V9_PMU302/build/soft_obstacle.lst

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   �拇�憭𡁶��輸�閫��
  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頧游�鈭�4M��㺭��
  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頧游�鈭�4M��㺭��
 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   �拇��閖��𡏭圾��
 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   �拇�霈曉���𧋦�瑕�
 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 ****         //�剜�霈�
 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 ****             //霈曄蔭頝萘氖��憭批�澆�擐�
 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 ****         //瘚��霈�
 210:user_src/soft_obstacle.c ****         else if(data[0] == 0xFB && data[1] == 0x10) //�瑁噢��𧋦�峕��讛恣�讛悅�匧�蝒�
 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) //瘚��𦴢
 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)//霈曄蔭瘚��𦴢 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 銝文� �讛悅�脩� �讛悅�厰䔮憸�
 239:user_src/soft_obstacle.c ****                 {
 240:user_src/soft_obstacle.c ****                     for( i= 0;i<2;i++)  //��捆蝚砌��芸���0X0F嚗笔��滚�銝�摮𡑒�嚗�
 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;//瘚��摨誩��瑞���扇
 246:user_src/soft_obstacle.c ****                 }
 247:user_src/soft_obstacle.c ****                 else if(data[4] == 0XEC)//頧臭辣��
 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) //�拇�SN�碶葉�湔𠯫��12雿㵪��嗡��厰䔮憸�
 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) //�拇��讛悅摰帋�
 350:user_src/soft_obstacle.c ****                             {
 351:user_src/soft_obstacle.c ****                                 mimo_f_info.version[2] = '1'; //��蕉
 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) //�拇��讛悅摰帋�
 379:user_src/soft_obstacle.c ****                             {
 380:user_src/soft_obstacle.c ****                                 mimo_b_info.version[2] = '1'; //��蕉
 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) //�拇��讛悅摰帋�
 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) //�拇��讛悅摰帋�
 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   �思�瘥𥪜��輸�閫��
 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 �拇�360�瑁噢
 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; //�餃��箸㺭
 455:user_src/soft_obstacle.c **** //     uint8_t validSect; // �㗇���躹��
 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; // 蝎曉漲 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; //��躹 ID
 464:user_src/soft_obstacle.c **** //     uint16_t dis;   //頝萘氖
 465:user_src/soft_obstacle.c **** //     int16_t ele;
 466:user_src/soft_obstacle.c **** //     uint8_t rcs; //�格��瑁噢�芷𢒰蝘�
 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; //�餃��箔葵�堆��啁�銝剖笆摨𥪯�蝵桀笆摨𠉛𤌍����典���
 481:user_src/soft_obstacle.c **** //     uint32_t validSect; //�餃��箔葵�堆��啁�銝剖笆摨𥪯�蝵桀笆摨𠉛𤌍����典���
 482:user_src/soft_obstacle.c **** //     uint32_t completeQ; // 0 隞�”�䭾㺭�� 1 隞�”�唳旿�交𤣰�唬�銝滚� 2 隞�”�券��交
 483:user_src/soft_obstacle.c **** //     float height;
 484:user_src/soft_obstacle.c **** //     float dis[MAX_SECTNUM]; // �瑁噢�啁𤌍���蝳�,敶梶𤌍���摮睃銁�嗉�蝳颱蛹
 485:user_src/soft_obstacle.c **** //     float ele[MAX_SECTNUM]; // �格��� RCS
 486:user_src/soft_obstacle.c **** //     float rcs[MAX_SECTNUM]; // �格��� RCS
 487:user_src/soft_obstacle.c **** // } TargetInfoS;              // �笔��格�蝏𤘪�靽⊥�
 488:user_src/soft_obstacle.c **** 
 489:user_src/soft_obstacle.c **** // TargetInfoS Targetbuffer = {0}; // �其�蝻枏�
 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) // 璉�瘚见�撣批仍
 510:user_src/soft_obstacle.c **** //     {
 511:user_src/soft_obstacle.c **** //         if (Targetbuffer.completeQ == 1) // 憒���唳旿�芣𦻖摰�
 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) // 憒��銝滚��典��箸㺭��
 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 // 憒��摮睃銁��躹�唳旿
 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) // 璉�瘚见��格��唳旿
 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) //憒���唳旿�芣𦻖�嗅�
 538:user_src/soft_obstacle.c **** //         {
 539:user_src/soft_obstacle.c **** //             index = pack_ptr->sectID; //�瑕���躹 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) //��躹�唳旿�舀��找�撠誩�憭扯��箸��舀迤蝖桃
 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 // 憒��銝齿糓�坔��其腺憭勗��怠葷 ID ���銝芣㺭�桀�
 556:user_src/soft_obstacle.c **** //             {
 557:user_src/soft_obstacle.c **** //                 Targetbuffer.completeQ = 0; //�唳旿銝滢�摮�
 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) //�㗇�銝芣㺭蝑劐�摰鮋��交𤣰銝芣㺭
 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   �思�瘥𥪜��輸��𡏭圾��
 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   蝏坔◢瘙���瑁噢�煾���鈭箸㦤憪踵��縑��
 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�煾��
 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 ****             // 撘�憭�
 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 ****             // 靽臭趕
 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 ****             // �滚��笔漲
 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 ****             // 璅芣�
 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 ****             // 撌血𢰧�笔漲
 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 ****             // �舘器���瘝∠鍂銝�
 650:user_src/soft_obstacle.c ****             // 銝𠹺��𣳇�笔漲
 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 ****             // 隞踹𧑐��餈𤏸�蝳�
 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 ****             // 隞踹𧑐��餈𡏭�蝳�
 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 ****             // 蝏𤘪�
 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 ****         //霂餃��漤𡺨颲曄���
 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 ****             //霂餃��漤𡺨颲曄��誩漲
 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 ****                     // 撘�憭�
 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 ****                 //霂餃��𡡞𡺨颲曄��誩漲
 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 ****                         // 撘�憭�
 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 ****                         // 撘�憭�
 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   霈曄蔭�瑁噢�菜�摨�
 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 ****     // 霈曄蔭�漤𡺨颲曄��誩漲
 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 ****             //霈曄蔭�菜�摨血�餈𥕦�boot璅∪� �啁��砌�餈𥕦�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 ****                 //憭抒垢�孵��煾��
 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 ****         //頞��5甈∪仃韐亙��Ｗ�
 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 ****     //霈曄蔭�𡡞𡺨颲曄��誩漲
 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 ****             //霈曄蔭�菜�摨血�餈𥕦�boot璅∪� �啁��砌�餈𥕦�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 ****                 //霈曄蔭�菜�摨血�餈𥕦�boot璅∪�
 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 ****         //頞��5甈∪仃韐亙��Ｗ�
 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 ****     //霈曄蔭隞踹𧑐�瑁噢�菜�摨�
 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 ****                 //霈曄蔭�菜�摨血�餈𥕦�boot璅∪�
 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 ****         //頞��5甈∪仃韐亙��Ｗ�
 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 ****     //霈曄蔭�思�瘥娪��𦦵��誩漲�𣂼��垾CK銝餅綉
 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 ****         //�峕𧒄霈曄蔭�劐葵1.5s�湧�
 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隞�� �屸𡺨颲曉�蝥找��澆捆,隡睃���漣
 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 ****         //�輸��瑁噢��漣
 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 ****         //�思�瘥娪𡺨颲曉�擐���砌縑��
 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 ****             //     //���蝥批�����砌縑��
 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 ****         //�思�瘥娪𡺨颲曇挽蝵桃��誩漲�𠰴�擐�
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 ****                 //�思�瘥𥪜之蝡舀芋撘�
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 ****                 //�思�瘥𥪜之蝡舀芋撘�
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 ****         //�思�瘥娪𡺨颲曇粉�𣇉��誩漲�𠰴�擐�
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 ****                 //�思�瘥𥪜之蝡舀芋撘�
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; //�思�瘥𥪜之蝡舀芋撘�
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 ****                 //�思�瘥𥪜之蝡舀芋撘�
 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 ****         //�思�瘥娪𡺨颲曇粉�𣇉��誩漲�𠰴�擐�
 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 ****                 //�思�瘥𥪜之蝡舀芋撘�
 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 ****         //�思�瘥娪𡺨颲曇粉�𣇉��誩漲�𠰴�擐�
 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 ****         //�思�瘥娪𡺨颲曇粉�𣇉��誩漲�𠰴�擐�
 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 ****                 //�思�瘥𥪜之蝡舀芋撘�
 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 ****         //�思�瘥娪𡺨颲曇粉�𣇉��誩漲�𠰴�擐�
 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   蝏蹱��屸��𨅯���尿��縑��
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 ****             // // 靽臭趕
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 ****             // // 璅芣�
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 ****             // //�芸�
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 ****             // 靽臭趕
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 ****             // 璅芣�
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 ****             //�芸�
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 ****             // �滚��笔漲
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 ****             //�瑁噢摰㕑�靽臭趕閫�
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 ****             //擃睃漲
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 ****             //靽臭趕閫㘾�笔漲
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 ****             //璅芣�閫㘾�笔漲
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 ****             // 撌血𢰧�笔漲
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�笔漲
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   �瑁噢�詨��賣㺭
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 ****         //蝏䅧MU�煾��𡺨颲曄��誩漲
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 ****         //銝羓㩞�� 璉�瘚见��厰𡺨颲曇��伐��煾��批���𡺨颲曄��誩漲靽⊥�
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 ****     //�思�瘥娪��𣈯𡺨颲曉�蝥�
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 ****     //銝羓㩞蝏犟cu�煾��𡺨颲曄��誩漲 
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 ****     //霈曄蔭�思�瘥娪��𣈯𡺨颲曄��誩漲
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 ****     //�瑕��萇𤌍�瑁噢�脣躹����譌���憪𧢲㺭�桀���
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 ****     //�瑁噢��漣銝滚�蝏䠷𡺨颲曉���縑��,�思�瘥娪𡺨颲曉���尿��縑��
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 ****     //蝏蹱��屸𡺨颲曉���尿��縑�舀㺭��
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��
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);//閬���凋葵摮𡑒�
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);//閬��7銝芸���
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);//閬���凋葵摮𡑒�
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);//閬��7銝芸���
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);//閬���凋葵摮𡑒�
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);//閬��7銝芸���
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 ****     //��𧋦靽⊥�
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 ****     //��𧋦靽⊥�
 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 ****     //��𧋦靽⊥�
 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 ****     //��𧋦靽⊥�
 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 ****     //��𧋦靽⊥�
 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
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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
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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