AGV / agv_gelinmei · Files

; generated by Component: ARM Compiler 5.06 update 6 (build 750) Tool: ArmCC [4d3637]
; commandline ArmCC [--c99 --list --split_sections --debug -c --asm --interleave -o.\flash\obj\paramater.o --asm_dir=.\Flash\List\ --list_dir=.\Flash\List\ --depend=.\flash\obj\paramater.d --cpu=Cortex-M4.fp --apcs=interwork -O1 --diag_suppress=9931,870 -I..\..\Libraries\CMSIS\Include -I..\..\Libraries\CMSIS\Device\ST\STM32F4xx\Include -I..\..\Libraries\STM32F4xx_StdPeriph_Driver\inc -I..\..\uCOS-III\uC-CPU -I..\..\uCOS-III\uC-LIB -I..\..\uCOS-III\uCOS-III\Ports -I..\..\uCOS-III\uCOS-III\Source -I..\..\uCOS-III\uC-CPU\ARM-Cortex-M4\RealView -I..\..\uCOS-III\uC-LIB\Ports\ARM-Cortex-M4\RealView -I..\..\uCOS-III\uCOS-III\Ports\ARM-Cortex-M4\Generic\RealView -I..\..\User -I..\..\User\bsp -I..\..\User\bsp\inc -I..\..\User\libapp -I..\..\RL-ARM\Config -I..\..\RL-ARM\Driver -I..\..\RL-ARM\RL-RTX\inc -I..\..\User\bsp\BSP -I..\..\RL-ARM\RL-CAN -I..\..\Libraries\DSP_LIB\Include -I..\..\MODBUS\modbus\rtu -I..\..\MODBUS\BARE\port -I..\..\MODBUS\modbus\include -I..\..\User\bsp\BSP -I..\..\PLC -I..\..\Avoid -I..\..\User\parameter -I..\..\User\LaserMotionCtr -I..\..\User\W5100S -I..\..\User\bsp -I..\..\User\CHASSIS -I..\..\User\CONTROLFUNCTION -I..\..\User\DATAUPDATE -I..\..\User\HARAWARE -I..\..\User\MOTORDRIVER -I..\..\User\NAVAGATION -I..\..\User\PLATFORM -I..\..\User\SENSOR -I.\RTE\_Flash -IC:\Users\YDJ\AppData\Local\Arm\Packs\ARM\CMSIS\5.5.1\CMSIS\Core\Include -IC:\Users\YDJ\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.13.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include -D__UVISION_VERSION=527 -D_RTE_ -DSTM32F407xx -DUSE_STDPERIPH_DRIVER -DSTM32F40_41xxx -D__RTX -D__FPU_USED=1 --omf_browse=.\flash\obj\paramater.crf ..\..\User\DATAUPDATE\Paramater.c]
                          THUMB

                          AREA ||i.InitParamater||, CODE, READONLY, ALIGN=1

                  InitParamater PROC
;;;75     }
;;;76     void InitParamater()
000000  b510              PUSH     {r4,lr}
;;;77     {
;;;78     	initPidData();
000002  f7fffffe          BL       initPidData
;;;79     	initAgvData();
000006  e8bd4010          POP      {r4,lr}
00000a  f7ffbffe          B.W      initAgvData
;;;80     }
;;;81     
                          ENDP


                          AREA ||i.clearPathInfomation||, CODE, READONLY, ALIGN=2

                  clearPathInfomation PROC
;;;81     
;;;82     void clearPathInfomation()
000000  b510              PUSH     {r4,lr}
;;;83     {
;;;84         static int i = 0;
;;;85     
;;;86         agv.Command.standSiteID = 1; //执行点位置1复位
000002  4809              LDR      r0,|L2.40|
000004  2101              MOVS     r1,#1
000006  7581              STRB     r1,[r0,#0x16]
;;;87     
;;;88         agv.Public.i_UpdatePathSig = 1; //路径更新标志置1复位
000008  f8801093          STRB     r1,[r0,#0x93]
;;;89     
;;;90         Reset_Alarm(0x0208); //清除脱线,停稳，系统停车
00000c  f44f7002          MOV      r0,#0x208
000010  f7fffffe          BL       Reset_Alarm
;;;91     
;;;92     		//跑单机时不用
;;;93     		#if P_SETUP_SINGLE_PLAYER == 0
;;;94             //清除路径和到达站点停车标志
;;;95         memset(&traffic_land_marks, 0, sizeof(traffic_land_marks)); //清除所有路径信息
000014  f240619c          MOV      r1,#0x69c
000018  4804              LDR      r0,|L2.44|
00001a  f7fffffe          BL       __aeabi_memclr4
;;;96         SetAlarm(0x0040);                                           //手动模式下给一个系统停车报警代码，方便系统下发路径指令
00001e  e8bd4010          POP      {r4,lr}
000022  2040              MOVS     r0,#0x40
000024  f7ffbffe          B.W      SetAlarm
;;;97     		#endif
;;;98     }
;;;99     
                          ENDP

                  |L2.40|
                          DCD      ||.bss||
                  |L2.44|
                          DCD      traffic_land_marks

                          AREA ||i.initAgvData||, CODE, READONLY, ALIGN=2

                  initAgvData PROC
;;;47     
;;;48     void initAgvData()
000000  b510              PUSH     {r4,lr}
;;;49     {
;;;50     	Y10(1);//自动充电关闭
000002  2101              MOVS     r1,#1
000004  2009              MOVS     r0,#9
000006  f7fffffe          BL       GPIO_SetOutput_24V
;;;51     	Uart_Printf(COM1, "参数初始化\r\n");
00000a  a115              ADR      r1,|L3.96|
00000c  2001              MOVS     r0,#1
00000e  f7fffffe          BL       Uart_Printf
;;;52     	
;;;53     	agv.Command.standSiteID = 1;
000012  4817              LDR      r0,|L3.112|
000014  2101              MOVS     r1,#1
000016  7481              STRB     r1,[r0,#0x12]
;;;54     	agv.Command.Au_Hand = 1;
000018  7001              STRB     r1,[r0,#0]
;;;55     	agv.Public.i_StartSig = 0;
00001a  2200              MOVS     r2,#0
00001c  f880205d          STRB     r2,[r0,#0x5d]
;;;56     	agv.Public.i_StopSig = 0;
000020  f880205e          STRB     r2,[r0,#0x5e]
;;;57     	agv.Public.i_UpdatePathSig = 1;
000024  f880108f          STRB     r1,[r0,#0x8f]
;;;58     
;;;59     	
;;;60     	agv.Parameter.HandSpeed 			= 500;//手动速度  你看调多少  按比例
000028  f44f73fa          MOV      r3,#0x1f4
00002c  8703              STRH     r3,[r0,#0x38]
;;;61     	agv.Parameter.HandTurnSpeed 	= 100;//100
00002e  2364              MOVS     r3,#0x64
000030  87c3              STRH     r3,[r0,#0x3e]
;;;62     	agv.Parameter.HandSpeedSlope 	= 1;
000032  8741              STRH     r1,[r0,#0x3a]
;;;63     	agv.Parameter.AutoSpeedSlope 	= 5;
000034  2305              MOVS     r3,#5
000036  8783              STRH     r3,[r0,#0x3c]
;;;64     
;;;65     	agv.Command.LaserState 					= 0;
000038  8142              STRH     r2,[r0,#0xa]
;;;66     	agv.Parameter.AdvanceParkPos 		= 1000;//预停车距离100
00003a  f44f737a          MOV      r3,#0x3e8
00003e  8683              STRH     r3,[r0,#0x34]
;;;67     	agv.Parameter.AdvanceParkSpeed	= 80;//预停车速度20
000040  2350              MOVS     r3,#0x50
000042  8643              STRH     r3,[r0,#0x32]
;;;68     	agv.Parameter.OnlyAnglePos 			= 0;//只纠偏角度距离
000044  86c2              STRH     r2,[r0,#0x36]
;;;69     	agv.Parameter.LiftSpeed		= 60; //举升速度600
000046  223c              MOVS     r2,#0x3c
000048  f8a02040          STRH     r2,[r0,#0x40]
;;;70     	agv.Command.Barrier_ONOFF = 1;
00004c  7181              STRB     r1,[r0,#6]
;;;71     	agv.Command.Vol 				= 15;
00004e  220f              MOVS     r2,#0xf
000050  8102              STRH     r2,[r0,#8]
;;;72     	agv.Command.Music_ONOFF = 1;
000052  71c1              STRB     r1,[r0,#7]
;;;73     	agv.Command.LaserArea = 1;
000054  8201              STRH     r1,[r0,#0x10]
;;;74     	agv.Parameter.AGVID = 0xA003;
000056  f24a0103          MOV      r1,#0xa003
00005a  8601              STRH     r1,[r0,#0x30]
;;;75     }
00005c  bd10              POP      {r4,pc}
;;;76     void InitParamater()
                          ENDP

00005e  0000              DCW      0x0000
                  |L3.96|
000060  b2cecafd          DCB      178,206,202,253,179,245,202,188,187,175,"\r\n",0
000064  b3f5cabc
000068  bbaf0d0a
00006c  00      
00006d  00                DCB      0
00006e  00                DCB      0
00006f  00                DCB      0
                  |L3.112|
                          DCD      ||.bss||+0x4

                          AREA ||i.initPathInfo||, CODE, READONLY, ALIGN=2

                  initPathInfo PROC
;;;543    #elif P_SETUP_SINGLE_PLAYER == 0
;;;544    void initPathInfo()
000000  b510              PUSH     {r4,lr}
;;;545    {
;;;546        memset(&traffic_land_marks,0,sizeof(traffic_land_marks));
000002  f240619c          MOV      r1,#0x69c
000006  4804              LDR      r0,|L4.24|
000008  f7fffffe          BL       __aeabi_memclr4
;;;547    	SetAlarm(0x0044);
00000c  e8bd4010          POP      {r4,lr}
000010  2044              MOVS     r0,#0x44
000012  f7ffbffe          B.W      SetAlarm
;;;548    }
;;;549    #endif
                          ENDP

000016  0000              DCW      0x0000
                  |L4.24|
                          DCD      traffic_land_marks

                          AREA ||i.initPidData||, CODE, READONLY, ALIGN=2

                  initPidData PROC
;;;15     
;;;16     void initPidData()
000000  4822              LDR      r0,|L5.140|
;;;17     {
;;;18     	navi.PIDPara[0].Kp 						  = 0.25;//高速
000002  eeb50a00          VMOV.F32 s0,#0.25000000
000006  ed800a0e          VSTR     s0,[r0,#0x38]
;;;19     	navi.PIDPara[0].Ki 						  = 0;
00000a  ed9f0a21          VLDR     s0,|L5.144|
00000e  ed800a0f          VSTR     s0,[r0,#0x3c]
;;;20     	navi.PIDPara[0].Kd 						  = 0.3;
000012  eddf0a20          VLDR     s1,|L5.148|
000016  edc00a10          VSTR     s1,[r0,#0x40]
;;;21     	navi.PIDPara[0].PosCofficient 	  = 1;
00001a  eeb71a00          VMOV.F32 s2,#1.00000000
00001e  ed801a11          VSTR     s2,[r0,#0x44]
;;;22     	navi.PIDPara[0].AngleCofficient  = 12;
000022  eef20a08          VMOV.F32 s1,#12.00000000
000026  edc00a12          VSTR     s1,[r0,#0x48]
;;;23     	navi.PIDPara[0].MaxLimit 				= 40;
00002a  eddf0a1b          VLDR     s1,|L5.152|
00002e  edc00a13          VSTR     s1,[r0,#0x4c]
;;;24     	
;;;25     	navi.PIDPara[1].Kp 						  = 0.5;//低速
000032  eef61a00          VMOV.F32 s3,#0.50000000
000036  edc01a14          VSTR     s3,[r0,#0x50]
;;;26     	navi.PIDPara[1].Ki 						  = 0;
00003a  ed800a15          VSTR     s0,[r0,#0x54]
;;;27     	navi.PIDPara[1].Kd 						  = 0;
00003e  ed800a16          VSTR     s0,[r0,#0x58]
;;;28     	navi.PIDPara[1].PosCofficient 	  = 1;
000042  ed801a17          VSTR     s2,[r0,#0x5c]
;;;29     	navi.PIDPara[1].AngleCofficient  =10;
000046  eeb22a04          VMOV.F32 s4,#10.00000000
00004a  ed802a18          VSTR     s4,[r0,#0x60]
;;;30     	navi.PIDPara[1].MaxLimit 				= 40;
00004e  edc00a19          VSTR     s1,[r0,#0x64]
;;;31     	
;;;32     	navi.PIDPara[2].Kp 						  = 0.5;
000052  edc01a1a          VSTR     s3,[r0,#0x68]
;;;33     	navi.PIDPara[2].Ki 						  = 0;
000056  ed800a1b          VSTR     s0,[r0,#0x6c]
;;;34     	navi.PIDPara[2].Kd 						  = 0;
00005a  ed800a1c          VSTR     s0,[r0,#0x70]
;;;35     	navi.PIDPara[2].PosCofficient 	  = 1;
00005e  ed801a1d          VSTR     s2,[r0,#0x74]
;;;36     	navi.PIDPara[2].AngleCofficient  = 15;
000062  eeb21a0e          VMOV.F32 s2,#15.00000000
000066  ed801a1e          VSTR     s2,[r0,#0x78]
;;;37     	navi.PIDPara[2].MaxLimit 				= 40;
00006a  edc00a1f          VSTR     s1,[r0,#0x7c]
;;;38     	
;;;39     	navi.PIDPara[3].Kp 						  = 0.35;
00006e  eddf1a0b          VLDR     s3,|L5.156|
000072  edc01a20          VSTR     s3,[r0,#0x80]
;;;40     	navi.PIDPara[3].Ki 						  = 0;
000076  ed800a21          VSTR     s0,[r0,#0x84]
;;;41     	navi.PIDPara[3].Kd 						  = 0;
00007a  ed800a22          VSTR     s0,[r0,#0x88]
;;;42     	navi.PIDPara[3].PosCofficient 	  = 0;
00007e  ed800a23          VSTR     s0,[r0,#0x8c]
;;;43     	navi.PIDPara[3].AngleCofficient  = 15;
000082  ed801a24          VSTR     s2,[r0,#0x90]
;;;44     	navi.PIDPara[3].MaxLimit 				= 40;
000086  edc00a25          VSTR     s1,[r0,#0x94]
;;;45     }
00008a  4770              BX       lr
;;;46     
                          ENDP

                  |L5.140|
                          DCD      ||.bss||+0xc0
                  |L5.144|
000090  00000000          DCFS     0x00000000 ; 0
                  |L5.148|
000094  3e99999a          DCFS     0x3e99999a ; 0.30000001192092896
                  |L5.152|
000098  42200000          DCFS     0x42200000 ; 40
                  |L5.156|
00009c  3eb33333          DCFS     0x3eb33333 ; 0.34999999403953552

                          AREA ||i.reportRPTPose||, CODE, READONLY, ALIGN=2

                  reportRPTPose PROC
;;;872    extern float CurAngle;
;;;873    void reportRPTPose(u16 IntervalTime)
000000  e92d4ff0          PUSH     {r4-r11,lr}
;;;874    {
000004  ed2d8b02          VPUSH    {d8}
000008  b0af              SUB      sp,sp,#0xbc
;;;875        static int LastTime1 = 0, LastTime2 = 0, StopOKFlag = 0;
;;;876        static u8 Shift1State = 0, Shift2State = 0;
;;;877        static char CurDir = 'f';
;;;878        if (agv.Public.Error_Flag & 0x200)
00000a  4b90              LDR      r3,|L6.588|
;;;879            StopOKFlag = 1;
00000c  4a90              LDR      r2,|L6.592|
00000e  f8d31080          LDR      r1,[r3,#0x80]         ;878  ; agv
000012  912d              STR      r1,[sp,#0xb4]         ;878
000014  0589              LSLS     r1,r1,#22             ;878
000016  d502              BPL      |L6.30|
000018  2101              MOVS     r1,#1
00001a  6091              STR      r1,[r2,#8]  ; StopOKFlag
00001c  e001              B        |L6.34|
                  |L6.30|
;;;880        else
;;;881            StopOKFlag = 0;
00001e  2100              MOVS     r1,#0
000020  6091              STR      r1,[r2,#8]  ; StopOKFlag
                  |L6.34|
;;;882    
;;;883        if (agv.Public.SystemTime - LastTime1 >= IntervalTime)
000022  f8d310bc          LDR      r1,[r3,#0xbc]  ; agv
000026  6854              LDR      r4,[r2,#4]  ; LastTime1
000028  1b0c              SUBS     r4,r1,r4
00002a  4284              CMP      r4,r0
00002c  d37e              BCC      |L6.300|
;;;884        {
;;;885            LastTime1 = agv.Public.SystemTime;
00002e  6051              STR      r1,[r2,#4]  ; LastTime1
;;;886            //上报方向换向
;;;887            if (agv.Command.CurDirection == 1 || agv.Command.CurDirection == 3 || agv.Command.CurDirection == 4 || agv.Command.CurDirection == 7 || agv.Command.CurDirection == 8)
000030  f893801c          LDRB     r8,[r3,#0x1c]  ; agv
000034  f1b80f01          CMP      r8,#1
000038  d01b              BEQ      |L6.114|
00003a  f1b80f03          CMP      r8,#3
00003e  d018              BEQ      |L6.114|
000040  f1b80f04          CMP      r8,#4
000044  d015              BEQ      |L6.114|
000046  f1b80f07          CMP      r8,#7
00004a  d012              BEQ      |L6.114|
00004c  f1b80f08          CMP      r8,#8
000050  d00f              BEQ      |L6.114|
;;;888                CurDir = 'f';
;;;889            else if (agv.Command.CurDirection == 2 || agv.Command.CurDirection == 5 || agv.Command.CurDirection == 6 || agv.Command.CurDirection == 9 || agv.Command.CurDirection == 10)
000052  f1b80f02          CMP      r8,#2
000056  d00f              BEQ      |L6.120|
000058  f1b80f05          CMP      r8,#5
00005c  d00c              BEQ      |L6.120|
00005e  f1b80f06          CMP      r8,#6
000062  d009              BEQ      |L6.120|
000064  f1b80f09          CMP      r8,#9
000068  d006              BEQ      |L6.120|
00006a  f1b80f0a          CMP      r8,#0xa
00006e  d003              BEQ      |L6.120|
000070  e004              B        |L6.124|
                  |L6.114|
000072  2066              MOVS     r0,#0x66              ;888
000074  7010              STRB     r0,[r2,#0]            ;888
000076  e001              B        |L6.124|
                  |L6.120|
;;;890                CurDir = 'b';
000078  2062              MOVS     r0,#0x62
00007a  7010              STRB     r0,[r2,#0]
                  |L6.124|
;;;891            if (CurDir == 'f')
00007c  4874              LDR      r0,|L6.592|
;;;892            {
;;;893    					Create_BodyTreaty(false, et_smtagv, sort_Send, ct_rptpos, ParameterTransform("%d_%d_%0.2f::%d::%d::%s::%d::%04x::%d::%d::%d::%d::%d::%d::%d::%d::%.1f_%.1f::%.1f_%.1f::%d_%d_%d::%d_%d::%d_%d",
00007e  4976              LDR      r1,|L6.600|
000080  4c77              LDR      r4,|L6.608|
000082  7802              LDRB     r2,[r0,#0]            ;891  ; CurDir
000084  4875              LDR      r0,|L6.604|
000086  6809              LDR      r1,[r1,#0]
000088  912c              STR      r1,[sp,#0xb0]
00008a  ed900a00          VLDR     s0,[r0,#0]
00008e  4d75              LDR      r5,|L6.612|
000090  486e              LDR      r0,|L6.588|
000092  eebd8ac0          VCVT.S32.F32 s16,s0
000096  ed940a00          VLDR     s0,[r4,#0]
00009a  7d81              LDRB     r1,[r0,#0x16]
00009c  f8d5b004          LDR      r11,[r5,#4]
0000a0  912b              STR      r1,[sp,#0xac]
0000a2  4974              LDR      r1,|L6.628|
0000a4  f8dfc1c0          LDR      r12,|L6.616|
0000a8  f8df91c0          LDR      r9,|L6.620|
0000ac  7e49              LDRB     r1,[r1,#0x19]
0000ae  912a              STR      r1,[sp,#0xa8]
0000b0  f8dc1018          LDR      r1,[r12,#0x18]
0000b4  9129              STR      r1,[sp,#0xa4]
0000b6  f8d91014          LDR      r1,[r9,#0x14]
0000ba  9128              STR      r1,[sp,#0xa0]
0000bc  68a1              LDR      r1,[r4,#8]
0000be  9127              STR      r1,[sp,#0x9c]
0000c0  7869              LDRB     r1,[r5,#1]
0000c2  9126              STR      r1,[sp,#0x98]
0000c4  7901              LDRB     r1,[r0,#4]
0000c6  4e6a              LDR      r6,|L6.624|
0000c8  9125              STR      r1,[sp,#0x94]
0000ca  6800              LDR      r0,[r0,#0]
0000cc  9024              STR      r0,[sp,#0x90]
0000ce  4f61              LDR      r7,|L6.596|
0000d0  6830              LDR      r0,[r6,#0]
0000d2  9023              STR      r0,[sp,#0x8c]
0000d4  6870              LDR      r0,[r6,#4]
0000d6  9022              STR      r0,[sp,#0x88]
0000d8  f1a7030c          SUB      r3,r7,#0xc
0000dc  eefd8ac0          VCVT.S32.F32 s17,s0
0000e0  e9d3a900          LDRD     r10,r9,[r3,#0]
0000e4  683e              LDR      r6,[r7,#0]            ;891
0000e6  2a66              CMP      r2,#0x66              ;891
0000e8  d058              BEQ      |L6.412|
;;;894    																																												 Camera.XCoordingData, Camera.YCoordingData,CurAngle,
;;;895                                                                                             1,                        //地图号
;;;896                                                                                             agv.Command.SetBaseSpeed, //速度
;;;897                                                                                             "f",                      //方向
;;;898                                                                                             1,                        //激光避障区域
;;;899                                                                                             agv.Public.Error_Flag,
;;;900                                                                                             agv.Command.Au_Hand,                      //手自动
;;;901                                                                                             traffic_land_marks.ChargingState,         //充电状态
;;;902                                                                                             (int)KincoStruct1.voltage, //电压
;;;903                                                                                             1,                                        //定位状态
;;;904                                                                                             Lifter1.liftState,           //举升状态0最低点1最高点2举升过程中
;;;905                                                                                             Rotate1.rotateState, //旋转状态 0旋转完成（静止）1旋转中
;;;906    																																												 CameraTwo.UpdataFlag,						//物料状态  0没料 1有料
;;;907                                                                                             StopOKFlag,                   //停稳信号1停稳
;;;908    																																												 StartPoint.TarX,
;;;909    																																												 StartPoint.TarY,
;;;910    																																												 TargetPoint.TarX,
;;;911    																																												 TargetPoint.TarX,
;;;912    																																												 agv.Command.CurDirection,
;;;913    																																												 agv.Command.standSiteID,
;;;914    																																												 traffic_land_marks.size,
;;;915    																																												 (int)KincoStruct1.setSpeed,
;;;916    																																												 (int)KincoStruct2.setSpeed,
;;;917    																																												 CameraTwo.Number,
;;;918    																																												 (int)CameraTwo.angle
;;;919                                                                                             ));
;;;920            }
;;;921            else
;;;922            {
;;;923                Create_BodyTreaty(false, et_smtagv, sort_Send, ct_rptpos, ParameterTransform("%d_%d_%0.2f::%d::%d::%s::%d::%04x::%d::%d::%d::%d::%d::%d::%d::%d::%.1f_%.1f::%.1f_%.1f::%d_%d_%d::%d_%d",
0000ea  4630              MOV      r0,r6
0000ec  f7fffffe          BL       __aeabi_f2d
0000f0  4604              MOV      r4,r0
0000f2  460d              MOV      r5,r1
0000f4  4630              MOV      r0,r6
0000f6  f7fffffe          BL       __aeabi_f2d
0000fa  4606              MOV      r6,r0
0000fc  460f              MOV      r7,r1
0000fe  4648              MOV      r0,r9
000100  f7fffffe          BL       __aeabi_f2d
000104  e9cd0120          STRD     r0,r1,[sp,#0x80]
000108  4650              MOV      r0,r10
00010a  f7fffffe          BL       __aeabi_f2d
00010e  4681              MOV      r9,r0
000110  468a              MOV      r10,r1
000112  982c              LDR      r0,[sp,#0xb0]
000114  f7fffffe          BL       __aeabi_f2d
000118  4602              MOV      r2,r0
00011a  982b              LDR      r0,[sp,#0xac]
00011c  e9cd0b19          STRD     r0,r11,[sp,#0x64]
000120  edcd8a1b          VSTR     s17,[sp,#0x6c]
000124  460b              MOV      r3,r1
000126  ed8d8a1c          VSTR     s16,[sp,#0x70]
00012a  e000              B        |L6.302|
                  |L6.300|
00012c  e031              B        |L6.402|
                  |L6.302|
00012e  e9cd5817          STRD     r5,r8,[sp,#0x5c]
000132  9416              STR      r4,[sp,#0x58]
000134  e9dd0120          LDRD     r0,r1,[sp,#0x80]
000138  e9cd6714          STRD     r6,r7,[sp,#0x50]
00013c  e9cd0112          STRD     r0,r1,[sp,#0x48]
000140  e9cd9a10          STRD     r9,r10,[sp,#0x40]
000144  4842              LDR      r0,|L6.592|
000146  e9dd1428          LDRD     r1,r4,[sp,#0xa0]
00014a  6885              LDR      r5,[r0,#8]  ; StopOKFlag
00014c  982a              LDR      r0,[sp,#0xa8]
00014e  e9cd050d          STRD     r0,r5,[sp,#0x34]
000152  e9cd140b          STRD     r1,r4,[sp,#0x2c]
000156  e9dd4525          LDRD     r4,r5,[sp,#0x94]
00015a  9927              LDR      r1,[sp,#0x9c]
00015c  e9cd4507          STRD     r4,r5,[sp,#0x1c]
000160  2001              MOVS     r0,#1
000162  e9cd1009          STRD     r1,r0,[sp,#0x24]
000166  a544              ADR      r5,|L6.632|
000168  9c24              LDR      r4,[sp,#0x90]
00016a  992d              LDR      r1,[sp,#0xb4]
00016c  e9cd5004          STRD     r5,r0,[sp,#0x10]
000170  e9cd2300          STRD     r2,r3,[sp,#0]
000174  e9cd0402          STRD     r0,r4,[sp,#8]
000178  9106              STR      r1,[sp,#0x18]
00017a  e9dd2122          LDRD     r2,r1,[sp,#0x88]
00017e  483f              LDR      r0,|L6.636|
000180  f7fffffe          BL       ParameterTransform
000184  2200              MOVS     r2,#0
000186  9000              STR      r0,[sp,#0]
000188  2314              MOVS     r3,#0x14
00018a  4611              MOV      r1,r2
00018c  4610              MOV      r0,r2
00018e  f7fffffe          BL       Create_BodyTreaty
                  |L6.402|
;;;924    																																												 Camera.XCoordingData, Camera.YCoordingData,CurAngle,
;;;925                                                                                             1,                        //地图号
;;;926                                                                                             agv.Command.SetBaseSpeed, //速度
;;;927                                                                                             "b",                      //方向
;;;928                                                                                             1,                        //激光避障区域
;;;929                                                                                             agv.Public.Error_Flag,
;;;930                                                                                             agv.Command.Au_Hand,                      //手自动
;;;931                                                                                             traffic_land_marks.ChargingState,         //充电状态
;;;932                                                                                             (int)KincoStruct1.voltage, //电压
;;;933                                                                                             1,                                        //定位状态
;;;934                                                                                             Lifter1.liftState,           //举升状态0最低点1最高点2举升过程中
;;;935                                                                                             Rotate1.rotateState, //旋转状态 0旋转完成（静止）1旋转中
;;;936    																																												 CameraTwo.UpdataFlag,						//物料状态  0没料 1有料
;;;937                                                                                             StopOKFlag,                   //停稳信号1停稳
;;;938    																																												 StartPoint.TarX,
;;;939    																																												 StartPoint.TarY,
;;;940    																																												 TargetPoint.TarX,
;;;941    																																												 TargetPoint.TarX,
;;;942    																																												 agv.Command.CurDirection,
;;;943    																																												 agv.Command.standSiteID,
;;;944    																																												 traffic_land_marks.size,
;;;945    																																												 (int)KincoStruct1.setSpeed,
;;;946    																																												 (int)KincoStruct2.setSpeed
;;;947                                                                                             ));
;;;948            }
;;;949        }
;;;950    }
000192  b02f              ADD      sp,sp,#0xbc
000194  ecbd8b02          VPOP     {d8}
000198  e8bd8ff0          POP      {r4-r11,pc}
                  |L6.412|
00019c  4630              MOV      r0,r6                 ;893
00019e  f7fffffe          BL       __aeabi_f2d
0001a2  4604              MOV      r4,r0                 ;893
0001a4  460d              MOV      r5,r1                 ;893
0001a6  4630              MOV      r0,r6                 ;893
0001a8  f7fffffe          BL       __aeabi_f2d
0001ac  e9cd0120          STRD     r0,r1,[sp,#0x80]      ;893
0001b0  4648              MOV      r0,r9                 ;893
0001b2  f7fffffe          BL       __aeabi_f2d
0001b6  4606              MOV      r6,r0                 ;893
0001b8  460f              MOV      r7,r1                 ;893
0001ba  4650              MOV      r0,r10                ;893
0001bc  f7fffffe          BL       __aeabi_f2d
0001c0  4681              MOV      r9,r0                 ;893
0001c2  468a              MOV      r10,r1                ;893
0001c4  982c              LDR      r0,[sp,#0xb0]         ;893
0001c6  f7fffffe          BL       __aeabi_f2d
0001ca  4a2a              LDR      r2,|L6.628|
0001cc  ed920a04          VLDR     s0,[r2,#0x10]         ;893
0001d0  69d2              LDR      r2,[r2,#0x1c]         ;893  ; CameraTwo
0001d2  edcd8a1b          VSTR     s17,[sp,#0x6c]        ;893
0001d6  eebd0ac0          VCVT.S32.F32 s0,s0                 ;893
0001da  ed8d8a1c          VSTR     s16,[sp,#0x70]        ;893
0001de  921d              STR      r2,[sp,#0x74]         ;893
0001e0  ed8d0a1e          VSTR     s0,[sp,#0x78]         ;893
0001e4  9a2b              LDR      r2,[sp,#0xac]         ;893
0001e6  e9cd2b19          STRD     r2,r11,[sp,#0x64]     ;893
0001ea  e9cd5817          STRD     r5,r8,[sp,#0x5c]      ;893
0001ee  9416              STR      r4,[sp,#0x58]         ;893
0001f0  e9dd2320          LDRD     r2,r3,[sp,#0x80]      ;893
0001f4  e9cd9a10          STRD     r9,r10,[sp,#0x40]     ;893
0001f8  e9cd2314          STRD     r2,r3,[sp,#0x50]      ;893
0001fc  e9cd6712          STRD     r6,r7,[sp,#0x48]      ;893
000200  4a13              LDR      r2,|L6.592|
000202  e9dd4329          LDRD     r4,r3,[sp,#0xa4]      ;893
000206  6895              LDR      r5,[r2,#8]            ;893  ; StopOKFlag
000208  9a28              LDR      r2,[sp,#0xa0]         ;893
00020a  e9cd350d          STRD     r3,r5,[sp,#0x34]      ;893
00020e  e9cd240b          STRD     r2,r4,[sp,#0x2c]      ;893
000212  e9dd5426          LDRD     r5,r4,[sp,#0x98]      ;893
000216  e9cd5408          STRD     r5,r4,[sp,#0x20]      ;893
00021a  2201              MOVS     r2,#1                 ;893
00021c  9b25              LDR      r3,[sp,#0x94]         ;893
00021e  9307              STR      r3,[sp,#0x1c]         ;893
000220  920a              STR      r2,[sp,#0x28]         ;893
000222  a517              ADR      r5,|L6.640|
000224  9b2d              LDR      r3,[sp,#0xb4]         ;893
000226  e9cd5204          STRD     r5,r2,[sp,#0x10]      ;893
00022a  9c24              LDR      r4,[sp,#0x90]         ;893
00022c  e88d0017          STM      sp,{r0-r2,r4}         ;893
000230  e9dd2122          LDRD     r2,r1,[sp,#0x88]      ;893
000234  9306              STR      r3,[sp,#0x18]         ;893
000236  4813              LDR      r0,|L6.644|
000238  f7fffffe          BL       ParameterTransform
00023c  2200              MOVS     r2,#0                 ;893
00023e  9000              STR      r0,[sp,#0]            ;893
000240  2314              MOVS     r3,#0x14              ;893
000242  4611              MOV      r1,r2                 ;893
000244  4610              MOV      r0,r2                 ;893
000246  f7fffffe          BL       Create_BodyTreaty
00024a  e7a2              B        |L6.402|
;;;951    #endif
                          ENDP

                  |L6.588|
                          DCD      ||.bss||
                  |L6.592|
                          DCD      ||.data||
                  |L6.596|
                          DCD      ||.bss||+0x164
                  |L6.600|
                          DCD      CurAngle
                  |L6.604|
                          DCD      KincoStruct2
                  |L6.608|
                          DCD      KincoStruct1
                  |L6.612|
                          DCD      traffic_land_marks
                  |L6.616|
                          DCD      Rotate1
                  |L6.620|
                          DCD      Lifter1
                  |L6.624|
                          DCD      Camera
                  |L6.628|
                          DCD      CameraTwo
                  |L6.632|
000278  6200              DCB      "b",0
00027a  00                DCB      0
00027b  00                DCB      0
                  |L6.636|
                          DCD      ||.conststring||+0x70
                  |L6.640|
000280  6600              DCB      "f",0
000282  00                DCB      0
000283  00                DCB      0
                  |L6.644|
                          DCD      ||.conststring||

                          AREA ||.bss||, DATA, NOINIT, ALIGN=2

                  agv
                          %        192
                  navi
                          %        152
                  StartPoint
                          %        12
                  TargetPoint
                          %        12

                          AREA ||area_number.9||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.9||, ||.bss||
                  pid
                          %        24

                          AREA ||area_number.10||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.10||, ||.bss||
                  CurrentCenterPoint
                          %        12

                          AREA ||area_number.11||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.11||, ||.bss||
                  PointOne
                          %        12

                          AREA ||area_number.12||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.12||, ||.bss||
                  PointTwo
                          %        12

                          AREA ||area_number.13||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.13||, ||.bss||
                  PointThree
                          %        12

                          AREA ||area_number.14||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.14||, ||.bss||
                  PointFour
                          %        12

                          AREA ||area_number.15||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.15||, ||.bss||
                  CircleCenterPoint
                          %        12

                          AREA ||area_number.16||, DATA, NOINIT, ALIGN=2

                          EXPORTAS ||area_number.16||, ||.bss||
                  FrontViewPoint
                          %        12

                          AREA ||.conststring||, DATA, READONLY, MERGE=1, STRINGS, ALIGN=2

000000  25645f25          DCB      "%d_%d_%0.2f::%d::%d::%s::%d::%04x::%d::%d::%d::%d::%d::"
000004  645f2530
000008  2e32663a
00000c  3a25643a
000010  3a25643a
000014  3a25733a
000018  3a25643a
00001c  3a253034
000020  783a3a25
000024  643a3a25
000028  643a3a25
00002c  643a3a25
000030  643a3a25
000034  643a3a  
000037  25643a3a          DCB      "%d::%d::%d::%.1f_%.1f::%.1f_%.1f::%d_%d_%d::%d_%d::%d_%"
00003b  25643a3a
00003f  25643a3a
000043  252e3166
000047  5f252e31
00004b  663a3a25
00004f  2e31665f
000053  252e3166
000057  3a3a2564
00005b  5f25645f
00005f  25643a3a
000063  25645f25
000067  643a3a25
00006b  645f25  
00006e  6400              DCB      "d",0
000070  25645f25          DCB      "%d_%d_%0.2f::%d::%d::%s::%d::%04x::%d::%d::%d::%d::%d::"
000074  645f2530
000078  2e32663a
00007c  3a25643a
000080  3a25643a
000084  3a25733a
000088  3a25643a
00008c  3a253034
000090  783a3a25
000094  643a3a25
000098  643a3a25
00009c  643a3a25
0000a0  643a3a25
0000a4  643a3a  
0000a7  25643a3a          DCB      "%d::%d::%d::%.1f_%.1f::%.1f_%.1f::%d_%d_%d::%d_%d",0
0000ab  25643a3a
0000af  25643a3a
0000b3  252e3166
0000b7  5f252e31
0000bb  663a3a25
0000bf  2e31665f
0000c3  252e3166
0000c7  3a3a2564
0000cb  5f25645f
0000cf  25643a3a
0000d3  25645f25
0000d7  6400    

                          AREA ||.data||, DATA, ALIGN=2

                  CurDir
000000  66000000          DCB      0x66,0x00,0x00,0x00
                  LastTime1
                          DCD      0x00000000
                  StopOKFlag
                          DCD      0x00000000

;*** Start embedded assembler ***

#line 1 "..\\..\\User\\DATAUPDATE\\Paramater.c"
	AREA ||.rev16_text||, CODE
	THUMB
	EXPORT |__asm___11_Paramater_c_1bf360ee____REV16|
#line 129 "..\\..\\Libraries\\CMSIS\\Include\\core_cmInstr.h"
|__asm___11_Paramater_c_1bf360ee____REV16| PROC
#line 130

 rev16 r0, r0
 bx lr
	ENDP
	AREA ||.revsh_text||, CODE
	THUMB
	EXPORT |__asm___11_Paramater_c_1bf360ee____REVSH|
#line 144
|__asm___11_Paramater_c_1bf360ee____REVSH| PROC
#line 145

 revsh r0, r0
 bx lr
	ENDP
	AREA ||.rrx_text||, CODE
	THUMB
	EXPORT |__asm___11_Paramater_c_1bf360ee____RRX|
#line 300
|__asm___11_Paramater_c_1bf360ee____RRX| PROC
#line 301

 rrx r0, r0
 bx lr
	ENDP

;*** End   embedded assembler ***