ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 1 1 .cpu cortex-m4 2 .arch armv7e-m 3 .fpu fpv4-sp-d16 4 .eabi_attribute 27, 1 5 .eabi_attribute 28, 1 6 .eabi_attribute 20, 1 7 .eabi_attribute 21, 1 8 .eabi_attribute 23, 3 9 .eabi_attribute 24, 1 10 .eabi_attribute 25, 1 11 .eabi_attribute 26, 1 12 .eabi_attribute 30, 6 13 .eabi_attribute 34, 1 14 .eabi_attribute 18, 4 15 .file "soft_obstacle.c" 16 .text 17 .Ltext0: 18 .cfi_sections .debug_frame 19 .global uavr11_info 20 .section .data.uavr11_info,"aw" 21 .align 2 24 uavr11_info: 25 0000 00000000 .space 17 25 00000000 25 00000000 25 00000000 25 00 26 0011 3200 .2byte 50 27 0013 00000000 .space 50 27 00000000 27 00000000 27 00000000 27 00000000 28 .global uavr12_info 29 .section .data.uavr12_info,"aw" 30 .align 2 33 uavr12_info: 34 0000 00000000 .space 17 34 00000000 34 00000000 34 00000000 34 00 35 0011 3200 .2byte 50 36 0013 00000000 .space 50 36 00000000 36 00000000 36 00000000 36 00000000 37 .global mimo_f_info 38 .section .bss.mimo_f_info,"aw",%nobits 39 .align 2 42 mimo_f_info: 43 0000 00000000 .space 69 43 00000000 43 00000000 43 00000000 43 00000000 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 2 44 .global mimo_b_info 45 .section .bss.mimo_b_info,"aw",%nobits 46 .align 2 49 mimo_b_info: 50 0000 00000000 .space 69 50 00000000 50 00000000 50 00000000 50 00000000 51 .global DM_f_info 52 .section .bss.DM_f_info,"aw",%nobits 53 .align 2 56 DM_f_info: 57 0000 00000000 .space 69 57 00000000 57 00000000 57 00000000 57 00000000 58 .global F_radar 59 .section .bss.F_radar,"aw",%nobits 60 .align 2 63 F_radar: 64 0000 00000000 .space 24 64 00000000 64 00000000 64 00000000 64 00000000 65 .global B_radar 66 .section .bss.B_radar,"aw",%nobits 67 .align 2 70 B_radar: 71 0000 00000000 .space 24 71 00000000 71 00000000 71 00000000 71 00000000 72 .global recv_comF_flag 73 .section .bss.recv_comF_flag,"aw",%nobits 76 recv_comF_flag: 77 0000 00 .space 1 78 .global recv_comB_flag 79 .section .bss.recv_comB_flag,"aw",%nobits 82 recv_comB_flag: 83 0000 00 .space 1 84 .global __aeabi_f2d 85 .global __aeabi_dmul 86 .global __aeabi_d2iz 87 .section .text.can_recv_enzhao_obstacle,"ax",%progbits 88 .align 1 89 .global can_recv_enzhao_obstacle 90 .syntax unified 91 .thumb 92 .thumb_func 94 can_recv_enzhao_obstacle: 95 .LFB133: 96 .file 1 "user_src/soft_obstacle.c" 1:user_src/soft_obstacle.c **** #include "soft_obstacle.h" ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 3 2:user_src/soft_obstacle.c **** #include "tim.h" 3:user_src/soft_obstacle.c **** #include "string.h" 4:user_src/soft_obstacle.c **** #include "math.h" 5:user_src/soft_obstacle.c **** #include "soft_terrain.h" 6:user_src/soft_obstacle.c **** #include "soft_uart.h" 7:user_src/soft_obstacle.c **** #include "common.h" 8:user_src/soft_obstacle.c **** #include "soft_can.h" 9:user_src/soft_obstacle.c **** #include "soft_p_2_c.h" 10:user_src/soft_obstacle.c **** #include "stdlib.h" 11:user_src/soft_obstacle.c **** #include "soft_flow.h" 12:user_src/soft_obstacle.c **** #include "common.h" 13:user_src/soft_obstacle.c **** #include "soft_seed_device.h" 14:user_src/soft_obstacle.c **** #include "soft_water_device.h" 15:user_src/soft_obstacle.c **** #include "soft_version.h" 16:user_src/soft_obstacle.c **** #include "soft_eft.h" 17:user_src/soft_obstacle.c **** #include "common.h" 18:user_src/soft_obstacle.c **** 19:user_src/soft_obstacle.c **** uavr_obs uavr11_info = {.get_radar_sensi = 50}; 20:user_src/soft_obstacle.c **** uavr_obs uavr12_info= {.get_radar_sensi = 50}; 21:user_src/soft_obstacle.c **** uavr_obs mimo_f_info = {.signal_qulity = 0}; 22:user_src/soft_obstacle.c **** uavr_obs mimo_b_info = {.signal_qulity = 0}; 23:user_src/soft_obstacle.c **** 24:user_src/soft_obstacle.c **** uavr_obs DM_f_info; 25:user_src/soft_obstacle.c **** /** 26:user_src/soft_obstacle.c **** * @file can_recv_enzhao_obstacle 27:user_src/soft_obstacle.c **** * @brief 恩曌多点避障解析 28:user_src/soft_obstacle.c **** * @param none 29:user_src/soft_obstacle.c **** * @details 30:user_src/soft_obstacle.c **** * @author Zhang Sir 31:user_src/soft_obstacle.c **** **/ 32:user_src/soft_obstacle.c **** mimo_part_radar F_radar[3]; 33:user_src/soft_obstacle.c **** mimo_part_radar B_radar[3]; 34:user_src/soft_obstacle.c **** uint8_t recv_comF_flag = 0,recv_comB_flag = 0; 35:user_src/soft_obstacle.c **** void can_recv_enzhao_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len) 36:user_src/soft_obstacle.c **** { 97 .loc 1 36 1 98 .cfi_startproc 99 @ args = 0, pretend = 0, frame = 24 100 @ frame_needed = 1, uses_anonymous_args = 0 101 0000 B0B5 push {r4, r5, r7, lr} 102 .LCFI0: 103 .cfi_def_cfa_offset 16 104 .cfi_offset 4, -16 105 .cfi_offset 5, -12 106 .cfi_offset 7, -8 107 .cfi_offset 14, -4 108 0002 86B0 sub sp, sp, #24 109 .LCFI1: 110 .cfi_def_cfa_offset 40 111 0004 00AF add r7, sp, #0 112 .LCFI2: 113 .cfi_def_cfa_register 7 114 0006 F860 str r0, [r7, #12] 115 0008 B960 str r1, [r7, #8] 116 000a 1346 mov r3, r2 117 000c FB71 strb r3, [r7, #7] 37:user_src/soft_obstacle.c **** ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 4 38:user_src/soft_obstacle.c **** switch (cellCanID) 118 .loc 1 38 5 119 000e FB68 ldr r3, [r7, #12] 120 0010 A3F20143 subw r3, r3, #1025 121 0014 122B cmp r3, #18 122 0016 00F28380 bhi .L23 123 001a 01A2 adr r2, .L4 124 001c 52F823F0 ldr pc, [r2, r3, lsl #2] 125 .p2align 2 126 .L4: 127 0020 6D000000 .word .L9+1 128 0024 8F000000 .word .L8+1 129 0028 AB000000 .word .L7+1 130 002c 21010000 .word .L23+1 131 0030 21010000 .word .L23+1 132 0034 21010000 .word .L23+1 133 0038 21010000 .word .L23+1 134 003c 21010000 .word .L23+1 135 0040 21010000 .word .L23+1 136 0044 21010000 .word .L23+1 137 0048 21010000 .word .L23+1 138 004c 21010000 .word .L23+1 139 0050 21010000 .word .L23+1 140 0054 21010000 .word .L23+1 141 0058 21010000 .word .L23+1 142 005c 21010000 .word .L23+1 143 0060 C7000000 .word .L6+1 144 0064 E9000000 .word .L5+1 145 0068 05010000 .word .L3+1 146 .p2align 1 147 .L9: 39:user_src/soft_obstacle.c **** { 40:user_src/soft_obstacle.c **** case CAN_MIMO_FOBS_ID1: 41:user_src/soft_obstacle.c **** memcpy(&F_radar[0], data, 8); 148 .loc 1 41 9 149 006c A04B ldr r3, .L25 150 006e BA68 ldr r2, [r7, #8] 151 0070 1068 ldr r0, [r2] @ unaligned 152 0072 5168 ldr r1, [r2, #4] @ unaligned 153 0074 03C3 stmia r3!, {r0, r1} 42:user_src/soft_obstacle.c **** recv_comF_flag = recv_comF_flag | 1; 154 .loc 1 42 24 155 0076 9F4B ldr r3, .L25+4 156 0078 1B78 ldrb r3, [r3] @ zero_extendqisi2 157 007a 43F00103 orr r3, r3, #1 158 007e DAB2 uxtb r2, r3 159 0080 9C4B ldr r3, .L25+4 160 0082 1A70 strb r2, [r3] 43:user_src/soft_obstacle.c **** Dev.Radar.facid_F = FAC_MIMO_RF; 161 .loc 1 43 27 162 0084 9C4B ldr r3, .L25+8 163 0086 1522 movs r2, #21 164 0088 83F8CD20 strb r2, [r3, #205] 44:user_src/soft_obstacle.c **** break; 165 .loc 1 44 9 166 008c 49E0 b .L10 167 .L8: ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 5 45:user_src/soft_obstacle.c **** case CAN_MIMO_FOBS_ID2: 46:user_src/soft_obstacle.c **** memcpy(&F_radar[1], data, 8); 168 .loc 1 46 9 169 008e 984B ldr r3, .L25 170 0090 BA68 ldr r2, [r7, #8] 171 0092 0833 adds r3, r3, #8 172 0094 1068 ldr r0, [r2] @ unaligned 173 0096 5168 ldr r1, [r2, #4] @ unaligned 174 0098 03C3 stmia r3!, {r0, r1} 47:user_src/soft_obstacle.c **** recv_comF_flag = recv_comF_flag | 2; 175 .loc 1 47 24 176 009a 964B ldr r3, .L25+4 177 009c 1B78 ldrb r3, [r3] @ zero_extendqisi2 178 009e 43F00203 orr r3, r3, #2 179 00a2 DAB2 uxtb r2, r3 180 00a4 934B ldr r3, .L25+4 181 00a6 1A70 strb r2, [r3] 48:user_src/soft_obstacle.c **** break; 182 .loc 1 48 9 183 00a8 3BE0 b .L10 184 .L7: 49:user_src/soft_obstacle.c **** case CAN_MIMO_FOBS_ID3: 50:user_src/soft_obstacle.c **** memcpy(&F_radar[2], data, 8); 185 .loc 1 50 9 186 00aa 914B ldr r3, .L25 187 00ac BA68 ldr r2, [r7, #8] 188 00ae 1033 adds r3, r3, #16 189 00b0 1068 ldr r0, [r2] @ unaligned 190 00b2 5168 ldr r1, [r2, #4] @ unaligned 191 00b4 03C3 stmia r3!, {r0, r1} 51:user_src/soft_obstacle.c **** recv_comF_flag = recv_comF_flag | 4; 192 .loc 1 51 24 193 00b6 8F4B ldr r3, .L25+4 194 00b8 1B78 ldrb r3, [r3] @ zero_extendqisi2 195 00ba 43F00403 orr r3, r3, #4 196 00be DAB2 uxtb r2, r3 197 00c0 8C4B ldr r3, .L25+4 198 00c2 1A70 strb r2, [r3] 52:user_src/soft_obstacle.c **** break; 199 .loc 1 52 9 200 00c4 2DE0 b .L10 201 .L6: 53:user_src/soft_obstacle.c **** case CAN_MIMO_BOBS_ID1: 54:user_src/soft_obstacle.c **** memcpy(&B_radar[0], data, 8); 202 .loc 1 54 9 203 00c6 8D4B ldr r3, .L25+12 204 00c8 BA68 ldr r2, [r7, #8] 205 00ca 1068 ldr r0, [r2] @ unaligned 206 00cc 5168 ldr r1, [r2, #4] @ unaligned 207 00ce 03C3 stmia r3!, {r0, r1} 55:user_src/soft_obstacle.c **** recv_comB_flag = recv_comB_flag | 1; 208 .loc 1 55 24 209 00d0 8B4B ldr r3, .L25+16 210 00d2 1B78 ldrb r3, [r3] @ zero_extendqisi2 211 00d4 43F00103 orr r3, r3, #1 212 00d8 DAB2 uxtb r2, r3 213 00da 894B ldr r3, .L25+16 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 6 214 00dc 1A70 strb r2, [r3] 56:user_src/soft_obstacle.c **** Dev.Radar.facid_B = FAC_MIMO_RB; 215 .loc 1 56 27 216 00de 864B ldr r3, .L25+8 217 00e0 1622 movs r2, #22 218 00e2 83F8D820 strb r2, [r3, #216] 57:user_src/soft_obstacle.c **** break; 219 .loc 1 57 9 220 00e6 1CE0 b .L10 221 .L5: 58:user_src/soft_obstacle.c **** case CAN_MIMO_BOBS_ID2: 59:user_src/soft_obstacle.c **** memcpy(&B_radar[1], data, 8); 222 .loc 1 59 9 223 00e8 844B ldr r3, .L25+12 224 00ea BA68 ldr r2, [r7, #8] 225 00ec 0833 adds r3, r3, #8 226 00ee 1068 ldr r0, [r2] @ unaligned 227 00f0 5168 ldr r1, [r2, #4] @ unaligned 228 00f2 03C3 stmia r3!, {r0, r1} 60:user_src/soft_obstacle.c **** recv_comB_flag = recv_comB_flag | 2; 229 .loc 1 60 24 230 00f4 824B ldr r3, .L25+16 231 00f6 1B78 ldrb r3, [r3] @ zero_extendqisi2 232 00f8 43F00203 orr r3, r3, #2 233 00fc DAB2 uxtb r2, r3 234 00fe 804B ldr r3, .L25+16 235 0100 1A70 strb r2, [r3] 61:user_src/soft_obstacle.c **** break; 236 .loc 1 61 9 237 0102 0EE0 b .L10 238 .L3: 62:user_src/soft_obstacle.c **** case CAN_MIMO_BOBS_ID3: 63:user_src/soft_obstacle.c **** memcpy(&B_radar[2], data, 8); 239 .loc 1 63 9 240 0104 7D4B ldr r3, .L25+12 241 0106 BA68 ldr r2, [r7, #8] 242 0108 1033 adds r3, r3, #16 243 010a 1068 ldr r0, [r2] @ unaligned 244 010c 5168 ldr r1, [r2, #4] @ unaligned 245 010e 03C3 stmia r3!, {r0, r1} 64:user_src/soft_obstacle.c **** recv_comB_flag = recv_comB_flag | 4; 246 .loc 1 64 24 247 0110 7B4B ldr r3, .L25+16 248 0112 1B78 ldrb r3, [r3] @ zero_extendqisi2 249 0114 43F00403 orr r3, r3, #4 250 0118 DAB2 uxtb r2, r3 251 011a 794B ldr r3, .L25+16 252 011c 1A70 strb r2, [r3] 65:user_src/soft_obstacle.c **** break; 253 .loc 1 65 9 254 011e 00E0 b .L10 255 .L23: 66:user_src/soft_obstacle.c **** default: 67:user_src/soft_obstacle.c **** break; 256 .loc 1 67 9 257 0120 00BF nop 258 .L10: ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 7 68:user_src/soft_obstacle.c **** } 69:user_src/soft_obstacle.c **** 70:user_src/soft_obstacle.c **** if(recv_comF_flag == 7) 259 .loc 1 70 23 260 0122 744B ldr r3, .L25+4 261 0124 1B78 ldrb r3, [r3] @ zero_extendqisi2 262 .loc 1 70 7 263 0126 072B cmp r3, #7 264 0128 40F0D380 bne .L11 71:user_src/soft_obstacle.c **** { 72:user_src/soft_obstacle.c **** recv_comF_flag = 0; 265 .loc 1 72 24 266 012c 714B ldr r3, .L25+4 267 012e 0022 movs r2, #0 268 0130 1A70 strb r2, [r3] 73:user_src/soft_obstacle.c **** mimomocib_buf_sort(&F_radar[0], 3); 269 .loc 1 73 9 270 0132 0321 movs r1, #3 271 0134 6E48 ldr r0, .L25 272 0136 FFF7FEFF bl mimomocib_buf_sort 273 .LBB2: 74:user_src/soft_obstacle.c **** 75:user_src/soft_obstacle.c **** for (uint8_t i = 0; i < 3; i++) 274 .loc 1 75 22 275 013a 0023 movs r3, #0 276 013c FB75 strb r3, [r7, #23] 277 .loc 1 75 9 278 013e BCE0 b .L12 279 .L16: 76:user_src/soft_obstacle.c **** { 77:user_src/soft_obstacle.c **** //X轴小于4M内数据 78:user_src/soft_obstacle.c **** if (/*(abs(F_radar[i].Distance * 0.05f * 100 * sin(F_radar[i].Amuzith * 0.1f / RAD)) < 280 .loc 1 78 120 281 0140 FA7D ldrb r2, [r7, #23] @ zero_extendqisi2 282 0142 6B49 ldr r1, .L25 283 0144 D300 lsls r3, r2, #3 284 0146 0B44 add r3, r3, r1 285 0148 DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 286 014a 1B09 lsrs r3, r3, #4 287 014c D8B2 uxtb r0, r3 288 014e D300 lsls r3, r2, #3 289 0150 0B44 add r3, r3, r1 290 0152 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 291 0154 1B01 lsls r3, r3, #4 292 0156 0343 orrs r3, r3, r0 293 0158 1B05 lsls r3, r3, #20 294 015a 1B15 asrs r3, r3, #20 295 015c 1BB2 sxth r3, r3 296 .loc 1 78 16 297 015e 002B cmp r3, #0 298 0160 40F39F80 ble .L13 79:user_src/soft_obstacle.c **** { 80:user_src/soft_obstacle.c **** mimo_f_info.distance_x = F_radar[i].Distance * 0.05f * 100 * sin(F_radar[i].Amuzit 299 .loc 1 80 53 300 0164 FA7D ldrb r2, [r7, #23] @ zero_extendqisi2 301 0166 6249 ldr r1, .L25 302 0168 D300 lsls r3, r2, #3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 8 303 016a 0B44 add r3, r3, r1 304 016c DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 305 016e 1B09 lsrs r3, r3, #4 306 0170 D8B2 uxtb r0, r3 307 0172 D300 lsls r3, r2, #3 308 0174 0B44 add r3, r3, r1 309 0176 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 310 0178 1B01 lsls r3, r3, #4 311 017a 0343 orrs r3, r3, r0 312 017c 1B05 lsls r3, r3, #20 313 017e 1B15 asrs r3, r3, #20 314 0180 1BB2 sxth r3, r3 315 .loc 1 80 63 316 0182 07EE903A vmov s15, r3 @ int 317 0186 F8EEE77A vcvt.f32.s32 s15, s15 318 018a 9FED5E7A vldr.32 s14, .L25+20 319 018e 67EE877A vmul.f32 s15, s15, s14 320 .loc 1 80 71 321 0192 9FED5D7A vldr.32 s14, .L25+24 322 0196 67EE877A vmul.f32 s15, s15, s14 323 019a 17EE900A vmov r0, s15 324 019e FFF7FEFF bl __aeabi_f2d 325 01a2 0446 mov r4, r0 326 01a4 0D46 mov r5, r1 327 .loc 1 80 93 328 01a6 FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 329 01a8 514A ldr r2, .L25 330 01aa DB00 lsls r3, r3, #3 331 01ac 1344 add r3, r3, r2 332 01ae 5B68 ldr r3, [r3, #4] 333 01b0 43F30B23 sbfx r3, r3, #8, #12 334 01b4 1BB2 sxth r3, r3 335 .loc 1 80 102 336 01b6 07EE903A vmov s15, r3 @ int 337 01ba F8EEE77A vcvt.f32.s32 s15, s15 338 01be 9FED537A vldr.32 s14, .L25+28 339 01c2 67EE877A vmul.f32 s15, s15, s14 340 .loc 1 80 109 341 01c6 9FED527A vldr.32 s14, .L25+32 342 01ca C7EE876A vdiv.f32 s13, s15, s14 343 .loc 1 80 79 344 01ce 16EE900A vmov r0, s13 345 01d2 FFF7FEFF bl __aeabi_f2d 346 01d6 0246 mov r2, r0 347 01d8 0B46 mov r3, r1 348 01da 43EC102B vmov d0, r2, r3 349 01de FFF7FEFF bl sin 350 01e2 53EC102B vmov r2, r3, d0 351 .loc 1 80 77 352 01e6 2046 mov r0, r4 353 01e8 2946 mov r1, r5 354 01ea FFF7FEFF bl __aeabi_dmul 355 01ee 0246 mov r2, r0 356 01f0 0B46 mov r3, r1 357 .loc 1 80 41 358 01f2 1046 mov r0, r2 359 01f4 1946 mov r1, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 9 360 01f6 FFF7FEFF bl __aeabi_d2iz 361 01fa 0346 mov r3, r0 362 01fc 1AB2 sxth r2, r3 363 01fe 454B ldr r3, .L25+36 364 0200 9A81 strh r2, [r3, #12] @ movhi 81:user_src/soft_obstacle.c **** mimo_f_info.distance_y = F_radar[i].Distance * 0.05f * 100 * cos(F_radar[i].Amuzith 365 .loc 1 81 52 366 0202 FA7D ldrb r2, [r7, #23] @ zero_extendqisi2 367 0204 3A49 ldr r1, .L25 368 0206 D300 lsls r3, r2, #3 369 0208 0B44 add r3, r3, r1 370 020a DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 371 020c 1B09 lsrs r3, r3, #4 372 020e D8B2 uxtb r0, r3 373 0210 D300 lsls r3, r2, #3 374 0212 0B44 add r3, r3, r1 375 0214 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 376 0216 1B01 lsls r3, r3, #4 377 0218 0343 orrs r3, r3, r0 378 021a 1B05 lsls r3, r3, #20 379 021c 1B15 asrs r3, r3, #20 380 021e 1BB2 sxth r3, r3 381 .loc 1 81 62 382 0220 07EE903A vmov s15, r3 @ int 383 0224 F8EEE77A vcvt.f32.s32 s15, s15 384 0228 9FED367A vldr.32 s14, .L25+20 385 022c 67EE877A vmul.f32 s15, s15, s14 386 .loc 1 81 70 387 0230 9FED357A vldr.32 s14, .L25+24 388 0234 67EE877A vmul.f32 s15, s15, s14 389 0238 17EE900A vmov r0, s15 390 023c FFF7FEFF bl __aeabi_f2d 391 0240 0446 mov r4, r0 392 0242 0D46 mov r5, r1 393 .loc 1 81 92 394 0244 FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 395 0246 2A4A ldr r2, .L25 396 0248 DB00 lsls r3, r3, #3 397 024a 1344 add r3, r3, r2 398 024c 5B68 ldr r3, [r3, #4] 399 024e 43F30B23 sbfx r3, r3, #8, #12 400 0252 1BB2 sxth r3, r3 401 .loc 1 81 101 402 0254 07EE903A vmov s15, r3 @ int 403 0258 F8EEE77A vcvt.f32.s32 s15, s15 404 025c 9FED2B7A vldr.32 s14, .L25+28 405 0260 67EE877A vmul.f32 s15, s15, s14 406 .loc 1 81 108 407 0264 9FED2A7A vldr.32 s14, .L25+32 408 0268 C7EE876A vdiv.f32 s13, s15, s14 409 .loc 1 81 78 410 026c 16EE900A vmov r0, s13 411 0270 FFF7FEFF bl __aeabi_f2d 412 0274 0246 mov r2, r0 413 0276 0B46 mov r3, r1 414 0278 43EC102B vmov d0, r2, r3 415 027c FFF7FEFF bl cos ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 10 416 0280 53EC102B vmov r2, r3, d0 417 .loc 1 81 76 418 0284 2046 mov r0, r4 419 0286 2946 mov r1, r5 420 0288 FFF7FEFF bl __aeabi_dmul 421 028c 0246 mov r2, r0 422 028e 0B46 mov r3, r1 423 .loc 1 81 40 424 0290 1046 mov r0, r2 425 0292 1946 mov r1, r3 426 0294 FFF7FEFF bl __aeabi_d2iz 427 0298 0346 mov r3, r0 428 029a 1AB2 sxth r2, r3 429 029c 1D4B ldr r3, .L25+36 430 029e DA81 strh r2, [r3, #14] @ movhi 82:user_src/soft_obstacle.c **** break; 431 .loc 1 82 17 432 02a0 0FE0 b .L14 433 .L13: 83:user_src/soft_obstacle.c **** } 84:user_src/soft_obstacle.c **** if(i == 2) 434 .loc 1 84 15 435 02a2 FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 436 02a4 022B cmp r3, #2 437 02a6 05D1 bne .L15 85:user_src/soft_obstacle.c **** { 86:user_src/soft_obstacle.c **** mimo_f_info.distance_x = 0; 438 .loc 1 86 40 439 02a8 1A4B ldr r3, .L25+36 440 02aa 0022 movs r2, #0 441 02ac 9A81 strh r2, [r3, #12] @ movhi 87:user_src/soft_obstacle.c **** mimo_f_info.distance_y = 0; 442 .loc 1 87 40 443 02ae 194B ldr r3, .L25+36 444 02b0 0022 movs r2, #0 445 02b2 DA81 strh r2, [r3, #14] @ movhi 446 .L15: 75:user_src/soft_obstacle.c **** { 447 .loc 1 75 37 discriminator 2 448 02b4 FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 449 02b6 0133 adds r3, r3, #1 450 02b8 FB75 strb r3, [r7, #23] 451 .L12: 75:user_src/soft_obstacle.c **** { 452 .loc 1 75 9 discriminator 1 453 02ba FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 454 02bc 022B cmp r3, #2 455 02be 7FF63FAF bls .L16 456 .L14: 457 .LBE2: 88:user_src/soft_obstacle.c **** } 89:user_src/soft_obstacle.c **** } 90:user_src/soft_obstacle.c **** mimo_f_info.Link.connect_status = COMP_NORMAL; 458 .loc 1 90 41 459 02c2 144B ldr r3, .L25+36 460 02c4 0122 movs r2, #1 461 02c6 1A72 strb r2, [r3, #8] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 11 91:user_src/soft_obstacle.c **** mimo_f_info.Link.recv_time = HAL_GetTick(); 462 .loc 1 91 38 463 02c8 FFF7FEFF bl HAL_GetTick 464 02cc 0346 mov r3, r0 465 .loc 1 91 36 466 02ce 114A ldr r2, .L25+36 467 02d0 1360 str r3, [r2] 468 .L11: 92:user_src/soft_obstacle.c **** } 93:user_src/soft_obstacle.c **** 94:user_src/soft_obstacle.c **** if(recv_comB_flag == 7) 469 .loc 1 94 23 470 02d2 0B4B ldr r3, .L25+16 471 02d4 1B78 ldrb r3, [r3] @ zero_extendqisi2 472 .loc 1 94 7 473 02d6 072B cmp r3, #7 474 02d8 40F0E780 bne .L24 95:user_src/soft_obstacle.c **** { 96:user_src/soft_obstacle.c **** recv_comB_flag = 0; 475 .loc 1 96 24 476 02dc 084B ldr r3, .L25+16 477 02de 0022 movs r2, #0 478 02e0 1A70 strb r2, [r3] 97:user_src/soft_obstacle.c **** mimomocib_buf_sort(&B_radar[0], 3); 479 .loc 1 97 9 480 02e2 0321 movs r1, #3 481 02e4 0548 ldr r0, .L25+12 482 02e6 FFF7FEFF bl mimomocib_buf_sort 483 .LBB3: 98:user_src/soft_obstacle.c **** 99:user_src/soft_obstacle.c **** for (uint8_t i = 0; i < 3; i++) 484 .loc 1 99 22 485 02ea 0023 movs r3, #0 486 02ec BB75 strb r3, [r7, #22] 487 .loc 1 99 9 488 02ee D0E0 b .L18 489 .L26: 490 .align 2 491 .L25: 492 02f0 00000000 .word F_radar 493 02f4 00000000 .word recv_comF_flag 494 02f8 00000000 .word Dev 495 02fc 00000000 .word B_radar 496 0300 00000000 .word recv_comB_flag 497 0304 CDCC4C3D .word 1028443341 498 0308 0000C842 .word 1120403456 499 030c CDCCCC3D .word 1036831949 500 0310 33336542 .word 1113928499 501 0314 00000000 .word mimo_f_info 502 .L22: 100:user_src/soft_obstacle.c **** { 101:user_src/soft_obstacle.c **** //X轴小于4M内数据 102:user_src/soft_obstacle.c **** if (/*(abs(B_radar[i].Distance * 0.05f * 100 * sin(B_radar[i].Amuzith * 0.1f / RAD)) < 503 .loc 1 102 120 504 0318 BA7D ldrb r2, [r7, #22] @ zero_extendqisi2 505 031a 6649 ldr r1, .L27 506 031c D300 lsls r3, r2, #3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 12 507 031e 0B44 add r3, r3, r1 508 0320 DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 509 0322 1B09 lsrs r3, r3, #4 510 0324 D8B2 uxtb r0, r3 511 0326 D300 lsls r3, r2, #3 512 0328 0B44 add r3, r3, r1 513 032a 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 514 032c 1B01 lsls r3, r3, #4 515 032e 0343 orrs r3, r3, r0 516 0330 1B05 lsls r3, r3, #20 517 0332 1B15 asrs r3, r3, #20 518 0334 1BB2 sxth r3, r3 519 .loc 1 102 16 520 0336 002B cmp r3, #0 521 0338 40F39F80 ble .L19 103:user_src/soft_obstacle.c **** { 104:user_src/soft_obstacle.c **** mimo_b_info.distance_x = B_radar[i].Distance * 0.05f * 100 * sin(B_radar[i].Amuzit 522 .loc 1 104 53 523 033c BA7D ldrb r2, [r7, #22] @ zero_extendqisi2 524 033e 5D49 ldr r1, .L27 525 0340 D300 lsls r3, r2, #3 526 0342 0B44 add r3, r3, r1 527 0344 DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 528 0346 1B09 lsrs r3, r3, #4 529 0348 D8B2 uxtb r0, r3 530 034a D300 lsls r3, r2, #3 531 034c 0B44 add r3, r3, r1 532 034e 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 533 0350 1B01 lsls r3, r3, #4 534 0352 0343 orrs r3, r3, r0 535 0354 1B05 lsls r3, r3, #20 536 0356 1B15 asrs r3, r3, #20 537 0358 1BB2 sxth r3, r3 538 .loc 1 104 63 539 035a 07EE903A vmov s15, r3 @ int 540 035e F8EEE77A vcvt.f32.s32 s15, s15 541 0362 9FED557A vldr.32 s14, .L27+4 542 0366 67EE877A vmul.f32 s15, s15, s14 543 .loc 1 104 71 544 036a 9FED547A vldr.32 s14, .L27+8 545 036e 67EE877A vmul.f32 s15, s15, s14 546 0372 17EE900A vmov r0, s15 547 0376 FFF7FEFF bl __aeabi_f2d 548 037a 0446 mov r4, r0 549 037c 0D46 mov r5, r1 550 .loc 1 104 93 551 037e BB7D ldrb r3, [r7, #22] @ zero_extendqisi2 552 0380 4C4A ldr r2, .L27 553 0382 DB00 lsls r3, r3, #3 554 0384 1344 add r3, r3, r2 555 0386 5B68 ldr r3, [r3, #4] 556 0388 43F30B23 sbfx r3, r3, #8, #12 557 038c 1BB2 sxth r3, r3 558 .loc 1 104 102 559 038e 07EE903A vmov s15, r3 @ int 560 0392 F8EEE77A vcvt.f32.s32 s15, s15 561 0396 9FED4A7A vldr.32 s14, .L27+12 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 13 562 039a 67EE877A vmul.f32 s15, s15, s14 563 .loc 1 104 109 564 039e 9FED497A vldr.32 s14, .L27+16 565 03a2 C7EE876A vdiv.f32 s13, s15, s14 566 .loc 1 104 79 567 03a6 16EE900A vmov r0, s13 568 03aa FFF7FEFF bl __aeabi_f2d 569 03ae 0246 mov r2, r0 570 03b0 0B46 mov r3, r1 571 03b2 43EC102B vmov d0, r2, r3 572 03b6 FFF7FEFF bl sin 573 03ba 53EC102B vmov r2, r3, d0 574 .loc 1 104 77 575 03be 2046 mov r0, r4 576 03c0 2946 mov r1, r5 577 03c2 FFF7FEFF bl __aeabi_dmul 578 03c6 0246 mov r2, r0 579 03c8 0B46 mov r3, r1 580 .loc 1 104 41 581 03ca 1046 mov r0, r2 582 03cc 1946 mov r1, r3 583 03ce FFF7FEFF bl __aeabi_d2iz 584 03d2 0346 mov r3, r0 585 03d4 1AB2 sxth r2, r3 586 03d6 3C4B ldr r3, .L27+20 587 03d8 9A81 strh r2, [r3, #12] @ movhi 105:user_src/soft_obstacle.c **** mimo_b_info.distance_y = B_radar[i].Distance * 0.05f * 100 * cos(B_radar[i].Amuzith 588 .loc 1 105 52 589 03da BA7D ldrb r2, [r7, #22] @ zero_extendqisi2 590 03dc 3549 ldr r1, .L27 591 03de D300 lsls r3, r2, #3 592 03e0 0B44 add r3, r3, r1 593 03e2 DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 594 03e4 1B09 lsrs r3, r3, #4 595 03e6 D8B2 uxtb r0, r3 596 03e8 D300 lsls r3, r2, #3 597 03ea 0B44 add r3, r3, r1 598 03ec 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 599 03ee 1B01 lsls r3, r3, #4 600 03f0 0343 orrs r3, r3, r0 601 03f2 1B05 lsls r3, r3, #20 602 03f4 1B15 asrs r3, r3, #20 603 03f6 1BB2 sxth r3, r3 604 .loc 1 105 62 605 03f8 07EE903A vmov s15, r3 @ int 606 03fc F8EEE77A vcvt.f32.s32 s15, s15 607 0400 9FED2D7A vldr.32 s14, .L27+4 608 0404 67EE877A vmul.f32 s15, s15, s14 609 .loc 1 105 70 610 0408 9FED2C7A vldr.32 s14, .L27+8 611 040c 67EE877A vmul.f32 s15, s15, s14 612 0410 17EE900A vmov r0, s15 613 0414 FFF7FEFF bl __aeabi_f2d 614 0418 0446 mov r4, r0 615 041a 0D46 mov r5, r1 616 .loc 1 105 92 617 041c BB7D ldrb r3, [r7, #22] @ zero_extendqisi2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 14 618 041e 254A ldr r2, .L27 619 0420 DB00 lsls r3, r3, #3 620 0422 1344 add r3, r3, r2 621 0424 5B68 ldr r3, [r3, #4] 622 0426 43F30B23 sbfx r3, r3, #8, #12 623 042a 1BB2 sxth r3, r3 624 .loc 1 105 101 625 042c 07EE903A vmov s15, r3 @ int 626 0430 F8EEE77A vcvt.f32.s32 s15, s15 627 0434 9FED227A vldr.32 s14, .L27+12 628 0438 67EE877A vmul.f32 s15, s15, s14 629 .loc 1 105 108 630 043c 9FED217A vldr.32 s14, .L27+16 631 0440 C7EE876A vdiv.f32 s13, s15, s14 632 .loc 1 105 78 633 0444 16EE900A vmov r0, s13 634 0448 FFF7FEFF bl __aeabi_f2d 635 044c 0246 mov r2, r0 636 044e 0B46 mov r3, r1 637 0450 43EC102B vmov d0, r2, r3 638 0454 FFF7FEFF bl cos 639 0458 53EC102B vmov r2, r3, d0 640 .loc 1 105 76 641 045c 2046 mov r0, r4 642 045e 2946 mov r1, r5 643 0460 FFF7FEFF bl __aeabi_dmul 644 0464 0246 mov r2, r0 645 0466 0B46 mov r3, r1 646 .loc 1 105 40 647 0468 1046 mov r0, r2 648 046a 1946 mov r1, r3 649 046c FFF7FEFF bl __aeabi_d2iz 650 0470 0346 mov r3, r0 651 0472 1AB2 sxth r2, r3 652 0474 144B ldr r3, .L27+20 653 0476 DA81 strh r2, [r3, #14] @ movhi 106:user_src/soft_obstacle.c **** break; 654 .loc 1 106 17 655 0478 0FE0 b .L20 656 .L19: 107:user_src/soft_obstacle.c **** } 108:user_src/soft_obstacle.c **** if(i == 2) 657 .loc 1 108 15 658 047a BB7D ldrb r3, [r7, #22] @ zero_extendqisi2 659 047c 022B cmp r3, #2 660 047e 05D1 bne .L21 109:user_src/soft_obstacle.c **** { 110:user_src/soft_obstacle.c **** mimo_b_info.distance_x = 0; 661 .loc 1 110 40 662 0480 114B ldr r3, .L27+20 663 0482 0022 movs r2, #0 664 0484 9A81 strh r2, [r3, #12] @ movhi 111:user_src/soft_obstacle.c **** mimo_b_info.distance_y = 0; 665 .loc 1 111 40 666 0486 104B ldr r3, .L27+20 667 0488 0022 movs r2, #0 668 048a DA81 strh r2, [r3, #14] @ movhi ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 15 669 .L21: 99:user_src/soft_obstacle.c **** { 670 .loc 1 99 37 discriminator 2 671 048c BB7D ldrb r3, [r7, #22] @ zero_extendqisi2 672 048e 0133 adds r3, r3, #1 673 0490 BB75 strb r3, [r7, #22] 674 .L18: 99:user_src/soft_obstacle.c **** { 675 .loc 1 99 9 discriminator 1 676 0492 BB7D ldrb r3, [r7, #22] @ zero_extendqisi2 677 0494 022B cmp r3, #2 678 0496 7FF63FAF bls .L22 679 .L20: 680 .LBE3: 112:user_src/soft_obstacle.c **** } 113:user_src/soft_obstacle.c **** } 114:user_src/soft_obstacle.c **** mimo_b_info.Link.recv_time = HAL_GetTick(); 681 .loc 1 114 38 682 049a FFF7FEFF bl HAL_GetTick 683 049e 0346 mov r3, r0 684 .loc 1 114 36 685 04a0 094A ldr r2, .L27+20 686 04a2 1360 str r3, [r2] 115:user_src/soft_obstacle.c **** mimo_b_info.Link.connect_status = COMP_NORMAL; 687 .loc 1 115 41 688 04a4 084B ldr r3, .L27+20 689 04a6 0122 movs r2, #1 690 04a8 1A72 strb r2, [r3, #8] 691 .L24: 116:user_src/soft_obstacle.c **** } 117:user_src/soft_obstacle.c **** } 692 .loc 1 117 1 693 04aa 00BF nop 694 04ac 1837 adds r7, r7, #24 695 .LCFI3: 696 .cfi_def_cfa_offset 16 697 04ae BD46 mov sp, r7 698 .LCFI4: 699 .cfi_def_cfa_register 13 700 @ sp needed 701 04b0 B0BD pop {r4, r5, r7, pc} 702 .L28: 703 04b2 00BF .align 2 704 .L27: 705 04b4 00000000 .word B_radar 706 04b8 CDCC4C3D .word 1028443341 707 04bc 0000C842 .word 1120403456 708 04c0 CDCCCC3D .word 1036831949 709 04c4 33336542 .word 1113928499 710 04c8 00000000 .word mimo_b_info 711 .cfi_endproc 712 .LFE133: 714 .section .text.can_recv_mimo_signal_obstacle,"ax",%progbits 715 .align 1 716 .global can_recv_mimo_signal_obstacle 717 .syntax unified 718 .thumb ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 16 719 .thumb_func 721 can_recv_mimo_signal_obstacle: 722 .LFB134: 118:user_src/soft_obstacle.c **** 119:user_src/soft_obstacle.c **** 120:user_src/soft_obstacle.c **** /** 121:user_src/soft_obstacle.c **** * @file can_recv_enzhao_obstacle 122:user_src/soft_obstacle.c **** * @brief 恩曌单避障解析 123:user_src/soft_obstacle.c **** * @param none 124:user_src/soft_obstacle.c **** * @details 125:user_src/soft_obstacle.c **** * @author Zhang Sir 126:user_src/soft_obstacle.c **** **/ 127:user_src/soft_obstacle.c **** void can_recv_mimo_signal_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len) 128:user_src/soft_obstacle.c **** { 723 .loc 1 128 1 724 .cfi_startproc 725 @ args = 0, pretend = 0, frame = 24 726 @ frame_needed = 1, uses_anonymous_args = 0 727 0000 80B5 push {r7, lr} 728 .LCFI5: 729 .cfi_def_cfa_offset 8 730 .cfi_offset 7, -8 731 .cfi_offset 14, -4 732 0002 86B0 sub sp, sp, #24 733 .LCFI6: 734 .cfi_def_cfa_offset 32 735 0004 00AF add r7, sp, #0 736 .LCFI7: 737 .cfi_def_cfa_register 7 738 0006 F860 str r0, [r7, #12] 739 0008 B960 str r1, [r7, #8] 740 000a 1346 mov r3, r2 741 000c FB71 strb r3, [r7, #7] 129:user_src/soft_obstacle.c **** uint16_t frame_header = 0; 742 .loc 1 129 14 743 000e 0023 movs r3, #0 744 0010 FB82 strh r3, [r7, #22] @ movhi 745 0012 BB68 ldr r3, [r7, #8] 746 0014 1B88 ldrh r3, [r3] @ unaligned 747 0016 9BB2 uxth r3, r3 130:user_src/soft_obstacle.c **** 131:user_src/soft_obstacle.c **** memcpy(&frame_header,&data[0],2); 748 .loc 1 131 5 749 0018 FB82 strh r3, [r7, #22] @ movhi 132:user_src/soft_obstacle.c **** 133:user_src/soft_obstacle.c **** if(frame_header == 0x5AA5 && data[2] == 0x04) 750 .loc 1 133 21 751 001a FB8A ldrh r3, [r7, #22] 752 .loc 1 133 7 753 001c 45F6A522 movw r2, #23205 754 0020 9342 cmp r3, r2 755 0022 4FD1 bne .L34 756 .loc 1 133 38 discriminator 1 757 0024 BB68 ldr r3, [r7, #8] 758 0026 0233 adds r3, r3, #2 759 0028 1B78 ldrb r3, [r3] @ zero_extendqisi2 760 .loc 1 133 31 discriminator 1 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 17 761 002a 042B cmp r3, #4 762 002c 4AD1 bne .L34 134:user_src/soft_obstacle.c **** { 135:user_src/soft_obstacle.c **** switch (cellCanID) 763 .loc 1 135 9 764 002e FB68 ldr r3, [r7, #12] 765 0030 40F20132 movw r2, #769 766 0034 9342 cmp r3, r2 767 0036 05D0 beq .L31 768 0038 FB68 ldr r3, [r7, #12] 769 003a 40F20232 movw r2, #770 770 003e 9342 cmp r3, r2 771 0040 20D0 beq .L32 136:user_src/soft_obstacle.c **** { 137:user_src/soft_obstacle.c **** case CAN_MIMO_FOBS_SIG: 138:user_src/soft_obstacle.c **** mimo_f_info.distance_y = data[3] + data[4] * 256; 139:user_src/soft_obstacle.c **** mimo_f_info.signal_qulity = data[5]; 140:user_src/soft_obstacle.c **** 141:user_src/soft_obstacle.c **** mimo_f_info.Link.recv_time = HAL_GetTick(); 142:user_src/soft_obstacle.c **** mimo_f_info.Link.connect_status = COMP_NORMAL; 143:user_src/soft_obstacle.c **** Dev.Radar.facid_F = FAC_MIMO_RF; 144:user_src/soft_obstacle.c **** break; 145:user_src/soft_obstacle.c **** case CAN_MIMO_BOBS_SIG: 146:user_src/soft_obstacle.c **** mimo_b_info.distance_y = data[3] + data[4] * 256; 147:user_src/soft_obstacle.c **** mimo_b_info.signal_qulity = data[5]; 148:user_src/soft_obstacle.c **** 149:user_src/soft_obstacle.c **** mimo_b_info.Link.recv_time = HAL_GetTick(); 150:user_src/soft_obstacle.c **** mimo_b_info.Link.connect_status = COMP_NORMAL; 151:user_src/soft_obstacle.c **** Dev.Radar.facid_B = FAC_MIMO_RB; 152:user_src/soft_obstacle.c **** break; 153:user_src/soft_obstacle.c **** default: 154:user_src/soft_obstacle.c **** break; 772 .loc 1 154 13 773 0042 40E0 b .L30 774 .L31: 138:user_src/soft_obstacle.c **** mimo_f_info.signal_qulity = data[5]; 775 .loc 1 138 42 776 0044 BB68 ldr r3, [r7, #8] 777 0046 0333 adds r3, r3, #3 778 0048 1B78 ldrb r3, [r3] @ zero_extendqisi2 779 004a 9AB2 uxth r2, r3 138:user_src/soft_obstacle.c **** mimo_f_info.signal_qulity = data[5]; 780 .loc 1 138 52 781 004c BB68 ldr r3, [r7, #8] 782 004e 0433 adds r3, r3, #4 783 0050 1B78 ldrb r3, [r3] @ zero_extendqisi2 138:user_src/soft_obstacle.c **** mimo_f_info.signal_qulity = data[5]; 784 .loc 1 138 46 785 0052 9BB2 uxth r3, r3 786 0054 1B02 lsls r3, r3, #8 787 0056 9BB2 uxth r3, r3 788 0058 1344 add r3, r3, r2 789 005a 9BB2 uxth r3, r3 790 005c 1AB2 sxth r2, r3 138:user_src/soft_obstacle.c **** mimo_f_info.signal_qulity = data[5]; 791 .loc 1 138 36 792 005e 1C4B ldr r3, .L35 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 18 793 0060 DA81 strh r2, [r3, #14] @ movhi 139:user_src/soft_obstacle.c **** 794 .loc 1 139 39 795 0062 BB68 ldr r3, [r7, #8] 796 0064 5A79 ldrb r2, [r3, #5] @ zero_extendqisi2 797 0066 1A4B ldr r3, .L35 798 0068 1A74 strb r2, [r3, #16] 141:user_src/soft_obstacle.c **** mimo_f_info.Link.connect_status = COMP_NORMAL; 799 .loc 1 141 42 800 006a FFF7FEFF bl HAL_GetTick 801 006e 0346 mov r3, r0 141:user_src/soft_obstacle.c **** mimo_f_info.Link.connect_status = COMP_NORMAL; 802 .loc 1 141 40 803 0070 174A ldr r2, .L35 804 0072 1360 str r3, [r2] 142:user_src/soft_obstacle.c **** Dev.Radar.facid_F = FAC_MIMO_RF; 805 .loc 1 142 45 806 0074 164B ldr r3, .L35 807 0076 0122 movs r2, #1 808 0078 1A72 strb r2, [r3, #8] 143:user_src/soft_obstacle.c **** break; 809 .loc 1 143 31 810 007a 164B ldr r3, .L35+4 811 007c 1522 movs r2, #21 812 007e 83F8CD20 strb r2, [r3, #205] 144:user_src/soft_obstacle.c **** case CAN_MIMO_BOBS_SIG: 813 .loc 1 144 13 814 0082 20E0 b .L30 815 .L32: 146:user_src/soft_obstacle.c **** mimo_b_info.signal_qulity = data[5]; 816 .loc 1 146 42 817 0084 BB68 ldr r3, [r7, #8] 818 0086 0333 adds r3, r3, #3 819 0088 1B78 ldrb r3, [r3] @ zero_extendqisi2 820 008a 9AB2 uxth r2, r3 146:user_src/soft_obstacle.c **** mimo_b_info.signal_qulity = data[5]; 821 .loc 1 146 52 822 008c BB68 ldr r3, [r7, #8] 823 008e 0433 adds r3, r3, #4 824 0090 1B78 ldrb r3, [r3] @ zero_extendqisi2 146:user_src/soft_obstacle.c **** mimo_b_info.signal_qulity = data[5]; 825 .loc 1 146 46 826 0092 9BB2 uxth r3, r3 827 0094 1B02 lsls r3, r3, #8 828 0096 9BB2 uxth r3, r3 829 0098 1344 add r3, r3, r2 830 009a 9BB2 uxth r3, r3 831 009c 1AB2 sxth r2, r3 146:user_src/soft_obstacle.c **** mimo_b_info.signal_qulity = data[5]; 832 .loc 1 146 36 833 009e 0E4B ldr r3, .L35+8 834 00a0 DA81 strh r2, [r3, #14] @ movhi 147:user_src/soft_obstacle.c **** 835 .loc 1 147 39 836 00a2 BB68 ldr r3, [r7, #8] 837 00a4 5A79 ldrb r2, [r3, #5] @ zero_extendqisi2 838 00a6 0C4B ldr r3, .L35+8 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 19 839 00a8 1A74 strb r2, [r3, #16] 149:user_src/soft_obstacle.c **** mimo_b_info.Link.connect_status = COMP_NORMAL; 840 .loc 1 149 42 841 00aa FFF7FEFF bl HAL_GetTick 842 00ae 0346 mov r3, r0 149:user_src/soft_obstacle.c **** mimo_b_info.Link.connect_status = COMP_NORMAL; 843 .loc 1 149 40 844 00b0 094A ldr r2, .L35+8 845 00b2 1360 str r3, [r2] 150:user_src/soft_obstacle.c **** Dev.Radar.facid_B = FAC_MIMO_RB; 846 .loc 1 150 45 847 00b4 084B ldr r3, .L35+8 848 00b6 0122 movs r2, #1 849 00b8 1A72 strb r2, [r3, #8] 151:user_src/soft_obstacle.c **** break; 850 .loc 1 151 31 851 00ba 064B ldr r3, .L35+4 852 00bc 1622 movs r2, #22 853 00be 83F8D820 strb r2, [r3, #216] 152:user_src/soft_obstacle.c **** default: 854 .loc 1 152 13 855 00c2 00E0 b .L30 856 .L34: 155:user_src/soft_obstacle.c **** } 156:user_src/soft_obstacle.c **** } 857 .loc 1 156 5 858 00c4 00BF nop 859 .L30: 157:user_src/soft_obstacle.c **** } 860 .loc 1 157 1 861 00c6 00BF nop 862 00c8 1837 adds r7, r7, #24 863 .LCFI8: 864 .cfi_def_cfa_offset 8 865 00ca BD46 mov sp, r7 866 .LCFI9: 867 .cfi_def_cfa_register 13 868 @ sp needed 869 00cc 80BD pop {r7, pc} 870 .L36: 871 00ce 00BF .align 2 872 .L35: 873 00d0 00000000 .word mimo_f_info 874 00d4 00000000 .word Dev 875 00d8 00000000 .word mimo_b_info 876 .cfi_endproc 877 .LFE134: 879 .section .rodata 880 .align 2 881 .LC0: 882 0000 6D696D6F .ascii "mimo\000" 882 00 883 .section .text.can_recv_mimo_radar_version,"ax",%progbits 884 .align 1 885 .global can_recv_mimo_radar_version 886 .syntax unified 887 .thumb ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 20 888 .thumb_func 890 can_recv_mimo_radar_version: 891 .LFB135: 158:user_src/soft_obstacle.c **** 159:user_src/soft_obstacle.c **** /** 160:user_src/soft_obstacle.c **** * @file can_recv_mimo_radar_version 161:user_src/soft_obstacle.c **** * @brief 恩曌设备版本获取 162:user_src/soft_obstacle.c **** * @param none 163:user_src/soft_obstacle.c **** * @details 164:user_src/soft_obstacle.c **** * @author Zhang Sir 165:user_src/soft_obstacle.c **** **/ 166:user_src/soft_obstacle.c **** void can_recv_mimo_radar_version(uint32_t cellCanID, uint8_t data[], uint8_t len) 167:user_src/soft_obstacle.c **** { 892 .loc 1 167 1 893 .cfi_startproc 894 @ args = 0, pretend = 0, frame = 32 895 @ frame_needed = 1, uses_anonymous_args = 0 896 0000 80B5 push {r7, lr} 897 .LCFI10: 898 .cfi_def_cfa_offset 8 899 .cfi_offset 7, -8 900 .cfi_offset 14, -4 901 0002 90B0 sub sp, sp, #64 902 .LCFI11: 903 .cfi_def_cfa_offset 72 904 0004 08AF add r7, sp, #32 905 .LCFI12: 906 .cfi_def_cfa 7, 40 907 0006 F860 str r0, [r7, #12] 908 0008 B960 str r1, [r7, #8] 909 000a 1346 mov r3, r2 910 000c FB71 strb r3, [r7, #7] 168:user_src/soft_obstacle.c **** static uint8_t mimo_version[28] = {0}; 169:user_src/soft_obstacle.c **** static uint8_t frame_num = 0; 170:user_src/soft_obstacle.c **** static bool frame_head = false; 171:user_src/soft_obstacle.c **** uint8_t i = 0; 911 .loc 1 171 13 912 000e 0023 movs r3, #0 913 0010 FB77 strb r3, [r7, #31] 172:user_src/soft_obstacle.c **** uint32_t checksum = 0; 914 .loc 1 172 14 915 0012 0023 movs r3, #0 916 0014 BB61 str r3, [r7, #24] 173:user_src/soft_obstacle.c **** uint32_t soft_ver = 0; 917 .loc 1 173 14 918 0016 0023 movs r3, #0 919 0018 3B61 str r3, [r7, #16] 174:user_src/soft_obstacle.c **** switch (cellCanID) 920 .loc 1 174 5 921 001a FB68 ldr r3, [r7, #12] 922 001c FB2B cmp r3, #251 923 001e 40F0CE83 bne .L89 175:user_src/soft_obstacle.c **** { 176:user_src/soft_obstacle.c **** case 0XFB: 177:user_src/soft_obstacle.c **** if(data[0] == 0XAA && data[1] == 0X55) 924 .loc 1 177 16 925 0022 BB68 ldr r3, [r7, #8] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 21 926 0024 1B78 ldrb r3, [r3] @ zero_extendqisi2 927 .loc 1 177 11 928 0026 AA2B cmp r3, #170 929 0028 7CD1 bne .L39 930 .loc 1 177 35 discriminator 1 931 002a BB68 ldr r3, [r7, #8] 932 002c 0133 adds r3, r3, #1 933 002e 1B78 ldrb r3, [r3] @ zero_extendqisi2 934 .loc 1 177 28 discriminator 1 935 0030 552B cmp r3, #85 936 0032 77D1 bne .L39 178:user_src/soft_obstacle.c **** { 179:user_src/soft_obstacle.c **** if(data[2] == 0X03 && data[3] == 0X61 && data[4] == 0X03 && data[5] == 0X01 && data[6] 937 .loc 1 179 20 938 0034 BB68 ldr r3, [r7, #8] 939 0036 0233 adds r3, r3, #2 940 0038 1B78 ldrb r3, [r3] @ zero_extendqisi2 941 .loc 1 179 15 942 003a 032B cmp r3, #3 943 003c 1AD1 bne .L40 944 .loc 1 179 39 discriminator 1 945 003e BB68 ldr r3, [r7, #8] 946 0040 0333 adds r3, r3, #3 947 0042 1B78 ldrb r3, [r3] @ zero_extendqisi2 948 .loc 1 179 32 discriminator 1 949 0044 612B cmp r3, #97 950 0046 15D1 bne .L40 951 .loc 1 179 58 discriminator 2 952 0048 BB68 ldr r3, [r7, #8] 953 004a 0433 adds r3, r3, #4 954 004c 1B78 ldrb r3, [r3] @ zero_extendqisi2 955 .loc 1 179 51 discriminator 2 956 004e 032B cmp r3, #3 957 0050 10D1 bne .L40 958 .loc 1 179 77 discriminator 3 959 0052 BB68 ldr r3, [r7, #8] 960 0054 0533 adds r3, r3, #5 961 0056 1B78 ldrb r3, [r3] @ zero_extendqisi2 962 .loc 1 179 70 discriminator 3 963 0058 012B cmp r3, #1 964 005a 0BD1 bne .L40 965 .loc 1 179 96 discriminator 4 966 005c BB68 ldr r3, [r7, #8] 967 005e 0633 adds r3, r3, #6 968 0060 1B78 ldrb r3, [r3] @ zero_extendqisi2 969 .loc 1 179 89 discriminator 4 970 0062 652B cmp r3, #101 971 0064 06D1 bne .L40 180:user_src/soft_obstacle.c **** { 181:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_RADAR_FB,0x11,0); 972 .loc 1 181 17 973 0066 0023 movs r3, #0 974 0068 1122 movs r2, #17 975 006a 1D21 movs r1, #29 976 006c 1620 movs r0, #22 977 006e FFF7FEFF bl pmu_set_ack 978 0072 56E0 b .L41 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 22 979 .L40: 182:user_src/soft_obstacle.c **** } 183:user_src/soft_obstacle.c **** else if(data[2] == 0X03 && data[3] == 0X61 && data[4] == 0X03 && data[5] == 0X02 && dat 980 .loc 1 183 25 981 0074 BB68 ldr r3, [r7, #8] 982 0076 0233 adds r3, r3, #2 983 0078 1B78 ldrb r3, [r3] @ zero_extendqisi2 984 .loc 1 183 20 985 007a 032B cmp r3, #3 986 007c 1AD1 bne .L42 987 .loc 1 183 44 discriminator 1 988 007e BB68 ldr r3, [r7, #8] 989 0080 0333 adds r3, r3, #3 990 0082 1B78 ldrb r3, [r3] @ zero_extendqisi2 991 .loc 1 183 37 discriminator 1 992 0084 612B cmp r3, #97 993 0086 15D1 bne .L42 994 .loc 1 183 63 discriminator 2 995 0088 BB68 ldr r3, [r7, #8] 996 008a 0433 adds r3, r3, #4 997 008c 1B78 ldrb r3, [r3] @ zero_extendqisi2 998 .loc 1 183 56 discriminator 2 999 008e 032B cmp r3, #3 1000 0090 10D1 bne .L42 1001 .loc 1 183 82 discriminator 3 1002 0092 BB68 ldr r3, [r7, #8] 1003 0094 0533 adds r3, r3, #5 1004 0096 1B78 ldrb r3, [r3] @ zero_extendqisi2 1005 .loc 1 183 75 discriminator 3 1006 0098 022B cmp r3, #2 1007 009a 0BD1 bne .L42 1008 .loc 1 183 101 discriminator 4 1009 009c BB68 ldr r3, [r7, #8] 1010 009e 0633 adds r3, r3, #6 1011 00a0 1B78 ldrb r3, [r3] @ zero_extendqisi2 1012 .loc 1 183 94 discriminator 4 1013 00a2 662B cmp r3, #102 1014 00a4 06D1 bne .L42 184:user_src/soft_obstacle.c **** { 185:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_RADAR_FB,0x12,0); 1015 .loc 1 185 17 1016 00a6 0023 movs r3, #0 1017 00a8 1222 movs r2, #18 1018 00aa 1D21 movs r1, #29 1019 00ac 1620 movs r0, #22 1020 00ae FFF7FEFF bl pmu_set_ack 1021 00b2 36E0 b .L41 1022 .L42: 186:user_src/soft_obstacle.c **** } 187:user_src/soft_obstacle.c **** else if(data[2] == 0X03 && data[3] == 0X61 && data[4] == 0X00 && data[5] == 0X03 && dat 1023 .loc 1 187 25 1024 00b4 BB68 ldr r3, [r7, #8] 1025 00b6 0233 adds r3, r3, #2 1026 00b8 1B78 ldrb r3, [r3] @ zero_extendqisi2 1027 .loc 1 187 20 1028 00ba 032B cmp r3, #3 1029 00bc 1BD1 bne .L43 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 23 1030 .loc 1 187 44 discriminator 1 1031 00be BB68 ldr r3, [r7, #8] 1032 00c0 0333 adds r3, r3, #3 1033 00c2 1B78 ldrb r3, [r3] @ zero_extendqisi2 1034 .loc 1 187 37 discriminator 1 1035 00c4 612B cmp r3, #97 1036 00c6 16D1 bne .L43 1037 .loc 1 187 63 discriminator 2 1038 00c8 BB68 ldr r3, [r7, #8] 1039 00ca 0433 adds r3, r3, #4 1040 00cc 1B78 ldrb r3, [r3] @ zero_extendqisi2 1041 .loc 1 187 56 discriminator 2 1042 00ce 002B cmp r3, #0 1043 00d0 11D1 bne .L43 1044 .loc 1 187 82 discriminator 3 1045 00d2 BB68 ldr r3, [r7, #8] 1046 00d4 0533 adds r3, r3, #5 1047 00d6 1B78 ldrb r3, [r3] @ zero_extendqisi2 1048 .loc 1 187 75 discriminator 3 1049 00d8 032B cmp r3, #3 1050 00da 0CD1 bne .L43 1051 .loc 1 187 101 discriminator 4 1052 00dc BB68 ldr r3, [r7, #8] 1053 00de 0633 adds r3, r3, #6 1054 00e0 1B78 ldrb r3, [r3] @ zero_extendqisi2 1055 .loc 1 187 94 discriminator 4 1056 00e2 642B cmp r3, #100 1057 00e4 07D1 bne .L43 188:user_src/soft_obstacle.c **** { 189:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_RADAR_FB,0x100,0); 1058 .loc 1 189 17 1059 00e6 0023 movs r3, #0 1060 00e8 4FF48072 mov r2, #256 1061 00ec 1D21 movs r1, #29 1062 00ee 1620 movs r0, #22 1063 00f0 FFF7FEFF bl pmu_set_ack 1064 00f4 15E0 b .L41 1065 .L43: 190:user_src/soft_obstacle.c **** } 191:user_src/soft_obstacle.c **** else 192:user_src/soft_obstacle.c **** { 193:user_src/soft_obstacle.c **** frame_num = 0; 1066 .loc 1 193 27 1067 00f6 A14B ldr r3, .L96 1068 00f8 0022 movs r2, #0 1069 00fa 1A70 strb r2, [r3] 194:user_src/soft_obstacle.c **** memcpy(&mimo_version[frame_num],&data[4],4); 1070 .loc 1 194 37 1071 00fc 9F4B ldr r3, .L96 1072 00fe 1B78 ldrb r3, [r3] @ zero_extendqisi2 1073 0100 1A46 mov r2, r3 1074 .loc 1 194 24 1075 0102 9F4B ldr r3, .L96+4 1076 0104 1344 add r3, r3, r2 1077 .loc 1 194 49 1078 0106 BA68 ldr r2, [r7, #8] 1079 0108 0432 adds r2, r2, #4 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 24 1080 010a 1268 ldr r2, [r2] @ unaligned 1081 .loc 1 194 17 1082 010c 1A60 str r2, [r3] @ unaligned 195:user_src/soft_obstacle.c **** frame_num += 4; 1083 .loc 1 195 27 1084 010e 9B4B ldr r3, .L96 1085 0110 1B78 ldrb r3, [r3] @ zero_extendqisi2 1086 0112 0433 adds r3, r3, #4 1087 0114 DAB2 uxtb r2, r3 1088 0116 994B ldr r3, .L96 1089 0118 1A70 strb r2, [r3] 196:user_src/soft_obstacle.c **** frame_head = true; 1090 .loc 1 196 28 1091 011a 9A4B ldr r3, .L96+8 1092 011c 0122 movs r2, #1 1093 011e 1A70 strb r2, [r3] 179:user_src/soft_obstacle.c **** { 1094 .loc 1 179 15 1095 0120 4CE3 b .L44 1096 .L41: 1097 0122 4BE3 b .L44 1098 .L39: 197:user_src/soft_obstacle.c **** } 198:user_src/soft_obstacle.c **** 199:user_src/soft_obstacle.c **** } 200:user_src/soft_obstacle.c **** //断料记 201:user_src/soft_obstacle.c **** else if(data[0] == 0xFB && data[1] == 0x03 && data[2] == 0) 1099 .loc 1 201 21 1100 0124 BB68 ldr r3, [r7, #8] 1101 0126 1B78 ldrb r3, [r3] @ zero_extendqisi2 1102 .loc 1 201 16 1103 0128 FB2B cmp r3, #251 1104 012a 23D1 bne .L45 1105 .loc 1 201 40 discriminator 1 1106 012c BB68 ldr r3, [r7, #8] 1107 012e 0133 adds r3, r3, #1 1108 0130 1B78 ldrb r3, [r3] @ zero_extendqisi2 1109 .loc 1 201 33 discriminator 1 1110 0132 032B cmp r3, #3 1111 0134 1ED1 bne .L45 1112 .loc 1 201 59 discriminator 2 1113 0136 BB68 ldr r3, [r7, #8] 1114 0138 0233 adds r3, r3, #2 1115 013a 1B78 ldrb r3, [r3] @ zero_extendqisi2 1116 .loc 1 201 52 discriminator 2 1117 013c 002B cmp r3, #0 1118 013e 19D1 bne .L45 202:user_src/soft_obstacle.c **** { 203:user_src/soft_obstacle.c **** //设置距离最大值反馈 204:user_src/soft_obstacle.c **** if(data[3] == 0xB2 && data[4] == 0xE1) 1119 .loc 1 204 20 1120 0140 BB68 ldr r3, [r7, #8] 1121 0142 0333 adds r3, r3, #3 1122 0144 1B78 ldrb r3, [r3] @ zero_extendqisi2 1123 .loc 1 204 15 1124 0146 B22B cmp r3, #178 1125 0148 40F03783 bne .L90 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 25 1126 .loc 1 204 39 discriminator 1 1127 014c BB68 ldr r3, [r7, #8] 1128 014e 0433 adds r3, r3, #4 1129 0150 1B78 ldrb r3, [r3] @ zero_extendqisi2 1130 .loc 1 204 32 discriminator 1 1131 0152 E12B cmp r3, #225 1132 0154 40F03183 bne .L90 205:user_src/soft_obstacle.c **** { 206:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_LACKLOSS_CAL,mimo_lackloss.cal_distance,mimo_lackl 1133 .loc 1 206 76 1134 0158 8B4B ldr r3, .L96+12 1135 015a B3F80530 ldrh r3, [r3, #5] @ unaligned 1136 015e 9BB2 uxth r3, r3 1137 .loc 1 206 17 1138 0160 1AB2 sxth r2, r3 1139 .loc 1 206 103 1140 0162 894B ldr r3, .L96+12 1141 0164 5B88 ldrh r3, [r3, #2] @ unaligned 1142 0166 9BB2 uxth r3, r3 1143 .loc 1 206 17 1144 0168 1BB2 sxth r3, r3 1145 016a 1E21 movs r1, #30 1146 016c 1620 movs r0, #22 1147 016e FFF7FEFF bl pmu_set_ack 204:user_src/soft_obstacle.c **** { 1148 .loc 1 204 15 1149 0172 22E3 b .L90 1150 .L45: 207:user_src/soft_obstacle.c **** } 208:user_src/soft_obstacle.c **** } 209:user_src/soft_obstacle.c **** //流量计 210:user_src/soft_obstacle.c **** else if(data[0] == 0xFB && data[1] == 0x10) //雷达版本和流量计协议有冲突 1151 .loc 1 210 21 1152 0174 BB68 ldr r3, [r7, #8] 1153 0176 1B78 ldrb r3, [r3] @ zero_extendqisi2 1154 .loc 1 210 16 1155 0178 FB2B cmp r3, #251 1156 017a 40F03181 bne .L47 1157 .loc 1 210 40 discriminator 1 1158 017e BB68 ldr r3, [r7, #8] 1159 0180 0133 adds r3, r3, #1 1160 0182 1B78 ldrb r3, [r3] @ zero_extendqisi2 1161 .loc 1 210 33 discriminator 1 1162 0184 102B cmp r3, #16 1163 0186 40F02B81 bne .L47 211:user_src/soft_obstacle.c **** { 212:user_src/soft_obstacle.c **** switch (data[2]) 1164 .loc 1 212 25 1165 018a BB68 ldr r3, [r7, #8] 1166 018c 0233 adds r3, r3, #2 1167 018e 1B78 ldrb r3, [r3] @ zero_extendqisi2 1168 0190 002B cmp r3, #0 1169 0192 03D0 beq .L48 1170 0194 012B cmp r3, #1 1171 0196 00F0A280 beq .L49 213:user_src/soft_obstacle.c **** { 214:user_src/soft_obstacle.c **** case 0: ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 26 215:user_src/soft_obstacle.c **** if(data[4] == 0XD1) //流速K 216:user_src/soft_obstacle.c **** { 217:user_src/soft_obstacle.c **** flow_mimo1.flow_k = data[5] * 256 + data[6]; 218:user_src/soft_obstacle.c **** } 219:user_src/soft_obstacle.c **** else if(data[4] == 0XC1)//设置流速K ack 220:user_src/soft_obstacle.c **** { 221:user_src/soft_obstacle.c **** if(data[6] == 0) 222:user_src/soft_obstacle.c **** { 223:user_src/soft_obstacle.c **** flow_mimo1.flow_k = flow_mimo1.flow_calk; 224:user_src/soft_obstacle.c **** if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_s 225:user_src/soft_obstacle.c **** { 226:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_MIMO_FLOW,flow_mimo1.flow_k,0); 227:user_src/soft_obstacle.c **** } 228:user_src/soft_obstacle.c **** } 229:user_src/soft_obstacle.c **** } 230:user_src/soft_obstacle.c **** else if(data[4] == 0xE2) 231:user_src/soft_obstacle.c **** { 232:user_src/soft_obstacle.c **** if(data[6] == 0 && Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Lin 233:user_src/soft_obstacle.c **** { 234:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_FLOW_BACKGROUND,0,0); 235:user_src/soft_obstacle.c **** } 236:user_src/soft_obstacle.c **** flow_inf.ch1.clear_background = false; 237:user_src/soft_obstacle.c **** } 238:user_src/soft_obstacle.c **** else if (data[4] == 0XEB)//sn 两包 协议冲突 协议有问题 239:user_src/soft_obstacle.c **** { 240:user_src/soft_obstacle.c **** for( i= 0;i<2;i++) //内容第一自字节0X0F？先舍弃一字节， 241:user_src/soft_obstacle.c **** { 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i] = ((data[6 + i] >> 4) & 0xf) + '0'; 243:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 244:user_src/soft_obstacle.c **** } 245:user_src/soft_obstacle.c **** frame_num = 21;//流量序列号的标记 246:user_src/soft_obstacle.c **** } 247:user_src/soft_obstacle.c **** else if(data[4] == 0XEC)//软件号 248:user_src/soft_obstacle.c **** { 249:user_src/soft_obstacle.c **** flow_mimo1.soft_version[0] = data[5] + '0'; 250:user_src/soft_obstacle.c **** flow_mimo1.soft_version[1] = data[6] + '0'; 251:user_src/soft_obstacle.c **** 252:user_src/soft_obstacle.c **** } 253:user_src/soft_obstacle.c **** break; 254:user_src/soft_obstacle.c **** case 1: 255:user_src/soft_obstacle.c **** if(data[4] == 0XD1) 256:user_src/soft_obstacle.c **** { 257:user_src/soft_obstacle.c **** flow_mimo2.flow_k = data[5] * 256 + data[6]; 258:user_src/soft_obstacle.c **** } 259:user_src/soft_obstacle.c **** else if(data[4] == 0XC1) 260:user_src/soft_obstacle.c **** { 261:user_src/soft_obstacle.c **** if(data[6] == 0) 262:user_src/soft_obstacle.c **** { 263:user_src/soft_obstacle.c **** flow_mimo2.flow_k = flow_mimo2.flow_calk; 264:user_src/soft_obstacle.c **** if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_s 265:user_src/soft_obstacle.c **** { 266:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_MIMO_FLOW,flow_mimo1.flow_k,flow_mimo2 267:user_src/soft_obstacle.c **** } 268:user_src/soft_obstacle.c **** else if(Dev.Flow_Link1.connect_status != COMP_NORMAL && Dev.Flow_Link2.conn 269:user_src/soft_obstacle.c **** { 270:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_MIMO_FLOW,0,flow_mimo2.flow_k); 271:user_src/soft_obstacle.c **** } ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 27 272:user_src/soft_obstacle.c **** } 273:user_src/soft_obstacle.c **** } 274:user_src/soft_obstacle.c **** else if(data[4] == 0xE2) 275:user_src/soft_obstacle.c **** { 276:user_src/soft_obstacle.c **** if(data[6] == 0 && Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Lin 277:user_src/soft_obstacle.c **** { 278:user_src/soft_obstacle.c **** pmu_set_ack(_MSGID_SET,MSGID_SET_FLOW_BACKGROUND,0,0); 279:user_src/soft_obstacle.c **** } 280:user_src/soft_obstacle.c **** flow_inf.ch1.clear_background = false; 281:user_src/soft_obstacle.c **** } 282:user_src/soft_obstacle.c **** break; 283:user_src/soft_obstacle.c **** default: 284:user_src/soft_obstacle.c **** break; 1172 .loc 1 284 17 1173 019a 20E1 b .L59 1174 .L48: 215:user_src/soft_obstacle.c **** { 1175 .loc 1 215 24 1176 019c BB68 ldr r3, [r7, #8] 1177 019e 0433 adds r3, r3, #4 1178 01a0 1B78 ldrb r3, [r3] @ zero_extendqisi2 215:user_src/soft_obstacle.c **** { 1179 .loc 1 215 19 1180 01a2 D12B cmp r3, #209 1181 01a4 0ED1 bne .L51 217:user_src/soft_obstacle.c **** } 1182 .loc 1 217 45 1183 01a6 BB68 ldr r3, [r7, #8] 1184 01a8 0533 adds r3, r3, #5 1185 01aa 1B78 ldrb r3, [r3] @ zero_extendqisi2 217:user_src/soft_obstacle.c **** } 1186 .loc 1 217 55 1187 01ac 9BB2 uxth r3, r3 1188 01ae 1B02 lsls r3, r3, #8 1189 01b0 9AB2 uxth r2, r3 217:user_src/soft_obstacle.c **** } 1190 .loc 1 217 61 1191 01b2 BB68 ldr r3, [r7, #8] 1192 01b4 0633 adds r3, r3, #6 1193 01b6 1B78 ldrb r3, [r3] @ zero_extendqisi2 1194 01b8 9BB2 uxth r3, r3 217:user_src/soft_obstacle.c **** } 1195 .loc 1 217 55 1196 01ba 1344 add r3, r3, r2 1197 01bc 9AB2 uxth r2, r3 217:user_src/soft_obstacle.c **** } 1198 .loc 1 217 39 1199 01be 734B ldr r3, .L96+16 1200 01c0 5A81 strh r2, [r3, #10] @ unaligned 253:user_src/soft_obstacle.c **** case 1: 1201 .loc 1 253 17 1202 01c2 09E1 b .L91 1203 .L51: 219:user_src/soft_obstacle.c **** { 1204 .loc 1 219 29 1205 01c4 BB68 ldr r3, [r7, #8] 1206 01c6 0433 adds r3, r3, #4 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 28 1207 01c8 1B78 ldrb r3, [r3] @ zero_extendqisi2 219:user_src/soft_obstacle.c **** { 1208 .loc 1 219 24 1209 01ca C12B cmp r3, #193 1210 01cc 20D1 bne .L53 221:user_src/soft_obstacle.c **** { 1211 .loc 1 221 28 1212 01ce BB68 ldr r3, [r7, #8] 1213 01d0 0633 adds r3, r3, #6 1214 01d2 1B78 ldrb r3, [r3] @ zero_extendqisi2 221:user_src/soft_obstacle.c **** { 1215 .loc 1 221 23 1216 01d4 002B cmp r3, #0 1217 01d6 40F0FF80 bne .L91 223:user_src/soft_obstacle.c **** if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_s 1218 .loc 1 223 55 1219 01da 6C4B ldr r3, .L96+16 1220 01dc 9B89 ldrh r3, [r3, #12] @ unaligned 1221 01de 9AB2 uxth r2, r3 223:user_src/soft_obstacle.c **** if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_s 1222 .loc 1 223 43 1223 01e0 6A4B ldr r3, .L96+16 1224 01e2 5A81 strh r2, [r3, #10] @ unaligned 224:user_src/soft_obstacle.c **** { 1225 .loc 1 224 42 1226 01e4 6A4B ldr r3, .L96+20 1227 01e6 93F89C30 ldrb r3, [r3, #156] @ zero_extendqisi2 224:user_src/soft_obstacle.c **** { 1228 .loc 1 224 27 1229 01ea 012B cmp r3, #1 1230 01ec 40F0F480 bne .L91 224:user_src/soft_obstacle.c **** { 1231 .loc 1 224 90 discriminator 1 1232 01f0 674B ldr r3, .L96+20 1233 01f2 93F8A830 ldrb r3, [r3, #168] @ zero_extendqisi2 224:user_src/soft_obstacle.c **** { 1234 .loc 1 224 73 discriminator 1 1235 01f6 012B cmp r3, #1 1236 01f8 00F0EE80 beq .L91 226:user_src/soft_obstacle.c **** } 1237 .loc 1 226 82 1238 01fc 634B ldr r3, .L96+16 1239 01fe 5B89 ldrh r3, [r3, #10] @ unaligned 1240 0200 9BB2 uxth r3, r3 226:user_src/soft_obstacle.c **** } 1241 .loc 1 226 29 1242 0202 1AB2 sxth r2, r3 1243 0204 0023 movs r3, #0 1244 0206 1521 movs r1, #21 1245 0208 1620 movs r0, #22 1246 020a FFF7FEFF bl pmu_set_ack 253:user_src/soft_obstacle.c **** case 1: 1247 .loc 1 253 17 1248 020e E3E0 b .L91 1249 .L53: 230:user_src/soft_obstacle.c **** { 1250 .loc 1 230 29 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 29 1251 0210 BB68 ldr r3, [r7, #8] 1252 0212 0433 adds r3, r3, #4 1253 0214 1B78 ldrb r3, [r3] @ zero_extendqisi2 230:user_src/soft_obstacle.c **** { 1254 .loc 1 230 24 1255 0216 E22B cmp r3, #226 1256 0218 18D1 bne .L54 232:user_src/soft_obstacle.c **** { 1257 .loc 1 232 28 1258 021a BB68 ldr r3, [r7, #8] 1259 021c 0633 adds r3, r3, #6 1260 021e 1B78 ldrb r3, [r3] @ zero_extendqisi2 232:user_src/soft_obstacle.c **** { 1261 .loc 1 232 23 1262 0220 002B cmp r3, #0 1263 0222 0FD1 bne .L55 232:user_src/soft_obstacle.c **** { 1264 .loc 1 232 54 discriminator 1 1265 0224 5A4B ldr r3, .L96+20 1266 0226 93F89C30 ldrb r3, [r3, #156] @ zero_extendqisi2 232:user_src/soft_obstacle.c **** { 1267 .loc 1 232 37 discriminator 1 1268 022a 012B cmp r3, #1 1269 022c 0AD1 bne .L55 232:user_src/soft_obstacle.c **** { 1270 .loc 1 232 102 discriminator 2 1271 022e 584B ldr r3, .L96+20 1272 0230 93F8A830 ldrb r3, [r3, #168] @ zero_extendqisi2 232:user_src/soft_obstacle.c **** { 1273 .loc 1 232 85 discriminator 2 1274 0234 012B cmp r3, #1 1275 0236 05D0 beq .L55 234:user_src/soft_obstacle.c **** } 1276 .loc 1 234 25 1277 0238 0023 movs r3, #0 1278 023a 0022 movs r2, #0 1279 023c 1621 movs r1, #22 1280 023e 1620 movs r0, #22 1281 0240 FFF7FEFF bl pmu_set_ack 1282 .L55: 236:user_src/soft_obstacle.c **** } 1283 .loc 1 236 51 1284 0244 534B ldr r3, .L96+24 1285 0246 0022 movs r2, #0 1286 0248 9A74 strb r2, [r3, #18] 253:user_src/soft_obstacle.c **** case 1: 1287 .loc 1 253 17 1288 024a C5E0 b .L91 1289 .L54: 238:user_src/soft_obstacle.c **** { 1290 .loc 1 238 30 1291 024c BB68 ldr r3, [r7, #8] 1292 024e 0433 adds r3, r3, #4 1293 0250 1B78 ldrb r3, [r3] @ zero_extendqisi2 238:user_src/soft_obstacle.c **** { 1294 .loc 1 238 25 1295 0252 EB2B cmp r3, #235 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 30 1296 0254 2ED1 bne .L56 240:user_src/soft_obstacle.c **** { 1297 .loc 1 240 27 1298 0256 0023 movs r3, #0 1299 0258 FB77 strb r3, [r7, #31] 240:user_src/soft_obstacle.c **** { 1300 .loc 1 240 21 1301 025a 24E0 b .L57 1302 .L58: 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 1303 .loc 1 242 55 discriminator 3 1304 025c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1305 025e 0633 adds r3, r3, #6 1306 0260 1A46 mov r2, r3 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 1307 .loc 1 242 52 discriminator 3 1308 0262 BB68 ldr r3, [r7, #8] 1309 0264 1344 add r3, r3, r2 1310 0266 1B78 ldrb r3, [r3] @ zero_extendqisi2 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 1311 .loc 1 242 73 discriminator 3 1312 0268 1B09 lsrs r3, r3, #4 1313 026a DAB2 uxtb r2, r3 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 1314 .loc 1 242 40 discriminator 3 1315 026c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1316 026e 5B00 lsls r3, r3, #1 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 1317 .loc 1 242 73 discriminator 3 1318 0270 3032 adds r2, r2, #48 1319 0272 D1B2 uxtb r1, r2 242:user_src/soft_obstacle.c **** flow_mimo1.sn[2*i+1] = (data[6 + i] & 0xf )+ '0'; 1320 .loc 1 242 44 discriminator 3 1321 0274 454A ldr r2, .L96+16 1322 0276 1344 add r3, r3, r2 1323 0278 0A46 mov r2, r1 1324 027a 1A74 strb r2, [r3, #16] 243:user_src/soft_obstacle.c **** } 1325 .loc 1 243 56 discriminator 3 1326 027c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1327 027e 0633 adds r3, r3, #6 1328 0280 1A46 mov r2, r3 243:user_src/soft_obstacle.c **** } 1329 .loc 1 243 53 discriminator 3 1330 0282 BB68 ldr r3, [r7, #8] 1331 0284 1344 add r3, r3, r2 243:user_src/soft_obstacle.c **** } 1332 .loc 1 243 61 discriminator 3 1333 0286 1B78 ldrb r3, [r3] @ zero_extendqisi2 1334 0288 03F00F03 and r3, r3, #15 1335 028c DAB2 uxtb r2, r3 243:user_src/soft_obstacle.c **** } 1336 .loc 1 243 40 discriminator 3 1337 028e FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1338 0290 5B00 lsls r3, r3, #1 243:user_src/soft_obstacle.c **** } 1339 .loc 1 243 42 discriminator 3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 31 1340 0292 0133 adds r3, r3, #1 243:user_src/soft_obstacle.c **** } 1341 .loc 1 243 68 discriminator 3 1342 0294 3032 adds r2, r2, #48 1343 0296 D1B2 uxtb r1, r2 243:user_src/soft_obstacle.c **** } 1344 .loc 1 243 46 discriminator 3 1345 0298 3C4A ldr r2, .L96+16 1346 029a 1344 add r3, r3, r2 1347 029c 0A46 mov r2, r1 1348 029e 1A74 strb r2, [r3, #16] 240:user_src/soft_obstacle.c **** { 1349 .loc 1 240 36 discriminator 3 1350 02a0 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1351 02a2 0133 adds r3, r3, #1 1352 02a4 FB77 strb r3, [r7, #31] 1353 .L57: 240:user_src/soft_obstacle.c **** { 1354 .loc 1 240 21 discriminator 1 1355 02a6 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1356 02a8 012B cmp r3, #1 1357 02aa D7D9 bls .L58 245:user_src/soft_obstacle.c **** } 1358 .loc 1 245 31 1359 02ac 334B ldr r3, .L96 1360 02ae 1522 movs r2, #21 1361 02b0 1A70 strb r2, [r3] 253:user_src/soft_obstacle.c **** case 1: 1362 .loc 1 253 17 1363 02b2 91E0 b .L91 1364 .L56: 247:user_src/soft_obstacle.c **** { 1365 .loc 1 247 29 1366 02b4 BB68 ldr r3, [r7, #8] 1367 02b6 0433 adds r3, r3, #4 1368 02b8 1B78 ldrb r3, [r3] @ zero_extendqisi2 247:user_src/soft_obstacle.c **** { 1369 .loc 1 247 24 1370 02ba EC2B cmp r3, #236 1371 02bc 40F08C80 bne .L91 249:user_src/soft_obstacle.c **** flow_mimo1.soft_version[1] = data[6] + '0'; 1372 .loc 1 249 54 1373 02c0 BB68 ldr r3, [r7, #8] 1374 02c2 0533 adds r3, r3, #5 1375 02c4 1B78 ldrb r3, [r3] @ zero_extendqisi2 249:user_src/soft_obstacle.c **** flow_mimo1.soft_version[1] = data[6] + '0'; 1376 .loc 1 249 58 1377 02c6 3033 adds r3, r3, #48 1378 02c8 DAB2 uxtb r2, r3 249:user_src/soft_obstacle.c **** flow_mimo1.soft_version[1] = data[6] + '0'; 1379 .loc 1 249 48 1380 02ca 304B ldr r3, .L96+16 1381 02cc 9A73 strb r2, [r3, #14] 250:user_src/soft_obstacle.c **** 1382 .loc 1 250 54 1383 02ce BB68 ldr r3, [r7, #8] 1384 02d0 0633 adds r3, r3, #6 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 32 1385 02d2 1B78 ldrb r3, [r3] @ zero_extendqisi2 250:user_src/soft_obstacle.c **** 1386 .loc 1 250 58 1387 02d4 3033 adds r3, r3, #48 1388 02d6 DAB2 uxtb r2, r3 250:user_src/soft_obstacle.c **** 1389 .loc 1 250 48 1390 02d8 2C4B ldr r3, .L96+16 1391 02da DA73 strb r2, [r3, #15] 253:user_src/soft_obstacle.c **** case 1: 1392 .loc 1 253 17 1393 02dc 7CE0 b .L91 1394 .L49: 255:user_src/soft_obstacle.c **** { 1395 .loc 1 255 24 1396 02de BB68 ldr r3, [r7, #8] 1397 02e0 0433 adds r3, r3, #4 1398 02e2 1B78 ldrb r3, [r3] @ zero_extendqisi2 255:user_src/soft_obstacle.c **** { 1399 .loc 1 255 19 1400 02e4 D12B cmp r3, #209 1401 02e6 0ED1 bne .L60 257:user_src/soft_obstacle.c **** } 1402 .loc 1 257 45 1403 02e8 BB68 ldr r3, [r7, #8] 1404 02ea 0533 adds r3, r3, #5 1405 02ec 1B78 ldrb r3, [r3] @ zero_extendqisi2 257:user_src/soft_obstacle.c **** } 1406 .loc 1 257 55 1407 02ee 9BB2 uxth r3, r3 1408 02f0 1B02 lsls r3, r3, #8 1409 02f2 9AB2 uxth r2, r3 257:user_src/soft_obstacle.c **** } 1410 .loc 1 257 61 1411 02f4 BB68 ldr r3, [r7, #8] 1412 02f6 0633 adds r3, r3, #6 1413 02f8 1B78 ldrb r3, [r3] @ zero_extendqisi2 1414 02fa 9BB2 uxth r3, r3 257:user_src/soft_obstacle.c **** } 1415 .loc 1 257 55 1416 02fc 1344 add r3, r3, r2 1417 02fe 9AB2 uxth r2, r3 257:user_src/soft_obstacle.c **** } 1418 .loc 1 257 39 1419 0300 254B ldr r3, .L96+28 1420 0302 5A81 strh r2, [r3, #10] @ unaligned 282:user_src/soft_obstacle.c **** default: 1421 .loc 1 282 17 1422 0304 6AE0 b .L92 1423 .L60: 259:user_src/soft_obstacle.c **** { 1424 .loc 1 259 29 1425 0306 BB68 ldr r3, [r7, #8] 1426 0308 0433 adds r3, r3, #4 1427 030a 1B78 ldrb r3, [r3] @ zero_extendqisi2 259:user_src/soft_obstacle.c **** { 1428 .loc 1 259 24 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 33 1429 030c C12B cmp r3, #193 1430 030e 45D1 bne .L62 261:user_src/soft_obstacle.c **** { 1431 .loc 1 261 28 1432 0310 BB68 ldr r3, [r7, #8] 1433 0312 0633 adds r3, r3, #6 1434 0314 1B78 ldrb r3, [r3] @ zero_extendqisi2 261:user_src/soft_obstacle.c **** { 1435 .loc 1 261 23 1436 0316 002B cmp r3, #0 1437 0318 60D1 bne .L92 263:user_src/soft_obstacle.c **** if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_s 1438 .loc 1 263 55 1439 031a 1F4B ldr r3, .L96+28 1440 031c 9B89 ldrh r3, [r3, #12] @ unaligned 1441 031e 9AB2 uxth r2, r3 263:user_src/soft_obstacle.c **** if(Dev.Flow_Link1.connect_status == COMP_NORMAL && Dev.Flow_Link2.connect_s 1442 .loc 1 263 43 1443 0320 1D4B ldr r3, .L96+28 1444 0322 5A81 strh r2, [r3, #10] @ unaligned 264:user_src/soft_obstacle.c **** { 1445 .loc 1 264 42 1446 0324 1A4B ldr r3, .L96+20 1447 0326 93F89C30 ldrb r3, [r3, #156] @ zero_extendqisi2 264:user_src/soft_obstacle.c **** { 1448 .loc 1 264 27 1449 032a 012B cmp r3, #1 1450 032c 11D1 bne .L64 264:user_src/soft_obstacle.c **** { 1451 .loc 1 264 90 discriminator 1 1452 032e 184B ldr r3, .L96+20 1453 0330 93F8A830 ldrb r3, [r3, #168] @ zero_extendqisi2 264:user_src/soft_obstacle.c **** { 1454 .loc 1 264 73 discriminator 1 1455 0334 012B cmp r3, #1 1456 0336 0CD1 bne .L64 266:user_src/soft_obstacle.c **** } 1457 .loc 1 266 82 1458 0338 144B ldr r3, .L96+16 1459 033a 5B89 ldrh r3, [r3, #10] @ unaligned 1460 033c 9BB2 uxth r3, r3 266:user_src/soft_obstacle.c **** } 1461 .loc 1 266 29 1462 033e 1AB2 sxth r2, r3 266:user_src/soft_obstacle.c **** } 1463 .loc 1 266 100 1464 0340 154B ldr r3, .L96+28 1465 0342 5B89 ldrh r3, [r3, #10] @ unaligned 1466 0344 9BB2 uxth r3, r3 266:user_src/soft_obstacle.c **** } 1467 .loc 1 266 29 1468 0346 1BB2 sxth r3, r3 1469 0348 1521 movs r1, #21 1470 034a 1620 movs r0, #22 1471 034c FFF7FEFF bl pmu_set_ack 282:user_src/soft_obstacle.c **** default: 1472 .loc 1 282 17 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 34 1473 0350 44E0 b .L92 1474 .L64: 268:user_src/soft_obstacle.c **** { 1475 .loc 1 268 47 1476 0352 0F4B ldr r3, .L96+20 1477 0354 93F89C30 ldrb r3, [r3, #156] @ zero_extendqisi2 268:user_src/soft_obstacle.c **** { 1478 .loc 1 268 32 1479 0358 012B cmp r3, #1 1480 035a 3FD0 beq .L92 268:user_src/soft_obstacle.c **** { 1481 .loc 1 268 95 discriminator 1 1482 035c 0C4B ldr r3, .L96+20 1483 035e 93F8A830 ldrb r3, [r3, #168] @ zero_extendqisi2 268:user_src/soft_obstacle.c **** { 1484 .loc 1 268 78 discriminator 1 1485 0362 012B cmp r3, #1 1486 0364 3AD1 bne .L92 270:user_src/soft_obstacle.c **** } 1487 .loc 1 270 84 1488 0366 0C4B ldr r3, .L96+28 1489 0368 5B89 ldrh r3, [r3, #10] @ unaligned 1490 036a 9BB2 uxth r3, r3 270:user_src/soft_obstacle.c **** } 1491 .loc 1 270 29 1492 036c 1BB2 sxth r3, r3 1493 036e 0022 movs r2, #0 1494 0370 1521 movs r1, #21 1495 0372 1620 movs r0, #22 1496 0374 FFF7FEFF bl pmu_set_ack 282:user_src/soft_obstacle.c **** default: 1497 .loc 1 282 17 1498 0378 30E0 b .L92 1499 .L97: 1500 037a 00BF .align 2 1501 .L96: 1502 037c 00000000 .word frame_num.10 1503 0380 00000000 .word mimo_version.9 1504 0384 00000000 .word frame_head.8 1505 0388 00000000 .word mimo_lackloss 1506 038c 00000000 .word flow_mimo1 1507 0390 00000000 .word Dev 1508 0394 00000000 .word flow_inf 1509 0398 00000000 .word flow_mimo2 1510 .L62: 274:user_src/soft_obstacle.c **** { 1511 .loc 1 274 29 1512 039c BB68 ldr r3, [r7, #8] 1513 039e 0433 adds r3, r3, #4 1514 03a0 1B78 ldrb r3, [r3] @ zero_extendqisi2 274:user_src/soft_obstacle.c **** { 1515 .loc 1 274 24 1516 03a2 E22B cmp r3, #226 1517 03a4 1AD1 bne .L92 276:user_src/soft_obstacle.c **** { 1518 .loc 1 276 28 1519 03a6 BB68 ldr r3, [r7, #8] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 35 1520 03a8 0633 adds r3, r3, #6 1521 03aa 1B78 ldrb r3, [r3] @ zero_extendqisi2 276:user_src/soft_obstacle.c **** { 1522 .loc 1 276 23 1523 03ac 002B cmp r3, #0 1524 03ae 0FD1 bne .L65 276:user_src/soft_obstacle.c **** { 1525 .loc 1 276 54 discriminator 1 1526 03b0 924B ldr r3, .L98 1527 03b2 93F89C30 ldrb r3, [r3, #156] @ zero_extendqisi2 276:user_src/soft_obstacle.c **** { 1528 .loc 1 276 37 discriminator 1 1529 03b6 012B cmp r3, #1 1530 03b8 0AD1 bne .L65 276:user_src/soft_obstacle.c **** { 1531 .loc 1 276 102 discriminator 2 1532 03ba 904B ldr r3, .L98 1533 03bc 93F8A830 ldrb r3, [r3, #168] @ zero_extendqisi2 276:user_src/soft_obstacle.c **** { 1534 .loc 1 276 85 discriminator 2 1535 03c0 012B cmp r3, #1 1536 03c2 05D1 bne .L65 278:user_src/soft_obstacle.c **** } 1537 .loc 1 278 25 1538 03c4 0023 movs r3, #0 1539 03c6 0022 movs r2, #0 1540 03c8 1621 movs r1, #22 1541 03ca 1620 movs r0, #22 1542 03cc FFF7FEFF bl pmu_set_ack 1543 .L65: 280:user_src/soft_obstacle.c **** } 1544 .loc 1 280 51 1545 03d0 8B4B ldr r3, .L98+4 1546 03d2 0022 movs r2, #0 1547 03d4 9A74 strb r2, [r3, #18] 282:user_src/soft_obstacle.c **** default: 1548 .loc 1 282 17 1549 03d6 01E0 b .L92 1550 .L91: 253:user_src/soft_obstacle.c **** case 1: 1551 .loc 1 253 17 1552 03d8 00BF nop 1553 03da EFE1 b .L44 1554 .L92: 282:user_src/soft_obstacle.c **** default: 1555 .loc 1 282 17 1556 03dc 00BF nop 1557 .L59: 212:user_src/soft_obstacle.c **** { 1558 .loc 1 212 13 1559 03de EDE1 b .L44 1560 .L47: 285:user_src/soft_obstacle.c **** } 286:user_src/soft_obstacle.c **** } 287:user_src/soft_obstacle.c **** else 288:user_src/soft_obstacle.c **** { 289:user_src/soft_obstacle.c **** if(frame_num == 21) ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 36 1561 .loc 1 289 26 1562 03e0 884B ldr r3, .L98+8 1563 03e2 1B78 ldrb r3, [r3] @ zero_extendqisi2 1564 .loc 1 289 15 1565 03e4 152B cmp r3, #21 1566 03e6 2BD1 bne .L66 290:user_src/soft_obstacle.c **** { 291:user_src/soft_obstacle.c **** for( i=0;i<5;i++) 1567 .loc 1 291 23 1568 03e8 0023 movs r3, #0 1569 03ea FB77 strb r3, [r7, #31] 1570 .loc 1 291 17 1571 03ec 22E0 b .L67 1572 .L68: 292:user_src/soft_obstacle.c **** { 293:user_src/soft_obstacle.c **** flow_mimo1.sn[4+2*i] = ((data[i] >> 4) & 0xf) + '0'; 1573 .loc 1 293 50 discriminator 3 1574 03ee FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1575 03f0 BA68 ldr r2, [r7, #8] 1576 03f2 1344 add r3, r3, r2 1577 03f4 1B78 ldrb r3, [r3] @ zero_extendqisi2 1578 .loc 1 293 67 discriminator 3 1579 03f6 1B09 lsrs r3, r3, #4 1580 03f8 DAB2 uxtb r2, r3 1581 .loc 1 293 36 discriminator 3 1582 03fa FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1583 03fc 0233 adds r3, r3, #2 1584 03fe 5B00 lsls r3, r3, #1 1585 .loc 1 293 67 discriminator 3 1586 0400 3032 adds r2, r2, #48 1587 0402 D1B2 uxtb r1, r2 1588 .loc 1 293 42 discriminator 3 1589 0404 804A ldr r2, .L98+12 1590 0406 1344 add r3, r3, r2 1591 0408 0A46 mov r2, r1 1592 040a 1A74 strb r2, [r3, #16] 294:user_src/soft_obstacle.c **** flow_mimo1.sn[4+2*i+1] = (data[i] & 0xf )+ '0'; 1593 .loc 1 294 51 discriminator 3 1594 040c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1595 040e BA68 ldr r2, [r7, #8] 1596 0410 1344 add r3, r3, r2 1597 .loc 1 294 55 discriminator 3 1598 0412 1B78 ldrb r3, [r3] @ zero_extendqisi2 1599 0414 03F00F03 and r3, r3, #15 1600 0418 DAB2 uxtb r2, r3 1601 .loc 1 294 36 discriminator 3 1602 041a FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1603 041c 0233 adds r3, r3, #2 1604 041e 5B00 lsls r3, r3, #1 1605 .loc 1 294 40 discriminator 3 1606 0420 0133 adds r3, r3, #1 1607 .loc 1 294 62 discriminator 3 1608 0422 3032 adds r2, r2, #48 1609 0424 D1B2 uxtb r1, r2 1610 .loc 1 294 44 discriminator 3 1611 0426 784A ldr r2, .L98+12 1612 0428 1344 add r3, r3, r2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 37 1613 042a 0A46 mov r2, r1 1614 042c 1A74 strb r2, [r3, #16] 291:user_src/soft_obstacle.c **** { 1615 .loc 1 291 31 discriminator 3 1616 042e FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1617 0430 0133 adds r3, r3, #1 1618 0432 FB77 strb r3, [r7, #31] 1619 .L67: 291:user_src/soft_obstacle.c **** { 1620 .loc 1 291 17 discriminator 1 1621 0434 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1622 0436 042B cmp r3, #4 1623 0438 D9D9 bls .L68 295:user_src/soft_obstacle.c **** } 296:user_src/soft_obstacle.c **** //flow_mimo1.sn[1] = 'F'; 297:user_src/soft_obstacle.c **** frame_num = 0; 1624 .loc 1 297 27 1625 043a 724B ldr r3, .L98+8 1626 043c 0022 movs r2, #0 1627 043e 1A70 strb r2, [r3] 1628 .L66: 298:user_src/soft_obstacle.c **** } 299:user_src/soft_obstacle.c **** if(frame_num <= 20) 1629 .loc 1 299 26 1630 0440 704B ldr r3, .L98+8 1631 0442 1B78 ldrb r3, [r3] @ zero_extendqisi2 1632 .loc 1 299 15 1633 0444 142B cmp r3, #20 1634 0446 00F2BC81 bhi .L93 300:user_src/soft_obstacle.c **** { 301:user_src/soft_obstacle.c **** if(frame_head == true) 1635 .loc 1 301 31 1636 044a 704B ldr r3, .L98+16 1637 044c 1B78 ldrb r3, [r3] @ zero_extendqisi2 1638 .loc 1 301 19 1639 044e 002B cmp r3, #0 1640 0450 0FD0 beq .L69 302:user_src/soft_obstacle.c **** { 303:user_src/soft_obstacle.c **** memcpy(&mimo_version[frame_num],&data[0],8); 1641 .loc 1 303 41 1642 0452 6C4B ldr r3, .L98+8 1643 0454 1B78 ldrb r3, [r3] @ zero_extendqisi2 1644 0456 1A46 mov r2, r3 1645 .loc 1 303 28 1646 0458 6D4B ldr r3, .L98+20 1647 045a 1344 add r3, r3, r2 1648 .loc 1 303 21 1649 045c 0822 movs r2, #8 1650 045e B968 ldr r1, [r7, #8] 1651 0460 1846 mov r0, r3 1652 0462 FFF7FEFF bl memcpy 304:user_src/soft_obstacle.c **** frame_num += 8; 1653 .loc 1 304 31 1654 0466 674B ldr r3, .L98+8 1655 0468 1B78 ldrb r3, [r3] @ zero_extendqisi2 1656 046a 0833 adds r3, r3, #8 1657 046c DAB2 uxtb r2, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 38 1658 046e 654B ldr r3, .L98+8 1659 0470 1A70 strb r2, [r3] 1660 .L69: 305:user_src/soft_obstacle.c **** } 306:user_src/soft_obstacle.c **** if(frame_num == 0x1c) //恩曌SN取中间日期12位，其他有问题 1661 .loc 1 306 30 1662 0472 644B ldr r3, .L98+8 1663 0474 1B78 ldrb r3, [r3] @ zero_extendqisi2 1664 .loc 1 306 19 1665 0476 1C2B cmp r3, #28 1666 0478 40F0A381 bne .L93 307:user_src/soft_obstacle.c **** { 308:user_src/soft_obstacle.c **** checksum = 0x01; 1667 .loc 1 308 30 1668 047c 0123 movs r3, #1 1669 047e BB61 str r3, [r7, #24] 1670 .LBB4: 309:user_src/soft_obstacle.c **** for(uint8_t i = 0; i < 27; i++) 1671 .loc 1 309 33 1672 0480 0023 movs r3, #0 1673 0482 FB75 strb r3, [r7, #23] 1674 .loc 1 309 21 1675 0484 09E0 b .L70 1676 .L71: 310:user_src/soft_obstacle.c **** { 311:user_src/soft_obstacle.c **** checksum += mimo_version[i]; 1677 .loc 1 311 49 discriminator 3 1678 0486 FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 1679 0488 614A ldr r2, .L98+20 1680 048a D35C ldrb r3, [r2, r3] @ zero_extendqisi2 1681 048c 1A46 mov r2, r3 1682 .loc 1 311 34 discriminator 3 1683 048e BB69 ldr r3, [r7, #24] 1684 0490 1344 add r3, r3, r2 1685 0492 BB61 str r3, [r7, #24] 309:user_src/soft_obstacle.c **** for(uint8_t i = 0; i < 27; i++) 1686 .loc 1 309 49 discriminator 3 1687 0494 FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 1688 0496 0133 adds r3, r3, #1 1689 0498 FB75 strb r3, [r7, #23] 1690 .L70: 309:user_src/soft_obstacle.c **** for(uint8_t i = 0; i < 27; i++) 1691 .loc 1 309 21 discriminator 1 1692 049a FB7D ldrb r3, [r7, #23] @ zero_extendqisi2 1693 049c 1A2B cmp r3, #26 1694 049e F2D9 bls .L71 1695 .LBE4: 312:user_src/soft_obstacle.c **** } 313:user_src/soft_obstacle.c **** if((checksum & 0xFF) == mimo_version[27]) 1696 .loc 1 313 34 1697 04a0 BB69 ldr r3, [r7, #24] 1698 04a2 DBB2 uxtb r3, r3 1699 .loc 1 313 57 1700 04a4 5A4A ldr r2, .L98+20 1701 04a6 D27E ldrb r2, [r2, #27] @ zero_extendqisi2 1702 .loc 1 313 23 1703 04a8 9342 cmp r3, r2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 39 1704 04aa 40F08A81 bne .L93 1705 04ae 584B ldr r3, .L98+20 1706 04b0 D3F81730 ldr r3, [r3, #23] @ unaligned 314:user_src/soft_obstacle.c **** { 315:user_src/soft_obstacle.c **** memcpy(&soft_ver,&mimo_version[23],4); 1707 .loc 1 315 25 1708 04b4 3B61 str r3, [r7, #16] 316:user_src/soft_obstacle.c **** 317:user_src/soft_obstacle.c **** switch (mimo_version[18]) 1709 .loc 1 317 45 1710 04b6 564B ldr r3, .L98+20 1711 04b8 9B7C ldrb r3, [r3, #18] @ zero_extendqisi2 1712 04ba 042B cmp r3, #4 1713 04bc 00F00081 beq .L72 1714 04c0 042B cmp r3, #4 1715 04c2 00F36F81 bgt .L94 1716 04c6 002B cmp r3, #0 1717 04c8 02D0 beq .L74 1718 04ca 032B cmp r3, #3 1719 04cc 66D0 beq .L75 318:user_src/soft_obstacle.c **** { 319:user_src/soft_obstacle.c **** case 0x00: 320:user_src/soft_obstacle.c **** mimo_ter_info.version[0] = 'E'; 321:user_src/soft_obstacle.c **** mimo_ter_info.version[1] = 'B'; 322:user_src/soft_obstacle.c **** mimo_ter_info.version[2] = '0'; 323:user_src/soft_obstacle.c **** mimo_ter_info.version[3] = '0'; 324:user_src/soft_obstacle.c **** Int2String(soft_ver,&mimo_ter_info.version[4],6); 325:user_src/soft_obstacle.c **** memcpy(&mimo_ter_info.hard_version,&mimo_version[19],4); 326:user_src/soft_obstacle.c **** if(mimo_ter_info.hard_version == 210221) 327:user_src/soft_obstacle.c **** { 328:user_src/soft_obstacle.c **** mimo_ter_info.version[3] = 'J'; 329:user_src/soft_obstacle.c **** } 330:user_src/soft_obstacle.c **** for( i= 0;i<9;i++) 331:user_src/soft_obstacle.c **** { 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i] = ((mimo_version[7 + i] >> 4) & 0xf) + '0'; 333:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 334:user_src/soft_obstacle.c **** } 335:user_src/soft_obstacle.c **** //memcpy(&mimo_ter_info.sn[0],&mimo_version[4],18); 336:user_src/soft_obstacle.c **** 337:user_src/soft_obstacle.c **** regist_dev_info(&dev_ter,DEVICE_TERRA,false,mimo_ter_info.sn,18,mimo_te 338:user_src/soft_obstacle.c **** 339:user_src/soft_obstacle.c **** mimo_ter_info.get_radar_ver_flag = true; 340:user_src/soft_obstacle.c **** mimo_ter_info.Link.boot_flag = false; 341:user_src/soft_obstacle.c **** break; 342:user_src/soft_obstacle.c **** case 0x03: 343:user_src/soft_obstacle.c **** mimo_f_info.version[0] = 'E'; 344:user_src/soft_obstacle.c **** mimo_f_info.version[1] = '1'; 345:user_src/soft_obstacle.c **** mimo_f_info.version[2] = '0'; 346:user_src/soft_obstacle.c **** mimo_f_info.version[3] = '0'; 347:user_src/soft_obstacle.c **** Int2String(soft_ver,&mimo_f_info.version[4],6); 348:user_src/soft_obstacle.c **** memcpy(&mimo_f_info.hard_version,&mimo_version[19],4); 349:user_src/soft_obstacle.c **** if(mimo_f_info.hard_version == 190302) //恩曌协议定义 350:user_src/soft_obstacle.c **** { 351:user_src/soft_obstacle.c **** mimo_f_info.version[2] = '1'; //极翼 352:user_src/soft_obstacle.c **** mimo_f_info.version[3] = 'J'; 353:user_src/soft_obstacle.c **** } 354:user_src/soft_obstacle.c **** else ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 40 355:user_src/soft_obstacle.c **** { 356:user_src/soft_obstacle.c **** mimo_f_info.version[2] = '0'; //vk 357:user_src/soft_obstacle.c **** mimo_f_info.version[3] = 'V'; 358:user_src/soft_obstacle.c **** } 359:user_src/soft_obstacle.c **** 360:user_src/soft_obstacle.c **** for( i= 0;i<9;i++) 361:user_src/soft_obstacle.c **** { 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i] = ((mimo_version[7 + i] >> 4) & 0xf) + '0'; 363:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 364:user_src/soft_obstacle.c **** } 365:user_src/soft_obstacle.c **** //memcpy(&mimo_f_info.sn[0],&mimo_version[4],12); 366:user_src/soft_obstacle.c **** 367:user_src/soft_obstacle.c **** regist_dev_info(&dev_obsf,DEVICE_OBSF,false,mimo_f_info.sn,18,mimo_f_in 368:user_src/soft_obstacle.c **** mimo_f_info.get_radar_ver_flag = true; 369:user_src/soft_obstacle.c **** mimo_f_info.Link.boot_flag = false; 370:user_src/soft_obstacle.c **** break; 371:user_src/soft_obstacle.c **** case 0x04: 372:user_src/soft_obstacle.c **** mimo_b_info.version[0] = 'E'; 373:user_src/soft_obstacle.c **** mimo_b_info.version[1] = '2'; 374:user_src/soft_obstacle.c **** mimo_b_info.version[2] = '0'; 375:user_src/soft_obstacle.c **** mimo_b_info.version[3] = '0'; 376:user_src/soft_obstacle.c **** Int2String(soft_ver,&mimo_b_info.version[4],6); 377:user_src/soft_obstacle.c **** memcpy(&mimo_b_info.hard_version,&mimo_version[19],4); 378:user_src/soft_obstacle.c **** if(mimo_b_info.hard_version == 190302) //恩曌协议定义 379:user_src/soft_obstacle.c **** { 380:user_src/soft_obstacle.c **** mimo_b_info.version[2] = '1'; //极翼 381:user_src/soft_obstacle.c **** mimo_b_info.version[3] = 'J'; 382:user_src/soft_obstacle.c **** } 383:user_src/soft_obstacle.c **** else 384:user_src/soft_obstacle.c **** { 385:user_src/soft_obstacle.c **** mimo_b_info.version[2] = '0'; //vk 386:user_src/soft_obstacle.c **** mimo_b_info.version[3] = 'V'; 387:user_src/soft_obstacle.c **** } 388:user_src/soft_obstacle.c **** 389:user_src/soft_obstacle.c **** for( i= 0;i<9;i++) 390:user_src/soft_obstacle.c **** { 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i] = ((mimo_version[7 + i] >> 4) & 0xf) + '0'; 392:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 393:user_src/soft_obstacle.c **** } 394:user_src/soft_obstacle.c **** //memcpy(&mimo_b_info.sn[0],&mimo_version[4],12); 395:user_src/soft_obstacle.c **** regist_dev_info(&dev_obsb,DEVICE_OBSB,false,mimo_b_info.sn,18,mimo_b_in 396:user_src/soft_obstacle.c **** mimo_b_info.get_radar_ver_flag = true; 397:user_src/soft_obstacle.c **** mimo_b_info.Link.boot_flag = false; 398:user_src/soft_obstacle.c **** break; 399:user_src/soft_obstacle.c **** default: 400:user_src/soft_obstacle.c **** break; 1720 .loc 1 400 29 1721 04ce 69E1 b .L94 1722 .L74: 320:user_src/soft_obstacle.c **** mimo_ter_info.version[1] = 'B'; 1723 .loc 1 320 54 1724 04d0 504B ldr r3, .L98+24 1725 04d2 4522 movs r2, #69 1726 04d4 DA76 strb r2, [r3, #27] 321:user_src/soft_obstacle.c **** mimo_ter_info.version[2] = '0'; 1727 .loc 1 321 54 1728 04d6 4F4B ldr r3, .L98+24 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 41 1729 04d8 4222 movs r2, #66 1730 04da 1A77 strb r2, [r3, #28] 322:user_src/soft_obstacle.c **** mimo_ter_info.version[3] = '0'; 1731 .loc 1 322 54 1732 04dc 4D4B ldr r3, .L98+24 1733 04de 3022 movs r2, #48 1734 04e0 5A77 strb r2, [r3, #29] 323:user_src/soft_obstacle.c **** Int2String(soft_ver,&mimo_ter_info.version[4],6); 1735 .loc 1 323 54 1736 04e2 4C4B ldr r3, .L98+24 1737 04e4 3022 movs r2, #48 1738 04e6 9A77 strb r2, [r3, #30] 324:user_src/soft_obstacle.c **** memcpy(&mimo_ter_info.hard_version,&mimo_version[19],4); 1739 .loc 1 324 29 1740 04e8 3B69 ldr r3, [r7, #16] 1741 04ea 0622 movs r2, #6 1742 04ec 4A49 ldr r1, .L98+28 1743 04ee 1846 mov r0, r3 1744 04f0 FFF7FEFF bl Int2String 1745 04f4 464B ldr r3, .L98+20 1746 04f6 D3F81330 ldr r3, [r3, #19] @ unaligned 1747 04fa 1A46 mov r2, r3 325:user_src/soft_obstacle.c **** if(mimo_ter_info.hard_version == 210221) 1748 .loc 1 325 29 1749 04fc 454B ldr r3, .L98+24 1750 04fe C3F82A20 str r2, [r3, #42] @ unaligned 326:user_src/soft_obstacle.c **** { 1751 .loc 1 326 45 1752 0502 444B ldr r3, .L98+24 1753 0504 D3F82A30 ldr r3, [r3, #42] @ unaligned 326:user_src/soft_obstacle.c **** { 1754 .loc 1 326 31 1755 0508 444A ldr r2, .L98+32 1756 050a 9342 cmp r3, r2 1757 050c 02D1 bne .L76 328:user_src/soft_obstacle.c **** } 1758 .loc 1 328 58 1759 050e 414B ldr r3, .L98+24 1760 0510 4A22 movs r2, #74 1761 0512 9A77 strb r2, [r3, #30] 1762 .L76: 330:user_src/soft_obstacle.c **** { 1763 .loc 1 330 35 1764 0514 0023 movs r3, #0 1765 0516 FB77 strb r3, [r7, #31] 330:user_src/soft_obstacle.c **** { 1766 .loc 1 330 29 1767 0518 22E0 b .L77 1768 .L78: 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1769 .loc 1 332 74 discriminator 3 1770 051a FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1771 051c 0733 adds r3, r3, #7 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1772 .loc 1 332 71 discriminator 3 1773 051e 3C4A ldr r2, .L98+20 1774 0520 D35C ldrb r3, [r2, r3] @ zero_extendqisi2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 42 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1775 .loc 1 332 92 discriminator 3 1776 0522 1B09 lsrs r3, r3, #4 1777 0524 DAB2 uxtb r2, r3 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1778 .loc 1 332 51 discriminator 3 1779 0526 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1780 0528 5B00 lsls r3, r3, #1 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1781 .loc 1 332 92 discriminator 3 1782 052a 3032 adds r2, r2, #48 1783 052c D1B2 uxtb r1, r2 332:user_src/soft_obstacle.c **** mimo_ter_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1784 .loc 1 332 55 discriminator 3 1785 052e 394A ldr r2, .L98+24 1786 0530 1344 add r3, r3, r2 1787 0532 0A46 mov r2, r1 1788 0534 83F83120 strb r2, [r3, #49] 333:user_src/soft_obstacle.c **** } 1789 .loc 1 333 75 discriminator 3 1790 0538 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1791 053a 0733 adds r3, r3, #7 333:user_src/soft_obstacle.c **** } 1792 .loc 1 333 72 discriminator 3 1793 053c 344A ldr r2, .L98+20 1794 053e D35C ldrb r3, [r2, r3] @ zero_extendqisi2 333:user_src/soft_obstacle.c **** } 1795 .loc 1 333 80 discriminator 3 1796 0540 03F00F03 and r3, r3, #15 1797 0544 DAB2 uxtb r2, r3 333:user_src/soft_obstacle.c **** } 1798 .loc 1 333 51 discriminator 3 1799 0546 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1800 0548 5B00 lsls r3, r3, #1 333:user_src/soft_obstacle.c **** } 1801 .loc 1 333 53 discriminator 3 1802 054a 0133 adds r3, r3, #1 333:user_src/soft_obstacle.c **** } 1803 .loc 1 333 87 discriminator 3 1804 054c 3032 adds r2, r2, #48 1805 054e D1B2 uxtb r1, r2 333:user_src/soft_obstacle.c **** } 1806 .loc 1 333 57 discriminator 3 1807 0550 304A ldr r2, .L98+24 1808 0552 1344 add r3, r3, r2 1809 0554 0A46 mov r2, r1 1810 0556 83F83120 strb r2, [r3, #49] 330:user_src/soft_obstacle.c **** { 1811 .loc 1 330 44 discriminator 3 1812 055a FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1813 055c 0133 adds r3, r3, #1 1814 055e FB77 strb r3, [r7, #31] 1815 .L77: 330:user_src/soft_obstacle.c **** { 1816 .loc 1 330 29 discriminator 1 1817 0560 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1818 0562 082B cmp r3, #8 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 43 1819 0564 D9D9 bls .L78 337:user_src/soft_obstacle.c **** 1820 .loc 1 337 29 1821 0566 0523 movs r3, #5 1822 0568 0693 str r3, [sp, #24] 1823 056a 2D4B ldr r3, .L98+36 1824 056c 0593 str r3, [sp, #20] 1825 056e 0023 movs r3, #0 1826 0570 0493 str r3, [sp, #16] 1827 0572 0023 movs r3, #0 1828 0574 0393 str r3, [sp, #12] 1829 0576 0A23 movs r3, #10 1830 0578 0293 str r3, [sp, #8] 1831 057a 2A4B ldr r3, .L98+40 1832 057c 0193 str r3, [sp, #4] 1833 057e 1223 movs r3, #18 1834 0580 0093 str r3, [sp] 1835 0582 294B ldr r3, .L98+44 1836 0584 0022 movs r2, #0 1837 0586 0B21 movs r1, #11 1838 0588 2848 ldr r0, .L98+48 1839 058a FFF7FEFF bl regist_dev_info 339:user_src/soft_obstacle.c **** mimo_ter_info.Link.boot_flag = false; 1840 .loc 1 339 62 1841 058e 214B ldr r3, .L98+24 1842 0590 0122 movs r2, #1 1843 0592 5A76 strb r2, [r3, #25] 340:user_src/soft_obstacle.c **** break; 1844 .loc 1 340 58 1845 0594 1F4B ldr r3, .L98+24 1846 0596 0022 movs r2, #0 1847 0598 5A72 strb r2, [r3, #9] 341:user_src/soft_obstacle.c **** case 0x03: 1848 .loc 1 341 29 1849 059a 04E1 b .L79 1850 .L75: 343:user_src/soft_obstacle.c **** mimo_f_info.version[1] = '1'; 1851 .loc 1 343 52 1852 059c 244B ldr r3, .L98+52 1853 059e 4522 movs r2, #69 1854 05a0 5A77 strb r2, [r3, #29] 344:user_src/soft_obstacle.c **** mimo_f_info.version[2] = '0'; 1855 .loc 1 344 52 1856 05a2 234B ldr r3, .L98+52 1857 05a4 3122 movs r2, #49 1858 05a6 9A77 strb r2, [r3, #30] 345:user_src/soft_obstacle.c **** mimo_f_info.version[3] = '0'; 1859 .loc 1 345 52 1860 05a8 214B ldr r3, .L98+52 1861 05aa 3022 movs r2, #48 1862 05ac DA77 strb r2, [r3, #31] 346:user_src/soft_obstacle.c **** Int2String(soft_ver,&mimo_f_info.version[4],6); 1863 .loc 1 346 52 1864 05ae 204B ldr r3, .L98+52 1865 05b0 3022 movs r2, #48 1866 05b2 83F82020 strb r2, [r3, #32] 347:user_src/soft_obstacle.c **** memcpy(&mimo_f_info.hard_version,&mimo_version[19],4); ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 44 1867 .loc 1 347 29 1868 05b6 3B69 ldr r3, [r7, #16] 1869 05b8 0622 movs r2, #6 1870 05ba 1E49 ldr r1, .L98+56 1871 05bc 1846 mov r0, r3 1872 05be FFF7FEFF bl Int2String 1873 05c2 134B ldr r3, .L98+20 1874 05c4 D3F81330 ldr r3, [r3, #19] @ unaligned 1875 05c8 1A46 mov r2, r3 348:user_src/soft_obstacle.c **** if(mimo_f_info.hard_version == 190302) //恩曌协议定义 1876 .loc 1 348 29 1877 05ca 194B ldr r3, .L98+52 1878 05cc 9A62 str r2, [r3, #40] 349:user_src/soft_obstacle.c **** { 1879 .loc 1 349 43 1880 05ce 184B ldr r3, .L98+52 1881 05d0 9B6A ldr r3, [r3, #40] 349:user_src/soft_obstacle.c **** { 1882 .loc 1 349 31 1883 05d2 194A ldr r2, .L98+60 1884 05d4 9342 cmp r3, r2 1885 05d6 07D1 bne .L80 351:user_src/soft_obstacle.c **** mimo_f_info.version[3] = 'J'; 1886 .loc 1 351 56 1887 05d8 154B ldr r3, .L98+52 1888 05da 3122 movs r2, #49 1889 05dc DA77 strb r2, [r3, #31] 352:user_src/soft_obstacle.c **** } 1890 .loc 1 352 56 1891 05de 144B ldr r3, .L98+52 1892 05e0 4A22 movs r2, #74 1893 05e2 83F82020 strb r2, [r3, #32] 1894 05e6 06E0 b .L81 1895 .L80: 356:user_src/soft_obstacle.c **** mimo_f_info.version[3] = 'V'; 1896 .loc 1 356 56 1897 05e8 114B ldr r3, .L98+52 1898 05ea 3022 movs r2, #48 1899 05ec DA77 strb r2, [r3, #31] 357:user_src/soft_obstacle.c **** } 1900 .loc 1 357 56 1901 05ee 104B ldr r3, .L98+52 1902 05f0 5622 movs r2, #86 1903 05f2 83F82020 strb r2, [r3, #32] 1904 .L81: 360:user_src/soft_obstacle.c **** { 1905 .loc 1 360 35 1906 05f6 0023 movs r3, #0 1907 05f8 FB77 strb r3, [r7, #31] 360:user_src/soft_obstacle.c **** { 1908 .loc 1 360 29 1909 05fa 42E0 b .L82 1910 .L99: 1911 .align 2 1912 .L98: 1913 05fc 00000000 .word Dev 1914 0600 00000000 .word flow_inf ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 45 1915 0604 00000000 .word frame_num.10 1916 0608 00000000 .word flow_mimo1 1917 060c 00000000 .word frame_head.8 1918 0610 00000000 .word mimo_version.9 1919 0614 00000000 .word mimo_ter_info 1920 0618 1F000000 .word mimo_ter_info+31 1921 061c 2D350300 .word 210221 1922 0620 00000000 .word .LC0 1923 0624 1B000000 .word mimo_ter_info+27 1924 0628 31000000 .word mimo_ter_info+49 1925 062c 00000000 .word dev_ter 1926 0630 00000000 .word mimo_f_info 1927 0634 21000000 .word mimo_f_info+33 1928 0638 5EE70200 .word 190302 1929 .L83: 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1930 .loc 1 362 72 discriminator 3 1931 063c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1932 063e 0733 adds r3, r3, #7 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1933 .loc 1 362 69 discriminator 3 1934 0640 624A ldr r2, .L100 1935 0642 D35C ldrb r3, [r2, r3] @ zero_extendqisi2 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1936 .loc 1 362 90 discriminator 3 1937 0644 1B09 lsrs r3, r3, #4 1938 0646 DAB2 uxtb r2, r3 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1939 .loc 1 362 49 discriminator 3 1940 0648 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1941 064a 5B00 lsls r3, r3, #1 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1942 .loc 1 362 90 discriminator 3 1943 064c 3032 adds r2, r2, #48 1944 064e D1B2 uxtb r1, r2 362:user_src/soft_obstacle.c **** mimo_f_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 1945 .loc 1 362 53 discriminator 3 1946 0650 5F4A ldr r2, .L100+4 1947 0652 1344 add r3, r3, r2 1948 0654 0A46 mov r2, r1 1949 0656 83F83120 strb r2, [r3, #49] 363:user_src/soft_obstacle.c **** } 1950 .loc 1 363 73 discriminator 3 1951 065a FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1952 065c 0733 adds r3, r3, #7 363:user_src/soft_obstacle.c **** } 1953 .loc 1 363 70 discriminator 3 1954 065e 5B4A ldr r2, .L100 1955 0660 D35C ldrb r3, [r2, r3] @ zero_extendqisi2 363:user_src/soft_obstacle.c **** } 1956 .loc 1 363 78 discriminator 3 1957 0662 03F00F03 and r3, r3, #15 1958 0666 DAB2 uxtb r2, r3 363:user_src/soft_obstacle.c **** } 1959 .loc 1 363 49 discriminator 3 1960 0668 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1961 066a 5B00 lsls r3, r3, #1 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 46 363:user_src/soft_obstacle.c **** } 1962 .loc 1 363 51 discriminator 3 1963 066c 0133 adds r3, r3, #1 363:user_src/soft_obstacle.c **** } 1964 .loc 1 363 85 discriminator 3 1965 066e 3032 adds r2, r2, #48 1966 0670 D1B2 uxtb r1, r2 363:user_src/soft_obstacle.c **** } 1967 .loc 1 363 55 discriminator 3 1968 0672 574A ldr r2, .L100+4 1969 0674 1344 add r3, r3, r2 1970 0676 0A46 mov r2, r1 1971 0678 83F83120 strb r2, [r3, #49] 360:user_src/soft_obstacle.c **** { 1972 .loc 1 360 44 discriminator 3 1973 067c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1974 067e 0133 adds r3, r3, #1 1975 0680 FB77 strb r3, [r7, #31] 1976 .L82: 360:user_src/soft_obstacle.c **** { 1977 .loc 1 360 29 discriminator 1 1978 0682 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 1979 0684 082B cmp r3, #8 1980 0686 D9D9 bls .L83 367:user_src/soft_obstacle.c **** mimo_f_info.get_radar_ver_flag = true; 1981 .loc 1 367 29 1982 0688 0523 movs r3, #5 1983 068a 0693 str r3, [sp, #24] 1984 068c 514B ldr r3, .L100+8 1985 068e 0593 str r3, [sp, #20] 1986 0690 0A23 movs r3, #10 1987 0692 0493 str r3, [sp, #16] 1988 0694 504B ldr r3, .L100+12 1989 0696 0393 str r3, [sp, #12] 1990 0698 0A23 movs r3, #10 1991 069a 0293 str r3, [sp, #8] 1992 069c 4E4B ldr r3, .L100+12 1993 069e 0193 str r3, [sp, #4] 1994 06a0 1223 movs r3, #18 1995 06a2 0093 str r3, [sp] 1996 06a4 4D4B ldr r3, .L100+16 1997 06a6 0022 movs r2, #0 1998 06a8 0C21 movs r1, #12 1999 06aa 4D48 ldr r0, .L100+20 2000 06ac FFF7FEFF bl regist_dev_info 368:user_src/soft_obstacle.c **** mimo_f_info.Link.boot_flag = false; 2001 .loc 1 368 60 2002 06b0 474B ldr r3, .L100+4 2003 06b2 0122 movs r2, #1 2004 06b4 83F82C20 strb r2, [r3, #44] 369:user_src/soft_obstacle.c **** break; 2005 .loc 1 369 56 2006 06b8 454B ldr r3, .L100+4 2007 06ba 0022 movs r2, #0 2008 06bc 5A72 strb r2, [r3, #9] 370:user_src/soft_obstacle.c **** case 0x04: 2009 .loc 1 370 29 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 47 2010 06be 72E0 b .L79 2011 .L72: 372:user_src/soft_obstacle.c **** mimo_b_info.version[1] = '2'; 2012 .loc 1 372 52 2013 06c0 484B ldr r3, .L100+24 2014 06c2 4522 movs r2, #69 2015 06c4 5A77 strb r2, [r3, #29] 373:user_src/soft_obstacle.c **** mimo_b_info.version[2] = '0'; 2016 .loc 1 373 52 2017 06c6 474B ldr r3, .L100+24 2018 06c8 3222 movs r2, #50 2019 06ca 9A77 strb r2, [r3, #30] 374:user_src/soft_obstacle.c **** mimo_b_info.version[3] = '0'; 2020 .loc 1 374 52 2021 06cc 454B ldr r3, .L100+24 2022 06ce 3022 movs r2, #48 2023 06d0 DA77 strb r2, [r3, #31] 375:user_src/soft_obstacle.c **** Int2String(soft_ver,&mimo_b_info.version[4],6); 2024 .loc 1 375 52 2025 06d2 444B ldr r3, .L100+24 2026 06d4 3022 movs r2, #48 2027 06d6 83F82020 strb r2, [r3, #32] 376:user_src/soft_obstacle.c **** memcpy(&mimo_b_info.hard_version,&mimo_version[19],4); 2028 .loc 1 376 29 2029 06da 3B69 ldr r3, [r7, #16] 2030 06dc 0622 movs r2, #6 2031 06de 4249 ldr r1, .L100+28 2032 06e0 1846 mov r0, r3 2033 06e2 FFF7FEFF bl Int2String 2034 06e6 394B ldr r3, .L100 2035 06e8 D3F81330 ldr r3, [r3, #19] @ unaligned 2036 06ec 1A46 mov r2, r3 377:user_src/soft_obstacle.c **** if(mimo_b_info.hard_version == 190302) //恩曌协议定义 2037 .loc 1 377 29 2038 06ee 3D4B ldr r3, .L100+24 2039 06f0 9A62 str r2, [r3, #40] 378:user_src/soft_obstacle.c **** { 2040 .loc 1 378 43 2041 06f2 3C4B ldr r3, .L100+24 2042 06f4 9B6A ldr r3, [r3, #40] 378:user_src/soft_obstacle.c **** { 2043 .loc 1 378 31 2044 06f6 3D4A ldr r2, .L100+32 2045 06f8 9342 cmp r3, r2 2046 06fa 07D1 bne .L84 380:user_src/soft_obstacle.c **** mimo_b_info.version[3] = 'J'; 2047 .loc 1 380 56 2048 06fc 394B ldr r3, .L100+24 2049 06fe 3122 movs r2, #49 2050 0700 DA77 strb r2, [r3, #31] 381:user_src/soft_obstacle.c **** } 2051 .loc 1 381 56 2052 0702 384B ldr r3, .L100+24 2053 0704 4A22 movs r2, #74 2054 0706 83F82020 strb r2, [r3, #32] 2055 070a 06E0 b .L85 2056 .L84: ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 48 385:user_src/soft_obstacle.c **** mimo_b_info.version[3] = 'V'; 2057 .loc 1 385 56 2058 070c 354B ldr r3, .L100+24 2059 070e 3022 movs r2, #48 2060 0710 DA77 strb r2, [r3, #31] 386:user_src/soft_obstacle.c **** } 2061 .loc 1 386 56 2062 0712 344B ldr r3, .L100+24 2063 0714 5622 movs r2, #86 2064 0716 83F82020 strb r2, [r3, #32] 2065 .L85: 389:user_src/soft_obstacle.c **** { 2066 .loc 1 389 35 2067 071a 0023 movs r3, #0 2068 071c FB77 strb r3, [r7, #31] 389:user_src/soft_obstacle.c **** { 2069 .loc 1 389 29 2070 071e 22E0 b .L86 2071 .L87: 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 2072 .loc 1 391 72 discriminator 3 2073 0720 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 2074 0722 0733 adds r3, r3, #7 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 2075 .loc 1 391 69 discriminator 3 2076 0724 294A ldr r2, .L100 2077 0726 D35C ldrb r3, [r2, r3] @ zero_extendqisi2 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 2078 .loc 1 391 90 discriminator 3 2079 0728 1B09 lsrs r3, r3, #4 2080 072a DAB2 uxtb r2, r3 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 2081 .loc 1 391 49 discriminator 3 2082 072c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 2083 072e 5B00 lsls r3, r3, #1 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 2084 .loc 1 391 90 discriminator 3 2085 0730 3032 adds r2, r2, #48 2086 0732 D1B2 uxtb r1, r2 391:user_src/soft_obstacle.c **** mimo_b_info.sn[2*i+1] = (mimo_version[7 + i] & 0xf )+ '0'; 2087 .loc 1 391 53 discriminator 3 2088 0734 2B4A ldr r2, .L100+24 2089 0736 1344 add r3, r3, r2 2090 0738 0A46 mov r2, r1 2091 073a 83F83120 strb r2, [r3, #49] 392:user_src/soft_obstacle.c **** } 2092 .loc 1 392 73 discriminator 3 2093 073e FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 2094 0740 0733 adds r3, r3, #7 392:user_src/soft_obstacle.c **** } 2095 .loc 1 392 70 discriminator 3 2096 0742 224A ldr r2, .L100 2097 0744 D35C ldrb r3, [r2, r3] @ zero_extendqisi2 392:user_src/soft_obstacle.c **** } 2098 .loc 1 392 78 discriminator 3 2099 0746 03F00F03 and r3, r3, #15 2100 074a DAB2 uxtb r2, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 49 392:user_src/soft_obstacle.c **** } 2101 .loc 1 392 49 discriminator 3 2102 074c FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 2103 074e 5B00 lsls r3, r3, #1 392:user_src/soft_obstacle.c **** } 2104 .loc 1 392 51 discriminator 3 2105 0750 0133 adds r3, r3, #1 392:user_src/soft_obstacle.c **** } 2106 .loc 1 392 85 discriminator 3 2107 0752 3032 adds r2, r2, #48 2108 0754 D1B2 uxtb r1, r2 392:user_src/soft_obstacle.c **** } 2109 .loc 1 392 55 discriminator 3 2110 0756 234A ldr r2, .L100+24 2111 0758 1344 add r3, r3, r2 2112 075a 0A46 mov r2, r1 2113 075c 83F83120 strb r2, [r3, #49] 389:user_src/soft_obstacle.c **** { 2114 .loc 1 389 44 discriminator 3 2115 0760 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 2116 0762 0133 adds r3, r3, #1 2117 0764 FB77 strb r3, [r7, #31] 2118 .L86: 389:user_src/soft_obstacle.c **** { 2119 .loc 1 389 29 discriminator 1 2120 0766 FB7F ldrb r3, [r7, #31] @ zero_extendqisi2 2121 0768 082B cmp r3, #8 2122 076a D9D9 bls .L87 395:user_src/soft_obstacle.c **** mimo_b_info.get_radar_ver_flag = true; 2123 .loc 1 395 29 2124 076c 0523 movs r3, #5 2125 076e 0693 str r3, [sp, #24] 2126 0770 184B ldr r3, .L100+8 2127 0772 0593 str r3, [sp, #20] 2128 0774 0A23 movs r3, #10 2129 0776 0493 str r3, [sp, #16] 2130 0778 1D4B ldr r3, .L100+36 2131 077a 0393 str r3, [sp, #12] 2132 077c 0A23 movs r3, #10 2133 077e 0293 str r3, [sp, #8] 2134 0780 1B4B ldr r3, .L100+36 2135 0782 0193 str r3, [sp, #4] 2136 0784 1223 movs r3, #18 2137 0786 0093 str r3, [sp] 2138 0788 1A4B ldr r3, .L100+40 2139 078a 0022 movs r2, #0 2140 078c 0D21 movs r1, #13 2141 078e 1A48 ldr r0, .L100+44 2142 0790 FFF7FEFF bl regist_dev_info 396:user_src/soft_obstacle.c **** mimo_b_info.Link.boot_flag = false; 2143 .loc 1 396 60 2144 0794 134B ldr r3, .L100+24 2145 0796 0122 movs r2, #1 2146 0798 83F82C20 strb r2, [r3, #44] 397:user_src/soft_obstacle.c **** break; 2147 .loc 1 397 56 2148 079c 114B ldr r3, .L100+24 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 50 2149 079e 0022 movs r2, #0 2150 07a0 5A72 strb r2, [r3, #9] 398:user_src/soft_obstacle.c **** default: 2151 .loc 1 398 29 2152 07a2 00E0 b .L79 2153 .L94: 2154 .loc 1 400 29 2155 07a4 00BF nop 2156 .L79: 401:user_src/soft_obstacle.c **** } 402:user_src/soft_obstacle.c **** frame_num = 0; 2157 .loc 1 402 35 2158 07a6 154B ldr r3, .L100+48 2159 07a8 0022 movs r2, #0 2160 07aa 1A70 strb r2, [r3] 403:user_src/soft_obstacle.c **** frame_head = false; 2161 .loc 1 403 36 2162 07ac 144B ldr r3, .L100+52 2163 07ae 0022 movs r2, #0 2164 07b0 1A70 strb r2, [r3] 404:user_src/soft_obstacle.c **** pmu_send = PMU_SEND_VERSION; 2165 .loc 1 404 34 2166 07b2 144B ldr r3, .L100+56 2167 07b4 0422 movs r2, #4 2168 07b6 1A70 strb r2, [r3] 405:user_src/soft_obstacle.c **** } 406:user_src/soft_obstacle.c **** } 407:user_src/soft_obstacle.c **** } 408:user_src/soft_obstacle.c **** else 409:user_src/soft_obstacle.c **** { 410:user_src/soft_obstacle.c **** } 411:user_src/soft_obstacle.c **** 412:user_src/soft_obstacle.c **** } 413:user_src/soft_obstacle.c **** 414:user_src/soft_obstacle.c **** // char_to_hex_string(&data[5], 3, &mimo_ter_info.version[4], 6, "00"); 415:user_src/soft_obstacle.c **** // mimo_ter_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[ 416:user_src/soft_obstacle.c **** break; 2169 .loc 1 416 9 2170 07b8 03E0 b .L93 2171 .L90: 204:user_src/soft_obstacle.c **** { 2172 .loc 1 204 15 2173 07ba 00BF nop 2174 .L44: 2175 .loc 1 416 9 discriminator 1 2176 07bc 01E0 b .L93 2177 .L89: 417:user_src/soft_obstacle.c **** 418:user_src/soft_obstacle.c **** default: 419:user_src/soft_obstacle.c **** break; 2178 .loc 1 419 9 2179 07be 00BF nop 2180 07c0 00E0 b .L95 2181 .L93: 416:user_src/soft_obstacle.c **** 2182 .loc 1 416 9 2183 07c2 00BF nop ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 51 2184 .L95: 420:user_src/soft_obstacle.c **** } 421:user_src/soft_obstacle.c **** } 2185 .loc 1 421 1 2186 07c4 00BF nop 2187 07c6 2037 adds r7, r7, #32 2188 .LCFI13: 2189 .cfi_def_cfa_offset 8 2190 07c8 BD46 mov sp, r7 2191 .LCFI14: 2192 .cfi_def_cfa_register 13 2193 @ sp needed 2194 07ca 80BD pop {r7, pc} 2195 .L101: 2196 .align 2 2197 .L100: 2198 07cc 00000000 .word mimo_version.9 2199 07d0 00000000 .word mimo_f_info 2200 07d4 00000000 .word .LC0 2201 07d8 1D000000 .word mimo_f_info+29 2202 07dc 31000000 .word mimo_f_info+49 2203 07e0 00000000 .word dev_obsf 2204 07e4 00000000 .word mimo_b_info 2205 07e8 21000000 .word mimo_b_info+33 2206 07ec 5EE70200 .word 190302 2207 07f0 1D000000 .word mimo_b_info+29 2208 07f4 31000000 .word mimo_b_info+49 2209 07f8 00000000 .word dev_obsb 2210 07fc 00000000 .word frame_num.10 2211 0800 00000000 .word frame_head.8 2212 0804 00000000 .word pmu_send 2213 .cfi_endproc 2214 .LFE135: 2216 .global obs_f_is_link 2217 .section .bss.obs_f_is_link,"aw",%nobits 2220 obs_f_is_link: 2221 0000 00 .space 1 2222 .section .text.can_recv_mocib_F_obstacle,"ax",%progbits 2223 .align 1 2224 .global can_recv_mocib_F_obstacle 2225 .syntax unified 2226 .thumb 2227 .thumb_func 2229 can_recv_mocib_F_obstacle: 2230 .LFB136: 422:user_src/soft_obstacle.c **** 423:user_src/soft_obstacle.c **** 424:user_src/soft_obstacle.c **** /** 425:user_src/soft_obstacle.c **** * @file can_recv_mocib_F_obstacle 426:user_src/soft_obstacle.c **** * @brief 莫之比前避障解析 427:user_src/soft_obstacle.c **** * @param none 428:user_src/soft_obstacle.c **** * @details 429:user_src/soft_obstacle.c **** * @author Zhang Sir 430:user_src/soft_obstacle.c **** **/ 431:user_src/soft_obstacle.c **** bool obs_f_is_link = false; 432:user_src/soft_obstacle.c **** void can_recv_mocib_F_obstacle(uint8_t *data) 433:user_src/soft_obstacle.c **** { ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 52 2231 .loc 1 433 1 2232 .cfi_startproc 2233 @ args = 0, pretend = 0, frame = 8 2234 @ frame_needed = 1, uses_anonymous_args = 0 2235 0000 80B5 push {r7, lr} 2236 .LCFI15: 2237 .cfi_def_cfa_offset 8 2238 .cfi_offset 7, -8 2239 .cfi_offset 14, -4 2240 0002 82B0 sub sp, sp, #8 2241 .LCFI16: 2242 .cfi_def_cfa_offset 16 2243 0004 00AF add r7, sp, #0 2244 .LCFI17: 2245 .cfi_def_cfa_register 7 2246 0006 7860 str r0, [r7, #4] 434:user_src/soft_obstacle.c **** 435:user_src/soft_obstacle.c **** uavr11_info.distance_x= (data[0] << 8) + data[1] - 32768; 2247 .loc 1 435 34 2248 0008 7B68 ldr r3, [r7, #4] 2249 000a 1B78 ldrb r3, [r3] @ zero_extendqisi2 2250 000c 9BB2 uxth r3, r3 2251 .loc 1 435 38 2252 000e 1B02 lsls r3, r3, #8 2253 0010 9AB2 uxth r2, r3 2254 .loc 1 435 50 2255 0012 7B68 ldr r3, [r7, #4] 2256 0014 0133 adds r3, r3, #1 2257 0016 1B78 ldrb r3, [r3] @ zero_extendqisi2 2258 0018 9BB2 uxth r3, r3 2259 .loc 1 435 44 2260 001a 1344 add r3, r3, r2 2261 001c 9BB2 uxth r3, r3 2262 .loc 1 435 54 2263 001e A3F50043 sub r3, r3, #32768 2264 0022 9BB2 uxth r3, r3 2265 0024 1AB2 sxth r2, r3 2266 .loc 1 435 27 2267 0026 0E4B ldr r3, .L103 2268 0028 9A81 strh r2, [r3, #12] @ movhi 436:user_src/soft_obstacle.c **** uavr11_info.distance_y = (data[2] << 8) + data[3]; 2269 .loc 1 436 35 2270 002a 7B68 ldr r3, [r7, #4] 2271 002c 0233 adds r3, r3, #2 2272 002e 1B78 ldrb r3, [r3] @ zero_extendqisi2 2273 0030 9BB2 uxth r3, r3 2274 .loc 1 436 39 2275 0032 1B02 lsls r3, r3, #8 2276 0034 9AB2 uxth r2, r3 2277 .loc 1 436 51 2278 0036 7B68 ldr r3, [r7, #4] 2279 0038 0333 adds r3, r3, #3 2280 003a 1B78 ldrb r3, [r3] @ zero_extendqisi2 2281 003c 9BB2 uxth r3, r3 2282 .loc 1 436 45 2283 003e 1344 add r3, r3, r2 2284 0040 9BB2 uxth r3, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 53 2285 0042 1AB2 sxth r2, r3 2286 .loc 1 436 28 2287 0044 064B ldr r3, .L103 2288 0046 DA81 strh r2, [r3, #14] @ movhi 437:user_src/soft_obstacle.c **** 438:user_src/soft_obstacle.c **** // if(abs(uavr11_info.distance_x) > 400) 439:user_src/soft_obstacle.c **** // { 440:user_src/soft_obstacle.c **** // uavr11_info.distance_y = 0; 441:user_src/soft_obstacle.c **** // uavr11_info.distance_x = 0; 442:user_src/soft_obstacle.c **** // } 443:user_src/soft_obstacle.c **** uavr11_info.Link.connect_status = COMP_NORMAL; 2289 .loc 1 443 37 2290 0048 054B ldr r3, .L103 2291 004a 0122 movs r2, #1 2292 004c 1A72 strb r2, [r3, #8] 444:user_src/soft_obstacle.c **** uavr11_info.Link.recv_time = HAL_GetTick(); 2293 .loc 1 444 34 2294 004e FFF7FEFF bl HAL_GetTick 2295 0052 0346 mov r3, r0 2296 .loc 1 444 32 2297 0054 024A ldr r2, .L103 2298 0056 1360 str r3, [r2] 445:user_src/soft_obstacle.c **** } 2299 .loc 1 445 1 2300 0058 00BF nop 2301 005a 0837 adds r7, r7, #8 2302 .LCFI18: 2303 .cfi_def_cfa_offset 8 2304 005c BD46 mov sp, r7 2305 .LCFI19: 2306 .cfi_def_cfa_register 13 2307 @ sp needed 2308 005e 80BD pop {r7, pc} 2309 .L104: 2310 .align 2 2311 .L103: 2312 0060 00000000 .word uavr11_info 2313 .cfi_endproc 2314 .LFE136: 2316 .global obs_b_is_link 2317 .section .bss.obs_b_is_link,"aw",%nobits 2320 obs_b_is_link: 2321 0000 00 .space 1 2322 .section .text.can_recv_mocib_B_obstacle,"ax",%progbits 2323 .align 1 2324 .global can_recv_mocib_B_obstacle 2325 .syntax unified 2326 .thumb 2327 .thumb_func 2329 can_recv_mocib_B_obstacle: 2330 .LFB137: 446:user_src/soft_obstacle.c **** 447:user_src/soft_obstacle.c **** // /** 448:user_src/soft_obstacle.c **** // * @brief 恩曌360雷达 449:user_src/soft_obstacle.c **** // */ 450:user_src/soft_obstacle.c **** // #pragma pack(push) 451:user_src/soft_obstacle.c **** // #pragma pack(1) ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 54 452:user_src/soft_obstacle.c **** // typedef struct 453:user_src/soft_obstacle.c **** // { 454:user_src/soft_obstacle.c **** // uint8_t totalSect; //总分区数 455:user_src/soft_obstacle.c **** // uint8_t validSect; // 有效分区数 456:user_src/soft_obstacle.c **** // uint8_t cycleCounter; 457:user_src/soft_obstacle.c **** // uint8_t reserve0; 458:user_src/soft_obstacle.c **** // uint32_t reserve : 20; 459:user_src/soft_obstacle.c **** // uint32_t height : 12; // 精度 0.01m 460:user_src/soft_obstacle.c **** // } FrameHeader1S; 461:user_src/soft_obstacle.c **** // typedef struct 462:user_src/soft_obstacle.c **** // { 463:user_src/soft_obstacle.c **** // uint8_t sectID; //分区 ID 464:user_src/soft_obstacle.c **** // uint16_t dis; //距离 465:user_src/soft_obstacle.c **** // int16_t ele; 466:user_src/soft_obstacle.c **** // uint8_t rcs; //目标雷达截面积 467:user_src/soft_obstacle.c **** // int16_t reserve1; 468:user_src/soft_obstacle.c **** // } SectionPackS; 469:user_src/soft_obstacle.c **** // typedef struct 470:user_src/soft_obstacle.c **** // { 471:user_src/soft_obstacle.c **** // uint32_t ID; 472:user_src/soft_obstacle.c **** // uint8_t data[8]; 473:user_src/soft_obstacle.c **** // } CanMessage_t; 474:user_src/soft_obstacle.c **** // #pragma pack(pop) 475:user_src/soft_obstacle.c **** 476:user_src/soft_obstacle.c **** // #define MAX_SECTNUM 180 477:user_src/soft_obstacle.c **** 478:user_src/soft_obstacle.c **** // typedef struct 479:user_src/soft_obstacle.c **** // { 480:user_src/soft_obstacle.c **** // uint32_t totalSect; //总分区个数，数组中对应位置对应目标所在分区 481:user_src/soft_obstacle.c **** // uint32_t validSect; //总分区个数，数组中对应位置对应目标所在分区 482:user_src/soft_obstacle.c **** // uint32_t completeQ; // 0 代表无数据 1 代表数据接收到但不全 2 代表全部接 483:user_src/soft_obstacle.c **** // float height; 484:user_src/soft_obstacle.c **** // float dis[MAX_SECTNUM]; // 雷达到目标距离,当目标不存在时距离为 485:user_src/soft_obstacle.c **** // float ele[MAX_SECTNUM]; // 目标的 RCS 486:user_src/soft_obstacle.c **** // float rcs[MAX_SECTNUM]; // 目标的 RCS 487:user_src/soft_obstacle.c **** // } TargetInfoS; // 原始目标结构信息 488:user_src/soft_obstacle.c **** 489:user_src/soft_obstacle.c **** // TargetInfoS Targetbuffer = {0}; // 用于缓存 490:user_src/soft_obstacle.c **** // TargetInfoS TargetOut = {0}; 491:user_src/soft_obstacle.c **** 492:user_src/soft_obstacle.c **** // static int LastSection = -1; 493:user_src/soft_obstacle.c **** // int ValidSect = 0; 494:user_src/soft_obstacle.c **** 495:user_src/soft_obstacle.c **** // comp_status mimo360_link_status = COMP_NOEXIST; 496:user_src/soft_obstacle.c **** // void can_recv_mocib_360_obstacle(uint32_t cellCanID, uint8_t data[], uint8_t len) 497:user_src/soft_obstacle.c **** // { 498:user_src/soft_obstacle.c **** // int index; 499:user_src/soft_obstacle.c **** // CanMessage_t *can_tmp_ptr = NULL; 500:user_src/soft_obstacle.c **** // CanMessage_t can_tmp; 501:user_src/soft_obstacle.c **** // FrameHeader1S *frameHead_ptr; 502:user_src/soft_obstacle.c **** // SectionPackS *pack_ptr; 503:user_src/soft_obstacle.c **** 504:user_src/soft_obstacle.c **** // can_tmp_ptr = &can_tmp; 505:user_src/soft_obstacle.c **** // can_tmp_ptr->ID = cellCanID; 506:user_src/soft_obstacle.c **** // memcpy(&can_tmp_ptr->data[0], data, len); 507:user_src/soft_obstacle.c **** // mimo360_link_status = COMP_NORMAL; 508:user_src/soft_obstacle.c **** ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 55 509:user_src/soft_obstacle.c **** // if (can_tmp_ptr->ID == 0x301) // 检测到帧头 510:user_src/soft_obstacle.c **** // { 511:user_src/soft_obstacle.c **** // if (Targetbuffer.completeQ == 1) // 如果数据未接完 512:user_src/soft_obstacle.c **** // { 513:user_src/soft_obstacle.c **** // memcpy(&TargetOut, &Targetbuffer, sizeof(Targetbuffer)); 514:user_src/soft_obstacle.c **** // } 515:user_src/soft_obstacle.c **** 516:user_src/soft_obstacle.c **** // memset(&Targetbuffer, 0, sizeof(Targetbuffer)); 517:user_src/soft_obstacle.c **** // frameHead_ptr = (FrameHeader1S *)can_tmp_ptr->data; 518:user_src/soft_obstacle.c **** // Targetbuffer.totalSect = frameHead_ptr->totalSect; 519:user_src/soft_obstacle.c **** // Targetbuffer.height = frameHead_ptr->height / 100.0F; 520:user_src/soft_obstacle.c **** 521:user_src/soft_obstacle.c **** // if (frameHead_ptr->validSect == 0) // 如果不存在分区数据 522:user_src/soft_obstacle.c **** // { 523:user_src/soft_obstacle.c **** // Targetbuffer.completeQ = 2; 524:user_src/soft_obstacle.c **** // Targetbuffer.validSect = 0; 525:user_src/soft_obstacle.c **** // memcpy(&TargetOut, &Targetbuffer, sizeof(Targetbuffer)); 526:user_src/soft_obstacle.c **** // } 527:user_src/soft_obstacle.c **** // else // 如果存在分区数据 528:user_src/soft_obstacle.c **** // { 529:user_src/soft_obstacle.c **** // ValidSect = frameHead_ptr->validSect; 530:user_src/soft_obstacle.c **** // Targetbuffer.completeQ = 1; 531:user_src/soft_obstacle.c **** // } 532:user_src/soft_obstacle.c **** // LastSection = -1; 533:user_src/soft_obstacle.c **** // } 534:user_src/soft_obstacle.c **** // else if (can_tmp_ptr->ID == 0x302) // 检测到目标数据 535:user_src/soft_obstacle.c **** // { 536:user_src/soft_obstacle.c **** // pack_ptr = (SectionPackS *)can_tmp_ptr->data; 537:user_src/soft_obstacle.c **** // if (Targetbuffer.completeQ == 1) //如果数据未接收完 538:user_src/soft_obstacle.c **** // { 539:user_src/soft_obstacle.c **** // index = pack_ptr->sectID; //获取分区 ID 540:user_src/soft_obstacle.c **** // if (LastSection == -1) 541:user_src/soft_obstacle.c **** // { 542:user_src/soft_obstacle.c **** // Targetbuffer.dis[index] = pack_ptr->dis * 0.01F; 543:user_src/soft_obstacle.c **** // Targetbuffer.ele[index] = pack_ptr->ele * 0.01F; 544:user_src/soft_obstacle.c **** // Targetbuffer.rcs[index] = pack_ptr->rcs; 545:user_src/soft_obstacle.c **** // Targetbuffer.validSect++; 546:user_src/soft_obstacle.c **** // LastSection = index; 547:user_src/soft_obstacle.c **** // } 548:user_src/soft_obstacle.c **** // else if (LastSection < index) //分区数据是按照从小到大输出才是正确 549:user_src/soft_obstacle.c **** // { 550:user_src/soft_obstacle.c **** // Targetbuffer.dis[index] = pack_ptr->dis * 0.01F; 551:user_src/soft_obstacle.c **** // Targetbuffer.ele[index] = pack_ptr->ele * 0.1F; 552:user_src/soft_obstacle.c **** // Targetbuffer.rcs[index] = pack_ptr->rcs; 553:user_src/soft_obstacle.c **** // Targetbuffer.validSect++; 554:user_src/soft_obstacle.c **** // } 555:user_src/soft_obstacle.c **** // else // 如果不是则存在丢失包含帧 ID 的多个数据包 556:user_src/soft_obstacle.c **** // { 557:user_src/soft_obstacle.c **** // Targetbuffer.completeQ = 0; //数据不保存 558:user_src/soft_obstacle.c **** // } 559:user_src/soft_obstacle.c **** // if (Targetbuffer.completeQ == 1) 560:user_src/soft_obstacle.c **** // { 561:user_src/soft_obstacle.c **** // if (ValidSect == Targetbuffer.validSect) //有效个数等于实际接收个数 562:user_src/soft_obstacle.c **** // { 563:user_src/soft_obstacle.c **** // Targetbuffer.completeQ = 2; 564:user_src/soft_obstacle.c **** // memcpy(&TargetOut, &Targetbuffer, sizeof(Targetbuffer)); 565:user_src/soft_obstacle.c **** // memset(&Targetbuffer, 0, sizeof(Targetbuffer)); ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 56 566:user_src/soft_obstacle.c **** // } 567:user_src/soft_obstacle.c **** // } 568:user_src/soft_obstacle.c **** // } 569:user_src/soft_obstacle.c **** // } 570:user_src/soft_obstacle.c **** // } 571:user_src/soft_obstacle.c **** 572:user_src/soft_obstacle.c **** 573:user_src/soft_obstacle.c **** /** 574:user_src/soft_obstacle.c **** * @file can_recv_mocib_B_obstacle 575:user_src/soft_obstacle.c **** * @brief 莫之比后避障障解析 576:user_src/soft_obstacle.c **** * @param none 577:user_src/soft_obstacle.c **** * @details 578:user_src/soft_obstacle.c **** * @author Zhang Sir 579:user_src/soft_obstacle.c **** **/ 580:user_src/soft_obstacle.c **** bool obs_b_is_link = false; 581:user_src/soft_obstacle.c **** void can_recv_mocib_B_obstacle(uint8_t *data) 582:user_src/soft_obstacle.c **** { 2331 .loc 1 582 1 2332 .cfi_startproc 2333 @ args = 0, pretend = 0, frame = 8 2334 @ frame_needed = 1, uses_anonymous_args = 0 2335 0000 80B5 push {r7, lr} 2336 .LCFI20: 2337 .cfi_def_cfa_offset 8 2338 .cfi_offset 7, -8 2339 .cfi_offset 14, -4 2340 0002 82B0 sub sp, sp, #8 2341 .LCFI21: 2342 .cfi_def_cfa_offset 16 2343 0004 00AF add r7, sp, #0 2344 .LCFI22: 2345 .cfi_def_cfa_register 7 2346 0006 7860 str r0, [r7, #4] 583:user_src/soft_obstacle.c **** 584:user_src/soft_obstacle.c **** uavr12_info.distance_x = (data[0] << 8) + data[1] - 32768; 2347 .loc 1 584 35 2348 0008 7B68 ldr r3, [r7, #4] 2349 000a 1B78 ldrb r3, [r3] @ zero_extendqisi2 2350 000c 9BB2 uxth r3, r3 2351 .loc 1 584 39 2352 000e 1B02 lsls r3, r3, #8 2353 0010 9AB2 uxth r2, r3 2354 .loc 1 584 51 2355 0012 7B68 ldr r3, [r7, #4] 2356 0014 0133 adds r3, r3, #1 2357 0016 1B78 ldrb r3, [r3] @ zero_extendqisi2 2358 0018 9BB2 uxth r3, r3 2359 .loc 1 584 45 2360 001a 1344 add r3, r3, r2 2361 001c 9BB2 uxth r3, r3 2362 .loc 1 584 55 2363 001e A3F50043 sub r3, r3, #32768 2364 0022 9BB2 uxth r3, r3 2365 0024 1AB2 sxth r2, r3 2366 .loc 1 584 28 2367 0026 0E4B ldr r3, .L106 2368 0028 9A81 strh r2, [r3, #12] @ movhi ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 57 585:user_src/soft_obstacle.c **** uavr12_info.distance_y = (data[2] << 8) + data[3]; 2369 .loc 1 585 35 2370 002a 7B68 ldr r3, [r7, #4] 2371 002c 0233 adds r3, r3, #2 2372 002e 1B78 ldrb r3, [r3] @ zero_extendqisi2 2373 0030 9BB2 uxth r3, r3 2374 .loc 1 585 39 2375 0032 1B02 lsls r3, r3, #8 2376 0034 9AB2 uxth r2, r3 2377 .loc 1 585 51 2378 0036 7B68 ldr r3, [r7, #4] 2379 0038 0333 adds r3, r3, #3 2380 003a 1B78 ldrb r3, [r3] @ zero_extendqisi2 2381 003c 9BB2 uxth r3, r3 2382 .loc 1 585 45 2383 003e 1344 add r3, r3, r2 2384 0040 9BB2 uxth r3, r3 2385 0042 1AB2 sxth r2, r3 2386 .loc 1 585 28 2387 0044 064B ldr r3, .L106 2388 0046 DA81 strh r2, [r3, #14] @ movhi 586:user_src/soft_obstacle.c **** 587:user_src/soft_obstacle.c **** // if(abs(uavr12_info.distance_x) > 400) 588:user_src/soft_obstacle.c **** // { 589:user_src/soft_obstacle.c **** // uavr12_info.distance_x = 0; 590:user_src/soft_obstacle.c **** // uavr12_info.distance_y = 0; 591:user_src/soft_obstacle.c **** // } 592:user_src/soft_obstacle.c **** uavr12_info.Link.connect_status = COMP_NORMAL; 2389 .loc 1 592 37 2390 0048 054B ldr r3, .L106 2391 004a 0122 movs r2, #1 2392 004c 1A72 strb r2, [r3, #8] 593:user_src/soft_obstacle.c **** uavr12_info.Link.recv_time = HAL_GetTick(); 2393 .loc 1 593 34 2394 004e FFF7FEFF bl HAL_GetTick 2395 0052 0346 mov r3, r0 2396 .loc 1 593 32 2397 0054 024A ldr r2, .L106 2398 0056 1360 str r3, [r2] 594:user_src/soft_obstacle.c **** } 2399 .loc 1 594 1 2400 0058 00BF nop 2401 005a 0837 adds r7, r7, #8 2402 .LCFI23: 2403 .cfi_def_cfa_offset 8 2404 005c BD46 mov sp, r7 2405 .LCFI24: 2406 .cfi_def_cfa_register 13 2407 @ sp needed 2408 005e 80BD pop {r7, pc} 2409 .L107: 2410 .align 2 2411 .L106: 2412 0060 00000000 .word uavr12_info 2413 .cfi_endproc 2414 .LFE137: 2416 .global uavr20_ver_time ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 58 2417 .section .bss.uavr20_ver_time,"aw",%nobits 2418 .align 2 2421 uavr20_ver_time: 2422 0000 00000000 .space 4 2423 .global uavr20_sensi_time 2424 .section .bss.uavr20_sensi_time,"aw",%nobits 2425 .align 2 2428 uavr20_sensi_time: 2429 0000 00000000 .space 4 2430 .global can_get_uavr21_ver_comp 2431 .section .bss.can_get_uavr21_ver_comp,"aw",%nobits 2434 can_get_uavr21_ver_comp: 2435 0000 00 .space 1 2436 .global uavr20_send_time 2437 .section .bss.uavr20_send_time,"aw",%nobits 2438 .align 2 2441 uavr20_send_time: 2442 0000 00000000 .space 4 2443 .section .text.can_sendmsg_uavr20,"ax",%progbits 2444 .align 1 2445 .global can_sendmsg_uavr20 2446 .syntax unified 2447 .thumb 2448 .thumb_func 2450 can_sendmsg_uavr20: 2451 .LFB138: 595:user_src/soft_obstacle.c **** 596:user_src/soft_obstacle.c **** uint32_t uavr20_ver_time = 0; 597:user_src/soft_obstacle.c **** 598:user_src/soft_obstacle.c **** uint32_t uavr20_sensi_time = 0; 599:user_src/soft_obstacle.c **** char can_get_uavr21_ver_comp = 0; 600:user_src/soft_obstacle.c **** 601:user_src/soft_obstacle.c **** 602:user_src/soft_obstacle.c **** /** 603:user_src/soft_obstacle.c **** * @file can_sendmsg_uavr20 604:user_src/soft_obstacle.c **** * @brief 给墨汁比雷达发送无人机姿态信息 605:user_src/soft_obstacle.c **** * @param none 606:user_src/soft_obstacle.c **** * @details 607:user_src/soft_obstacle.c **** * @author Zhang Sir 608:user_src/soft_obstacle.c **** **/ 609:user_src/soft_obstacle.c **** uint32_t uavr20_send_time = 0; 610:user_src/soft_obstacle.c **** void can_sendmsg_uavr20(void) 611:user_src/soft_obstacle.c **** { 2452 .loc 1 611 1 2453 .cfi_startproc 2454 @ args = 0, pretend = 0, frame = 32 2455 @ frame_needed = 1, uses_anonymous_args = 0 2456 0000 80B5 push {r7, lr} 2457 .LCFI25: 2458 .cfi_def_cfa_offset 8 2459 .cfi_offset 7, -8 2460 .cfi_offset 14, -4 2461 0002 2DED028B vpush.64 {d8} 2462 .LCFI26: 2463 .cfi_def_cfa_offset 16 2464 .cfi_offset 80, -16 2465 .cfi_offset 81, -12 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 59 2466 0006 88B0 sub sp, sp, #32 2467 .LCFI27: 2468 .cfi_def_cfa_offset 48 2469 0008 00AF add r7, sp, #0 2470 .LCFI28: 2471 .cfi_def_cfa_register 7 612:user_src/soft_obstacle.c **** if (uavr12_info.Link.connect_status == COMP_NORMAL || uavr11_info.Link.connect_status == COMP_N 2472 .loc 1 612 25 2473 000a B04B ldr r3, .L117 2474 000c 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 2475 .loc 1 612 8 2476 000e 012B cmp r3, #1 2477 0010 08D0 beq .L109 2478 .loc 1 612 75 discriminator 1 2479 0012 AF4B ldr r3, .L117+4 2480 0014 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 2481 .loc 1 612 56 discriminator 1 2482 0016 012B cmp r3, #1 2483 0018 04D0 beq .L109 613:user_src/soft_obstacle.c **** uavr56_info.Link.connect_status == COMP_NORMAL) 2484 .loc 1 613 25 discriminator 2 2485 001a AE4B ldr r3, .L117+8 2486 001c 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 612:user_src/soft_obstacle.c **** if (uavr12_info.Link.connect_status == COMP_NORMAL || uavr11_info.Link.connect_status == COMP_N 2487 .loc 1 612 106 discriminator 2 2488 001e 012B cmp r3, #1 2489 0020 40F0F481 bne .L116 2490 .L109: 614:user_src/soft_obstacle.c **** { 615:user_src/soft_obstacle.c **** //10hz发送 616:user_src/soft_obstacle.c **** if ((HAL_GetTick() - uavr20_send_time > 100) && planep.lock_status == 1) 2491 .loc 1 616 14 2492 0024 FFF7FEFF bl HAL_GetTick 2493 0028 0246 mov r2, r0 2494 .loc 1 616 28 2495 002a AB4B ldr r3, .L117+12 2496 002c 1B68 ldr r3, [r3] 2497 002e D31A subs r3, r2, r3 2498 .loc 1 616 12 2499 0030 642B cmp r3, #100 2500 0032 40F25D81 bls .L111 2501 .loc 1 616 63 discriminator 1 2502 0036 A94B ldr r3, .L117+16 2503 0038 B3F90E30 ldrsh r3, [r3, #14] @ unaligned 2504 003c 1BB2 sxth r3, r3 2505 .loc 1 616 54 discriminator 1 2506 003e 012B cmp r3, #1 2507 0040 40F05681 bne .L111 2508 .LBB5: 617:user_src/soft_obstacle.c **** { 618:user_src/soft_obstacle.c **** uavr20_send_time = HAL_GetTick(); 2509 .loc 1 618 32 2510 0044 FFF7FEFF bl HAL_GetTick 2511 0048 0346 mov r3, r0 2512 .loc 1 618 30 2513 004a A34A ldr r2, .L117+12 2514 004c 1360 str r3, [r2] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 60 619:user_src/soft_obstacle.c **** 620:user_src/soft_obstacle.c **** int16_t index = 0; 2515 .loc 1 620 21 2516 004e 0023 movs r3, #0 2517 0050 FB83 strh r3, [r7, #30] @ movhi 621:user_src/soft_obstacle.c **** short tmpShort = 0; 2518 .loc 1 621 19 2519 0052 0023 movs r3, #0 2520 0054 BB83 strh r3, [r7, #28] @ movhi 622:user_src/soft_obstacle.c **** uint8_t send_uavr20_data[16] = {0}; 2521 .loc 1 622 21 2522 0056 0023 movs r3, #0 2523 0058 FB60 str r3, [r7, #12] 2524 005a 07F11003 add r3, r7, #16 2525 005e 0022 movs r2, #0 2526 0060 1A60 str r2, [r3] 2527 0062 5A60 str r2, [r3, #4] 2528 0064 9A60 str r2, [r3, #8] 623:user_src/soft_obstacle.c **** 624:user_src/soft_obstacle.c **** // 开头 625:user_src/soft_obstacle.c **** send_uavr20_data[index++] = 0XA5; 2529 .loc 1 625 35 2530 0066 B7F91E20 ldrsh r2, [r7, #30] 2531 006a 93B2 uxth r3, r2 2532 006c 0133 adds r3, r3, #1 2533 006e 9BB2 uxth r3, r3 2534 0070 FB83 strh r3, [r7, #30] @ movhi 2535 0072 1346 mov r3, r2 2536 .loc 1 625 39 2537 0074 2033 adds r3, r3, #32 2538 0076 3B44 add r3, r3, r7 2539 0078 A522 movs r2, #165 2540 007a 03F8142C strb r2, [r3, #-20] 626:user_src/soft_obstacle.c **** 627:user_src/soft_obstacle.c **** // 俯仰 628:user_src/soft_obstacle.c **** tmpShort = planep.pitch_angle; 2541 .loc 1 628 30 2542 007e 974B ldr r3, .L117+16 2543 0080 B3F90430 ldrsh r3, [r3, #4] @ unaligned 2544 0084 1BB2 sxth r3, r3 2545 .loc 1 628 22 2546 0086 BB83 strh r3, [r7, #28] @ movhi 629:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2547 .loc 1 629 40 2548 0088 B7F91E30 ldrsh r3, [r7, #30] 2549 .loc 1 629 23 2550 008c 07F10C02 add r2, r7, #12 2551 0090 1344 add r3, r3, r2 2552 .loc 1 629 13 2553 0092 07F11C02 add r2, r7, #28 2554 0096 1146 mov r1, r2 2555 0098 1846 mov r0, r3 2556 009a FFF7FEFF bl short2buf 630:user_src/soft_obstacle.c **** index += 2; 2557 .loc 1 630 19 2558 009e FB8B ldrh r3, [r7, #30] 2559 00a0 0233 adds r3, r3, #2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 61 2560 00a2 9BB2 uxth r3, r3 2561 00a4 FB83 strh r3, [r7, #30] @ movhi 631:user_src/soft_obstacle.c **** 632:user_src/soft_obstacle.c **** // 前后速度 633:user_src/soft_obstacle.c **** tmpShort = planep.E_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD) + 2562 .loc 1 633 30 2563 00a6 8D4B ldr r3, .L117+16 2564 00a8 B3F90830 ldrsh r3, [r3, #8] @ unaligned 2565 00ac 1BB2 sxth r3, r3 2566 .loc 1 633 37 2567 00ae 07EE903A vmov s15, r3 @ int 2568 00b2 B8EEE78A vcvt.f32.s32 s16, s15 2569 .loc 1 633 50 2570 00b6 894B ldr r3, .L117+16 2571 00b8 B3F90030 ldrsh r3, [r3] @ unaligned 2572 00bc 1BB2 sxth r3, r3 2573 .loc 1 633 55 2574 00be 07EE903A vmov s15, r3 @ int 2575 00c2 B8EEE77A vcvt.f32.s32 s14, s15 2576 00c6 DFED866A vldr.32 s13, .L117+20 2577 00ca C7EE267A vdiv.f32 s15, s14, s13 2578 .loc 1 633 39 2579 00ce 9FED857A vldr.32 s14, .L117+24 2580 00d2 67EE877A vmul.f32 s15, s15, s14 2581 00d6 B0EE670A vmov.f32 s0, s15 2582 00da FFF7FEFF bl sinf 2583 00de F0EE407A vmov.f32 s15, s0 2584 .loc 1 633 37 2585 00e2 28EE278A vmul.f32 s16, s16, s15 634:user_src/soft_obstacle.c **** planep.N_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD); 2586 .loc 1 634 30 2587 00e6 7D4B ldr r3, .L117+16 2588 00e8 B3F90A30 ldrsh r3, [r3, #10] @ unaligned 2589 00ec 1BB2 sxth r3, r3 2590 .loc 1 634 37 2591 00ee 07EE903A vmov s15, r3 @ int 2592 00f2 F8EEE78A vcvt.f32.s32 s17, s15 2593 .loc 1 634 50 2594 00f6 794B ldr r3, .L117+16 2595 00f8 B3F90030 ldrsh r3, [r3] @ unaligned 2596 00fc 1BB2 sxth r3, r3 2597 .loc 1 634 55 2598 00fe 07EE903A vmov s15, r3 @ int 2599 0102 B8EEE77A vcvt.f32.s32 s14, s15 2600 0106 DFED766A vldr.32 s13, .L117+20 2601 010a C7EE267A vdiv.f32 s15, s14, s13 2602 .loc 1 634 39 2603 010e 9FED757A vldr.32 s14, .L117+24 2604 0112 67EE877A vmul.f32 s15, s15, s14 2605 0116 B0EE670A vmov.f32 s0, s15 2606 011a FFF7FEFF bl cosf 2607 011e F0EE407A vmov.f32 s15, s0 2608 .loc 1 634 37 2609 0122 68EEA77A vmul.f32 s15, s17, s15 633:user_src/soft_obstacle.c **** planep.N_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD); 2610 .loc 1 633 78 2611 0126 78EE277A vadd.f32 s15, s16, s15 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 62 633:user_src/soft_obstacle.c **** planep.N_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD); 2612 .loc 1 633 22 2613 012a FDEEE77A vcvt.s32.f32 s15, s15 2614 012e 17EE903A vmov r3, s15 @ int 2615 0132 1BB2 sxth r3, r3 2616 0134 BB83 strh r3, [r7, #28] @ movhi 635:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2617 .loc 1 635 40 2618 0136 B7F91E30 ldrsh r3, [r7, #30] 2619 .loc 1 635 23 2620 013a 07F10C02 add r2, r7, #12 2621 013e 1344 add r3, r3, r2 2622 .loc 1 635 13 2623 0140 07F11C02 add r2, r7, #28 2624 0144 1146 mov r1, r2 2625 0146 1846 mov r0, r3 2626 0148 FFF7FEFF bl short2buf 636:user_src/soft_obstacle.c **** index += 2; 2627 .loc 1 636 19 2628 014c FB8B ldrh r3, [r7, #30] 2629 014e 0233 adds r3, r3, #2 2630 0150 9BB2 uxth r3, r3 2631 0152 FB83 strh r3, [r7, #30] @ movhi 637:user_src/soft_obstacle.c **** 638:user_src/soft_obstacle.c **** // 横滚 639:user_src/soft_obstacle.c **** tmpShort = planep.roll_angle; 2632 .loc 1 639 30 2633 0154 614B ldr r3, .L117+16 2634 0156 B3F90230 ldrsh r3, [r3, #2] @ unaligned 2635 015a 1BB2 sxth r3, r3 2636 .loc 1 639 22 2637 015c BB83 strh r3, [r7, #28] @ movhi 640:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2638 .loc 1 640 40 2639 015e B7F91E30 ldrsh r3, [r7, #30] 2640 .loc 1 640 23 2641 0162 07F10C02 add r2, r7, #12 2642 0166 1344 add r3, r3, r2 2643 .loc 1 640 13 2644 0168 07F11C02 add r2, r7, #28 2645 016c 1146 mov r1, r2 2646 016e 1846 mov r0, r3 2647 0170 FFF7FEFF bl short2buf 641:user_src/soft_obstacle.c **** index += 2; 2648 .loc 1 641 19 2649 0174 FB8B ldrh r3, [r7, #30] 2650 0176 0233 adds r3, r3, #2 2651 0178 9BB2 uxth r3, r3 2652 017a FB83 strh r3, [r7, #30] @ movhi 642:user_src/soft_obstacle.c **** 643:user_src/soft_obstacle.c **** // 左右速度 644:user_src/soft_obstacle.c **** tmpShort = planep.E_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD) + 2653 .loc 1 644 30 2654 017c 574B ldr r3, .L117+16 2655 017e B3F90830 ldrsh r3, [r3, #8] @ unaligned 2656 0182 1BB2 sxth r3, r3 2657 .loc 1 644 37 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 63 2658 0184 07EE903A vmov s15, r3 @ int 2659 0188 B8EEE78A vcvt.f32.s32 s16, s15 2660 .loc 1 644 50 2661 018c 534B ldr r3, .L117+16 2662 018e B3F90030 ldrsh r3, [r3] @ unaligned 2663 0192 1BB2 sxth r3, r3 2664 .loc 1 644 55 2665 0194 07EE903A vmov s15, r3 @ int 2666 0198 B8EEE77A vcvt.f32.s32 s14, s15 2667 019c DFED506A vldr.32 s13, .L117+20 2668 01a0 C7EE267A vdiv.f32 s15, s14, s13 2669 .loc 1 644 39 2670 01a4 9FED4F7A vldr.32 s14, .L117+24 2671 01a8 67EE877A vmul.f32 s15, s15, s14 2672 01ac B0EE670A vmov.f32 s0, s15 2673 01b0 FFF7FEFF bl cosf 2674 01b4 F0EE407A vmov.f32 s15, s0 2675 .loc 1 644 37 2676 01b8 28EE278A vmul.f32 s16, s16, s15 645:user_src/soft_obstacle.c **** planep.N_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD); 2677 .loc 1 645 30 2678 01bc 474B ldr r3, .L117+16 2679 01be B3F90A30 ldrsh r3, [r3, #10] @ unaligned 2680 01c2 1BB2 sxth r3, r3 2681 .loc 1 645 37 2682 01c4 07EE903A vmov s15, r3 @ int 2683 01c8 F8EEE78A vcvt.f32.s32 s17, s15 2684 .loc 1 645 50 2685 01cc 434B ldr r3, .L117+16 2686 01ce B3F90030 ldrsh r3, [r3] @ unaligned 2687 01d2 1BB2 sxth r3, r3 2688 .loc 1 645 55 2689 01d4 07EE903A vmov s15, r3 @ int 2690 01d8 B8EEE77A vcvt.f32.s32 s14, s15 2691 01dc DFED406A vldr.32 s13, .L117+20 2692 01e0 C7EE267A vdiv.f32 s15, s14, s13 2693 .loc 1 645 39 2694 01e4 9FED3F7A vldr.32 s14, .L117+24 2695 01e8 67EE877A vmul.f32 s15, s15, s14 2696 01ec B0EE670A vmov.f32 s0, s15 2697 01f0 FFF7FEFF bl sinf 2698 01f4 F0EE407A vmov.f32 s15, s0 2699 .loc 1 645 37 2700 01f8 68EEA77A vmul.f32 s15, s17, s15 644:user_src/soft_obstacle.c **** planep.N_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD); 2701 .loc 1 644 78 2702 01fc 78EE277A vadd.f32 s15, s16, s15 644:user_src/soft_obstacle.c **** planep.N_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD); 2703 .loc 1 644 22 2704 0200 FDEEE77A vcvt.s32.f32 s15, s15 2705 0204 17EE903A vmov r3, s15 @ int 2706 0208 1BB2 sxth r3, r3 2707 020a BB83 strh r3, [r7, #28] @ movhi 646:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2708 .loc 1 646 40 2709 020c B7F91E30 ldrsh r3, [r7, #30] 2710 .loc 1 646 23 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 64 2711 0210 07F10C02 add r2, r7, #12 2712 0214 1344 add r3, r3, r2 2713 .loc 1 646 13 2714 0216 07F11C02 add r2, r7, #28 2715 021a 1146 mov r1, r2 2716 021c 1846 mov r0, r3 2717 021e FFF7FEFF bl short2buf 647:user_src/soft_obstacle.c **** index += 2; 2718 .loc 1 647 19 2719 0222 FB8B ldrh r3, [r7, #30] 2720 0224 0233 adds r3, r3, #2 2721 0226 9BB2 uxth r3, r3 2722 0228 FB83 strh r3, [r7, #30] @ movhi 648:user_src/soft_obstacle.c **** 649:user_src/soft_obstacle.c **** // 后边的都没用上 650:user_src/soft_obstacle.c **** // 上下加速度 651:user_src/soft_obstacle.c **** tmpShort = planep.alt_vel; 2723 .loc 1 651 30 2724 022a 2C4B ldr r3, .L117+16 2725 022c B3F90C30 ldrsh r3, [r3, #12] @ unaligned 2726 0230 1BB2 sxth r3, r3 2727 .loc 1 651 22 2728 0232 BB83 strh r3, [r7, #28] @ movhi 652:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2729 .loc 1 652 40 2730 0234 B7F91E30 ldrsh r3, [r7, #30] 2731 .loc 1 652 23 2732 0238 07F10C02 add r2, r7, #12 2733 023c 1344 add r3, r3, r2 2734 .loc 1 652 13 2735 023e 07F11C02 add r2, r7, #28 2736 0242 1146 mov r1, r2 2737 0244 1846 mov r0, r3 2738 0246 FFF7FEFF bl short2buf 653:user_src/soft_obstacle.c **** index += 2; 2739 .loc 1 653 19 2740 024a FB8B ldrh r3, [r7, #30] 2741 024c 0233 adds r3, r3, #2 2742 024e 9BB2 uxth r3, r3 2743 0250 FB83 strh r3, [r7, #30] @ movhi 654:user_src/soft_obstacle.c **** 655:user_src/soft_obstacle.c **** // 仿地最近距离 656:user_src/soft_obstacle.c **** tmpShort = uavh30_dist.near; 2744 .loc 1 656 35 2745 0252 254B ldr r3, .L117+28 2746 0254 B3F90230 ldrsh r3, [r3, #2] @ unaligned 2747 0258 1BB2 sxth r3, r3 2748 .loc 1 656 22 2749 025a BB83 strh r3, [r7, #28] @ movhi 657:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2750 .loc 1 657 40 2751 025c B7F91E30 ldrsh r3, [r7, #30] 2752 .loc 1 657 23 2753 0260 07F10C02 add r2, r7, #12 2754 0264 1344 add r3, r3, r2 2755 .loc 1 657 13 2756 0266 07F11C02 add r2, r7, #28 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 65 2757 026a 1146 mov r1, r2 2758 026c 1846 mov r0, r3 2759 026e FFF7FEFF bl short2buf 658:user_src/soft_obstacle.c **** index += 2; 2760 .loc 1 658 19 2761 0272 FB8B ldrh r3, [r7, #30] 2762 0274 0233 adds r3, r3, #2 2763 0276 9BB2 uxth r3, r3 2764 0278 FB83 strh r3, [r7, #30] @ movhi 659:user_src/soft_obstacle.c **** 660:user_src/soft_obstacle.c **** // 仿地最远距离 661:user_src/soft_obstacle.c **** tmpShort = uavh30_dist.far; 2765 .loc 1 661 35 2766 027a 1B4B ldr r3, .L117+28 2767 027c B3F90430 ldrsh r3, [r3, #4] @ unaligned 2768 0280 1BB2 sxth r3, r3 2769 .loc 1 661 22 2770 0282 BB83 strh r3, [r7, #28] @ movhi 662:user_src/soft_obstacle.c **** short2buf(&send_uavr20_data[index], &tmpShort); 2771 .loc 1 662 40 2772 0284 B7F91E30 ldrsh r3, [r7, #30] 2773 .loc 1 662 23 2774 0288 07F10C02 add r2, r7, #12 2775 028c 1344 add r3, r3, r2 2776 .loc 1 662 13 2777 028e 07F11C02 add r2, r7, #28 2778 0292 1146 mov r1, r2 2779 0294 1846 mov r0, r3 2780 0296 FFF7FEFF bl short2buf 663:user_src/soft_obstacle.c **** index += 2; 2781 .loc 1 663 19 2782 029a FB8B ldrh r3, [r7, #30] 2783 029c 0233 adds r3, r3, #2 2784 029e 9BB2 uxth r3, r3 2785 02a0 FB83 strh r3, [r7, #30] @ movhi 664:user_src/soft_obstacle.c **** 665:user_src/soft_obstacle.c **** // 结束 666:user_src/soft_obstacle.c **** send_uavr20_data[index++] = 0X5A; 2786 .loc 1 666 35 2787 02a2 B7F91E20 ldrsh r2, [r7, #30] 2788 02a6 93B2 uxth r3, r2 2789 02a8 0133 adds r3, r3, #1 2790 02aa 9BB2 uxth r3, r3 2791 02ac FB83 strh r3, [r7, #30] @ movhi 2792 02ae 1346 mov r3, r2 2793 .loc 1 666 39 2794 02b0 2033 adds r3, r3, #32 2795 02b2 3B44 add r3, r3, r7 2796 02b4 5A22 movs r2, #90 2797 02b6 03F8142C strb r2, [r3, #-20] 667:user_src/soft_obstacle.c **** 668:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_data, sizeof(send_uavr20_data), SEND_UAV20_MSG); 2798 .loc 1 668 13 2799 02ba 07F10C03 add r3, r7, #12 2800 02be 0B4A ldr r2, .L117+32 2801 02c0 1021 movs r1, #16 2802 02c2 1846 mov r0, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 66 2803 02c4 FFF7FEFF bl can_send_msg_normal 2804 .LBE5: 617:user_src/soft_obstacle.c **** uavr20_send_time = HAL_GetTick(); 2805 .loc 1 617 9 2806 02c8 A0E0 b .L110 2807 .L118: 2808 02ca 00BF .align 2 2809 .L117: 2810 02cc 00000000 .word uavr12_info 2811 02d0 00000000 .word uavr11_info 2812 02d4 00000000 .word uavr56_info 2813 02d8 00000000 .word uavr20_send_time 2814 02dc 00000000 .word planep 2815 02e0 0000C842 .word 1120403456 2816 02e4 35FA8E3C .word 1016003125 2817 02e8 00000000 .word uavh30_dist 2818 02ec 01EEFF00 .word 16772609 2819 .L111: 669:user_src/soft_obstacle.c **** } 670:user_src/soft_obstacle.c **** //读取前雷达版本 671:user_src/soft_obstacle.c **** else 672:user_src/soft_obstacle.c **** { 673:user_src/soft_obstacle.c **** 674:user_src/soft_obstacle.c **** //读取前雷达灵敏度 675:user_src/soft_obstacle.c **** if (uavr11_info.Link.connect_status == COMP_NORMAL && uavr11_info.get_radar_sensi_flag 2820 .loc 1 675 33 2821 02f0 494B ldr r3, .L119 2822 02f2 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 2823 .loc 1 675 16 2824 02f4 012B cmp r3, #1 2825 02f6 2BD1 bne .L112 2826 .loc 1 675 78 discriminator 1 2827 02f8 474B ldr r3, .L119 2828 02fa DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 2829 .loc 1 675 100 discriminator 1 2830 02fc 83F00103 eor r3, r3, #1 2831 0300 DBB2 uxtb r3, r3 2832 .loc 1 675 64 discriminator 1 2833 0302 002B cmp r3, #0 2834 0304 24D0 beq .L112 676:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi_count < 5) 2835 .loc 1 676 29 discriminator 2 2836 0306 444B ldr r3, .L119 2837 0308 9B7D ldrb r3, [r3, #22] @ zero_extendqisi2 675:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi_count < 5) 2838 .loc 1 675 109 discriminator 2 2839 030a 042B cmp r3, #4 2840 030c 20D8 bhi .L112 677:user_src/soft_obstacle.c **** { 678:user_src/soft_obstacle.c **** if (HAL_GetTick() - uavr20_sensi_time > 1000) 2841 .loc 1 678 21 2842 030e FFF7FEFF bl HAL_GetTick 2843 0312 0246 mov r2, r0 2844 .loc 1 678 35 2845 0314 414B ldr r3, .L119+4 2846 0316 1B68 ldr r3, [r3] 2847 0318 D31A subs r3, r2, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 67 2848 .loc 1 678 20 2849 031a B3F57A7F cmp r3, #1000 2850 031e 75D9 bls .L110 2851 .LBB6: 679:user_src/soft_obstacle.c **** { 680:user_src/soft_obstacle.c **** // 开头 681:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[1] = {0}; 2852 .loc 1 681 29 2853 0320 0023 movs r3, #0 2854 0322 3B72 strb r3, [r7, #8] 682:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x11; 2855 .loc 1 682 42 2856 0324 1123 movs r3, #17 2857 0326 3B72 strb r3, [r7, #8] 683:user_src/soft_obstacle.c **** 684:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, 1, CAN_UAVRH_SENSI_RA); 2858 .loc 1 684 21 2859 0328 07F10803 add r3, r7, #8 2860 032c 4FF4FF62 mov r2, #2040 2861 0330 0121 movs r1, #1 2862 0332 1846 mov r0, r3 2863 0334 FFF7FEFF bl can_send_msg_normal 685:user_src/soft_obstacle.c **** 686:user_src/soft_obstacle.c **** uavr20_sensi_time = HAL_GetTick(); 2864 .loc 1 686 41 2865 0338 FFF7FEFF bl HAL_GetTick 2866 033c 0346 mov r3, r0 2867 .loc 1 686 39 2868 033e 374A ldr r2, .L119+4 2869 0340 1360 str r3, [r2] 687:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi_count++; 2870 .loc 1 687 32 2871 0342 354B ldr r3, .L119 2872 0344 9B7D ldrb r3, [r3, #22] @ zero_extendqisi2 2873 .loc 1 687 54 2874 0346 0133 adds r3, r3, #1 2875 0348 DAB2 uxtb r2, r3 2876 034a 334B ldr r3, .L119 2877 034c 9A75 strb r2, [r3, #22] 2878 .LBE6: 678:user_src/soft_obstacle.c **** { 2879 .loc 1 678 20 2880 034e 5DE0 b .L110 2881 .L112: 688:user_src/soft_obstacle.c **** } 689:user_src/soft_obstacle.c **** } 690:user_src/soft_obstacle.c **** else 691:user_src/soft_obstacle.c **** { 692:user_src/soft_obstacle.c **** //读取后雷达灵敏度 693:user_src/soft_obstacle.c **** if (uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_sensi_f 2882 .loc 1 693 37 2883 0350 334B ldr r3, .L119+8 2884 0352 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 2885 .loc 1 693 20 2886 0354 012B cmp r3, #1 2887 0356 2AD1 bne .L114 2888 .loc 1 693 82 discriminator 1 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 68 2889 0358 314B ldr r3, .L119+8 2890 035a DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 2891 .loc 1 693 104 discriminator 1 2892 035c 83F00103 eor r3, r3, #1 2893 0360 DBB2 uxtb r3, r3 2894 .loc 1 693 68 discriminator 1 2895 0362 002B cmp r3, #0 2896 0364 23D0 beq .L114 694:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi_count < 5) 2897 .loc 1 694 32 discriminator 2 2898 0366 2E4B ldr r3, .L119+8 2899 0368 9B7D ldrb r3, [r3, #22] @ zero_extendqisi2 693:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi_count < 5) 2900 .loc 1 693 113 discriminator 2 2901 036a 042B cmp r3, #4 2902 036c 1FD8 bhi .L114 695:user_src/soft_obstacle.c **** { 696:user_src/soft_obstacle.c **** if (HAL_GetTick() - uavr20_sensi_time > 1000) 2903 .loc 1 696 25 2904 036e FFF7FEFF bl HAL_GetTick 2905 0372 0246 mov r2, r0 2906 .loc 1 696 39 2907 0374 294B ldr r3, .L119+4 2908 0376 1B68 ldr r3, [r3] 2909 0378 D31A subs r3, r2, r3 2910 .loc 1 696 24 2911 037a B3F57A7F cmp r3, #1000 2912 037e 45D9 bls .L110 2913 .LBB7: 697:user_src/soft_obstacle.c **** { 698:user_src/soft_obstacle.c **** // 开头 699:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[1] = {0}; 2914 .loc 1 699 33 2915 0380 0023 movs r3, #0 2916 0382 3B71 strb r3, [r7, #4] 700:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x12; 2917 .loc 1 700 46 2918 0384 1223 movs r3, #18 2919 0386 3B71 strb r3, [r7, #4] 701:user_src/soft_obstacle.c **** 702:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, 1, CAN_UAVRH_SENSI_RA); 2920 .loc 1 702 25 2921 0388 3B1D adds r3, r7, #4 2922 038a 4FF4FF62 mov r2, #2040 2923 038e 0121 movs r1, #1 2924 0390 1846 mov r0, r3 2925 0392 FFF7FEFF bl can_send_msg_normal 703:user_src/soft_obstacle.c **** 704:user_src/soft_obstacle.c **** uavr20_sensi_time = HAL_GetTick(); 2926 .loc 1 704 45 2927 0396 FFF7FEFF bl HAL_GetTick 2928 039a 0346 mov r3, r0 2929 .loc 1 704 43 2930 039c 1F4A ldr r2, .L119+4 2931 039e 1360 str r3, [r2] 705:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi_count++; 2932 .loc 1 705 36 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 69 2933 03a0 1F4B ldr r3, .L119+8 2934 03a2 9B7D ldrb r3, [r3, #22] @ zero_extendqisi2 2935 .loc 1 705 58 2936 03a4 0133 adds r3, r3, #1 2937 03a6 DAB2 uxtb r2, r3 2938 03a8 1D4B ldr r3, .L119+8 2939 03aa 9A75 strb r2, [r3, #22] 2940 .LBE7: 696:user_src/soft_obstacle.c **** { 2941 .loc 1 696 24 2942 03ac 2EE0 b .L110 2943 .L114: 706:user_src/soft_obstacle.c **** } 707:user_src/soft_obstacle.c **** } 708:user_src/soft_obstacle.c **** else if(uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_sen 2944 .loc 1 708 41 2945 03ae 1D4B ldr r3, .L119+12 2946 03b0 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 2947 .loc 1 708 24 2948 03b2 012B cmp r3, #1 2949 03b4 2AD1 bne .L116 2950 .loc 1 708 86 discriminator 1 2951 03b6 1B4B ldr r3, .L119+12 2952 03b8 5B7C ldrb r3, [r3, #17] @ zero_extendqisi2 2953 .loc 1 708 108 discriminator 1 2954 03ba 83F00103 eor r3, r3, #1 2955 03be DBB2 uxtb r3, r3 2956 .loc 1 708 72 discriminator 1 2957 03c0 002B cmp r3, #0 2958 03c2 23D0 beq .L116 709:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi_count < 5) 2959 .loc 1 709 36 discriminator 2 2960 03c4 174B ldr r3, .L119+12 2961 03c6 1B7C ldrb r3, [r3, #16] @ zero_extendqisi2 708:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi_count < 5) 2962 .loc 1 708 117 discriminator 2 2963 03c8 042B cmp r3, #4 2964 03ca 1FD8 bhi .L116 710:user_src/soft_obstacle.c **** { 711:user_src/soft_obstacle.c **** if (HAL_GetTick() - uavr20_sensi_time > 1000) 2965 .loc 1 711 25 2966 03cc FFF7FEFF bl HAL_GetTick 2967 03d0 0246 mov r2, r0 2968 .loc 1 711 39 2969 03d2 124B ldr r3, .L119+4 2970 03d4 1B68 ldr r3, [r3] 2971 03d6 D31A subs r3, r2, r3 2972 .loc 1 711 24 2973 03d8 B3F57A7F cmp r3, #1000 2974 03dc 16D9 bls .L116 2975 .LBB8: 712:user_src/soft_obstacle.c **** { 713:user_src/soft_obstacle.c **** // 开头 714:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[1] = {0}; 2976 .loc 1 714 33 2977 03de 0023 movs r3, #0 2978 03e0 3B70 strb r3, [r7] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 70 715:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x0B; 2979 .loc 1 715 46 2980 03e2 0B23 movs r3, #11 2981 03e4 3B70 strb r3, [r7] 716:user_src/soft_obstacle.c **** 717:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, 1, CAN_UAVRH_SENSI_RA); 2982 .loc 1 717 25 2983 03e6 3B46 mov r3, r7 2984 03e8 4FF4FF62 mov r2, #2040 2985 03ec 0121 movs r1, #1 2986 03ee 1846 mov r0, r3 2987 03f0 FFF7FEFF bl can_send_msg_normal 718:user_src/soft_obstacle.c **** 719:user_src/soft_obstacle.c **** uavr20_sensi_time = HAL_GetTick(); 2988 .loc 1 719 45 2989 03f4 FFF7FEFF bl HAL_GetTick 2990 03f8 0346 mov r3, r0 2991 .loc 1 719 43 2992 03fa 084A ldr r2, .L119+4 2993 03fc 1360 str r3, [r2] 720:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi_count++; 2994 .loc 1 720 36 2995 03fe 094B ldr r3, .L119+12 2996 0400 1B7C ldrb r3, [r3, #16] @ zero_extendqisi2 2997 .loc 1 720 58 2998 0402 0133 adds r3, r3, #1 2999 0404 DAB2 uxtb r2, r3 3000 0406 074B ldr r3, .L119+12 3001 0408 1A74 strb r2, [r3, #16] 3002 .LBE8: 721:user_src/soft_obstacle.c **** } 722:user_src/soft_obstacle.c **** 723:user_src/soft_obstacle.c **** } 724:user_src/soft_obstacle.c **** } 725:user_src/soft_obstacle.c **** } 726:user_src/soft_obstacle.c **** } 727:user_src/soft_obstacle.c **** } 3003 .loc 1 727 1 3004 040a FFE7 b .L116 3005 .L110: 3006 .L116: 3007 040c 00BF nop 3008 040e 2037 adds r7, r7, #32 3009 .LCFI29: 3010 .cfi_def_cfa_offset 16 3011 0410 BD46 mov sp, r7 3012 .LCFI30: 3013 .cfi_def_cfa_register 13 3014 @ sp needed 3015 0412 BDEC028B vldm sp!, {d8} 3016 .LCFI31: 3017 .cfi_restore 80 3018 .cfi_restore 81 3019 .cfi_def_cfa_offset 8 3020 0416 80BD pop {r7, pc} 3021 .L120: 3022 .align 2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 71 3023 .L119: 3024 0418 00000000 .word uavr11_info 3025 041c 00000000 .word uavr20_sensi_time 3026 0420 00000000 .word uavr12_info 3027 0424 00000000 .word uavr56_info 3028 .cfi_endproc 3029 .LFE138: 3031 .global uavrhup_getr1_ack 3032 .section .bss.uavrhup_getr1_ack,"aw",%nobits 3035 uavrhup_getr1_ack: 3036 0000 00 .space 1 3037 .global obsfradar_sensitivity 3038 .section .data.obsfradar_sensitivity,"aw" 3039 .align 1 3042 obsfradar_sensitivity: 3043 0000 3200 .short 50 3044 .global obsbradar_sensitivity 3045 .section .data.obsbradar_sensitivity,"aw" 3046 .align 1 3049 obsbradar_sensitivity: 3050 0000 3200 .short 50 3051 .section .rodata 3052 0005 000000 .align 2 3053 .LC1: 3054 0008 0000 .ascii "\000\000" 3055 000a 00 .space 1 3056 .section .text.can_set_radar_sensi,"ax",%progbits 3057 .align 1 3058 .global can_set_radar_sensi 3059 .syntax unified 3060 .thumb 3061 .thumb_func 3063 can_set_radar_sensi: 3064 .LFB139: 728:user_src/soft_obstacle.c **** 729:user_src/soft_obstacle.c **** 730:user_src/soft_obstacle.c **** 731:user_src/soft_obstacle.c **** bool uavrhup_getr1_ack = false; 732:user_src/soft_obstacle.c **** 733:user_src/soft_obstacle.c **** short obsfradar_sensitivity = 50; 734:user_src/soft_obstacle.c **** short obsbradar_sensitivity = 50; 735:user_src/soft_obstacle.c **** 736:user_src/soft_obstacle.c **** 737:user_src/soft_obstacle.c **** /** 738:user_src/soft_obstacle.c **** * @file can_set_radar_sensi 739:user_src/soft_obstacle.c **** * @brief 设置雷达灵敏度 740:user_src/soft_obstacle.c **** * @param none 741:user_src/soft_obstacle.c **** * @details 742:user_src/soft_obstacle.c **** * @author Zhang Sir 743:user_src/soft_obstacle.c **** **/ 744:user_src/soft_obstacle.c **** void can_set_radar_sensi() 745:user_src/soft_obstacle.c **** { 3065 .loc 1 745 1 3066 .cfi_startproc 3067 @ args = 0, pretend = 0, frame = 16 3068 @ frame_needed = 1, uses_anonymous_args = 0 3069 0000 80B5 push {r7, lr} ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 72 3070 .LCFI32: 3071 .cfi_def_cfa_offset 8 3072 .cfi_offset 7, -8 3073 .cfi_offset 14, -4 3074 0002 84B0 sub sp, sp, #16 3075 .LCFI33: 3076 .cfi_def_cfa_offset 24 3077 0004 00AF add r7, sp, #0 3078 .LCFI34: 3079 .cfi_def_cfa_register 7 746:user_src/soft_obstacle.c **** static int radar_sensi_ack_time = 0; 747:user_src/soft_obstacle.c **** // 设置前雷达灵敏度 748:user_src/soft_obstacle.c **** if (uavr11_info.get_radar_sensi_flag == true && 3080 .loc 1 748 20 3081 0006 A64B ldr r3, .L150 3082 0008 DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 3083 .loc 1 748 8 3084 000a 002B cmp r3, #0 3085 000c 7CD0 beq .L122 749:user_src/soft_obstacle.c **** uavr11_info.fcu_set_sensi_flag == true && uavr11_info.set_radar_sensi_count < 5 && 3086 .loc 1 749 20 discriminator 1 3087 000e A44B ldr r3, .L150 3088 0010 1B7D ldrb r3, [r3, #20] @ zero_extendqisi2 748:user_src/soft_obstacle.c **** uavr11_info.fcu_set_sensi_flag == true && uavr11_info.set_radar_sensi_count < 5 && 3089 .loc 1 748 50 discriminator 1 3090 0012 002B cmp r3, #0 3091 0014 78D0 beq .L122 3092 .loc 1 749 62 3093 0016 A24B ldr r3, .L150 3094 0018 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3095 .loc 1 749 48 3096 001a 042B cmp r3, #4 3097 001c 74D8 bhi .L122 750:user_src/soft_obstacle.c **** HAL_GetTick() - uavr20_sensi_time > 1000 && uavr11_info.Link.connect_status == COMP_NORMAL) 3098 .loc 1 750 9 discriminator 1 3099 001e FFF7FEFF bl HAL_GetTick 3100 0022 0246 mov r2, r0 3101 .loc 1 750 23 discriminator 1 3102 0024 9F4B ldr r3, .L150+4 3103 0026 1B68 ldr r3, [r3] 3104 0028 D31A subs r3, r2, r3 749:user_src/soft_obstacle.c **** uavr11_info.fcu_set_sensi_flag == true && uavr11_info.set_radar_sensi_count < 5 && 3105 .loc 1 749 89 discriminator 1 3106 002a B3F57A7F cmp r3, #1000 3107 002e 6BD9 bls .L122 3108 .loc 1 750 69 3109 0030 9B4B ldr r3, .L150 3110 0032 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 3111 .loc 1 750 50 3112 0034 012B cmp r3, #1 3113 0036 67D1 bne .L122 3114 .LBB9: 751:user_src/soft_obstacle.c **** { 752:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3115 .loc 1 752 17 3116 0038 9B4B ldr r3, .L150+8 3117 003a 1B88 ldrh r3, [r3] @ movhi ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 73 3118 003c BB81 strh r3, [r7, #12] @ movhi 3119 003e 0023 movs r3, #0 3120 0040 BB73 strb r3, [r7, #14] 753:user_src/soft_obstacle.c **** 754:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_count++; 3121 .loc 1 754 20 3122 0042 974B ldr r3, .L150 3123 0044 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3124 .loc 1 754 42 3125 0046 0133 adds r3, r3, #1 3126 0048 DAB2 uxtb r2, r3 3127 004a 954B ldr r3, .L150 3128 004c DA75 strb r2, [r3, #23] 755:user_src/soft_obstacle.c **** uavr20_sensi_time = HAL_GetTick(); 3129 .loc 1 755 29 3130 004e FFF7FEFF bl HAL_GetTick 3131 0052 0346 mov r3, r0 3132 .loc 1 755 27 3133 0054 934A ldr r2, .L150+4 3134 0056 1360 str r3, [r2] 756:user_src/soft_obstacle.c **** if (uavrhup_getr1_ack == false) 3135 .loc 1 756 31 3136 0058 944B ldr r3, .L150+12 3137 005a 1B78 ldrb r3, [r3] @ zero_extendqisi2 3138 005c 83F00103 eor r3, r3, #1 3139 0060 DBB2 uxtb r3, r3 3140 .loc 1 756 12 3141 0062 002B cmp r3, #0 3142 0064 17D0 beq .L123 757:user_src/soft_obstacle.c **** { 758:user_src/soft_obstacle.c **** //设置灵敏度先进入boot模式 新版本不进入boot 759:user_src/soft_obstacle.c **** if(uavr11_info.soft_verison >= RADAR_NER_VERSION ) 3143 .loc 1 759 27 3144 0066 8E4B ldr r3, .L150 3145 0068 D3F81930 ldr r3, [r3, #25] @ unaligned 3146 .loc 1 759 15 3147 006c 904A ldr r2, .L150+16 3148 006e 9342 cmp r3, r2 3149 0070 03DD ble .L124 760:user_src/soft_obstacle.c **** { 761:user_src/soft_obstacle.c **** uavrhup_getr1_ack = true; 3150 .loc 1 761 35 3151 0072 8E4B ldr r3, .L150+12 3152 0074 0122 movs r2, #1 3153 0076 1A70 strb r2, [r3] 3154 0078 09E0 b .L125 3155 .L124: 762:user_src/soft_obstacle.c **** } 763:user_src/soft_obstacle.c **** else 764:user_src/soft_obstacle.c **** { 765:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x11; 3156 .loc 1 765 38 3157 007a 1123 movs r3, #17 3158 007c 3B73 strb r3, [r7, #12] 766:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, 1, CAN_UAVRH_UPDATE_S1); 3159 .loc 1 766 17 3160 007e 07F10C03 add r3, r7, #12 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 74 3161 0082 4FF4FC62 mov r2, #2016 3162 0086 0121 movs r1, #1 3163 0088 1846 mov r0, r3 3164 008a FFF7FEFF bl can_send_msg_normal 3165 .L125: 767:user_src/soft_obstacle.c **** } 768:user_src/soft_obstacle.c **** 769:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_ack = false; 3166 .loc 1 769 45 3167 008e 844B ldr r3, .L150 3168 0090 0022 movs r2, #0 3169 0092 1A76 strb r2, [r3, #24] 3170 0094 26E0 b .L126 3171 .L123: 770:user_src/soft_obstacle.c **** 771:user_src/soft_obstacle.c **** } 772:user_src/soft_obstacle.c **** else 773:user_src/soft_obstacle.c **** { 774:user_src/soft_obstacle.c **** if (uavr11_info.set_radar_sensi_ack == false) 3172 .loc 1 774 28 3173 0096 824B ldr r3, .L150 3174 0098 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3175 .loc 1 774 16 3176 009a 002B cmp r3, #0 3177 009c 16D1 bne .L127 775:user_src/soft_obstacle.c **** { 776:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x11; 3178 .loc 1 776 38 3179 009e 1123 movs r3, #17 3180 00a0 3B73 strb r3, [r7, #12] 777:user_src/soft_obstacle.c **** //大端方式发送 778:user_src/soft_obstacle.c **** send_uavr20_sensi[1] = (obsfradar_sensitivity >> 8) & 0xff; 3181 .loc 1 778 38 3182 00a2 844B ldr r3, .L150+20 3183 00a4 B3F90030 ldrsh r3, [r3] 3184 00a8 1B12 asrs r3, r3, #8 3185 00aa 1BB2 sxth r3, r3 3186 00ac DBB2 uxtb r3, r3 3187 00ae 7B73 strb r3, [r7, #13] 779:user_src/soft_obstacle.c **** send_uavr20_sensi[2] = (obsfradar_sensitivity)&0xff; 3188 .loc 1 779 38 3189 00b0 804B ldr r3, .L150+20 3190 00b2 B3F90030 ldrsh r3, [r3] 3191 00b6 DBB2 uxtb r3, r3 3192 00b8 BB73 strb r3, [r7, #14] 780:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, sizeof(send_uavr20_sensi), CAN_UAVRH_SENSI_S 3193 .loc 1 780 17 3194 00ba 07F10C03 add r3, r7, #12 3195 00be 40F2F672 movw r2, #2038 3196 00c2 0321 movs r1, #3 3197 00c4 1846 mov r0, r3 3198 00c6 FFF7FEFF bl can_send_msg_normal 3199 00ca 0BE0 b .L126 3200 .L127: 781:user_src/soft_obstacle.c **** } 782:user_src/soft_obstacle.c **** else 783:user_src/soft_obstacle.c **** { ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 75 784:user_src/soft_obstacle.c **** uavr11_info.fcu_set_sensi_flag = false; 3201 .loc 1 784 48 3202 00cc 744B ldr r3, .L150 3203 00ce 0022 movs r2, #0 3204 00d0 1A75 strb r2, [r3, #20] 785:user_src/soft_obstacle.c **** uavrhup_getr1_ack = false; 3205 .loc 1 785 35 3206 00d2 764B ldr r3, .L150+12 3207 00d4 0022 movs r2, #0 3208 00d6 1A70 strb r2, [r3] 786:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_ack = false; 3209 .loc 1 786 49 3210 00d8 714B ldr r3, .L150 3211 00da 0022 movs r2, #0 3212 00dc 1A76 strb r2, [r3, #24] 787:user_src/soft_obstacle.c **** 788:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_count = 0; 3213 .loc 1 788 51 3214 00de 704B ldr r3, .L150 3215 00e0 0022 movs r2, #0 3216 00e2 DA75 strb r2, [r3, #23] 3217 .L126: 789:user_src/soft_obstacle.c **** } 790:user_src/soft_obstacle.c **** } 791:user_src/soft_obstacle.c **** 792:user_src/soft_obstacle.c **** //超过5次失败后恢复 793:user_src/soft_obstacle.c **** if (uavr11_info.set_radar_sensi_count >= 5) 3218 .loc 1 793 24 3219 00e4 6E4B ldr r3, .L150 3220 00e6 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3221 .loc 1 793 12 3222 00e8 042B cmp r3, #4 3223 00ea 40F22781 bls .L147 794:user_src/soft_obstacle.c **** { 795:user_src/soft_obstacle.c **** uavr11_info.fcu_set_sensi_flag = false; 3224 .loc 1 795 44 3225 00ee 6C4B ldr r3, .L150 3226 00f0 0022 movs r2, #0 3227 00f2 1A75 strb r2, [r3, #20] 796:user_src/soft_obstacle.c **** uavrhup_getr1_ack = false; 3228 .loc 1 796 31 3229 00f4 6D4B ldr r3, .L150+12 3230 00f6 0022 movs r2, #0 3231 00f8 1A70 strb r2, [r3] 797:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_ack = false; 3232 .loc 1 797 45 3233 00fa 694B ldr r3, .L150 3234 00fc 0022 movs r2, #0 3235 00fe 1A76 strb r2, [r3, #24] 798:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_count = 0; 3236 .loc 1 798 47 3237 0100 674B ldr r3, .L150 3238 0102 0022 movs r2, #0 3239 0104 DA75 strb r2, [r3, #23] 3240 .LBE9: 751:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3241 .loc 1 751 5 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 76 3242 0106 19E1 b .L147 3243 .L122: 799:user_src/soft_obstacle.c **** } 800:user_src/soft_obstacle.c **** } 801:user_src/soft_obstacle.c **** //设置后雷达灵敏度 802:user_src/soft_obstacle.c **** else if (uavr12_info.get_radar_sensi_flag == true && 3244 .loc 1 802 25 3245 0108 6B4B ldr r3, .L150+24 3246 010a DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 3247 .loc 1 802 13 3248 010c 002B cmp r3, #0 3249 010e 7CD0 beq .L130 803:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag == true && uavr12_info.set_radar_sensi_count < 5 && 3250 .loc 1 803 25 discriminator 1 3251 0110 694B ldr r3, .L150+24 3252 0112 1B7D ldrb r3, [r3, #20] @ zero_extendqisi2 802:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag == true && uavr12_info.set_radar_sensi_count < 5 && 3253 .loc 1 802 55 discriminator 1 3254 0114 002B cmp r3, #0 3255 0116 78D0 beq .L130 3256 .loc 1 803 67 3257 0118 674B ldr r3, .L150+24 3258 011a DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3259 .loc 1 803 53 3260 011c 042B cmp r3, #4 3261 011e 74D8 bhi .L130 804:user_src/soft_obstacle.c **** HAL_GetTick() - uavr20_sensi_time > 1000 && uavr12_info.Link.connect_status == COMP_NO 3262 .loc 1 804 14 discriminator 1 3263 0120 FFF7FEFF bl HAL_GetTick 3264 0124 0246 mov r2, r0 3265 .loc 1 804 28 discriminator 1 3266 0126 5F4B ldr r3, .L150+4 3267 0128 1B68 ldr r3, [r3] 3268 012a D31A subs r3, r2, r3 803:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag == true && uavr12_info.set_radar_sensi_count < 5 && 3269 .loc 1 803 94 discriminator 1 3270 012c B3F57A7F cmp r3, #1000 3271 0130 6BD9 bls .L130 3272 .loc 1 804 74 3273 0132 614B ldr r3, .L150+24 3274 0134 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 3275 .loc 1 804 55 3276 0136 012B cmp r3, #1 3277 0138 67D1 bne .L130 3278 .LBB10: 805:user_src/soft_obstacle.c **** { 806:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3279 .loc 1 806 17 3280 013a 5B4B ldr r3, .L150+8 3281 013c 1B88 ldrh r3, [r3] @ movhi 3282 013e 3B81 strh r3, [r7, #8] @ movhi 3283 0140 0023 movs r3, #0 3284 0142 BB72 strb r3, [r7, #10] 807:user_src/soft_obstacle.c **** 808:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_count++; 3285 .loc 1 808 20 3286 0144 5C4B ldr r3, .L150+24 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 77 3287 0146 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3288 .loc 1 808 42 3289 0148 0133 adds r3, r3, #1 3290 014a DAB2 uxtb r2, r3 3291 014c 5A4B ldr r3, .L150+24 3292 014e DA75 strb r2, [r3, #23] 809:user_src/soft_obstacle.c **** uavr20_sensi_time = HAL_GetTick(); 3293 .loc 1 809 29 3294 0150 FFF7FEFF bl HAL_GetTick 3295 0154 0346 mov r3, r0 3296 .loc 1 809 27 3297 0156 534A ldr r2, .L150+4 3298 0158 1360 str r3, [r2] 810:user_src/soft_obstacle.c **** 811:user_src/soft_obstacle.c **** 812:user_src/soft_obstacle.c **** if (uavrhup_getr1_ack == false) 3299 .loc 1 812 31 3300 015a 544B ldr r3, .L150+12 3301 015c 1B78 ldrb r3, [r3] @ zero_extendqisi2 3302 015e 83F00103 eor r3, r3, #1 3303 0162 DBB2 uxtb r3, r3 3304 .loc 1 812 12 3305 0164 002B cmp r3, #0 3306 0166 17D0 beq .L131 813:user_src/soft_obstacle.c **** { 814:user_src/soft_obstacle.c **** //设置灵敏度先进入boot模式 新版本不进入boot 815:user_src/soft_obstacle.c **** if(uavr12_info.soft_verison >= RADAR_NER_VERSION ) 3307 .loc 1 815 27 3308 0168 534B ldr r3, .L150+24 3309 016a D3F81930 ldr r3, [r3, #25] @ unaligned 3310 .loc 1 815 15 3311 016e 504A ldr r2, .L150+16 3312 0170 9342 cmp r3, r2 3313 0172 03DD ble .L132 816:user_src/soft_obstacle.c **** { 817:user_src/soft_obstacle.c **** uavrhup_getr1_ack = true; 3314 .loc 1 817 35 3315 0174 4D4B ldr r3, .L150+12 3316 0176 0122 movs r2, #1 3317 0178 1A70 strb r2, [r3] 3318 017a 09E0 b .L133 3319 .L132: 818:user_src/soft_obstacle.c **** } 819:user_src/soft_obstacle.c **** else 820:user_src/soft_obstacle.c **** { 821:user_src/soft_obstacle.c **** //设置灵敏度先进入boot模式 822:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x12; 3320 .loc 1 822 38 3321 017c 1223 movs r3, #18 3322 017e 3B72 strb r3, [r7, #8] 823:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, 1, CAN_UAVRH_UPDATE_S1); 3323 .loc 1 823 17 3324 0180 07F10803 add r3, r7, #8 3325 0184 4FF4FC62 mov r2, #2016 3326 0188 0121 movs r1, #1 3327 018a 1846 mov r0, r3 3328 018c FFF7FEFF bl can_send_msg_normal ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 78 3329 .L133: 824:user_src/soft_obstacle.c **** } 825:user_src/soft_obstacle.c **** 826:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_ack = false; 3330 .loc 1 826 45 3331 0190 494B ldr r3, .L150+24 3332 0192 0022 movs r2, #0 3333 0194 1A76 strb r2, [r3, #24] 3334 0196 26E0 b .L134 3335 .L131: 827:user_src/soft_obstacle.c **** } 828:user_src/soft_obstacle.c **** else 829:user_src/soft_obstacle.c **** { 830:user_src/soft_obstacle.c **** if (uavr12_info.set_radar_sensi_ack == false) 3336 .loc 1 830 28 3337 0198 474B ldr r3, .L150+24 3338 019a 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3339 .loc 1 830 16 3340 019c 002B cmp r3, #0 3341 019e 16D1 bne .L135 831:user_src/soft_obstacle.c **** { 832:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x12; 3342 .loc 1 832 38 3343 01a0 1223 movs r3, #18 3344 01a2 3B72 strb r3, [r7, #8] 833:user_src/soft_obstacle.c **** send_uavr20_sensi[1] = (obsbradar_sensitivity >> 8) & 0xff; 3345 .loc 1 833 38 3346 01a4 454B ldr r3, .L150+28 3347 01a6 B3F90030 ldrsh r3, [r3] 3348 01aa 1B12 asrs r3, r3, #8 3349 01ac 1BB2 sxth r3, r3 3350 01ae DBB2 uxtb r3, r3 3351 01b0 7B72 strb r3, [r7, #9] 834:user_src/soft_obstacle.c **** send_uavr20_sensi[2] = (obsbradar_sensitivity)&0xff; 3352 .loc 1 834 38 3353 01b2 424B ldr r3, .L150+28 3354 01b4 B3F90030 ldrsh r3, [r3] 3355 01b8 DBB2 uxtb r3, r3 3356 01ba BB72 strb r3, [r7, #10] 835:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, sizeof(send_uavr20_sensi), CAN_UAVRH_SENSI_S 3357 .loc 1 835 17 3358 01bc 07F10803 add r3, r7, #8 3359 01c0 40F2F672 movw r2, #2038 3360 01c4 0321 movs r1, #3 3361 01c6 1846 mov r0, r3 3362 01c8 FFF7FEFF bl can_send_msg_normal 3363 01cc 0BE0 b .L134 3364 .L135: 836:user_src/soft_obstacle.c **** } 837:user_src/soft_obstacle.c **** else 838:user_src/soft_obstacle.c **** { 839:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag = false; 3365 .loc 1 839 48 3366 01ce 3A4B ldr r3, .L150+24 3367 01d0 0022 movs r2, #0 3368 01d2 1A75 strb r2, [r3, #20] 840:user_src/soft_obstacle.c **** uavrhup_getr1_ack = false; ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 79 3369 .loc 1 840 35 3370 01d4 354B ldr r3, .L150+12 3371 01d6 0022 movs r2, #0 3372 01d8 1A70 strb r2, [r3] 841:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_ack = false; 3373 .loc 1 841 49 3374 01da 374B ldr r3, .L150+24 3375 01dc 0022 movs r2, #0 3376 01de 1A76 strb r2, [r3, #24] 842:user_src/soft_obstacle.c **** 843:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_count = 0; 3377 .loc 1 843 51 3378 01e0 354B ldr r3, .L150+24 3379 01e2 0022 movs r2, #0 3380 01e4 DA75 strb r2, [r3, #23] 3381 .L134: 844:user_src/soft_obstacle.c **** } 845:user_src/soft_obstacle.c **** } 846:user_src/soft_obstacle.c **** 847:user_src/soft_obstacle.c **** //超过5次失败后恢复 848:user_src/soft_obstacle.c **** if (uavr12_info.set_radar_sensi_count >= 5) 3382 .loc 1 848 24 3383 01e6 344B ldr r3, .L150+24 3384 01e8 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3385 .loc 1 848 12 3386 01ea 042B cmp r3, #4 3387 01ec 40F2A880 bls .L148 849:user_src/soft_obstacle.c **** { 850:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag = false; 3388 .loc 1 850 44 3389 01f0 314B ldr r3, .L150+24 3390 01f2 0022 movs r2, #0 3391 01f4 1A75 strb r2, [r3, #20] 851:user_src/soft_obstacle.c **** uavrhup_getr1_ack = false; 3392 .loc 1 851 31 3393 01f6 2D4B ldr r3, .L150+12 3394 01f8 0022 movs r2, #0 3395 01fa 1A70 strb r2, [r3] 852:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_ack = false; 3396 .loc 1 852 45 3397 01fc 2E4B ldr r3, .L150+24 3398 01fe 0022 movs r2, #0 3399 0200 1A76 strb r2, [r3, #24] 853:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_count = 0; 3400 .loc 1 853 47 3401 0202 2D4B ldr r3, .L150+24 3402 0204 0022 movs r2, #0 3403 0206 DA75 strb r2, [r3, #23] 3404 .LBE10: 805:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3405 .loc 1 805 5 3406 0208 9AE0 b .L148 3407 .L130: 854:user_src/soft_obstacle.c **** } 855:user_src/soft_obstacle.c **** } 856:user_src/soft_obstacle.c **** //设置仿地雷达灵敏度 857:user_src/soft_obstacle.c **** else if (uavr56_info.get_radar_sensi_flag == true && ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 80 3408 .loc 1 857 25 3409 020a 2D4B ldr r3, .L150+32 3410 020c 5B7C ldrb r3, [r3, #17] @ zero_extendqisi2 3411 .loc 1 857 13 3412 020e 002B cmp r3, #0 3413 0210 00F09780 beq .L129 858:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag == true && uavr56_info.set_radar_sensi_count < 5 && 3414 .loc 1 858 25 discriminator 1 3415 0214 2A4B ldr r3, .L150+32 3416 0216 9B7C ldrb r3, [r3, #18] @ zero_extendqisi2 857:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag == true && uavr56_info.set_radar_sensi_count < 5 && 3417 .loc 1 857 55 discriminator 1 3418 0218 002B cmp r3, #0 3419 021a 00F09280 beq .L129 3420 .loc 1 858 67 3421 021e 284B ldr r3, .L150+32 3422 0220 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3423 .loc 1 858 53 3424 0222 042B cmp r3, #4 3425 0224 00F28D80 bhi .L129 859:user_src/soft_obstacle.c **** HAL_GetTick() - uavr20_sensi_time > 1000 && uavr56_info.Link.connect_status == COMP_NO 3426 .loc 1 859 14 discriminator 1 3427 0228 FFF7FEFF bl HAL_GetTick 3428 022c 0246 mov r2, r0 3429 .loc 1 859 28 discriminator 1 3430 022e 1D4B ldr r3, .L150+4 3431 0230 1B68 ldr r3, [r3] 3432 0232 D31A subs r3, r2, r3 858:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag == true && uavr56_info.set_radar_sensi_count < 5 && 3433 .loc 1 858 94 discriminator 1 3434 0234 B3F57A7F cmp r3, #1000 3435 0238 40F28380 bls .L129 3436 .loc 1 859 74 3437 023c 204B ldr r3, .L150+32 3438 023e 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 3439 .loc 1 859 55 3440 0240 012B cmp r3, #1 3441 0242 7ED1 bne .L129 3442 .LBB11: 860:user_src/soft_obstacle.c **** { 861:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3443 .loc 1 861 17 3444 0244 184B ldr r3, .L150+8 3445 0246 1B88 ldrh r3, [r3] @ movhi 3446 0248 BB80 strh r3, [r7, #4] @ movhi 3447 024a 0023 movs r3, #0 3448 024c BB71 strb r3, [r7, #6] 862:user_src/soft_obstacle.c **** 863:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_count++; 3449 .loc 1 863 20 3450 024e 1C4B ldr r3, .L150+32 3451 0250 DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3452 .loc 1 863 42 3453 0252 0133 adds r3, r3, #1 3454 0254 DAB2 uxtb r2, r3 3455 0256 1A4B ldr r3, .L150+32 3456 0258 DA75 strb r2, [r3, #23] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 81 864:user_src/soft_obstacle.c **** uavr20_sensi_time = HAL_GetTick(); 3457 .loc 1 864 29 3458 025a FFF7FEFF bl HAL_GetTick 3459 025e 0346 mov r3, r0 3460 .loc 1 864 27 3461 0260 104A ldr r2, .L150+4 3462 0262 1360 str r3, [r2] 865:user_src/soft_obstacle.c **** 866:user_src/soft_obstacle.c **** if (uavrhup_getr1_ack == false) 3463 .loc 1 866 31 3464 0264 114B ldr r3, .L150+12 3465 0266 1B78 ldrb r3, [r3] @ zero_extendqisi2 3466 0268 83F00103 eor r3, r3, #1 3467 026c DBB2 uxtb r3, r3 3468 .loc 1 866 12 3469 026e 002B cmp r3, #0 3470 0270 28D0 beq .L137 867:user_src/soft_obstacle.c **** { 868:user_src/soft_obstacle.c **** if(uavr56_info.soft_verison >= RADAR_NER_VERSION ) 3471 .loc 1 868 27 3472 0272 134B ldr r3, .L150+32 3473 0274 D3F82630 ldr r3, [r3, #38] @ unaligned 3474 .loc 1 868 15 3475 0278 0D4A ldr r2, .L150+16 3476 027a 9342 cmp r3, r2 3477 027c 03DD ble .L138 869:user_src/soft_obstacle.c **** { 870:user_src/soft_obstacle.c **** uavrhup_getr1_ack = true; 3478 .loc 1 870 35 3479 027e 0B4B ldr r3, .L150+12 3480 0280 0122 movs r2, #1 3481 0282 1A70 strb r2, [r3] 3482 0284 08E0 b .L139 3483 .L138: 871:user_src/soft_obstacle.c **** } 872:user_src/soft_obstacle.c **** else 873:user_src/soft_obstacle.c **** { 874:user_src/soft_obstacle.c **** //设置灵敏度先进入boot模式 875:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x0B; 3484 .loc 1 875 38 3485 0286 0B23 movs r3, #11 3486 0288 3B71 strb r3, [r7, #4] 876:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, 1, CAN_UAVRH_UPDATE_S1); 3487 .loc 1 876 17 3488 028a 3B1D adds r3, r7, #4 3489 028c 4FF4FC62 mov r2, #2016 3490 0290 0121 movs r1, #1 3491 0292 1846 mov r0, r3 3492 0294 FFF7FEFF bl can_send_msg_normal 3493 .L139: 877:user_src/soft_obstacle.c **** } 878:user_src/soft_obstacle.c **** 879:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_ack = false; 3494 .loc 1 879 45 3495 0298 094B ldr r3, .L150+32 3496 029a 0022 movs r2, #0 3497 029c 1A76 strb r2, [r3, #24] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 82 3498 029e 3CE0 b .L140 3499 .L151: 3500 .align 2 3501 .L150: 3502 02a0 00000000 .word uavr11_info 3503 02a4 00000000 .word uavr20_sensi_time 3504 02a8 08000000 .word .LC1 3505 02ac 00000000 .word uavrhup_getr1_ack 3506 02b0 17072200 .word 2230039 3507 02b4 00000000 .word obsfradar_sensitivity 3508 02b8 00000000 .word uavr12_info 3509 02bc 00000000 .word obsbradar_sensitivity 3510 02c0 00000000 .word uavr56_info 3511 .L137: 880:user_src/soft_obstacle.c **** } 881:user_src/soft_obstacle.c **** else 882:user_src/soft_obstacle.c **** { 883:user_src/soft_obstacle.c **** if (uavr56_info.set_radar_sensi_ack == false) 3512 .loc 1 883 28 3513 02c4 4C4B ldr r3, .L152 3514 02c6 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3515 .loc 1 883 49 3516 02c8 83F00103 eor r3, r3, #1 3517 02cc DBB2 uxtb r3, r3 3518 .loc 1 883 16 3519 02ce 002B cmp r3, #0 3520 02d0 17D0 beq .L141 884:user_src/soft_obstacle.c **** { 885:user_src/soft_obstacle.c **** send_uavr20_sensi[0] = 0x0B; 3521 .loc 1 885 38 3522 02d2 0B23 movs r3, #11 3523 02d4 3B71 strb r3, [r7, #4] 886:user_src/soft_obstacle.c **** send_uavr20_sensi[1] = (uavr56_info.fcu_set_sensi >> 8) & 0xff; 3524 .loc 1 886 52 3525 02d6 484B ldr r3, .L152 3526 02d8 B3F91330 ldrsh r3, [r3, #19] @ unaligned 3527 02dc 1BB2 sxth r3, r3 3528 .loc 1 886 38 3529 02de 1B12 asrs r3, r3, #8 3530 02e0 1BB2 sxth r3, r3 3531 02e2 DBB2 uxtb r3, r3 3532 02e4 7B71 strb r3, [r7, #5] 887:user_src/soft_obstacle.c **** send_uavr20_sensi[2] = (uavr56_info.fcu_set_sensi)&0xff; 3533 .loc 1 887 52 3534 02e6 444B ldr r3, .L152 3535 02e8 B3F91330 ldrsh r3, [r3, #19] @ unaligned 3536 02ec 1BB2 sxth r3, r3 3537 .loc 1 887 38 3538 02ee DBB2 uxtb r3, r3 3539 02f0 BB71 strb r3, [r7, #6] 888:user_src/soft_obstacle.c **** can_send_msg_normal(send_uavr20_sensi, sizeof(send_uavr20_sensi), CAN_UAVRH_SENSI_S 3540 .loc 1 888 17 3541 02f2 3B1D adds r3, r7, #4 3542 02f4 40F2F672 movw r2, #2038 3543 02f8 0321 movs r1, #3 3544 02fa 1846 mov r0, r3 3545 02fc FFF7FEFF bl can_send_msg_normal ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 83 3546 0300 0BE0 b .L140 3547 .L141: 889:user_src/soft_obstacle.c **** } 890:user_src/soft_obstacle.c **** else 891:user_src/soft_obstacle.c **** { 892:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag = false; 3548 .loc 1 892 48 3549 0302 3D4B ldr r3, .L152 3550 0304 0022 movs r2, #0 3551 0306 9A74 strb r2, [r3, #18] 893:user_src/soft_obstacle.c **** uavrhup_getr1_ack = false; 3552 .loc 1 893 35 3553 0308 3C4B ldr r3, .L152+4 3554 030a 0022 movs r2, #0 3555 030c 1A70 strb r2, [r3] 894:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_ack = false; 3556 .loc 1 894 49 3557 030e 3A4B ldr r3, .L152 3558 0310 0022 movs r2, #0 3559 0312 1A76 strb r2, [r3, #24] 895:user_src/soft_obstacle.c **** 896:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_count = 0; 3560 .loc 1 896 51 3561 0314 384B ldr r3, .L152 3562 0316 0022 movs r2, #0 3563 0318 DA75 strb r2, [r3, #23] 3564 .L140: 897:user_src/soft_obstacle.c **** } 898:user_src/soft_obstacle.c **** } 899:user_src/soft_obstacle.c **** 900:user_src/soft_obstacle.c **** //超过5次失败后恢复 901:user_src/soft_obstacle.c **** if (uavr56_info.set_radar_sensi_count >= 5) 3565 .loc 1 901 24 3566 031a 374B ldr r3, .L152 3567 031c DB7D ldrb r3, [r3, #23] @ zero_extendqisi2 3568 .loc 1 901 12 3569 031e 042B cmp r3, #4 3570 0320 0FD9 bls .L129 902:user_src/soft_obstacle.c **** { 903:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag = false; 3571 .loc 1 903 44 3572 0322 354B ldr r3, .L152 3573 0324 0022 movs r2, #0 3574 0326 9A74 strb r2, [r3, #18] 904:user_src/soft_obstacle.c **** uavrhup_getr1_ack = false; 3575 .loc 1 904 31 3576 0328 344B ldr r3, .L152+4 3577 032a 0022 movs r2, #0 3578 032c 1A70 strb r2, [r3] 905:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_ack = false; 3579 .loc 1 905 45 3580 032e 324B ldr r3, .L152 3581 0330 0022 movs r2, #0 3582 0332 1A76 strb r2, [r3, #24] 906:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_count = 0; 3583 .loc 1 906 47 3584 0334 304B ldr r3, .L152 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 84 3585 0336 0022 movs r2, #0 3586 0338 DA75 strb r2, [r3, #23] 3587 033a 02E0 b .L129 3588 .L147: 3589 .LBE11: 751:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3590 .loc 1 751 5 3591 033c 00BF nop 3592 033e 00E0 b .L129 3593 .L148: 805:user_src/soft_obstacle.c **** uint8_t send_uavr20_sensi[3] = {0}; 3594 .loc 1 805 5 3595 0340 00BF nop 3596 .L129: 907:user_src/soft_obstacle.c **** } 908:user_src/soft_obstacle.c **** } 909:user_src/soft_obstacle.c **** 910:user_src/soft_obstacle.c **** //设置莫之比避障灵敏度成功后ACK主控 911:user_src/soft_obstacle.c **** if (uavr11_info.set_radar_sensi_ack == true || uavr12_info.set_radar_sensi_ack == true || uavr5 3597 .loc 1 911 20 3598 0342 2F4B ldr r3, .L152+8 3599 0344 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3600 .loc 1 911 8 3601 0346 012B cmp r3, #1 3602 0348 07D0 beq .L143 3603 .loc 1 911 63 discriminator 1 3604 034a 2E4B ldr r3, .L152+12 3605 034c 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3606 .loc 1 911 49 discriminator 1 3607 034e 012B cmp r3, #1 3608 0350 03D0 beq .L143 3609 .loc 1 911 106 discriminator 2 3610 0352 294B ldr r3, .L152 3611 0354 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3612 .loc 1 911 92 discriminator 2 3613 0356 002B cmp r3, #0 3614 0358 4AD0 beq .L149 3615 .L143: 912:user_src/soft_obstacle.c **** { 913:user_src/soft_obstacle.c **** //同时设置有个1.5s间隔 914:user_src/soft_obstacle.c **** if(HAL_GetTick() - radar_sensi_ack_time > 1500) 3616 .loc 1 914 12 3617 035a FFF7FEFF bl HAL_GetTick 3618 035e 0346 mov r3, r0 3619 .loc 1 914 26 3620 0360 294A ldr r2, .L152+16 3621 0362 1268 ldr r2, [r2] 3622 0364 9B1A subs r3, r3, r2 3623 .loc 1 914 11 3624 0366 40F2DC52 movw r2, #1500 3625 036a 9342 cmp r3, r2 3626 036c 40D9 bls .L149 915:user_src/soft_obstacle.c **** { 916:user_src/soft_obstacle.c **** radar_sensi_ack_time = HAL_GetTick(); 3627 .loc 1 916 36 3628 036e FFF7FEFF bl HAL_GetTick 3629 0372 0346 mov r3, r0 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 85 3630 0374 1A46 mov r2, r3 3631 .loc 1 916 34 3632 0376 244B ldr r3, .L152+16 3633 0378 1A60 str r2, [r3] 917:user_src/soft_obstacle.c **** if (uavr11_info.set_radar_sensi_ack == true) 3634 .loc 1 917 28 3635 037a 214B ldr r3, .L152+8 3636 037c 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 3637 .loc 1 917 16 3638 037e 012B cmp r3, #1 3639 0380 0FD1 bne .L145 918:user_src/soft_obstacle.c **** { 919:user_src/soft_obstacle.c **** pmu_set_ack(22, 1, uavr11_info.get_radar_sensi,0); 3640 .loc 1 919 17 3641 0382 1F4B ldr r3, .L152+8 3642 0384 B3F91130 ldrsh r3, [r3, #17] @ unaligned 3643 0388 1AB2 sxth r2, r3 3644 038a 0023 movs r3, #0 3645 038c 0121 movs r1, #1 3646 038e 1620 movs r0, #22 3647 0390 FFF7FEFF bl pmu_set_ack 920:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_ack = false; 3648 .loc 1 920 49 3649 0394 1A4B ldr r3, .L152+8 3650 0396 0022 movs r2, #0 3651 0398 1A76 strb r2, [r3, #24] 921:user_src/soft_obstacle.c **** uavr11_info.fcu_set_sensi_flag = false; 3652 .loc 1 921 48 3653 039a 194B ldr r3, .L152+8 3654 039c 0022 movs r2, #0 3655 039e 1A75 strb r2, [r3, #20] 922:user_src/soft_obstacle.c **** } 923:user_src/soft_obstacle.c **** else if (uavr12_info.set_radar_sensi_ack == true) 924:user_src/soft_obstacle.c **** { 925:user_src/soft_obstacle.c **** pmu_set_ack(22, 2, uavr12_info.get_radar_sensi,0); 926:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_ack = false; 927:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag = false; 928:user_src/soft_obstacle.c **** } 929:user_src/soft_obstacle.c **** else if(uavr56_info.set_radar_sensi_ack == true) 930:user_src/soft_obstacle.c **** { 931:user_src/soft_obstacle.c **** pmu_set_ack(22, 6, uavr56_info.get_radar_sensi,0); 932:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_ack = false; 933:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag = false; 934:user_src/soft_obstacle.c **** } 935:user_src/soft_obstacle.c **** } 936:user_src/soft_obstacle.c **** } 937:user_src/soft_obstacle.c **** } 3656 .loc 1 937 1 3657 03a0 26E0 b .L149 3658 .L145: 923:user_src/soft_obstacle.c **** { 3659 .loc 1 923 33 3660 03a2 184B ldr r3, .L152+12 3661 03a4 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 923:user_src/soft_obstacle.c **** { 3662 .loc 1 923 21 3663 03a6 012B cmp r3, #1 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 86 3664 03a8 0FD1 bne .L146 925:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_ack = false; 3665 .loc 1 925 17 3666 03aa 164B ldr r3, .L152+12 3667 03ac B3F91130 ldrsh r3, [r3, #17] @ unaligned 3668 03b0 1AB2 sxth r2, r3 3669 03b2 0023 movs r3, #0 3670 03b4 0221 movs r1, #2 3671 03b6 1620 movs r0, #22 3672 03b8 FFF7FEFF bl pmu_set_ack 926:user_src/soft_obstacle.c **** uavr12_info.fcu_set_sensi_flag = false; 3673 .loc 1 926 49 3674 03bc 114B ldr r3, .L152+12 3675 03be 0022 movs r2, #0 3676 03c0 1A76 strb r2, [r3, #24] 927:user_src/soft_obstacle.c **** } 3677 .loc 1 927 48 3678 03c2 104B ldr r3, .L152+12 3679 03c4 0022 movs r2, #0 3680 03c6 1A75 strb r2, [r3, #20] 3681 .loc 1 937 1 3682 03c8 12E0 b .L149 3683 .L146: 929:user_src/soft_obstacle.c **** { 3684 .loc 1 929 32 3685 03ca 0B4B ldr r3, .L152 3686 03cc 1B7E ldrb r3, [r3, #24] @ zero_extendqisi2 929:user_src/soft_obstacle.c **** { 3687 .loc 1 929 20 3688 03ce 002B cmp r3, #0 3689 03d0 0ED0 beq .L149 931:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_ack = false; 3690 .loc 1 931 17 3691 03d2 094B ldr r3, .L152 3692 03d4 B3F91530 ldrsh r3, [r3, #21] @ unaligned 3693 03d8 1AB2 sxth r2, r3 3694 03da 0023 movs r3, #0 3695 03dc 0621 movs r1, #6 3696 03de 1620 movs r0, #22 3697 03e0 FFF7FEFF bl pmu_set_ack 932:user_src/soft_obstacle.c **** uavr56_info.fcu_set_sensi_flag = false; 3698 .loc 1 932 49 3699 03e4 044B ldr r3, .L152 3700 03e6 0022 movs r2, #0 3701 03e8 1A76 strb r2, [r3, #24] 933:user_src/soft_obstacle.c **** } 3702 .loc 1 933 48 3703 03ea 034B ldr r3, .L152 3704 03ec 0022 movs r2, #0 3705 03ee 9A74 strb r2, [r3, #18] 3706 .L149: 3707 .loc 1 937 1 3708 03f0 00BF nop 3709 03f2 1037 adds r7, r7, #16 3710 .LCFI35: 3711 .cfi_def_cfa_offset 8 3712 03f4 BD46 mov sp, r7 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 87 3713 .LCFI36: 3714 .cfi_def_cfa_register 13 3715 @ sp needed 3716 03f6 80BD pop {r7, pc} 3717 .L153: 3718 .align 2 3719 .L152: 3720 03f8 00000000 .word uavr56_info 3721 03fc 00000000 .word uavrhup_getr1_ack 3722 0400 00000000 .word uavr11_info 3723 0404 00000000 .word uavr12_info 3724 0408 00000000 .word radar_sensi_ack_time.7 3725 .cfi_endproc 3726 .LFE139: 3728 .section .text.can_recv_mocib_updata_read_set_hookfunction,"ax",%progbits 3729 .align 1 3730 .global can_recv_mocib_updata_read_set_hookfunction 3731 .syntax unified 3732 .thumb 3733 .thumb_func 3735 can_recv_mocib_updata_read_set_hookfunction: 3736 .LFB140: 938:user_src/soft_obstacle.c **** 939:user_src/soft_obstacle.c **** void can_recv_mocib_updata_read_set_hookfunction(uint32_t cellCanID, uint8_t data[]) 940:user_src/soft_obstacle.c **** { 3737 .loc 1 940 1 3738 .cfi_startproc 3739 @ args = 0, pretend = 0, frame = 8 3740 @ frame_needed = 1, uses_anonymous_args = 0 3741 @ link register save eliminated. 3742 0000 80B4 push {r7} 3743 .LCFI37: 3744 .cfi_def_cfa_offset 4 3745 .cfi_offset 7, -4 3746 0002 83B0 sub sp, sp, #12 3747 .LCFI38: 3748 .cfi_def_cfa_offset 16 3749 0004 00AF add r7, sp, #0 3750 .LCFI39: 3751 .cfi_def_cfa_register 7 3752 0006 7860 str r0, [r7, #4] 3753 0008 3960 str r1, [r7] 941:user_src/soft_obstacle.c **** //AG代码 和雷达升级不兼容,优先升级 942:user_src/soft_obstacle.c **** if (Rupdate.update_flag == true) 3754 .loc 1 942 16 3755 000a 734B ldr r3, .L176 3756 000c 1B79 ldrb r3, [r3, #4] @ zero_extendqisi2 3757 .loc 1 942 8 3758 000e 002B cmp r3, #0 3759 0010 33D0 beq .L155 943:user_src/soft_obstacle.c **** { 944:user_src/soft_obstacle.c **** //避障雷达升级 945:user_src/soft_obstacle.c **** if (Rupdate.buf_flag == false) 3760 .loc 1 945 20 3761 0012 714B ldr r3, .L176 3762 0014 DB78 ldrb r3, [r3, #3] @ zero_extendqisi2 3763 .loc 1 945 30 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 88 3764 0016 83F00103 eor r3, r3, #1 3765 001a DBB2 uxtb r3, r3 3766 .loc 1 945 12 3767 001c 002B cmp r3, #0 3768 001e 00F0CE80 beq .L171 946:user_src/soft_obstacle.c **** { 947:user_src/soft_obstacle.c **** memcpy(Rupdate.update_buf, data, 8); 3769 .loc 1 947 13 3770 0022 6D4B ldr r3, .L176 3771 0024 3A68 ldr r2, [r7] 3772 0026 0533 adds r3, r3, #5 3773 0028 1168 ldr r1, [r2] @ unaligned 3774 002a 5268 ldr r2, [r2, #4] @ unaligned 3775 002c 1960 str r1, [r3] @ unaligned 3776 002e 5A60 str r2, [r3, #4] @ unaligned 948:user_src/soft_obstacle.c **** Rupdate.buf_flag = true; 3777 .loc 1 948 30 3778 0030 694B ldr r3, .L176 3779 0032 0122 movs r2, #1 3780 0034 DA70 strb r2, [r3, #3] 949:user_src/soft_obstacle.c **** 950:user_src/soft_obstacle.c **** switch (cellCanID) 3781 .loc 1 950 13 3782 0036 7B68 ldr r3, [r7, #4] 3783 0038 40F2E672 movw r2, #2022 3784 003c 9342 cmp r3, r2 3785 003e 18D0 beq .L157 3786 0040 7B68 ldr r3, [r7, #4] 3787 0042 40F2E672 movw r2, #2022 3788 0046 9342 cmp r3, r2 3789 0048 00F2BB80 bhi .L172 3790 004c 7B68 ldr r3, [r7, #4] 3791 004e 40F2E172 movw r2, #2017 3792 0052 9342 cmp r3, r2 3793 0054 05D0 beq .L159 3794 0056 7B68 ldr r3, [r7, #4] 3795 0058 40F2E372 movw r2, #2019 3796 005c 9342 cmp r3, r2 3797 005e 04D0 beq .L160 951:user_src/soft_obstacle.c **** { 952:user_src/soft_obstacle.c **** case 0x7E1: 953:user_src/soft_obstacle.c **** Rupdate.U7E1 = true; 954:user_src/soft_obstacle.c **** break; 955:user_src/soft_obstacle.c **** case 0x7E3: 956:user_src/soft_obstacle.c **** Rupdate.U7E3 = true; 957:user_src/soft_obstacle.c **** break; 958:user_src/soft_obstacle.c **** case 0x7E6: 959:user_src/soft_obstacle.c **** Rupdate.U7E6 = true; 960:user_src/soft_obstacle.c **** break; 961:user_src/soft_obstacle.c **** default: 962:user_src/soft_obstacle.c **** break; 3798 .loc 1 962 17 3799 0060 AFE0 b .L172 3800 .L159: 953:user_src/soft_obstacle.c **** break; 3801 .loc 1 953 30 3802 0062 5D4B ldr r3, .L176 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 89 3803 0064 0122 movs r2, #1 3804 0066 1A70 strb r2, [r3] 954:user_src/soft_obstacle.c **** case 0x7E3: 3805 .loc 1 954 17 3806 0068 B0E0 b .L161 3807 .L160: 956:user_src/soft_obstacle.c **** break; 3808 .loc 1 956 30 3809 006a 5B4B ldr r3, .L176 3810 006c 0122 movs r2, #1 3811 006e 5A70 strb r2, [r3, #1] 957:user_src/soft_obstacle.c **** case 0x7E6: 3812 .loc 1 957 17 3813 0070 ACE0 b .L161 3814 .L157: 959:user_src/soft_obstacle.c **** break; 3815 .loc 1 959 30 3816 0072 594B ldr r3, .L176 3817 0074 0122 movs r2, #1 3818 0076 9A70 strb r2, [r3, #2] 960:user_src/soft_obstacle.c **** default: 3819 .loc 1 960 17 3820 0078 A8E0 b .L161 3821 .L155: 963:user_src/soft_obstacle.c **** } 964:user_src/soft_obstacle.c **** } 965:user_src/soft_obstacle.c **** } 966:user_src/soft_obstacle.c **** else 967:user_src/soft_obstacle.c **** { 968:user_src/soft_obstacle.c **** switch (cellCanID) 3822 .loc 1 968 9 3823 007a 7B68 ldr r3, [r7, #4] 3824 007c B3F5FF6F cmp r3, #2040 3825 0080 58D0 beq .L162 3826 0082 7B68 ldr r3, [r7, #4] 3827 0084 B3F5FF6F cmp r3, #2040 3828 0088 00F29D80 bhi .L173 3829 008c 7B68 ldr r3, [r7, #4] 3830 008e 40F2E172 movw r2, #2017 3831 0092 9342 cmp r3, r2 3832 0094 05D0 beq .L164 3833 0096 7B68 ldr r3, [r7, #4] 3834 0098 40F2F672 movw r2, #2038 3835 009c 9342 cmp r3, r2 3836 009e 04D0 beq .L165 969:user_src/soft_obstacle.c **** { 970:user_src/soft_obstacle.c **** //莫之比雷达反馈版本信息 971:user_src/soft_obstacle.c **** case CAN_UAVRH_UPDATE_R1: 972:user_src/soft_obstacle.c **** uavrhup_getr1_ack = true; 973:user_src/soft_obstacle.c **** break; 974:user_src/soft_obstacle.c **** //case CAN_UAVRH_VER_R: 975:user_src/soft_obstacle.c **** // if (uavr11_info.get_radar_ver_flag == false && can_get_uavr21_ver_comp == 1) 976:user_src/soft_obstacle.c **** // { 977:user_src/soft_obstacle.c **** // //char_to_hex_string(data, 4, uavr11_info.version, 10, "11"); 978:user_src/soft_obstacle.c **** // uavr11_info.get_radar_ver_flag = true; 979:user_src/soft_obstacle.c **** // //升完级发送版本信息 980:user_src/soft_obstacle.c **** // if(HAL_GetTick() > 10000) ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 90 981:user_src/soft_obstacle.c **** // { 982:user_src/soft_obstacle.c **** // pmu_send = VERSION; 983:user_src/soft_obstacle.c **** // } 984:user_src/soft_obstacle.c **** // } 985:user_src/soft_obstacle.c **** // else if (uavr12_info.get_radar_ver_flag == false && can_get_uavr21_ver_comp == 2) 986:user_src/soft_obstacle.c **** // { 987:user_src/soft_obstacle.c **** // //char_to_hex_string(data, 4, uavr12_info.version, 10, "12"); 988:user_src/soft_obstacle.c **** // uavr12_info.get_radar_ver_flag = true; 989:user_src/soft_obstacle.c **** // if(HAL_GetTick() > 10000) 990:user_src/soft_obstacle.c **** // { 991:user_src/soft_obstacle.c **** // pmu_send = VERSION; 992:user_src/soft_obstacle.c **** // } 993:user_src/soft_obstacle.c **** // } 994:user_src/soft_obstacle.c **** // else if (uavr56_info.get_radar_ver_flag == false && can_get_uavr21_ver_comp == 3) 995:user_src/soft_obstacle.c **** // { 996:user_src/soft_obstacle.c **** // //char_to_hex_string(data, 4, uavr56_info.version, 10, "56"); 997:user_src/soft_obstacle.c **** // uavr56_info.get_radar_ver_flag = true; 998:user_src/soft_obstacle.c **** // if(HAL_GetTick() > 10000) 999:user_src/soft_obstacle.c **** // { 1000:user_src/soft_obstacle.c **** // pmu_send = VERSION; 1001:user_src/soft_obstacle.c **** // } 1002:user_src/soft_obstacle.c **** // } 1003:user_src/soft_obstacle.c **** // break; 1004:user_src/soft_obstacle.c **** //莫之比雷达设置灵敏度及反馈 1005:user_src/soft_obstacle.c **** case CAN_UAVRH_SENSI_SA: 1006:user_src/soft_obstacle.c **** if (data[0] == 0x11) 1007:user_src/soft_obstacle.c **** { 1008:user_src/soft_obstacle.c **** uavr11_info.set_radar_sensi_ack = true; 1009:user_src/soft_obstacle.c **** //莫之比大端模式 1010:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 1011:user_src/soft_obstacle.c **** } 1012:user_src/soft_obstacle.c **** else if (data[0] == 0x12) 1013:user_src/soft_obstacle.c **** { 1014:user_src/soft_obstacle.c **** uavr12_info.set_radar_sensi_ack = true; 1015:user_src/soft_obstacle.c **** //莫之比大端模式 1016:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 1017:user_src/soft_obstacle.c **** } 1018:user_src/soft_obstacle.c **** else if(data[0] == 0x0B) 1019:user_src/soft_obstacle.c **** { 1020:user_src/soft_obstacle.c **** uavr56_info.set_radar_sensi_ack = true; 1021:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 1022:user_src/soft_obstacle.c **** } 1023:user_src/soft_obstacle.c **** break; 1024:user_src/soft_obstacle.c **** //莫之比雷达读取灵敏度及反馈 1025:user_src/soft_obstacle.c **** case CAN_UAVRH_SENSI_RA: 1026:user_src/soft_obstacle.c **** if (data[0] == 0x11) 1027:user_src/soft_obstacle.c **** { 1028:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi_flag = true; 1029:user_src/soft_obstacle.c **** //莫之比大端模式 1030:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 1031:user_src/soft_obstacle.c **** } 1032:user_src/soft_obstacle.c **** else if (data[0] == 0x12) 1033:user_src/soft_obstacle.c **** { 1034:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi_flag = true; //莫之比大端模式 1035:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 1036:user_src/soft_obstacle.c **** } 1037:user_src/soft_obstacle.c **** else if(data[0] == 0x0B) ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 91 1038:user_src/soft_obstacle.c **** { 1039:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi_flag = true; 1040:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 1041:user_src/soft_obstacle.c **** } 1042:user_src/soft_obstacle.c **** default: 1043:user_src/soft_obstacle.c **** break; 3837 .loc 1 1043 13 3838 00a0 91E0 b .L173 3839 .L164: 972:user_src/soft_obstacle.c **** break; 3840 .loc 1 972 31 3841 00a2 4E4B ldr r3, .L176+4 3842 00a4 0122 movs r2, #1 3843 00a6 1A70 strb r2, [r3] 973:user_src/soft_obstacle.c **** //case CAN_UAVRH_VER_R: 3844 .loc 1 973 13 3845 00a8 90E0 b .L161 3846 .L165: 1006:user_src/soft_obstacle.c **** { 3847 .loc 1 1006 21 3848 00aa 3B68 ldr r3, [r7] 3849 00ac 1B78 ldrb r3, [r3] @ zero_extendqisi2 1006:user_src/soft_obstacle.c **** { 3850 .loc 1 1006 16 3851 00ae 112B cmp r3, #17 3852 00b0 12D1 bne .L166 1008:user_src/soft_obstacle.c **** //莫之比大端模式 3853 .loc 1 1008 49 3854 00b2 4B4B ldr r3, .L176+8 3855 00b4 0122 movs r2, #1 3856 00b6 1A76 strb r2, [r3, #24] 1010:user_src/soft_obstacle.c **** } 3857 .loc 1 1010 53 3858 00b8 3B68 ldr r3, [r7] 3859 00ba 0133 adds r3, r3, #1 3860 00bc 1B78 ldrb r3, [r3] @ zero_extendqisi2 1010:user_src/soft_obstacle.c **** } 3861 .loc 1 1010 57 3862 00be 1B02 lsls r3, r3, #8 1010:user_src/soft_obstacle.c **** } 3863 .loc 1 1010 73 3864 00c0 9AB2 uxth r2, r3 1010:user_src/soft_obstacle.c **** } 3865 .loc 1 1010 79 3866 00c2 3B68 ldr r3, [r7] 3867 00c4 0233 adds r3, r3, #2 3868 00c6 1B78 ldrb r3, [r3] @ zero_extendqisi2 3869 00c8 9BB2 uxth r3, r3 1010:user_src/soft_obstacle.c **** } 3870 .loc 1 1010 73 3871 00ca 1344 add r3, r3, r2 3872 00cc 9BB2 uxth r3, r3 3873 00ce 1AB2 sxth r2, r3 1010:user_src/soft_obstacle.c **** } 3874 .loc 1 1010 45 3875 00d0 434B ldr r3, .L176+8 3876 00d2 A3F81120 strh r2, [r3, #17] @ unaligned ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 92 1023:user_src/soft_obstacle.c **** //莫之比雷达读取灵敏度及反馈 3877 .loc 1 1023 13 3878 00d6 78E0 b .L174 3879 .L166: 1012:user_src/soft_obstacle.c **** { 3880 .loc 1 1012 26 3881 00d8 3B68 ldr r3, [r7] 3882 00da 1B78 ldrb r3, [r3] @ zero_extendqisi2 1012:user_src/soft_obstacle.c **** { 3883 .loc 1 1012 21 3884 00dc 122B cmp r3, #18 3885 00de 12D1 bne .L168 1014:user_src/soft_obstacle.c **** //莫之比大端模式 3886 .loc 1 1014 49 3887 00e0 404B ldr r3, .L176+12 3888 00e2 0122 movs r2, #1 3889 00e4 1A76 strb r2, [r3, #24] 1016:user_src/soft_obstacle.c **** } 3890 .loc 1 1016 53 3891 00e6 3B68 ldr r3, [r7] 3892 00e8 0133 adds r3, r3, #1 3893 00ea 1B78 ldrb r3, [r3] @ zero_extendqisi2 1016:user_src/soft_obstacle.c **** } 3894 .loc 1 1016 57 3895 00ec 1B02 lsls r3, r3, #8 1016:user_src/soft_obstacle.c **** } 3896 .loc 1 1016 73 3897 00ee 9AB2 uxth r2, r3 1016:user_src/soft_obstacle.c **** } 3898 .loc 1 1016 79 3899 00f0 3B68 ldr r3, [r7] 3900 00f2 0233 adds r3, r3, #2 3901 00f4 1B78 ldrb r3, [r3] @ zero_extendqisi2 3902 00f6 9BB2 uxth r3, r3 1016:user_src/soft_obstacle.c **** } 3903 .loc 1 1016 73 3904 00f8 1344 add r3, r3, r2 3905 00fa 9BB2 uxth r3, r3 3906 00fc 1AB2 sxth r2, r3 1016:user_src/soft_obstacle.c **** } 3907 .loc 1 1016 45 3908 00fe 394B ldr r3, .L176+12 3909 0100 A3F81120 strh r2, [r3, #17] @ unaligned 1023:user_src/soft_obstacle.c **** //莫之比雷达读取灵敏度及反馈 3910 .loc 1 1023 13 3911 0104 61E0 b .L174 3912 .L168: 1018:user_src/soft_obstacle.c **** { 3913 .loc 1 1018 25 3914 0106 3B68 ldr r3, [r7] 3915 0108 1B78 ldrb r3, [r3] @ zero_extendqisi2 1018:user_src/soft_obstacle.c **** { 3916 .loc 1 1018 20 3917 010a 0B2B cmp r3, #11 3918 010c 5DD1 bne .L174 1020:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 3919 .loc 1 1020 49 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 93 3920 010e 364B ldr r3, .L176+16 3921 0110 0122 movs r2, #1 3922 0112 1A76 strb r2, [r3, #24] 1021:user_src/soft_obstacle.c **** } 3923 .loc 1 1021 53 3924 0114 3B68 ldr r3, [r7] 3925 0116 0133 adds r3, r3, #1 3926 0118 1B78 ldrb r3, [r3] @ zero_extendqisi2 1021:user_src/soft_obstacle.c **** } 3927 .loc 1 1021 57 3928 011a 1B02 lsls r3, r3, #8 1021:user_src/soft_obstacle.c **** } 3929 .loc 1 1021 73 3930 011c 9AB2 uxth r2, r3 1021:user_src/soft_obstacle.c **** } 3931 .loc 1 1021 79 3932 011e 3B68 ldr r3, [r7] 3933 0120 0233 adds r3, r3, #2 3934 0122 1B78 ldrb r3, [r3] @ zero_extendqisi2 3935 0124 9BB2 uxth r3, r3 1021:user_src/soft_obstacle.c **** } 3936 .loc 1 1021 73 3937 0126 1344 add r3, r3, r2 3938 0128 9BB2 uxth r3, r3 3939 012a 1AB2 sxth r2, r3 1021:user_src/soft_obstacle.c **** } 3940 .loc 1 1021 45 3941 012c 2E4B ldr r3, .L176+16 3942 012e A3F81520 strh r2, [r3, #21] @ unaligned 1023:user_src/soft_obstacle.c **** //莫之比雷达读取灵敏度及反馈 3943 .loc 1 1023 13 3944 0132 4AE0 b .L174 3945 .L162: 1026:user_src/soft_obstacle.c **** { 3946 .loc 1 1026 21 3947 0134 3B68 ldr r3, [r7] 3948 0136 1B78 ldrb r3, [r3] @ zero_extendqisi2 1026:user_src/soft_obstacle.c **** { 3949 .loc 1 1026 16 3950 0138 112B cmp r3, #17 3951 013a 12D1 bne .L169 1028:user_src/soft_obstacle.c **** //莫之比大端模式 3952 .loc 1 1028 50 3953 013c 284B ldr r3, .L176+8 3954 013e 0122 movs r2, #1 3955 0140 DA74 strb r2, [r3, #19] 1030:user_src/soft_obstacle.c **** } 3956 .loc 1 1030 53 3957 0142 3B68 ldr r3, [r7] 3958 0144 0133 adds r3, r3, #1 3959 0146 1B78 ldrb r3, [r3] @ zero_extendqisi2 1030:user_src/soft_obstacle.c **** } 3960 .loc 1 1030 57 3961 0148 1B02 lsls r3, r3, #8 1030:user_src/soft_obstacle.c **** } 3962 .loc 1 1030 73 3963 014a 9AB2 uxth r2, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 94 1030:user_src/soft_obstacle.c **** } 3964 .loc 1 1030 79 3965 014c 3B68 ldr r3, [r7] 3966 014e 0233 adds r3, r3, #2 3967 0150 1B78 ldrb r3, [r3] @ zero_extendqisi2 3968 0152 9BB2 uxth r3, r3 1030:user_src/soft_obstacle.c **** } 3969 .loc 1 1030 73 3970 0154 1344 add r3, r3, r2 3971 0156 9BB2 uxth r3, r3 3972 0158 1AB2 sxth r2, r3 1030:user_src/soft_obstacle.c **** } 3973 .loc 1 1030 45 3974 015a 214B ldr r3, .L176+8 3975 015c A3F81120 strh r2, [r3, #17] @ unaligned 3976 .loc 1 1043 13 3977 0160 31E0 b .L173 3978 .L169: 1032:user_src/soft_obstacle.c **** { 3979 .loc 1 1032 26 3980 0162 3B68 ldr r3, [r7] 3981 0164 1B78 ldrb r3, [r3] @ zero_extendqisi2 1032:user_src/soft_obstacle.c **** { 3982 .loc 1 1032 21 3983 0166 122B cmp r3, #18 3984 0168 12D1 bne .L170 1034:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 3985 .loc 1 1034 50 3986 016a 1E4B ldr r3, .L176+12 3987 016c 0122 movs r2, #1 3988 016e DA74 strb r2, [r3, #19] 1035:user_src/soft_obstacle.c **** } 3989 .loc 1 1035 53 3990 0170 3B68 ldr r3, [r7] 3991 0172 0133 adds r3, r3, #1 3992 0174 1B78 ldrb r3, [r3] @ zero_extendqisi2 1035:user_src/soft_obstacle.c **** } 3993 .loc 1 1035 57 3994 0176 1B02 lsls r3, r3, #8 1035:user_src/soft_obstacle.c **** } 3995 .loc 1 1035 73 3996 0178 9AB2 uxth r2, r3 1035:user_src/soft_obstacle.c **** } 3997 .loc 1 1035 79 3998 017a 3B68 ldr r3, [r7] 3999 017c 0233 adds r3, r3, #2 4000 017e 1B78 ldrb r3, [r3] @ zero_extendqisi2 4001 0180 9BB2 uxth r3, r3 1035:user_src/soft_obstacle.c **** } 4002 .loc 1 1035 73 4003 0182 1344 add r3, r3, r2 4004 0184 9BB2 uxth r3, r3 4005 0186 1AB2 sxth r2, r3 1035:user_src/soft_obstacle.c **** } 4006 .loc 1 1035 45 4007 0188 164B ldr r3, .L176+12 4008 018a A3F81120 strh r2, [r3, #17] @ unaligned ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 95 4009 .loc 1 1043 13 4010 018e 1AE0 b .L173 4011 .L170: 1037:user_src/soft_obstacle.c **** { 4012 .loc 1 1037 25 4013 0190 3B68 ldr r3, [r7] 4014 0192 1B78 ldrb r3, [r3] @ zero_extendqisi2 1037:user_src/soft_obstacle.c **** { 4015 .loc 1 1037 20 4016 0194 0B2B cmp r3, #11 4017 0196 16D1 bne .L173 1039:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; 4018 .loc 1 1039 50 4019 0198 134B ldr r3, .L176+16 4020 019a 0122 movs r2, #1 4021 019c 5A74 strb r2, [r3, #17] 1040:user_src/soft_obstacle.c **** } 4022 .loc 1 1040 53 4023 019e 3B68 ldr r3, [r7] 4024 01a0 0133 adds r3, r3, #1 4025 01a2 1B78 ldrb r3, [r3] @ zero_extendqisi2 1040:user_src/soft_obstacle.c **** } 4026 .loc 1 1040 57 4027 01a4 1B02 lsls r3, r3, #8 1040:user_src/soft_obstacle.c **** } 4028 .loc 1 1040 73 4029 01a6 9AB2 uxth r2, r3 1040:user_src/soft_obstacle.c **** } 4030 .loc 1 1040 79 4031 01a8 3B68 ldr r3, [r7] 4032 01aa 0233 adds r3, r3, #2 4033 01ac 1B78 ldrb r3, [r3] @ zero_extendqisi2 4034 01ae 9BB2 uxth r3, r3 1040:user_src/soft_obstacle.c **** } 4035 .loc 1 1040 73 4036 01b0 1344 add r3, r3, r2 4037 01b2 9BB2 uxth r3, r3 4038 01b4 1AB2 sxth r2, r3 1040:user_src/soft_obstacle.c **** } 4039 .loc 1 1040 45 4040 01b6 0C4B ldr r3, .L176+16 4041 01b8 A3F81520 strh r2, [r3, #21] @ unaligned 4042 .loc 1 1043 13 4043 01bc 03E0 b .L173 4044 .L171: 964:user_src/soft_obstacle.c **** } 4045 .loc 1 964 9 4046 01be 00BF nop 4047 01c0 04E0 b .L175 4048 .L172: 962:user_src/soft_obstacle.c **** } 4049 .loc 1 962 17 4050 01c2 00BF nop 4051 01c4 02E0 b .L175 4052 .L173: 4053 .loc 1 1043 13 4054 01c6 00BF nop ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 96 4055 01c8 00E0 b .L175 4056 .L174: 1023:user_src/soft_obstacle.c **** //莫之比雷达读取灵敏度及反馈 4057 .loc 1 1023 13 4058 01ca 00BF nop 4059 .L161: 4060 .L175: 1044:user_src/soft_obstacle.c **** } 1045:user_src/soft_obstacle.c **** } 1046:user_src/soft_obstacle.c **** } 4061 .loc 1 1046 1 4062 01cc 00BF nop 4063 01ce 0C37 adds r7, r7, #12 4064 .LCFI40: 4065 .cfi_def_cfa_offset 4 4066 01d0 BD46 mov sp, r7 4067 .LCFI41: 4068 .cfi_def_cfa_register 13 4069 @ sp needed 4070 01d2 5DF8047B ldr r7, [sp], #4 4071 .LCFI42: 4072 .cfi_restore 7 4073 .cfi_def_cfa_offset 0 4074 01d6 7047 bx lr 4075 .L177: 4076 .align 2 4077 .L176: 4078 01d8 00000000 .word Rupdate 4079 01dc 00000000 .word uavrhup_getr1_ack 4080 01e0 00000000 .word uavr11_info 4081 01e4 00000000 .word uavr12_info 4082 01e8 00000000 .word uavr56_info 4083 .cfi_endproc 4084 .LFE140: 4086 .section .text.can_send_info_to_mimo,"ax",%progbits 4087 .align 1 4088 .global can_send_info_to_mimo 4089 .syntax unified 4090 .thumb 4091 .thumb_func 4093 can_send_info_to_mimo: 4094 .LFB141: 1047:user_src/soft_obstacle.c **** 1048:user_src/soft_obstacle.c **** 1049:user_src/soft_obstacle.c **** /** 1050:user_src/soft_obstacle.c **** * @file can_send_info_to_mimo 1051:user_src/soft_obstacle.c **** * @brief 给恩曌避障发送姿态信息 1052:user_src/soft_obstacle.c **** * @param none 1053:user_src/soft_obstacle.c **** * @details 1054:user_src/soft_obstacle.c **** * @author Zhang Sir 1055:user_src/soft_obstacle.c **** **/ 1056:user_src/soft_obstacle.c **** void can_send_info_to_mimo() 1057:user_src/soft_obstacle.c **** { 4095 .loc 1 1057 1 4096 .cfi_startproc 4097 @ args = 0, pretend = 0, frame = 24 4098 @ frame_needed = 1, uses_anonymous_args = 0 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 97 4099 0000 80B5 push {r7, lr} 4100 .LCFI43: 4101 .cfi_def_cfa_offset 8 4102 .cfi_offset 7, -8 4103 .cfi_offset 14, -4 4104 0002 2DED028B vpush.64 {d8} 4105 .LCFI44: 4106 .cfi_def_cfa_offset 16 4107 .cfi_offset 80, -16 4108 .cfi_offset 81, -12 4109 0006 86B0 sub sp, sp, #24 4110 .LCFI45: 4111 .cfi_def_cfa_offset 40 4112 0008 00AF add r7, sp, #0 4113 .LCFI46: 4114 .cfi_def_cfa_register 7 1058:user_src/soft_obstacle.c **** static int mimo_50HZ = 0; 1059:user_src/soft_obstacle.c **** static int mimo_49HZ = 0; 1060:user_src/soft_obstacle.c **** if (mimo_f_info.Link.connect_status == COMP_NORMAL || mimo_b_info.Link.connect_status == COMP_N 4115 .loc 1 1060 25 4116 000a 364B ldr r3, .L186 4117 000c 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 4118 .loc 1 1060 8 4119 000e 012B cmp r3, #1 4120 0010 0FD0 beq .L179 4121 .loc 1 1060 75 discriminator 1 4122 0012 354B ldr r3, .L186+4 4123 0014 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 4124 .loc 1 1060 56 discriminator 1 4125 0016 012B cmp r3, #1 4126 0018 0BD0 beq .L179 1061:user_src/soft_obstacle.c **** mimo_360_info.connect_status == COMP_NORMAL*/ || (Dev.Part_Fradar_Link.connect_status == CO 4127 .loc 1 1061 79 4128 001a 344B ldr r3, .L186+8 4129 001c 93F85C32 ldrb r3, [r3, #604] @ zero_extendqisi2 4130 .loc 1 1061 55 4131 0020 012B cmp r3, #1 4132 0022 40F0A881 bne .L185 4133 .loc 1 1061 128 discriminator 1 4134 0026 314B ldr r3, .L186+8 4135 0028 93F84032 ldrb r3, [r3, #576] @ zero_extendqisi2 4136 .loc 1 1061 110 discriminator 1 4137 002c 152B cmp r3, #21 4138 002e 40F0A281 bne .L185 4139 .L179: 4140 .LBB12: 1062:user_src/soft_obstacle.c **** { 1063:user_src/soft_obstacle.c **** int16_t index = 0; 4141 .loc 1 1063 17 4142 0032 0023 movs r3, #0 4143 0034 FB82 strh r3, [r7, #22] @ movhi 1064:user_src/soft_obstacle.c **** short tmpShort = 0; 4144 .loc 1 1064 15 4145 0036 0023 movs r3, #0 4146 0038 7B82 strh r3, [r7, #18] @ movhi 1065:user_src/soft_obstacle.c **** int8_t tmpChar = 0; 4147 .loc 1 1065 16 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 98 4148 003a 0023 movs r3, #0 4149 003c 7B75 strb r3, [r7, #21] 1066:user_src/soft_obstacle.c **** uint8_t send_mimo_data[8] = {0}; 4150 .loc 1 1066 17 4151 003e 0023 movs r3, #0 4152 0040 BB60 str r3, [r7, #8] 4153 0042 0023 movs r3, #0 4154 0044 FB60 str r3, [r7, #12] 1067:user_src/soft_obstacle.c **** 1068:user_src/soft_obstacle.c **** if (HAL_GetTick() - mimo_50HZ > 20) 4155 .loc 1 1068 13 4156 0046 FFF7FEFF bl HAL_GetTick 4157 004a 0346 mov r3, r0 4158 .loc 1 1068 27 4159 004c 284A ldr r2, .L186+12 4160 004e 1268 ldr r2, [r2] 4161 0050 9B1A subs r3, r3, r2 4162 .loc 1 1068 12 4163 0052 142B cmp r3, #20 4164 0054 40F2D180 bls .L181 1069:user_src/soft_obstacle.c **** { 1070:user_src/soft_obstacle.c **** mimo_50HZ = HAL_GetTick(); 4165 .loc 1 1070 25 4166 0058 FFF7FEFF bl HAL_GetTick 4167 005c 0346 mov r3, r0 4168 005e 1A46 mov r2, r3 4169 .loc 1 1070 23 4170 0060 234B ldr r3, .L186+12 4171 0062 1A60 str r2, [r3] 1071:user_src/soft_obstacle.c **** 1072:user_src/soft_obstacle.c **** 1073:user_src/soft_obstacle.c **** 1074:user_src/soft_obstacle.c **** // tmpShort = 1; 1075:user_src/soft_obstacle.c **** // short2buf(&send_mimo_data[index], &tmpShort); 1076:user_src/soft_obstacle.c **** // index += 2; 1077:user_src/soft_obstacle.c **** // // 俯仰 1078:user_src/soft_obstacle.c **** // tmpShort = planep.pitch_angle; 1079:user_src/soft_obstacle.c **** // short2buf(&send_mimo_data[index], &tmpShort); 1080:user_src/soft_obstacle.c **** // index += 2; 1081:user_src/soft_obstacle.c **** 1082:user_src/soft_obstacle.c **** // // 横滚 1083:user_src/soft_obstacle.c **** // tmpShort = planep.roll_angle; 1084:user_src/soft_obstacle.c **** // short2buf(&send_mimo_data[index], &tmpShort); 1085:user_src/soft_obstacle.c **** // index += 2; 1086:user_src/soft_obstacle.c **** 1087:user_src/soft_obstacle.c **** // //航向 1088:user_src/soft_obstacle.c **** // if(planep.yaw < 0) 1089:user_src/soft_obstacle.c **** // tmpShort = planep.yaw + 360; 1090:user_src/soft_obstacle.c **** // else 1091:user_src/soft_obstacle.c **** // tmpShort = planep.yaw; 1092:user_src/soft_obstacle.c **** 1093:user_src/soft_obstacle.c **** // short2buf(&send_mimo_data[index], &tmpShort); 1094:user_src/soft_obstacle.c **** // index += 2; 1095:user_src/soft_obstacle.c **** 1096:user_src/soft_obstacle.c **** // can_send_msg_normal(send_mimo_data, sizeof(send_mimo_data), 0x3740403); 1097:user_src/soft_obstacle.c **** 1098:user_src/soft_obstacle.c **** index = 0; ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 99 4172 .loc 1 1098 19 4173 0064 0023 movs r3, #0 4174 0066 FB82 strh r3, [r7, #22] @ movhi 1099:user_src/soft_obstacle.c **** // 俯仰 1100:user_src/soft_obstacle.c **** tmpShort = -planep.roll_angle; 4175 .loc 1 1100 31 4176 0068 224B ldr r3, .L186+16 4177 006a B3F90230 ldrsh r3, [r3, #2] @ unaligned 4178 006e 1BB2 sxth r3, r3 4179 0070 9BB2 uxth r3, r3 4180 .loc 1 1100 22 4181 0072 5B42 rsbs r3, r3, #0 4182 0074 9BB2 uxth r3, r3 4183 0076 1BB2 sxth r3, r3 4184 0078 7B82 strh r3, [r7, #18] @ movhi 1101:user_src/soft_obstacle.c **** short2buf(&send_mimo_data[index], &tmpShort); 4185 .loc 1 1101 38 4186 007a B7F91630 ldrsh r3, [r7, #22] 4187 .loc 1 1101 23 4188 007e 07F10802 add r2, r7, #8 4189 0082 1344 add r3, r3, r2 4190 .loc 1 1101 13 4191 0084 07F11202 add r2, r7, #18 4192 0088 1146 mov r1, r2 4193 008a 1846 mov r0, r3 4194 008c FFF7FEFF bl short2buf 1102:user_src/soft_obstacle.c **** index += 2; 4195 .loc 1 1102 19 4196 0090 FB8A ldrh r3, [r7, #22] 4197 0092 0233 adds r3, r3, #2 4198 0094 9BB2 uxth r3, r3 4199 0096 FB82 strh r3, [r7, #22] @ movhi 1103:user_src/soft_obstacle.c **** 1104:user_src/soft_obstacle.c **** // 横滚 1105:user_src/soft_obstacle.c **** tmpShort = planep.pitch_angle; 4200 .loc 1 1105 30 4201 0098 164B ldr r3, .L186+16 4202 009a B3F90430 ldrsh r3, [r3, #4] @ unaligned 4203 009e 1BB2 sxth r3, r3 4204 .loc 1 1105 22 4205 00a0 7B82 strh r3, [r7, #18] @ movhi 1106:user_src/soft_obstacle.c **** short2buf(&send_mimo_data[index], &tmpShort); 4206 .loc 1 1106 38 4207 00a2 B7F91630 ldrsh r3, [r7, #22] 4208 .loc 1 1106 23 4209 00a6 07F10802 add r2, r7, #8 4210 00aa 1344 add r3, r3, r2 4211 .loc 1 1106 13 4212 00ac 07F11202 add r2, r7, #18 4213 00b0 1146 mov r1, r2 4214 00b2 1846 mov r0, r3 4215 00b4 FFF7FEFF bl short2buf 1107:user_src/soft_obstacle.c **** index += 2; 4216 .loc 1 1107 19 4217 00b8 FB8A ldrh r3, [r7, #22] 4218 00ba 0233 adds r3, r3, #2 4219 00bc 9BB2 uxth r3, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 100 4220 00be FB82 strh r3, [r7, #22] @ movhi 1108:user_src/soft_obstacle.c **** 1109:user_src/soft_obstacle.c **** //航向 1110:user_src/soft_obstacle.c **** if(planep.yaw < 0) 4221 .loc 1 1110 22 4222 00c0 0C4B ldr r3, .L186+16 4223 00c2 B3F90030 ldrsh r3, [r3] @ unaligned 4224 00c6 1BB2 sxth r3, r3 4225 .loc 1 1110 15 4226 00c8 002B cmp r3, #0 4227 00ca 15DA bge .L182 1111:user_src/soft_obstacle.c **** tmpShort = planep.yaw + 360; 4228 .loc 1 1111 34 4229 00cc 094B ldr r3, .L186+16 4230 00ce B3F90030 ldrsh r3, [r3] @ unaligned 4231 00d2 1BB2 sxth r3, r3 4232 00d4 9BB2 uxth r3, r3 4233 .loc 1 1111 39 4234 00d6 03F5B473 add r3, r3, #360 4235 00da 9BB2 uxth r3, r3 4236 00dc 1BB2 sxth r3, r3 4237 .loc 1 1111 26 4238 00de 7B82 strh r3, [r7, #18] @ movhi 4239 00e0 0FE0 b .L183 4240 .L187: 4241 00e2 00BF .align 2 4242 .L186: 4243 00e4 00000000 .word mimo_f_info 4244 00e8 00000000 .word mimo_b_info 4245 00ec 00000000 .word Dev 4246 00f0 00000000 .word mimo_50HZ.6 4247 00f4 00000000 .word planep 4248 .L182: 1112:user_src/soft_obstacle.c **** else 1113:user_src/soft_obstacle.c **** tmpShort = planep.yaw; 4249 .loc 1 1113 34 4250 00f8 A24B ldr r3, .L188 4251 00fa B3F90030 ldrsh r3, [r3] @ unaligned 4252 00fe 1BB2 sxth r3, r3 4253 .loc 1 1113 26 4254 0100 7B82 strh r3, [r7, #18] @ movhi 4255 .L183: 1114:user_src/soft_obstacle.c **** short2buf(&send_mimo_data[index], &tmpShort); 4256 .loc 1 1114 38 4257 0102 B7F91630 ldrsh r3, [r7, #22] 4258 .loc 1 1114 23 4259 0106 07F10802 add r2, r7, #8 4260 010a 1344 add r3, r3, r2 4261 .loc 1 1114 13 4262 010c 07F11202 add r2, r7, #18 4263 0110 1146 mov r1, r2 4264 0112 1846 mov r0, r3 4265 0114 FFF7FEFF bl short2buf 1115:user_src/soft_obstacle.c **** index += 2; 4266 .loc 1 1115 19 4267 0118 FB8A ldrh r3, [r7, #22] 4268 011a 0233 adds r3, r3, #2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 101 4269 011c 9BB2 uxth r3, r3 4270 011e FB82 strh r3, [r7, #22] @ movhi 1116:user_src/soft_obstacle.c **** 1117:user_src/soft_obstacle.c **** // 前后速度 1118:user_src/soft_obstacle.c **** tmpChar = (planep.E_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD) + 4271 .loc 1 1118 30 4272 0120 984B ldr r3, .L188 4273 0122 B3F90830 ldrsh r3, [r3, #8] @ unaligned 4274 0126 1BB2 sxth r3, r3 4275 .loc 1 1118 37 4276 0128 07EE903A vmov s15, r3 @ int 4277 012c B8EEE78A vcvt.f32.s32 s16, s15 4278 .loc 1 1118 50 4279 0130 944B ldr r3, .L188 4280 0132 B3F90030 ldrsh r3, [r3] @ unaligned 4281 0136 1BB2 sxth r3, r3 4282 .loc 1 1118 55 4283 0138 07EE903A vmov s15, r3 @ int 4284 013c B8EEE77A vcvt.f32.s32 s14, s15 4285 0140 DFED916A vldr.32 s13, .L188+4 4286 0144 C7EE267A vdiv.f32 s15, s14, s13 4287 .loc 1 1118 39 4288 0148 9FED907A vldr.32 s14, .L188+8 4289 014c 67EE877A vmul.f32 s15, s15, s14 4290 0150 B0EE670A vmov.f32 s0, s15 4291 0154 FFF7FEFF bl sinf 4292 0158 F0EE407A vmov.f32 s15, s0 4293 .loc 1 1118 37 4294 015c 28EE278A vmul.f32 s16, s16, s15 1119:user_src/soft_obstacle.c **** planep.N_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD)) / 4295 .loc 1 1119 30 4296 0160 884B ldr r3, .L188 4297 0162 B3F90A30 ldrsh r3, [r3, #10] @ unaligned 4298 0166 1BB2 sxth r3, r3 4299 .loc 1 1119 37 4300 0168 07EE903A vmov s15, r3 @ int 4301 016c F8EEE78A vcvt.f32.s32 s17, s15 4302 .loc 1 1119 50 4303 0170 844B ldr r3, .L188 4304 0172 B3F90030 ldrsh r3, [r3] @ unaligned 4305 0176 1BB2 sxth r3, r3 4306 .loc 1 1119 55 4307 0178 07EE903A vmov s15, r3 @ int 4308 017c B8EEE77A vcvt.f32.s32 s14, s15 4309 0180 DFED816A vldr.32 s13, .L188+4 4310 0184 C7EE267A vdiv.f32 s15, s14, s13 4311 .loc 1 1119 39 4312 0188 9FED807A vldr.32 s14, .L188+8 4313 018c 67EE877A vmul.f32 s15, s15, s14 4314 0190 B0EE670A vmov.f32 s0, s15 4315 0194 FFF7FEFF bl cosf 4316 0198 F0EE407A vmov.f32 s15, s0 4317 .loc 1 1119 37 4318 019c 68EEA77A vmul.f32 s15, s17, s15 1118:user_src/soft_obstacle.c **** planep.N_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD)) / 4319 .loc 1 1118 78 4320 01a0 38EE277A vadd.f32 s14, s16, s15 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 102 4321 .loc 1 1119 79 4322 01a4 F2EE046A vmov.f32 s13, #1.0e+1 4323 01a8 C7EE267A vdiv.f32 s15, s14, s13 1118:user_src/soft_obstacle.c **** planep.N_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD)) / 4324 .loc 1 1118 21 4325 01ac FDEEE77A vcvt.s32.f32 s15, s15 4326 01b0 C7ED017A vstr.32 s15, [r7, #4] @ int 4327 01b4 3B79 ldrb r3, [r7, #4] 4328 01b6 7B75 strb r3, [r7, #21] 1120:user_src/soft_obstacle.c **** 10; //0.1m/s 1121:user_src/soft_obstacle.c **** send_mimo_data[index++] = tmpChar; 4329 .loc 1 1121 33 4330 01b8 B7F91620 ldrsh r2, [r7, #22] 4331 01bc 93B2 uxth r3, r2 4332 01be 0133 adds r3, r3, #1 4333 01c0 9BB2 uxth r3, r3 4334 01c2 FB82 strh r3, [r7, #22] @ movhi 4335 01c4 1346 mov r3, r2 4336 .loc 1 1121 37 4337 01c6 7A7D ldrb r2, [r7, #21] @ zero_extendqisi2 4338 01c8 1033 adds r3, r3, #16 4339 01ca 07F10801 add r1, r7, #8 4340 01ce 0B44 add r3, r3, r1 4341 01d0 03F8102C strb r2, [r3, #-16] 1122:user_src/soft_obstacle.c **** 1123:user_src/soft_obstacle.c **** //雷达安装俯仰角 1124:user_src/soft_obstacle.c **** tmpChar = 0; 4342 .loc 1 1124 21 4343 01d4 0023 movs r3, #0 4344 01d6 7B75 strb r3, [r7, #21] 1125:user_src/soft_obstacle.c **** send_mimo_data[index] = tmpChar; 4345 .loc 1 1125 27 4346 01d8 B7F91630 ldrsh r3, [r7, #22] 4347 .loc 1 1125 35 4348 01dc 7A7D ldrb r2, [r7, #21] @ zero_extendqisi2 4349 01de 1033 adds r3, r3, #16 4350 01e0 07F10801 add r1, r7, #8 4351 01e4 0B44 add r3, r3, r1 4352 01e6 03F8102C strb r2, [r3, #-16] 1126:user_src/soft_obstacle.c **** 1127:user_src/soft_obstacle.c **** can_send_msg_normal(send_mimo_data, sizeof(send_mimo_data), CAN_MIMO_ATTI_INFO1); 4353 .loc 1 1127 13 4354 01ea 07F10803 add r3, r7, #8 4355 01ee 4FF45F42 mov r2, #57088 4356 01f2 0821 movs r1, #8 4357 01f4 1846 mov r0, r3 4358 01f6 FFF7FEFF bl can_send_msg_normal 4359 .L181: 1128:user_src/soft_obstacle.c **** } 1129:user_src/soft_obstacle.c **** 1130:user_src/soft_obstacle.c **** if (HAL_GetTick() - mimo_49HZ > 21) 4360 .loc 1 1130 13 4361 01fa FFF7FEFF bl HAL_GetTick 4362 01fe 0346 mov r3, r0 4363 .loc 1 1130 27 4364 0200 634A ldr r2, .L188+12 4365 0202 1268 ldr r2, [r2] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 103 4366 0204 9B1A subs r3, r3, r2 4367 .loc 1 1130 12 4368 0206 152B cmp r3, #21 4369 0208 40F2B580 bls .L185 1131:user_src/soft_obstacle.c **** { 1132:user_src/soft_obstacle.c **** mimo_49HZ = HAL_GetTick(); 4370 .loc 1 1132 25 4371 020c FFF7FEFF bl HAL_GetTick 4372 0210 0346 mov r3, r0 4373 0212 1A46 mov r2, r3 4374 .loc 1 1132 23 4375 0214 5E4B ldr r3, .L188+12 4376 0216 1A60 str r2, [r3] 1133:user_src/soft_obstacle.c **** 1134:user_src/soft_obstacle.c **** index = 0; 4377 .loc 1 1134 19 4378 0218 0023 movs r3, #0 4379 021a FB82 strh r3, [r7, #22] @ movhi 1135:user_src/soft_obstacle.c **** //高度 1136:user_src/soft_obstacle.c **** tmpShort = planep.alt; 4380 .loc 1 1136 30 4381 021c 594B ldr r3, .L188 4382 021e B3F90630 ldrsh r3, [r3, #6] @ unaligned 4383 0222 1BB2 sxth r3, r3 4384 .loc 1 1136 22 4385 0224 7B82 strh r3, [r7, #18] @ movhi 1137:user_src/soft_obstacle.c **** short2buf(&send_mimo_data[index], &tmpShort); 4386 .loc 1 1137 38 4387 0226 B7F91630 ldrsh r3, [r7, #22] 4388 .loc 1 1137 23 4389 022a 07F10802 add r2, r7, #8 4390 022e 1344 add r3, r3, r2 4391 .loc 1 1137 13 4392 0230 07F11202 add r2, r7, #18 4393 0234 1146 mov r1, r2 4394 0236 1846 mov r0, r3 4395 0238 FFF7FEFF bl short2buf 1138:user_src/soft_obstacle.c **** index += 2; 4396 .loc 1 1138 19 4397 023c FB8A ldrh r3, [r7, #22] 4398 023e 0233 adds r3, r3, #2 4399 0240 9BB2 uxth r3, r3 4400 0242 FB82 strh r3, [r7, #22] @ movhi 1139:user_src/soft_obstacle.c **** 1140:user_src/soft_obstacle.c **** //俯仰角速度 1141:user_src/soft_obstacle.c **** tmpShort = 0; 4401 .loc 1 1141 22 4402 0244 0023 movs r3, #0 4403 0246 7B82 strh r3, [r7, #18] @ movhi 1142:user_src/soft_obstacle.c **** short2buf(&send_mimo_data[index], &tmpShort); 4404 .loc 1 1142 38 4405 0248 B7F91630 ldrsh r3, [r7, #22] 4406 .loc 1 1142 23 4407 024c 07F10802 add r2, r7, #8 4408 0250 1344 add r3, r3, r2 4409 .loc 1 1142 13 4410 0252 07F11202 add r2, r7, #18 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 104 4411 0256 1146 mov r1, r2 4412 0258 1846 mov r0, r3 4413 025a FFF7FEFF bl short2buf 1143:user_src/soft_obstacle.c **** index += 2; 4414 .loc 1 1143 19 4415 025e FB8A ldrh r3, [r7, #22] 4416 0260 0233 adds r3, r3, #2 4417 0262 9BB2 uxth r3, r3 4418 0264 FB82 strh r3, [r7, #22] @ movhi 1144:user_src/soft_obstacle.c **** 1145:user_src/soft_obstacle.c **** //横滚角速度 1146:user_src/soft_obstacle.c **** tmpShort = 0; 4419 .loc 1 1146 22 4420 0266 0023 movs r3, #0 4421 0268 7B82 strh r3, [r7, #18] @ movhi 1147:user_src/soft_obstacle.c **** short2buf(&send_mimo_data[index], &tmpShort); 4422 .loc 1 1147 38 4423 026a B7F91630 ldrsh r3, [r7, #22] 4424 .loc 1 1147 23 4425 026e 07F10802 add r2, r7, #8 4426 0272 1344 add r3, r3, r2 4427 .loc 1 1147 13 4428 0274 07F11202 add r2, r7, #18 4429 0278 1146 mov r1, r2 4430 027a 1846 mov r0, r3 4431 027c FFF7FEFF bl short2buf 1148:user_src/soft_obstacle.c **** index += 2; 4432 .loc 1 1148 19 4433 0280 FB8A ldrh r3, [r7, #22] 4434 0282 0233 adds r3, r3, #2 4435 0284 9BB2 uxth r3, r3 4436 0286 FB82 strh r3, [r7, #22] @ movhi 1149:user_src/soft_obstacle.c **** 1150:user_src/soft_obstacle.c **** // 左右速度 1151:user_src/soft_obstacle.c **** tmpChar = (planep.E_vel * cosf(planep.yaw / 100.0f * DEG_TO_RAD) + 4437 .loc 1 1151 30 4438 0288 3E4B ldr r3, .L188 4439 028a B3F90830 ldrsh r3, [r3, #8] @ unaligned 4440 028e 1BB2 sxth r3, r3 4441 .loc 1 1151 37 4442 0290 07EE903A vmov s15, r3 @ int 4443 0294 B8EEE78A vcvt.f32.s32 s16, s15 4444 .loc 1 1151 50 4445 0298 3A4B ldr r3, .L188 4446 029a B3F90030 ldrsh r3, [r3] @ unaligned 4447 029e 1BB2 sxth r3, r3 4448 .loc 1 1151 55 4449 02a0 07EE903A vmov s15, r3 @ int 4450 02a4 B8EEE77A vcvt.f32.s32 s14, s15 4451 02a8 DFED376A vldr.32 s13, .L188+4 4452 02ac C7EE267A vdiv.f32 s15, s14, s13 4453 .loc 1 1151 39 4454 02b0 9FED367A vldr.32 s14, .L188+8 4455 02b4 67EE877A vmul.f32 s15, s15, s14 4456 02b8 B0EE670A vmov.f32 s0, s15 4457 02bc FFF7FEFF bl cosf 4458 02c0 F0EE407A vmov.f32 s15, s0 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 105 4459 .loc 1 1151 37 4460 02c4 28EE278A vmul.f32 s16, s16, s15 1152:user_src/soft_obstacle.c **** planep.N_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD)) / 4461 .loc 1 1152 30 4462 02c8 2E4B ldr r3, .L188 4463 02ca B3F90A30 ldrsh r3, [r3, #10] @ unaligned 4464 02ce 1BB2 sxth r3, r3 4465 .loc 1 1152 37 4466 02d0 07EE903A vmov s15, r3 @ int 4467 02d4 F8EEE78A vcvt.f32.s32 s17, s15 4468 .loc 1 1152 50 4469 02d8 2A4B ldr r3, .L188 4470 02da B3F90030 ldrsh r3, [r3] @ unaligned 4471 02de 1BB2 sxth r3, r3 4472 .loc 1 1152 55 4473 02e0 07EE903A vmov s15, r3 @ int 4474 02e4 B8EEE77A vcvt.f32.s32 s14, s15 4475 02e8 DFED276A vldr.32 s13, .L188+4 4476 02ec C7EE267A vdiv.f32 s15, s14, s13 4477 .loc 1 1152 39 4478 02f0 9FED267A vldr.32 s14, .L188+8 4479 02f4 67EE877A vmul.f32 s15, s15, s14 4480 02f8 B0EE670A vmov.f32 s0, s15 4481 02fc FFF7FEFF bl sinf 4482 0300 F0EE407A vmov.f32 s15, s0 4483 .loc 1 1152 37 4484 0304 68EEA77A vmul.f32 s15, s17, s15 1151:user_src/soft_obstacle.c **** planep.N_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD)) / 4485 .loc 1 1151 78 4486 0308 38EE277A vadd.f32 s14, s16, s15 4487 .loc 1 1152 79 4488 030c F2EE046A vmov.f32 s13, #1.0e+1 4489 0310 C7EE267A vdiv.f32 s15, s14, s13 1151:user_src/soft_obstacle.c **** planep.N_vel * sinf(planep.yaw / 100.0f * DEG_TO_RAD)) / 4490 .loc 1 1151 21 4491 0314 FDEEE77A vcvt.s32.f32 s15, s15 4492 0318 C7ED017A vstr.32 s15, [r7, #4] @ int 4493 031c 3B79 ldrb r3, [r7, #4] 4494 031e 7B75 strb r3, [r7, #21] 1153:user_src/soft_obstacle.c **** 10; 1154:user_src/soft_obstacle.c **** send_mimo_data[index++] = tmpChar; 4495 .loc 1 1154 33 4496 0320 B7F91620 ldrsh r2, [r7, #22] 4497 0324 93B2 uxth r3, r2 4498 0326 0133 adds r3, r3, #1 4499 0328 9BB2 uxth r3, r3 4500 032a FB82 strh r3, [r7, #22] @ movhi 4501 032c 1346 mov r3, r2 4502 .loc 1 1154 37 4503 032e 7A7D ldrb r2, [r7, #21] @ zero_extendqisi2 4504 0330 1033 adds r3, r3, #16 4505 0332 07F10801 add r1, r7, #8 4506 0336 0B44 add r3, r3, r1 4507 0338 03F8102C strb r2, [r3, #-16] 1155:user_src/soft_obstacle.c **** 1156:user_src/soft_obstacle.c **** //Z速度 1157:user_src/soft_obstacle.c **** tmpChar = planep.alt_vel / 10; //0.1m/s ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 106 4508 .loc 1 1157 29 4509 033c 114B ldr r3, .L188 4510 033e B3F90C30 ldrsh r3, [r3, #12] @ unaligned 4511 0342 1BB2 sxth r3, r3 4512 .loc 1 1157 21 4513 0344 134A ldr r2, .L188+16 4514 0346 82FB0312 smull r1, r2, r2, r3 4515 034a 9210 asrs r2, r2, #2 4516 034c DB17 asrs r3, r3, #31 4517 034e D31A subs r3, r2, r3 4518 0350 1BB2 sxth r3, r3 4519 0352 7B75 strb r3, [r7, #21] 1158:user_src/soft_obstacle.c **** send_mimo_data[index] = tmpChar; 4520 .loc 1 1158 27 4521 0354 B7F91630 ldrsh r3, [r7, #22] 4522 .loc 1 1158 35 4523 0358 7A7D ldrb r2, [r7, #21] @ zero_extendqisi2 4524 035a 1033 adds r3, r3, #16 4525 035c 07F10801 add r1, r7, #8 4526 0360 0B44 add r3, r3, r1 4527 0362 03F8102C strb r2, [r3, #-16] 1159:user_src/soft_obstacle.c **** 1160:user_src/soft_obstacle.c **** can_send_msg_normal(send_mimo_data, sizeof(send_mimo_data), CAN_MIMO_ATTI_INFO2); 4528 .loc 1 1160 13 4529 0366 07F10803 add r3, r7, #8 4530 036a 4DF60172 movw r2, #57089 4531 036e 0821 movs r1, #8 4532 0370 1846 mov r0, r3 4533 0372 FFF7FEFF bl can_send_msg_normal 4534 .L185: 4535 .LBE12: 1161:user_src/soft_obstacle.c **** } 1162:user_src/soft_obstacle.c **** } 1163:user_src/soft_obstacle.c **** } 4536 .loc 1 1163 1 4537 0376 00BF nop 4538 0378 1837 adds r7, r7, #24 4539 .LCFI47: 4540 .cfi_def_cfa_offset 16 4541 037a BD46 mov sp, r7 4542 .LCFI48: 4543 .cfi_def_cfa_register 13 4544 @ sp needed 4545 037c BDEC028B vldm sp!, {d8} 4546 .LCFI49: 4547 .cfi_restore 80 4548 .cfi_restore 81 4549 .cfi_def_cfa_offset 8 4550 0380 80BD pop {r7, pc} 4551 .L189: 4552 0382 00BF .align 2 4553 .L188: 4554 0384 00000000 .word planep 4555 0388 0000C842 .word 1120403456 4556 038c 35FA8E3C .word 1016003125 4557 0390 00000000 .word mimo_49HZ.5 4558 0394 67666666 .word 1717986919 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 107 4559 .cfi_endproc 4560 .LFE141: 4562 .section .text.send_mocib_radar_sensi,"ax",%progbits 4563 .align 1 4564 .global send_mocib_radar_sensi 4565 .syntax unified 4566 .thumb 4567 .thumb_func 4569 send_mocib_radar_sensi: 4570 .LFB142: 1164:user_src/soft_obstacle.c **** 1165:user_src/soft_obstacle.c **** /** 1166:user_src/soft_obstacle.c **** * @file lidar_function 1167:user_src/soft_obstacle.c **** * @brief 雷达相关函数 1168:user_src/soft_obstacle.c **** * @param none 1169:user_src/soft_obstacle.c **** * @details 1170:user_src/soft_obstacle.c **** * @author Zhang Sir 1171:user_src/soft_obstacle.c **** **/ 1172:user_src/soft_obstacle.c **** void send_mocib_radar_sensi(void) 1173:user_src/soft_obstacle.c **** { 4571 .loc 1 1173 1 4572 .cfi_startproc 4573 @ args = 0, pretend = 0, frame = 0 4574 @ frame_needed = 1, uses_anonymous_args = 0 4575 0000 80B5 push {r7, lr} 4576 .LCFI50: 4577 .cfi_def_cfa_offset 8 4578 .cfi_offset 7, -8 4579 .cfi_offset 14, -4 4580 0002 00AF add r7, sp, #0 4581 .LCFI51: 4582 .cfi_def_cfa_register 7 1174:user_src/soft_obstacle.c **** static int radar_sensi_send_time = 0; 1175:user_src/soft_obstacle.c **** //uint8_t radar_can_buf[8] = {0}; 1176:user_src/soft_obstacle.c **** if(HAL_GetTick() > 7000 && HAL_GetTick() - radar_sensi_send_time > 300) 4583 .loc 1 1176 8 4584 0004 FFF7FEFF bl HAL_GetTick 4585 0008 0346 mov r3, r0 4586 .loc 1 1176 7 4587 000a 41F65832 movw r2, #7000 4588 000e 9342 cmp r3, r2 4589 0010 62D9 bls .L194 4590 .loc 1 1176 32 discriminator 1 4591 0012 FFF7FEFF bl HAL_GetTick 4592 0016 0346 mov r3, r0 4593 .loc 1 1176 46 discriminator 1 4594 0018 304A ldr r2, .L195 4595 001a 1268 ldr r2, [r2] 4596 001c 9B1A subs r3, r3, r2 4597 .loc 1 1176 29 discriminator 1 4598 001e B3F5967F cmp r3, #300 4599 0022 59D9 bls .L194 1177:user_src/soft_obstacle.c **** { 1178:user_src/soft_obstacle.c **** //给FMU发送雷达灵敏度 1179:user_src/soft_obstacle.c **** radar_sensi_send_time = HAL_GetTick(); 4600 .loc 1 1179 33 4601 0024 FFF7FEFF bl HAL_GetTick ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 108 4602 0028 0346 mov r3, r0 4603 002a 1A46 mov r2, r3 4604 .loc 1 1179 31 4605 002c 2B4B ldr r3, .L195 4606 002e 1A60 str r2, [r3] 1180:user_src/soft_obstacle.c **** //上电后 检测到有雷达连接，向飞控发送雷达灵敏度信息 1181:user_src/soft_obstacle.c **** if (uavr11_info.Link.connect_status == COMP_NORMAL && uavr11_info.get_radar_sensi_flag == t 4607 .loc 1 1181 29 4608 0030 2B4B ldr r3, .L195+4 4609 0032 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 4610 .loc 1 1181 12 4611 0034 012B cmp r3, #1 4612 0036 17D1 bne .L192 4613 .loc 1 1181 74 discriminator 1 4614 0038 294B ldr r3, .L195+4 4615 003a DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 4616 .loc 1 1181 60 discriminator 1 4617 003c 002B cmp r3, #0 4618 003e 13D0 beq .L192 1182:user_src/soft_obstacle.c **** uavr11_info.send_fcu_sensi_count <= 3) 4619 .loc 1 1182 25 discriminator 2 4620 0040 274B ldr r3, .L195+4 4621 0042 5B7D ldrb r3, [r3, #21] @ zero_extendqisi2 1181:user_src/soft_obstacle.c **** uavr11_info.send_fcu_sensi_count <= 3) 4622 .loc 1 1181 104 discriminator 2 4623 0044 032B cmp r3, #3 4624 0046 0FD8 bhi .L192 1183:user_src/soft_obstacle.c **** { 1184:user_src/soft_obstacle.c **** pmu_set_ack(22, 1, uavr11_info.get_radar_sensi,0); 4625 .loc 1 1184 13 4626 0048 254B ldr r3, .L195+4 4627 004a B3F91130 ldrsh r3, [r3, #17] @ unaligned 4628 004e 1AB2 sxth r2, r3 4629 0050 0023 movs r3, #0 4630 0052 0121 movs r1, #1 4631 0054 1620 movs r0, #22 4632 0056 FFF7FEFF bl pmu_set_ack 1185:user_src/soft_obstacle.c **** uavr11_info.send_fcu_sensi_count++; 4633 .loc 1 1185 24 4634 005a 214B ldr r3, .L195+4 4635 005c 5B7D ldrb r3, [r3, #21] @ zero_extendqisi2 4636 .loc 1 1185 45 4637 005e 0133 adds r3, r3, #1 4638 0060 DAB2 uxtb r2, r3 4639 0062 1F4B ldr r3, .L195+4 4640 0064 5A75 strb r2, [r3, #21] 4641 0066 37E0 b .L191 4642 .L192: 1186:user_src/soft_obstacle.c **** } 1187:user_src/soft_obstacle.c **** else if (uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_sensi_flag 4643 .loc 1 1187 34 4644 0068 1E4B ldr r3, .L195+8 4645 006a 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 4646 .loc 1 1187 17 4647 006c 012B cmp r3, #1 4648 006e 17D1 bne .L193 4649 .loc 1 1187 79 discriminator 1 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 109 4650 0070 1C4B ldr r3, .L195+8 4651 0072 DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 4652 .loc 1 1187 65 discriminator 1 4653 0074 002B cmp r3, #0 4654 0076 13D0 beq .L193 1188:user_src/soft_obstacle.c **** uavr12_info.send_fcu_sensi_count <= 3) 4655 .loc 1 1188 28 discriminator 2 4656 0078 1A4B ldr r3, .L195+8 4657 007a 5B7D ldrb r3, [r3, #21] @ zero_extendqisi2 1187:user_src/soft_obstacle.c **** uavr12_info.send_fcu_sensi_count <= 3) 4658 .loc 1 1187 109 discriminator 2 4659 007c 032B cmp r3, #3 4660 007e 0FD8 bhi .L193 1189:user_src/soft_obstacle.c **** { 1190:user_src/soft_obstacle.c **** pmu_set_ack(22, 2, uavr12_info.get_radar_sensi,0); 4661 .loc 1 1190 13 4662 0080 184B ldr r3, .L195+8 4663 0082 B3F91130 ldrsh r3, [r3, #17] @ unaligned 4664 0086 1AB2 sxth r2, r3 4665 0088 0023 movs r3, #0 4666 008a 0221 movs r1, #2 4667 008c 1620 movs r0, #22 4668 008e FFF7FEFF bl pmu_set_ack 1191:user_src/soft_obstacle.c **** uavr12_info.send_fcu_sensi_count++; 4669 .loc 1 1191 24 4670 0092 144B ldr r3, .L195+8 4671 0094 5B7D ldrb r3, [r3, #21] @ zero_extendqisi2 4672 .loc 1 1191 45 4673 0096 0133 adds r3, r3, #1 4674 0098 DAB2 uxtb r2, r3 4675 009a 124B ldr r3, .L195+8 4676 009c 5A75 strb r2, [r3, #21] 4677 009e 1BE0 b .L191 4678 .L193: 1192:user_src/soft_obstacle.c **** } 1193:user_src/soft_obstacle.c **** else if (uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_sensi_flag 4679 .loc 1 1193 34 4680 00a0 114B ldr r3, .L195+12 4681 00a2 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 4682 .loc 1 1193 17 4683 00a4 012B cmp r3, #1 4684 00a6 17D1 bne .L194 4685 .loc 1 1193 79 discriminator 1 4686 00a8 0F4B ldr r3, .L195+12 4687 00aa 5B7C ldrb r3, [r3, #17] @ zero_extendqisi2 4688 .loc 1 1193 65 discriminator 1 4689 00ac 002B cmp r3, #0 4690 00ae 13D0 beq .L194 1194:user_src/soft_obstacle.c **** uavr56_info.send_fcu_sensi_count <= 3) 4691 .loc 1 1194 28 discriminator 2 4692 00b0 0D4B ldr r3, .L195+12 4693 00b2 DB7B ldrb r3, [r3, #15] @ zero_extendqisi2 1193:user_src/soft_obstacle.c **** uavr56_info.send_fcu_sensi_count <= 3) 4694 .loc 1 1193 109 discriminator 2 4695 00b4 032B cmp r3, #3 4696 00b6 0FD8 bhi .L194 1195:user_src/soft_obstacle.c **** { ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 110 1196:user_src/soft_obstacle.c **** pmu_set_ack(22, 6, uavr56_info.get_radar_sensi,0); 4697 .loc 1 1196 13 4698 00b8 0B4B ldr r3, .L195+12 4699 00ba B3F91530 ldrsh r3, [r3, #21] @ unaligned 4700 00be 1AB2 sxth r2, r3 4701 00c0 0023 movs r3, #0 4702 00c2 0621 movs r1, #6 4703 00c4 1620 movs r0, #22 4704 00c6 FFF7FEFF bl pmu_set_ack 1197:user_src/soft_obstacle.c **** uavr56_info.send_fcu_sensi_count++; 4705 .loc 1 1197 24 4706 00ca 074B ldr r3, .L195+12 4707 00cc DB7B ldrb r3, [r3, #15] @ zero_extendqisi2 4708 .loc 1 1197 45 4709 00ce 0133 adds r3, r3, #1 4710 00d0 DAB2 uxtb r2, r3 4711 00d2 054B ldr r3, .L195+12 4712 00d4 DA73 strb r2, [r3, #15] 1198:user_src/soft_obstacle.c **** } 1199:user_src/soft_obstacle.c **** } 1200:user_src/soft_obstacle.c **** } 4713 .loc 1 1200 1 4714 00d6 FFE7 b .L194 4715 .L191: 4716 .L194: 4717 00d8 00BF nop 4718 00da 80BD pop {r7, pc} 4719 .L196: 4720 .align 2 4721 .L195: 4722 00dc 00000000 .word radar_sensi_send_time.4 4723 00e0 00000000 .word uavr11_info 4724 00e4 00000000 .word uavr12_info 4725 00e8 00000000 .word uavr56_info 4726 .cfi_endproc 4727 .LFE142: 4729 .section .text.lidar_function,"ax",%progbits 4730 .align 1 4731 .global lidar_function 4732 .syntax unified 4733 .thumb 4734 .thumb_func 4736 lidar_function: 4737 .LFB143: 1201:user_src/soft_obstacle.c **** 1202:user_src/soft_obstacle.c **** void lidar_function(void) 1203:user_src/soft_obstacle.c **** { 4738 .loc 1 1203 1 4739 .cfi_startproc 4740 @ args = 0, pretend = 0, frame = 0 4741 @ frame_needed = 1, uses_anonymous_args = 0 4742 0000 80B5 push {r7, lr} 4743 .LCFI52: 4744 .cfi_def_cfa_offset 8 4745 .cfi_offset 7, -8 4746 .cfi_offset 14, -4 4747 0002 00AF add r7, sp, #0 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 111 4748 .LCFI53: 4749 .cfi_def_cfa_register 7 1204:user_src/soft_obstacle.c **** //莫之比避障雷达升级 1205:user_src/soft_obstacle.c **** if (radar_update_flag == true && uavr11_info.fcu_set_sensi_flag != true && uavr12_info.fcu_set_ 4750 .loc 1 1205 27 4751 0004 184B ldr r3, .L200 4752 0006 1B78 ldrb r3, [r3] @ zero_extendqisi2 4753 .loc 1 1205 8 4754 0008 002B cmp r3, #0 4755 000a 19D0 beq .L198 4756 .loc 1 1205 49 discriminator 1 4757 000c 174B ldr r3, .L200+4 4758 000e 1B7D ldrb r3, [r3, #20] @ zero_extendqisi2 4759 .loc 1 1205 69 discriminator 1 4760 0010 83F00103 eor r3, r3, #1 4761 0014 DBB2 uxtb r3, r3 4762 .loc 1 1205 35 discriminator 1 4763 0016 002B cmp r3, #0 4764 0018 12D0 beq .L198 4765 .loc 1 1205 91 discriminator 2 4766 001a 154B ldr r3, .L200+8 4767 001c 1B7D ldrb r3, [r3, #20] @ zero_extendqisi2 4768 .loc 1 1205 111 discriminator 2 4769 001e 83F00103 eor r3, r3, #1 4770 0022 DBB2 uxtb r3, r3 4771 .loc 1 1205 77 discriminator 2 4772 0024 002B cmp r3, #0 4773 0026 0BD0 beq .L198 1206:user_src/soft_obstacle.c **** && uavr56_info.fcu_set_sensi_flag != true) 4774 .loc 1 1206 23 4775 0028 124B ldr r3, .L200+12 4776 002a 9B7C ldrb r3, [r3, #18] @ zero_extendqisi2 4777 .loc 1 1206 43 4778 002c 83F00103 eor r3, r3, #1 4779 0030 DBB2 uxtb r3, r3 4780 .loc 1 1206 9 4781 0032 002B cmp r3, #0 4782 0034 04D0 beq .L198 1207:user_src/soft_obstacle.c **** { 1208:user_src/soft_obstacle.c **** Rupdate.update_flag = true; 4783 .loc 1 1208 29 4784 0036 104B ldr r3, .L200+16 4785 0038 0122 movs r2, #1 4786 003a 1A71 strb r2, [r3, #4] 1209:user_src/soft_obstacle.c **** 1210:user_src/soft_obstacle.c **** Can_obstacle_update(); 4787 .loc 1 1210 9 4788 003c FFF7FEFF bl Can_obstacle_update 4789 .L198: 1211:user_src/soft_obstacle.c **** } 1212:user_src/soft_obstacle.c **** 1213:user_src/soft_obstacle.c **** //上电给fcu发送雷达灵敏度 1214:user_src/soft_obstacle.c **** send_mocib_radar_sensi(); 4790 .loc 1 1214 5 4791 0040 FFF7FEFF bl send_mocib_radar_sensi 1215:user_src/soft_obstacle.c **** 1216:user_src/soft_obstacle.c **** //设置莫之比避障雷达灵敏度 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 112 1217:user_src/soft_obstacle.c **** can_set_radar_sensi(); 4792 .loc 1 1217 5 4793 0044 FFF7FEFF bl can_set_radar_sensi 1218:user_src/soft_obstacle.c **** 1219:user_src/soft_obstacle.c **** //获取电目雷达盲区、能量、原始数据开关 1220:user_src/soft_obstacle.c **** get_radar_blindAndPower_function(); 4794 .loc 1 1220 5 4795 0048 FFF7FEFF bl get_radar_blindAndPower_function 1221:user_src/soft_obstacle.c **** 1222:user_src/soft_obstacle.c **** //雷达升级不再给雷达发送信息,莫之比雷达发送姿态信息 1223:user_src/soft_obstacle.c **** if (radar_update_flag == false) 4796 .loc 1 1223 27 4797 004c 064B ldr r3, .L200 4798 004e 1B78 ldrb r3, [r3] @ zero_extendqisi2 4799 0050 83F00103 eor r3, r3, #1 4800 0054 DBB2 uxtb r3, r3 4801 .loc 1 1223 8 4802 0056 002B cmp r3, #0 4803 0058 01D0 beq .L199 1224:user_src/soft_obstacle.c **** { 1225:user_src/soft_obstacle.c **** can_sendmsg_uavr20(); 4804 .loc 1 1225 9 4805 005a FFF7FEFF bl can_sendmsg_uavr20 4806 .L199: 1226:user_src/soft_obstacle.c **** } 1227:user_src/soft_obstacle.c **** 1228:user_src/soft_obstacle.c **** //给恩曌雷达发送姿态信息数据 1229:user_src/soft_obstacle.c **** can_send_info_to_mimo(); 4807 .loc 1 1229 5 4808 005e FFF7FEFF bl can_send_info_to_mimo 1230:user_src/soft_obstacle.c **** 1231:user_src/soft_obstacle.c **** } 4809 .loc 1 1231 1 4810 0062 00BF nop 4811 0064 80BD pop {r7, pc} 4812 .L201: 4813 0066 00BF .align 2 4814 .L200: 4815 0068 00000000 .word radar_update_flag 4816 006c 00000000 .word uavr11_info 4817 0070 00000000 .word uavr12_info 4818 0074 00000000 .word uavr56_info 4819 0078 00000000 .word Rupdate 4820 .cfi_endproc 4821 .LFE143: 4823 .section .rodata 4824 000b 00 .align 2 4825 .LC2: 4826 000c 6D6F6369 .ascii "mocib\000" 4826 6200 4827 0012 0000 .align 2 4828 .LC3: 4829 0014 303000 .ascii "00\000" 4830 .section .text.can_recv_mocib_version_info,"ax",%progbits 4831 .align 1 4832 .global can_recv_mocib_version_info 4833 .syntax unified ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 113 4834 .thumb 4835 .thumb_func 4837 can_recv_mocib_version_info: 4838 .LFB144: 1232:user_src/soft_obstacle.c **** 1233:user_src/soft_obstacle.c **** 1234:user_src/soft_obstacle.c **** void can_recv_mocib_version_info(uint32_t cellCanID, uint8_t data[], uint8_t len) 1235:user_src/soft_obstacle.c **** { 4839 .loc 1 1235 1 4840 .cfi_startproc 4841 @ args = 0, pretend = 0, frame = 16 4842 @ frame_needed = 1, uses_anonymous_args = 0 4843 0000 80B5 push {r7, lr} 4844 .LCFI54: 4845 .cfi_def_cfa_offset 8 4846 .cfi_offset 7, -8 4847 .cfi_offset 14, -4 4848 0002 8CB0 sub sp, sp, #48 4849 .LCFI55: 4850 .cfi_def_cfa_offset 56 4851 0004 08AF add r7, sp, #32 4852 .LCFI56: 4853 .cfi_def_cfa 7, 24 4854 0006 F860 str r0, [r7, #12] 4855 0008 B960 str r1, [r7, #8] 4856 000a 1346 mov r3, r2 4857 000c FB71 strb r3, [r7, #7] 1236:user_src/soft_obstacle.c **** static uint8_t frame_fi = 0,frame_bi = 0,frame_ti = 0; 1237:user_src/soft_obstacle.c **** switch (cellCanID) 4858 .loc 1 1237 5 4859 000e FB68 ldr r3, [r7, #12] 4860 0010 984A ldr r2, .L224 4861 0012 9342 cmp r3, r2 4862 0014 00F09F81 beq .L203 4863 0018 FB68 ldr r3, [r7, #12] 4864 001a 964A ldr r2, .L224 4865 001c 9342 cmp r3, r2 4866 001e 00F23A82 bhi .L220 4867 0022 FB68 ldr r3, [r7, #12] 4868 0024 944A ldr r2, .L224+4 4869 0026 9342 cmp r3, r2 4870 0028 00F04481 beq .L205 4871 002c FB68 ldr r3, [r7, #12] 4872 002e 924A ldr r2, .L224+4 4873 0030 9342 cmp r3, r2 4874 0032 00F23082 bhi .L220 4875 0036 FB68 ldr r3, [r7, #12] 4876 0038 904A ldr r2, .L224+8 4877 003a 9342 cmp r3, r2 4878 003c 00F0DC81 beq .L206 4879 0040 FB68 ldr r3, [r7, #12] 4880 0042 8E4A ldr r2, .L224+8 4881 0044 9342 cmp r3, r2 4882 0046 00F22682 bhi .L220 4883 004a FB68 ldr r3, [r7, #12] 4884 004c B3F5866F cmp r3, #1072 4885 0050 00F0BA80 beq .L207 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 114 4886 0054 FB68 ldr r3, [r7, #12] 4887 0056 B3F5866F cmp r3, #1072 4888 005a 00F21C82 bhi .L220 4889 005e FB68 ldr r3, [r7, #12] 4890 0060 B3F5826F cmp r3, #1040 4891 0064 04D0 beq .L208 4892 0066 FB68 ldr r3, [r7, #12] 4893 0068 B3F5846F cmp r3, #1056 4894 006c 56D0 beq .L209 1238:user_src/soft_obstacle.c **** { 1239:user_src/soft_obstacle.c **** //SN号 1240:user_src/soft_obstacle.c **** case CAN_OBSTARCLE11_SN: 1241:user_src/soft_obstacle.c **** 1242:user_src/soft_obstacle.c **** if(frame_fi == 0) 1243:user_src/soft_obstacle.c **** { 1244:user_src/soft_obstacle.c **** memcpy(&uavr11_info.sn[0],&data[2],6);//要后六个字节 1245:user_src/soft_obstacle.c **** frame_fi += 6; 1246:user_src/soft_obstacle.c **** } 1247:user_src/soft_obstacle.c **** else if(frame_fi == 6) 1248:user_src/soft_obstacle.c **** { 1249:user_src/soft_obstacle.c **** memcpy(&uavr11_info.sn[frame_fi],&data[1],7);//要后7个字节 1250:user_src/soft_obstacle.c **** frame_fi += 7; 1251:user_src/soft_obstacle.c **** } 1252:user_src/soft_obstacle.c **** else if(frame_fi >= 13) 1253:user_src/soft_obstacle.c **** { 1254:user_src/soft_obstacle.c **** memcpy(&uavr11_info.sn[frame_fi],&data[1],3); 1255:user_src/soft_obstacle.c **** frame_fi = 0; 1256:user_src/soft_obstacle.c **** 1257:user_src/soft_obstacle.c **** regist_dev_info(&dev_obsf,DEVICE_OBSF,false,uavr11_info.sn,20,NULL,0,NULL,0,"mocib",6); 1258:user_src/soft_obstacle.c **** uavr11_info.get_radar_sn_flag = true; 1259:user_src/soft_obstacle.c **** } 1260:user_src/soft_obstacle.c **** 1261:user_src/soft_obstacle.c **** break; 1262:user_src/soft_obstacle.c **** case CAN_OBSTARCLE12_SN: 1263:user_src/soft_obstacle.c **** if(frame_bi == 0) 1264:user_src/soft_obstacle.c **** { 1265:user_src/soft_obstacle.c **** memcpy(&uavr12_info.sn[0],&data[2],6);//要后六个字节 1266:user_src/soft_obstacle.c **** frame_bi += 6; 1267:user_src/soft_obstacle.c **** } 1268:user_src/soft_obstacle.c **** else if(frame_bi == 6) 1269:user_src/soft_obstacle.c **** { 1270:user_src/soft_obstacle.c **** memcpy(&uavr12_info.sn[frame_bi],&data[1],7);//要后7个字节 1271:user_src/soft_obstacle.c **** frame_bi += 7; 1272:user_src/soft_obstacle.c **** } 1273:user_src/soft_obstacle.c **** else if(frame_bi >= 13) 1274:user_src/soft_obstacle.c **** { 1275:user_src/soft_obstacle.c **** memcpy(&uavr12_info.sn[frame_bi],&data[1],3); 1276:user_src/soft_obstacle.c **** frame_bi = 0; 1277:user_src/soft_obstacle.c **** 1278:user_src/soft_obstacle.c **** regist_dev_info(&dev_obsb,DEVICE_OBSB,false,uavr12_info.sn,20,NULL,0,NULL,0,"mocib",6); 1279:user_src/soft_obstacle.c **** uavr12_info.get_radar_sn_flag = true; 1280:user_src/soft_obstacle.c **** } 1281:user_src/soft_obstacle.c **** break; 1282:user_src/soft_obstacle.c **** case CAN_OBSTARCLE56_SN: 1283:user_src/soft_obstacle.c **** if(frame_ti == 0) 1284:user_src/soft_obstacle.c **** { 1285:user_src/soft_obstacle.c **** memcpy(&uavr56_info.sn[0],&data[2],6);//要后六个字节 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 115 1286:user_src/soft_obstacle.c **** frame_ti += 6; 1287:user_src/soft_obstacle.c **** } 1288:user_src/soft_obstacle.c **** else if(frame_ti == 6) 1289:user_src/soft_obstacle.c **** { 1290:user_src/soft_obstacle.c **** memcpy(&uavr56_info.sn[frame_ti],&data[1],7);//要后7个字节 1291:user_src/soft_obstacle.c **** frame_ti += 7; 1292:user_src/soft_obstacle.c **** } 1293:user_src/soft_obstacle.c **** else if(frame_ti >= 13) 1294:user_src/soft_obstacle.c **** { 1295:user_src/soft_obstacle.c **** memcpy(&uavr56_info.sn[frame_ti],&data[1],3); 1296:user_src/soft_obstacle.c **** frame_ti = 0; 1297:user_src/soft_obstacle.c **** 1298:user_src/soft_obstacle.c **** regist_dev_info(&dev_ter,DEVICE_TERRA,false,uavr56_info.sn,20,NULL,0,NULL,0,"mocib",6); 1299:user_src/soft_obstacle.c **** uavr56_info.get_radar_sn_flag = true; 1300:user_src/soft_obstacle.c **** } 1301:user_src/soft_obstacle.c **** break; 1302:user_src/soft_obstacle.c **** //版本信息 1303:user_src/soft_obstacle.c **** case 0x00eeff11: 1304:user_src/soft_obstacle.c **** uavr11_info.version[0] = 'M'; 1305:user_src/soft_obstacle.c **** uavr11_info.version[1] = '1'; 1306:user_src/soft_obstacle.c **** uavr11_info.version[2] = (data[1] + data[2]) + '0'; 1307:user_src/soft_obstacle.c **** uavr11_info.version[3] = (data[3] + data[4]) + '0'; 1308:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); 1309:user_src/soft_obstacle.c **** uavr11_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 1310:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 1311:user_src/soft_obstacle.c **** 1312:user_src/soft_obstacle.c **** regist_dev_info(&dev_obsf,DEVICE_OBSF,false,NULL,0,uavr11_info.version,10,NULL,0,"mocib",6) 1313:user_src/soft_obstacle.c **** break; 1314:user_src/soft_obstacle.c **** case 0x00eeff12: 1315:user_src/soft_obstacle.c **** uavr12_info.version[0] = 'M'; 1316:user_src/soft_obstacle.c **** uavr12_info.version[1] = '2'; 1317:user_src/soft_obstacle.c **** uavr12_info.version[2] = (data[1] + data[2]) + '0'; 1318:user_src/soft_obstacle.c **** uavr12_info.version[3] = (data[3] + data[4]) + '0'; 1319:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); 1320:user_src/soft_obstacle.c **** uavr12_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 1321:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 1322:user_src/soft_obstacle.c **** 1323:user_src/soft_obstacle.c **** regist_dev_info(&dev_obsb,DEVICE_OBSB,false,NULL,0,uavr12_info.version,10,NULL,0,"mocib",6) 1324:user_src/soft_obstacle.c **** break; 1325:user_src/soft_obstacle.c **** case 0x00eeff0b: 1326:user_src/soft_obstacle.c **** uavr56_info.version[0] = 'M'; 1327:user_src/soft_obstacle.c **** uavr56_info.version[1] = 'B'; 1328:user_src/soft_obstacle.c **** uavr56_info.version[2] = (data[1] + data[2]) + '0'; 1329:user_src/soft_obstacle.c **** uavr56_info.version[3] = (data[3] + data[4]) + '0'; 1330:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); 1331:user_src/soft_obstacle.c **** uavr56_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 1332:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 1333:user_src/soft_obstacle.c **** 1334:user_src/soft_obstacle.c **** regist_dev_info(&dev_ter,DEVICE_TERRA,false,NULL,0,uavr56_info.version,10,NULL,0,"mocib",6) 1335:user_src/soft_obstacle.c **** break; 1336:user_src/soft_obstacle.c **** default: 1337:user_src/soft_obstacle.c **** break; 4895 .loc 1 1337 9 4896 006e 12E2 b .L220 4897 .L208: 1242:user_src/soft_obstacle.c **** { 4898 .loc 1 1242 21 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 116 4899 0070 834B ldr r3, .L224+12 4900 0072 1B78 ldrb r3, [r3] @ zero_extendqisi2 1242:user_src/soft_obstacle.c **** { 4901 .loc 1 1242 11 4902 0074 002B cmp r3, #0 4903 0076 0DD1 bne .L210 1244:user_src/soft_obstacle.c **** frame_fi += 6; 4904 .loc 1 1244 39 4905 0078 BB68 ldr r3, [r7, #8] 4906 007a 0233 adds r3, r3, #2 1244:user_src/soft_obstacle.c **** frame_fi += 6; 4907 .loc 1 1244 13 4908 007c 0622 movs r2, #6 4909 007e 1946 mov r1, r3 4910 0080 8048 ldr r0, .L224+16 4911 0082 FFF7FEFF bl memcpy 1245:user_src/soft_obstacle.c **** } 4912 .loc 1 1245 22 4913 0086 7E4B ldr r3, .L224+12 4914 0088 1B78 ldrb r3, [r3] @ zero_extendqisi2 4915 008a 0633 adds r3, r3, #6 4916 008c DAB2 uxtb r2, r3 4917 008e 7C4B ldr r3, .L224+12 4918 0090 1A70 strb r2, [r3] 1261:user_src/soft_obstacle.c **** case CAN_OBSTARCLE12_SN: 4919 .loc 1 1261 9 4920 0092 02E2 b .L221 4921 .L210: 1247:user_src/soft_obstacle.c **** { 4922 .loc 1 1247 26 4923 0094 7A4B ldr r3, .L224+12 4924 0096 1B78 ldrb r3, [r3] @ zero_extendqisi2 1247:user_src/soft_obstacle.c **** { 4925 .loc 1 1247 16 4926 0098 062B cmp r3, #6 4927 009a 12D1 bne .L212 1249:user_src/soft_obstacle.c **** frame_fi += 7; 4928 .loc 1 1249 35 4929 009c 784B ldr r3, .L224+12 4930 009e 1B78 ldrb r3, [r3] @ zero_extendqisi2 1249:user_src/soft_obstacle.c **** frame_fi += 7; 4931 .loc 1 1249 20 4932 00a0 3033 adds r3, r3, #48 4933 00a2 794A ldr r2, .L224+20 4934 00a4 1344 add r3, r3, r2 4935 00a6 581C adds r0, r3, #1 1249:user_src/soft_obstacle.c **** frame_fi += 7; 4936 .loc 1 1249 46 4937 00a8 BB68 ldr r3, [r7, #8] 4938 00aa 0133 adds r3, r3, #1 1249:user_src/soft_obstacle.c **** frame_fi += 7; 4939 .loc 1 1249 13 4940 00ac 0722 movs r2, #7 4941 00ae 1946 mov r1, r3 4942 00b0 FFF7FEFF bl memcpy 1250:user_src/soft_obstacle.c **** } 4943 .loc 1 1250 22 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 117 4944 00b4 724B ldr r3, .L224+12 4945 00b6 1B78 ldrb r3, [r3] @ zero_extendqisi2 4946 00b8 0733 adds r3, r3, #7 4947 00ba DAB2 uxtb r2, r3 4948 00bc 704B ldr r3, .L224+12 4949 00be 1A70 strb r2, [r3] 1261:user_src/soft_obstacle.c **** case CAN_OBSTARCLE12_SN: 4950 .loc 1 1261 9 4951 00c0 EBE1 b .L221 4952 .L212: 1252:user_src/soft_obstacle.c **** { 4953 .loc 1 1252 26 4954 00c2 6F4B ldr r3, .L224+12 4955 00c4 1B78 ldrb r3, [r3] @ zero_extendqisi2 1252:user_src/soft_obstacle.c **** { 4956 .loc 1 1252 16 4957 00c6 0C2B cmp r3, #12 4958 00c8 40F2E781 bls .L221 1254:user_src/soft_obstacle.c **** frame_fi = 0; 4959 .loc 1 1254 35 4960 00cc 6C4B ldr r3, .L224+12 4961 00ce 1B78 ldrb r3, [r3] @ zero_extendqisi2 1254:user_src/soft_obstacle.c **** frame_fi = 0; 4962 .loc 1 1254 20 4963 00d0 3033 adds r3, r3, #48 4964 00d2 6D4A ldr r2, .L224+20 4965 00d4 1344 add r3, r3, r2 4966 00d6 581C adds r0, r3, #1 1254:user_src/soft_obstacle.c **** frame_fi = 0; 4967 .loc 1 1254 46 4968 00d8 BB68 ldr r3, [r7, #8] 4969 00da 0133 adds r3, r3, #1 1254:user_src/soft_obstacle.c **** frame_fi = 0; 4970 .loc 1 1254 13 4971 00dc 0322 movs r2, #3 4972 00de 1946 mov r1, r3 4973 00e0 FFF7FEFF bl memcpy 1255:user_src/soft_obstacle.c **** 4974 .loc 1 1255 22 4975 00e4 664B ldr r3, .L224+12 4976 00e6 0022 movs r2, #0 4977 00e8 1A70 strb r2, [r3] 1257:user_src/soft_obstacle.c **** uavr11_info.get_radar_sn_flag = true; 4978 .loc 1 1257 13 4979 00ea 0623 movs r3, #6 4980 00ec 0693 str r3, [sp, #24] 4981 00ee 674B ldr r3, .L224+24 4982 00f0 0593 str r3, [sp, #20] 4983 00f2 0023 movs r3, #0 4984 00f4 0493 str r3, [sp, #16] 4985 00f6 0023 movs r3, #0 4986 00f8 0393 str r3, [sp, #12] 4987 00fa 0023 movs r3, #0 4988 00fc 0293 str r3, [sp, #8] 4989 00fe 0023 movs r3, #0 4990 0100 0193 str r3, [sp, #4] 4991 0102 1423 movs r3, #20 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 118 4992 0104 0093 str r3, [sp] 4993 0106 5F4B ldr r3, .L224+16 4994 0108 0022 movs r2, #0 4995 010a 0C21 movs r1, #12 4996 010c 6048 ldr r0, .L224+28 4997 010e FFF7FEFF bl regist_dev_info 1258:user_src/soft_obstacle.c **** } 4998 .loc 1 1258 43 4999 0112 5D4B ldr r3, .L224+20 5000 0114 0122 movs r2, #1 5001 0116 83F82D20 strb r2, [r3, #45] 1261:user_src/soft_obstacle.c **** case CAN_OBSTARCLE12_SN: 5002 .loc 1 1261 9 5003 011a BEE1 b .L221 5004 .L209: 1263:user_src/soft_obstacle.c **** { 5005 .loc 1 1263 21 5006 011c 5D4B ldr r3, .L224+32 5007 011e 1B78 ldrb r3, [r3] @ zero_extendqisi2 1263:user_src/soft_obstacle.c **** { 5008 .loc 1 1263 11 5009 0120 002B cmp r3, #0 5010 0122 0DD1 bne .L214 1265:user_src/soft_obstacle.c **** frame_bi += 6; 5011 .loc 1 1265 39 5012 0124 BB68 ldr r3, [r7, #8] 5013 0126 0233 adds r3, r3, #2 1265:user_src/soft_obstacle.c **** frame_bi += 6; 5014 .loc 1 1265 13 5015 0128 0622 movs r2, #6 5016 012a 1946 mov r1, r3 5017 012c 5A48 ldr r0, .L224+36 5018 012e FFF7FEFF bl memcpy 1266:user_src/soft_obstacle.c **** } 5019 .loc 1 1266 22 5020 0132 584B ldr r3, .L224+32 5021 0134 1B78 ldrb r3, [r3] @ zero_extendqisi2 5022 0136 0633 adds r3, r3, #6 5023 0138 DAB2 uxtb r2, r3 5024 013a 564B ldr r3, .L224+32 5025 013c 1A70 strb r2, [r3] 1281:user_src/soft_obstacle.c **** case CAN_OBSTARCLE56_SN: 5026 .loc 1 1281 9 5027 013e AEE1 b .L222 5028 .L214: 1268:user_src/soft_obstacle.c **** { 5029 .loc 1 1268 26 5030 0140 544B ldr r3, .L224+32 5031 0142 1B78 ldrb r3, [r3] @ zero_extendqisi2 1268:user_src/soft_obstacle.c **** { 5032 .loc 1 1268 16 5033 0144 062B cmp r3, #6 5034 0146 12D1 bne .L216 1270:user_src/soft_obstacle.c **** frame_bi += 7; 5035 .loc 1 1270 35 5036 0148 524B ldr r3, .L224+32 5037 014a 1B78 ldrb r3, [r3] @ zero_extendqisi2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 119 1270:user_src/soft_obstacle.c **** frame_bi += 7; 5038 .loc 1 1270 20 5039 014c 3033 adds r3, r3, #48 5040 014e 534A ldr r2, .L224+40 5041 0150 1344 add r3, r3, r2 5042 0152 581C adds r0, r3, #1 1270:user_src/soft_obstacle.c **** frame_bi += 7; 5043 .loc 1 1270 46 5044 0154 BB68 ldr r3, [r7, #8] 5045 0156 0133 adds r3, r3, #1 1270:user_src/soft_obstacle.c **** frame_bi += 7; 5046 .loc 1 1270 13 5047 0158 0722 movs r2, #7 5048 015a 1946 mov r1, r3 5049 015c FFF7FEFF bl memcpy 1271:user_src/soft_obstacle.c **** } 5050 .loc 1 1271 22 5051 0160 4C4B ldr r3, .L224+32 5052 0162 1B78 ldrb r3, [r3] @ zero_extendqisi2 5053 0164 0733 adds r3, r3, #7 5054 0166 DAB2 uxtb r2, r3 5055 0168 4A4B ldr r3, .L224+32 5056 016a 1A70 strb r2, [r3] 1281:user_src/soft_obstacle.c **** case CAN_OBSTARCLE56_SN: 5057 .loc 1 1281 9 5058 016c 97E1 b .L222 5059 .L216: 1273:user_src/soft_obstacle.c **** { 5060 .loc 1 1273 26 5061 016e 494B ldr r3, .L224+32 5062 0170 1B78 ldrb r3, [r3] @ zero_extendqisi2 1273:user_src/soft_obstacle.c **** { 5063 .loc 1 1273 16 5064 0172 0C2B cmp r3, #12 5065 0174 40F29381 bls .L222 1275:user_src/soft_obstacle.c **** frame_bi = 0; 5066 .loc 1 1275 35 5067 0178 464B ldr r3, .L224+32 5068 017a 1B78 ldrb r3, [r3] @ zero_extendqisi2 1275:user_src/soft_obstacle.c **** frame_bi = 0; 5069 .loc 1 1275 20 5070 017c 3033 adds r3, r3, #48 5071 017e 474A ldr r2, .L224+40 5072 0180 1344 add r3, r3, r2 5073 0182 581C adds r0, r3, #1 1275:user_src/soft_obstacle.c **** frame_bi = 0; 5074 .loc 1 1275 46 5075 0184 BB68 ldr r3, [r7, #8] 5076 0186 0133 adds r3, r3, #1 1275:user_src/soft_obstacle.c **** frame_bi = 0; 5077 .loc 1 1275 13 5078 0188 0322 movs r2, #3 5079 018a 1946 mov r1, r3 5080 018c FFF7FEFF bl memcpy 1276:user_src/soft_obstacle.c **** 5081 .loc 1 1276 22 5082 0190 404B ldr r3, .L224+32 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 120 5083 0192 0022 movs r2, #0 5084 0194 1A70 strb r2, [r3] 1278:user_src/soft_obstacle.c **** uavr12_info.get_radar_sn_flag = true; 5085 .loc 1 1278 13 5086 0196 0623 movs r3, #6 5087 0198 0693 str r3, [sp, #24] 5088 019a 3C4B ldr r3, .L224+24 5089 019c 0593 str r3, [sp, #20] 5090 019e 0023 movs r3, #0 5091 01a0 0493 str r3, [sp, #16] 5092 01a2 0023 movs r3, #0 5093 01a4 0393 str r3, [sp, #12] 5094 01a6 0023 movs r3, #0 5095 01a8 0293 str r3, [sp, #8] 5096 01aa 0023 movs r3, #0 5097 01ac 0193 str r3, [sp, #4] 5098 01ae 1423 movs r3, #20 5099 01b0 0093 str r3, [sp] 5100 01b2 394B ldr r3, .L224+36 5101 01b4 0022 movs r2, #0 5102 01b6 0D21 movs r1, #13 5103 01b8 3948 ldr r0, .L224+44 5104 01ba FFF7FEFF bl regist_dev_info 1279:user_src/soft_obstacle.c **** } 5105 .loc 1 1279 43 5106 01be 374B ldr r3, .L224+40 5107 01c0 0122 movs r2, #1 5108 01c2 83F82D20 strb r2, [r3, #45] 1281:user_src/soft_obstacle.c **** case CAN_OBSTARCLE56_SN: 5109 .loc 1 1281 9 5110 01c6 6AE1 b .L222 5111 .L207: 1283:user_src/soft_obstacle.c **** { 5112 .loc 1 1283 21 5113 01c8 364B ldr r3, .L224+48 5114 01ca 1B78 ldrb r3, [r3] @ zero_extendqisi2 1283:user_src/soft_obstacle.c **** { 5115 .loc 1 1283 11 5116 01cc 002B cmp r3, #0 5117 01ce 0DD1 bne .L217 1285:user_src/soft_obstacle.c **** frame_ti += 6; 5118 .loc 1 1285 39 5119 01d0 BB68 ldr r3, [r7, #8] 5120 01d2 0233 adds r3, r3, #2 1285:user_src/soft_obstacle.c **** frame_ti += 6; 5121 .loc 1 1285 13 5122 01d4 0622 movs r2, #6 5123 01d6 1946 mov r1, r3 5124 01d8 3348 ldr r0, .L224+52 5125 01da FFF7FEFF bl memcpy 1286:user_src/soft_obstacle.c **** } 5126 .loc 1 1286 22 5127 01de 314B ldr r3, .L224+48 5128 01e0 1B78 ldrb r3, [r3] @ zero_extendqisi2 5129 01e2 0633 adds r3, r3, #6 5130 01e4 DAB2 uxtb r2, r3 5131 01e6 2F4B ldr r3, .L224+48 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 121 5132 01e8 1A70 strb r2, [r3] 1301:user_src/soft_obstacle.c **** //版本信息 5133 .loc 1 1301 9 5134 01ea 5AE1 b .L223 5135 .L217: 1288:user_src/soft_obstacle.c **** { 5136 .loc 1 1288 26 5137 01ec 2D4B ldr r3, .L224+48 5138 01ee 1B78 ldrb r3, [r3] @ zero_extendqisi2 1288:user_src/soft_obstacle.c **** { 5139 .loc 1 1288 16 5140 01f0 062B cmp r3, #6 5141 01f2 12D1 bne .L219 1290:user_src/soft_obstacle.c **** frame_ti += 7; 5142 .loc 1 1290 35 5143 01f4 2B4B ldr r3, .L224+48 5144 01f6 1B78 ldrb r3, [r3] @ zero_extendqisi2 1290:user_src/soft_obstacle.c **** frame_ti += 7; 5145 .loc 1 1290 20 5146 01f8 3033 adds r3, r3, #48 5147 01fa 2C4A ldr r2, .L224+56 5148 01fc 1344 add r3, r3, r2 5149 01fe 581C adds r0, r3, #1 1290:user_src/soft_obstacle.c **** frame_ti += 7; 5150 .loc 1 1290 46 5151 0200 BB68 ldr r3, [r7, #8] 5152 0202 0133 adds r3, r3, #1 1290:user_src/soft_obstacle.c **** frame_ti += 7; 5153 .loc 1 1290 13 5154 0204 0722 movs r2, #7 5155 0206 1946 mov r1, r3 5156 0208 FFF7FEFF bl memcpy 1291:user_src/soft_obstacle.c **** } 5157 .loc 1 1291 22 5158 020c 254B ldr r3, .L224+48 5159 020e 1B78 ldrb r3, [r3] @ zero_extendqisi2 5160 0210 0733 adds r3, r3, #7 5161 0212 DAB2 uxtb r2, r3 5162 0214 234B ldr r3, .L224+48 5163 0216 1A70 strb r2, [r3] 1301:user_src/soft_obstacle.c **** //版本信息 5164 .loc 1 1301 9 5165 0218 43E1 b .L223 5166 .L219: 1293:user_src/soft_obstacle.c **** { 5167 .loc 1 1293 26 5168 021a 224B ldr r3, .L224+48 5169 021c 1B78 ldrb r3, [r3] @ zero_extendqisi2 1293:user_src/soft_obstacle.c **** { 5170 .loc 1 1293 16 5171 021e 0C2B cmp r3, #12 5172 0220 40F23F81 bls .L223 1295:user_src/soft_obstacle.c **** frame_ti = 0; 5173 .loc 1 1295 35 5174 0224 1F4B ldr r3, .L224+48 5175 0226 1B78 ldrb r3, [r3] @ zero_extendqisi2 1295:user_src/soft_obstacle.c **** frame_ti = 0; ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 122 5176 .loc 1 1295 20 5177 0228 3033 adds r3, r3, #48 5178 022a 204A ldr r2, .L224+56 5179 022c 1344 add r3, r3, r2 5180 022e 581C adds r0, r3, #1 1295:user_src/soft_obstacle.c **** frame_ti = 0; 5181 .loc 1 1295 46 5182 0230 BB68 ldr r3, [r7, #8] 5183 0232 0133 adds r3, r3, #1 1295:user_src/soft_obstacle.c **** frame_ti = 0; 5184 .loc 1 1295 13 5185 0234 0322 movs r2, #3 5186 0236 1946 mov r1, r3 5187 0238 FFF7FEFF bl memcpy 1296:user_src/soft_obstacle.c **** 5188 .loc 1 1296 22 5189 023c 194B ldr r3, .L224+48 5190 023e 0022 movs r2, #0 5191 0240 1A70 strb r2, [r3] 1298:user_src/soft_obstacle.c **** uavr56_info.get_radar_sn_flag = true; 5192 .loc 1 1298 13 5193 0242 0623 movs r3, #6 5194 0244 0693 str r3, [sp, #24] 5195 0246 114B ldr r3, .L224+24 5196 0248 0593 str r3, [sp, #20] 5197 024a 0023 movs r3, #0 5198 024c 0493 str r3, [sp, #16] 5199 024e 0023 movs r3, #0 5200 0250 0393 str r3, [sp, #12] 5201 0252 0023 movs r3, #0 5202 0254 0293 str r3, [sp, #8] 5203 0256 0023 movs r3, #0 5204 0258 0193 str r3, [sp, #4] 5205 025a 1423 movs r3, #20 5206 025c 0093 str r3, [sp] 5207 025e 124B ldr r3, .L224+52 5208 0260 0022 movs r2, #0 5209 0262 0B21 movs r1, #11 5210 0264 1248 ldr r0, .L224+60 5211 0266 FFF7FEFF bl regist_dev_info 1299:user_src/soft_obstacle.c **** } 5212 .loc 1 1299 43 5213 026a 104B ldr r3, .L224+56 5214 026c 0122 movs r2, #1 5215 026e 9A76 strb r2, [r3, #26] 1301:user_src/soft_obstacle.c **** //版本信息 5216 .loc 1 1301 9 5217 0270 17E1 b .L223 5218 .L225: 5219 0272 00BF .align 2 5220 .L224: 5221 0274 12FFEE00 .word 15662866 5222 0278 11FFEE00 .word 15662865 5223 027c 0BFFEE00 .word 15662859 5224 0280 00000000 .word frame_fi.3 5225 0284 31000000 .word uavr11_info+49 5226 0288 00000000 .word uavr11_info ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 123 5227 028c 0C000000 .word .LC2 5228 0290 00000000 .word dev_obsf 5229 0294 00000000 .word frame_bi.2 5230 0298 31000000 .word uavr12_info+49 5231 029c 00000000 .word uavr12_info 5232 02a0 00000000 .word dev_obsb 5233 02a4 00000000 .word frame_ti.1 5234 02a8 31000000 .word uavr56_info+49 5235 02ac 00000000 .word uavr56_info 5236 02b0 00000000 .word dev_ter 5237 .L205: 1304:user_src/soft_obstacle.c **** uavr11_info.version[1] = '1'; 5238 .loc 1 1304 32 5239 02b4 7F4B ldr r3, .L226 5240 02b6 4D22 movs r2, #77 5241 02b8 5A77 strb r2, [r3, #29] 1305:user_src/soft_obstacle.c **** uavr11_info.version[2] = (data[1] + data[2]) + '0'; 5242 .loc 1 1305 32 5243 02ba 7E4B ldr r3, .L226 5244 02bc 3122 movs r2, #49 5245 02be 9A77 strb r2, [r3, #30] 1306:user_src/soft_obstacle.c **** uavr11_info.version[3] = (data[3] + data[4]) + '0'; 5246 .loc 1 1306 39 5247 02c0 BB68 ldr r3, [r7, #8] 5248 02c2 0133 adds r3, r3, #1 5249 02c4 1A78 ldrb r2, [r3] @ zero_extendqisi2 1306:user_src/soft_obstacle.c **** uavr11_info.version[3] = (data[3] + data[4]) + '0'; 5250 .loc 1 1306 49 5251 02c6 BB68 ldr r3, [r7, #8] 5252 02c8 0233 adds r3, r3, #2 5253 02ca 1B78 ldrb r3, [r3] @ zero_extendqisi2 1306:user_src/soft_obstacle.c **** uavr11_info.version[3] = (data[3] + data[4]) + '0'; 5254 .loc 1 1306 43 5255 02cc 1344 add r3, r3, r2 5256 02ce DBB2 uxtb r3, r3 1306:user_src/soft_obstacle.c **** uavr11_info.version[3] = (data[3] + data[4]) + '0'; 5257 .loc 1 1306 54 5258 02d0 3033 adds r3, r3, #48 5259 02d2 DAB2 uxtb r2, r3 1306:user_src/soft_obstacle.c **** uavr11_info.version[3] = (data[3] + data[4]) + '0'; 5260 .loc 1 1306 32 5261 02d4 774B ldr r3, .L226 5262 02d6 DA77 strb r2, [r3, #31] 1307:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); 5263 .loc 1 1307 39 5264 02d8 BB68 ldr r3, [r7, #8] 5265 02da 0333 adds r3, r3, #3 5266 02dc 1A78 ldrb r2, [r3] @ zero_extendqisi2 1307:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); 5267 .loc 1 1307 49 5268 02de BB68 ldr r3, [r7, #8] 5269 02e0 0433 adds r3, r3, #4 5270 02e2 1B78 ldrb r3, [r3] @ zero_extendqisi2 1307:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); 5271 .loc 1 1307 43 5272 02e4 1344 add r3, r3, r2 5273 02e6 DBB2 uxtb r3, r3 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 124 1307:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); 5274 .loc 1 1307 54 5275 02e8 3033 adds r3, r3, #48 5276 02ea DAB2 uxtb r2, r3 1307:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr11_info.version[4], 6, "00"); 5277 .loc 1 1307 32 5278 02ec 714B ldr r3, .L226 5279 02ee 83F82020 strb r2, [r3, #32] 1308:user_src/soft_obstacle.c **** uavr11_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 5280 .loc 1 1308 28 5281 02f2 BB68 ldr r3, [r7, #8] 5282 02f4 581D adds r0, r3, #5 1308:user_src/soft_obstacle.c **** uavr11_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 5283 .loc 1 1308 9 5284 02f6 704B ldr r3, .L226+4 5285 02f8 0093 str r3, [sp] 5286 02fa 0623 movs r3, #6 5287 02fc 6F4A ldr r2, .L226+8 5288 02fe 0321 movs r1, #3 5289 0300 FFF7FEFF bl char_to_hex_string 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5290 .loc 1 1309 42 5291 0304 BB68 ldr r3, [r7, #8] 5292 0306 0533 adds r3, r3, #5 5293 0308 1B78 ldrb r3, [r3] @ zero_extendqisi2 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5294 .loc 1 1309 54 5295 030a 1A04 lsls r2, r3, #16 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5296 .loc 1 1309 69 5297 030c BB68 ldr r3, [r7, #8] 5298 030e 0633 adds r3, r3, #6 5299 0310 1B78 ldrb r3, [r3] @ zero_extendqisi2 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5300 .loc 1 1309 81 5301 0312 1B02 lsls r3, r3, #8 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5302 .loc 1 1309 61 5303 0314 1344 add r3, r3, r2 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5304 .loc 1 1309 94 5305 0316 BA68 ldr r2, [r7, #8] 5306 0318 0732 adds r2, r2, #7 5307 031a 1278 ldrb r2, [r2] @ zero_extendqisi2 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5308 .loc 1 1309 87 5309 031c 1344 add r3, r3, r2 1309:user_src/soft_obstacle.c **** uavr11_info.get_radar_ver_flag = true; 5310 .loc 1 1309 34 5311 031e 654A ldr r2, .L226 5312 0320 C2F81930 str r3, [r2, #25] @ unaligned 1310:user_src/soft_obstacle.c **** 5313 .loc 1 1310 40 5314 0324 634B ldr r3, .L226 5315 0326 0122 movs r2, #1 5316 0328 83F82C20 strb r2, [r3, #44] 1312:user_src/soft_obstacle.c **** break; ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 125 5317 .loc 1 1312 9 5318 032c 0623 movs r3, #6 5319 032e 0693 str r3, [sp, #24] 5320 0330 634B ldr r3, .L226+12 5321 0332 0593 str r3, [sp, #20] 5322 0334 0023 movs r3, #0 5323 0336 0493 str r3, [sp, #16] 5324 0338 0023 movs r3, #0 5325 033a 0393 str r3, [sp, #12] 5326 033c 0A23 movs r3, #10 5327 033e 0293 str r3, [sp, #8] 5328 0340 604B ldr r3, .L226+16 5329 0342 0193 str r3, [sp, #4] 5330 0344 0023 movs r3, #0 5331 0346 0093 str r3, [sp] 5332 0348 0023 movs r3, #0 5333 034a 0022 movs r2, #0 5334 034c 0C21 movs r1, #12 5335 034e 5E48 ldr r0, .L226+20 5336 0350 FFF7FEFF bl regist_dev_info 1313:user_src/soft_obstacle.c **** case 0x00eeff12: 5337 .loc 1 1313 9 5338 0354 A6E0 b .L213 5339 .L203: 1315:user_src/soft_obstacle.c **** uavr12_info.version[1] = '2'; 5340 .loc 1 1315 32 5341 0356 5D4B ldr r3, .L226+24 5342 0358 4D22 movs r2, #77 5343 035a 5A77 strb r2, [r3, #29] 1316:user_src/soft_obstacle.c **** uavr12_info.version[2] = (data[1] + data[2]) + '0'; 5344 .loc 1 1316 32 5345 035c 5B4B ldr r3, .L226+24 5346 035e 3222 movs r2, #50 5347 0360 9A77 strb r2, [r3, #30] 1317:user_src/soft_obstacle.c **** uavr12_info.version[3] = (data[3] + data[4]) + '0'; 5348 .loc 1 1317 39 5349 0362 BB68 ldr r3, [r7, #8] 5350 0364 0133 adds r3, r3, #1 5351 0366 1A78 ldrb r2, [r3] @ zero_extendqisi2 1317:user_src/soft_obstacle.c **** uavr12_info.version[3] = (data[3] + data[4]) + '0'; 5352 .loc 1 1317 49 5353 0368 BB68 ldr r3, [r7, #8] 5354 036a 0233 adds r3, r3, #2 5355 036c 1B78 ldrb r3, [r3] @ zero_extendqisi2 1317:user_src/soft_obstacle.c **** uavr12_info.version[3] = (data[3] + data[4]) + '0'; 5356 .loc 1 1317 43 5357 036e 1344 add r3, r3, r2 5358 0370 DBB2 uxtb r3, r3 1317:user_src/soft_obstacle.c **** uavr12_info.version[3] = (data[3] + data[4]) + '0'; 5359 .loc 1 1317 54 5360 0372 3033 adds r3, r3, #48 5361 0374 DAB2 uxtb r2, r3 1317:user_src/soft_obstacle.c **** uavr12_info.version[3] = (data[3] + data[4]) + '0'; 5362 .loc 1 1317 32 5363 0376 554B ldr r3, .L226+24 5364 0378 DA77 strb r2, [r3, #31] 1318:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 126 5365 .loc 1 1318 39 5366 037a BB68 ldr r3, [r7, #8] 5367 037c 0333 adds r3, r3, #3 5368 037e 1A78 ldrb r2, [r3] @ zero_extendqisi2 1318:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); 5369 .loc 1 1318 49 5370 0380 BB68 ldr r3, [r7, #8] 5371 0382 0433 adds r3, r3, #4 5372 0384 1B78 ldrb r3, [r3] @ zero_extendqisi2 1318:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); 5373 .loc 1 1318 43 5374 0386 1344 add r3, r3, r2 5375 0388 DBB2 uxtb r3, r3 1318:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); 5376 .loc 1 1318 54 5377 038a 3033 adds r3, r3, #48 5378 038c DAB2 uxtb r2, r3 1318:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr12_info.version[4], 6, "00"); 5379 .loc 1 1318 32 5380 038e 4F4B ldr r3, .L226+24 5381 0390 83F82020 strb r2, [r3, #32] 1319:user_src/soft_obstacle.c **** uavr12_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 5382 .loc 1 1319 28 5383 0394 BB68 ldr r3, [r7, #8] 5384 0396 581D adds r0, r3, #5 1319:user_src/soft_obstacle.c **** uavr12_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 5385 .loc 1 1319 9 5386 0398 474B ldr r3, .L226+4 5387 039a 0093 str r3, [sp] 5388 039c 0623 movs r3, #6 5389 039e 4C4A ldr r2, .L226+28 5390 03a0 0321 movs r1, #3 5391 03a2 FFF7FEFF bl char_to_hex_string 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5392 .loc 1 1320 42 5393 03a6 BB68 ldr r3, [r7, #8] 5394 03a8 0533 adds r3, r3, #5 5395 03aa 1B78 ldrb r3, [r3] @ zero_extendqisi2 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5396 .loc 1 1320 54 5397 03ac 1A04 lsls r2, r3, #16 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5398 .loc 1 1320 69 5399 03ae BB68 ldr r3, [r7, #8] 5400 03b0 0633 adds r3, r3, #6 5401 03b2 1B78 ldrb r3, [r3] @ zero_extendqisi2 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5402 .loc 1 1320 81 5403 03b4 1B02 lsls r3, r3, #8 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5404 .loc 1 1320 61 5405 03b6 1344 add r3, r3, r2 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5406 .loc 1 1320 94 5407 03b8 BA68 ldr r2, [r7, #8] 5408 03ba 0732 adds r2, r2, #7 5409 03bc 1278 ldrb r2, [r2] @ zero_extendqisi2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 127 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5410 .loc 1 1320 87 5411 03be 1344 add r3, r3, r2 1320:user_src/soft_obstacle.c **** uavr12_info.get_radar_ver_flag = true; 5412 .loc 1 1320 34 5413 03c0 424A ldr r2, .L226+24 5414 03c2 C2F81930 str r3, [r2, #25] @ unaligned 1321:user_src/soft_obstacle.c **** 5415 .loc 1 1321 40 5416 03c6 414B ldr r3, .L226+24 5417 03c8 0122 movs r2, #1 5418 03ca 83F82C20 strb r2, [r3, #44] 1323:user_src/soft_obstacle.c **** break; 5419 .loc 1 1323 9 5420 03ce 0623 movs r3, #6 5421 03d0 0693 str r3, [sp, #24] 5422 03d2 3B4B ldr r3, .L226+12 5423 03d4 0593 str r3, [sp, #20] 5424 03d6 0023 movs r3, #0 5425 03d8 0493 str r3, [sp, #16] 5426 03da 0023 movs r3, #0 5427 03dc 0393 str r3, [sp, #12] 5428 03de 0A23 movs r3, #10 5429 03e0 0293 str r3, [sp, #8] 5430 03e2 3C4B ldr r3, .L226+32 5431 03e4 0193 str r3, [sp, #4] 5432 03e6 0023 movs r3, #0 5433 03e8 0093 str r3, [sp] 5434 03ea 0023 movs r3, #0 5435 03ec 0022 movs r2, #0 5436 03ee 0D21 movs r1, #13 5437 03f0 3948 ldr r0, .L226+36 5438 03f2 FFF7FEFF bl regist_dev_info 1324:user_src/soft_obstacle.c **** case 0x00eeff0b: 5439 .loc 1 1324 9 5440 03f6 55E0 b .L213 5441 .L206: 1326:user_src/soft_obstacle.c **** uavr56_info.version[1] = 'B'; 5442 .loc 1 1326 32 5443 03f8 384B ldr r3, .L226+40 5444 03fa 4D22 movs r2, #77 5445 03fc DA76 strb r2, [r3, #27] 1327:user_src/soft_obstacle.c **** uavr56_info.version[2] = (data[1] + data[2]) + '0'; 5446 .loc 1 1327 32 5447 03fe 374B ldr r3, .L226+40 5448 0400 4222 movs r2, #66 5449 0402 1A77 strb r2, [r3, #28] 1328:user_src/soft_obstacle.c **** uavr56_info.version[3] = (data[3] + data[4]) + '0'; 5450 .loc 1 1328 39 5451 0404 BB68 ldr r3, [r7, #8] 5452 0406 0133 adds r3, r3, #1 5453 0408 1A78 ldrb r2, [r3] @ zero_extendqisi2 1328:user_src/soft_obstacle.c **** uavr56_info.version[3] = (data[3] + data[4]) + '0'; 5454 .loc 1 1328 49 5455 040a BB68 ldr r3, [r7, #8] 5456 040c 0233 adds r3, r3, #2 5457 040e 1B78 ldrb r3, [r3] @ zero_extendqisi2 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 128 1328:user_src/soft_obstacle.c **** uavr56_info.version[3] = (data[3] + data[4]) + '0'; 5458 .loc 1 1328 43 5459 0410 1344 add r3, r3, r2 5460 0412 DBB2 uxtb r3, r3 1328:user_src/soft_obstacle.c **** uavr56_info.version[3] = (data[3] + data[4]) + '0'; 5461 .loc 1 1328 54 5462 0414 3033 adds r3, r3, #48 5463 0416 DAB2 uxtb r2, r3 1328:user_src/soft_obstacle.c **** uavr56_info.version[3] = (data[3] + data[4]) + '0'; 5464 .loc 1 1328 32 5465 0418 304B ldr r3, .L226+40 5466 041a 5A77 strb r2, [r3, #29] 1329:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); 5467 .loc 1 1329 39 5468 041c BB68 ldr r3, [r7, #8] 5469 041e 0333 adds r3, r3, #3 5470 0420 1A78 ldrb r2, [r3] @ zero_extendqisi2 1329:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); 5471 .loc 1 1329 49 5472 0422 BB68 ldr r3, [r7, #8] 5473 0424 0433 adds r3, r3, #4 5474 0426 1B78 ldrb r3, [r3] @ zero_extendqisi2 1329:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); 5475 .loc 1 1329 43 5476 0428 1344 add r3, r3, r2 5477 042a DBB2 uxtb r3, r3 1329:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); 5478 .loc 1 1329 54 5479 042c 3033 adds r3, r3, #48 5480 042e DAB2 uxtb r2, r3 1329:user_src/soft_obstacle.c **** char_to_hex_string(&data[5], 3, &uavr56_info.version[4], 6, "00"); 5481 .loc 1 1329 32 5482 0430 2A4B ldr r3, .L226+40 5483 0432 9A77 strb r2, [r3, #30] 1330:user_src/soft_obstacle.c **** uavr56_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 5484 .loc 1 1330 28 5485 0434 BB68 ldr r3, [r7, #8] 5486 0436 581D adds r0, r3, #5 1330:user_src/soft_obstacle.c **** uavr56_info.soft_verison = ((data[5] & 0xff) << 16) + ((data[6] & 0xff) << 8) + (data[7] & 5487 .loc 1 1330 9 5488 0438 1F4B ldr r3, .L226+4 5489 043a 0093 str r3, [sp] 5490 043c 0623 movs r3, #6 5491 043e 284A ldr r2, .L226+44 5492 0440 0321 movs r1, #3 5493 0442 FFF7FEFF bl char_to_hex_string 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5494 .loc 1 1331 42 5495 0446 BB68 ldr r3, [r7, #8] 5496 0448 0533 adds r3, r3, #5 5497 044a 1B78 ldrb r3, [r3] @ zero_extendqisi2 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5498 .loc 1 1331 54 5499 044c 1A04 lsls r2, r3, #16 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5500 .loc 1 1331 69 5501 044e BB68 ldr r3, [r7, #8] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 129 5502 0450 0633 adds r3, r3, #6 5503 0452 1B78 ldrb r3, [r3] @ zero_extendqisi2 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5504 .loc 1 1331 81 5505 0454 1B02 lsls r3, r3, #8 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5506 .loc 1 1331 61 5507 0456 1344 add r3, r3, r2 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5508 .loc 1 1331 94 5509 0458 BA68 ldr r2, [r7, #8] 5510 045a 0732 adds r2, r2, #7 5511 045c 1278 ldrb r2, [r2] @ zero_extendqisi2 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5512 .loc 1 1331 87 5513 045e 1344 add r3, r3, r2 1331:user_src/soft_obstacle.c **** uavr56_info.get_radar_ver_flag = true; 5514 .loc 1 1331 34 5515 0460 1E4A ldr r2, .L226+40 5516 0462 C2F82630 str r3, [r2, #38] @ unaligned 1332:user_src/soft_obstacle.c **** 5517 .loc 1 1332 40 5518 0466 1D4B ldr r3, .L226+40 5519 0468 0122 movs r2, #1 5520 046a 5A76 strb r2, [r3, #25] 1334:user_src/soft_obstacle.c **** break; 5521 .loc 1 1334 9 5522 046c 0623 movs r3, #6 5523 046e 0693 str r3, [sp, #24] 5524 0470 134B ldr r3, .L226+12 5525 0472 0593 str r3, [sp, #20] 5526 0474 0023 movs r3, #0 5527 0476 0493 str r3, [sp, #16] 5528 0478 0023 movs r3, #0 5529 047a 0393 str r3, [sp, #12] 5530 047c 0A23 movs r3, #10 5531 047e 0293 str r3, [sp, #8] 5532 0480 184B ldr r3, .L226+48 5533 0482 0193 str r3, [sp, #4] 5534 0484 0023 movs r3, #0 5535 0486 0093 str r3, [sp] 5536 0488 0023 movs r3, #0 5537 048a 0022 movs r2, #0 5538 048c 0B21 movs r1, #11 5539 048e 1648 ldr r0, .L226+52 5540 0490 FFF7FEFF bl regist_dev_info 1335:user_src/soft_obstacle.c **** default: 5541 .loc 1 1335 9 5542 0494 06E0 b .L213 5543 .L220: 5544 .loc 1 1337 9 5545 0496 00BF nop 5546 0498 04E0 b .L213 5547 .L221: 1261:user_src/soft_obstacle.c **** case CAN_OBSTARCLE12_SN: 5548 .loc 1 1261 9 5549 049a 00BF nop ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 130 5550 049c 02E0 b .L213 5551 .L222: 1281:user_src/soft_obstacle.c **** case CAN_OBSTARCLE56_SN: 5552 .loc 1 1281 9 5553 049e 00BF nop 5554 04a0 00E0 b .L213 5555 .L223: 1301:user_src/soft_obstacle.c **** //版本信息 5556 .loc 1 1301 9 5557 04a2 00BF nop 5558 .L213: 1338:user_src/soft_obstacle.c **** } 1339:user_src/soft_obstacle.c **** // if(HAL_GetTick() > 10000) 1340:user_src/soft_obstacle.c **** // { 1341:user_src/soft_obstacle.c **** pmu_send = PMU_SEND_VERSION; 5559 .loc 1 1341 18 5560 04a4 114B ldr r3, .L226+56 5561 04a6 0422 movs r2, #4 5562 04a8 1A70 strb r2, [r3] 1342:user_src/soft_obstacle.c **** // } 1343:user_src/soft_obstacle.c **** } 5563 .loc 1 1343 1 5564 04aa 00BF nop 5565 04ac 1037 adds r7, r7, #16 5566 .LCFI57: 5567 .cfi_def_cfa_offset 8 5568 04ae BD46 mov sp, r7 5569 .LCFI58: 5570 .cfi_def_cfa_register 13 5571 @ sp needed 5572 04b0 80BD pop {r7, pc} 5573 .L227: 5574 04b2 00BF .align 2 5575 .L226: 5576 04b4 00000000 .word uavr11_info 5577 04b8 14000000 .word .LC3 5578 04bc 21000000 .word uavr11_info+33 5579 04c0 0C000000 .word .LC2 5580 04c4 1D000000 .word uavr11_info+29 5581 04c8 00000000 .word dev_obsf 5582 04cc 00000000 .word uavr12_info 5583 04d0 21000000 .word uavr12_info+33 5584 04d4 1D000000 .word uavr12_info+29 5585 04d8 00000000 .word dev_obsb 5586 04dc 00000000 .word uavr56_info 5587 04e0 1F000000 .word uavr56_info+31 5588 04e4 1B000000 .word uavr56_info+27 5589 04e8 00000000 .word dev_ter 5590 04ec 00000000 .word pmu_send 5591 .cfi_endproc 5592 .LFE144: 5594 .section .text.check_radar_update,"ax",%progbits 5595 .align 1 5596 .global check_radar_update 5597 .syntax unified 5598 .thumb 5599 .thumb_func ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 131 5601 check_radar_update: 5602 .LFB145: 1344:user_src/soft_obstacle.c **** 1345:user_src/soft_obstacle.c **** bool check_radar_update(void) 1346:user_src/soft_obstacle.c **** { 5603 .loc 1 1346 1 5604 .cfi_startproc 5605 @ args = 0, pretend = 0, frame = 0 5606 @ frame_needed = 1, uses_anonymous_args = 0 5607 @ link register save eliminated. 5608 0000 80B4 push {r7} 5609 .LCFI59: 5610 .cfi_def_cfa_offset 4 5611 .cfi_offset 7, -4 5612 0002 00AF add r7, sp, #0 5613 .LCFI60: 5614 .cfi_def_cfa_register 7 1347:user_src/soft_obstacle.c **** 1348:user_src/soft_obstacle.c **** if (uavr12_info.Link.connect_status == COMP_NORMAL && uavr12_info.get_radar_sensi_flag == false && 5615 .loc 1 1348 22 5616 0004 234B ldr r3, .L235 5617 0006 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5618 .loc 1 1348 5 5619 0008 012B cmp r3, #1 5620 000a 0CD1 bne .L229 5621 .loc 1 1348 67 discriminator 1 5622 000c 214B ldr r3, .L235 5623 000e DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 5624 .loc 1 1348 89 discriminator 1 5625 0010 83F00103 eor r3, r3, #1 5626 0014 DBB2 uxtb r3, r3 5627 .loc 1 1348 53 discriminator 1 5628 0016 002B cmp r3, #0 5629 0018 05D0 beq .L229 1349:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi_count < 5) 5630 .loc 1 1349 21 discriminator 2 5631 001a 1E4B ldr r3, .L235 5632 001c 9B7D ldrb r3, [r3, #22] @ zero_extendqisi2 1348:user_src/soft_obstacle.c **** uavr12_info.get_radar_sensi_count < 5) 5633 .loc 1 1348 98 discriminator 2 5634 001e 042B cmp r3, #4 5635 0020 01D8 bhi .L229 1350:user_src/soft_obstacle.c **** { 1351:user_src/soft_obstacle.c **** 1352:user_src/soft_obstacle.c **** return false; 5636 .loc 1 1352 10 5637 0022 0023 movs r3, #0 5638 0024 30E0 b .L230 5639 .L229: 1353:user_src/soft_obstacle.c **** } 1354:user_src/soft_obstacle.c **** if (uavr11_info.Link.connect_status == COMP_NORMAL && uavr11_info.get_radar_sensi_flag == false && 5640 .loc 1 1354 22 5641 0026 1C4B ldr r3, .L235+4 5642 0028 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5643 .loc 1 1354 5 5644 002a 012B cmp r3, #1 5645 002c 0CD1 bne .L231 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 132 5646 .loc 1 1354 67 discriminator 1 5647 002e 1A4B ldr r3, .L235+4 5648 0030 DB7C ldrb r3, [r3, #19] @ zero_extendqisi2 5649 .loc 1 1354 89 discriminator 1 5650 0032 83F00103 eor r3, r3, #1 5651 0036 DBB2 uxtb r3, r3 5652 .loc 1 1354 53 discriminator 1 5653 0038 002B cmp r3, #0 5654 003a 05D0 beq .L231 1355:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi_count < 5) 5655 .loc 1 1355 20 discriminator 2 5656 003c 164B ldr r3, .L235+4 5657 003e 9B7D ldrb r3, [r3, #22] @ zero_extendqisi2 1354:user_src/soft_obstacle.c **** uavr11_info.get_radar_sensi_count < 5) 5658 .loc 1 1354 98 discriminator 2 5659 0040 042B cmp r3, #4 5660 0042 01D8 bhi .L231 1356:user_src/soft_obstacle.c **** { 1357:user_src/soft_obstacle.c **** 1358:user_src/soft_obstacle.c **** return false; 5661 .loc 1 1358 10 5662 0044 0023 movs r3, #0 5663 0046 1FE0 b .L230 5664 .L231: 1359:user_src/soft_obstacle.c **** } 1360:user_src/soft_obstacle.c **** if (uavr56_info.Link.connect_status == COMP_NORMAL && uavr56_info.get_radar_sensi_flag == false && 5665 .loc 1 1360 22 5666 0048 144B ldr r3, .L235+8 5667 004a 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5668 .loc 1 1360 5 5669 004c 012B cmp r3, #1 5670 004e 0CD1 bne .L232 5671 .loc 1 1360 67 discriminator 1 5672 0050 124B ldr r3, .L235+8 5673 0052 5B7C ldrb r3, [r3, #17] @ zero_extendqisi2 5674 .loc 1 1360 89 discriminator 1 5675 0054 83F00103 eor r3, r3, #1 5676 0058 DBB2 uxtb r3, r3 5677 .loc 1 1360 53 discriminator 1 5678 005a 002B cmp r3, #0 5679 005c 05D0 beq .L232 1361:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi_count < 5) 5680 .loc 1 1361 20 discriminator 2 5681 005e 0F4B ldr r3, .L235+8 5682 0060 1B7C ldrb r3, [r3, #16] @ zero_extendqisi2 1360:user_src/soft_obstacle.c **** uavr56_info.get_radar_sensi_count < 5) 5683 .loc 1 1360 98 discriminator 2 5684 0062 042B cmp r3, #4 5685 0064 01D8 bhi .L232 1362:user_src/soft_obstacle.c **** { 1363:user_src/soft_obstacle.c **** return false; 5686 .loc 1 1363 10 5687 0066 0023 movs r3, #0 5688 0068 0EE0 b .L230 5689 .L232: 1364:user_src/soft_obstacle.c **** } 1365:user_src/soft_obstacle.c **** if(uavr11_info.fcu_set_sensi_flag == true ||uavr12_info.fcu_set_sensi_flag == true ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 133 5690 .loc 1 1365 16 5691 006a 0B4B ldr r3, .L235+4 5692 006c 1B7D ldrb r3, [r3, #20] @ zero_extendqisi2 5693 .loc 1 1365 4 5694 006e 002B cmp r3, #0 5695 0070 07D1 bne .L233 5696 .loc 1 1365 57 discriminator 1 5697 0072 084B ldr r3, .L235 5698 0074 1B7D ldrb r3, [r3, #20] @ zero_extendqisi2 5699 .loc 1 1365 44 discriminator 1 5700 0076 002B cmp r3, #0 5701 0078 03D1 bne .L233 1366:user_src/soft_obstacle.c **** || uavr56_info.fcu_set_sensi_flag == true) 5702 .loc 1 1366 23 5703 007a 084B ldr r3, .L235+8 5704 007c 9B7C ldrb r3, [r3, #18] @ zero_extendqisi2 5705 .loc 1 1366 9 5706 007e 002B cmp r3, #0 5707 0080 01D0 beq .L234 5708 .L233: 1367:user_src/soft_obstacle.c **** { 1368:user_src/soft_obstacle.c **** return false; 5709 .loc 1 1368 10 5710 0082 0023 movs r3, #0 5711 0084 00E0 b .L230 5712 .L234: 1369:user_src/soft_obstacle.c **** } 1370:user_src/soft_obstacle.c **** return true; 5713 .loc 1 1370 9 5714 0086 0123 movs r3, #1 5715 .L230: 1371:user_src/soft_obstacle.c **** } 5716 .loc 1 1371 1 5717 0088 1846 mov r0, r3 5718 008a BD46 mov sp, r7 5719 .LCFI61: 5720 .cfi_def_cfa_register 13 5721 @ sp needed 5722 008c 5DF8047B ldr r7, [sp], #4 5723 .LCFI62: 5724 .cfi_restore 7 5725 .cfi_def_cfa_offset 0 5726 0090 7047 bx lr 5727 .L236: 5728 0092 00BF .align 2 5729 .L235: 5730 0094 00000000 .word uavr12_info 5731 0098 00000000 .word uavr11_info 5732 009c 00000000 .word uavr56_info 5733 .cfi_endproc 5734 .LFE145: 5736 .section .text.get_radar_blindAndPower_function,"ax",%progbits 5737 .align 1 5738 .global get_radar_blindAndPower_function 5739 .syntax unified 5740 .thumb 5741 .thumb_func ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 134 5743 get_radar_blindAndPower_function: 5744 .LFB146: 1372:user_src/soft_obstacle.c **** 1373:user_src/soft_obstacle.c **** void get_radar_blindAndPower_function( void ) 1374:user_src/soft_obstacle.c **** { 5745 .loc 1 1374 1 5746 .cfi_startproc 5747 @ args = 0, pretend = 0, frame = 16 5748 @ frame_needed = 1, uses_anonymous_args = 0 5749 0000 80B5 push {r7, lr} 5750 .LCFI63: 5751 .cfi_def_cfa_offset 8 5752 .cfi_offset 7, -8 5753 .cfi_offset 14, -4 5754 0002 8AB0 sub sp, sp, #40 5755 .LCFI64: 5756 .cfi_def_cfa_offset 48 5757 0004 06AF add r7, sp, #24 5758 .LCFI65: 5759 .cfi_def_cfa 7, 24 1375:user_src/soft_obstacle.c **** uint8_t can_buf[8] = {0}; 5760 .loc 1 1375 13 5761 0006 0023 movs r3, #0 5762 0008 7B60 str r3, [r7, #4] 5763 000a 0023 movs r3, #0 5764 000c BB60 str r3, [r7, #8] 1376:user_src/soft_obstacle.c **** uint32_t can_id = 0; 5765 .loc 1 1376 14 5766 000e 0023 movs r3, #0 5767 0010 FB60 str r3, [r7, #12] 1377:user_src/soft_obstacle.c **** static uint32_t time_1hz = 0; 1378:user_src/soft_obstacle.c **** if(!Check_Timer_Ready(&time_1hz,_1_HZ_)) 5768 .loc 1 1378 9 5769 0012 4FF47A71 mov r1, #1000 5770 0016 7948 ldr r0, .L253 5771 0018 FFF7FEFF bl Check_Timer_Ready 5772 001c 0346 mov r3, r0 5773 .loc 1 1378 8 5774 001e 83F00103 eor r3, r3, #1 5775 0022 DBB2 uxtb r3, r3 5776 .loc 1 1378 7 5777 0024 002B cmp r3, #0 5778 0026 40F01082 bne .L252 1379:user_src/soft_obstacle.c **** return; 1380:user_src/soft_obstacle.c **** 1381:user_src/soft_obstacle.c **** if(DM_f_info.Link.connect_status == COMP_NORMAL && DM_f_info.get_radar_blind_flag == false) 5779 .loc 1 1381 22 5780 002a 754B ldr r3, .L253+4 5781 002c 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5782 .loc 1 1381 7 5783 002e 012B cmp r3, #1 5784 0030 20D1 bne .L240 5785 .loc 1 1381 65 discriminator 1 5786 0032 734B ldr r3, .L253+4 5787 0034 93F82E30 ldrb r3, [r3, #46] @ zero_extendqisi2 5788 .loc 1 1381 87 discriminator 1 5789 0038 83F00103 eor r3, r3, #1 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 135 5790 003c DBB2 uxtb r3, r3 5791 .loc 1 1381 53 discriminator 1 5792 003e 002B cmp r3, #0 5793 0040 18D0 beq .L240 1382:user_src/soft_obstacle.c **** { 1383:user_src/soft_obstacle.c **** can_id = 0xA81300; 5794 .loc 1 1383 16 5795 0042 704B ldr r3, .L253+8 5796 0044 FB60 str r3, [r7, #12] 1384:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0x8,0,0,0,0,0,0,0X7); 5797 .loc 1 1384 9 5798 0046 381D adds r0, r7, #4 5799 0048 0723 movs r3, #7 5800 004a 0493 str r3, [sp, #16] 5801 004c 0023 movs r3, #0 5802 004e 0393 str r3, [sp, #12] 5803 0050 0023 movs r3, #0 5804 0052 0293 str r3, [sp, #8] 5805 0054 0023 movs r3, #0 5806 0056 0193 str r3, [sp, #4] 5807 0058 0023 movs r3, #0 5808 005a 0093 str r3, [sp] 5809 005c 0023 movs r3, #0 5810 005e 0022 movs r2, #0 5811 0060 0821 movs r1, #8 5812 0062 FFF7FEFF bl put_date_to_can 1385:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 5813 .loc 1 1385 9 5814 0066 3B1D adds r3, r7, #4 5815 0068 FA68 ldr r2, [r7, #12] 5816 006a 0821 movs r1, #8 5817 006c 1846 mov r0, r3 5818 006e FFF7FEFF bl can_send_msg_normal 5819 0072 79E0 b .L241 5820 .L240: 1386:user_src/soft_obstacle.c **** } 1387:user_src/soft_obstacle.c **** else if(DM_f_info.Link.connect_status == COMP_NORMAL && DM_f_info.get_radar_power_flag == false 5821 .loc 1 1387 27 5822 0074 624B ldr r3, .L253+4 5823 0076 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5824 .loc 1 1387 12 5825 0078 012B cmp r3, #1 5826 007a 20D1 bne .L242 5827 .loc 1 1387 70 discriminator 1 5828 007c 604B ldr r3, .L253+4 5829 007e 93F82F30 ldrb r3, [r3, #47] @ zero_extendqisi2 5830 .loc 1 1387 92 discriminator 1 5831 0082 83F00103 eor r3, r3, #1 5832 0086 DBB2 uxtb r3, r3 5833 .loc 1 1387 58 discriminator 1 5834 0088 002B cmp r3, #0 5835 008a 18D0 beq .L242 1388:user_src/soft_obstacle.c **** { 1389:user_src/soft_obstacle.c **** can_id = 0xA81300; 5836 .loc 1 1389 16 5837 008c 5D4B ldr r3, .L253+8 5838 008e FB60 str r3, [r7, #12] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 136 1390:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0x9,0,0,0,0,0,0,0X7); 5839 .loc 1 1390 9 5840 0090 381D adds r0, r7, #4 5841 0092 0723 movs r3, #7 5842 0094 0493 str r3, [sp, #16] 5843 0096 0023 movs r3, #0 5844 0098 0393 str r3, [sp, #12] 5845 009a 0023 movs r3, #0 5846 009c 0293 str r3, [sp, #8] 5847 009e 0023 movs r3, #0 5848 00a0 0193 str r3, [sp, #4] 5849 00a2 0023 movs r3, #0 5850 00a4 0093 str r3, [sp] 5851 00a6 0023 movs r3, #0 5852 00a8 0022 movs r2, #0 5853 00aa 0921 movs r1, #9 5854 00ac FFF7FEFF bl put_date_to_can 1391:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 5855 .loc 1 1391 9 5856 00b0 3B1D adds r3, r7, #4 5857 00b2 FA68 ldr r2, [r7, #12] 5858 00b4 0821 movs r1, #8 5859 00b6 1846 mov r0, r3 5860 00b8 FFF7FEFF bl can_send_msg_normal 5861 00bc 54E0 b .L241 5862 .L242: 1392:user_src/soft_obstacle.c **** } 1393:user_src/soft_obstacle.c **** else if(DM_f_info.Link.connect_status == COMP_NORMAL && DM_f_info.get_radar_rawSwitch_flag == f 5863 .loc 1 1393 27 5864 00be 504B ldr r3, .L253+4 5865 00c0 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5866 .loc 1 1393 12 5867 00c2 012B cmp r3, #1 5868 00c4 20D1 bne .L243 5869 .loc 1 1393 70 discriminator 1 5870 00c6 4E4B ldr r3, .L253+4 5871 00c8 93F83030 ldrb r3, [r3, #48] @ zero_extendqisi2 5872 .loc 1 1393 96 discriminator 1 5873 00cc 83F00103 eor r3, r3, #1 5874 00d0 DBB2 uxtb r3, r3 5875 .loc 1 1393 58 discriminator 1 5876 00d2 002B cmp r3, #0 5877 00d4 18D0 beq .L243 1394:user_src/soft_obstacle.c **** { 1395:user_src/soft_obstacle.c **** can_id = 0xA81300; 5878 .loc 1 1395 16 5879 00d6 4B4B ldr r3, .L253+8 5880 00d8 FB60 str r3, [r7, #12] 1396:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0xB,0,0,0,0,0,0,0X7); 5881 .loc 1 1396 9 5882 00da 381D adds r0, r7, #4 5883 00dc 0723 movs r3, #7 5884 00de 0493 str r3, [sp, #16] 5885 00e0 0023 movs r3, #0 5886 00e2 0393 str r3, [sp, #12] 5887 00e4 0023 movs r3, #0 5888 00e6 0293 str r3, [sp, #8] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 137 5889 00e8 0023 movs r3, #0 5890 00ea 0193 str r3, [sp, #4] 5891 00ec 0023 movs r3, #0 5892 00ee 0093 str r3, [sp] 5893 00f0 0023 movs r3, #0 5894 00f2 0022 movs r2, #0 5895 00f4 0B21 movs r1, #11 5896 00f6 FFF7FEFF bl put_date_to_can 1397:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 5897 .loc 1 1397 9 5898 00fa 3B1D adds r3, r7, #4 5899 00fc FA68 ldr r2, [r7, #12] 5900 00fe 0821 movs r1, #8 5901 0100 1846 mov r0, r3 5902 0102 FFF7FEFF bl can_send_msg_normal 5903 0106 2FE0 b .L241 5904 .L243: 1398:user_src/soft_obstacle.c **** } 1399:user_src/soft_obstacle.c **** else if((Dev.Part_Fradar_Link.connect_status == COMP_NORMAL && Dev.Part_radarF.facid == FAC_DM_ 5905 .loc 1 1399 34 5906 0108 3F4B ldr r3, .L253+12 5907 010a 93F85C32 ldrb r3, [r3, #604] @ zero_extendqisi2 5908 .loc 1 1399 12 5909 010e 012B cmp r3, #1 5910 0110 2AD1 bne .L241 5911 .loc 1 1399 83 discriminator 1 5912 0112 3D4B ldr r3, .L253+12 5913 0114 93F84032 ldrb r3, [r3, #576] @ zero_extendqisi2 5914 .loc 1 1399 65 discriminator 1 5915 0118 252B cmp r3, #37 5916 011a 25D1 bne .L241 1400:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_dotcloud_switch_4DF == false && DM4Dmsg_send_fmu == false)) 5917 .loc 1 1400 27 discriminator 2 5918 011c 3B4B ldr r3, .L253+16 5919 011e 1B7C ldrb r3, [r3, #16] @ zero_extendqisi2 5920 .loc 1 1400 52 discriminator 2 5921 0120 83F00103 eor r3, r3, #1 5922 0124 DBB2 uxtb r3, r3 1399:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_dotcloud_switch_4DF == false && DM4Dmsg_send_fmu == false)) 5923 .loc 1 1399 107 discriminator 2 5924 0126 002B cmp r3, #0 5925 0128 1ED0 beq .L241 5926 .loc 1 1400 81 5927 012a 394B ldr r3, .L253+20 5928 012c 1B78 ldrb r3, [r3] @ zero_extendqisi2 5929 012e 83F00103 eor r3, r3, #1 5930 0132 DBB2 uxtb r3, r3 5931 .loc 1 1400 61 5932 0134 002B cmp r3, #0 5933 0136 17D0 beq .L241 1401:user_src/soft_obstacle.c **** { 1402:user_src/soft_obstacle.c **** can_id = 0xA81300; 5934 .loc 1 1402 16 5935 0138 324B ldr r3, .L253+8 5936 013a FB60 str r3, [r7, #12] 1403:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0xB,0,0,0,0,0,0,0X7); 5937 .loc 1 1403 9 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 138 5938 013c 381D adds r0, r7, #4 5939 013e 0723 movs r3, #7 5940 0140 0493 str r3, [sp, #16] 5941 0142 0023 movs r3, #0 5942 0144 0393 str r3, [sp, #12] 5943 0146 0023 movs r3, #0 5944 0148 0293 str r3, [sp, #8] 5945 014a 0023 movs r3, #0 5946 014c 0193 str r3, [sp, #4] 5947 014e 0023 movs r3, #0 5948 0150 0093 str r3, [sp] 5949 0152 0023 movs r3, #0 5950 0154 0022 movs r2, #0 5951 0156 0B21 movs r1, #11 5952 0158 FFF7FEFF bl put_date_to_can 1404:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 5953 .loc 1 1404 9 5954 015c 3B1D adds r3, r7, #4 5955 015e FA68 ldr r2, [r7, #12] 5956 0160 0821 movs r1, #8 5957 0162 1846 mov r0, r3 5958 0164 FFF7FEFF bl can_send_msg_normal 5959 .L241: 1405:user_src/soft_obstacle.c **** } 1406:user_src/soft_obstacle.c **** if(DM_ter_info.Link.connect_status == COMP_NORMAL && DM_ter_info.get_radar_blind_flag == false) 5960 .loc 1 1406 24 5961 0168 2A4B ldr r3, .L253+24 5962 016a 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 5963 .loc 1 1406 7 5964 016c 012B cmp r3, #1 5965 016e 20D1 bne .L244 5966 .loc 1 1406 69 discriminator 1 5967 0170 284B ldr r3, .L253+24 5968 0172 93F82E30 ldrb r3, [r3, #46] @ zero_extendqisi2 5969 .loc 1 1406 91 discriminator 1 5970 0176 83F00103 eor r3, r3, #1 5971 017a DBB2 uxtb r3, r3 5972 .loc 1 1406 55 discriminator 1 5973 017c 002B cmp r3, #0 5974 017e 18D0 beq .L244 1407:user_src/soft_obstacle.c **** { 1408:user_src/soft_obstacle.c **** can_id = 0x981300; 5975 .loc 1 1408 16 5976 0180 254B ldr r3, .L253+28 5977 0182 FB60 str r3, [r7, #12] 1409:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0x8,0,0,0,0,0,0,0X7); 5978 .loc 1 1409 9 5979 0184 381D adds r0, r7, #4 5980 0186 0723 movs r3, #7 5981 0188 0493 str r3, [sp, #16] 5982 018a 0023 movs r3, #0 5983 018c 0393 str r3, [sp, #12] 5984 018e 0023 movs r3, #0 5985 0190 0293 str r3, [sp, #8] 5986 0192 0023 movs r3, #0 5987 0194 0193 str r3, [sp, #4] 5988 0196 0023 movs r3, #0 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 139 5989 0198 0093 str r3, [sp] 5990 019a 0023 movs r3, #0 5991 019c 0022 movs r2, #0 5992 019e 0821 movs r1, #8 5993 01a0 FFF7FEFF bl put_date_to_can 1410:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 5994 .loc 1 1410 9 5995 01a4 3B1D adds r3, r7, #4 5996 01a6 FA68 ldr r2, [r7, #12] 5997 01a8 0821 movs r1, #8 5998 01aa 1846 mov r0, r3 5999 01ac FFF7FEFF bl can_send_msg_normal 6000 01b0 58E0 b .L245 6001 .L244: 1411:user_src/soft_obstacle.c **** } 1412:user_src/soft_obstacle.c **** else if(DM_ter_info.Link.connect_status == COMP_NORMAL && DM_ter_info.get_radar_power_flag == f 6002 .loc 1 1412 29 6003 01b2 184B ldr r3, .L253+24 6004 01b4 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 6005 .loc 1 1412 12 6006 01b6 012B cmp r3, #1 6007 01b8 30D1 bne .L246 6008 .loc 1 1412 74 discriminator 1 6009 01ba 164B ldr r3, .L253+24 6010 01bc 93F82F30 ldrb r3, [r3, #47] @ zero_extendqisi2 6011 .loc 1 1412 96 discriminator 1 6012 01c0 83F00103 eor r3, r3, #1 6013 01c4 DBB2 uxtb r3, r3 6014 .loc 1 1412 60 discriminator 1 6015 01c6 002B cmp r3, #0 6016 01c8 28D0 beq .L246 1413:user_src/soft_obstacle.c **** { 1414:user_src/soft_obstacle.c **** can_id = 0x981300; 6017 .loc 1 1414 16 6018 01ca 134B ldr r3, .L253+28 6019 01cc FB60 str r3, [r7, #12] 1415:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0x9,0,0,0,0,0,0,0X7); 6020 .loc 1 1415 9 6021 01ce 381D adds r0, r7, #4 6022 01d0 0723 movs r3, #7 6023 01d2 0493 str r3, [sp, #16] 6024 01d4 0023 movs r3, #0 6025 01d6 0393 str r3, [sp, #12] 6026 01d8 0023 movs r3, #0 6027 01da 0293 str r3, [sp, #8] 6028 01dc 0023 movs r3, #0 6029 01de 0193 str r3, [sp, #4] 6030 01e0 0023 movs r3, #0 6031 01e2 0093 str r3, [sp] 6032 01e4 0023 movs r3, #0 6033 01e6 0022 movs r2, #0 6034 01e8 0921 movs r1, #9 6035 01ea FFF7FEFF bl put_date_to_can 1416:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6036 .loc 1 1416 9 6037 01ee 3B1D adds r3, r7, #4 6038 01f0 FA68 ldr r2, [r7, #12] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 140 6039 01f2 0821 movs r1, #8 6040 01f4 1846 mov r0, r3 6041 01f6 FFF7FEFF bl can_send_msg_normal 6042 01fa 33E0 b .L245 6043 .L254: 6044 .align 2 6045 .L253: 6046 01fc 00000000 .word time_1hz.0 6047 0200 00000000 .word DM_f_info 6048 0204 0013A800 .word 11014912 6049 0208 00000000 .word Dev 6050 020c 00000000 .word DM_4DRADARMAG 6051 0210 00000000 .word DM4Dmsg_send_fmu 6052 0214 00000000 .word DM_ter_info 6053 0218 00139800 .word 9966336 6054 .L246: 1417:user_src/soft_obstacle.c **** } 1418:user_src/soft_obstacle.c **** else if(DM_ter_info.Link.connect_status == COMP_NORMAL && DM_ter_info.get_radar_rawSwitch_flag 6055 .loc 1 1418 29 6056 021c 8D4B ldr r3, .L255 6057 021e 1B7A ldrb r3, [r3, #8] @ zero_extendqisi2 6058 .loc 1 1418 12 6059 0220 012B cmp r3, #1 6060 0222 1FD1 bne .L245 6061 .loc 1 1418 74 discriminator 1 6062 0224 8B4B ldr r3, .L255 6063 0226 93F83030 ldrb r3, [r3, #48] @ zero_extendqisi2 6064 .loc 1 1418 100 discriminator 1 6065 022a 83F00103 eor r3, r3, #1 6066 022e DBB2 uxtb r3, r3 6067 .loc 1 1418 60 discriminator 1 6068 0230 002B cmp r3, #0 6069 0232 17D0 beq .L245 1419:user_src/soft_obstacle.c **** { 1420:user_src/soft_obstacle.c **** can_id = 0x981300; 6070 .loc 1 1420 16 6071 0234 884B ldr r3, .L255+4 6072 0236 FB60 str r3, [r7, #12] 1421:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0xB,0,0,0,0,0,0,0X7); 6073 .loc 1 1421 9 6074 0238 381D adds r0, r7, #4 6075 023a 0723 movs r3, #7 6076 023c 0493 str r3, [sp, #16] 6077 023e 0023 movs r3, #0 6078 0240 0393 str r3, [sp, #12] 6079 0242 0023 movs r3, #0 6080 0244 0293 str r3, [sp, #8] 6081 0246 0023 movs r3, #0 6082 0248 0193 str r3, [sp, #4] 6083 024a 0023 movs r3, #0 6084 024c 0093 str r3, [sp] 6085 024e 0023 movs r3, #0 6086 0250 0022 movs r2, #0 6087 0252 0B21 movs r1, #11 6088 0254 FFF7FEFF bl put_date_to_can 1422:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6089 .loc 1 1422 9 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 141 6090 0258 3B1D adds r3, r7, #4 6091 025a FA68 ldr r2, [r7, #12] 6092 025c 0821 movs r1, #8 6093 025e 1846 mov r0, r3 6094 0260 FFF7FEFF bl can_send_msg_normal 6095 .L245: 1423:user_src/soft_obstacle.c **** } 1424:user_src/soft_obstacle.c **** if((Dev.Part_Bradar_Link.connect_status == COMP_NORMAL && Dev.Part_radarB.facid == FAC_DM_RB_4D 6096 .loc 1 1424 29 6097 0264 7D4B ldr r3, .L255+8 6098 0266 93F89032 ldrb r3, [r3, #656] @ zero_extendqisi2 6099 .loc 1 1424 7 6100 026a 012B cmp r3, #1 6101 026c 2AD1 bne .L247 6102 .loc 1 1424 78 discriminator 1 6103 026e 7B4B ldr r3, .L255+8 6104 0270 93F87432 ldrb r3, [r3, #628] @ zero_extendqisi2 6105 .loc 1 1424 60 discriminator 1 6106 0274 262B cmp r3, #38 6107 0276 25D1 bne .L247 1425:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_dotcloud_switch_4DB == false && DM4Dmsg_send_fmu == false)) 6108 .loc 1 1425 27 discriminator 2 6109 0278 794B ldr r3, .L255+12 6110 027a 5B7C ldrb r3, [r3, #17] @ zero_extendqisi2 6111 .loc 1 1425 52 discriminator 2 6112 027c 83F00103 eor r3, r3, #1 6113 0280 DBB2 uxtb r3, r3 1424:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_dotcloud_switch_4DB == false && DM4Dmsg_send_fmu == false)) 6114 .loc 1 1424 102 discriminator 2 6115 0282 002B cmp r3, #0 6116 0284 1ED0 beq .L247 6117 .loc 1 1425 81 6118 0286 774B ldr r3, .L255+16 6119 0288 1B78 ldrb r3, [r3] @ zero_extendqisi2 6120 028a 83F00103 eor r3, r3, #1 6121 028e DBB2 uxtb r3, r3 6122 .loc 1 1425 61 6123 0290 002B cmp r3, #0 6124 0292 17D0 beq .L247 1426:user_src/soft_obstacle.c **** { 1427:user_src/soft_obstacle.c **** can_id = 0xB81300; 6125 .loc 1 1427 16 6126 0294 744B ldr r3, .L255+20 6127 0296 FB60 str r3, [r7, #12] 1428:user_src/soft_obstacle.c **** put_date_to_can(can_buf,0xB,0,0,0,0,0,0,0X7); 6128 .loc 1 1428 9 6129 0298 381D adds r0, r7, #4 6130 029a 0723 movs r3, #7 6131 029c 0493 str r3, [sp, #16] 6132 029e 0023 movs r3, #0 6133 02a0 0393 str r3, [sp, #12] 6134 02a2 0023 movs r3, #0 6135 02a4 0293 str r3, [sp, #8] 6136 02a6 0023 movs r3, #0 6137 02a8 0193 str r3, [sp, #4] 6138 02aa 0023 movs r3, #0 6139 02ac 0093 str r3, [sp] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 142 6140 02ae 0023 movs r3, #0 6141 02b0 0022 movs r2, #0 6142 02b2 0B21 movs r1, #11 6143 02b4 FFF7FEFF bl put_date_to_can 1429:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6144 .loc 1 1429 9 6145 02b8 3B1D adds r3, r7, #4 6146 02ba FA68 ldr r2, [r7, #12] 6147 02bc 0821 movs r1, #8 6148 02be 1846 mov r0, r3 6149 02c0 FFF7FEFF bl can_send_msg_normal 6150 .L247: 1430:user_src/soft_obstacle.c **** } 1431:user_src/soft_obstacle.c **** if ((Dev.Part_Fradar_Link.connect_status == COMP_NORMAL && Dev.Part_radarF.facid == FAC_DM_RF_4 6151 .loc 1 1431 30 6152 02c4 654B ldr r3, .L255+8 6153 02c6 93F85C32 ldrb r3, [r3, #604] @ zero_extendqisi2 6154 .loc 1 1431 8 6155 02ca 012B cmp r3, #1 6156 02cc 2BD1 bne .L248 6157 .loc 1 1431 79 discriminator 1 6158 02ce 634B ldr r3, .L255+8 6159 02d0 93F84032 ldrb r3, [r3, #576] @ zero_extendqisi2 6160 .loc 1 1431 61 discriminator 1 6161 02d4 252B cmp r3, #37 6162 02d6 26D1 bne .L248 1432:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_angel_4DF == false && DM4Dmsg_send_fmu == false)) 6163 .loc 1 1432 23 discriminator 2 6164 02d8 614B ldr r3, .L255+12 6165 02da 1B7B ldrb r3, [r3, #12] @ zero_extendqisi2 6166 .loc 1 1432 38 discriminator 2 6167 02dc 83F00103 eor r3, r3, #1 6168 02e0 DBB2 uxtb r3, r3 1431:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_angel_4DF == false && DM4Dmsg_send_fmu == false)) 6169 .loc 1 1431 103 discriminator 2 6170 02e2 002B cmp r3, #0 6171 02e4 1FD0 beq .L248 6172 .loc 1 1432 67 6173 02e6 5F4B ldr r3, .L255+16 6174 02e8 1B78 ldrb r3, [r3] @ zero_extendqisi2 6175 02ea 83F00103 eor r3, r3, #1 6176 02ee DBB2 uxtb r3, r3 6177 .loc 1 1432 47 6178 02f0 002B cmp r3, #0 6179 02f2 18D0 beq .L248 1433:user_src/soft_obstacle.c **** { 1434:user_src/soft_obstacle.c **** can_id = 0xA81300; 6180 .loc 1 1434 16 6181 02f4 5D4B ldr r3, .L255+24 6182 02f6 FB60 str r3, [r7, #12] 1435:user_src/soft_obstacle.c **** put_date_to_can(can_buf, 0xD, 0, 0, 0, 0, 0, 0, 0X7); 6183 .loc 1 1435 9 6184 02f8 381D adds r0, r7, #4 6185 02fa 0723 movs r3, #7 6186 02fc 0493 str r3, [sp, #16] 6187 02fe 0023 movs r3, #0 6188 0300 0393 str r3, [sp, #12] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 143 6189 0302 0023 movs r3, #0 6190 0304 0293 str r3, [sp, #8] 6191 0306 0023 movs r3, #0 6192 0308 0193 str r3, [sp, #4] 6193 030a 0023 movs r3, #0 6194 030c 0093 str r3, [sp] 6195 030e 0023 movs r3, #0 6196 0310 0022 movs r2, #0 6197 0312 0D21 movs r1, #13 6198 0314 FFF7FEFF bl put_date_to_can 1436:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6199 .loc 1 1436 9 6200 0318 3B1D adds r3, r7, #4 6201 031a FA68 ldr r2, [r7, #12] 6202 031c 0821 movs r1, #8 6203 031e 1846 mov r0, r3 6204 0320 FFF7FEFF bl can_send_msg_normal 6205 0324 2FE0 b .L249 6206 .L248: 1437:user_src/soft_obstacle.c **** } 1438:user_src/soft_obstacle.c **** else if ((Dev.Part_Fradar_Link.connect_status == COMP_NORMAL && Dev.Part_radarF.facid == FAC_DM 6207 .loc 1 1438 35 6208 0326 4D4B ldr r3, .L255+8 6209 0328 93F85C32 ldrb r3, [r3, #604] @ zero_extendqisi2 6210 .loc 1 1438 13 6211 032c 012B cmp r3, #1 6212 032e 2AD1 bne .L249 6213 .loc 1 1438 84 discriminator 1 6214 0330 4A4B ldr r3, .L255+8 6215 0332 93F84032 ldrb r3, [r3, #576] @ zero_extendqisi2 6216 .loc 1 1438 66 discriminator 1 6217 0336 252B cmp r3, #37 6218 0338 25D1 bne .L249 1439:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_ground_filter_4DF == false && DM4Dmsg_send_fmu == false)) 6219 .loc 1 1439 28 discriminator 2 6220 033a 494B ldr r3, .L255+12 6221 033c 5B7B ldrb r3, [r3, #13] @ zero_extendqisi2 6222 .loc 1 1439 51 discriminator 2 6223 033e 83F00103 eor r3, r3, #1 6224 0342 DBB2 uxtb r3, r3 1438:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_ground_filter_4DF == false && DM4Dmsg_send_fmu == false)) 6225 .loc 1 1438 108 discriminator 2 6226 0344 002B cmp r3, #0 6227 0346 1ED0 beq .L249 6228 .loc 1 1439 80 6229 0348 464B ldr r3, .L255+16 6230 034a 1B78 ldrb r3, [r3] @ zero_extendqisi2 6231 034c 83F00103 eor r3, r3, #1 6232 0350 DBB2 uxtb r3, r3 6233 .loc 1 1439 60 6234 0352 002B cmp r3, #0 6235 0354 17D0 beq .L249 1440:user_src/soft_obstacle.c **** { 1441:user_src/soft_obstacle.c **** can_id = 0xA81300; 6236 .loc 1 1441 16 6237 0356 454B ldr r3, .L255+24 6238 0358 FB60 str r3, [r7, #12] ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 144 1442:user_src/soft_obstacle.c **** put_date_to_can(can_buf, 0xF, 0, 0, 0, 0, 0, 0, 0X7); 6239 .loc 1 1442 9 6240 035a 381D adds r0, r7, #4 6241 035c 0723 movs r3, #7 6242 035e 0493 str r3, [sp, #16] 6243 0360 0023 movs r3, #0 6244 0362 0393 str r3, [sp, #12] 6245 0364 0023 movs r3, #0 6246 0366 0293 str r3, [sp, #8] 6247 0368 0023 movs r3, #0 6248 036a 0193 str r3, [sp, #4] 6249 036c 0023 movs r3, #0 6250 036e 0093 str r3, [sp] 6251 0370 0023 movs r3, #0 6252 0372 0022 movs r2, #0 6253 0374 0F21 movs r1, #15 6254 0376 FFF7FEFF bl put_date_to_can 1443:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6255 .loc 1 1443 9 6256 037a 3B1D adds r3, r7, #4 6257 037c FA68 ldr r2, [r7, #12] 6258 037e 0821 movs r1, #8 6259 0380 1846 mov r0, r3 6260 0382 FFF7FEFF bl can_send_msg_normal 6261 .L249: 1444:user_src/soft_obstacle.c **** } 1445:user_src/soft_obstacle.c **** if ((Dev.Part_Bradar_Link.connect_status == COMP_NORMAL && Dev.Part_radarB.facid == FAC_DM_RB_4 6262 .loc 1 1445 30 6263 0386 354B ldr r3, .L255+8 6264 0388 93F89032 ldrb r3, [r3, #656] @ zero_extendqisi2 6265 .loc 1 1445 8 6266 038c 012B cmp r3, #1 6267 038e 2BD1 bne .L250 6268 .loc 1 1445 79 discriminator 1 6269 0390 324B ldr r3, .L255+8 6270 0392 93F87432 ldrb r3, [r3, #628] @ zero_extendqisi2 6271 .loc 1 1445 61 discriminator 1 6272 0396 262B cmp r3, #38 6273 0398 26D1 bne .L250 1446:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_angel_4DB == false && DM4Dmsg_send_fmu == false)) 6274 .loc 1 1446 23 discriminator 2 6275 039a 314B ldr r3, .L255+12 6276 039c 9B7B ldrb r3, [r3, #14] @ zero_extendqisi2 6277 .loc 1 1446 38 discriminator 2 6278 039e 83F00103 eor r3, r3, #1 6279 03a2 DBB2 uxtb r3, r3 1445:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_angel_4DB == false && DM4Dmsg_send_fmu == false)) 6280 .loc 1 1445 103 discriminator 2 6281 03a4 002B cmp r3, #0 6282 03a6 1FD0 beq .L250 6283 .loc 1 1446 67 6284 03a8 2E4B ldr r3, .L255+16 6285 03aa 1B78 ldrb r3, [r3] @ zero_extendqisi2 6286 03ac 83F00103 eor r3, r3, #1 6287 03b0 DBB2 uxtb r3, r3 6288 .loc 1 1446 47 6289 03b2 002B cmp r3, #0 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 145 6290 03b4 18D0 beq .L250 1447:user_src/soft_obstacle.c **** { 1448:user_src/soft_obstacle.c **** can_id = 0xB81300; 6291 .loc 1 1448 16 6292 03b6 2C4B ldr r3, .L255+20 6293 03b8 FB60 str r3, [r7, #12] 1449:user_src/soft_obstacle.c **** put_date_to_can(can_buf, 0xD, 0, 0, 0, 0, 0, 0, 0X7); 6294 .loc 1 1449 9 6295 03ba 381D adds r0, r7, #4 6296 03bc 0723 movs r3, #7 6297 03be 0493 str r3, [sp, #16] 6298 03c0 0023 movs r3, #0 6299 03c2 0393 str r3, [sp, #12] 6300 03c4 0023 movs r3, #0 6301 03c6 0293 str r3, [sp, #8] 6302 03c8 0023 movs r3, #0 6303 03ca 0193 str r3, [sp, #4] 6304 03cc 0023 movs r3, #0 6305 03ce 0093 str r3, [sp] 6306 03d0 0023 movs r3, #0 6307 03d2 0022 movs r2, #0 6308 03d4 0D21 movs r1, #13 6309 03d6 FFF7FEFF bl put_date_to_can 1450:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6310 .loc 1 1450 9 6311 03da 3B1D adds r3, r7, #4 6312 03dc FA68 ldr r2, [r7, #12] 6313 03de 0821 movs r1, #8 6314 03e0 1846 mov r0, r3 6315 03e2 FFF7FEFF bl can_send_msg_normal 6316 03e6 31E0 b .L237 6317 .L250: 1451:user_src/soft_obstacle.c **** } 1452:user_src/soft_obstacle.c **** else if ((Dev.Part_Bradar_Link.connect_status == COMP_NORMAL && Dev.Part_radarB.facid == FAC_DM 6318 .loc 1 1452 35 6319 03e8 1C4B ldr r3, .L255+8 6320 03ea 93F89032 ldrb r3, [r3, #656] @ zero_extendqisi2 6321 .loc 1 1452 13 6322 03ee 012B cmp r3, #1 6323 03f0 2CD1 bne .L237 6324 .loc 1 1452 84 discriminator 1 6325 03f2 1A4B ldr r3, .L255+8 6326 03f4 93F87432 ldrb r3, [r3, #628] @ zero_extendqisi2 6327 .loc 1 1452 66 discriminator 1 6328 03f8 262B cmp r3, #38 6329 03fa 27D1 bne .L237 1453:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_ground_filter_4DB == false && DM4Dmsg_send_fmu == false)) 6330 .loc 1 1453 28 discriminator 2 6331 03fc 184B ldr r3, .L255+12 6332 03fe DB7B ldrb r3, [r3, #15] @ zero_extendqisi2 6333 .loc 1 1453 51 discriminator 2 6334 0400 83F00103 eor r3, r3, #1 6335 0404 DBB2 uxtb r3, r3 1452:user_src/soft_obstacle.c **** (DM_4DRADARMAG.get_ground_filter_4DB == false && DM4Dmsg_send_fmu == false)) 6336 .loc 1 1452 108 discriminator 2 6337 0406 002B cmp r3, #0 6338 0408 20D0 beq .L237 ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 146 6339 .loc 1 1453 80 6340 040a 164B ldr r3, .L255+16 6341 040c 1B78 ldrb r3, [r3] @ zero_extendqisi2 6342 040e 83F00103 eor r3, r3, #1 6343 0412 DBB2 uxtb r3, r3 6344 .loc 1 1453 60 6345 0414 002B cmp r3, #0 6346 0416 19D0 beq .L237 1454:user_src/soft_obstacle.c **** { 1455:user_src/soft_obstacle.c **** can_id = 0xB81300; 6347 .loc 1 1455 16 6348 0418 134B ldr r3, .L255+20 6349 041a FB60 str r3, [r7, #12] 1456:user_src/soft_obstacle.c **** put_date_to_can(can_buf, 0xF, 0, 0, 0, 0, 0, 0, 0X7); 6350 .loc 1 1456 9 6351 041c 381D adds r0, r7, #4 6352 041e 0723 movs r3, #7 6353 0420 0493 str r3, [sp, #16] 6354 0422 0023 movs r3, #0 6355 0424 0393 str r3, [sp, #12] 6356 0426 0023 movs r3, #0 6357 0428 0293 str r3, [sp, #8] 6358 042a 0023 movs r3, #0 6359 042c 0193 str r3, [sp, #4] 6360 042e 0023 movs r3, #0 6361 0430 0093 str r3, [sp] 6362 0432 0023 movs r3, #0 6363 0434 0022 movs r2, #0 6364 0436 0F21 movs r1, #15 6365 0438 FFF7FEFF bl put_date_to_can 1457:user_src/soft_obstacle.c **** can_send_msg_normal(&can_buf[0], 8, can_id); 6366 .loc 1 1457 9 6367 043c 3B1D adds r3, r7, #4 6368 043e FA68 ldr r2, [r7, #12] 6369 0440 0821 movs r1, #8 6370 0442 1846 mov r0, r3 6371 0444 FFF7FEFF bl can_send_msg_normal 6372 0448 00E0 b .L237 6373 .L252: 1379:user_src/soft_obstacle.c **** 6374 .loc 1 1379 9 6375 044a 00BF nop 6376 .L237: 1458:user_src/soft_obstacle.c **** } 1459:user_src/soft_obstacle.c **** } 6377 .loc 1 1459 1 6378 044c 1037 adds r7, r7, #16 6379 .LCFI66: 6380 .cfi_def_cfa_offset 8 6381 044e BD46 mov sp, r7 6382 .LCFI67: 6383 .cfi_def_cfa_register 13 6384 @ sp needed 6385 0450 80BD pop {r7, pc} 6386 .L256: 6387 0452 00BF .align 2 6388 .L255: ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 147 6389 0454 00000000 .word DM_ter_info 6390 0458 00139800 .word 9966336 6391 045c 00000000 .word Dev 6392 0460 00000000 .word DM_4DRADARMAG 6393 0464 00000000 .word DM4Dmsg_send_fmu 6394 0468 0013B800 .word 12063488 6395 046c 0013A800 .word 11014912 6396 .cfi_endproc 6397 .LFE146: 6399 .section .bss.frame_num.10,"aw",%nobits 6402 frame_num.10: 6403 0000 00 .space 1 6404 .section .bss.mimo_version.9,"aw",%nobits 6405 .align 2 6408 mimo_version.9: 6409 0000 00000000 .space 28 6409 00000000 6409 00000000 6409 00000000 6409 00000000 6410 .section .bss.frame_head.8,"aw",%nobits 6413 frame_head.8: 6414 0000 00 .space 1 6415 .section .bss.radar_sensi_ack_time.7,"aw",%nobits 6416 .align 2 6419 radar_sensi_ack_time.7: 6420 0000 00000000 .space 4 6421 .section .bss.mimo_50HZ.6,"aw",%nobits 6422 .align 2 6425 mimo_50HZ.6: 6426 0000 00000000 .space 4 6427 .section .bss.mimo_49HZ.5,"aw",%nobits 6428 .align 2 6431 mimo_49HZ.5: 6432 0000 00000000 .space 4 6433 .section .bss.radar_sensi_send_time.4,"aw",%nobits 6434 .align 2 6437 radar_sensi_send_time.4: 6438 0000 00000000 .space 4 6439 .section .bss.frame_fi.3,"aw",%nobits 6442 frame_fi.3: 6443 0000 00 .space 1 6444 .section .bss.frame_bi.2,"aw",%nobits 6447 frame_bi.2: 6448 0000 00 .space 1 6449 .section .bss.frame_ti.1,"aw",%nobits 6452 frame_ti.1: 6453 0000 00 .space 1 6454 .section .bss.time_1hz.0,"aw",%nobits 6455 .align 2 6458 time_1hz.0: 6459 0000 00000000 .space 4 6460 .text 6461 .Letext0: 6462 .file 2 "d:\\arm-gcc\\arm-none-eabi\\include\\machine\\_default_types.h" 6463 .file 3 "d:\\arm-gcc\\arm-none-eabi\\include\\sys\\_stdint.h" 6464 .file 4 "user_inc/common.h" ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 148 6465 .file 5 "user_inc/soft_obstacle.h" 6466 .file 6 "user_inc/soft_terrain.h" 6467 .file 7 "user_inc/soft_can.h" 6468 .file 8 "user_inc/soft_uart.h" 6469 .file 9 "user_inc/soft_p_2_c.h" 6470 .file 10 "user_inc/soft_flow.h" 6471 .file 11 "user_inc/soft_eft.h" 6472 .file 12 "user_inc/soft_seed_device.h" 6473 .file 13 "user_inc/soft_water_device.h" 6474 .file 14 "user_inc/soft_version.h" ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 149 DEFINED SYMBOLS *ABS*:00000000 soft_obstacle.c C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:24 .data.uavr11_info:00000000 uavr11_info C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:21 .data.uavr11_info:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:33 .data.uavr12_info:00000000 uavr12_info C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:30 .data.uavr12_info:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:42 .bss.mimo_f_info:00000000 mimo_f_info C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:39 .bss.mimo_f_info:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:49 .bss.mimo_b_info:00000000 mimo_b_info C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:46 .bss.mimo_b_info:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:56 .bss.DM_f_info:00000000 DM_f_info C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:53 .bss.DM_f_info:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:63 .bss.F_radar:00000000 F_radar C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:60 .bss.F_radar:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:70 .bss.B_radar:00000000 B_radar C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:67 .bss.B_radar:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:76 .bss.recv_comF_flag:00000000 recv_comF_flag C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:77 .bss.recv_comF_flag:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:82 .bss.recv_comB_flag:00000000 recv_comB_flag C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:83 .bss.recv_comB_flag:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:88 .text.can_recv_enzhao_obstacle:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:94 .text.can_recv_enzhao_obstacle:00000000 can_recv_enzhao_obstacle C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:127 .text.can_recv_enzhao_obstacle:00000020 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:146 .text.can_recv_enzhao_obstacle:0000006c $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:492 .text.can_recv_enzhao_obstacle:000002f0 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:504 .text.can_recv_enzhao_obstacle:00000318 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:705 .text.can_recv_enzhao_obstacle:000004b4 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:715 .text.can_recv_mimo_signal_obstacle:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:721 .text.can_recv_mimo_signal_obstacle:00000000 can_recv_mimo_signal_obstacle C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:873 .text.can_recv_mimo_signal_obstacle:000000d0 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:880 .rodata:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:884 .text.can_recv_mimo_radar_version:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:890 .text.can_recv_mimo_radar_version:00000000 can_recv_mimo_radar_version C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:1502 .text.can_recv_mimo_radar_version:0000037c $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6402 .bss.frame_num.10:00000000 frame_num.10 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6408 .bss.mimo_version.9:00000000 mimo_version.9 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6413 .bss.frame_head.8:00000000 frame_head.8 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:1512 .text.can_recv_mimo_radar_version:0000039c $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:1913 .text.can_recv_mimo_radar_version:000005fc $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:1931 .text.can_recv_mimo_radar_version:0000063c $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2198 .text.can_recv_mimo_radar_version:000007cc $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2220 .bss.obs_f_is_link:00000000 obs_f_is_link C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2221 .bss.obs_f_is_link:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2223 .text.can_recv_mocib_F_obstacle:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2229 .text.can_recv_mocib_F_obstacle:00000000 can_recv_mocib_F_obstacle C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2312 .text.can_recv_mocib_F_obstacle:00000060 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2320 .bss.obs_b_is_link:00000000 obs_b_is_link C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2321 .bss.obs_b_is_link:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2323 .text.can_recv_mocib_B_obstacle:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2329 .text.can_recv_mocib_B_obstacle:00000000 can_recv_mocib_B_obstacle C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2412 .text.can_recv_mocib_B_obstacle:00000060 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2421 .bss.uavr20_ver_time:00000000 uavr20_ver_time C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2418 .bss.uavr20_ver_time:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2428 .bss.uavr20_sensi_time:00000000 uavr20_sensi_time C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2425 .bss.uavr20_sensi_time:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2434 .bss.can_get_uavr21_ver_comp:00000000 can_get_uavr21_ver_comp C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2435 .bss.can_get_uavr21_ver_comp:00000000 $d ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 150 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2441 .bss.uavr20_send_time:00000000 uavr20_send_time C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2438 .bss.uavr20_send_time:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2444 .text.can_sendmsg_uavr20:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2450 .text.can_sendmsg_uavr20:00000000 can_sendmsg_uavr20 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2810 .text.can_sendmsg_uavr20:000002cc $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:2821 .text.can_sendmsg_uavr20:000002f0 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3024 .text.can_sendmsg_uavr20:00000418 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3035 .bss.uavrhup_getr1_ack:00000000 uavrhup_getr1_ack C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3036 .bss.uavrhup_getr1_ack:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3042 .data.obsfradar_sensitivity:00000000 obsfradar_sensitivity C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3039 .data.obsfradar_sensitivity:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3049 .data.obsbradar_sensitivity:00000000 obsbradar_sensitivity C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3046 .data.obsbradar_sensitivity:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3057 .text.can_set_radar_sensi:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3063 .text.can_set_radar_sensi:00000000 can_set_radar_sensi C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3502 .text.can_set_radar_sensi:000002a0 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3513 .text.can_set_radar_sensi:000002c4 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3720 .text.can_set_radar_sensi:000003f8 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6419 .bss.radar_sensi_ack_time.7:00000000 radar_sensi_ack_time.7 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3729 .text.can_recv_mocib_updata_read_set_hookfunction:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:3735 .text.can_recv_mocib_updata_read_set_hookfunction:00000000 can_recv_mocib_updata_read_set_hookfunction C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4078 .text.can_recv_mocib_updata_read_set_hookfunction:000001d8 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4087 .text.can_send_info_to_mimo:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4093 .text.can_send_info_to_mimo:00000000 can_send_info_to_mimo C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4243 .text.can_send_info_to_mimo:000000e4 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6425 .bss.mimo_50HZ.6:00000000 mimo_50HZ.6 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4250 .text.can_send_info_to_mimo:000000f8 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4554 .text.can_send_info_to_mimo:00000384 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6431 .bss.mimo_49HZ.5:00000000 mimo_49HZ.5 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4563 .text.send_mocib_radar_sensi:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4569 .text.send_mocib_radar_sensi:00000000 send_mocib_radar_sensi C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4722 .text.send_mocib_radar_sensi:000000dc $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6437 .bss.radar_sensi_send_time.4:00000000 radar_sensi_send_time.4 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4730 .text.lidar_function:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4736 .text.lidar_function:00000000 lidar_function C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5743 .text.get_radar_blindAndPower_function:00000000 get_radar_blindAndPower_function C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4815 .text.lidar_function:00000068 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4831 .text.can_recv_mocib_version_info:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:4837 .text.can_recv_mocib_version_info:00000000 can_recv_mocib_version_info C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5221 .text.can_recv_mocib_version_info:00000274 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6442 .bss.frame_fi.3:00000000 frame_fi.3 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6447 .bss.frame_bi.2:00000000 frame_bi.2 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6452 .bss.frame_ti.1:00000000 frame_ti.1 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5239 .text.can_recv_mocib_version_info:000002b4 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5576 .text.can_recv_mocib_version_info:000004b4 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5595 .text.check_radar_update:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5601 .text.check_radar_update:00000000 check_radar_update C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5730 .text.check_radar_update:00000094 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:5737 .text.get_radar_blindAndPower_function:00000000 $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6046 .text.get_radar_blindAndPower_function:000001fc $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6458 .bss.time_1hz.0:00000000 time_1hz.0 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6056 .text.get_radar_blindAndPower_function:0000021c $t C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6389 .text.get_radar_blindAndPower_function:00000454 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6403 .bss.frame_num.10:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6405 .bss.mimo_version.9:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6414 .bss.frame_head.8:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6416 .bss.radar_sensi_ack_time.7:00000000 $d ARM GAS C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s page 151 C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6422 .bss.mimo_50HZ.6:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6428 .bss.mimo_49HZ.5:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6434 .bss.radar_sensi_send_time.4:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6443 .bss.frame_fi.3:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6448 .bss.frame_bi.2:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6453 .bss.frame_ti.1:00000000 $d C:\Users\zl835\AppData\Local\Temp\ccjgj8DR.s:6455 .bss.time_1hz.0:00000000 $d UNDEFINED SYMBOLS __aeabi_f2d __aeabi_dmul __aeabi_d2iz mimomocib_buf_sort sin cos HAL_GetTick Dev pmu_set_ack mimo_lackloss flow_mimo1 flow_inf flow_mimo2 memcpy Int2String regist_dev_info mimo_ter_info dev_ter dev_obsf dev_obsb pmu_send short2buf sinf cosf can_send_msg_normal uavr56_info planep uavh30_dist Rupdate Can_obstacle_update radar_update_flag char_to_hex_string Check_Timer_Ready put_date_to_can DM_4DRADARMAG DM4Dmsg_send_fmu DM_ter_info