cansensor.txt
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; 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\cansensor.o --asm_dir=.\Flash\List\ --list_dir=.\Flash\List\ --depend=.\flash\obj\cansensor.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\cansensor.crf ..\..\User\HARAWARE\CanSensor.c]
THUMB
AREA ||i.Music_Select||, CODE, READONLY, ALIGN=2
Music_Select PROC
;;;5 u8 MusicSet[] = {0x23,0x00,0x01,0x00,0x00,0x00,0x00,0x00};
;;;6 u8 Music_Select(u8 MusicS,u8 Vol)
000000 4805 LDR r0,|L1.24|
;;;7 {
;;;8 static int LastTime = 0;
;;;9 if(agv.Public.SystemTime - LastTime > 500)
000002 4906 LDR r1,|L1.28|
000004 f8d000bc LDR r0,[r0,#0xbc] ; agv
000008 680a LDR r2,[r1,#0] ; LastTime
00000a 1a82 SUBS r2,r0,r2
00000c f5b27ffa CMP r2,#0x1f4
000010 d900 BLS |L1.20|
;;;10 {
;;;11 LastTime = agv.Public.SystemTime;
000012 6008 STR r0,[r1,#0] ; LastTime
|L1.20|
;;;12 // if(agv.Command.Music_ONOFF)//屏幕输入参数，控制音乐开关
;;;13 // {
;;;14 // MusicSet[5] = MusicS;
;;;15 // MusicSet[6] = Vol;
;;;16 // CAN2_Send_Msg(MusicSet, 8, 0x60A);//给音乐模块发送指令
;;;17 // return 1;
;;;18 // }
;;;19 // else
;;;20 // {
;;;21 // MusicSet[5] = MusicS;
;;;22 // MusicSet[6] = 0;
;;;23 // CAN2_Send_Msg(MusicSet, 8, 0x60A);//给音乐模块发送指令
;;;24 // return 1;
;;;25 // }
;;;26 }
;;;27 return 0;
000014 2000 MOVS r0,#0
;;;28 }
000016 4770 BX lr
;;;29 #elif P_SETUP_MUSIC_TYPE == 2
ENDP
|L1.24|
DCD agv
|L1.28|
DCD ||area_number.8||
AREA ||i.ReceiveBatteryData||, CODE, READONLY, ALIGN=2
ReceiveBatteryData PROC
;;;85
;;;86 void ReceiveBatteryData(CanRxMsg *CanRxMsg)//接收电池数据
000000 b530 PUSH {r4,r5,lr}
;;;87 {
;;;88 if(CanRxMsg->StdId == BattaryBackID_1)//0X53C电池反馈的第一帧数据
000002 6801 LDR r1,[r0,#0]
000004 f5a162a0 SUB r2,r1,#0x500
000008 3a3c SUBS r2,r2,#0x3c
00000a d142 BNE |L2.146|
;;;89 {
;;;90 if(CanRxMsg->Data[0] == 0x03)
00000c 7ac1 LDRB r1,[r0,#0xb]
00000e 2903 CMP r1,#3
000010 d13f BNE |L2.146|
;;;91 {
;;;92 if ((CanRxMsg->Data[1] & 0x80) == 0x80) //放电 bit7=1
000012 7b01 LDRB r1,[r0,#0xc]
;;;93 {
;;;94 CanBatteryStruct.Current_out_int = 0;
000014 4b21 LDR r3,|L2.156|
000016 060c LSLS r4,r1,#24 ;92
;;;95 CanRxMsg->Data[1] &= 0x7f;
;;;96 }
;;;97 else {
;;;98 CanBatteryStruct.Current_out_int = 1; //电池充电
000018 f04f0101 MOV r1,#1
00001c d506 BPL |L2.44|
00001e f8832024 STRB r2,[r3,#0x24] ;94
000022 7b04 LDRB r4,[r0,#0xc] ;95
000024 f004047f AND r4,r4,#0x7f ;95
000028 7304 STRB r4,[r0,#0xc] ;95
00002a e001 B |L2.48|
|L2.44|
00002c f8831024 STRB r1,[r3,#0x24]
|L2.48|
;;;99 }
;;;100 CanBatteryStruct.TotalCurrent = (CanRxMsg->Data[1] << 8) | CanRxMsg->Data[2];//总电流
000030 7b44 LDRB r4,[r0,#0xd]
000032 7b05 LDRB r5,[r0,#0xc]
000034 ea442405 ORR r4,r4,r5,LSL #8
000038 621c STR r4,[r3,#0x20] ; CanBatteryStruct
;;;101 CanBatteryStruct.SOC = (CanRxMsg->Data[3] << 8) | CanRxMsg->Data[4];//SOC 满电500
00003a 7bc4 LDRB r4,[r0,#0xf]
00003c 7b85 LDRB r5,[r0,#0xe]
00003e ea442405 ORR r4,r4,r5,LSL #8
000042 629c STR r4,[r3,#0x28] ; CanBatteryStruct
;;;102 CanBatteryStruct.TotalVoltage = (CanRxMsg->Data[5] << 8) | CanRxMsg->Data[6];//总电压
000044 7c44 LDRB r4,[r0,#0x11]
000046 7c05 LDRB r5,[r0,#0x10]
000048 ea442405 ORR r4,r4,r5,LSL #8
00004c 62dc STR r4,[r3,#0x2c] ; CanBatteryStruct
;;;103 CanBatteryStruct.StateTable = CanRxMsg->Data[7];//信息状态
00004e 7c80 LDRB r0,[r0,#0x12]
000050 6318 STR r0,[r3,#0x30] ; CanBatteryStruct
;;;104
;;;105 if (CanBatteryStruct.StateTable & 0x01) //充电故障
000052 07c4 LSLS r4,r0,#31
000054 d002 BEQ |L2.92|
;;;106 {
;;;107 CanBatteryStruct.StateTable0 = 1;
000056 f8831034 STRB r1,[r3,#0x34]
00005a e001 B |L2.96|
|L2.92|
;;;108 }
;;;109 else
;;;110 {
;;;111 CanBatteryStruct.StateTable0 = 0;
00005c f8832034 STRB r2,[r3,#0x34]
|L2.96|
;;;112 }
;;;113 if (CanBatteryStruct.StateTable & 0x02) //放电过流
000060 0784 LSLS r4,r0,#30
000062 d502 BPL |L2.106|
;;;114 {
;;;115 CanBatteryStruct.StateTable1 = 1;
000064 f8831035 STRB r1,[r3,#0x35]
000068 e001 B |L2.110|
|L2.106|
;;;116 }
;;;117 else
;;;118 {
;;;119 CanBatteryStruct.StateTable1 = 0;
00006a f8832035 STRB r2,[r3,#0x35]
|L2.110|
;;;120 }
;;;121 if (CanBatteryStruct.StateTable & 0x04) //充电接触器闭合
00006e 0744 LSLS r4,r0,#29
000070 d502 BPL |L2.120|
;;;122 {
;;;123 CanBatteryStruct.StateTable2 = 1;
000072 f8831036 STRB r1,[r3,#0x36]
000076 e001 B |L2.124|
|L2.120|
;;;124 }
;;;125 else
;;;126 {
;;;127 CanBatteryStruct.StateTable2 = 0; //断开
000078 f8832036 STRB r2,[r3,#0x36]
|L2.124|
;;;128 }
;;;129 if (CanBatteryStruct.StateTable & 0x08) //电池容量标志位2
00007c 0704 LSLS r4,r0,#28
00007e d502 BPL |L2.134|
;;;130 {
;;;131 CanBatteryStruct.StateTable3 = 1;
000080 f8831037 STRB r1,[r3,#0x37]
000084 e001 B |L2.138|
|L2.134|
;;;132 }
;;;133 else
;;;134 {
;;;135 CanBatteryStruct.StateTable3 = 0;
000086 f8832037 STRB r2,[r3,#0x37]
|L2.138|
;;;136 }
;;;137 if (CanBatteryStruct.StateTable & 0x10) //电池容量标志位1
00008a 06c0 LSLS r0,r0,#27
00008c d502 BPL |L2.148|
;;;138 {
;;;139 CanBatteryStruct.StateTable4 = 1;
00008e f8831038 STRB r1,[r3,#0x38]
|L2.146|
;;;140 }
;;;141 else {
;;;142 CanBatteryStruct.StateTable4 = 0;
;;;143 }
;;;144 }
;;;145 }
;;;146 else if(CanRxMsg->StdId == BattaryBackID_2)
;;;147 {
;;;148
;;;149 }
;;;150 }
000092 bd30 POP {r4,r5,pc}
|L2.148|
000094 f8832038 STRB r2,[r3,#0x38] ;142
000098 bd30 POP {r4,r5,pc}
;;;151
ENDP
00009a 0000 DCW 0x0000
|L2.156|
DCD ||.bss||
AREA ||i.SendBatteryData||, CODE, READONLY, ALIGN=2
SendBatteryData PROC
;;;73 u8 BatteryData[] = {0x00,0x55,0xFF,0x5A,0x00,0x00,0x00,0x00};//下发给电池指令，超过120S不发，电池会报异常
;;;74 u8 SendBatteryData(void)
000000 b508 PUSH {r3,lr}
;;;75 {
;;;76 static int LastTime = 0;
;;;77 if(agv.Public.SystemTime - LastTime > 20)
000002 480a LDR r0,|L3.44|
000004 490a LDR r1,|L3.48|
000006 f8d000bc LDR r0,[r0,#0xbc] ; agv
00000a 684a LDR r2,[r1,#4] ; LastTime
00000c 1a82 SUBS r2,r0,r2
00000e 2a14 CMP r2,#0x14
000010 d90a BLS |L3.40|
;;;78 {
;;;79 LastTime = agv.Public.SystemTime;
000012 6048 STR r0,[r1,#4] ; LastTime
;;;80 CAN_Send_Msg(BattaryID,BatteryData,8,0,2);
000014 2002 MOVS r0,#2
000016 9000 STR r0,[sp,#0]
000018 2300 MOVS r3,#0
00001a 2208 MOVS r2,#8
00001c 3108 ADDS r1,r1,#8
00001e 203c MOVS r0,#0x3c
000020 f7fffffe BL CAN_Send_Msg
;;;81 return 1;
000024 2001 MOVS r0,#1
;;;82 }
;;;83 return 0;
;;;84 }
000026 bd08 POP {r3,pc}
|L3.40|
000028 2000 MOVS r0,#0 ;83
00002a bd08 POP {r3,pc}
;;;85
ENDP
|L3.44|
DCD agv
|L3.48|
DCD ||area_number.8||
AREA ||.bss||, DATA, NOINIT, ALIGN=2
CanBatteryStruct
% 80
AREA ||.data||, DATA, ALIGN=0
MusicSet
000000 23000100 DCB 0x23,0x00,0x01,0x00
000004 00000000 DCB 0x00,0x00,0x00,0x00
AREA ||area_number.8||, DATA, ALIGN=2
EXPORTAS ||area_number.8||, ||.data||
LastTime
DCD 0x00000000
|symbol_number.16|
DCD 0x00000000
BatteryData
000008 0055ff5a DCB 0x00,0x55,0xff,0x5a
00000c 00000000 DCB 0x00,0x00,0x00,0x00
;*** Start embedded assembler ***
#line 1 "..\\..\\User\\HARAWARE\\CanSensor.c"
AREA ||.rev16_text||, CODE
THUMB
EXPORT |__asm___11_CanSensor_c_MusicSet____REV16|
#line 129 "..\\..\\Libraries\\CMSIS\\Include\\core_cmInstr.h"
|__asm___11_CanSensor_c_MusicSet____REV16| PROC
#line 130
rev16 r0, r0
bx lr
ENDP
AREA ||.revsh_text||, CODE
THUMB
EXPORT |__asm___11_CanSensor_c_MusicSet____REVSH|
#line 144
|__asm___11_CanSensor_c_MusicSet____REVSH| PROC
#line 145
revsh r0, r0
bx lr
ENDP
AREA ||.rrx_text||, CODE
THUMB
EXPORT |__asm___11_CanSensor_c_MusicSet____RRX|
#line 300
|__asm___11_CanSensor_c_MusicSet____RRX| PROC
#line 301
rrx r0, r0
bx lr
ENDP
;*** End embedded assembler ***