AGV / agv_shengyiPPxiaoche · 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\bsp_can.o --asm_dir=.\Flash\List\ --list_dir=.\Flash\List\ --depend=.\flash\obj\bsp_can.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\bsp_can.crf ..\..\User\bsp\BSP\bsp_can.c]
                          THUMB

                          AREA ||i.CAN1_Init||, CODE, READONLY, ALIGN=2

                  CAN1_Init PROC
;;;24     */
;;;25     void CAN1_Init(u16 Fdiv)
000000  b5f0              PUSH     {r4-r7,lr}
;;;26     {
000002  b08b              SUB      sp,sp,#0x2c
000004  4606              MOV      r6,r0
;;;27       	GPIO_InitTypeDef       GPIO_InitStructure; 
;;;28     	CAN_InitTypeDef        CAN_InitStructure;
;;;29       	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
;;;30        	NVIC_InitTypeDef       NVIC_InitStructure;
;;;31     
;;;32         //使能相关时钟
;;;33     	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟	                   											 
000006  2101              MOVS     r1,#1
000008  4608              MOV      r0,r1
00000a  f7fffffe          BL       RCC_AHB1PeriphClockCmd
;;;34       	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟	
00000e  2101              MOVS     r1,#1
000010  0648              LSLS     r0,r1,#25
000012  f7fffffe          BL       RCC_APB1PeriphClockCmd
;;;35     	
;;;36         //初始化GPIO
;;;37     	GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_11| GPIO_Pin_12;
000016  f44f50c0          MOV      r0,#0x1800
00001a  9009              STR      r0,[sp,#0x24]
;;;38         GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;//复用功能
00001c  2002              MOVS     r0,#2
00001e  f88d0028          STRB     r0,[sp,#0x28]
;;;39         GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
000022  2400              MOVS     r4,#0
000024  f88d402a          STRB     r4,[sp,#0x2a]
;;;40         GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
000028  2003              MOVS     r0,#3
00002a  f88d0029          STRB     r0,[sp,#0x29]
;;;41         GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_UP;//上拉
00002e  2501              MOVS     r5,#1
000030  f88d502b          STRB     r5,[sp,#0x2b]
;;;42         GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12
000034  4f2c              LDR      r7,|L1.232|
000036  a909              ADD      r1,sp,#0x24
000038  4638              MOV      r0,r7
00003a  f7fffffe          BL       GPIO_Init
;;;43     	
;;;44     	//引脚复用映射配置
;;;45     	GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
00003e  2209              MOVS     r2,#9
000040  210b              MOVS     r1,#0xb
000042  4638              MOV      r0,r7
000044  f7fffffe          BL       GPIO_PinAFConfig
;;;46     	GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1
000048  2209              MOVS     r2,#9
00004a  210c              MOVS     r1,#0xc
00004c  4638              MOV      r0,r7
00004e  f7fffffe          BL       GPIO_PinAFConfig
;;;47     	  
;;;48       	//CAN单元设置
;;;49        	CAN_InitStructure.CAN_TTCM = DISABLE;	//非时间触发通信模式   
000052  f88d401e          STRB     r4,[sp,#0x1e]
;;;50       	CAN_InitStructure.CAN_ABOM = DISABLE;	//软件自动离线管理	  
000056  f88d401f          STRB     r4,[sp,#0x1f]
;;;51       	CAN_InitStructure.CAN_AWUM = DISABLE;   //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
00005a  f88d4020          STRB     r4,[sp,#0x20]
;;;52       	CAN_InitStructure.CAN_NART = ENABLE;	//禁止报文自动传送 
00005e  f88d5021          STRB     r5,[sp,#0x21]
;;;53       	CAN_InitStructure.CAN_RFLM = DISABLE;	//报文不锁定,新的覆盖旧的  
000062  f88d4022          STRB     r4,[sp,#0x22]
;;;54       	CAN_InitStructure.CAN_TXFP = DISABLE;	//优先级由报文标识符决定 
000066  f88d4023          STRB     r4,[sp,#0x23]
;;;55       	CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;  //模式设置 
00006a  f88d401a          STRB     r4,[sp,#0x1a]
;;;56       	CAN_InitStructure.CAN_SJW  = CAN_SJW_1tq;      //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
00006e  f88d401b          STRB     r4,[sp,#0x1b]
;;;57       	CAN_InitStructure.CAN_BS1  = CAN_BS1_7tq;      //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
000072  2006              MOVS     r0,#6
000074  f88d001c          STRB     r0,[sp,#0x1c]
;;;58       	CAN_InitStructure.CAN_BS2  = CAN_BS2_6tq;      //Tbs2范围CAN_BS2_1tq ~	CAN_BS2_8tq
000078  2005              MOVS     r0,#5
00007a  f88d001d          STRB     r0,[sp,#0x1d]
;;;59       	CAN_InitStructure.CAN_Prescaler = Fdiv;           //分频系数(Fdiv)为brp+1	
00007e  f8ad6018          STRH     r6,[sp,#0x18]
;;;60       	CAN_Init(CAN1, &CAN_InitStructure);            //初始化CAN1 
000082  4e1a              LDR      r6,|L1.236|
000084  a906              ADD      r1,sp,#0x18
000086  4630              MOV      r0,r6
000088  f7fffffe          BL       CAN_Init
;;;61         
;;;62     	//配置过滤器
;;;63      	CAN_FilterInitStructure.CAN_FilterNumber = 0;	  //过滤器0
00008c  f88d4012          STRB     r4,[sp,#0x12]
;;;64       	CAN_FilterInitStructure.CAN_FilterMode   = CAN_FilterMode_IdMask; 
000090  f88d4013          STRB     r4,[sp,#0x13]
;;;65       	CAN_FilterInitStructure.CAN_FilterScale  = CAN_FilterScale_32bit; //32位 
000094  f88d5014          STRB     r5,[sp,#0x14]
;;;66       	CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;                //32位ID
000098  f8ad4008          STRH     r4,[sp,#8]
;;;67       	CAN_FilterInitStructure.CAN_FilterIdLow  = 0x0000;
00009c  f8ad400a          STRH     r4,[sp,#0xa]
;;;68       	CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;//32位MASK
0000a0  f8ad400c          STRH     r4,[sp,#0xc]
;;;69       	CAN_FilterInitStructure.CAN_FilterMaskIdLow  = 0x0000;
0000a4  f8ad400e          STRH     r4,[sp,#0xe]
;;;70        	CAN_FilterInitStructure.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;//过滤器0关联到FIFO0
0000a8  f8ad4010          STRH     r4,[sp,#0x10]
;;;71       	CAN_FilterInitStructure.CAN_FilterActivation = ENABLE; //激活过滤器0
0000ac  f88d5015          STRB     r5,[sp,#0x15]
;;;72       	CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
0000b0  a802              ADD      r0,sp,#8
0000b2  f7fffffe          BL       CAN_FilterInit
;;;73     		
;;;74     	CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.		    
0000b6  2201              MOVS     r2,#1
0000b8  2102              MOVS     r1,#2
0000ba  4630              MOV      r0,r6
0000bc  f7fffffe          BL       CAN_ITConfig
;;;75       
;;;76       	NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
0000c0  2014              MOVS     r0,#0x14
0000c2  f88d0004          STRB     r0,[sp,#4]
;;;77     	/*优先级设置较高*/
;;;78       	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 8;     // 主优先级为1
0000c6  2008              MOVS     r0,#8
0000c8  f88d0005          STRB     r0,[sp,#5]
;;;79       	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为1
0000cc  f88d4006          STRB     r4,[sp,#6]
;;;80       	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
0000d0  f88d5007          STRB     r5,[sp,#7]
;;;81       	NVIC_Init(&NVIC_InitStructure);
0000d4  a801              ADD      r0,sp,#4
0000d6  f7fffffe          BL       NVIC_Init
;;;82     
;;;83     	can1Struct.RxBuf_In  = 0;
0000da  4805              LDR      r0,|L1.240|
0000dc  8004              STRH     r4,[r0,#0]
;;;84     	can1Struct.RxBuf_Out = 0;
0000de  8044              STRH     r4,[r0,#2]
;;;85     	can1Struct.TxBuf_In  = 0;
0000e0  8084              STRH     r4,[r0,#4]
;;;86     	can1Struct.TxBuf_Out = 0;
0000e2  80c4              STRH     r4,[r0,#6]
;;;87     }
0000e4  b00b              ADD      sp,sp,#0x2c
0000e6  bdf0              POP      {r4-r7,pc}
;;;88     
                          ENDP

                  |L1.232|
                          DCD      0x40020000
                  |L1.236|
                          DCD      0x40006400
                  |L1.240|
                          DCD      ||.bss||+0x48

                          AREA ||i.CAN1_RX0_IRQHandler||, CODE, READONLY, ALIGN=2

                  CAN1_RX0_IRQHandler PROC
;;;243    
;;;244    void CAN1_RX0_IRQHandler(void)
000000  b510              PUSH     {r4,lr}
;;;245    {
000002  b086              SUB      sp,sp,#0x18
;;;246    	int i = 0;
;;;247        /*接收中断*/
;;;248        CPU_SR_ALLOC();
;;;249        CPU_CRITICAL_ENTER();
000004  f7fffffe          BL       CPU_SR_Save
000008  4604              MOV      r4,r0
;;;250        OSIntEnter();                                          
00000a  f7fffffe          BL       OSIntEnter
;;;251        CPU_CRITICAL_EXIT();
00000e  4620              MOV      r0,r4
000010  f7fffffe          BL       CPU_SR_Restore
;;;252    	CanRxMsg g_tCanRxMsg;	/* 用于接收 */	
;;;253    
;;;254       if(CAN_GetITStatus(CAN1,CAN_IT_FMP0) != RESET)
000014  4c08              LDR      r4,|L2.56|
000016  2102              MOVS     r1,#2
000018  4620              MOV      r0,r4
00001a  f7fffffe          BL       CAN_GetITStatus
00001e  b120              CBZ      r0,|L2.42|
;;;255    	{
;;;256    		CAN_Receive(CAN1, CAN_FIFO0, &g_tCanRxMsg);
000020  aa01              ADD      r2,sp,#4
000022  2100              MOVS     r1,#0
000024  4620              MOV      r0,r4
000026  f7fffffe          BL       CAN_Receive
                  |L2.42|
;;;257    				
;;;258    	}
;;;259    	g_tCanRxMsg.StdId = 0;
00002a  2000              MOVS     r0,#0
00002c  9001              STR      r0,[sp,#4]
;;;260    	g_tCanRxMsg.ExtId = 0;
00002e  9002              STR      r0,[sp,#8]
;;;261        OSIntExit();
000030  f7fffffe          BL       OSIntExit
;;;262    }
000034  b006              ADD      sp,sp,#0x18
000036  bd10              POP      {r4,pc}
;;;263    
                          ENDP

                  |L2.56|
                          DCD      0x40006400

                          AREA ||i.CAN1_Send_Msg||, CODE, READONLY, ALIGN=2

                  CAN1_Send_Msg PROC
;;;310    //CAN数据发送
;;;311    u8 CAN1_Send_Msg(unsigned short int StdID,unsigned char *msg, unsigned char len,u16 time)
000000  b5f0              PUSH     {r4-r7,lr}
;;;312    {
000002  b087              SUB      sp,sp,#0x1c
000004  4606              MOV      r6,r0
000006  461d              MOV      r5,r3
;;;313    	OS_ERR      err;
;;;314    	u8 j = 20;
000008  2414              MOVS     r4,#0x14
;;;315        unsigned char mbox;
;;;316        unsigned int  i = 0;
00000a  2000              MOVS     r0,#0
;;;317        CanTxMsg TxMessage;
;;;318    
;;;319        TxMessage.StdId = StdID; // 标准标识符为0
00000c  9601              STR      r6,[sp,#4]
;;;320        TxMessage.ExtId = 0x12;	 // 设置扩展标示符（29位）
00000e  2312              MOVS     r3,#0x12
000010  9302              STR      r3,[sp,#8]
;;;321        TxMessage.IDE   = 0;	 // 使用扩展标识符
000012  2300              MOVS     r3,#0
000014  f88d300c          STRB     r3,[sp,#0xc]
;;;322        TxMessage.RTR   = 0;	 // 消息类型为数据帧，一帧8位
000018  f88d300d          STRB     r3,[sp,#0xd]
;;;323        TxMessage.DLC   = len;
00001c  f88d200e          STRB     r2,[sp,#0xe]
000020  ab01              ADD      r3,sp,#4              ;317
000022  e003              B        |L3.44|
                  |L3.36|
;;;324    
;;;325        for(i = 0; i < len; i++)
;;;326        {
;;;327            TxMessage.Data[i] = msg[i]; 
000024  181f              ADDS     r7,r3,r0
000026  5c0e              LDRB     r6,[r1,r0]
000028  72fe              STRB     r6,[r7,#0xb]
00002a  1c40              ADDS     r0,r0,#1              ;325
                  |L3.44|
00002c  4290              CMP      r0,r2                 ;325
00002e  d3f9              BCC      |L3.36|
;;;328        }
;;;329        while(1)
;;;330        {
;;;331    		{
;;;332    		  mbox = CAN_Transmit(CAN1, &TxMessage);                              //向CAN总线传输数据
;;;333    		}
;;;334    	//	printf("发送完毕\r\n");
;;;335            if(mbox != CAN_TxStatus_NoMailBox)
;;;336            {
;;;337                while(CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)
000030  4f0f              LDR      r7,|L3.112|
000032  e00c              B        |L3.78|
                  |L3.52|
;;;338                {
;;;339    				if(j-- < 1)
000034  1e64              SUBS     r4,r4,#1
000036  b2e4              UXTB     r4,r4
000038  d311              BCC      |L3.94|
                  |L3.58|
00003a  4631              MOV      r1,r6                 ;337
00003c  4638              MOV      r0,r7                 ;337
00003e  f7fffffe          BL       CAN_TransmitStatus
000042  2800              CMP      r0,#0                 ;337
000044  d0f6              BEQ      |L3.52|
000046  e00a              B        |L3.94|
                  |L3.72|
;;;340    				{
;;;341    					break;
;;;342    				}
;;;343                }
;;;344                break;
;;;345            }
;;;346    		
;;;347    		if(j-- < 1)
000048  1e64              SUBS     r4,r4,#1
00004a  b2e4              UXTB     r4,r4
00004c  d307              BCC      |L3.94|
                  |L3.78|
00004e  a901              ADD      r1,sp,#4              ;332
000050  4638              MOV      r0,r7                 ;332
000052  f7fffffe          BL       CAN_Transmit
000056  4606              MOV      r6,r0                 ;332
000058  2e04              CMP      r6,#4                 ;335
00005a  d0f5              BEQ      |L3.72|
00005c  e7ed              B        |L3.58|
                  |L3.94|
;;;348    		{
;;;349    			break;
;;;350    		}
;;;351        }
;;;352    	OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
00005e  aa06              ADD      r2,sp,#0x18
000060  2108              MOVS     r1,#8
000062  4628              MOV      r0,r5
000064  f7fffffe          BL       OSTimeDly
;;;353    	return 0;
;;;354    }
000068  b007              ADD      sp,sp,#0x1c
00006a  2000              MOVS     r0,#0                 ;353
00006c  bdf0              POP      {r4-r7,pc}
;;;355    
                          ENDP

00006e  0000              DCW      0x0000
                  |L3.112|
                          DCD      0x40006400

                          AREA ||i.CAN1_Send_Msg_Extend||, CODE, READONLY, ALIGN=2

                  CAN1_Send_Msg_Extend PROC
;;;356    //CAN数据发送 标准帧
;;;357    u8 CAN1_Send_Msg_Extend(unsigned int StdID,unsigned char *msg, unsigned char len,u16 time)
000000  b5f0              PUSH     {r4-r7,lr}
;;;358    {
000002  b087              SUB      sp,sp,#0x1c
000004  4606              MOV      r6,r0
000006  461d              MOV      r5,r3
;;;359    	OS_ERR      err;
;;;360    	u8 j = 20;
000008  2414              MOVS     r4,#0x14
;;;361        unsigned char mbox;
;;;362        unsigned int  i = 0;
00000a  2000              MOVS     r0,#0
;;;363        CanTxMsg TxMessage;
;;;364    
;;;365     //   TxMessage.StdId = CYLINDER_FEEDBACK; // 标准标识符为0
;;;366        TxMessage.ExtId = StdID;	 // 设置扩展标示符（29位）
00000c  9602              STR      r6,[sp,#8]
;;;367        TxMessage.IDE   = CAN_ID_EXT;	 // 使用扩展标识符
00000e  2304              MOVS     r3,#4
000010  f88d300c          STRB     r3,[sp,#0xc]
;;;368        TxMessage.RTR   = CAN_RTR_DATA;	 // 消息类型为数据帧，一帧8位
000014  2300              MOVS     r3,#0
000016  f88d300d          STRB     r3,[sp,#0xd]
;;;369        TxMessage.DLC   = len;
00001a  f88d200e          STRB     r2,[sp,#0xe]
00001e  ab01              ADD      r3,sp,#4              ;363
000020  e003              B        |L4.42|
                  |L4.34|
;;;370    
;;;371        for(i = 0; i < len; i++)
;;;372        {
;;;373            TxMessage.Data[i] = msg[i];
000022  181f              ADDS     r7,r3,r0
000024  5c0e              LDRB     r6,[r1,r0]
000026  72fe              STRB     r6,[r7,#0xb]
000028  1c40              ADDS     r0,r0,#1              ;371
                  |L4.42|
00002a  4290              CMP      r0,r2                 ;371
00002c  d3f9              BCC      |L4.34|
;;;374        }
;;;375        while(1)
;;;376        {
;;;377    		{
;;;378    		  mbox = CAN_Transmit(CAN1, &TxMessage);                              //向CAN总线传输数据
;;;379    		}
;;;380            if(mbox != CAN_TxStatus_NoMailBox)
;;;381            {
;;;382                while(CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)
00002e  4f0f              LDR      r7,|L4.108|
000030  e00c              B        |L4.76|
                  |L4.50|
;;;383                {
;;;384    				if(j-- < 1)
000032  1e64              SUBS     r4,r4,#1
000034  b2e4              UXTB     r4,r4
000036  d311              BCC      |L4.92|
                  |L4.56|
000038  4631              MOV      r1,r6                 ;382
00003a  4638              MOV      r0,r7                 ;382
00003c  f7fffffe          BL       CAN_TransmitStatus
000040  2800              CMP      r0,#0                 ;382
000042  d0f6              BEQ      |L4.50|
000044  e00a              B        |L4.92|
                  |L4.70|
;;;385    				{
;;;386    					break;
;;;387    				}
;;;388                }
;;;389                break;
;;;390            }
;;;391    		
;;;392    		if(j-- < 1)
000046  1e64              SUBS     r4,r4,#1
000048  b2e4              UXTB     r4,r4
00004a  d307              BCC      |L4.92|
                  |L4.76|
00004c  a901              ADD      r1,sp,#4              ;378
00004e  4638              MOV      r0,r7                 ;378
000050  f7fffffe          BL       CAN_Transmit
000054  4606              MOV      r6,r0                 ;378
000056  2e04              CMP      r6,#4                 ;380
000058  d0f5              BEQ      |L4.70|
00005a  e7ed              B        |L4.56|
                  |L4.92|
;;;393    		{
;;;394    			break;
;;;395    		}
;;;396        }
;;;397    	OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
00005c  aa06              ADD      r2,sp,#0x18
00005e  2108              MOVS     r1,#8
000060  4628              MOV      r0,r5
000062  f7fffffe          BL       OSTimeDly
;;;398    	return 0;
;;;399    }
000066  b007              ADD      sp,sp,#0x1c
000068  2000              MOVS     r0,#0                 ;398
00006a  bdf0              POP      {r4-r7,pc}
;;;400    
                          ENDP

                  |L4.108|
                          DCD      0x40006400

                          AREA ||i.CAN1_TX_IRQHandler||, CODE, READONLY, ALIGN=2

                  CAN1_TX_IRQHandler PROC
;;;286    
;;;287    void CAN1_TX_IRQHandler(void)
000000  b510              PUSH     {r4,lr}
;;;288    {
;;;289        CPU_SR_ALLOC();
;;;290        CPU_CRITICAL_ENTER();
000002  f7fffffe          BL       CPU_SR_Save
000006  4604              MOV      r4,r0
;;;291        OSIntEnter();                                          
000008  f7fffffe          BL       OSIntEnter
;;;292        CPU_CRITICAL_EXIT();
00000c  4620              MOV      r0,r4
00000e  f7fffffe          BL       CPU_SR_Restore
;;;293    	
;;;294    	 CAN_ClearITPendingBit(CAN1,CAN_IT_TME);
000012  4c17              LDR      r4,|L5.112|
000014  2101              MOVS     r1,#1
000016  4620              MOV      r0,r4
000018  f7fffffe          BL       CAN_ClearITPendingBit
;;;295    	 if(CAN_GetITStatus(CAN1,CAN_IT_RQCP0) == SET)
00001c  2101              MOVS     r1,#1
00001e  4620              MOV      r0,r4
000020  f7fffffe          BL       CAN_GetITStatus
000024  2801              CMP      r0,#1
000026  d00c              BEQ      |L5.66|
;;;296         {
;;;297             CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP0);
;;;298         }	 
;;;299    	 else if(CAN_GetITStatus(CAN1,CAN_IT_RQCP1) == SET)
000028  2101              MOVS     r1,#1
00002a  4620              MOV      r0,r4
00002c  f7fffffe          BL       CAN_GetITStatus
000030  2801              CMP      r0,#1
000032  d00b              BEQ      |L5.76|
;;;300    	 {
;;;301    		 CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP1);
;;;302    	 }
;;;303    	 else if(CAN_GetITStatus(CAN1,CAN_IT_RQCP2) == SET)
000034  2101              MOVS     r1,#1
000036  4620              MOV      r0,r4
000038  f7fffffe          BL       CAN_GetITStatus
00003c  2801              CMP      r0,#1
00003e  d00a              BEQ      |L5.86|
000040  e00d              B        |L5.94|
                  |L5.66|
000042  2101              MOVS     r1,#1                 ;297
000044  4620              MOV      r0,r4                 ;297
000046  f7fffffe          BL       CAN_ClearITPendingBit
00004a  e008              B        |L5.94|
                  |L5.76|
00004c  2101              MOVS     r1,#1                 ;301
00004e  4620              MOV      r0,r4                 ;301
000050  f7fffffe          BL       CAN_ClearITPendingBit
000054  e003              B        |L5.94|
                  |L5.86|
;;;304    	 {
;;;305    		 CAN_ClearITPendingBit(CAN1,CAN_IT_RQCP2);
000056  2101              MOVS     r1,#1
000058  4620              MOV      r0,r4
00005a  f7fffffe          BL       CAN_ClearITPendingBit
                  |L5.94|
;;;306    	 }
;;;307    	 CAN_ITConfig(CAN1, CAN_IT_TME, DISABLE);
00005e  2200              MOVS     r2,#0
000060  2101              MOVS     r1,#1
000062  4620              MOV      r0,r4
000064  f7fffffe          BL       CAN_ITConfig
;;;308         OSIntExit(); 
000068  e8bd4010          POP      {r4,lr}
00006c  f7ffbffe          B.W      OSIntExit
;;;309    }
;;;310    //CAN数据发送
                          ENDP

                  |L5.112|
                          DCD      0x40006400

                          AREA ||i.CAN2_Init||, CODE, READONLY, ALIGN=2

                  CAN2_Init PROC
;;;88     
;;;89     void CAN2_Init(u16 Fdiv)
000000  b5f0              PUSH     {r4-r7,lr}
;;;90     {
000002  b08b              SUB      sp,sp,#0x2c
000004  4606              MOV      r6,r0
;;;91       	GPIO_InitTypeDef GPIO_InitStructure; 
;;;92     	CAN_InitTypeDef        CAN_InitStructure;
;;;93       	CAN_FilterInitTypeDef  CAN_FilterInitStructure;
;;;94     
;;;95        	NVIC_InitTypeDef  NVIC_InitStructure;
;;;96     
;;;97     	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);           											 
000006  2101              MOVS     r1,#1
000008  2002              MOVS     r0,#2
00000a  f7fffffe          BL       RCC_AHB1PeriphClockCmd
;;;98     
;;;99       	RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1|RCC_APB1Periph_CAN2, ENABLE);//使能CAN2时钟，CAN1时钟必须开启
00000e  2101              MOVS     r1,#1
000010  f04f60c0          MOV      r0,#0x6000000
000014  f7fffffe          BL       RCC_APB1PeriphClockCmd
;;;100    	
;;;101    	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5| GPIO_Pin_6;
000018  2060              MOVS     r0,#0x60
00001a  9009              STR      r0,[sp,#0x24]
;;;102        GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
00001c  2002              MOVS     r0,#2
00001e  f88d0028          STRB     r0,[sp,#0x28]
;;;103        GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
000022  2400              MOVS     r4,#0
000024  f88d402a          STRB     r4,[sp,#0x2a]
;;;104        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
000028  2003              MOVS     r0,#3
00002a  f88d0029          STRB     r0,[sp,#0x29]
;;;105        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
00002e  2501              MOVS     r5,#1
000030  f88d502b          STRB     r5,[sp,#0x2b]
;;;106        GPIO_Init(GPIOB, &GPIO_InitStructure);
000034  4f2d              LDR      r7,|L6.236|
000036  a909              ADD      r1,sp,#0x24
000038  4638              MOV      r0,r7
00003a  f7fffffe          BL       GPIO_Init
;;;107    		 
;;;108    	GPIO_PinAFConfig(GPIOB,GPIO_PinSource5,GPIO_AF_CAN2); 
00003e  2209              MOVS     r2,#9
000040  2105              MOVS     r1,#5
000042  4638              MOV      r0,r7
000044  f7fffffe          BL       GPIO_PinAFConfig
;;;109    	GPIO_PinAFConfig(GPIOB,GPIO_PinSource6,GPIO_AF_CAN2); 
000048  2209              MOVS     r2,#9
00004a  2106              MOVS     r1,#6
00004c  4638              MOV      r0,r7
00004e  f7fffffe          BL       GPIO_PinAFConfig
;;;110    	  	
;;;111       	CAN_InitStructure.CAN_TTCM=DISABLE;	
000052  f88d401e          STRB     r4,[sp,#0x1e]
;;;112      	CAN_InitStructure.CAN_ABOM=DISABLE;		  
000056  f88d401f          STRB     r4,[sp,#0x1f]
;;;113      	CAN_InitStructure.CAN_AWUM=DISABLE;
00005a  f88d4020          STRB     r4,[sp,#0x20]
;;;114      	CAN_InitStructure.CAN_NART=ENABLE;	
00005e  f88d5021          STRB     r5,[sp,#0x21]
;;;115      	CAN_InitStructure.CAN_RFLM=DISABLE;	
000062  f88d4022          STRB     r4,[sp,#0x22]
;;;116      	CAN_InitStructure.CAN_TXFP=DISABLE;	
000066  f88d4023          STRB     r4,[sp,#0x23]
;;;117      	CAN_InitStructure.CAN_Mode= CAN_Mode_Normal;	 
00006a  f88d401a          STRB     r4,[sp,#0x1a]
;;;118    
;;;119    	CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
00006e  f88d401b          STRB     r4,[sp,#0x1b]
;;;120    	CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
000072  2006              MOVS     r0,#6
000074  f88d001c          STRB     r0,[sp,#0x1c]
;;;121    	CAN_InitStructure.CAN_BS2 = CAN_BS2_6tq;
000078  2005              MOVS     r0,#5
00007a  f88d001d          STRB     r0,[sp,#0x1d]
;;;122    	CAN_InitStructure.CAN_Prescaler = Fdiv;
00007e  f8ad6018          STRH     r6,[sp,#0x18]
;;;123     
;;;124      	CAN_Init(CAN2, &CAN_InitStructure);   
000082  4e1b              LDR      r6,|L6.240|
000084  a906              ADD      r1,sp,#0x18
000086  4630              MOV      r0,r6
000088  f7fffffe          BL       CAN_Init
;;;125        
;;;126     	CAN_FilterInitStructure.CAN_FilterNumber=14;	  
00008c  200e              MOVS     r0,#0xe
00008e  f88d0012          STRB     r0,[sp,#0x12]
;;;127      	CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
000092  f88d4013          STRB     r4,[sp,#0x13]
;;;128      	CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; 
000096  f88d5014          STRB     r5,[sp,#0x14]
;;;129      	CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
00009a  f8ad4008          STRH     r4,[sp,#8]
;;;130      	CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
00009e  f8ad400a          STRH     r4,[sp,#0xa]
;;;131      	CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
0000a2  f8ad400c          STRH     r4,[sp,#0xc]
;;;132      	CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
0000a6  f8ad400e          STRH     r4,[sp,#0xe]
;;;133       	CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;
0000aa  f8ad4010          STRH     r4,[sp,#0x10]
;;;134      	CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; 
0000ae  f88d5015          STRB     r5,[sp,#0x15]
;;;135      	CAN_FilterInit(&CAN_FilterInitStructure);
0000b2  a802              ADD      r0,sp,#8
0000b4  f7fffffe          BL       CAN_FilterInit
;;;136    	
;;;137    	CAN_ITConfig(CAN2,CAN_IT_FMP0,ENABLE);    
0000b8  2201              MOVS     r2,#1
0000ba  2102              MOVS     r1,#2
0000bc  4630              MOV      r0,r6
0000be  f7fffffe          BL       CAN_ITConfig
;;;138      
;;;139      	NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;
0000c2  2040              MOVS     r0,#0x40
0000c4  f88d0004          STRB     r0,[sp,#4]
;;;140      	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 7;    
0000c8  2007              MOVS     r0,#7
0000ca  f88d0005          STRB     r0,[sp,#5]
;;;141      	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            
0000ce  f88d4006          STRB     r4,[sp,#6]
;;;142      	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
0000d2  f88d5007          STRB     r5,[sp,#7]
;;;143      	NVIC_Init(&NVIC_InitStructure);
0000d6  a801              ADD      r0,sp,#4
0000d8  f7fffffe          BL       NVIC_Init
;;;144    	can2Struct.RxBuf_In  = 0;
0000dc  4805              LDR      r0,|L6.244|
0000de  8004              STRH     r4,[r0,#0]
;;;145    	can2Struct.RxBuf_Out = 0;
0000e0  8044              STRH     r4,[r0,#2]
;;;146    	can2Struct.TxBuf_In  = 0;
0000e2  8084              STRH     r4,[r0,#4]
;;;147    	can2Struct.TxBuf_Out = 0;
0000e4  80c4              STRH     r4,[r0,#6]
;;;148    } 
0000e6  b00b              ADD      sp,sp,#0x2c
0000e8  bdf0              POP      {r4-r7,pc}
;;;149    
                          ENDP

0000ea  0000              DCW      0x0000
                  |L6.236|
                          DCD      0x40020400
                  |L6.240|
                          DCD      0x40006800
                  |L6.244|
                          DCD      ||.bss||+0x98

                          AREA ||i.CAN2_RX0_IRQHandler||, CODE, READONLY, ALIGN=2

                  CAN2_RX0_IRQHandler PROC
;;;264    
;;;265    void CAN2_RX0_IRQHandler(void)
000000  b510              PUSH     {r4,lr}
;;;266    {
000002  b086              SUB      sp,sp,#0x18
;;;267        /*接收中断*/
;;;268    	int i = 0;
;;;269        CPU_SR_ALLOC();
;;;270        CPU_CRITICAL_ENTER();
000004  f7fffffe          BL       CPU_SR_Save
000008  4604              MOV      r4,r0
;;;271        OSIntEnter();                                          
00000a  f7fffffe          BL       OSIntEnter
;;;272        CPU_CRITICAL_EXIT();
00000e  4620              MOV      r0,r4
000010  f7fffffe          BL       CPU_SR_Restore
;;;273    	CanRxMsg g_tCanRxMsg;	/* 用于接收 */	
;;;274    
;;;275        if(CAN_GetITStatus(CAN2,CAN_IT_FMP0) != RESET)
000014  4c08              LDR      r4,|L7.56|
000016  2102              MOVS     r1,#2
000018  4620              MOV      r0,r4
00001a  f7fffffe          BL       CAN_GetITStatus
00001e  b120              CBZ      r0,|L7.42|
;;;276    	{
;;;277    		CAN_Receive(CAN2, CAN_FIFO0, &g_tCanRxMsg);
000020  aa01              ADD      r2,sp,#4
000022  2100              MOVS     r1,#0
000024  4620              MOV      r0,r4
000026  f7fffffe          BL       CAN_Receive
                  |L7.42|
;;;278    		
;;;279    		
;;;280    	}
;;;281    	
;;;282    	g_tCanRxMsg.StdId = 0;
00002a  2000              MOVS     r0,#0
00002c  9001              STR      r0,[sp,#4]
;;;283    	g_tCanRxMsg.ExtId = 0;
00002e  9002              STR      r0,[sp,#8]
;;;284        OSIntExit();
000030  f7fffffe          BL       OSIntExit
;;;285    }
000034  b006              ADD      sp,sp,#0x18
000036  bd10              POP      {r4,pc}
;;;286    
                          ENDP

                  |L7.56|
                          DCD      0x40006800

                          AREA ||i.CAN2_Send_Msg||, CODE, READONLY, ALIGN=2

                  CAN2_Send_Msg PROC
;;;183    //CAN数据发送
;;;184    u8 CAN2_Send_Msg(unsigned short int StdID,unsigned char *msg, unsigned char len,u16 time)
000000  b5f0              PUSH     {r4-r7,lr}
;;;185    {
000002  b087              SUB      sp,sp,#0x1c
000004  4606              MOV      r6,r0
000006  461d              MOV      r5,r3
;;;186    	OS_ERR      err;
;;;187    	u8 j = 20;
000008  2414              MOVS     r4,#0x14
;;;188        unsigned char mbox;
;;;189        unsigned int  i = 0;
00000a  2000              MOVS     r0,#0
;;;190        CanTxMsg TxMessage;
;;;191    
;;;192        TxMessage.StdId = StdID; // 标准标识符为0
00000c  9601              STR      r6,[sp,#4]
;;;193        TxMessage.ExtId = 0x12;	 // 设置扩展标示符（29位）
00000e  2312              MOVS     r3,#0x12
000010  9302              STR      r3,[sp,#8]
;;;194        TxMessage.IDE   = 0;	 // 使用扩展标识符
000012  2300              MOVS     r3,#0
000014  f88d300c          STRB     r3,[sp,#0xc]
;;;195        TxMessage.RTR   = 0;	 // 消息类型为数据帧，一帧8位
000018  f88d300d          STRB     r3,[sp,#0xd]
;;;196        TxMessage.DLC   = len;
00001c  f88d200e          STRB     r2,[sp,#0xe]
000020  ab01              ADD      r3,sp,#4              ;190
000022  e003              B        |L8.44|
                  |L8.36|
;;;197    
;;;198        for(i = 0; i < len; i++)
;;;199        {
;;;200            TxMessage.Data[i] = msg[i]; 
000024  181f              ADDS     r7,r3,r0
000026  5c0e              LDRB     r6,[r1,r0]
000028  72fe              STRB     r6,[r7,#0xb]
00002a  1c40              ADDS     r0,r0,#1              ;198
                  |L8.44|
00002c  4290              CMP      r0,r2                 ;198
00002e  d3f9              BCC      |L8.36|
;;;201        }
;;;202        while(1)
;;;203        {
;;;204    		{
;;;205    		  mbox = CAN_Transmit(CAN2, &TxMessage);                              //向CAN总线传输数据
;;;206    		}
;;;207            if(mbox != CAN_TxStatus_NoMailBox)
;;;208            {
;;;209                while(CAN_TransmitStatus(CAN2, mbox) == CAN_TxStatus_Failed)
000030  4f0f              LDR      r7,|L8.112|
000032  e00c              B        |L8.78|
                  |L8.52|
;;;210                {
;;;211    				if(j-- < 1)
000034  1e64              SUBS     r4,r4,#1
000036  b2e4              UXTB     r4,r4
000038  d311              BCC      |L8.94|
                  |L8.58|
00003a  4631              MOV      r1,r6                 ;209
00003c  4638              MOV      r0,r7                 ;209
00003e  f7fffffe          BL       CAN_TransmitStatus
000042  2800              CMP      r0,#0                 ;209
000044  d0f6              BEQ      |L8.52|
000046  e00a              B        |L8.94|
                  |L8.72|
;;;212    				{
;;;213    					break;
;;;214    				}
;;;215                }
;;;216                break;
;;;217            }
;;;218    		
;;;219    		if(j-- < 1)
000048  1e64              SUBS     r4,r4,#1
00004a  b2e4              UXTB     r4,r4
00004c  d307              BCC      |L8.94|
                  |L8.78|
00004e  a901              ADD      r1,sp,#4              ;205
000050  4638              MOV      r0,r7                 ;205
000052  f7fffffe          BL       CAN_Transmit
000056  4606              MOV      r6,r0                 ;205
000058  2e04              CMP      r6,#4                 ;207
00005a  d0f5              BEQ      |L8.72|
00005c  e7ed              B        |L8.58|
                  |L8.94|
;;;220    		{
;;;221    			break;
;;;222    		}
;;;223        }
;;;224    	OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
00005e  aa06              ADD      r2,sp,#0x18
000060  2108              MOVS     r1,#8
000062  4628              MOV      r0,r5
000064  f7fffffe          BL       OSTimeDly
;;;225    	return 0;
;;;226    }
000068  b007              ADD      sp,sp,#0x1c
00006a  2000              MOVS     r0,#0                 ;225
00006c  bdf0              POP      {r4-r7,pc}
;;;227    
                          ENDP

00006e  0000              DCW      0x0000
                  |L8.112|
                          DCD      0x40006800

                          AREA ||i.CAN2_Send_Msg_Extend||, CODE, READONLY, ALIGN=2

                  CAN2_Send_Msg_Extend PROC
;;;401    
;;;402    u8 CAN2_Send_Msg_Extend(unsigned int StdID,unsigned char *msg, unsigned char len,u16 time)
000000  b5f0              PUSH     {r4-r7,lr}
;;;403    {
000002  b087              SUB      sp,sp,#0x1c
000004  4606              MOV      r6,r0
000006  461d              MOV      r5,r3
;;;404    	OS_ERR      err;
;;;405    	u8 j = 20;
000008  2414              MOVS     r4,#0x14
;;;406        unsigned char mbox;
;;;407        unsigned int  i = 0;
00000a  2000              MOVS     r0,#0
;;;408        CanTxMsg TxMessage;
;;;409    
;;;410     //   TxMessage.StdId = CYLINDER_FEEDBACK; // 标准标识符为0
;;;411        TxMessage.ExtId = StdID;	 // 设置扩展标示符（29位）
00000c  9602              STR      r6,[sp,#8]
;;;412        TxMessage.IDE   = CAN_ID_EXT;	 // 使用扩展标识符
00000e  2304              MOVS     r3,#4
000010  f88d300c          STRB     r3,[sp,#0xc]
;;;413        TxMessage.RTR   = CAN_RTR_DATA;	 // 消息类型为数据帧，一帧8位
000014  2300              MOVS     r3,#0
000016  f88d300d          STRB     r3,[sp,#0xd]
;;;414        TxMessage.DLC   = len;
00001a  f88d200e          STRB     r2,[sp,#0xe]
00001e  ab01              ADD      r3,sp,#4              ;408
000020  e003              B        |L9.42|
                  |L9.34|
;;;415    
;;;416        for(i = 0; i < len; i++)
;;;417        {
;;;418            TxMessage.Data[i] = msg[i]; 
000022  181f              ADDS     r7,r3,r0
000024  5c0e              LDRB     r6,[r1,r0]
000026  72fe              STRB     r6,[r7,#0xb]
000028  1c40              ADDS     r0,r0,#1              ;416
                  |L9.42|
00002a  4290              CMP      r0,r2                 ;416
00002c  d3f9              BCC      |L9.34|
;;;419        }
;;;420        while(1)
;;;421        {
;;;422    		{
;;;423    		  mbox = CAN_Transmit(CAN2, &TxMessage);                              //向CAN总线传输数据
;;;424    		}
;;;425            if(mbox != CAN_TxStatus_NoMailBox)
;;;426            {
;;;427                while(CAN_TransmitStatus(CAN2, mbox) == CAN_TxStatus_Failed)
00002e  4f0f              LDR      r7,|L9.108|
000030  e00c              B        |L9.76|
                  |L9.50|
;;;428                {
;;;429    				if(j-- < 1)
000032  1e64              SUBS     r4,r4,#1
000034  b2e4              UXTB     r4,r4
000036  d311              BCC      |L9.92|
                  |L9.56|
000038  4631              MOV      r1,r6                 ;427
00003a  4638              MOV      r0,r7                 ;427
00003c  f7fffffe          BL       CAN_TransmitStatus
000040  2800              CMP      r0,#0                 ;427
000042  d0f6              BEQ      |L9.50|
000044  e00a              B        |L9.92|
                  |L9.70|
;;;430    				{
;;;431    					break;
;;;432    				}
;;;433                }
;;;434                break;
;;;435            }
;;;436    		
;;;437    		if(j-- < 1)
000046  1e64              SUBS     r4,r4,#1
000048  b2e4              UXTB     r4,r4
00004a  d307              BCC      |L9.92|
                  |L9.76|
00004c  a901              ADD      r1,sp,#4              ;423
00004e  4638              MOV      r0,r7                 ;423
000050  f7fffffe          BL       CAN_Transmit
000054  4606              MOV      r6,r0                 ;423
000056  2e04              CMP      r6,#4                 ;425
000058  d0f5              BEQ      |L9.70|
00005a  e7ed              B        |L9.56|
                  |L9.92|
;;;438    		{
;;;439    			break;
;;;440    		}
;;;441        }
;;;442    	OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
00005c  aa06              ADD      r2,sp,#0x18
00005e  2108              MOVS     r1,#8
000060  4628              MOV      r0,r5
000062  f7fffffe          BL       OSTimeDly
;;;443    	return 0;
;;;444    }
000066  b007              ADD      sp,sp,#0x1c
000068  2000              MOVS     r0,#0                 ;443
00006a  bdf0              POP      {r4-r7,pc}
;;;445    
                          ENDP

                  |L9.108|
                          DCD      0x40006800

                          AREA ||i.CAN2_TX_IRQHandler||, CODE, READONLY, ALIGN=2

                  CAN2_TX_IRQHandler PROC
;;;159    
;;;160    void CAN2_TX_IRQHandler(void)
000000  b510              PUSH     {r4,lr}
;;;161    {
;;;162        CPU_SR_ALLOC();
;;;163        CPU_CRITICAL_ENTER();
000002  f7fffffe          BL       CPU_SR_Save
000006  4604              MOV      r4,r0
;;;164        OSIntEnter();                                          
000008  f7fffffe          BL       OSIntEnter
;;;165        CPU_CRITICAL_EXIT();
00000c  4620              MOV      r0,r4
00000e  f7fffffe          BL       CPU_SR_Restore
;;;166    	
;;;167    	 CAN_ClearITPendingBit(CAN2,CAN_IT_TME);
000012  4c17              LDR      r4,|L10.112|
000014  2101              MOVS     r1,#1
000016  4620              MOV      r0,r4
000018  f7fffffe          BL       CAN_ClearITPendingBit
;;;168    	 if(CAN_GetITStatus(CAN2,CAN_IT_RQCP0) == SET)
00001c  2101              MOVS     r1,#1
00001e  4620              MOV      r0,r4
000020  f7fffffe          BL       CAN_GetITStatus
000024  2801              CMP      r0,#1
000026  d00c              BEQ      |L10.66|
;;;169         {
;;;170             CAN_ClearITPendingBit(CAN2,CAN_IT_RQCP0);
;;;171         }	 
;;;172    	 else if(CAN_GetITStatus(CAN2,CAN_IT_RQCP1) == SET)
000028  2101              MOVS     r1,#1
00002a  4620              MOV      r0,r4
00002c  f7fffffe          BL       CAN_GetITStatus
000030  2801              CMP      r0,#1
000032  d00b              BEQ      |L10.76|
;;;173    	 {
;;;174    		 CAN_ClearITPendingBit(CAN2,CAN_IT_RQCP1);
;;;175    	 }
;;;176    	 else if(CAN_GetITStatus(CAN2,CAN_IT_RQCP2) == SET)
000034  2101              MOVS     r1,#1
000036  4620              MOV      r0,r4
000038  f7fffffe          BL       CAN_GetITStatus
00003c  2801              CMP      r0,#1
00003e  d00a              BEQ      |L10.86|
000040  e00d              B        |L10.94|
                  |L10.66|
000042  2101              MOVS     r1,#1                 ;170
000044  4620              MOV      r0,r4                 ;170
000046  f7fffffe          BL       CAN_ClearITPendingBit
00004a  e008              B        |L10.94|
                  |L10.76|
00004c  2101              MOVS     r1,#1                 ;174
00004e  4620              MOV      r0,r4                 ;174
000050  f7fffffe          BL       CAN_ClearITPendingBit
000054  e003              B        |L10.94|
                  |L10.86|
;;;177    	 {
;;;178    		 CAN_ClearITPendingBit(CAN2,CAN_IT_RQCP2);
000056  2101              MOVS     r1,#1
000058  4620              MOV      r0,r4
00005a  f7fffffe          BL       CAN_ClearITPendingBit
                  |L10.94|
;;;179    	 }
;;;180    	 CAN_ITConfig(CAN2, CAN_IT_TME, DISABLE);
00005e  2200              MOVS     r2,#0
000060  2101              MOVS     r1,#1
000062  4620              MOV      r0,r4
000064  f7fffffe          BL       CAN_ITConfig
;;;181         OSIntExit(); 
000068  e8bd4010          POP      {r4,lr}
00006c  f7ffbffe          B.W      OSIntExit
;;;182    }
;;;183    //CAN数据发送
                          ENDP

                  |L10.112|
                          DCD      0x40006800

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

                  CAN_Send_Msg PROC
;;;446    //CAN数据发送
;;;447    u8 CAN_Send_Msg(unsigned short int StdID,unsigned char *msg, unsigned char len,u16 time,u8 CanSelect)
000000  e92d43f0          PUSH     {r4-r9,lr}
;;;448    {
000004  b087              SUB      sp,sp,#0x1c
000006  461f              MOV      r7,r3
000008  9e0e              LDR      r6,[sp,#0x38]
;;;449    	OS_ERR      err;
;;;450    	u8 j = 20;
00000a  2414              MOVS     r4,#0x14
;;;451        unsigned char mbox;
;;;452        CanTxMsg TxMessage;
;;;453    
;;;454        TxMessage.StdId = StdID; // 标准标识符为0
00000c  9001              STR      r0,[sp,#4]
;;;455        TxMessage.ExtId = 0x12;	 // 设置扩展标示符（29位）
00000e  2012              MOVS     r0,#0x12
000010  9002              STR      r0,[sp,#8]
;;;456        TxMessage.IDE   = 0;	 // 使用扩展标识符
000012  2000              MOVS     r0,#0
000014  f88d000c          STRB     r0,[sp,#0xc]
;;;457        TxMessage.RTR   = 0;	 // 消息类型为数据帧，一帧8位
000018  f88d000d          STRB     r0,[sp,#0xd]
;;;458        TxMessage.DLC   = len;
00001c  f88d200e          STRB     r2,[sp,#0xe]
000020  ab01              ADD      r3,sp,#4              ;452
000022  e005              B        |L11.48|
                  |L11.36|
;;;459    
;;;460        for(unsigned int i = 0; i < len; i++)
;;;461        {
;;;462            TxMessage.Data[i] = msg[i]; 
000024  eb030c00          ADD      r12,r3,r0
000028  5c0d              LDRB     r5,[r1,r0]
00002a  f88c500b          STRB     r5,[r12,#0xb]
00002e  1c40              ADDS     r0,r0,#1              ;460
                  |L11.48|
000030  4290              CMP      r0,r2                 ;460
000032  d3f7              BCC      |L11.36|
;;;463        }
;;;464    	
;;;465        while(1)
;;;466        {
;;;467    		if(CanSelect == 1)
;;;468    		{
;;;469    			mbox = CAN_Transmit(CAN1, &TxMessage);                              //向CAN总线传输数据
000034  f8df8074          LDR      r8,|L11.172|
;;;470    			if(mbox != CAN_TxStatus_NoMailBox)
;;;471    			{
;;;472    				while(CAN_TransmitStatus(CAN1, mbox) == CAN_TxStatus_Failed)
;;;473    				{
;;;474    					if(j-- < 1)
;;;475    					{
;;;476    						break;
;;;477    					}
;;;478    				}
;;;479    				break;
;;;480    			}
;;;481    			
;;;482    			if(j-- < 1)
;;;483    			{
;;;484    				break;
;;;485    			}
;;;486    		}
;;;487    		else
;;;488    		{
;;;489    			mbox = CAN_Transmit(CAN2, &TxMessage);                              //向CAN总线传输数据
000038  f8df9074          LDR      r9,|L11.176|
00003c  e02a              B        |L11.148|
                  |L11.62|
00003e  a901              ADD      r1,sp,#4              ;469
000040  4640              MOV      r0,r8                 ;469
000042  f7fffffe          BL       CAN_Transmit
000046  4605              MOV      r5,r0                 ;469
000048  2d04              CMP      r5,#4                 ;470
00004a  d103              BNE      |L11.84|
00004c  e009              B        |L11.98|
                  |L11.78|
00004e  1e64              SUBS     r4,r4,#1              ;474
000050  b2e4              UXTB     r4,r4                 ;474
000052  d322              BCC      |L11.154|
                  |L11.84|
000054  4629              MOV      r1,r5                 ;472
000056  4640              MOV      r0,r8                 ;472
000058  f7fffffe          BL       CAN_TransmitStatus
00005c  2800              CMP      r0,#0                 ;472
00005e  d0f6              BEQ      |L11.78|
000060  e01b              B        |L11.154|
                  |L11.98|
000062  1e64              SUBS     r4,r4,#1              ;482
000064  b2e4              UXTB     r4,r4                 ;482
000066  d215              BCS      |L11.148|
000068  e017              B        |L11.154|
                  |L11.106|
00006a  a901              ADD      r1,sp,#4
00006c  4648              MOV      r0,r9
00006e  f7fffffe          BL       CAN_Transmit
000072  4605              MOV      r5,r0
;;;490    			if(mbox != CAN_TxStatus_NoMailBox)
000074  2d04              CMP      r5,#4
000076  d103              BNE      |L11.128|
000078  e009              B        |L11.142|
                  |L11.122|
;;;491    			{
;;;492    				while(CAN_TransmitStatus(CAN2, mbox) == CAN_TxStatus_Failed)
;;;493    				{
;;;494    					if(j-- < 1)
00007a  1e64              SUBS     r4,r4,#1
00007c  b2e4              UXTB     r4,r4
00007e  d30c              BCC      |L11.154|
                  |L11.128|
000080  4629              MOV      r1,r5                 ;492
000082  4648              MOV      r0,r9                 ;492
000084  f7fffffe          BL       CAN_TransmitStatus
000088  2800              CMP      r0,#0                 ;492
00008a  d0f6              BEQ      |L11.122|
00008c  e005              B        |L11.154|
                  |L11.142|
;;;495    					{
;;;496    						break;
;;;497    					}
;;;498    				}
;;;499    				break;
;;;500    			}
;;;501    			
;;;502    			if(j-- < 1)
00008e  1e64              SUBS     r4,r4,#1
000090  b2e4              UXTB     r4,r4
000092  d302              BCC      |L11.154|
                  |L11.148|
000094  2e01              CMP      r6,#1                 ;467
000096  d1e8              BNE      |L11.106|
000098  e7d1              B        |L11.62|
                  |L11.154|
;;;503    			{
;;;504    				break;
;;;505    			}
;;;506    		}
;;;507        }
;;;508    	OSTimeDly(time, OS_OPT_TIME_PERIODIC, &err);
00009a  aa06              ADD      r2,sp,#0x18
00009c  2108              MOVS     r1,#8
00009e  4638              MOV      r0,r7
0000a0  f7fffffe          BL       OSTimeDly
;;;509    	return 0;
;;;510    }
0000a4  b007              ADD      sp,sp,#0x1c
0000a6  2000              MOVS     r0,#0                 ;509
0000a8  e8bd83f0          POP      {r4-r9,pc}
                          ENDP

                  |L11.172|
                          DCD      0x40006400
                  |L11.176|
                          DCD      0x40006800

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

                  can1Struct
                          %        80
                  can2Struct
                          %        80

                          AREA ||area_number.14||, DATA, NOINIT, ALIGN=1

                          EXPORTAS ||area_number.14||, ||.bss||
                  BMSmsg
                          %        128

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

                  OneLeftState
                          DCD      0x00000000

                          AREA ||area_number.17||, DATA, ALIGN=2

                          EXPORTAS ||area_number.17||, ||.data||
                  OneRightState
                          DCD      0x00000000

                          AREA ||area_number.18||, DATA, ALIGN=2

                          EXPORTAS ||area_number.18||, ||.data||
                  TwoLeftState
                          DCD      0x00000000

                          AREA ||area_number.19||, DATA, ALIGN=2

                          EXPORTAS ||area_number.19||, ||.data||
                  TwoRightState
                          DCD      0x00000000

                          AREA ||area_number.20||, DATA, ALIGN=2

                          EXPORTAS ||area_number.20||, ||.data||
                  ThreeLeftState
                          DCD      0x00000000

                          AREA ||area_number.21||, DATA, ALIGN=2

                          EXPORTAS ||area_number.21||, ||.data||
                  ThreeRightState
                          DCD      0x00000000

                          AREA ||area_number.22||, DATA, ALIGN=2

                          EXPORTAS ||area_number.22||, ||.data||
                  FourLeftState
                          DCD      0x00000000

                          AREA ||area_number.23||, DATA, ALIGN=2

                          EXPORTAS ||area_number.23||, ||.data||
                  FourRightState
                          DCD      0x00000000

                          AREA ||area_number.24||, DATA, ALIGN=2

                          EXPORTAS ||area_number.24||, ||.data||
                  OneLeftData
                          DCD      0x00000000

                          AREA ||area_number.25||, DATA, ALIGN=2

                          EXPORTAS ||area_number.25||, ||.data||
                  OneRightData
                          DCD      0x00000000

                          AREA ||area_number.26||, DATA, ALIGN=2

                          EXPORTAS ||area_number.26||, ||.data||
                  TwoLeftData
                          DCD      0x00000000

                          AREA ||area_number.27||, DATA, ALIGN=2

                          EXPORTAS ||area_number.27||, ||.data||
                  TwoRightData
                          DCD      0x00000000

                          AREA ||area_number.28||, DATA, ALIGN=2

                          EXPORTAS ||area_number.28||, ||.data||
                  ThreeLeftData
                          DCD      0x00000000

                          AREA ||area_number.29||, DATA, ALIGN=2

                          EXPORTAS ||area_number.29||, ||.data||
                  ThreeRightData
                          DCD      0x00000000

                          AREA ||area_number.30||, DATA, ALIGN=2

                          EXPORTAS ||area_number.30||, ||.data||
                  FourLeftData
                          DCD      0x00000000

                          AREA ||area_number.31||, DATA, ALIGN=2

                          EXPORTAS ||area_number.31||, ||.data||
                  FourRightData
                          DCD      0x00000000

                          AREA ||area_number.32||, DATA, ALIGN=2

                          EXPORTAS ||area_number.32||, ||.data||
                  OneLeftMagBias
                          DCD      0x00000000

                          AREA ||area_number.33||, DATA, ALIGN=2

                          EXPORTAS ||area_number.33||, ||.data||
                  OneRightMagBias
                          DCD      0x00000000

                          AREA ||area_number.34||, DATA, ALIGN=2

                          EXPORTAS ||area_number.34||, ||.data||
                  TwoLeftMagBias
                          DCD      0x00000000

                          AREA ||area_number.35||, DATA, ALIGN=2

                          EXPORTAS ||area_number.35||, ||.data||
                  TwoRightMagBias
                          DCD      0x00000000

                          AREA ||area_number.36||, DATA, ALIGN=2

                          EXPORTAS ||area_number.36||, ||.data||
                  ThreeLeftMagBias
                          DCD      0x00000000

                          AREA ||area_number.37||, DATA, ALIGN=2

                          EXPORTAS ||area_number.37||, ||.data||
                  ThreeRightMagBias
                          DCD      0x00000000

                          AREA ||area_number.38||, DATA, ALIGN=2

                          EXPORTAS ||area_number.38||, ||.data||
                  FourLeftMagBias
                          DCD      0x00000000

                          AREA ||area_number.39||, DATA, ALIGN=2

                          EXPORTAS ||area_number.39||, ||.data||
                  FourRightMagBias
                          DCD      0x00000000

;*** Start embedded assembler ***

#line 1 "..\\..\\User\\bsp\\BSP\\bsp_can.c"
	AREA ||.rev16_text||, CODE
	THUMB
	EXPORT |__asm___9_bsp_can_c_c272ff7f____REV16|
#line 129 "..\\..\\Libraries\\CMSIS\\Include\\core_cmInstr.h"
|__asm___9_bsp_can_c_c272ff7f____REV16| PROC
#line 130

 rev16 r0, r0
 bx lr
	ENDP
	AREA ||.revsh_text||, CODE
	THUMB
	EXPORT |__asm___9_bsp_can_c_c272ff7f____REVSH|
#line 144
|__asm___9_bsp_can_c_c272ff7f____REVSH| PROC
#line 145

 revsh r0, r0
 bx lr
	ENDP
	AREA ||.rrx_text||, CODE
	THUMB
	EXPORT |__asm___9_bsp_can_c_c272ff7f____RRX|
#line 300
|__asm___9_bsp_can_c_c272ff7f____RRX| PROC
#line 301

 rrx r0, r0
 bx lr
	ENDP

;*** End   embedded assembler ***