0x6a38] = 0x2000007a
        0x00006952:    2204        ."      MOVS     r2,#4
        0x00006954:    a144        D.      ADR      r1,{pc}+0x114 ; 0x6a68
        0x00006956:    3816        .8      SUBS     r0,r0,#0x16
        0x00006958:    f7fdf91f    ....    BL       strncmp ; 0x3b9a
        0x0000695c:    2800        .(      CMP      r0,#0
        0x0000695e:    d005        ..      BEQ      0x696c ; main + 412
        0x00006960:    e01b        ..      B        0x699a ; main + 458
        0x00006962:    4935        5I      LDR      r1,[pc,#212] ; [0x6a38] = 0x2000007a
        0x00006964:    2204        ."      MOVS     r2,#4
        0x00006966:    391e        .9      SUBS     r1,r1,#0x1e
        0x00006968:    483c        <H      LDR      r0,[pc,#240] ; [0x6a5c] = 0x40050000
        0x0000696a:    e7e9        ..      B        0x6940 ; main + 368
        0x0000696c:    2001        .       MOVS     r0,#1
        0x0000696e:    f7fdfe1b    ....    BL       Buzz ; 0x45a8
        0x00006972:    2001        .       MOVS     r0,#1
        0x00006974:    f7fdfe18    ....    BL       Buzz ; 0x45a8
        0x00006978:    2001        .       MOVS     r0,#1
        0x0000697a:    f7fdfe15    ....    BL       Buzz ; 0x45a8
        0x0000697e:    482e        .H      LDR      r0,[pc,#184] ; [0x6a38] = 0x2000007a
        0x00006980:    a13b        ;.      ADR      r1,{pc}+0xf0 ; 0x6a70
        0x00006982:    381e        .8      SUBS     r0,r0,#0x1e
        0x00006984:    f7fff802    ....    BL       __0sprintf$5 ; 0x598c
        0x00006988:    7960        `y      LDRB     r0,[r4,#5]
        0x0000698a:    2800        .(      CMP      r0,#0
        0x0000698c:    d00e        ..      BEQ      0x69ac ; main + 476
        0x0000698e:    492a        *I      LDR      r1,[pc,#168] ; [0x6a38] = 0x2000007a
        0x00006990:    2204        ."      MOVS     r2,#4
        0x00006992:    391e        .9      SUBS     r1,r1,#0x1e
        0x00006994:    482e        .H      LDR      r0,[pc,#184] ; [0x6a50] = 0x40150000
        0x00006996:    f7feffd3    ....    BL       UART_Write ; 0x5940
        0x0000699a:    4827        'H      LDR      r0,[pc,#156] ; [0x6a38] = 0x2000007a
        0x0000699c:    2203        ."      MOVS     r2,#3
        0x0000699e:    a136        6.      ADR      r1,{pc}+0xda ; 0x6a78
        0x000069a0:    3816        .8      SUBS     r0,r0,#0x16
        0x000069a2:    f7fdf8fa    ....    BL       strncmp ; 0x3b9a
        0x000069a6:    2800        .(      CMP      r0,#0
        0x000069a8:    d005        ..      BEQ      0x69b6 ; main + 486
        0x000069aa:    e035        5.      B        0x6a18 ; main + 584
        0x000069ac:    4922        "I      LDR      r1,[pc,#136] ; [0x6a38] = 0x2000007a
        0x000069ae:    2204        ."      MOVS     r2,#4
        0x000069b0:    391e        .9      SUBS     r1,r1,#0x1e
        0x000069b2:    482a        *H      LDR      r0,[pc,#168] ; [0x6a5c] = 0x40050000
        0x000069b4:    e7ef        ..      B        0x6996 ; main + 454
        0x000069b6:    4820         H      LDR      r0,[pc,#128] ; [0x6a38] = 0x2000007a
        0x000069b8:    381a        .8      SUBS     r0,r0,#0x1a
        0x000069ba:    78c0        .x      LDRB     r0,[r0,#3]
        0x000069bc:    7120         q      STRB     r0,[r4,#4]
        0x000069be:    7920         y      LDRB     r0,[r4,#4]
        0x000069c0:    07c0        ..      LSLS     r0,r0,#31
        0x000069c2:    d006        ..      BEQ      0x69d2 ; main + 514
        0x000069c4:    2001        .       MOVS     r0,#1
        0x000069c6:    f7fdfdef    ....    BL       Buzz ; 0x45a8
        0x000069ca:    7920         y      LDRB     r0,[r4,#4]
        0x000069cc:    0840        @.      LSRS     r0,r0,#1
        0x000069ce:    0040        @.      LSLS     r0,r0,#1
        0x000069d0:    7120         q      STRB     r0,[r4,#4]
        0x000069d2:    7920         y      LDRB     r0,[r4,#4]
        0x000069d4:    0780        ..      LSLS     r0,r0,#30
        0x000069d6:    4829        )H      LDR      r0,[pc,#164] ; [0x6a7c] = 0x50004200
        0x000069d8:    d501        ..      BPL      0x69de ; main + 526
        0x000069da:    6385        .c      STR      r5,[r0,#0x38]
        0x000069dc:    e000        ..      B        0x69e0 ; main + 528
        0x000069de:    6386        .c      STR      r6,[r0,#0x38]
        0x000069e0:    7920         y      LDRB     r0,[r4,#4]
        0x000069e2:    0740        @.      LSLS     r0,r0,#29
        0x000069e4:    4826        &H      LDR      r0,[pc,#152] ; [0x6a80] = 0x50004240
        0x000069e6:    d501        ..      BPL      0x69ec ; main + 540
        0x000069e8:    63c5        .c      STR      r5,[r0,#0x3c]
        0x000069ea:    e000        ..      B        0x69ee ; main + 542
        0x000069ec:    63c6        .c      STR      r6,[r0,#0x3c]
        0x000069ee:    7920         y      LDRB     r0,[r4,#4]
        0x000069f0:    0700        ..      LSLS     r0,r0,#28
        0x000069f2:    4810        .H      LDR      r0,[pc,#64] ; [0x6a34] = 0x500042c0
        0x000069f4:    d501        ..      BPL      0x69fa ; main + 554
        0x000069f6:    6285        .b      STR      r5,[r0,#0x28]
        0x000069f8:    e000        ..      B        0x69fc ; main + 556
        0x000069fa:    6286        .b      STR      r6,[r0,#0x28]
        0x000069fc:    480e        .H      LDR      r0,[pc,#56] ; [0x6a38] = 0x2000007a
        0x000069fe:    a121        !.      ADR      r1,{pc}+0x86 ; 0x6a84
        0x00006a00:    381e        .8      SUBS     r0,r0,#0x1e
        0x00006a02:    f7feffc3    ....    BL       __0sprintf$5 ; 0x598c
        0x00006a06:    7960        `y      LDRB     r0,[r4,#5]
        0x00006a08:    2800        .(      CMP      r0,#0
        0x00006a0a:    d007        ..      BEQ      0x6a1c ; main + 588
        0x00006a0c:    490a        .I      LDR      r1,[pc,#40] ; [0x6a38] = 0x2000007a
        0x00006a0e:    2204        ."      MOVS     r2,#4
        0x00006a10:    391e        .9      SUBS     r1,r1,#0x1e
        0x00006a12:    480f        .H      LDR      r0,[pc,#60] ; [0x6a50] = 0x40150000
        0x00006a14:    f7feff94    ....    BL       UART_Write ; 0x5940
        0x00006a18:    7025        %p      STRB     r5,[r4,#0]
        0x00006a1a:    e71f        ..      B        0x685c ; main + 140
        0x00006a1c:    4906        .I      LDR      r1,[pc,#24] ; [0x6a38] = 0x2000007a
        0x00006a1e:    2204        ."      MOVS     r2,#4
        0x00006a20:    391e        .9      SUBS     r1,r1,#0x1e
        0x00006a22:    480e        .H      LDR      r0,[pc,#56] ; [0x6a5c] = 0x40050000
        0x00006a24:    e7f6        ..      B        0x6a14 ; main + 580
    $d
        0x00006a26:    0000        ..      DCW    0
        0x00006a28:    00061a80    ....    DCD    400000
        0x00006a2c:    40120000    ...@    DCD    1074921472
        0x00006a30:    500040c0    .@.P    DCD    1342193856
        0x00006a34:    500042c0    .B.P    DCD    1342194368
        0x00006a38:    2000007a    z..     DCD    536871034
        0x00006a3c:    400e0040    @..@    DCD    1074659392
        0x00006a40:    41545340    @STA    DCD    1096045376
        0x00006a44:    00000000    ....    DCD    0
        0x00006a48:    534b4140    @AKS    DCD    1397440832
        0x00006a4c:    00000000    ....    DCD    0
        0x00006a50:    40150000    ...@    DCD    1075118080
        0x00006a54:    54414440    @DAT    DCD    1413563456
        0x00006a58:    00000000    ....    DCD    0
        0x00006a5c:    40050000    ...@    DCD    1074069504
        0x00006a60:    444b4140    @AKD    DCD    1145782592
        0x00006a64:    00000000    ....    DCD    0
        0x00006a68:    50545340    @STP    DCD    1347703616
        0x00006a6c:    00000000    ....    DCD    0
        0x00006a70:    504b4140    @AKP    DCD    1347109184
        0x00006a74:    00000000    ....    DCD    0
        0x00006a78:    00424c40    @LB.    DCD    4344896
        0x00006a7c:    50004200    .B.P    DCD    1342194176
        0x00006a80:    50004240    @B.P    DCD    1342194240
        0x00006a84:    4c4b4140    @AKL    DCD    1280000320
        0x00006a88:    00000000    ....    DCD    0
    $t
    i.setup_system_tick
    setup_system_tick
        0x00006a8c:    4601        .F      MOV      r1,r0
        0x00006a8e:    b510        ..      PUSH     {r4,lr}
        0x00006a90:    4804        .H      LDR      r0,[pc,#16] ; [0x6aa4] = 0x20000000
        0x00006a92:    6800        .h      LDR      r0,[r0,#0]
        0x00006a94:    f7fdf818    ....    BL       __aeabi_uidiv ; 0x3ac8
        0x00006a98:    f7fefde6    ....    BL       SysTick_Config ; 0x5668
        0x00006a9c:    2000        .       MOVS     r0,#0
        0x00006a9e:    f7fdfeb1    ....    BL       ChronographStart ; 0x4804
        0x00006aa2:    bd10        ..      POP      {r4,pc}
    $d
        0x00006aa4:    20000000    ...     DCD    536870912
    $t
    i.sin
    sin
        0x00006aa8:    b500        ..      PUSH     {lr}
        0x00006aaa:    004a        J.      LSLS     r2,r1,#1
        0x00006aac:    4b25        %K      LDR      r3,[pc,#148] ; [0x6b44] = 0x3fe921fb
        0x00006aae:    0852        R.      LSRS     r2,r2,#1
        0x00006ab0:    b087        ..      SUB      sp,sp,#0x1c
        0x00006ab2:    429a        .B      CMP      r2,r3
        0x00006ab4:    dc03        ..      BGT      0x6abe ; sin + 22
        0x00006ab6:    2200        ."      MOVS     r2,#0
        0x00006ab8:    4613        .F      MOV      r3,r2
        0x00006aba:    9200        ..      STR      r2,[sp,#0]
        0x00006abc:    e02e        ..      B        0x6b1c ; sin + 116
        0x00006abe:    4b22        "K      LDR      r3,[pc,#136] ; [0x6b48] = 0x7ff00000
        0x00006ac0:    429a        .B      CMP      r2,r3
        0x00006ac2:    d10c        ..      BNE      0x6ade ; sin + 54
        0x00006ac4:    2800        .(      CMP      r0,#0
        0x00006ac6:    d10c        ..      BNE      0x6ae2 ; sin + 58
        0x00006ac8:    2001        .       MOVS     r0,#1
        0x00006aca:    f7fffae7    ....    BL       __set_errno ; 0x609c
        0x00006ace:    2200        ."      MOVS     r2,#0
        0x00006ad0:    4613        .F      MOV      r3,r2
        0x00006ad2:    4610        .F      MOV      r0,r2
        0x00006ad4:    4611        .F      MOV      r1,r2
        0x00006ad6:    f7fdfa6d    ..m.    BL       __aeabi_ddiv ; 0x3fb4
        0x00006ada:    b007        ..      ADD      sp,sp,#0x1c
        0x00006adc:    bd00        ..      POP      {pc}
        0x00006ade:    429a        .B      CMP      r2,r3
        0x00006ae0:    db04        ..      BLT      0x6aec ; sin + 68
        0x00006ae2:    2201        ."      MOVS     r2,#1
        0x00006ae4:    f7fdfc70    ..p.    BL       __ARM_scalbn ; 0x43c8
        0x00006ae8:    b007        ..      ADD      sp,sp,#0x1c
        0x00006aea:    bd00        ..      POP      {pc}
        0x00006aec:    aa02        ..      ADD      r2,sp,#8
        0x00006aee:    f7feffa7    ....    BL       __ieee754_rem_pio2 ; 0x5a40
        0x00006af2:    0781        ..      LSLS     r1,r0,#30
        0x00006af4:    0f89        ..      LSRS     r1,r1,#30
        0x00006af6:    2001        .       MOVS     r0,#1
        0x00006af8:    2900        .)      CMP      r1,#0
        0x00006afa:    d00c        ..      BEQ      0x6b16 ; sin + 110
        0x00006afc:    2901        .)      CMP      r1,#1
        0x00006afe:    d011        ..      BEQ      0x6b24 ; sin + 124
        0x00006b00:    2902        .)      CMP      r1,#2
        0x00006b02:    d015        ..      BEQ      0x6b30 ; sin + 136
        0x00006b04:    a802        ..      ADD      r0,sp,#8
        0x00006b06:    c80f        ..      LDM      r0,{r0-r3}
        0x00006b08:    f7fff968    ..h.    BL       __kernel_cos ; 0x5ddc
        0x00006b0c:    2201        ."      MOVS     r2,#1
        0x00006b0e:    07d2        ..      LSLS     r2,r2,#31
        0x00006b10:    4051        Q@      EORS     r1,r1,r2
        0x00006b12:    b007        ..      ADD      sp,sp,#0x1c
        0x00006b14:    bd00        ..      POP      {pc}
        0x00006b16:    9000        ..      STR      r0,[sp,#0]
        0x00006b18:    a802        ..      ADD      r0,sp,#8
        0x00006b1a:    c80f        ..      LDM      r0,{r0-r3}
        0x00006b1c:    f7fffa2e    ....    BL       __kernel_sin ; 0x5f7c
        0x00006b20:    b007        ..      ADD      sp,sp,#0x1c
        0x00006b22:    bd00        ..      POP      {pc}
        0x00006b24:    a802        ..      ADD      r0,sp,#8
        0x00006b26:    c80f        ..      LDM      r0,{r0-r3}
        0x00006b28:    f7fff958    ..X.    BL       __kernel_cos ; 0x5ddc
        0x00006b2c:    b007        ..      ADD      sp,sp,#0x1c
        0x00006b2e:    bd00        ..      POP      {pc}
        0x00006b30:    9000        ..      STR      r0,[sp,#0]
        0x00006b32:    a802        ..      ADD      r0,sp,#8
        0x00006b34:    c80f        ..      LDM      r0,{r0-r3}
        0x00006b36:    f7fffa21    ..!.    BL       __kernel_sin ; 0x5f7c
        0x00006b3a:    2201        ."      MOVS     r2,#1
        0x00006b3c:    07d2        ..      LSLS     r2,r2,#31
        0x00006b3e:    4051        Q@      EORS     r1,r1,r2
        0x00006b40:    b007        ..      ADD      sp,sp,#0x1c
        0x00006b42:    bd00        ..      POP      {pc}
    $d
        0x00006b44:    3fe921fb    .!.?    DCD    1072243195
        0x00006b48:    7ff00000    ....    DCD    2146435072
    $t
    i.sqrt
    sqrt
        0x00006b4c:    b5f8        ..      PUSH     {r3-r7,lr}
        0x00006b4e:    4606        .F      MOV      r6,r0
        0x00006b50:    460c        .F      MOV      r4,r1
        0x00006b52:    f7fdfc4f    ..O.    BL       _dsqrt ; 0x43f4
        0x00006b56:    0005        ..      MOVS     r5,r0
        0x00006b58:    460f        .F      MOV      r7,r1
        0x00006b5a:    d000        ..      BEQ      0x6b5e ; sqrt + 18
        0x00006b5c:    2001        .       MOVS     r0,#1
        0x00006b5e:    4301        .C      ORRS     r1,r1,r0
        0x00006b60:    0049        I.      LSLS     r1,r1,#1
        0x00006b62:    480a        .H      LDR      r0,[pc,#40] ; [0x6b8c] = 0x7ff00000
        0x00006b64:    0849        I.      LSRS     r1,r1,#1
        0x00006b66:    1a41        A.      SUBS     r1,r0,r1
        0x00006b68:    d50c        ..      BPL      0x6b84 ; sqrt + 56
        0x00006b6a:    2e00        ..      CMP      r6,#0
        0x00006b6c:    d001        ..      BEQ      0x6b72 ; sqrt + 38
        0x00006b6e:    2101        .!      MOVS     r1,#1
        0x00006b70:    e000        ..      B        0x6b74 ; sqrt + 40
        0x00006b72:    2100        .!      MOVS     r1,#0
        0x00006b74:    430c        .C      ORRS     r4,r4,r1
        0x00006b76:    0061        a.      LSLS     r1,r4,#1
        0x00006b78:    0849        I.      LSRS     r1,r1,#1
        0x00006b7a:    1a40        @.      SUBS     r0,r0,r1
        0x00006b7c:    d402        ..      BMI      0x6b84 ; sqrt + 56
        0x00006b7e:    2001        .       MOVS     r0,#1
        0x00006b80:    f7fffa8c    ....    BL       __set_errno ; 0x609c
        0x00006b84:    4628        (F      MOV      r0,r5
        0x00006b86:    4639        9F      MOV      r1,r7
        0x00006b88:    bdf8        ..      POP      {r3-r7,pc}
    $d
        0x00006b8a:    0000        ..      DCW    0
        0x00006b8c:    7ff00000    ....    DCD    2146435072
    $t
    i.stackDump
    stackDump
        0x00006b90:    b510        ..      PUSH     {r4,lr}
        0x00006b92:    4604        .F      MOV      r4,r0
        0x00006b94:    6801        .h      LDR      r1,[r0,#0]
        0x00006b96:    a010        ..      ADR      r0,{pc}+0x42 ; 0x6bd8
        0x00006b98:    f7fefee8    ....    BL       __0printf$5 ; 0x596c
        0x00006b9c:    a011        ..      ADR      r0,{pc}+0x48 ; 0x6be4
        0x00006b9e:    6861        ah      LDR      r1,[r4,#4]
        0x00006ba0:    f7fefee4    ....    BL       __0printf$5 ; 0x596c
        0x00006ba4:    a012        ..      ADR      r0,{pc}+0x4c ; 0x6bf0
        0x00006ba6:    68a1        .h      LDR      r1,[r4,#8]
        0x00006ba8:    f7fefee0    ....    BL       __0printf$5 ; 0x596c
        0x00006bac:    a013        ..      ADR      r0,{pc}+0x50 ; 0x6bfc
        0x00006bae:    68e1        .h      LDR      r1,[r4,#0xc]
        0x00006bb0:    f7fefedc    ....    BL       __0printf$5 ; 0x596c
        0x00006bb4:    a014        ..      ADR      r0,{pc}+0x54 ; 0x6c08
        0x00006bb6:    6921        !i      LDR      r1,[r4,#0x10]
        0x00006bb8:    f7fefed8    ....    BL       __0printf$5 ; 0x596c
        0x00006bbc:    a015        ..      ADR      r0,{pc}+0x58 ; 0x6c14
        0x00006bbe:    6961        ai      LDR      r1,[r4,#0x14]
        0x00006bc0:    f7fefed4    ....    BL       __0printf$5 ; 0x596c
        0x00006bc4:    a016        ..      ADR      r0,{pc}+0x5c ; 0x6c20
        0x00006bc6:    69a1        .i      LDR      r1,[r4,#0x18]
        0x00006bc8:    f7fefed0    ....    BL       __0printf$5 ; 0x596c
        0x00006bcc:    a017        ..      ADR      r0,{pc}+0x60 ; 0x6c2c
        0x00006bce:    69e1        .i      LDR      r1,[r4,#0x1c]
        0x00006bd0:    f7fefecc    ....    BL       __0printf$5 ; 0x596c
        0x00006bd4:    bd10        ..      POP      {r4,pc}
    $d
        0x00006bd6:    0000        ..      DCW    0
        0x00006bd8:    20203072    r0      DCD    538980466
        0x00006bdc:    7830203d    = 0x    DCD    2016419901
        0x00006be0:    000a7825    %x..    DCD    686117
        0x00006be4:    20203172    r1      DCD    538980722
        0x00006be8:    7830203d    = 0x    DCD    2016419901
        0x00006bec:    000a7825    %x..    DCD    686117
        0x00006bf0:    20203272    r2      DCD    538980978
        0x00006bf4:    7830203d    = 0x    DCD    2016419901
        0x00006bf8:    000a7825    %x..    DCD    686117
        0x00006bfc:    20203372    r3      DCD    538981234
        0x00006c00:    7830203d    = 0x    DCD    2016419901
        0x00006c04:    000a7825    %x..    DCD    686117
        0x00006c08:    20323172    r12     DCD    540160370
        0x00006c0c:    7830203d    = 0x    DCD    2016419901
        0x00006c10:    000a7825    %x..    DCD    686117
        0x00006c14:    2020726c    lr      DCD    538997356
        0x00006c18:    7830203d    = 0x    DCD    2016419901
        0x00006c1c:    000a7825    %x..    DCD    686117
        0x00006c20:    20206370    pc      DCD    538993520
        0x00006c24:    7830203d    = 0x    DCD    2016419901
        0x00006c28:    000a7825    %x..    DCD    686117
        0x00006c2c:    20727370    psr     DCD    544371568
        0x00006c30:    7830203d    = 0x    DCD    2016419901
        0x00006c34:    000a7825    %x..    DCD    686117
    $t
    i.transfer
    transfer
        0x00006c38:    4904        .I      LDR      r1,[pc,#16] ; [0x6c4c] = 0x7fff
        0x00006c3a:    4288        .B      CMP      r0,r1
        0x00006c3c:    d904        ..      BLS      0x6c48 ; transfer + 16
        0x00006c3e:    1c49        I.      ADDS     r1,r1,#1
        0x00006c40:    1a40        @.      SUBS     r0,r0,r1
        0x00006c42:    43c0        .C      MVNS     r0,r0
        0x00006c44:    1c40        @.      ADDS     r0,r0,#1
        0x00006c46:    b280        ..      UXTH     r0,r0
        0x00006c48:    4770        pG      BX       lr
    $d
        0x00006c4a:    0000        ..      DCW    0
        0x00006c4c:    00007fff    ....    DCD    32767
    $d.realdata
    .constdata
        0x00006c50:    00000001    ....    DCD    1
        0x00006c54:    00000002    ....    DCD    2
        0x00006c58:    00000004    ....    DCD    4
        0x00006c5c:    00000008    ....    DCD    8
        0x00006c60:    00000010    ....    DCD    16
        0x00006c64:    00000001    ....    DCD    1
        0x00006c68:    00000001    ....    DCD    1
        0x00006c6c:    00000001    ....    DCD    1
    .constdata
        0x00006c70:    00b71b00    ....    DCD    12000000
        0x00006c74:    00008000    ....    DCD    32768
        0x00006c78:    00000000    ....    DCD    0
        0x00006c7c:    00b71b00    ....    DCD    12000000
        0x00006c80:    00b71b00    ....    DCD    12000000
        0x00006c84:    00008000    ....    DCD    32768
        0x00006c88:    00000000    ....    DCD    0
        0x00006c8c:    00b71b00    ....    DCD    12000000
    .constdata
        0x00006c90:    00b71b00    ....    DCD    12000000
        0x00006c94:    00008000    ....    DCD    32768
        0x00006c98:    00002710    .'..    DCD    10000
        0x00006c9c:    00000000    ....    DCD    0
    .constdata
        0x00006ca0:    01000100    ....    DCD    16777472
        0x00006ca4:    01000100    ....    DCD    16777472
        0x00006ca8:    01000100    ....    DCD    16777472
        0x00006cac:    00000000    ....    DCD    0
    .constdata
    atanhi
        0x00006cb0:    0561bb4f    O.a.    DCD    90291023
        0x00006cb4:    3fddac67    g..?    DCD    1071492199
        0x00006cb8:    54442d18    .-DT    DCD    1413754136
        0x00006cbc:    3fe921fb    .!.?    DCD    1072243195
        0x00006cc0:    d281f69b    ....    DCD    3531732635
        0x00006cc4:    3fef730b    .s.?    DCD    1072657163
        0x00006cc8:    54442d18    .-DT    DCD    1413754136
        0x00006ccc:    3ff921fb    .!.?    DCD    1073291771
    atanlo
        0x00006cd0:    222f65e2    .e/"    DCD    573531618
        0x00006cd4:    3c7a2b7f    .+z<    DCD    1014639487
        0x00006cd8:    33145c07    .\.3    DCD    856972295
        0x00006cdc:    3c81a626    &..<    DCD    1015129638
        0x00006ce0:    7af0cbbd    ...z    DCD    2062601149
        0x00006ce4:    3c700788    ..p<    DCD    1013974920
        0x00006ce8:    33145c07    .\.3    DCD    856972295
        0x00006cec:    3c91a626    &..<    DCD    1016178214
    aTodd
        0x00006cf0:    9998ebc4    ....    DCD    2576935876
        0x00006cf4:    bfc99999    ....    DCD    3217660313
        0x00006cf8:    fe231671    q.#.    DCD    4263712369
        0x00006cfc:    bfbc71c6    .q..    DCD    3216798150
        0x00006d00:    af749a6d    m.t.    DCD    2943654509
        0x00006d04:    bfb3b0f2    ....    DCD    3216224498
        0x00006d08:    52defd9a    ...R    DCD    1390345626
        0x00006d0c:    bfadde2d    -...    DCD    3215842861
        0x00006d10:    2c6a6c2f    /lj,    DCD    745172015
        0x00006d14:    bfa2b444    D...    DCD    3215111236
    aTeven
        0x00006d18:    5555550d    .UUU    DCD    1431655693
        0x00006d1c:    3fd55555    UU.?    DCD    1070945621
        0x00006d20:    920083ff    ....    DCD    2449507327
        0x00006d24:    3fc24924    $I.?    DCD    1069697316
        0x00006d28:    c54c206e    n L.    DCD    3310100590
        0x00006d2c:    3fb745cd    .E.?    DCD    1068975565
        0x00006d30:    a0d03d51    Q=..    DCD    2698001745
        0x00006d34:    3fb10d66    f..?    DCD    1068567910
        0x00006d38:    24760deb    ..v$    DCD    611716587
        0x00006d3c:    3fa97b4b    K{.?    DCD    1068071755
        0x00006d40:    e322da11    ..".    DCD    3810712081
        0x00006d44:    3f90ad3a    :..?    DCD    1066446138
    .constdata
    C
        0x00006d48:    5555554c    LUUU    DCD    1431655756
        0x00006d4c:    3fa55555    UU.?    DCD    1067799893
        0x00006d50:    16c15177    wQ..    DCD    381768055
        0x00006d54:    bf56c16c    l.V.    DCD    3210133868
        0x00006d58:    19cb1590    ....    DCD    432739728
        0x00006d5c:    3efa01a0    ...>    DCD    1056571808
        0x00006d60:    809c52ad    .R..    DCD    2157728429
        0x00006d64:    be927e4f    O~..    DCD    3197271631
        0x00006d68:    bdb4b1c4    ....    DCD    3182735812
        0x00006d6c:    3e21ee9e    ..!>    DCD    1042411166
        0x00006d70:    be8838d4    .8..    DCD    3196598484
        0x00006d74:    bda8fae9    ....    DCD    3181968105
    .constdata
    __mathlib_zero
        0x00006d78:    00000000    ....    DCD    0
        0x00006d7c:    00000000    ....    DCD    0
    .constdata
    pio2s
        0x00006d80:    54400000    ..@T    DCD    1413480448
        0x00006d84:    3ff921fb    .!.?    DCD    1073291771
        0x00006d88:    1a626331    1cb.    DCD    442655537
        0x00006d8c:    3dd0b461    a..=    DCD    1037087841
        0x00006d90:    1a600000    ..`.    DCD    442499072
        0x00006d94:    3dd0b461    a..=    DCD    1037087841
        0x00006d98:    2e037073    sp..    DCD    771977331
        0x00006d9c:    3ba3198a    ...;    DCD    1000544650
        0x00006da0:    2e000000    ....    DCD    771751936
        0x00006da4:    3ba3198a    ...;    DCD    1000544650
        0x00006da8:    252049c1    .I %    DCD    622873025
        0x00006dac:    397b839a    ..{9    DCD    964395930
    twooverpi
        0x00006db0:    00000000    ....    DCD    0
        0x00006db4:    00000000    ....    DCD    0
        0x00006db8:    a2f9836e    n...    DCD    2734261102
        0x00006dbc:    4e441529    ).DN    DCD    1313084713
        0x00006dc0:    fc2757d1    .W'.    DCD    4230436817
        0x00006dc4:    f534ddc0    ..4.    DCD    4113882560
        0x00006dc8:    db629599    ..b.    DCD    3680671129
        0x00006dcc:    3c439041    A.C<    DCD    1011060801
        0x00006dd0:    fe5163ab    .cQ.    DCD    4266746795
        0x00006dd4:    debbc561    a...    DCD    3736847713
        0x00006dd8:    b7246e3a    :n$.    DCD    3072618042
        0x00006ddc:    424dd2e0    ..MB    DCD    1112396512
        0x00006de0:    06492eea    ..I.    DCD    105459434
        0x00006de4:    09d1921c    ....    DCD    164729372
        0x00006de8:    fe1deb1c    ....    DCD    4263373596
        0x00006dec:    b129a73e    >.).    DCD    2972297022
        0x00006df0:    e88235f5    .5..    DCD    3900847605
        0x00006df4:    2ebb4484    .D..    DCD    784024708
        0x00006df8:    e99c7026    &p..    DCD    3919343654
        0x00006dfc:    b45f7e41    A~_.    DCD    3026157121
        0x00006e00:    3991d639    9..9    DCD    965858873
        0x00006e04:    835339f4    .9S.    DCD    2203269620
        0x00006e08:    9c845f8b    ._..    DCD    2625920907
        0x00006e0c:    bdf9283b    ;(..    DCD    3187222587
        0x00006e10:    1ff897ff    ....    DCD    536385535
        0x00006e14:    de05980f    ....    DCD    3724908559
        0x00006e18:    ef2f118b    ../.    DCD    4012839307
        0x00006e1c:    5a0a6d1f    .m.Z    DCD    1510632735
        0x00006e20:    6d367ecf    .~6m    DCD    1832287951
        0x00006e24:    27cb09b7    ...'    DCD    667617719
        0x00006e28:    4f463f66    f?FO    DCD    1330003814
        0x00006e2c:    9e5fea2d    -._.    DCD    2657085997
        0x00006e30:    7527bac7    ..'u    DCD    1965537991
        0x00006e34:    ebe5f17b    {...    DCD    3957715323
        0x00006e38:    3d0739f7    .9.=    DCD    1023883767
        0x00006e3c:    8a5292ea    ..R.    DCD    2320667370
        0x00006e40:    6bfb5fb1    ._.k    DCD    1811636145
        0x00006e44:    1f8d5d08    .]..    DCD    529358088
    .constdata
    S
        0x00006e48:    1110f8a6    ....    DCD    286324902
        0x00006e4c:    3f811111    ...?    DCD    1065423121
        0x00006e50:    19c161d5    .a..    DCD    432103893
        0x00006e54:    bf2a01a0    ..*.    DCD    3207201184
        0x00006e58:    57b1fe7d    }..W    DCD    1471282813
        0x00006e5c:    3ec71de3    ...>    DCD    1053236707
        0x00006e60:    8a2b9ceb    ..+.    DCD    2318114027
        0x00006e64:    be5ae5e6    ..Z.    DCD    3193628134
        0x00006e68:    5acfd57c    |..Z    DCD    1523570044
        0x00006e6c:    3de5d93a    :..=    DCD    1038473530
    Region$$Table$$Base
        0x00006e70:    00006e90    .n..    DCD    28304
        0x00006e74:    20000000    ...     DCD    536870912
        0x00006e78:    0000019c    ....    DCD    412
        0x00006e7c:    0000607c    |`..    DCD    24700
        0x00006e80:    0000702c    ,p..    DCD    28716
        0x00006e84:    2000019c    ...     DCD    536871324
        0x00006e88:    00001acc    ....    DCD    6860
        0x00006e8c:    0000608c    .`..    DCD    24716
    Region$$Table$$Limit

** Section #2 'ER_RW' (SHT_PROGBITS) [SHF_ALLOC + SHF_WRITE]
    Size   : 412 bytes (alignment 4)
    Address: 0x20000000


** Section #3 'ER_ZI' (SHT_NOBITS) [SHF_ALLOC + SHF_WRITE]
    Size   : 6860 bytes (alignment 8)
    Address: 0x2000019c


** Section #4 '.debug_abbrev' (SHT_PROGBITS)
    Size   : 1476 bytes


** Section #5 '.debug_frame' (SHT_PROGBITS)
    Size   : 7824 bytes


** Section #6 '.debug_info' (SHT_PROGBITS)
    Size   : 97700 bytes


** Section #7 '.debug_line' (SHT_PROGBITS)
    Size   : 28876 bytes


** Section #8 '.debug_loc' (SHT_PROGBITS)
    Size   : 10788 bytes


** Section #9 '.debug_macinfo' (SHT_PROGBITS)
    Size   : 602868 bytes


** Section #10 '.debug_pubnames' (SHT_PROGBITS)
    Size   : 8261 bytes


** Section #11 '.symtab' (SHT_SYMTAB)
    Size   : 16704 bytes (alignment 4)
    String table #12 '.strtab'
    Last local symbol no. 566


** Section #12 '.strtab' (SHT_STRTAB)
    Size   : 11392 bytes


** Section #13 '.note' (SHT_NOTE)
    Size   : 28 bytes (alignment 4)


** Section #14 '.comment' (SHT_PROGBITS)
    Size   : 20524 bytes


** Section #15 '.shstrtab' (SHT_STRTAB)
    Size   : 156 bytes


