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\user_canupdate.o --asm_dir=.\Flash\List\ --list_dir=.\Flash\List\ --depend=.\flash\obj\user_canupdate.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.\RTE\_Flash -IC:\Users\软件部\AppData\Local\Arm\Packs\ARM\CMSIS\5.5.1\CMSIS\Core\Include -IC:\Users\软件部\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\user_canupdate.crf ..\..\User\parameter\user_Canupdate.c]
                          THUMB

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

                  AppTaskCanUpdate PROC
;;;258    
;;;259    void AppTaskCanUpdate(void *p_arg)
000000  ed2d8b02          VPUSH    {d8}
;;;260    {
000004  b084              SUB      sp,sp,#0x10
;;;261    
;;;262        OS_ERR p_err;
;;;263    	if(CompileSwitch)
;;;264    	InitDriverInfo();//初始化驱动数据
;;;265    	
;;;266    	short LiftSpeedOne = 0,LiftSpeedTwo = 0;
;;;267    		
;;;268    	
;;;269    	CAN2_Send_Msg_Extend(CYLINDER_SEND1,ResetTransformer,8,30);
000006  231e              MOVS     r3,#0x1e
000008  2208              MOVS     r2,#8
00000a  494d              LDR      r1,|L1.320|
00000c  484d              LDR      r0,|L1.324|
00000e  f7fffffe          BL       CAN2_Send_Msg_Extend
;;;270    	CAN2_Send_Msg_Extend(CYLINDER_SEND2,ResetTransformer,8,30);
000012  231e              MOVS     r3,#0x1e
000014  2208              MOVS     r2,#8
000016  494a              LDR      r1,|L1.320|
000018  484b              LDR      r0,|L1.328|
00001a  f7fffffe          BL       CAN2_Send_Msg_Extend
;;;271    	//CAN2_Send_Msg_Extend(CYLINDER_SEND3,ResetTransformer,8,30);
;;;272    	
;;;273    	while(1)
;;;274    	{	
;;;275    		if(CompileSwitch)
;;;276    		{
;;;277    			/****************************行走驱动************************************************/
;;;278    			if(pSetup[SETUP_MOTOR_NUM] > 0)
;;;279    			{
;;;280    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;281    				DriverFunction(&Driver_first_motor);//创建行走驱动实例
;;;282    			}
;;;283    			if(pSetup[SETUP_MOTOR_NUM] > 1)
;;;284    			{
;;;285    				DriverFunction(&Driver_second_motor);
;;;286    			}
;;;287    			if(pSetup[SETUP_MOTOR_NUM] > 2)
;;;288    			{
;;;289    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;290    				DriverFunction(&Driver_third_motor);
;;;291    			}
;;;292    			if(pSetup[SETUP_MOTOR_NUM] > 3)
;;;293    			{
;;;294    				DriverFunction(&Driver_fourth_motor);
;;;295    			}
;;;296    			
;;;297    			if(pSetup[SETUP_MOTOR_NUM] > 0)
;;;298    			{
;;;299    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;300    				DriverState(&Driver_first_motor,10.0f);//创建行走读状态实例 保证发送速度指令之间无延迟
;;;301    			}
;;;302    			if(pSetup[SETUP_MOTOR_NUM] > 1)
;;;303    			{
;;;304    				DriverState(&Driver_second_motor,10.0f);
;;;305    			}
;;;306    			if(pSetup[SETUP_MOTOR_NUM] > 2)
;;;307    			{
;;;308    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;309    				DriverState(&Driver_third_motor,10.0f);
;;;310    			}
;;;311    			if(pSetup[SETUP_MOTOR_NUM] > 3)
;;;312    			{
;;;313    				DriverState(&Driver_fourth_motor,10.0f);
;;;314    			}
;;;315    
;;;316    	/****************************转向驱动************************************************/
;;;317    			if(pSetup[SETUP_STEERING_NUM] > 0)
;;;318    			{
;;;319    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;320    				steeringFunction(&Driver_first_steering,&Driver_first_motor);//创建转向驱动实例
;;;321    			}
;;;322    			if(pSetup[SETUP_STEERING_NUM] > 1)
;;;323    			{
;;;324    				steeringFunction(&Driver_second_steering,&Driver_second_motor);
;;;325    			}
;;;326    			if(pSetup[SETUP_STEERING_NUM] > 2)
;;;327    			{
;;;328    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;329    				steeringFunction(&Driver_third_steering,&Driver_third_motor);
;;;330    			}
;;;331    			if(pSetup[SETUP_STEERING_NUM] > 3)
;;;332    			{
;;;333    				steeringFunction(&Driver_fourth_steering,&Driver_fourth_motor);
;;;334    			}
;;;335    
;;;336    			if(pSetup[SETUP_STEERING_NUM] > 0)
;;;337    			{
;;;338    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;339    				DriverState(&Driver_first_steering,0.01f);//创建转向驱动实例
;;;340    			}
;;;341    			if(pSetup[SETUP_STEERING_NUM] > 1)
;;;342    			{
;;;343    				DriverState(&Driver_second_steering,0.01f);
;;;344    			}
;;;345    			if(pSetup[SETUP_STEERING_NUM] > 2)
;;;346    			{
;;;347    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;348    				DriverState(&Driver_third_steering,0.01f);
;;;349    			}
;;;350    			if(pSetup[SETUP_STEERING_NUM] > 3)
;;;351    			{
;;;352    				DriverState(&Driver_fourth_steering,0.01f);
;;;353    			}
;;;354    	/****************************举升驱动************************************************/
;;;355    			if(pSetup[SETUP_LIFTER_NUM] > 0)
;;;356    			{
;;;357    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;358    				DriverFunction(&Driver_first_lifter);//创建举升驱动实例
;;;359    			}
;;;360    			if(pSetup[SETUP_LIFTER_NUM] > 1)
;;;361    			{
;;;362    				DriverFunction(&Driver_second_lifter);
;;;363    			}
;;;364    			if(pSetup[SETUP_LIFTER_NUM] > 2)
;;;365    			{
;;;366    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;367    				DriverFunction(&Driver_third_lifter);
;;;368    			}
;;;369    			if(pSetup[SETUP_LIFTER_NUM] > 3)
;;;370    			{
;;;371    				DriverFunction(&Driver_fourth_lifter);
;;;372    			}
;;;373    			
;;;374    			if(pSetup[SETUP_LIFTER_NUM] > 0)
;;;375    			{
;;;376    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;377    				DriverState(&Driver_first_lifter,10.0f);//创建举升驱动实例
;;;378    			}
;;;379    			if(pSetup[SETUP_LIFTER_NUM] > 1)
;;;380    			{
;;;381    				DriverState(&Driver_second_lifter,10.0f);
;;;382    			}
;;;383    			if(pSetup[SETUP_LIFTER_NUM] > 2)
;;;384    			{
;;;385    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;386    				DriverState(&Driver_third_lifter,10.0f);
;;;387    			}
;;;388    			if(pSetup[SETUP_LIFTER_NUM] > 3)
;;;389    			{
;;;390    				DriverState(&Driver_fourth_lifter,10.0f);
;;;391    			}
;;;392    	/****************************移轴驱动************************************************/
;;;393    			if(pSetup[SETUP_SHIFTER_NUM] > 0)
;;;394    			{
;;;395    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;396    				DriverFunction(&Driver_first_shifter);//创建移轴驱动实例
;;;397    			}
;;;398    			if(pSetup[SETUP_SHIFTER_NUM] > 1)
;;;399    			{
;;;400    				DriverFunction(&Driver_second_shifter);
;;;401    			}
;;;402    			
;;;403    			if(pSetup[SETUP_SHIFTER_NUM] > 2)
;;;404    			{
;;;405    				OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
;;;406    				DriverFunction(&Driver_third_shifter);
;;;407    			}
;;;408    
;;;409    			if(pSetup[SETUP_SHIFTER_NUM] > 0)
;;;410    			{
;;;411    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;412    				DriverState(&Driver_first_shifter,10.0f);//创建移轴读状态实例
;;;413    			}
;;;414    			
;;;415    			if(pSetup[SETUP_SHIFTER_NUM] > 1)
;;;416    			{
;;;417    				DriverState(&Driver_second_shifter,10.0f);
;;;418    			}
;;;419    			if(pSetup[SETUP_SHIFTER_NUM] > 2)
;;;420    			{
;;;421    				OSTimeDly(2, OS_OPT_TIME_PERIODIC, &p_err);
;;;422    				DriverState(&Driver_third_shifter,10.0f);
;;;423    			}
;;;424    		}
;;;425    		
;;;426    		//电缸
;;;427    		if(pSetup[SETUP_ELECCYLINDER_NUM] > 0)
00001e  f8df812c          LDR      r8,|L1.332|
;;;428    		{
;;;429    			GetElecHDFeedBackData();
;;;430    			LiftSpeedOne = (short)HandlePlcData.RecvPlcData.FirstLiftSetSpeed;
000022  4f4b              LDR      r7,|L1.336|
000024  2400              MOVS     r4,#0
;;;431    			LiftSpeedTwo = (short)HandlePlcData.RecvPlcData.SecondLiftSetSpeed;
;;;432    		
;;;433    			TransformerFun(LiftSpeedOne,LiftSpeedTwo);
;;;434    		}
;;;435    
;;;436    		//改造车型
;;;437    		if(pSetup[SETUP_REMODEL_AGV_OPEN])
;;;438    		{
;;;439    			RemodelThrModel.DccelerationRamp = 20;
;;;440    			RemodelThrModel.AccelerationRamp = 20;
;;;441    		
;;;442    			CAN2_Send_Msg(LIFT_SETTRING_ONE_ID,LiftEncoderPosBack,8,0);
;;;443    			//if(ControlInputValue.agvControlStatus)
;;;444    			RemodelTheModelSendCommend(&RemodelThrModel);
;;;445    
;;;446    			ControlInputValue.AgvActualFirstSpeed = (short)RmodelTheModelReadData(&RemodelThrModel);
;;;447    			ControlInputValue.AgvFirstRudderWheelAngle = (float)(RemodelThrModelBack.GetAnglePosition) / 100.0f;
;;;448    			
;;;449    			float DeltaTime = ((float)TIM_GetCounter(TIM3)) / 2000.0f;//清空计时器
;;;450    			TIM_SetCounter(TIM3,0);//清空计时器
;;;451    			
;;;452    			ControlInputValue.AgvActualFirstDis += (ControlInputValue.AgvActualFirstSpeed * DeltaTime);
;;;453    		
;;;454    			unsigned char ChargeBUFF[8] = {0};
;;;455    			
;;;456    			//充电信号
;;;457    			if(HandlePlcData.RecvPlcData.agvChargeSignal)
;;;458    			{
;;;459    				ChargeBUFF[0] = 0x0;
;;;460    				ChargeBUFF[1] = 0x1;
000026  2601              MOVS     r6,#1
;;;461    				ChargeBUFF[2] = 0x0;
;;;462    				ChargeBUFF[3] = 0x1;
;;;463    				ChargeBUFF[4] = 0x1;
;;;464    				ChargeBUFF[5] = 0x0;
;;;465    				ChargeBUFF[6] = 0x0;
;;;466    				ChargeBUFF[7] = 0x0;
;;;467    				
;;;468    				CAN2_Send_Msg(CHARGE_CTR,ChargeBUFF,8,0);
000028  f44f7988          MOV      r9,#0x110
                  |L1.44|
00002c  f8d80000          LDR      r0,[r8,#0]            ;427  ; pSetup
000030  f8d00084          LDR      r0,[r0,#0x84]         ;427
000034  b138              CBZ      r0,|L1.70|
000036  f7fffffe          BL       GetElecHDFeedBackData
00003a  f9b70018          LDRSH    r0,[r7,#0x18]         ;430  ; HandlePlcData
00003e  f9b7101a          LDRSH    r1,[r7,#0x1a]         ;431  ; HandlePlcData
000042  f7fffffe          BL       TransformerFun
                  |L1.70|
000046  f8d80000          LDR      r0,[r8,#0]            ;437  ; pSetup
00004a  f8d00168          LDR      r0,[r0,#0x168]        ;437
00004e  2800              CMP      r0,#0                 ;437
000050  d070              BEQ      |L1.308|
000052  4940              LDR      r1,|L1.340|
000054  2014              MOVS     r0,#0x14              ;439
000056  80c8              STRH     r0,[r1,#6]            ;439
000058  8088              STRH     r0,[r1,#4]            ;440
00005a  4939              LDR      r1,|L1.320|
00005c  2300              MOVS     r3,#0                 ;442
00005e  2208              MOVS     r2,#8                 ;442
000060  3908              SUBS     r1,r1,#8              ;442
000062  f2406014          MOV      r0,#0x614             ;442
000066  f7fffffe          BL       CAN2_Send_Msg
00006a  483a              LDR      r0,|L1.340|
00006c  f7fffffe          BL       RemodelTheModelSendCommend
000070  4838              LDR      r0,|L1.340|
000072  f7fffffe          BL       RmodelTheModelReadData
000076  eebd0ac0          VCVT.S32.F32 s0,s0                 ;446
00007a  4d37              LDR      r5,|L1.344|
00007c  ee100a10          VMOV     r0,s0                 ;446
000080  81a8              STRH     r0,[r5,#0xc]          ;446
000082  4836              LDR      r0,|L1.348|
000084  eddf0a36          VLDR     s1,|L1.352|
000088  f9b00002          LDRSH    r0,[r0,#2]            ;447  ; RemodelThrModelBack
00008c  ee000a10          VMOV     s0,r0                 ;447
000090  eeb80ac0          VCVT.F32.S32 s0,s0                 ;447
000094  ee801a20          VDIV.F32 s2,s0,s1              ;447
000098  ed851a09          VSTR     s2,[r5,#0x24]         ;447
00009c  f8dfa0c4          LDR      r10,|L1.356|
0000a0  4650              MOV      r0,r10                ;449
0000a2  f7fffffe          BL       TIM_GetCounter
0000a6  ee000a10          VMOV     s0,r0                 ;449
0000aa  eddf0a2f          VLDR     s1,|L1.360|
0000ae  eeb80a40          VCVT.F32.U32 s0,s0                 ;449
0000b2  ee808a20          VDIV.F32 s16,s0,s1             ;449
0000b6  2100              MOVS     r1,#0                 ;450
0000b8  4650              MOV      r0,r10                ;450
0000ba  f7fffffe          BL       TIM_SetCounter
0000be  f9b5000c          LDRSH    r0,[r5,#0xc]          ;452  ; ControlInputValue
0000c2  ed950a05          VLDR     s0,[r5,#0x14]         ;452
0000c6  ee000a90          VMOV     s1,r0                 ;452
0000ca  eeb80ac0          VCVT.F32.S32 s0,s0                 ;452
0000ce  eef80ae0          VCVT.F32.S32 s1,s1                 ;452
0000d2  ee000a88          VMLA.F32 s0,s1,s16             ;452
0000d6  eebd0ac0          VCVT.S32.F32 s0,s0                 ;452
0000da  ed850a05          VSTR     s0,[r5,#0x14]         ;452
0000de  9401              STR      r4,[sp,#4]            ;454
0000e0  9402              STR      r4,[sp,#8]            ;454
0000e2  f897003c          LDRB     r0,[r7,#0x3c]         ;457  ; HandlePlcData
0000e6  b1b0              CBZ      r0,|L1.278|
0000e8  f88d4004          STRB     r4,[sp,#4]            ;459
0000ec  f88d6005          STRB     r6,[sp,#5]            ;460
0000f0  f88d4006          STRB     r4,[sp,#6]            ;461
0000f4  f88d6007          STRB     r6,[sp,#7]            ;462
0000f8  f88d6008          STRB     r6,[sp,#8]            ;463
0000fc  f88d4009          STRB     r4,[sp,#9]            ;464
000100  f88d400a          STRB     r4,[sp,#0xa]          ;465
000104  f88d400b          STRB     r4,[sp,#0xb]          ;466
000108  2300              MOVS     r3,#0
00010a  2208              MOVS     r2,#8
00010c  a901              ADD      r1,sp,#4
00010e  4648              MOV      r0,r9
000110  f7fffffe          BL       CAN2_Send_Msg
000114  e00e              B        |L1.308|
                  |L1.278|
;;;469    			}
;;;470    			else 
;;;471    			{
;;;472    				ChargeBUFF[0] = 0x0;
000116  f88d4004          STRB     r4,[sp,#4]
;;;473    				ChargeBUFF[1] = 0x0;
00011a  f88d4005          STRB     r4,[sp,#5]
;;;474    				ChargeBUFF[2] = 0x1;
00011e  f88d6006          STRB     r6,[sp,#6]
;;;475    				ChargeBUFF[3] = 0x1;
000122  f88d6007          STRB     r6,[sp,#7]
;;;476    				ChargeBUFF[4] = 0x0;
;;;477    				ChargeBUFF[5] = 0x0;
;;;478    				ChargeBUFF[6] = 0x0;
;;;479    				ChargeBUFF[7] = 0x0;
000126  9402              STR      r4,[sp,#8]
;;;480    				
;;;481    				CAN2_Send_Msg(CHARGE_CTR,ChargeBUFF,8,0);
000128  2300              MOVS     r3,#0
00012a  2208              MOVS     r2,#8
00012c  a901              ADD      r1,sp,#4
00012e  4648              MOV      r0,r9
000130  f7fffffe          BL       CAN2_Send_Msg
                  |L1.308|
;;;482    
;;;483    			}
;;;484    		}
;;;485    		OSTimeDly(8, OS_OPT_TIME_PERIODIC, &p_err);
000134  2108              MOVS     r1,#8
000136  aa03              ADD      r2,sp,#0xc
000138  4608              MOV      r0,r1
00013a  f7fffffe          BL       OSTimeDly
00013e  e775              B        |L1.44|
;;;486    	}
;;;487    }
;;;488    
                          ENDP

                  |L1.320|
                          DCD      ||.data||+0x10
                  |L1.324|
                          DCD      0x18ef1301
                  |L1.328|
                          DCD      0x18ef1401
                  |L1.332|
                          DCD      pSetup
                  |L1.336|
                          DCD      HandlePlcData
                  |L1.340|
                          DCD      ||.bss||
                  |L1.344|
                          DCD      ControlInputValue
                  |L1.348|
                          DCD      RemodelThrModelBack
                  |L1.352|
000160  42c80000          DCFS     0x42c80000 ; 100
                  |L1.356|
                          DCD      0x40000400
                  |L1.360|
000168  44fa0000          DCFS     0x44fa0000 ; 2000

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

                  DriverFunction PROC
;;;58     
;;;59     void DriverFunction(DriverStruct *Motor)//行走 举升 移轴电机
000000  b510              PUSH     {r4,lr}
;;;60     {
000002  4604              MOV      r4,r0
;;;61     	if(0)//如果拍了急停信号
;;;62     	{
;;;63     		Motor->Private.initStep = 0;
;;;64     	}
;;;65     	
;;;66     	if(Motor->Private.initStep != 255)//*****************************************如果未初始化先初始化
000004  f8940050          LDRB     r0,[r4,#0x50]
000008  28ff              CMP      r0,#0xff
00000a  d004              BEQ      |L2.22|
;;;67     	{
;;;68     		init_driver(Motor);//非阻塞函数
00000c  4620              MOV      r0,r4
00000e  e8bd4010          POP      {r4,lr}
000012  f7ffbffe          B.W      init_driver
                  |L2.22|
;;;69     	}
;;;70     	else//**************************************************************************无其他问题则发速度 读速度等
;;;71     	{
;;;72     		if(set_speed(Motor) == 1)//返回0证明发了指令 则本轮不要发指令 否则会造成上一条指令无法匹配
000016  4620              MOV      r0,r4
000018  f7fffffe          BL       set_speed
00001c  2801              CMP      r0,#1
00001e  d10f              BNE      |L2.64|
;;;73     		{
;;;74     			if(Motor->Private.sendStep == 0)
000020  f8940051          LDRB     r0,[r4,#0x51]
000024  b130              CBZ      r0,|L2.52|
;;;75     			{
;;;76     				get_actual_speed(Motor);//获取速度
;;;77     				Motor->Private.sendStep = 1;
;;;78     			}
;;;79     			else
;;;80     			{
;;;81     				if(Motor->Command.clrPos != 1)
000026  6960              LDR      r0,[r4,#0x14]
000028  2801              CMP      r0,#1
00002a  d00a              BEQ      |L2.66|
;;;82     				{
;;;83     					get_actual_pos(Motor);//获取位置
00002c  4620              MOV      r0,r4
00002e  f7fffffe          BL       get_actual_pos
000032  e009              B        |L2.72|
                  |L2.52|
000034  4620              MOV      r0,r4                 ;76
000036  f7fffffe          BL       get_actual_speed
00003a  2001              MOVS     r0,#1                 ;77
00003c  f8840051          STRB     r0,[r4,#0x51]         ;77
                  |L2.64|
;;;84     				}
;;;85     				else
;;;86     				{
;;;87     					clr_actual_pos(Motor);//清除位置
;;;88     				}
;;;89     				Motor->Private.sendStep = 0;
;;;90     			}
;;;91     		}
;;;92     	}
;;;93     }
000040  bd10              POP      {r4,pc}
                  |L2.66|
000042  4620              MOV      r0,r4                 ;87
000044  f7fffffe          BL       clr_actual_pos
                  |L2.72|
000048  2000              MOVS     r0,#0                 ;89
00004a  f8840051          STRB     r0,[r4,#0x51]         ;89
00004e  bd10              POP      {r4,pc}
;;;94     
                          ENDP


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

                  DriverState PROC
;;;13     
;;;14     void DriverState(DriverStruct *Motor,float speedThreshold)
000000  b510              PUSH     {r4,lr}
;;;15     {
000002  4604              MOV      r4,r0
000004  ed2d8b04          VPUSH    {d8-d9}
000008  b084              SUB      sp,sp,#0x10
00000a  eeb09a40          VMOV.F32 s18,s0
;;;16     	Motor->Private.readStateCount++;
00000e  3452              ADDS     r4,r4,#0x52
000010  78a0              LDRB     r0,[r4,#2]
000012  1c40              ADDS     r0,r0,#1
000014  b2c0              UXTB     r0,r0
000016  70a0              STRB     r0,[r4,#2]
;;;17     	Motor->Private.sendHeartBeatCount++;
000018  7861              LDRB     r1,[r4,#1]
00001a  1c49              ADDS     r1,r1,#1
00001c  b2ca              UXTB     r2,r1
00001e  7062              STRB     r2,[r4,#1]
;;;18     	Motor->Private.readAmpereCount++;
000020  7821              LDRB     r1,[r4,#0]
000022  1c49              ADDS     r1,r1,#1
000024  b2c9              UXTB     r1,r1
000026  f8041952          STRB     r1,[r4],#-0x52
;;;19     	if(Motor->Private.readAmpereCount > 30)
00002a  2300              MOVS     r3,#0
00002c  291e              CMP      r1,#0x1e
00002e  d91a              BLS      |L3.102|
;;;20     	{
;;;21     		Motor->Private.readAmpereCount = 0;
000030  f8843052          STRB     r3,[r4,#0x52]
;;;22     		if(fabs(Motor->Command.speed) > 0.01f)
000034  6860              LDR      r0,[r4,#4]
000036  f7fffffe          BL       __aeabi_f2d
00003a  ec410b10          VMOV     d0,r0,r1
00003e  f7fffffe          BL       __hardfp_fabs
000042  ed9f1b38          VLDR     d1,|L3.292|
000046  ec510b10          VMOV     r0,r1,d0
00004a  ec532b11          VMOV     r2,r3,d1
00004e  f7fffffe          BL       __aeabi_cdrcmple
000052  d203              BCS      |L3.92|
;;;23     		{
;;;24     			get_driver_ampere(Motor);//获取状态
000054  4620              MOV      r0,r4
000056  f7fffffe          BL       get_driver_ampere
00005a  e016              B        |L3.138|
                  |L3.92|
;;;25     		}
;;;26     		else
;;;27     		{
;;;28     			Motor->Public.ampere = 0;
00005c  ed9f0a33          VLDR     s0,|L3.300|
000060  ed840a1d          VSTR     s0,[r4,#0x74]
000064  e011              B        |L3.138|
                  |L3.102|
;;;29     		}
;;;30     	}
;;;31     	else if(Motor->Private.readStateCount > 15)//已经给驱动发的速度和实际驱动反馈的速度差值大的时候查询驱动状态
000066  280f              CMP      r0,#0xf
000068  d905              BLS      |L3.118|
;;;32     	{
;;;33     		Motor->Private.readStateCount = 0;
00006a  f8843054          STRB     r3,[r4,#0x54]
;;;34     		get_driver_state(Motor);//获取状态
00006e  4620              MOV      r0,r4
000070  f7fffffe          BL       get_driver_state
000074  e009              B        |L3.138|
                  |L3.118|
;;;35     	}
;;;36     	else if(Motor->Private.sendHeartBeatCount > 14 || (*Motor->driverShareErrorInfo))
000076  2a0e              CMP      r2,#0xe
000078  d802              BHI      |L3.128|
00007a  6820              LDR      r0,[r4,#0]
00007c  6800              LDR      r0,[r0,#0]
00007e  b120              CBZ      r0,|L3.138|
                  |L3.128|
;;;37     	{
;;;38     		Motor->Private.sendHeartBeatCount = 0;
000080  f8843053          STRB     r3,[r4,#0x53]
;;;39     		send_heartbeat(Motor);//发送心跳
000084  4620              MOV      r0,r4
000086  f7fffffe          BL       send_heartbeat
                  |L3.138|
;;;40     	}
;;;41     	
;;;42     	if(Motor->Private.realEnable == 0 && (fabs(Motor->Command.speed) > speedThreshold))//如果还未真正使能
00008a  6ae0              LDR      r0,[r4,#0x2c]
00008c  2800              CMP      r0,#0
00008e  d141              BNE      |L3.276|
000090  ee190a10          VMOV     r0,s18
000094  f7fffffe          BL       __aeabi_f2d
000098  ec410b18          VMOV     d8,r0,r1
00009c  6860              LDR      r0,[r4,#4]
00009e  f7fffffe          BL       __aeabi_f2d
0000a2  ec410b10          VMOV     d0,r0,r1
0000a6  f7fffffe          BL       __hardfp_fabs
0000aa  ec532b18          VMOV     r2,r3,d8
0000ae  ec510b10          VMOV     r0,r1,d0
0000b2  f7fffffe          BL       __aeabi_cdrcmple
0000b6  d22d              BCS      |L3.276|
;;;43     	{
;;;44     		if(fabs(Motor->Public.encoderSpeed) > speedThreshold && Motor->Private.enable == 1)//如果已经发了使能指令和速度并且有返回速度
0000b8  ee190a10          VMOV     r0,s18
0000bc  f7fffffe          BL       __aeabi_f2d
0000c0  ec410b18          VMOV     d8,r0,r1
0000c4  6ea0              LDR      r0,[r4,#0x68]
0000c6  f7fffffe          BL       __aeabi_f2d
0000ca  ec410b10          VMOV     d0,r0,r1
0000ce  f7fffffe          BL       __hardfp_fabs
0000d2  ec532b18          VMOV     r2,r3,d8
0000d6  ec510b10          VMOV     r0,r1,d0
0000da  f7fffffe          BL       __aeabi_cdrcmple
0000de  d202              BCS      |L3.230|
0000e0  6a60              LDR      r0,[r4,#0x24]
0000e2  2801              CMP      r0,#1
0000e4  d01a              BEQ      |L3.284|
                  |L3.230|
;;;45     		{
;;;46     			Motor->Private.realEnable = 1;//真正使能信号置1
;;;47     		}
;;;48     		else
;;;49     		{
;;;50     			OS_ERR p_err;
;;;51     			OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
0000e6  aa03              ADD      r2,sp,#0xc
0000e8  2108              MOVS     r1,#8
0000ea  2001              MOVS     r0,#1
0000ec  f7fffffe          BL       OSTimeDly
;;;52     			Uart_Printf(COM1,"id：%x speed: %.1f\r\n",Motor->Private.driverID,Motor->Public.encoderSpeed);
0000f0  6ea0              LDR      r0,[r4,#0x68]
0000f2  f7fffffe          BL       __aeabi_f2d
0000f6  e9cd0100          STRD     r0,r1,[sp,#0]
0000fa  8fa2              LDRH     r2,[r4,#0x3c]
0000fc  a10c              ADR      r1,|L3.304|
0000fe  2001              MOVS     r0,#1
000100  f7fffffe          BL       Uart_Printf
;;;53     			get_actual_speed(Motor);//获取速度
000104  4620              MOV      r0,r4
000106  f7fffffe          BL       get_actual_speed
;;;54     			OSTimeDly(1, OS_OPT_TIME_PERIODIC, &p_err);
00010a  aa03              ADD      r2,sp,#0xc
00010c  2108              MOVS     r1,#8
00010e  2001              MOVS     r0,#1
000110  f7fffffe          BL       OSTimeDly
                  |L3.276|
;;;55     		}
;;;56     	}
;;;57     }
000114  b004              ADD      sp,sp,#0x10
000116  ecbd8b04          VPOP     {d8-d9}
00011a  bd10              POP      {r4,pc}
                  |L3.284|
00011c  2001              MOVS     r0,#1                 ;46
00011e  62e0              STR      r0,[r4,#0x2c]         ;46
000120  e7f8              B        |L3.276|
;;;58     
                          ENDP

000122  0000              DCW      0x0000
                  |L3.292|
000124  40000000          DCFD     0x3f847ae140000000 ; 0.0099999997764825821
000128  3f847ae1
                  |L3.300|
00012c  00000000          DCFS     0x00000000 ; 0
                  |L3.304|
000130  6964a3ba          DCB      "id",163,186,"%x speed: %.1f\r\n",0
000134  25782073
000138  70656564
00013c  3a20252e
000140  31660d0a
000144  00      
000145  00                DCB      0
000146  00                DCB      0
000147  00                DCB      0

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

                  RmodelTheModelReadData PROC
;;;250    //转换速度
;;;251    float RmodelTheModelReadData(agvRemodelThrModel *RemodelThrModel)
000000  480b              LDR      r0,|L4.48|
;;;252    {
;;;253    	return ((float)(RemodelThrModelBack.GetMoveRPMspeed) / WHEEL_RADIO / 60.0f) * PI * WHEEL_DIAMETER;
000002  eeb31a0c          VMOV.F32 s2,#28.00000000
000006  f9b00000          LDRSH    r0,[r0,#0]  ; RemodelThrModelBack
00000a  ee000a10          VMOV     s0,r0
00000e  eef80ac0          VCVT.F32.S32 s1,s0
000012  ee800a81          VDIV.F32 s0,s1,s2
000016  ed9f1a07          VLDR     s2,|L4.52|
00001a  eec00a01          VDIV.F32 s1,s0,s2
00001e  ed9f0a06          VLDR     s0,|L4.56|
000022  ee200a80          VMUL.F32 s0,s1,s0
000026  eddf0a05          VLDR     s1,|L4.60|
00002a  ee200a20          VMUL.F32 s0,s0,s1
;;;254    }
00002e  4770              BX       lr
;;;255    
                          ENDP

                  |L4.48|
                          DCD      RemodelThrModelBack
                  |L4.52|
000034  42700000          DCFS     0x42700000 ; 60
                  |L4.56|
000038  40490fda          DCFS     0x40490fda ; 3.1415925025939941
                  |L4.60|
00003c  43660000          DCFS     0x43660000 ; 230

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

                  TransformerFun PROC
;;;113    //电缸控制函数
;;;114    void TransformerFun(short speedOne,short speedTwo)
000000  e92d4ff0          PUSH     {r4-r11,lr}
;;;115    {
000004  b087              SUB      sp,sp,#0x1c
000006  4604              MOV      r4,r0
000008  460d              MOV      r5,r1
;;;116    	unsigned char buffOne[8] = {0X00,0X00,0X00,0X10,0X00,0X00,0X00,0X00};
00000a  a0b3              ADR      r0,|L5.728|
00000c  c803              LDM      r0,{r0,r1}
00000e  e9cd0105          STRD     r0,r1,[sp,#0x14]
;;;117    	unsigned char buffTwo[8] = {0X00,0X00,0X00,0X10,0X00,0X00,0X00,0X00};
000012  a0b1              ADR      r0,|L5.728|
000014  c803              LDM      r0,{r0,r1}
000016  e9cd0103          STRD     r0,r1,[sp,#0xc]
;;;118    	unsigned char DisEnable[] = {0X00,0X00,0X14,0X00,0X00,0X00,0X00,0X00};
00001a  a0b1              ADR      r0,|L5.736|
00001c  c803              LDM      r0,{r0,r1}
00001e  e9cd0101          STRD     r0,r1,[sp,#4]
;;;119    	
;;;120    	short distanceOne = 0,ss1 = 0;
;;;121    	short distanceTwo = 0,ss2 = 0;
;;;122    	
;;;123    	static int i = 51,sssssss = 0;
;;;124    	static short CurSpeed = 0,LastSpeed = 0;
;;;125    	
;;;126    	CurSpeed = speedOne;
000022  4eb1              LDR      r6,|L5.744|
000024  8034              STRH     r4,[r6,#0]
;;;127    	if(speedOne == 0)
000026  2c00              CMP      r4,#0
000028  d106              BNE      |L5.56|
;;;128    	{
;;;129    		CAN2_Send_Msg_Extend(CYLINDER_SEND1,ResetTransformer,8,30);
00002a  231e              MOVS     r3,#0x1e
00002c  2208              MOVS     r2,#8
00002e  f1060110          ADD      r1,r6,#0x10
000032  48ae              LDR      r0,|L5.748|
000034  f7fffffe          BL       CAN2_Send_Msg_Extend
                  |L5.56|
;;;130    	}
;;;131    	if(speedTwo == 0)
000038  b935              CBNZ     r5,|L5.72|
;;;132    	{
;;;133    		CAN2_Send_Msg_Extend(CYLINDER_SEND2,ResetTransformer,8,30);	
00003a  49ab              LDR      r1,|L5.744|
00003c  231e              MOVS     r3,#0x1e
00003e  2208              MOVS     r2,#8
000040  3110              ADDS     r1,r1,#0x10
000042  48ab              LDR      r0,|L5.752|
000044  f7fffffe          BL       CAN2_Send_Msg_Extend
                  |L5.72|
;;;134    	}
;;;135    	
;;;136    	LastSpeed = CurSpeed;
000048  8831              LDRH     r1,[r6,#0]  ; CurSpeed
00004a  4630              MOV      r0,r6
00004c  8071              STRH     r1,[r6,#2]
;;;137    		
;;;138    	if(speedOne > 0)
;;;139    	{
;;;140    		sssssss = 1;
;;;141    		distanceOne = 4000;
;;;142    
;;;143    		buffOne[0] = (distanceOne & 0XFF);
;;;144    		buffOne[1] = ((distanceOne >> 8) & 0XFF);
;;;145    
;;;146    		ss1 = speedOne / 5;
00004e  2705              MOVS     r7,#5
;;;147    		
;;;148    		if((ss1 == 1) || (ss1 == 3) || (ss1 == 5) ||(ss1 == 7) || (ss1 == 9) || (ss1 == 11) || (ss1 == 13) || (ss1 == 15))
;;;149    		{
;;;150    			buffOne[2] = 148;
;;;151    			buffOne[3] |= ((speedOne / 10) & 0XF);
000050  260a              MOVS     r6,#0xa
000052  f04f0ba0          MOV      r11,#0xa0             ;143
000056  f04f0a00          MOV      r10,#0                ;143
00005a  f04f0894          MOV      r8,#0x94              ;150
;;;152    		}
;;;153    		else if((ss1 == 2) || (ss1 == 4) || (ss1 == 6) ||(ss1 == 8) || (ss1 == 10) || (ss1 == 12) || (ss1 == 14) || (ss1 == 16))
;;;154    		{
;;;155    			buffOne[2] = 20;
00005e  f04f0914          MOV      r9,#0x14
000062  2c00              CMP      r4,#0                 ;138
000064  dd4a              BLE      |L5.252|
000066  f04f0101          MOV      r1,#1                 ;140
00006a  6041              STR      r1,[r0,#4]            ;140  ; sssssss
00006c  f88db014          STRB     r11,[sp,#0x14]        ;143
000070  f04f000f          MOV      r0,#0xf               ;144
000074  f88d0015          STRB     r0,[sp,#0x15]         ;144
000078  fb94f0f7          SDIV     r0,r4,r7              ;146
00007c  b200              SXTH     r0,r0                 ;146
00007e  2801              CMP      r0,#1                 ;148
000080  d01e              BEQ      |L5.192|
000082  2803              CMP      r0,#3                 ;148
000084  d01c              BEQ      |L5.192|
000086  2805              CMP      r0,#5                 ;148
000088  d01a              BEQ      |L5.192|
00008a  2807              CMP      r0,#7                 ;148
00008c  d018              BEQ      |L5.192|
00008e  2809              CMP      r0,#9                 ;148
000090  d016              BEQ      |L5.192|
000092  280b              CMP      r0,#0xb               ;148
000094  d014              BEQ      |L5.192|
000096  280d              CMP      r0,#0xd               ;148
000098  d012              BEQ      |L5.192|
00009a  280f              CMP      r0,#0xf               ;148
00009c  d010              BEQ      |L5.192|
00009e  2802              CMP      r0,#2                 ;153
0000a0  d01a              BEQ      |L5.216|
0000a2  2804              CMP      r0,#4                 ;153
0000a4  d018              BEQ      |L5.216|
0000a6  2806              CMP      r0,#6                 ;153
0000a8  d016              BEQ      |L5.216|
0000aa  2808              CMP      r0,#8                 ;153
0000ac  d014              BEQ      |L5.216|
0000ae  280a              CMP      r0,#0xa               ;153
0000b0  d012              BEQ      |L5.216|
0000b2  280c              CMP      r0,#0xc               ;153
0000b4  d010              BEQ      |L5.216|
0000b6  280e              CMP      r0,#0xe               ;153
0000b8  d00e              BEQ      |L5.216|
0000ba  2810              CMP      r0,#0x10              ;153
0000bc  d00c              BEQ      |L5.216|
0000be  e016              B        |L5.238|
                  |L5.192|
0000c0  f88d8016          STRB     r8,[sp,#0x16]         ;150
0000c4  fb94f0f6          SDIV     r0,r4,r6              ;151
0000c8  f89d1017          LDRB     r1,[sp,#0x17]         ;151
0000cc  f000000f          AND      r0,r0,#0xf            ;151
0000d0  4308              ORRS     r0,r0,r1              ;151
0000d2  f88d0017          STRB     r0,[sp,#0x17]         ;151
0000d6  e00a              B        |L5.238|
                  |L5.216|
0000d8  f88d9016          STRB     r9,[sp,#0x16]
;;;156    			buffOne[3] |= ((speedOne / 10) & 0XF);			
0000dc  fb94f0f6          SDIV     r0,r4,r6
0000e0  f89d1017          LDRB     r1,[sp,#0x17]
0000e4  f000000f          AND      r0,r0,#0xf
0000e8  4308              ORRS     r0,r0,r1
0000ea  f88d0017          STRB     r0,[sp,#0x17]
                  |L5.238|
;;;157    		}
;;;158    		
;;;159    	//	buffOne[3] |= ((speedOne / 10) & 0XF);
;;;160    		
;;;161    		CAN2_Send_Msg_Extend(CYLINDER_SEND1,buffOne,8,2);			
0000ee  2302              MOVS     r3,#2
0000f0  2208              MOVS     r2,#8
0000f2  a905              ADD      r1,sp,#0x14
0000f4  487d              LDR      r0,|L5.748|
0000f6  f7fffffe          BL       CAN2_Send_Msg_Extend
0000fa  e051              B        |L5.416|
                  |L5.252|
;;;162    	}
;;;163    	else if(speedOne < 0)
0000fc  da48              BGE      |L5.400|
;;;164    	{
;;;165    		sssssss =2;
0000fe  2102              MOVS     r1,#2
000100  6041              STR      r1,[r0,#4]  ; sssssss
;;;166    		distanceOne = 0;
;;;167    		buffOne[0] = (distanceOne & 0XFF);
000102  f88da014          STRB     r10,[sp,#0x14]
;;;168    		buffOne[1] = ((distanceOne >> 8) & 0XFF);
000106  f88da015          STRB     r10,[sp,#0x15]
;;;169    		
;;;170    		ss1 = abs(speedOne) / 5;
00010a  4261              RSBS     r1,r4,#0
00010c  fb91f0f7          SDIV     r0,r1,r7
000110  b200              SXTH     r0,r0
;;;171    		if((ss1 == 1) || (ss1 == 3) || (ss1 == 5) ||(ss1 == 7) || (ss1 == 9) || (ss1 == 11) || (ss1 == 13) || (ss1 == 15))
000112  2801              CMP      r0,#1
000114  d01e              BEQ      |L5.340|
000116  2803              CMP      r0,#3
000118  d01c              BEQ      |L5.340|
00011a  2805              CMP      r0,#5
00011c  d01a              BEQ      |L5.340|
00011e  2807              CMP      r0,#7
000120  d018              BEQ      |L5.340|
000122  2809              CMP      r0,#9
000124  d016              BEQ      |L5.340|
000126  280b              CMP      r0,#0xb
000128  d014              BEQ      |L5.340|
00012a  280d              CMP      r0,#0xd
00012c  d012              BEQ      |L5.340|
00012e  280f              CMP      r0,#0xf
000130  d010              BEQ      |L5.340|
;;;172    		{
;;;173    			buffOne[2] = 148;
;;;174    			buffOne[3] |= ((abs(speedOne)/ 10) & 0XF);
;;;175    		}
;;;176    		else if((ss1 == 2) || (ss1 == 4) || (ss1 == 6) ||(ss1 == 8) || (ss1 == 10) || (ss1 == 12) || (ss1 == 14) || (ss1 == 16))
000132  2802              CMP      r0,#2
000134  d01a              BEQ      |L5.364|
000136  2804              CMP      r0,#4
000138  d018              BEQ      |L5.364|
00013a  2806              CMP      r0,#6
00013c  d016              BEQ      |L5.364|
00013e  2808              CMP      r0,#8
000140  d014              BEQ      |L5.364|
000142  280a              CMP      r0,#0xa
000144  d012              BEQ      |L5.364|
000146  280c              CMP      r0,#0xc
000148  d010              BEQ      |L5.364|
00014a  280e              CMP      r0,#0xe
00014c  d00e              BEQ      |L5.364|
00014e  2810              CMP      r0,#0x10
000150  d00c              BEQ      |L5.364|
000152  e016              B        |L5.386|
                  |L5.340|
000154  f88d8016          STRB     r8,[sp,#0x16]         ;173
000158  fb91f0f6          SDIV     r0,r1,r6              ;174
00015c  f89d1017          LDRB     r1,[sp,#0x17]         ;174
000160  f000000f          AND      r0,r0,#0xf            ;174
000164  4308              ORRS     r0,r0,r1              ;174
000166  f88d0017          STRB     r0,[sp,#0x17]         ;174
00016a  e00a              B        |L5.386|
                  |L5.364|
;;;177    		{
;;;178    			buffOne[2] = 20;
00016c  f88d9016          STRB     r9,[sp,#0x16]
;;;179    			buffOne[3] |= ((abs(speedOne) / 10) & 0XF);			
000170  fb91f0f6          SDIV     r0,r1,r6
000174  f89d1017          LDRB     r1,[sp,#0x17]
000178  f000000f          AND      r0,r0,#0xf
00017c  4308              ORRS     r0,r0,r1
00017e  f88d0017          STRB     r0,[sp,#0x17]
                  |L5.386|
;;;180    		}
;;;181    		
;;;182    		CAN2_Send_Msg_Extend(CYLINDER_SEND1,buffOne,8,2);	
000182  2302              MOVS     r3,#2
000184  2208              MOVS     r2,#8
000186  a905              ADD      r1,sp,#0x14
000188  4858              LDR      r0,|L5.748|
00018a  f7fffffe          BL       CAN2_Send_Msg_Extend
00018e  e007              B        |L5.416|
                  |L5.400|
;;;183    	}
;;;184    	else
;;;185    	{
;;;186    		sssssss = 3;
000190  2103              MOVS     r1,#3
000192  6041              STR      r1,[r0,#4]  ; sssssss
;;;187    		CAN2_Send_Msg_Extend(CYLINDER_SEND1,DisEnable,8,2);			
000194  2302              MOVS     r3,#2
000196  2208              MOVS     r2,#8
000198  a901              ADD      r1,sp,#4
00019a  4854              LDR      r0,|L5.748|
00019c  f7fffffe          BL       CAN2_Send_Msg_Extend
                  |L5.416|
;;;188    	}
;;;189    	
;;;190    	if(speedTwo > 0)
0001a0  2d00              CMP      r5,#0
0001a2  dd49              BLE      |L5.568|
;;;191    	{
;;;192    		distanceTwo = 4000;
;;;193    		
;;;194    		buffTwo[0] = (distanceTwo & 0XFF);
0001a4  f88db00c          STRB     r11,[sp,#0xc]
;;;195    		buffTwo[1] = ((distanceTwo >> 8) & 0XFF);		
0001a8  f04f000f          MOV      r0,#0xf
0001ac  f88d000d          STRB     r0,[sp,#0xd]
;;;196    		
;;;197    		ss2 = speedTwo / 5;
0001b0  fb95f0f7          SDIV     r0,r5,r7
0001b4  b200              SXTH     r0,r0
;;;198    		if((ss2 == 1) || (ss2 == 3) || (ss2 == 5) ||(ss2 == 7) || (ss2 == 9) || (ss2 == 11) || (ss2 == 13) || (ss2 == 15))
0001b6  2801              CMP      r0,#1
0001b8  d01e              BEQ      |L5.504|
0001ba  2803              CMP      r0,#3
0001bc  d01c              BEQ      |L5.504|
0001be  2805              CMP      r0,#5
0001c0  d01a              BEQ      |L5.504|
0001c2  2807              CMP      r0,#7
0001c4  d018              BEQ      |L5.504|
0001c6  2809              CMP      r0,#9
0001c8  d016              BEQ      |L5.504|
0001ca  280b              CMP      r0,#0xb
0001cc  d014              BEQ      |L5.504|
0001ce  280d              CMP      r0,#0xd
0001d0  d012              BEQ      |L5.504|
0001d2  280f              CMP      r0,#0xf
0001d4  d010              BEQ      |L5.504|
;;;199    		{
;;;200    			buffTwo[2] = 148;
;;;201    			buffTwo[3] |= ((speedTwo / 10) & 0XF);
;;;202    		}
;;;203    		else if((ss2 == 2) || (ss2 == 4) || (ss2 == 6) ||(ss2 == 8) || (ss2 == 10) || (ss2 == 12) || (ss2 == 14) || (ss2 == 16))
0001d6  2802              CMP      r0,#2
0001d8  d01a              BEQ      |L5.528|
0001da  2804              CMP      r0,#4
0001dc  d018              BEQ      |L5.528|
0001de  2806              CMP      r0,#6
0001e0  d016              BEQ      |L5.528|
0001e2  2808              CMP      r0,#8
0001e4  d014              BEQ      |L5.528|
0001e6  280a              CMP      r0,#0xa
0001e8  d012              BEQ      |L5.528|
0001ea  280c              CMP      r0,#0xc
0001ec  d010              BEQ      |L5.528|
0001ee  280e              CMP      r0,#0xe
0001f0  d00e              BEQ      |L5.528|
0001f2  2810              CMP      r0,#0x10
0001f4  d00c              BEQ      |L5.528|
0001f6  e016              B        |L5.550|
                  |L5.504|
0001f8  f88d800e          STRB     r8,[sp,#0xe]          ;200
0001fc  fb95f0f6          SDIV     r0,r5,r6              ;201
000200  f89d100f          LDRB     r1,[sp,#0xf]          ;201
000204  f000000f          AND      r0,r0,#0xf            ;201
000208  4308              ORRS     r0,r0,r1              ;201
00020a  f88d000f          STRB     r0,[sp,#0xf]          ;201
00020e  e00a              B        |L5.550|
                  |L5.528|
;;;204    		{
;;;205    			buffTwo[2] = 20;
000210  f88d900e          STRB     r9,[sp,#0xe]
;;;206    			buffTwo[3] |= ((speedTwo / 10) & 0XF);			
000214  fb95f0f6          SDIV     r0,r5,r6
000218  f89d100f          LDRB     r1,[sp,#0xf]
00021c  f000000f          AND      r0,r0,#0xf
000220  4308              ORRS     r0,r0,r1
000222  f88d000f          STRB     r0,[sp,#0xf]
                  |L5.550|
;;;207    		}
;;;208    		
;;;209    		CAN2_Send_Msg_Extend(CYLINDER_SEND2,buffTwo,8,2);	
000226  2302              MOVS     r3,#2
000228  2208              MOVS     r2,#8
00022a  a903              ADD      r1,sp,#0xc
00022c  4830              LDR      r0,|L5.752|
00022e  f7fffffe          BL       CAN2_Send_Msg_Extend
                  |L5.562|
;;;210    	}
;;;211    	else if(speedTwo < 0)
;;;212    	{		
;;;213    		distanceTwo = 0;
;;;214    
;;;215    		buffTwo[0] = (distanceTwo & 0XFF);
;;;216    		buffTwo[1] = ((distanceTwo >> 8) & 0XFF);		
;;;217    		
;;;218    		ss2 = abs(speedTwo) / 5;
;;;219    		if((ss2 == 1) || (ss2 == 3) || (ss2 == 5) ||(ss2 == 7) || (ss2 == 9) || (ss2 == 11) || (ss2 == 13) || (ss2 == 15))
;;;220    		{
;;;221    			buffTwo[2] = 148;
;;;222    			buffTwo[3] |= ((abs(speedTwo)/ 10) & 0XF);
;;;223    		}
;;;224    		else if((ss2 == 2) || (ss2 == 4) || (ss2 == 6) ||(ss2 == 8) || (ss2 == 10) || (ss2 == 12) || (ss2 == 14) || (ss2 == 16))
;;;225    		{
;;;226    			buffTwo[2] = 20;
;;;227    			buffTwo[3] |= ((abs(speedTwo) / 10) & 0XF);			
;;;228    		}
;;;229    		
;;;230    		CAN2_Send_Msg_Extend(CYLINDER_SEND2,buffTwo,8,2);		
;;;231    	}
;;;232    	else
;;;233    	{
;;;234    		CAN2_Send_Msg_Extend(CYLINDER_SEND2,DisEnable,8,2);				
;;;235    	}
;;;236    
;;;237    	//Uart_Printf(COM1,"ss1=%d	ss2=%d\r\n",ss1,ss2);
;;;238    //	if(i++ >= 20)
;;;239    //	{
;;;240    //		Uart_Printf(COM1,"speedOne=%d	two=%d	%d	buffOne[2]=%x	buffOne[3]=%x	buffTwo[2]=%x	buffTwo[3]=%x	SPEED=%d	%d	dis1=%d	dis2=%d\r\n",
;;;241    //		speedOne,speedTwo,sssssss,
;;;242    //		buffOne[2],buffOne[3],buffTwo[2],buffTwo[3],speedOne,speedTwo,HandlePlcData.SendPlcData.FirstLiftAcDis,HandlePlcData.SendPlcData.SecondLiftAcDis);
;;;243    //		i = 0;
;;;244    //	}
;;;245    }
000232  b007              ADD      sp,sp,#0x1c
000234  e8bd8ff0          POP      {r4-r11,pc}
                  |L5.568|
000238  da46              BGE      |L5.712|
00023a  f88da00c          STRB     r10,[sp,#0xc]         ;215
00023e  f88da00d          STRB     r10,[sp,#0xd]         ;216
000242  4269              RSBS     r1,r5,#0              ;218
000244  fb91f0f7          SDIV     r0,r1,r7              ;218
000248  b200              SXTH     r0,r0                 ;218
00024a  2801              CMP      r0,#1                 ;219
00024c  d01e              BEQ      |L5.652|
00024e  2803              CMP      r0,#3                 ;219
000250  d01c              BEQ      |L5.652|
000252  2805              CMP      r0,#5                 ;219
000254  d01a              BEQ      |L5.652|
000256  2807              CMP      r0,#7                 ;219
000258  d018              BEQ      |L5.652|
00025a  2809              CMP      r0,#9                 ;219
00025c  d016              BEQ      |L5.652|
00025e  280b              CMP      r0,#0xb               ;219
000260  d014              BEQ      |L5.652|
000262  280d              CMP      r0,#0xd               ;219
000264  d012              BEQ      |L5.652|
000266  280f              CMP      r0,#0xf               ;219
000268  d010              BEQ      |L5.652|
00026a  2802              CMP      r0,#2                 ;224
00026c  d01a              BEQ      |L5.676|
00026e  2804              CMP      r0,#4                 ;224
000270  d018              BEQ      |L5.676|
000272  2806              CMP      r0,#6                 ;224
000274  d016              BEQ      |L5.676|
000276  2808              CMP      r0,#8                 ;224
000278  d014              BEQ      |L5.676|
00027a  280a              CMP      r0,#0xa               ;224
00027c  d012              BEQ      |L5.676|
00027e  280c              CMP      r0,#0xc               ;224
000280  d010              BEQ      |L5.676|
000282  280e              CMP      r0,#0xe               ;224
000284  d00e              BEQ      |L5.676|
000286  2810              CMP      r0,#0x10              ;224
000288  d00c              BEQ      |L5.676|
00028a  e016              B        |L5.698|
                  |L5.652|
00028c  f88d800e          STRB     r8,[sp,#0xe]          ;221
000290  fb91f0f6          SDIV     r0,r1,r6              ;222
000294  f89d100f          LDRB     r1,[sp,#0xf]          ;222
000298  f000000f          AND      r0,r0,#0xf            ;222
00029c  4308              ORRS     r0,r0,r1              ;222
00029e  f88d000f          STRB     r0,[sp,#0xf]          ;222
0002a2  e00a              B        |L5.698|
                  |L5.676|
0002a4  f88d900e          STRB     r9,[sp,#0xe]          ;226
0002a8  fb91f0f6          SDIV     r0,r1,r6              ;227
0002ac  f89d100f          LDRB     r1,[sp,#0xf]          ;227
0002b0  f000000f          AND      r0,r0,#0xf            ;227
0002b4  4308              ORRS     r0,r0,r1              ;227
0002b6  f88d000f          STRB     r0,[sp,#0xf]          ;227
                  |L5.698|
0002ba  2302              MOVS     r3,#2                 ;230
0002bc  2208              MOVS     r2,#8                 ;230
0002be  a903              ADD      r1,sp,#0xc            ;230
0002c0  480b              LDR      r0,|L5.752|
0002c2  f7fffffe          BL       CAN2_Send_Msg_Extend
0002c6  e7b4              B        |L5.562|
                  |L5.712|
0002c8  2302              MOVS     r3,#2                 ;234
0002ca  2208              MOVS     r2,#8                 ;234
0002cc  a901              ADD      r1,sp,#4              ;234
0002ce  4808              LDR      r0,|L5.752|
0002d0  f7fffffe          BL       CAN2_Send_Msg_Extend
0002d4  e7ad              B        |L5.562|
;;;246    
                          ENDP

0002d6  0000              DCW      0x0000
                  |L5.728|
0002d8  00                DCB      0
0002d9  00                DCB      0
0002da  00                DCB      0
0002db  1000              DCB      16,0
0002dd  00                DCB      0
0002de  00                DCB      0
0002df  00                DCB      0
                  |L5.736|
0002e0  00                DCB      0
0002e1  00                DCB      0
0002e2  1400              DCB      20,0
0002e4  00                DCB      0
0002e5  00                DCB      0
0002e6  00                DCB      0
0002e7  00                DCB      0
                  |L5.744|
                          DCD      ||.data||
                  |L5.748|
                          DCD      0x18ef1301
                  |L5.752|
                          DCD      0x18ef1401

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

                  steeringFunction PROC
;;;94     
;;;95     void steeringFunction(DriverStruct *Motor,DriverStruct *refMotor)//转向电机 行走轮有速度则开使能 无速度则视情况关使能
000000  f8902050          LDRB     r2,[r0,#0x50]
;;;96     {
;;;97     	if(0)//如果拍了急停信号
;;;98     	{
;;;99     		Motor->Private.initStep = 0;
;;;100    	}
;;;101    	
;;;102    	if(Motor->Private.initStep != 255)//如果未初始化先初始化
000004  2aff              CMP      r2,#0xff
000006  d001              BEQ      |L6.12|
;;;103    	{
;;;104    		init_driver(Motor);//非阻塞函数
000008  f7ffbffe          B.W      init_driver
                  |L6.12|
;;;105    	}
;;;106    	else
;;;107    	{
;;;108    		set_steering_speed(Motor,refMotor);//发速度
00000c  f7ffbffe          B.W      set_steering_speed
;;;109    	}
;;;110    }
;;;111    
                          ENDP


                          AREA ||.bss||, DATA, NOINIT, ALIGN=1

                  RemodelThrModel
                          %        14

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

                  CurSpeed
000000  0000              DCW      0x0000
                  LastSpeed
000002  0000              DCW      0x0000
                  sssssss
                          DCD      0x00000000
                  LiftEncoderPosBack
000008  40046000          DCB      0x40,0x04,0x60,0x00
00000c  00000000          DCB      0x00,0x00,0x00,0x00
                  ResetTransformer
000010  ee029907          DCB      0xee,0x02,0x99,0x07
000014  00000000          DCB      0x00,0x00,0x00,0x00

;*** Start embedded assembler ***

#line 1 "..\\..\\User\\parameter\\user_Canupdate.c"
	AREA ||.rev16_text||, CODE
	THUMB
	EXPORT |__asm___16_user_Canupdate_c_30135412____REV16|
#line 129 "..\\..\\Libraries\\CMSIS\\Include\\core_cmInstr.h"
|__asm___16_user_Canupdate_c_30135412____REV16| PROC
#line 130

 rev16 r0, r0
 bx lr
	ENDP
	AREA ||.revsh_text||, CODE
	THUMB
	EXPORT |__asm___16_user_Canupdate_c_30135412____REVSH|
#line 144
|__asm___16_user_Canupdate_c_30135412____REVSH| PROC
#line 145

 revsh r0, r0
 bx lr
	ENDP
	AREA ||.rrx_text||, CODE
	THUMB
	EXPORT |__asm___16_user_Canupdate_c_30135412____RRX|
#line 300
|__asm___16_user_Canupdate_c_30135412____RRX| PROC
#line 301

 rrx r0, r0
 bx lr
	ENDP

;*** End   embedded assembler ***