V9_PMU302/build/soft_can.lst

ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.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_can.c"
  16              		.text
  17              	.Ltext0:
  18              		.cfi_sections	.debug_frame
  19              		.global	RxHeader
  20              		.section	.bss.RxHeader,"aw",%nobits
  21              		.align	2
  24              	RxHeader:
  25 0000 00000000 		.space	28
  25      00000000 
  25      00000000 
  25      00000000 
  25      00000000 
  26              		.global	TxHeader
  27              		.section	.bss.TxHeader,"aw",%nobits
  28              		.align	2
  31              	TxHeader:
  32 0000 00000000 		.space	24
  32      00000000 
  32      00000000 
  32      00000000 
  32      00000000 
  33              		.global	RxData
  34              		.section	.bss.RxData,"aw",%nobits
  35              		.align	2
  38              	RxData:
  39 0000 00000000 		.space	8
  39      00000000 
  40              		.global	Rupdate
  41              		.section	.bss.Rupdate,"aw",%nobits
  42              		.align	2
  45              	Rupdate:
  46 0000 00000000 		.space	13
  46      00000000 
  46      00000000 
  46      00
  47              		.section	.text.Can_decode_data_function,"ax",%progbits
  48              		.align	1
  49              		.global	Can_decode_data_function
  50              		.syntax unified
  51              		.thumb
  52              		.thumb_func
  54              	Can_decode_data_function:
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 2


  55              	.LFB133:
  56              		.file 1 "user_src/soft_can.c"
   1:user_src/soft_can.c **** #include "soft_can.h"
   2:user_src/soft_can.c **** #include <string.h>
   3:user_src/soft_can.c **** #include "can.h"
   4:user_src/soft_can.c **** #include "soft_crc.h"
   5:user_src/soft_can.c **** #include "stdbool.h"
   6:user_src/soft_can.c **** #include "soft_crc.h"
   7:user_src/soft_can.c **** #include "soft_uart.h"
   8:user_src/soft_can.c **** #include "usart.h"
   9:user_src/soft_can.c **** #include "stdio.h"
  10:user_src/soft_can.c **** #include "soft_okcell.h"
  11:user_src/soft_can.c **** #include "soft_tattu.h"
  12:user_src/soft_can.c **** #include "soft_poweramp.h"
  13:user_src/soft_can.c **** #include "soft_terrain.h"
  14:user_src/soft_can.c **** #include "soft_obstacle.h"
  15:user_src/soft_can.c **** #include "soft_engine.h"
  16:user_src/soft_can.c **** #include "soft_p_2_c.h"
  17:user_src/soft_can.c **** #include "soft_herewin.h"
  18:user_src/soft_can.c **** #include "soft_eft.h"
  19:user_src/soft_can.c **** #include "soft_water_device.h"
  20:user_src/soft_can.c **** #include "soft_seed_device.h"
  21:user_src/soft_can.c **** #include "soft_bms.h"
  22:user_src/soft_can.c **** #include "soft_flow.h"
  23:user_src/soft_can.c **** #include "soft_update.h"
  24:user_src/soft_can.c **** #include "can_debug.h"
  25:user_src/soft_can.c **** #include "qingxie_bms.h"
  26:user_src/soft_can.c **** 
  27:user_src/soft_can.c **** CAN_RxHeaderTypeDef RxHeader;
  28:user_src/soft_can.c **** CAN_TxHeaderTypeDef TxHeader;
  29:user_src/soft_can.c **** uint8_t RxData[8];
  30:user_src/soft_can.c **** Radar Rupdate;
  31:user_src/soft_can.c **** 
  32:user_src/soft_can.c **** 
  33:user_src/soft_can.c **** /**
  34:user_src/soft_can.c ****   * @file    Can_decode_data
  35:user_src/soft_can.c ****   * @brief   CAN閫�� 銝滩�皛斤�ID
  36:user_src/soft_can.c ****   * @param   none
  37:user_src/soft_can.c ****   * @details 
  38:user_src/soft_can.c ****   * @author  Zhang Sir 
  39:user_src/soft_can.c ****  **/
  40:user_src/soft_can.c **** void Can_decode_data_function(CAN_RxHeaderTypeDef Rxhead)
  41:user_src/soft_can.c **** {
  57              		.loc 1 41 1
  58              		.cfi_startproc
  59              		@ args = 28, pretend = 16, frame = 0
  60              		@ frame_needed = 1, uses_anonymous_args = 0
  61 0000 84B0     		sub	sp, sp, #16
  62              	.LCFI0:
  63              		.cfi_def_cfa_offset 16
  64 0002 80B5     		push	{r7, lr}
  65              	.LCFI1:
  66              		.cfi_def_cfa_offset 24
  67              		.cfi_offset 7, -24
  68              		.cfi_offset 14, -20
  69 0004 00AF     		add	r7, sp, #0
  70              	.LCFI2:
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 3


  71              		.cfi_def_cfa_register 7
  72 0006 07F1080C 		add	ip, r7, #8
  73 000a 8CE80F00 		stm	ip, {r0, r1, r2, r3}
  42:user_src/soft_can.c ****     if(Rxhead.IDE == CAN_ID_STD)
  74              		.loc 1 42 14
  75 000e 3B69     		ldr	r3, [r7, #16]
  76              		.loc 1 42 7
  77 0010 002B     		cmp	r3, #0
  78 0012 40F0C580 		bne	.L2
  43:user_src/soft_can.c ****     {
  44:user_src/soft_can.c ****       switch (Rxhead.StdId)
  79              		.loc 1 44 21
  80 0016 BB68     		ldr	r3, [r7, #8]
  81              		.loc 1 44 7
  82 0018 40F21342 		movw	r2, #1043
  83 001c 9342     		cmp	r3, r2
  84 001e 00F23D81 		bhi	.L28
  85 0022 B3F5826F 		cmp	r3, #1040
  86 0026 61D8     		bhi	.L4
  87 0028 40F20342 		movw	r2, #1027
  88 002c 9342     		cmp	r3, r2
  89 002e 00F23581 		bhi	.L28
  90 0032 B3F5806F 		cmp	r3, #1024
  91 0036 4FD8     		bhi	.L5
  92 0038 B3F5457F 		cmp	r3, #788
  93 003c 80F02E81 		bcs	.L28
  94 0040 B3F5447F 		cmp	r3, #784
  95 0044 66D8     		bhi	.L6
  96 0046 40F20232 		movw	r2, #770
  97 004a 9342     		cmp	r3, r2
  98 004c 00F22681 		bhi	.L28
  99 0050 B3F5407F 		cmp	r3, #768
 100 0054 54D8     		bhi	.L7
 101 0056 B3F5407F 		cmp	r3, #768
 102 005a 29D0     		beq	.L8
 103 005c B3F5407F 		cmp	r3, #768
 104 0060 00F21C81 		bhi	.L28
 105 0064 B3F5047F 		cmp	r3, #528
 106 0068 2CD0     		beq	.L9
 107 006a B3F5047F 		cmp	r3, #528
 108 006e 00F21581 		bhi	.L28
 109 0072 B3F5F87F 		cmp	r3, #496
 110 0076 80F01181 		bcs	.L28
 111 007a B3F5F07F 		cmp	r3, #480
 112 007e 7BD2     		bcs	.L10
 113 0080 B3F5E27F 		cmp	r3, #452
 114 0084 00F20A81 		bhi	.L28
 115 0088 B3F5E07F 		cmp	r3, #448
 116 008c 56D2     		bcs	.L11
 117 008e B3F5807F 		cmp	r3, #256
 118 0092 5DD0     		beq	.L12
 119 0094 B3F5807F 		cmp	r3, #256
 120 0098 00F20081 		bhi	.L28
 121 009c FB2B     		cmp	r3, #251
 122 009e 43D0     		beq	.L13
 123 00a0 FB2B     		cmp	r3, #251
 124 00a2 00F2FB80 		bhi	.L28
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 4


 125 00a6 312B     		cmp	r3, #49
 126 00a8 5CD0     		beq	.L14
 127 00aa 3D2B     		cmp	r3, #61
 128 00ac 6ED0     		beq	.L15
  45:user_src/soft_can.c ****       {
  46:user_src/soft_can.c ****       //�拇�隞踹𧑐�瑁噢
  47:user_src/soft_can.c ****       case CAN_MIMO_T_ID:
  48:user_src/soft_can.c ****         can_recv_enzhao_terrain(RxHeader.StdId, RxData, RxHeader.DLC);
  49:user_src/soft_can.c ****         break;
  50:user_src/soft_can.c **** 
  51:user_src/soft_can.c ****       //�拇�360�瑁噢
  52:user_src/soft_can.c ****       // case CAN_HEAD_MIMO360_ID ... CAN_INFO_MIMO360_ID:
  53:user_src/soft_can.c ****       //   can_recv_mocib_360_obstacle(RxHeader.StdId, RxData, RxHeader.DLC);
  54:user_src/soft_can.c ****       //   break;
  55:user_src/soft_can.c ****       
  56:user_src/soft_can.c ****       //�拇�瘚��霈�
  57:user_src/soft_can.c ****       case CAN_MIMO_FLOW:
  58:user_src/soft_can.c ****         can_recv_mimor_flow_function(RxHeader.StdId, RxData, RxHeader.DLC);
  59:user_src/soft_can.c ****         break;
  60:user_src/soft_can.c **** 
  61:user_src/soft_can.c ****       //��𤌍�菜�
  62:user_src/soft_can.c ****       // case CAN_POWERAMP:
  63:user_src/soft_can.c ****       //   PowerAmpCanRecvHookFunction(RxHeader.StdId, RxData, RxHeader.DLC);
  64:user_src/soft_can.c ****       //   break;
  65:user_src/soft_can.c **** 
  66:user_src/soft_can.c ****       //�拇�360�瑁噢 �啣�霈�
  67:user_src/soft_can.c ****       // case CAN_360MIMO_1ID ... CAN_360MIMO_2ID:
  68:user_src/soft_can.c ****       //   //can_recv_mocib_new360_obstacle(RxHeader.StdId, RxData, RxHeader.DLC);
  69:user_src/soft_can.c ****       //   break;
  70:user_src/soft_can.c ****       //�拇��滚��輸��瑁噢(憭𡁶�)
  71:user_src/soft_can.c ****       case CAN_MIMO_FOBS_ID1 ... CAN_MIMO_FOBS_ID3:
  72:user_src/soft_can.c ****         can_recv_enzhao_obstacle(RxHeader.StdId, RxData, RxHeader.DLC);
  73:user_src/soft_can.c ****         break;
  74:user_src/soft_can.c ****       case CAN_MIMO_BOBS_ID1 ... CAN_MIMO_BOBS_ID3:
  75:user_src/soft_can.c ****         can_recv_enzhao_obstacle(RxHeader.StdId, RxData, RxHeader.DLC);
  76:user_src/soft_can.c ****         break;
  77:user_src/soft_can.c ****       
  78:user_src/soft_can.c ****       //�拇��滚��輸��瑁噢(�閧�)
  79:user_src/soft_can.c ****       case CAN_MIMO_FOBS_SIG ... CAN_MIMO_BOBS_SIG:
  80:user_src/soft_can.c ****         can_recv_mimo_signal_obstacle(RxHeader.StdId, RxData, RxHeader.DLC);
  81:user_src/soft_can.c ****         break;
  82:user_src/soft_can.c **** 
  83:user_src/soft_can.c ****       //�拇���躹�脣𧑐
  84:user_src/soft_can.c ****       case CAN_MIMO_T_ID1 ... CAN_MIMO_T_ID3:
  85:user_src/soft_can.c ****         can_recv_enzhao_terrain(RxHeader.StdId, RxData, RxHeader.DLC);
  86:user_src/soft_can.c ****         break;
  87:user_src/soft_can.c **** 
  88:user_src/soft_can.c ****       //�拇��瑁噢��𧋦靽⊥� �峕��讛恣蝟餅㺭
  89:user_src/soft_can.c ****       case CAN_MIMO_VERSION:
  90:user_src/soft_can.c ****         can_recv_mimo_radar_version(RxHeader.StdId, RxData, RxHeader.DLC);
  91:user_src/soft_can.c ****         break;
  92:user_src/soft_can.c **** 
  93:user_src/soft_can.c ****       //�匧⏚�穃𢆡��
  94:user_src/soft_can.c ****       case GEELY_ENGINE_START_ID ... GEELY_ENGINE_END_ID:
  95:user_src/soft_can.c ****         EngGeelyCanRecvHookFunction(RxHeader.StdId, RxData, RxHeader.DLC);
  96:user_src/soft_can.c ****         break;
  97:user_src/soft_can.c ****       case 0x100: //geely�穃𢆡�� 銝羓㩞�踹���
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 5


  98:user_src/soft_can.c ****         EngGeelyCanRecvHookFunction(RxHeader.StdId, RxData, RxHeader.DLC);
  99:user_src/soft_can.c ****         break;
 100:user_src/soft_can.c ****       case 0x031: //憌墧綉�煾��𧒄�游�擐�
 101:user_src/soft_can.c ****         EngGeelyCanRecvHookFunction(RxHeader.StdId, RxData, RxHeader.DLC);
 102:user_src/soft_can.c ****         break;
 103:user_src/soft_can.c ****       //�匧⏚�穃𢆡��
 104:user_src/soft_can.c ****       case GEELY_ENGINE_START_ID2 ... GEELY_ENGINE_END_ID2:
 105:user_src/soft_can.c ****         EngGeelyCanRecvHookFunction(RxHeader.StdId, RxData, RxHeader.DLC);
 106:user_src/soft_can.c ****         break;  
 107:user_src/soft_can.c ****       case CAN_EZ_R_UPDATE:
 108:user_src/soft_can.c ****         EZ_Radar_UpdateCanRecvHookFunction(RxHeader.StdId, RxData, RxHeader.DLC);
 109:user_src/soft_can.c ****         break;
 110:user_src/soft_can.c ****       default:
 111:user_src/soft_can.c ****         break;
 129              		.loc 1 111 9
 130 00ae F5E0     		b	.L28
 131              	.L8:
  48:user_src/soft_can.c ****         break;
 132              		.loc 1 48 9
 133 00b0 7F4B     		ldr	r3, .L31
 134 00b2 1B68     		ldr	r3, [r3]
  48:user_src/soft_can.c ****         break;
 135              		.loc 1 48 65
 136 00b4 7E4A     		ldr	r2, .L31
 137 00b6 1269     		ldr	r2, [r2, #16]
  48:user_src/soft_can.c ****         break;
 138              		.loc 1 48 9
 139 00b8 D2B2     		uxtb	r2, r2
 140 00ba 7E49     		ldr	r1, .L31+4
 141 00bc 1846     		mov	r0, r3
 142 00be FFF7FEFF 		bl	can_recv_enzhao_terrain
  49:user_src/soft_can.c **** 
 143              		.loc 1 49 9
 144 00c2 EEE0     		b	.L17
 145              	.L9:
  58:user_src/soft_can.c ****         break;
 146              		.loc 1 58 9
 147 00c4 7A4B     		ldr	r3, .L31
 148 00c6 1B68     		ldr	r3, [r3]
  58:user_src/soft_can.c ****         break;
 149              		.loc 1 58 70
 150 00c8 794A     		ldr	r2, .L31
 151 00ca 1269     		ldr	r2, [r2, #16]
  58:user_src/soft_can.c ****         break;
 152              		.loc 1 58 9
 153 00cc D2B2     		uxtb	r2, r2
 154 00ce 7949     		ldr	r1, .L31+4
 155 00d0 1846     		mov	r0, r3
 156 00d2 FFF7FEFF 		bl	can_recv_mimor_flow_function
  59:user_src/soft_can.c **** 
 157              		.loc 1 59 9
 158 00d6 E4E0     		b	.L17
 159              	.L5:
  72:user_src/soft_can.c ****         break;
 160              		.loc 1 72 9
 161 00d8 754B     		ldr	r3, .L31
 162 00da 1B68     		ldr	r3, [r3]
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 6


  72:user_src/soft_can.c ****         break;
 163              		.loc 1 72 66
 164 00dc 744A     		ldr	r2, .L31
 165 00de 1269     		ldr	r2, [r2, #16]
  72:user_src/soft_can.c ****         break;
 166              		.loc 1 72 9
 167 00e0 D2B2     		uxtb	r2, r2
 168 00e2 7449     		ldr	r1, .L31+4
 169 00e4 1846     		mov	r0, r3
 170 00e6 FFF7FEFF 		bl	can_recv_enzhao_obstacle
  73:user_src/soft_can.c ****       case CAN_MIMO_BOBS_ID1 ... CAN_MIMO_BOBS_ID3:
 171              		.loc 1 73 9
 172 00ea DAE0     		b	.L17
 173              	.L4:
  75:user_src/soft_can.c ****         break;
 174              		.loc 1 75 9
 175 00ec 704B     		ldr	r3, .L31
 176 00ee 1B68     		ldr	r3, [r3]
  75:user_src/soft_can.c ****         break;
 177              		.loc 1 75 66
 178 00f0 6F4A     		ldr	r2, .L31
 179 00f2 1269     		ldr	r2, [r2, #16]
  75:user_src/soft_can.c ****         break;
 180              		.loc 1 75 9
 181 00f4 D2B2     		uxtb	r2, r2
 182 00f6 6F49     		ldr	r1, .L31+4
 183 00f8 1846     		mov	r0, r3
 184 00fa FFF7FEFF 		bl	can_recv_enzhao_obstacle
  76:user_src/soft_can.c ****       
 185              		.loc 1 76 9
 186 00fe D0E0     		b	.L17
 187              	.L7:
  80:user_src/soft_can.c ****         break;
 188              		.loc 1 80 9
 189 0100 6B4B     		ldr	r3, .L31
 190 0102 1B68     		ldr	r3, [r3]
  80:user_src/soft_can.c ****         break;
 191              		.loc 1 80 71
 192 0104 6A4A     		ldr	r2, .L31
 193 0106 1269     		ldr	r2, [r2, #16]
  80:user_src/soft_can.c ****         break;
 194              		.loc 1 80 9
 195 0108 D2B2     		uxtb	r2, r2
 196 010a 6A49     		ldr	r1, .L31+4
 197 010c 1846     		mov	r0, r3
 198 010e FFF7FEFF 		bl	can_recv_mimo_signal_obstacle
  81:user_src/soft_can.c **** 
 199              		.loc 1 81 9
 200 0112 C6E0     		b	.L17
 201              	.L6:
  85:user_src/soft_can.c ****         break;
 202              		.loc 1 85 9
 203 0114 664B     		ldr	r3, .L31
 204 0116 1B68     		ldr	r3, [r3]
  85:user_src/soft_can.c ****         break;
 205              		.loc 1 85 65
 206 0118 654A     		ldr	r2, .L31
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 7


 207 011a 1269     		ldr	r2, [r2, #16]
  85:user_src/soft_can.c ****         break;
 208              		.loc 1 85 9
 209 011c D2B2     		uxtb	r2, r2
 210 011e 6549     		ldr	r1, .L31+4
 211 0120 1846     		mov	r0, r3
 212 0122 FFF7FEFF 		bl	can_recv_enzhao_terrain
  86:user_src/soft_can.c **** 
 213              		.loc 1 86 9
 214 0126 BCE0     		b	.L17
 215              	.L13:
  90:user_src/soft_can.c ****         break;
 216              		.loc 1 90 9
 217 0128 614B     		ldr	r3, .L31
 218 012a 1B68     		ldr	r3, [r3]
  90:user_src/soft_can.c ****         break;
 219              		.loc 1 90 69
 220 012c 604A     		ldr	r2, .L31
 221 012e 1269     		ldr	r2, [r2, #16]
  90:user_src/soft_can.c ****         break;
 222              		.loc 1 90 9
 223 0130 D2B2     		uxtb	r2, r2
 224 0132 6049     		ldr	r1, .L31+4
 225 0134 1846     		mov	r0, r3
 226 0136 FFF7FEFF 		bl	can_recv_mimo_radar_version
  91:user_src/soft_can.c **** 
 227              		.loc 1 91 9
 228 013a B2E0     		b	.L17
 229              	.L11:
  95:user_src/soft_can.c ****         break;
 230              		.loc 1 95 9
 231 013c 5C4B     		ldr	r3, .L31
 232 013e 1B68     		ldr	r3, [r3]
  95:user_src/soft_can.c ****         break;
 233              		.loc 1 95 69
 234 0140 5B4A     		ldr	r2, .L31
 235 0142 1269     		ldr	r2, [r2, #16]
  95:user_src/soft_can.c ****         break;
 236              		.loc 1 95 9
 237 0144 D2B2     		uxtb	r2, r2
 238 0146 5B49     		ldr	r1, .L31+4
 239 0148 1846     		mov	r0, r3
 240 014a FFF7FEFF 		bl	EngGeelyCanRecvHookFunction
  96:user_src/soft_can.c ****       case 0x100: //geely�穃𢆡�� 銝羓㩞�踹���
 241              		.loc 1 96 9
 242 014e A8E0     		b	.L17
 243              	.L12:
  98:user_src/soft_can.c ****         break;
 244              		.loc 1 98 9
 245 0150 574B     		ldr	r3, .L31
 246 0152 1B68     		ldr	r3, [r3]
  98:user_src/soft_can.c ****         break;
 247              		.loc 1 98 69
 248 0154 564A     		ldr	r2, .L31
 249 0156 1269     		ldr	r2, [r2, #16]
  98:user_src/soft_can.c ****         break;
 250              		.loc 1 98 9
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 8


 251 0158 D2B2     		uxtb	r2, r2
 252 015a 5649     		ldr	r1, .L31+4
 253 015c 1846     		mov	r0, r3
 254 015e FFF7FEFF 		bl	EngGeelyCanRecvHookFunction
  99:user_src/soft_can.c ****       case 0x031: //憌墧綉�煾��𧒄�游�擐�
 255              		.loc 1 99 9
 256 0162 9EE0     		b	.L17
 257              	.L14:
 101:user_src/soft_can.c ****         break;
 258              		.loc 1 101 9
 259 0164 524B     		ldr	r3, .L31
 260 0166 1B68     		ldr	r3, [r3]
 101:user_src/soft_can.c ****         break;
 261              		.loc 1 101 69
 262 0168 514A     		ldr	r2, .L31
 263 016a 1269     		ldr	r2, [r2, #16]
 101:user_src/soft_can.c ****         break;
 264              		.loc 1 101 9
 265 016c D2B2     		uxtb	r2, r2
 266 016e 5149     		ldr	r1, .L31+4
 267 0170 1846     		mov	r0, r3
 268 0172 FFF7FEFF 		bl	EngGeelyCanRecvHookFunction
 102:user_src/soft_can.c ****       //�匧⏚�穃𢆡��
 269              		.loc 1 102 9
 270 0176 94E0     		b	.L17
 271              	.L10:
 105:user_src/soft_can.c ****         break;  
 272              		.loc 1 105 9
 273 0178 4D4B     		ldr	r3, .L31
 274 017a 1B68     		ldr	r3, [r3]
 105:user_src/soft_can.c ****         break;  
 275              		.loc 1 105 69
 276 017c 4C4A     		ldr	r2, .L31
 277 017e 1269     		ldr	r2, [r2, #16]
 105:user_src/soft_can.c ****         break;  
 278              		.loc 1 105 9
 279 0180 D2B2     		uxtb	r2, r2
 280 0182 4C49     		ldr	r1, .L31+4
 281 0184 1846     		mov	r0, r3
 282 0186 FFF7FEFF 		bl	EngGeelyCanRecvHookFunction
 106:user_src/soft_can.c ****       case CAN_EZ_R_UPDATE:
 283              		.loc 1 106 9
 284 018a 8AE0     		b	.L17
 285              	.L15:
 108:user_src/soft_can.c ****         break;
 286              		.loc 1 108 9
 287 018c 484B     		ldr	r3, .L31
 288 018e 1B68     		ldr	r3, [r3]
 108:user_src/soft_can.c ****         break;
 289              		.loc 1 108 76
 290 0190 474A     		ldr	r2, .L31
 291 0192 1269     		ldr	r2, [r2, #16]
 108:user_src/soft_can.c ****         break;
 292              		.loc 1 108 9
 293 0194 D2B2     		uxtb	r2, r2
 294 0196 4749     		ldr	r1, .L31+4
 295 0198 1846     		mov	r0, r3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 9


 296 019a FFF7FEFF 		bl	EZ_Radar_UpdateCanRecvHookFunction
 109:user_src/soft_can.c ****       default:
 297              		.loc 1 109 9
 298 019e 80E0     		b	.L17
 299              	.L2:
 112:user_src/soft_can.c ****       }
 113:user_src/soft_can.c ****     }
 114:user_src/soft_can.c ****     else if(Rxhead.IDE == CAN_ID_EXT)
 300              		.loc 1 114 19
 301 01a0 3B69     		ldr	r3, [r7, #16]
 302              		.loc 1 114 12
 303 01a2 042B     		cmp	r3, #4
 304 01a4 7CD1     		bne	.L29
 115:user_src/soft_can.c ****     {
 116:user_src/soft_can.c ****       switch (Rxhead.ExtId)
 305              		.loc 1 116 21
 306 01a6 FB68     		ldr	r3, [r7, #12]
 307              		.loc 1 116 7
 308 01a8 434A     		ldr	r2, .L31+8
 309 01aa 9342     		cmp	r3, r2
 310 01ac 64D0     		beq	.L18
 311 01ae 424A     		ldr	r2, .L31+8
 312 01b0 9342     		cmp	r3, r2
 313 01b2 6AD8     		bhi	.L19
 314 01b4 414A     		ldr	r2, .L31+12
 315 01b6 9342     		cmp	r3, r2
 316 01b8 67D2     		bcs	.L19
 317 01ba 414A     		ldr	r2, .L31+16
 318 01bc 9342     		cmp	r3, r2
 319 01be 24D2     		bcs	.L20
 320 01c0 44F26E62 		movw	r2, #18030
 321 01c4 9342     		cmp	r3, r2
 322 01c6 60D8     		bhi	.L19
 323 01c8 44F26C62 		movw	r2, #18028
 324 01cc 9342     		cmp	r3, r2
 325 01ce 4AD2     		bcs	.L21
 326 01d0 43F26E62 		movw	r2, #13934
 327 01d4 9342     		cmp	r3, r2
 328 01d6 58D8     		bhi	.L19
 329 01d8 43F26C62 		movw	r2, #13932
 330 01dc 9342     		cmp	r3, r2
 331 01de 39D2     		bcs	.L22
 332 01e0 42F26E62 		movw	r2, #9838
 333 01e4 9342     		cmp	r3, r2
 334 01e6 50D8     		bhi	.L19
 335 01e8 42F26C62 		movw	r2, #9836
 336 01ec 9342     		cmp	r3, r2
 337 01ee 28D2     		bcs	.L23
 338 01f0 B3F5866F 		cmp	r3, #1072
 339 01f4 03D8     		bhi	.L24
 340 01f6 B3F5826F 		cmp	r3, #1040
 341 01fa 10D2     		bcs	.L25
 342 01fc 45E0     		b	.L19
 343              	.L24:
 344 01fe A3F5B353 		sub	r3, r3, #5728
 345 0202 0C3B     		subs	r3, r3, #12
 346 0204 022B     		cmp	r3, #2
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 10


 347 0206 40D8     		bhi	.L19
 348 0208 12E0     		b	.L27
 349              	.L20:
 117:user_src/soft_can.c ****       {
 118:user_src/soft_can.c ****       //�函�隞踹𧑐�瑁噢
 119:user_src/soft_can.c ****       // case CAN_MUNIU:
 120:user_src/soft_can.c ****       //   can_recv_muniu_terrain(RxData);
 121:user_src/soft_can.c ****       //   break;
 122:user_src/soft_can.c **** 
 123:user_src/soft_can.c ****       //�澆��菜�
 124:user_src/soft_can.c ****       case CAN_NEWTATTU_MSG ... CAN_NEWTATTU_MSG2:
 125:user_src/soft_can.c ****         TattuCanRecvHookFunction(RxHeader.ExtId, RxData, RxHeader.DLC);
 350              		.loc 1 125 9
 351 020a 294B     		ldr	r3, .L31
 352 020c 5B68     		ldr	r3, [r3, #4]
 353              		.loc 1 125 66
 354 020e 284A     		ldr	r2, .L31
 355 0210 1269     		ldr	r2, [r2, #16]
 356              		.loc 1 125 9
 357 0212 D2B2     		uxtb	r2, r2
 358 0214 2749     		ldr	r1, .L31+4
 359 0216 1846     		mov	r0, r3
 360 0218 FFF7FEFF 		bl	TattuCanRecvHookFunction
 126:user_src/soft_can.c ****         break;
 361              		.loc 1 126 9
 362 021c 41E0     		b	.L17
 363              	.L25:
 127:user_src/soft_can.c **** 
 128:user_src/soft_can.c ****       //�思�瘥娪𡺨颲鋤N��
 129:user_src/soft_can.c ****       case CAN_OBSTARCLE11_SN ... CAN_OBSTARCLE56_SN:
 130:user_src/soft_can.c ****         can_recv_mocib_version_info(Rxhead.ExtId, RxData, RxHeader.DLC);
 364              		.loc 1 130 9
 365 021e FB68     		ldr	r3, [r7, #12]
 366              		.loc 1 130 67
 367 0220 234A     		ldr	r2, .L31
 368 0222 1269     		ldr	r2, [r2, #16]
 369              		.loc 1 130 9
 370 0224 D2B2     		uxtb	r2, r2
 371 0226 2349     		ldr	r1, .L31+4
 372 0228 1846     		mov	r0, r3
 373 022a FFF7FEFF 		bl	can_recv_mocib_version_info
 131:user_src/soft_can.c ****         break;
 374              		.loc 1 131 9
 375 022e 38E0     		b	.L17
 376              	.L27:
 132:user_src/soft_can.c ****       //�𤩺陝�菜�
 133:user_src/soft_can.c ****       case QINGXIE_BMS0_CAN_ID1 ... QINGXIE_BMS0_CAN_ID3:
 134:user_src/soft_can.c ****          QxBmsCanRecvHookFunction(Rxhead.ExtId, RxData, RxHeader.DLC);
 377              		.loc 1 134 10
 378 0230 FB68     		ldr	r3, [r7, #12]
 379              		.loc 1 134 65
 380 0232 1F4A     		ldr	r2, .L31
 381 0234 1269     		ldr	r2, [r2, #16]
 382              		.loc 1 134 10
 383 0236 D2B2     		uxtb	r2, r2
 384 0238 1E49     		ldr	r1, .L31+4
 385 023a 1846     		mov	r0, r3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 11


 386 023c FFF7FEFF 		bl	QxBmsCanRecvHookFunction
 135:user_src/soft_can.c ****          break;
 387              		.loc 1 135 10
 388 0240 2FE0     		b	.L17
 389              	.L23:
 136:user_src/soft_can.c ****       case QINGXIE_BMS1_CAN_ID1 ... QINGXIE_BMS1_CAN_ID3:
 137:user_src/soft_can.c ****          QxBmsCanRecvHookFunction(Rxhead.ExtId, RxData, RxHeader.DLC);
 390              		.loc 1 137 10
 391 0242 FB68     		ldr	r3, [r7, #12]
 392              		.loc 1 137 65
 393 0244 1A4A     		ldr	r2, .L31
 394 0246 1269     		ldr	r2, [r2, #16]
 395              		.loc 1 137 10
 396 0248 D2B2     		uxtb	r2, r2
 397 024a 1A49     		ldr	r1, .L31+4
 398 024c 1846     		mov	r0, r3
 399 024e FFF7FEFF 		bl	QxBmsCanRecvHookFunction
 138:user_src/soft_can.c ****          break;
 400              		.loc 1 138 10
 401 0252 26E0     		b	.L17
 402              	.L22:
 139:user_src/soft_can.c ****       case QINGXIE_BMS2_CAN_ID1 ... QINGXIE_BMS2_CAN_ID3:
 140:user_src/soft_can.c ****          QxBmsCanRecvHookFunction(Rxhead.ExtId, RxData, RxHeader.DLC);
 403              		.loc 1 140 10
 404 0254 FB68     		ldr	r3, [r7, #12]
 405              		.loc 1 140 65
 406 0256 164A     		ldr	r2, .L31
 407 0258 1269     		ldr	r2, [r2, #16]
 408              		.loc 1 140 10
 409 025a D2B2     		uxtb	r2, r2
 410 025c 1549     		ldr	r1, .L31+4
 411 025e 1846     		mov	r0, r3
 412 0260 FFF7FEFF 		bl	QxBmsCanRecvHookFunction
 141:user_src/soft_can.c ****          break;
 413              		.loc 1 141 10
 414 0264 1DE0     		b	.L17
 415              	.L21:
 142:user_src/soft_can.c ****       case QINGXIE_BMS3_CAN_ID1 ... QINGXIE_BMS3_CAN_ID3:
 143:user_src/soft_can.c ****          QxBmsCanRecvHookFunction(Rxhead.ExtId, RxData, RxHeader.DLC);
 416              		.loc 1 143 10
 417 0266 FB68     		ldr	r3, [r7, #12]
 418              		.loc 1 143 65
 419 0268 114A     		ldr	r2, .L31
 420 026a 1269     		ldr	r2, [r2, #16]
 421              		.loc 1 143 10
 422 026c D2B2     		uxtb	r2, r2
 423 026e 1149     		ldr	r1, .L31+4
 424 0270 1846     		mov	r0, r3
 425 0272 FFF7FEFF 		bl	QxBmsCanRecvHookFunction
 144:user_src/soft_can.c ****          break;
 426              		.loc 1 144 10
 427 0276 14E0     		b	.L17
 428              	.L18:
 145:user_src/soft_can.c ****       case CAN_MSGID_DM_LACKLOSS:
 146:user_src/soft_can.c ****          DMlacklossCanRecvFunction(Rxhead.ExtId, RxData, RxHeader.DLC);
 429              		.loc 1 146 10
 430 0278 FB68     		ldr	r3, [r7, #12]
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 12


 431              		.loc 1 146 66
 432 027a 0D4A     		ldr	r2, .L31
 433 027c 1269     		ldr	r2, [r2, #16]
 434              		.loc 1 146 10
 435 027e D2B2     		uxtb	r2, r2
 436 0280 0C49     		ldr	r1, .L31+4
 437 0282 1846     		mov	r0, r3
 438 0284 FFF7FEFF 		bl	DMlacklossCanRecvFunction
 147:user_src/soft_can.c ****          break;
 439              		.loc 1 147 10
 440 0288 0BE0     		b	.L17
 441              	.L19:
 148:user_src/soft_can.c ****       default:
 149:user_src/soft_can.c ****         //憟賜�ID�箸𧋦瘝⊥��箏�雿㵪��冽�瘚�
 150:user_src/soft_can.c ****         HobbywingCanRecvHookFunction(Rxhead.ExtId, RxData, RxHeader.DLC);
 442              		.loc 1 150 9
 443 028a FB68     		ldr	r3, [r7, #12]
 444              		.loc 1 150 68
 445 028c 084A     		ldr	r2, .L31
 446 028e 1269     		ldr	r2, [r2, #16]
 447              		.loc 1 150 9
 448 0290 D2B2     		uxtb	r2, r2
 449 0292 0849     		ldr	r1, .L31+4
 450 0294 1846     		mov	r0, r3
 451 0296 FFF7FEFF 		bl	HobbywingCanRecvHookFunction
 151:user_src/soft_can.c ****         break;
 452              		.loc 1 151 9
 453 029a 02E0     		b	.L17
 454              	.L28:
 111:user_src/soft_can.c ****       }
 455              		.loc 1 111 9
 456 029c 00BF     		nop
 457 029e 00E0     		b	.L30
 458              	.L29:
 152:user_src/soft_can.c ****       }
 153:user_src/soft_can.c ****     }
 459              		.loc 1 153 5
 460 02a0 00BF     		nop
 461              	.L17:
 462              	.L30:
 154:user_src/soft_can.c **** }
 463              		.loc 1 154 1
 464 02a2 00BF     		nop
 465 02a4 BD46     		mov	sp, r7
 466              	.LCFI3:
 467              		.cfi_def_cfa_register 13
 468              		@ sp needed
 469 02a6 BDE88040 		pop	{r7, lr}
 470              	.LCFI4:
 471              		.cfi_restore 14
 472              		.cfi_restore 7
 473              		.cfi_def_cfa_offset 16
 474 02aa 04B0     		add	sp, sp, #16
 475              	.LCFI5:
 476              		.cfi_def_cfa_offset 0
 477 02ac 7047     		bx	lr
 478              	.L32:
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 13


 479 02ae 00BF     		.align	2
 480              	.L31:
 481 02b0 00000000 		.word	RxHeader
 482 02b4 00000000 		.word	RxData
 483 02b8 0BADF218 		.word	418557195
 484 02bc 00931001 		.word	17863424
 485 02c0 00921001 		.word	17863168
 486              		.cfi_endproc
 487              	.LFE133:
 489              		.section	.text.Can_filter_init,"ax",%progbits
 490              		.align	1
 491              		.global	Can_filter_init
 492              		.syntax unified
 493              		.thumb
 494              		.thumb_func
 496              	Can_filter_init:
 497              	.LFB134:
 155:user_src/soft_can.c **** 
 156:user_src/soft_can.c **** 
 157:user_src/soft_can.c **** /**
 158:user_src/soft_can.c ****   * @file    Can_filter_init
 159:user_src/soft_can.c ****   * @brief   CAN餈�誘�嘥���
 160:user_src/soft_can.c ****   * @param   none
 161:user_src/soft_can.c ****   * @details 
 162:user_src/soft_can.c ****   * @author  Zhang Sir 
 163:user_src/soft_can.c ****  **/
 164:user_src/soft_can.c **** void Can_filter_init()
 165:user_src/soft_can.c **** {
 498              		.loc 1 165 1
 499              		.cfi_startproc
 500              		@ args = 0, pretend = 0, frame = 40
 501              		@ frame_needed = 1, uses_anonymous_args = 0
 502 0000 80B5     		push	{r7, lr}
 503              	.LCFI6:
 504              		.cfi_def_cfa_offset 8
 505              		.cfi_offset 7, -8
 506              		.cfi_offset 14, -4
 507 0002 8AB0     		sub	sp, sp, #40
 508              	.LCFI7:
 509              		.cfi_def_cfa_offset 48
 510 0004 00AF     		add	r7, sp, #0
 511              	.LCFI8:
 512              		.cfi_def_cfa_register 7
 166:user_src/soft_can.c ****   CAN_FilterTypeDef sFilterConfig;
 167:user_src/soft_can.c **** 
 168:user_src/soft_can.c ****   //�思�瘥娪��栶��遛�圈𡺨 0
 169:user_src/soft_can.c ****   sFilterConfig.FilterBank = 0;
 513              		.loc 1 169 28
 514 0006 0023     		movs	r3, #0
 515 0008 7B61     		str	r3, [r7, #20]
 170:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 516              		.loc 1 170 28
 517 000a 0023     		movs	r3, #0
 518 000c BB61     		str	r3, [r7, #24]
 171:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 519              		.loc 1 171 29
 520 000e 0123     		movs	r3, #1
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 14


 521 0010 FB61     		str	r3, [r7, #28]
 172:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (CAN_MICOB_FILTER_ID >> 13) & 0xffff;
 522              		.loc 1 172 30
 523 0012 7723     		movs	r3, #119
 524 0014 3B60     		str	r3, [r7]
 173:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = ((CAN_MICOB_FILTER_ID << 3) & 0xffff) | CAN_ID_EXT;
 525              		.loc 1 173 29
 526 0016 4FF60C03 		movw	r3, #63500
 527 001a 7B60     		str	r3, [r7, #4]
 174:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (CAN_MICOB_MASK_ID >> 13) & 0xffff;
 528              		.loc 1 174 34
 529 001c 4FF67F03 		movw	r3, #63615
 530 0020 BB60     		str	r3, [r7, #8]
 175:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = ((CAN_MICOB_MASK_ID << 3) & 0xffff) | CAN_ID_EXT;
 531              		.loc 1 175 33
 532 0022 4FF60473 		movw	r3, #65284
 533 0026 FB60     		str	r3, [r7, #12]
 176:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 534              		.loc 1 176 38
 535 0028 0023     		movs	r3, #0
 536 002a 3B61     		str	r3, [r7, #16]
 177:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 537              		.loc 1 177 34
 538 002c 0123     		movs	r3, #1
 539 002e 3B62     		str	r3, [r7, #32]
 178:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 540              		.loc 1 178 38
 541 0030 0E23     		movs	r3, #14
 542 0032 7B62     		str	r3, [r7, #36]
 179:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 543              		.loc 1 179 7
 544 0034 3B46     		mov	r3, r7
 545 0036 1946     		mov	r1, r3
 546 0038 8848     		ldr	r0, .L44
 547 003a FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 548 003e 0346     		mov	r3, r0
 549              		.loc 1 179 6
 550 0040 002B     		cmp	r3, #0
 551 0042 01D0     		beq	.L34
 180:user_src/soft_can.c ****   {
 181:user_src/soft_can.c ****     Error_Handler();
 552              		.loc 1 181 5
 553 0044 FFF7FEFF 		bl	Error_Handler
 554              	.L34:
 182:user_src/soft_can.c ****   }
 183:user_src/soft_can.c ****   //甇�䲮�菜�1
 184:user_src/soft_can.c ****   sFilterConfig.FilterBank = 1;
 555              		.loc 1 184 28
 556 0048 0123     		movs	r3, #1
 557 004a 7B61     		str	r3, [r7, #20]
 185:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 558              		.loc 1 185 28
 559 004c 0023     		movs	r3, #0
 560 004e BB61     		str	r3, [r7, #24]
 186:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 561              		.loc 1 186 29
 562 0050 0123     		movs	r3, #1
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 15


 563 0052 FB61     		str	r3, [r7, #28]
 187:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (CAN_ZHENGFANG >> 13) & 0xffff;
 564              		.loc 1 187 30
 565 0054 4AF6AC13 		movw	r3, #43436
 566 0058 3B60     		str	r3, [r7]
 188:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = ((((uint32_t)CAN_ZHENGFANG << 3) & 0xffff) | CAN_ID_EXT);
 567              		.loc 1 188 29
 568 005a 4CF23413 		movw	r3, #49460
 569 005e 7B60     		str	r3, [r7, #4]
 189:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (CAN_ZHENGFANG_MASk >> 13) & 0xffff;
 570              		.loc 1 189 34
 571 0060 4FF6F873 		movw	r3, #65528
 572 0064 BB60     		str	r3, [r7, #8]
 190:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = ((((uint32_t)CAN_ZHENGFANG_MASk << 3) & 0xffff) | CAN_ID_EXT);
 573              		.loc 1 190 33
 574 0066 0423     		movs	r3, #4
 575 0068 FB60     		str	r3, [r7, #12]
 191:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 576              		.loc 1 191 38
 577 006a 0023     		movs	r3, #0
 578 006c 3B61     		str	r3, [r7, #16]
 192:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 579              		.loc 1 192 34
 580 006e 0123     		movs	r3, #1
 581 0070 3B62     		str	r3, [r7, #32]
 193:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 582              		.loc 1 193 38
 583 0072 0E23     		movs	r3, #14
 584 0074 7B62     		str	r3, [r7, #36]
 194:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 585              		.loc 1 194 7
 586 0076 3B46     		mov	r3, r7
 587 0078 1946     		mov	r1, r3
 588 007a 7848     		ldr	r0, .L44
 589 007c FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 590 0080 0346     		mov	r3, r0
 591              		.loc 1 194 6
 592 0082 002B     		cmp	r3, #0
 593 0084 01D0     		beq	.L35
 195:user_src/soft_can.c ****   {
 196:user_src/soft_can.c ****     Error_Handler();
 594              		.loc 1 196 5
 595 0086 FFF7FEFF 		bl	Error_Handler
 596              	.L35:
 197:user_src/soft_can.c ****   }
 198:user_src/soft_can.c ****   //�輸��瑁噢��漣2
 199:user_src/soft_can.c ****   sFilterConfig.FilterBank = 2;
 597              		.loc 1 199 28
 598 008a 0223     		movs	r3, #2
 599 008c 7B61     		str	r3, [r7, #20]
 200:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 600              		.loc 1 200 28
 601 008e 0023     		movs	r3, #0
 602 0090 BB61     		str	r3, [r7, #24]
 201:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 603              		.loc 1 201 29
 604 0092 0123     		movs	r3, #1
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 16


 605 0094 FB61     		str	r3, [r7, #28]
 202:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (CAN_UAVRH_FILTER_ID >> 13) & 0xffff;
 606              		.loc 1 202 30
 607 0096 0023     		movs	r3, #0
 608 0098 3B60     		str	r3, [r7]
 203:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = ((CAN_UAVRH_FILTER_ID << 3) & 0xffff) | CAN_ID_EXT;
 609              		.loc 1 203 29
 610 009a 43F60473 		movw	r3, #16132
 611 009e 7B60     		str	r3, [r7, #4]
 204:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (CAN_UAVRH_MASK_ID >> 13) & 0xffff;
 612              		.loc 1 204 34
 613 00a0 4FF6FF73 		movw	r3, #65535
 614 00a4 BB60     		str	r3, [r7, #8]
 205:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = ((CAN_UAVRH_MASK_ID << 3) & 0xffff) | CAN_ID_EXT;
 615              		.loc 1 205 33
 616 00a6 4FF60473 		movw	r3, #65284
 617 00aa FB60     		str	r3, [r7, #12]
 206:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 618              		.loc 1 206 38
 619 00ac 0023     		movs	r3, #0
 620 00ae 3B61     		str	r3, [r7, #16]
 207:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 621              		.loc 1 207 34
 622 00b0 0123     		movs	r3, #1
 623 00b2 3B62     		str	r3, [r7, #32]
 208:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 624              		.loc 1 208 38
 625 00b4 0E23     		movs	r3, #14
 626 00b6 7B62     		str	r3, [r7, #36]
 209:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 627              		.loc 1 209 7
 628 00b8 3B46     		mov	r3, r7
 629 00ba 1946     		mov	r1, r3
 630 00bc 6748     		ldr	r0, .L44
 631 00be FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 632 00c2 0346     		mov	r3, r0
 633              		.loc 1 209 6
 634 00c4 002B     		cmp	r3, #0
 635 00c6 01D0     		beq	.L36
 210:user_src/soft_can.c ****   {
 211:user_src/soft_can.c ****     Error_Handler();
 636              		.loc 1 211 5
 637 00c8 FFF7FEFF 		bl	Error_Handler
 638              	.L36:
 212:user_src/soft_can.c ****   }
 213:user_src/soft_can.c ****   //撖���菜�3
 214:user_src/soft_can.c ****   sFilterConfig.FilterBank = 3;
 639              		.loc 1 214 28
 640 00cc 0323     		movs	r3, #3
 641 00ce 7B61     		str	r3, [r7, #20]
 215:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 642              		.loc 1 215 28
 643 00d0 0023     		movs	r3, #0
 644 00d2 BB61     		str	r3, [r7, #24]
 216:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 645              		.loc 1 216 29
 646 00d4 0123     		movs	r3, #1
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 17


 647 00d6 FB61     		str	r3, [r7, #28]
 217:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (uint16_t)((uint32_t)FULLY_CELL_FILTER_ID >> 13 & 0xffff);
 648              		.loc 1 217 30
 649 00d8 4BF22003 		movw	r3, #45088
 650 00dc 3B60     		str	r3, [r7]
 218:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = (uint16_t)((((uint32_t)FULLY_CELL_FILTER_ID << 3) & 0xffff) | CAN_ID_
 651              		.loc 1 218 29
 652 00de 42F21C03 		movw	r3, #8220
 653 00e2 7B60     		str	r3, [r7, #4]
 219:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (uint16_t)((((uint32_t)FULLY_CELL_MASK_ID) >> 13) & 0xffff);
 654              		.loc 1 219 34
 655 00e4 4FF23F03 		movw	r3, #61503
 656 00e8 BB60     		str	r3, [r7, #8]
 220:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = (uint16_t)((((uint32_t)FULLY_CELL_MASK_ID << 3) & 0xffff) | CAN_I
 657              		.loc 1 220 33
 658 00ea 4EF23C03 		movw	r3, #57404
 659 00ee FB60     		str	r3, [r7, #12]
 221:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 660              		.loc 1 221 38
 661 00f0 0023     		movs	r3, #0
 662 00f2 3B61     		str	r3, [r7, #16]
 222:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 663              		.loc 1 222 34
 664 00f4 0123     		movs	r3, #1
 665 00f6 3B62     		str	r3, [r7, #32]
 223:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 666              		.loc 1 223 38
 667 00f8 0E23     		movs	r3, #14
 668 00fa 7B62     		str	r3, [r7, #36]
 224:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 669              		.loc 1 224 7
 670 00fc 3B46     		mov	r3, r7
 671 00fe 1946     		mov	r1, r3
 672 0100 5648     		ldr	r0, .L44
 673 0102 FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 674 0106 0346     		mov	r3, r0
 675              		.loc 1 224 6
 676 0108 002B     		cmp	r3, #0
 677 010a 01D0     		beq	.L37
 225:user_src/soft_can.c ****   {
 226:user_src/soft_can.c ****     Error_Handler();
 678              		.loc 1 226 5
 679 010c FFF7FEFF 		bl	Error_Handler
 680              	.L37:
 227:user_src/soft_can.c ****   }
 228:user_src/soft_can.c **** 
 229:user_src/soft_can.c ****   //瘚瑞��箄��菜�4
 230:user_src/soft_can.c ****   sFilterConfig.FilterBank = 4;
 681              		.loc 1 230 28
 682 0110 0423     		movs	r3, #4
 683 0112 7B61     		str	r3, [r7, #20]
 231:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 684              		.loc 1 231 28
 685 0114 0023     		movs	r3, #0
 686 0116 BB61     		str	r3, [r7, #24]
 232:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 687              		.loc 1 232 29
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 18


 688 0118 0123     		movs	r3, #1
 689 011a FB61     		str	r3, [r7, #28]
 233:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (HEREWIN_FILTER_ID >> 13) & 0xffff;
 690              		.loc 1 233 30
 691 011c 0723     		movs	r3, #7
 692 011e 3B60     		str	r3, [r7]
 234:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = ((HEREWIN_FILTER_ID << 3) & 0xffff) | CAN_ID_EXT;
 693              		.loc 1 234 29
 694 0120 4FF20403 		movw	r3, #61444
 695 0124 7B60     		str	r3, [r7, #4]
 235:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (HEREWIN_MASK_ID >> 13) & 0xffff;
 696              		.loc 1 235 34
 697 0126 41F60703 		movw	r3, #6151
 698 012a BB60     		str	r3, [r7, #8]
 236:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = ((HEREWIN_MASK_ID << 3) & 0xffff) | CAN_ID_EXT;
 699              		.loc 1 236 33
 700 012c 48F2FC73 		movw	r3, #34812
 701 0130 FB60     		str	r3, [r7, #12]
 237:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 702              		.loc 1 237 38
 703 0132 0023     		movs	r3, #0
 704 0134 3B61     		str	r3, [r7, #16]
 238:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 705              		.loc 1 238 34
 706 0136 0123     		movs	r3, #1
 707 0138 3B62     		str	r3, [r7, #32]
 239:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 708              		.loc 1 239 38
 709 013a 0E23     		movs	r3, #14
 710 013c 7B62     		str	r3, [r7, #36]
 240:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 711              		.loc 1 240 7
 712 013e 3B46     		mov	r3, r7
 713 0140 1946     		mov	r1, r3
 714 0142 4648     		ldr	r0, .L44
 715 0144 FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 716 0148 0346     		mov	r3, r0
 717              		.loc 1 240 6
 718 014a 002B     		cmp	r3, #0
 719 014c 01D0     		beq	.L38
 241:user_src/soft_can.c ****   {
 242:user_src/soft_can.c ****     Error_Handler();
 720              		.loc 1 242 5
 721 014e FFF7FEFF 		bl	Error_Handler
 722              	.L38:
 243:user_src/soft_can.c ****   }
 244:user_src/soft_can.c **** 
 245:user_src/soft_can.c ****   //EFT�剜���5
 246:user_src/soft_can.c ****   sFilterConfig.FilterBank = 5;
 723              		.loc 1 246 28
 724 0152 0523     		movs	r3, #5
 725 0154 7B61     		str	r3, [r7, #20]
 247:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 726              		.loc 1 247 28
 727 0156 0023     		movs	r3, #0
 728 0158 BB61     		str	r3, [r7, #24]
 248:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 19


 729              		.loc 1 248 29
 730 015a 0123     		movs	r3, #1
 731 015c FB61     		str	r3, [r7, #28]
 249:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (EFT_FILTER_ID >> 13) & 0xffff;
 732              		.loc 1 249 30
 733 015e 0423     		movs	r3, #4
 734 0160 3B60     		str	r3, [r7]
 250:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = ((EFT_FILTER_ID << 3) & 0xffff) | CAN_ID_EXT;
 735              		.loc 1 250 29
 736 0162 44F28C23 		movw	r3, #17036
 737 0166 7B60     		str	r3, [r7, #4]
 251:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (EFT_MASK_ID >> 13) & 0xffff;
 738              		.loc 1 251 34
 739 0168 4FF6FF73 		movw	r3, #65535
 740 016c BB60     		str	r3, [r7, #8]
 252:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = ((EFT_MASK_ID << 3) & 0xffff) | CAN_ID_EXT;
 741              		.loc 1 252 33
 742 016e 4FF60403 		movw	r3, #63492
 743 0172 FB60     		str	r3, [r7, #12]
 253:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 744              		.loc 1 253 38
 745 0174 0023     		movs	r3, #0
 746 0176 3B61     		str	r3, [r7, #16]
 254:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 747              		.loc 1 254 34
 748 0178 0123     		movs	r3, #1
 749 017a 3B62     		str	r3, [r7, #32]
 255:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 750              		.loc 1 255 38
 751 017c 0E23     		movs	r3, #14
 752 017e 7B62     		str	r3, [r7, #36]
 256:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 753              		.loc 1 256 7
 754 0180 3B46     		mov	r3, r7
 755 0182 1946     		mov	r1, r3
 756 0184 3548     		ldr	r0, .L44
 757 0186 FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 758 018a 0346     		mov	r3, r0
 759              		.loc 1 256 6
 760 018c 002B     		cmp	r3, #0
 761 018e 01D0     		beq	.L39
 257:user_src/soft_can.c ****   {
 258:user_src/soft_can.c ****     Error_Handler();
 762              		.loc 1 258 5
 763 0190 FFF7FEFF 		bl	Error_Handler
 764              	.L39:
 259:user_src/soft_can.c ****   }
 260:user_src/soft_can.c **** 
 261:user_src/soft_can.c ****   //VK�讛悅���霈曉� 6
 262:user_src/soft_can.c ****   sFilterConfig.FilterBank = 6;
 765              		.loc 1 262 28
 766 0194 0623     		movs	r3, #6
 767 0196 7B61     		str	r3, [r7, #20]
 263:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 768              		.loc 1 263 28
 769 0198 0023     		movs	r3, #0
 770 019a BB61     		str	r3, [r7, #24]
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 20


 264:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 771              		.loc 1 264 29
 772 019c 0123     		movs	r3, #1
 773 019e FB61     		str	r3, [r7, #28]
 265:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (CAN_MC_FILTER_ID >> 13) & 0xffff;
 774              		.loc 1 265 30
 775 01a0 4023     		movs	r3, #64
 776 01a2 3B60     		str	r3, [r7]
 266:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = ((CAN_MC_FILTER_ID << 3) & 0xffff) | CAN_ID_EXT;
 777              		.loc 1 266 29
 778 01a4 48F20423 		movw	r3, #33284
 779 01a8 7B60     		str	r3, [r7, #4]
 267:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (CAN_MC_MASK_ID >> 13) & 0xffff;
 780              		.loc 1 267 34
 781 01aa 4FF63F03 		movw	r3, #63551
 782 01ae BB60     		str	r3, [r7, #8]
 268:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = ((CAN_MC_MASK_ID << 3) & 0xffff) | CAN_ID_EXT;
 783              		.loc 1 268 33
 784 01b0 4CF20403 		movw	r3, #49156
 785 01b4 FB60     		str	r3, [r7, #12]
 269:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 786              		.loc 1 269 38
 787 01b6 0023     		movs	r3, #0
 788 01b8 3B61     		str	r3, [r7, #16]
 270:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 789              		.loc 1 270 34
 790 01ba 0123     		movs	r3, #1
 791 01bc 3B62     		str	r3, [r7, #32]
 271:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 792              		.loc 1 271 38
 793 01be 0E23     		movs	r3, #14
 794 01c0 7B62     		str	r3, [r7, #36]
 272:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 795              		.loc 1 272 7
 796 01c2 3B46     		mov	r3, r7
 797 01c4 1946     		mov	r1, r3
 798 01c6 2548     		ldr	r0, .L44
 799 01c8 FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 800 01cc 0346     		mov	r3, r0
 801              		.loc 1 272 6
 802 01ce 002B     		cmp	r3, #0
 803 01d0 01D0     		beq	.L40
 273:user_src/soft_can.c ****   {
 274:user_src/soft_can.c ****     Error_Handler();
 804              		.loc 1 274 5
 805 01d2 FFF7FEFF 		bl	Error_Handler
 806              	.L40:
 275:user_src/soft_can.c ****   }
 276:user_src/soft_can.c **** 
 277:user_src/soft_can.c ****   //VK�箄��菜� 7
 278:user_src/soft_can.c ****   sFilterConfig.FilterBank = 7;
 807              		.loc 1 278 28
 808 01d6 0723     		movs	r3, #7
 809 01d8 7B61     		str	r3, [r7, #20]
 279:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 810              		.loc 1 279 28
 811 01da 0023     		movs	r3, #0
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 21


 812 01dc BB61     		str	r3, [r7, #24]
 280:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 813              		.loc 1 280 29
 814 01de 0123     		movs	r3, #1
 815 01e0 FB61     		str	r3, [r7, #28]
 281:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = (VK_BMS_FILTER_ID >> 13) & 0xffff;
 816              		.loc 1 281 30
 817 01e2 7023     		movs	r3, #112
 818 01e4 3B60     		str	r3, [r7]
 282:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = (((uint32_t)VK_BMS_FILTER_ID << 3) & 0xffff) | CAN_ID_EXT;
 819              		.loc 1 282 29
 820 01e6 44F20403 		movw	r3, #16388
 821 01ea 7B60     		str	r3, [r7, #4]
 283:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = (VK_BMS_MASK_ID >> 13) & 0xffff;
 822              		.loc 1 283 34
 823 01ec 4EF27F03 		movw	r3, #57471
 824 01f0 BB60     		str	r3, [r7, #8]
 284:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = (((uint32_t)VK_BMS_MASK_ID << 3) & 0xffff) | CAN_ID_EXT;
 825              		.loc 1 284 33
 826 01f2 4CF20403 		movw	r3, #49156
 827 01f6 FB60     		str	r3, [r7, #12]
 285:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 828              		.loc 1 285 38
 829 01f8 0023     		movs	r3, #0
 830 01fa 3B61     		str	r3, [r7, #16]
 286:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 831              		.loc 1 286 34
 832 01fc 0123     		movs	r3, #1
 833 01fe 3B62     		str	r3, [r7, #32]
 287:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 834              		.loc 1 287 38
 835 0200 0E23     		movs	r3, #14
 836 0202 7B62     		str	r3, [r7, #36]
 288:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 837              		.loc 1 288 7
 838 0204 3B46     		mov	r3, r7
 839 0206 1946     		mov	r1, r3
 840 0208 1448     		ldr	r0, .L44
 841 020a FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 842 020e 0346     		mov	r3, r0
 843              		.loc 1 288 6
 844 0210 002B     		cmp	r3, #0
 845 0212 01D0     		beq	.L41
 289:user_src/soft_can.c ****   {
 290:user_src/soft_can.c ****     Error_Handler();
 846              		.loc 1 290 5
 847 0214 FFF7FEFF 		bl	Error_Handler
 848              	.L41:
 291:user_src/soft_can.c ****   }
 292:user_src/soft_can.c **** 
 293:user_src/soft_can.c ****   //隞�銋㇆D�賣𦻖��
 294:user_src/soft_can.c ****   sFilterConfig.FilterBank = 13;
 849              		.loc 1 294 28
 850 0218 0D23     		movs	r3, #13
 851 021a 7B61     		str	r3, [r7, #20]
 295:user_src/soft_can.c ****   sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
 852              		.loc 1 295 28
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 22


 853 021c 0023     		movs	r3, #0
 854 021e BB61     		str	r3, [r7, #24]
 296:user_src/soft_can.c ****   sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
 855              		.loc 1 296 29
 856 0220 0123     		movs	r3, #1
 857 0222 FB61     		str	r3, [r7, #28]
 297:user_src/soft_can.c ****   sFilterConfig.FilterIdHigh = 0;
 858              		.loc 1 297 30
 859 0224 0023     		movs	r3, #0
 860 0226 3B60     		str	r3, [r7]
 298:user_src/soft_can.c ****   sFilterConfig.FilterIdLow = 0;
 861              		.loc 1 298 29
 862 0228 0023     		movs	r3, #0
 863 022a 7B60     		str	r3, [r7, #4]
 299:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdHigh = 0;
 864              		.loc 1 299 34
 865 022c 0023     		movs	r3, #0
 866 022e BB60     		str	r3, [r7, #8]
 300:user_src/soft_can.c ****   sFilterConfig.FilterMaskIdLow = 0;
 867              		.loc 1 300 33
 868 0230 0023     		movs	r3, #0
 869 0232 FB60     		str	r3, [r7, #12]
 301:user_src/soft_can.c ****   sFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
 870              		.loc 1 301 38
 871 0234 0023     		movs	r3, #0
 872 0236 3B61     		str	r3, [r7, #16]
 302:user_src/soft_can.c ****   sFilterConfig.FilterActivation = ENABLE;
 873              		.loc 1 302 34
 874 0238 0123     		movs	r3, #1
 875 023a 3B62     		str	r3, [r7, #32]
 303:user_src/soft_can.c ****   sFilterConfig.SlaveStartFilterBank = 14;
 876              		.loc 1 303 38
 877 023c 0E23     		movs	r3, #14
 878 023e 7B62     		str	r3, [r7, #36]
 304:user_src/soft_can.c ****   if (HAL_CAN_ConfigFilter(&hcan, &sFilterConfig) != HAL_OK)
 879              		.loc 1 304 7
 880 0240 3B46     		mov	r3, r7
 881 0242 1946     		mov	r1, r3
 882 0244 0548     		ldr	r0, .L44
 883 0246 FFF7FEFF 		bl	HAL_CAN_ConfigFilter
 884 024a 0346     		mov	r3, r0
 885              		.loc 1 304 6
 886 024c 002B     		cmp	r3, #0
 887 024e 01D0     		beq	.L43
 305:user_src/soft_can.c ****   {
 306:user_src/soft_can.c ****     Error_Handler();
 888              		.loc 1 306 5
 889 0250 FFF7FEFF 		bl	Error_Handler
 890              	.L43:
 307:user_src/soft_can.c ****   }
 308:user_src/soft_can.c ****   
 309:user_src/soft_can.c **** }
 891              		.loc 1 309 1
 892 0254 00BF     		nop
 893 0256 2837     		adds	r7, r7, #40
 894              	.LCFI9:
 895              		.cfi_def_cfa_offset 8
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 23


 896 0258 BD46     		mov	sp, r7
 897              	.LCFI10:
 898              		.cfi_def_cfa_register 13
 899              		@ sp needed
 900 025a 80BD     		pop	{r7, pc}
 901              	.L45:
 902              		.align	2
 903              	.L44:
 904 025c 00000000 		.word	hcan
 905              		.cfi_endproc
 906              	.LFE134:
 908              		.section	.text.HAL_CAN_RxFifo0MsgPendingCallback,"ax",%progbits
 909              		.align	1
 910              		.global	HAL_CAN_RxFifo0MsgPendingCallback
 911              		.syntax unified
 912              		.thumb
 913              		.thumb_func
 915              	HAL_CAN_RxFifo0MsgPendingCallback:
 916              	.LFB135:
 310:user_src/soft_can.c **** 
 311:user_src/soft_can.c **** 
 312:user_src/soft_can.c **** void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 313:user_src/soft_can.c **** {
 917              		.loc 1 313 1
 918              		.cfi_startproc
 919              		@ args = 0, pretend = 0, frame = 8
 920              		@ frame_needed = 1, uses_anonymous_args = 0
 921 0000 90B5     		push	{r4, r7, lr}
 922              	.LCFI11:
 923              		.cfi_def_cfa_offset 12
 924              		.cfi_offset 4, -12
 925              		.cfi_offset 7, -8
 926              		.cfi_offset 14, -4
 927 0002 87B0     		sub	sp, sp, #28
 928              	.LCFI12:
 929              		.cfi_def_cfa_offset 40
 930 0004 04AF     		add	r7, sp, #16
 931              	.LCFI13:
 932              		.cfi_def_cfa 7, 24
 933 0006 7860     		str	r0, [r7, #4]
 314:user_src/soft_can.c ****   if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FF0) != RESET)
 934              		.loc 1 314 7
 935 0008 7B68     		ldr	r3, [r7, #4]
 936 000a 1B68     		ldr	r3, [r3]
 937 000c DB68     		ldr	r3, [r3, #12]
 938 000e 03F00803 		and	r3, r3, #8
 939              		.loc 1 314 6
 940 0012 082B     		cmp	r3, #8
 941 0014 04D1     		bne	.L47
 315:user_src/soft_can.c ****   {
 316:user_src/soft_can.c ****     __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0);
 942              		.loc 1 316 5
 943 0016 7B68     		ldr	r3, [r7, #4]
 944 0018 1B68     		ldr	r3, [r3]
 945 001a 0822     		movs	r2, #8
 946 001c DA60     		str	r2, [r3, #12]
 947 001e 0AE0     		b	.L48
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 24


 948              	.L47:
 317:user_src/soft_can.c ****   }
 318:user_src/soft_can.c ****   else if (__HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0) != RESET)
 949              		.loc 1 318 12
 950 0020 7B68     		ldr	r3, [r7, #4]
 951 0022 1B68     		ldr	r3, [r3]
 952 0024 DB68     		ldr	r3, [r3, #12]
 953 0026 03F01003 		and	r3, r3, #16
 954              		.loc 1 318 11
 955 002a 102B     		cmp	r3, #16
 956 002c 03D1     		bne	.L48
 319:user_src/soft_can.c ****   {
 320:user_src/soft_can.c ****     __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0);
 957              		.loc 1 320 5
 958 002e 7B68     		ldr	r3, [r7, #4]
 959 0030 1B68     		ldr	r3, [r3]
 960 0032 1022     		movs	r2, #16
 961 0034 DA60     		str	r2, [r3, #12]
 962              	.L48:
 321:user_src/soft_can.c ****   }
 322:user_src/soft_can.c ****   if (HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) != HAL_OK)
 963              		.loc 1 322 7
 964 0036 A14B     		ldr	r3, .L95
 965 0038 A14A     		ldr	r2, .L95+4
 966 003a 0021     		movs	r1, #0
 967 003c 7868     		ldr	r0, [r7, #4]
 968 003e FFF7FEFF 		bl	HAL_CAN_GetRxMessage
 969 0042 0346     		mov	r3, r0
 970              		.loc 1 322 6
 971 0044 002B     		cmp	r3, #0
 972 0046 01D0     		beq	.L49
 323:user_src/soft_can.c ****   {
 324:user_src/soft_can.c ****     Error_Handler();
 973              		.loc 1 324 5
 974 0048 FFF7FEFF 		bl	Error_Handler
 975              	.L49:
 325:user_src/soft_can.c ****   }
 326:user_src/soft_can.c **** 
 327:user_src/soft_can.c ****   //�思�瘥𥪜�����踴��遛��
 328:user_src/soft_can.c ****   if (RxHeader.FilterMatchIndex == 0)
 976              		.loc 1 328 15
 977 004c 9C4B     		ldr	r3, .L95+4
 978 004e 9B69     		ldr	r3, [r3, #24]
 979              		.loc 1 328 6
 980 0050 002B     		cmp	r3, #0
 981 0052 23D1     		bne	.L50
 329:user_src/soft_can.c ****   {
 330:user_src/soft_can.c ****     switch (RxHeader.ExtId)
 982              		.loc 1 330 21
 983 0054 9A4B     		ldr	r3, .L95+4
 984 0056 5B68     		ldr	r3, [r3, #4]
 985              		.loc 1 330 5
 986 0058 9A4A     		ldr	r2, .L95+8
 987 005a 9342     		cmp	r3, r2
 988 005c 0CD0     		beq	.L51
 989 005e 994A     		ldr	r2, .L95+8
 990 0060 9342     		cmp	r3, r2
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 25


 991 0062 11D8     		bhi	.L52
 992 0064 984A     		ldr	r2, .L95+12
 993 0066 9342     		cmp	r3, r2
 994 0068 0AD0     		beq	.L53
 995 006a 984A     		ldr	r2, .L95+16
 996 006c 9342     		cmp	r3, r2
 997 006e 0BD1     		bne	.L52
 331:user_src/soft_can.c ****     {
 332:user_src/soft_can.c ****     case CAN_OBSTACLE_1:
 333:user_src/soft_can.c ****       can_recv_mocib_F_obstacle(RxData);
 998              		.loc 1 333 7
 999 0070 9248     		ldr	r0, .L95
 1000 0072 FFF7FEFF 		bl	can_recv_mocib_F_obstacle
 334:user_src/soft_can.c ****       break;
 1001              		.loc 1 334 7
 1002 0076 67E1     		b	.L55
 1003              	.L51:
 335:user_src/soft_can.c ****     case CAN_OBSTACLE_2:
 336:user_src/soft_can.c ****       can_recv_mocib_B_obstacle(RxData);
 1004              		.loc 1 336 7
 1005 0078 9048     		ldr	r0, .L95
 1006 007a FFF7FEFF 		bl	can_recv_mocib_B_obstacle
 337:user_src/soft_can.c ****       break;
 1007              		.loc 1 337 7
 1008 007e 63E1     		b	.L55
 1009              	.L53:
 338:user_src/soft_can.c ****     case CAN_UAVH30_MSG:
 339:user_src/soft_can.c ****       can_recv_mocib_terrain(RxData);
 1010              		.loc 1 339 7
 1011 0080 8E48     		ldr	r0, .L95
 1012 0082 FFF7FEFF 		bl	can_recv_mocib_terrain
 340:user_src/soft_can.c ****       break;
 1013              		.loc 1 340 7
 1014 0086 5FE1     		b	.L55
 1015              	.L52:
 341:user_src/soft_can.c ****     default:
 342:user_src/soft_can.c ****       can_recv_mocib_version_info(RxHeader.ExtId, RxData, RxHeader.DLC);
 1016              		.loc 1 342 7
 1017 0088 8D4B     		ldr	r3, .L95+4
 1018 008a 5B68     		ldr	r3, [r3, #4]
 1019              		.loc 1 342 67
 1020 008c 8C4A     		ldr	r2, .L95+4
 1021 008e 1269     		ldr	r2, [r2, #16]
 1022              		.loc 1 342 7
 1023 0090 D2B2     		uxtb	r2, r2
 1024 0092 8A49     		ldr	r1, .L95
 1025 0094 1846     		mov	r0, r3
 1026 0096 FFF7FEFF 		bl	can_recv_mocib_version_info
 343:user_src/soft_can.c ****       break;
 1027              		.loc 1 343 7
 1028 009a 55E1     		b	.L55
 1029              	.L50:
 344:user_src/soft_can.c ****     }
 345:user_src/soft_can.c ****   }
 346:user_src/soft_can.c **** 
 347:user_src/soft_can.c ****   //甇�䲮�菜�
 348:user_src/soft_can.c ****   else if (RxHeader.FilterMatchIndex == 1)
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 26


 1030              		.loc 1 348 20
 1031 009c 884B     		ldr	r3, .L95+4
 1032 009e 9B69     		ldr	r3, [r3, #24]
 1033              		.loc 1 348 11
 1034 00a0 012B     		cmp	r3, #1
 1035 00a2 09D1     		bne	.L56
 349:user_src/soft_can.c ****   {
 350:user_src/soft_can.c ****     OkcellCanRecvHookFunction(RxHeader.ExtId, RxData, RxHeader.DLC); 
 1036              		.loc 1 350 5
 1037 00a4 864B     		ldr	r3, .L95+4
 1038 00a6 5B68     		ldr	r3, [r3, #4]
 1039              		.loc 1 350 63
 1040 00a8 854A     		ldr	r2, .L95+4
 1041 00aa 1269     		ldr	r2, [r2, #16]
 1042              		.loc 1 350 5
 1043 00ac D2B2     		uxtb	r2, r2
 1044 00ae 8349     		ldr	r1, .L95
 1045 00b0 1846     		mov	r0, r3
 1046 00b2 FFF7FEFF 		bl	OkcellCanRecvHookFunction
 1047 00b6 47E1     		b	.L55
 1048              	.L56:
 351:user_src/soft_can.c ****   }
 352:user_src/soft_can.c **** 
 353:user_src/soft_can.c ****   //�思�瘥娪𡺨颲曉�蝥�  霈曄蔭銝嗉粉�㚚𡺨颲曄��誩漲嚗𣬚��砌縑��
 354:user_src/soft_can.c ****   else if (RxHeader.FilterMatchIndex == 2)
 1049              		.loc 1 354 20
 1050 00b8 814B     		ldr	r3, .L95+4
 1051 00ba 9B69     		ldr	r3, [r3, #24]
 1052              		.loc 1 354 11
 1053 00bc 022B     		cmp	r3, #2
 1054 00be 06D1     		bne	.L57
 355:user_src/soft_can.c ****   {
 356:user_src/soft_can.c ****     can_recv_mocib_updata_read_set_hookfunction(RxHeader.ExtId, RxData);
 1055              		.loc 1 356 5
 1056 00c0 7F4B     		ldr	r3, .L95+4
 1057 00c2 5B68     		ldr	r3, [r3, #4]
 1058 00c4 7D49     		ldr	r1, .L95
 1059 00c6 1846     		mov	r0, r3
 1060 00c8 FFF7FEFF 		bl	can_recv_mocib_updata_read_set_hookfunction
 1061 00cc 3CE1     		b	.L55
 1062              	.L57:
 357:user_src/soft_can.c ****   }
 358:user_src/soft_can.c **** 
 359:user_src/soft_can.c ****   //瘚瑞��箄��菜�
 360:user_src/soft_can.c ****   else if(RxHeader.FilterMatchIndex == 4)
 1063              		.loc 1 360 19
 1064 00ce 7C4B     		ldr	r3, .L95+4
 1065 00d0 9B69     		ldr	r3, [r3, #24]
 1066              		.loc 1 360 10
 1067 00d2 042B     		cmp	r3, #4
 1068 00d4 09D1     		bne	.L58
 361:user_src/soft_can.c ****   {
 362:user_src/soft_can.c ****     HerewinCanRecvHookFunction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1069              		.loc 1 362 5
 1070 00d6 7A4B     		ldr	r3, .L95+4
 1071 00d8 5B68     		ldr	r3, [r3, #4]
 1072              		.loc 1 362 64
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 27


 1073 00da 794A     		ldr	r2, .L95+4
 1074 00dc 1269     		ldr	r2, [r2, #16]
 1075              		.loc 1 362 5
 1076 00de D2B2     		uxtb	r2, r2
 1077 00e0 7649     		ldr	r1, .L95
 1078 00e2 1846     		mov	r0, r3
 1079 00e4 FFF7FEFF 		bl	HerewinCanRecvHookFunction
 1080 00e8 2EE1     		b	.L55
 1081              	.L58:
 363:user_src/soft_can.c ****   }
 364:user_src/soft_can.c ****   
 365:user_src/soft_can.c ****   //EFT
 366:user_src/soft_can.c ****   else if (RxHeader.FilterMatchIndex == 5)
 1082              		.loc 1 366 20
 1083 00ea 754B     		ldr	r3, .L95+4
 1084 00ec 9B69     		ldr	r3, [r3, #24]
 1085              		.loc 1 366 11
 1086 00ee 052B     		cmp	r3, #5
 1087 00f0 09D1     		bne	.L59
 367:user_src/soft_can.c ****   {
 368:user_src/soft_can.c ****     EftCanRecvHookFunction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1088              		.loc 1 368 5
 1089 00f2 734B     		ldr	r3, .L95+4
 1090 00f4 5B68     		ldr	r3, [r3, #4]
 1091              		.loc 1 368 60
 1092 00f6 724A     		ldr	r2, .L95+4
 1093 00f8 1269     		ldr	r2, [r2, #16]
 1094              		.loc 1 368 5
 1095 00fa D2B2     		uxtb	r2, r2
 1096 00fc 6F49     		ldr	r1, .L95
 1097 00fe 1846     		mov	r0, r3
 1098 0100 FFF7FEFF 		bl	EftCanRecvHookFunction
 1099 0104 20E1     		b	.L55
 1100              	.L59:
 369:user_src/soft_can.c ****   }
 370:user_src/soft_can.c **** 
 371:user_src/soft_can.c ****   //VK�讛悅霈曉�
 372:user_src/soft_can.c ****   else if (RxHeader.FilterMatchIndex == 6)
 1101              		.loc 1 372 20
 1102 0106 6E4B     		ldr	r3, .L95+4
 1103 0108 9B69     		ldr	r3, [r3, #24]
 1104              		.loc 1 372 11
 1105 010a 062B     		cmp	r3, #6
 1106 010c 40F00281 		bne	.L60
 373:user_src/soft_can.c ****   {
 374:user_src/soft_can.c ****     if(RxHeader.ExtId == 0x166C || RxHeader.ExtId == 0x166D || RxHeader.ExtId == 0x166E)
 1107              		.loc 1 374 16
 1108 0110 6B4B     		ldr	r3, .L95+4
 1109 0112 5B68     		ldr	r3, [r3, #4]
 1110              		.loc 1 374 7
 1111 0114 41F26C62 		movw	r2, #5740
 1112 0118 9342     		cmp	r3, r2
 1113 011a 0BD0     		beq	.L61
 1114              		.loc 1 374 44 discriminator 1
 1115 011c 684B     		ldr	r3, .L95+4
 1116 011e 5B68     		ldr	r3, [r3, #4]
 1117              		.loc 1 374 33 discriminator 1
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 28


 1118 0120 41F26D62 		movw	r2, #5741
 1119 0124 9342     		cmp	r3, r2
 1120 0126 05D0     		beq	.L61
 1121              		.loc 1 374 72 discriminator 2
 1122 0128 654B     		ldr	r3, .L95+4
 1123 012a 5B68     		ldr	r3, [r3, #4]
 1124              		.loc 1 374 61 discriminator 2
 1125 012c 41F26E62 		movw	r2, #5742
 1126 0130 9342     		cmp	r3, r2
 1127 0132 08D1     		bne	.L62
 1128              	.L61:
 375:user_src/soft_can.c ****     {
 376:user_src/soft_can.c ****       QxBmsCanRecvHookFunction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1129              		.loc 1 376 7
 1130 0134 624B     		ldr	r3, .L95+4
 1131 0136 5B68     		ldr	r3, [r3, #4]
 1132              		.loc 1 376 64
 1133 0138 614A     		ldr	r2, .L95+4
 1134 013a 1269     		ldr	r2, [r2, #16]
 1135              		.loc 1 376 7
 1136 013c D2B2     		uxtb	r2, r2
 1137 013e 5F49     		ldr	r1, .L95
 1138 0140 1846     		mov	r0, r3
 1139 0142 FFF7FEFF 		bl	QxBmsCanRecvHookFunction
 1140              	.L62:
 377:user_src/soft_can.c ****     }
 378:user_src/soft_can.c ****     
 379:user_src/soft_can.c ****     switch (((RxHeader.ExtId) & SRC_ID_MASK) >> 5)
 1141              		.loc 1 379 23
 1142 0146 5E4B     		ldr	r3, .L95+4
 1143 0148 5B68     		ldr	r3, [r3, #4]
 1144              		.loc 1 379 46
 1145 014a 5B09     		lsrs	r3, r3, #5
 1146 014c 03F07F03 		and	r3, r3, #127
 1147              		.loc 1 379 5
 1148 0150 153B     		subs	r3, r3, #21
 1149 0152 0C2B     		cmp	r3, #12
 1150 0154 00F2F780 		bhi	.L90
 1151 0158 01A2     		adr	r2, .L65
 1152 015a 52F823F0 		ldr	pc, [r2, r3, lsl #2]
 1153 015e 00BF     		.p2align 2
 1154              	.L65:
 1155 0160 95010000 		.word	.L70+1
 1156 0164 A9010000 		.word	.L69+1
 1157 0168 47030000 		.word	.L90+1
 1158 016c 79020000 		.word	.L68+1
 1159 0170 BD010000 		.word	.L67+1
 1160 0174 47030000 		.word	.L90+1
 1161 0178 47030000 		.word	.L90+1
 1162 017c 47030000 		.word	.L90+1
 1163 0180 47030000 		.word	.L90+1
 1164 0184 47030000 		.word	.L90+1
 1165 0188 47030000 		.word	.L90+1
 1166 018c D1010000 		.word	.L66+1
 1167 0190 65020000 		.word	.L64+1
 1168              		.p2align 1
 1169              	.L70:
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 29


 380:user_src/soft_can.c ****     {
 381:user_src/soft_can.c ****     //瘨脖�霈�
 382:user_src/soft_can.c ****     case CAN_NODEID_LIQUED:
 383:user_src/soft_can.c ****       liquid_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1170              		.loc 1 383 7
 1171 0194 4A4B     		ldr	r3, .L95+4
 1172 0196 5B68     		ldr	r3, [r3, #4]
 1173              		.loc 1 383 67
 1174 0198 494A     		ldr	r2, .L95+4
 1175 019a 1269     		ldr	r2, [r2, #16]
 1176              		.loc 1 383 7
 1177 019c D2B2     		uxtb	r2, r2
 1178 019e 4749     		ldr	r1, .L95
 1179 01a0 1846     		mov	r0, r3
 1180 01a2 FFF7FEFF 		bl	liquid_recieved_hookfuction
 384:user_src/soft_can.c ****       break;
 1181              		.loc 1 384 7
 1182 01a6 CFE0     		b	.L55
 1183              	.L69:
 385:user_src/soft_can.c ****     case CAN_NODEID_FLOW:
 386:user_src/soft_can.c ****       Flow_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1184              		.loc 1 386 7
 1185 01a8 454B     		ldr	r3, .L95+4
 1186 01aa 5B68     		ldr	r3, [r3, #4]
 1187              		.loc 1 386 65
 1188 01ac 444A     		ldr	r2, .L95+4
 1189 01ae 1269     		ldr	r2, [r2, #16]
 1190              		.loc 1 386 7
 1191 01b0 D2B2     		uxtb	r2, r2
 1192 01b2 4249     		ldr	r1, .L95
 1193 01b4 1846     		mov	r0, r3
 1194 01b6 FFF7FEFF 		bl	Flow_recieved_hookfuction
 387:user_src/soft_can.c ****       break;
 1195              		.loc 1 387 7
 1196 01ba C5E0     		b	.L55
 1197              	.L67:
 388:user_src/soft_can.c ****     //蝘圈�隡䭾��具��偘�鍦膥
 389:user_src/soft_can.c ****     case CAN_NODEID_WEIGHT:
 390:user_src/soft_can.c ****       Weight_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1198              		.loc 1 390 7
 1199 01bc 404B     		ldr	r3, .L95+4
 1200 01be 5B68     		ldr	r3, [r3, #4]
 1201              		.loc 1 390 67
 1202 01c0 3F4A     		ldr	r2, .L95+4
 1203 01c2 1269     		ldr	r2, [r2, #16]
 1204              		.loc 1 390 7
 1205 01c4 D2B2     		uxtb	r2, r2
 1206 01c6 3D49     		ldr	r1, .L95
 1207 01c8 1846     		mov	r0, r3
 1208 01ca FFF7FEFF 		bl	Weight_recieved_hookfuction
 391:user_src/soft_can.c ****       break; 
 1209              		.loc 1 391 7
 1210 01ce BBE0     		b	.L55
 1211              	.L66:
 392:user_src/soft_can.c ****     //VK霈曉���漣
 393:user_src/soft_can.c ****     case CAN_NODEID_RADAR_UPDATE://14
 394:user_src/soft_can.c ****         switch (((RxHeader.ExtId) & MSG_ID_MASK) >> 19)
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 30


 1212              		.loc 1 394 27
 1213 01d0 3B4B     		ldr	r3, .L95+4
 1214 01d2 5B68     		ldr	r3, [r3, #4]
 1215              		.loc 1 394 50
 1216 01d4 DB0C     		lsrs	r3, r3, #19
 1217 01d6 03F07F03 		and	r3, r3, #127
 1218 01da 092B     		cmp	r3, #9
 1219 01dc 37D0     		beq	.L72
 1220 01de 092B     		cmp	r3, #9
 1221 01e0 3AD8     		bhi	.L91
 1222 01e2 072B     		cmp	r3, #7
 1223 01e4 02D0     		beq	.L74
 1224 01e6 082B     		cmp	r3, #8
 1225 01e8 15D0     		beq	.L75
 395:user_src/soft_can.c ****         {
 396:user_src/soft_can.c ****         case CAN_MSGID_RADAR_START:
 397:user_src/soft_can.c ****           if((RxHeader.ExtId & 0x3) == 1)//381401
 398:user_src/soft_can.c ****           {
 399:user_src/soft_can.c ****             uart_info.step_200_flag = true;
 400:user_src/soft_can.c ****           }
 401:user_src/soft_can.c ****           else if((RxHeader.ExtId & 0x3) == 2) //381402
 402:user_src/soft_can.c ****           {
 403:user_src/soft_can.c ****             Update_Dev_Bootversion_Function(RxData);
 404:user_src/soft_can.c ****           }
 405:user_src/soft_can.c ****           break;
 406:user_src/soft_can.c ****         case CAN_MSGID_RADAR_ING:
 407:user_src/soft_can.c ****           if(uart_info.vk_dev_pack_num == (RxData[1] + RxData[2] * 256))
 408:user_src/soft_can.c ****           {
 409:user_src/soft_can.c ****             uart_info.vk_dev_pack_num++;
 410:user_src/soft_can.c ****             uart_info.step_201_flag = true;
 411:user_src/soft_can.c ****           }
 412:user_src/soft_can.c ****           break;
 413:user_src/soft_can.c ****         case CAN_MSGID_RADAR_END:
 414:user_src/soft_can.c ****           uart_info.step_202_flag = true;
 415:user_src/soft_can.c ****           break;
 416:user_src/soft_can.c ****         default:
 417:user_src/soft_can.c ****           break;
 1226              		.loc 1 417 11
 1227 01ea 35E0     		b	.L91
 1228              	.L74:
 397:user_src/soft_can.c ****           {
 1229              		.loc 1 397 23
 1230 01ec 344B     		ldr	r3, .L95+4
 1231 01ee 5B68     		ldr	r3, [r3, #4]
 397:user_src/soft_can.c ****           {
 1232              		.loc 1 397 30
 1233 01f0 03F00303 		and	r3, r3, #3
 397:user_src/soft_can.c ****           {
 1234              		.loc 1 397 13
 1235 01f4 012B     		cmp	r3, #1
 1236 01f6 04D1     		bne	.L76
 399:user_src/soft_can.c ****           }
 1237              		.loc 1 399 37
 1238 01f8 354B     		ldr	r3, .L95+20
 1239 01fa 0122     		movs	r2, #1
 1240 01fc 83F82421 		strb	r2, [r3, #292]
 405:user_src/soft_can.c ****         case CAN_MSGID_RADAR_ING:
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 31


 1241              		.loc 1 405 11
 1242 0200 2CE0     		b	.L92
 1243              	.L76:
 401:user_src/soft_can.c ****           {
 1244              		.loc 1 401 28
 1245 0202 2F4B     		ldr	r3, .L95+4
 1246 0204 5B68     		ldr	r3, [r3, #4]
 401:user_src/soft_can.c ****           {
 1247              		.loc 1 401 35
 1248 0206 03F00303 		and	r3, r3, #3
 401:user_src/soft_can.c ****           {
 1249              		.loc 1 401 18
 1250 020a 022B     		cmp	r3, #2
 1251 020c 26D1     		bne	.L92
 403:user_src/soft_can.c ****           }
 1252              		.loc 1 403 13
 1253 020e 2B48     		ldr	r0, .L95
 1254 0210 FFF7FEFF 		bl	Update_Dev_Bootversion_Function
 405:user_src/soft_can.c ****         case CAN_MSGID_RADAR_ING:
 1255              		.loc 1 405 11
 1256 0214 22E0     		b	.L92
 1257              	.L75:
 407:user_src/soft_can.c ****           {
 1258              		.loc 1 407 23
 1259 0216 2E4B     		ldr	r3, .L95+20
 1260 0218 B3F81E31 		ldrh	r3, [r3, #286]	@ unaligned
 1261 021c 9BB2     		uxth	r3, r3
 1262 021e 1A46     		mov	r2, r3
 407:user_src/soft_can.c ****           {
 1263              		.loc 1 407 50
 1264 0220 264B     		ldr	r3, .L95
 1265 0222 5B78     		ldrb	r3, [r3, #1]	@ zero_extendqisi2
 1266 0224 1946     		mov	r1, r3
 407:user_src/soft_can.c ****           {
 1267              		.loc 1 407 62
 1268 0226 254B     		ldr	r3, .L95
 1269 0228 9B78     		ldrb	r3, [r3, #2]	@ zero_extendqisi2
 407:user_src/soft_can.c ****           {
 1270              		.loc 1 407 66
 1271 022a 1B02     		lsls	r3, r3, #8
 407:user_src/soft_can.c ****           {
 1272              		.loc 1 407 54
 1273 022c 0B44     		add	r3, r3, r1
 407:user_src/soft_can.c ****           {
 1274              		.loc 1 407 13
 1275 022e 9A42     		cmp	r2, r3
 1276 0230 16D1     		bne	.L93
 409:user_src/soft_can.c ****             uart_info.step_201_flag = true;
 1277              		.loc 1 409 22
 1278 0232 274B     		ldr	r3, .L95+20
 1279 0234 B3F81E31 		ldrh	r3, [r3, #286]	@ unaligned
 1280 0238 9BB2     		uxth	r3, r3
 409:user_src/soft_can.c ****             uart_info.step_201_flag = true;
 1281              		.loc 1 409 38
 1282 023a 0133     		adds	r3, r3, #1
 1283 023c 9AB2     		uxth	r2, r3
 1284 023e 244B     		ldr	r3, .L95+20
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 32


 1285 0240 A3F81E21 		strh	r2, [r3, #286]	@ unaligned
 410:user_src/soft_can.c ****           }
 1286              		.loc 1 410 37
 1287 0244 224B     		ldr	r3, .L95+20
 1288 0246 0122     		movs	r2, #1
 1289 0248 83F82521 		strb	r2, [r3, #293]
 412:user_src/soft_can.c ****         case CAN_MSGID_RADAR_END:
 1290              		.loc 1 412 11
 1291 024c 08E0     		b	.L93
 1292              	.L72:
 414:user_src/soft_can.c ****           break;
 1293              		.loc 1 414 35
 1294 024e 204B     		ldr	r3, .L95+20
 1295 0250 0122     		movs	r2, #1
 1296 0252 83F82621 		strb	r2, [r3, #294]
 415:user_src/soft_can.c ****         default:
 1297              		.loc 1 415 11
 1298 0256 04E0     		b	.L78
 1299              	.L91:
 1300              		.loc 1 417 11
 1301 0258 00BF     		nop
 1302 025a 75E0     		b	.L55
 1303              	.L92:
 405:user_src/soft_can.c ****         case CAN_MSGID_RADAR_ING:
 1304              		.loc 1 405 11
 1305 025c 00BF     		nop
 1306 025e 73E0     		b	.L55
 1307              	.L93:
 412:user_src/soft_can.c ****         case CAN_MSGID_RADAR_END:
 1308              		.loc 1 412 11
 1309 0260 00BF     		nop
 1310              	.L78:
 418:user_src/soft_can.c ****         }
 419:user_src/soft_can.c ****         break;
 1311              		.loc 1 419 9
 1312 0262 71E0     		b	.L55
 1313              	.L64:
 420:user_src/soft_can.c ****     case CAN_NODEID_DISTRIBUTOR:
 421:user_src/soft_can.c ****         distributor_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1314              		.loc 1 421 9
 1315 0264 164B     		ldr	r3, .L95+4
 1316 0266 5B68     		ldr	r3, [r3, #4]
 1317              		.loc 1 421 74
 1318 0268 154A     		ldr	r2, .L95+4
 1319 026a 1269     		ldr	r2, [r2, #16]
 1320              		.loc 1 421 9
 1321 026c D2B2     		uxtb	r2, r2
 1322 026e 1349     		ldr	r1, .L95
 1323 0270 1846     		mov	r0, r3
 1324 0272 FFF7FEFF 		bl	distributor_recieved_hookfuction
 422:user_src/soft_can.c ****         break;
 1325              		.loc 1 422 9
 1326 0276 67E0     		b	.L55
 1327              	.L68:
 423:user_src/soft_can.c ****     case CAN_NODEID_LASER:
 424:user_src/soft_can.c ****         switch (((RxHeader.ExtId) & MSG_ID_MASK) >> 19)
 1328              		.loc 1 424 27
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 33


 1329 0278 114B     		ldr	r3, .L95+4
 1330 027a 5B68     		ldr	r3, [r3, #4]
 1331              		.loc 1 424 50
 1332 027c DB0C     		lsrs	r3, r3, #19
 1333 027e 03F07F03 		and	r3, r3, #127
 1334 0282 123B     		subs	r3, r3, #18
 1335 0284 052B     		cmp	r3, #5
 1336 0286 43D8     		bhi	.L94
 1337 0288 01A2     		adr	r2, .L82
 1338 028a 52F823F0 		ldr	pc, [r2, r3, lsl #2]
 1339 028e 00BF     		.p2align 2
 1340              	.L82:
 1341 0290 A9020000 		.word	.L85+1
 1342 0294 D5020000 		.word	.L84+1
 1343 0298 E9020000 		.word	.L83+1
 1344 029c E9020000 		.word	.L83+1
 1345 02a0 FD020000 		.word	.L81+1
 1346 02a4 FD020000 		.word	.L81+1
 1347              		.p2align 1
 1348              	.L85:
 425:user_src/soft_can.c ****         {
 426:user_src/soft_can.c ****         case CAN_MSGID_RADAR_INFO:
 427:user_src/soft_can.c ****           DM_terrain_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1349              		.loc 1 427 11
 1350 02a8 054B     		ldr	r3, .L95+4
 1351 02aa 5B68     		ldr	r3, [r3, #4]
 1352              		.loc 1 427 75
 1353 02ac 044A     		ldr	r2, .L95+4
 1354 02ae 1269     		ldr	r2, [r2, #16]
 1355              		.loc 1 427 11
 1356 02b0 D2B2     		uxtb	r2, r2
 1357 02b2 0249     		ldr	r1, .L95
 1358 02b4 1846     		mov	r0, r3
 1359 02b6 FFF7FEFF 		bl	DM_terrain_recieved_hookfuction
 428:user_src/soft_can.c ****           break;
 1360              		.loc 1 428 11
 1361 02ba 2AE0     		b	.L86
 1362              	.L96:
 1363              		.align	2
 1364              	.L95:
 1365 02bc 00000000 		.word	RxData
 1366 02c0 00000000 		.word	RxHeader
 1367 02c4 12FF0E00 		.word	982802
 1368 02c8 0BFF0E00 		.word	982795
 1369 02cc 11FF0E00 		.word	982801
 1370 02d0 00000000 		.word	uart_info
 1371              	.L84:
 429:user_src/soft_can.c ****         case CAN_MSGID_RADAR_VERSION_INFO:
 430:user_src/soft_can.c ****           DM_terrain_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1372              		.loc 1 430 11
 1373 02d4 2D4B     		ldr	r3, .L97
 1374 02d6 5B68     		ldr	r3, [r3, #4]
 1375              		.loc 1 430 75
 1376 02d8 2C4A     		ldr	r2, .L97
 1377 02da 1269     		ldr	r2, [r2, #16]
 1378              		.loc 1 430 11
 1379 02dc D2B2     		uxtb	r2, r2
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 34


 1380 02de 2C49     		ldr	r1, .L97+4
 1381 02e0 1846     		mov	r0, r3
 1382 02e2 FFF7FEFF 		bl	DM_terrain_recieved_hookfuction
 431:user_src/soft_can.c ****           break;
 1383              		.loc 1 431 11
 1384 02e6 14E0     		b	.L86
 1385              	.L83:
 432:user_src/soft_can.c ****         case CAN_MSGID_FRADAR_INFO ... CAN_MSGID_FRADAR_VERSION_INFO:
 433:user_src/soft_can.c ****           DM_Fobs_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1386              		.loc 1 433 11
 1387 02e8 284B     		ldr	r3, .L97
 1388 02ea 5B68     		ldr	r3, [r3, #4]
 1389              		.loc 1 433 72
 1390 02ec 274A     		ldr	r2, .L97
 1391 02ee 1269     		ldr	r2, [r2, #16]
 1392              		.loc 1 433 11
 1393 02f0 D2B2     		uxtb	r2, r2
 1394 02f2 2749     		ldr	r1, .L97+4
 1395 02f4 1846     		mov	r0, r3
 1396 02f6 FFF7FEFF 		bl	DM_Fobs_recieved_hookfuction
 434:user_src/soft_can.c ****           break;
 1397              		.loc 1 434 11
 1398 02fa 0AE0     		b	.L86
 1399              	.L81:
 435:user_src/soft_can.c ****           case CAN_MSGID_BRADAR_INFO ... CAN_MSGID_BRADAR_VERSION_INFO:
 436:user_src/soft_can.c ****           DM_Bobs_recieved_hookfuction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1400              		.loc 1 436 11
 1401 02fc 234B     		ldr	r3, .L97
 1402 02fe 5B68     		ldr	r3, [r3, #4]
 1403              		.loc 1 436 72
 1404 0300 224A     		ldr	r2, .L97
 1405 0302 1269     		ldr	r2, [r2, #16]
 1406              		.loc 1 436 11
 1407 0304 D2B2     		uxtb	r2, r2
 1408 0306 2249     		ldr	r1, .L97+4
 1409 0308 1846     		mov	r0, r3
 1410 030a FFF7FEFF 		bl	DM_Bobs_recieved_hookfuction
 437:user_src/soft_can.c ****           break;
 1411              		.loc 1 437 11
 1412 030e 00E0     		b	.L86
 1413              	.L94:
 438:user_src/soft_can.c ****         default:
 439:user_src/soft_can.c ****           break;
 1414              		.loc 1 439 11
 1415 0310 00BF     		nop
 1416              	.L86:
 440:user_src/soft_can.c ****         }
 441:user_src/soft_can.c ****         break;
 1417              		.loc 1 441 9
 1418 0312 19E0     		b	.L55
 1419              	.L60:
 442:user_src/soft_can.c ****     default:
 443:user_src/soft_can.c ****       break;
 444:user_src/soft_can.c ****     }
 445:user_src/soft_can.c ****   }
 446:user_src/soft_can.c **** 
 447:user_src/soft_can.c ****   //VK�菜�
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 35


 448:user_src/soft_can.c ****   else if(RxHeader.FilterMatchIndex == 7)
 1420              		.loc 1 448 19
 1421 0314 1D4B     		ldr	r3, .L97
 1422 0316 9B69     		ldr	r3, [r3, #24]
 1423              		.loc 1 448 10
 1424 0318 072B     		cmp	r3, #7
 1425 031a 09D1     		bne	.L87
 449:user_src/soft_can.c ****   {
 450:user_src/soft_can.c ****     BMSCanRecvHookFunction(RxHeader.ExtId, RxData, RxHeader.DLC);
 1426              		.loc 1 450 5
 1427 031c 1B4B     		ldr	r3, .L97
 1428 031e 5B68     		ldr	r3, [r3, #4]
 1429              		.loc 1 450 60
 1430 0320 1A4A     		ldr	r2, .L97
 1431 0322 1269     		ldr	r2, [r2, #16]
 1432              		.loc 1 450 5
 1433 0324 D2B2     		uxtb	r2, r2
 1434 0326 1A49     		ldr	r1, .L97+4
 1435 0328 1846     		mov	r0, r3
 1436 032a FFF7FEFF 		bl	BMSCanRecvHookFunction
 1437 032e 0BE0     		b	.L55
 1438              	.L87:
 451:user_src/soft_can.c ****   }
 452:user_src/soft_can.c **** 
 453:user_src/soft_can.c ****   //�嗡�銝滩�皛儿D
 454:user_src/soft_can.c ****   else
 455:user_src/soft_can.c ****   {
 456:user_src/soft_can.c ****     Can_decode_data_function(RxHeader);
 1439              		.loc 1 456 5
 1440 0330 164B     		ldr	r3, .L97
 1441 0332 6C46     		mov	r4, sp
 1442 0334 03F11002 		add	r2, r3, #16
 1443 0338 07CA     		ldm	r2, {r0, r1, r2}
 1444 033a 84E80700 		stm	r4, {r0, r1, r2}
 1445 033e 0FCB     		ldm	r3, {r0, r1, r2, r3}
 1446 0340 FFF7FEFF 		bl	Can_decode_data_function
 1447 0344 00E0     		b	.L55
 1448              	.L90:
 443:user_src/soft_can.c ****     }
 1449              		.loc 1 443 7
 1450 0346 00BF     		nop
 1451              	.L55:
 457:user_src/soft_can.c ****   }
 458:user_src/soft_can.c **** 
 459:user_src/soft_can.c ****   if(planep.Candebug_flag == true || HAL_GetTick() < 10000)
 1452              		.loc 1 459 12
 1453 0348 124B     		ldr	r3, .L97+8
 1454 034a B3F91430 		ldrsh	r3, [r3, #20]	@ unaligned
 1455 034e 1BB2     		sxth	r3, r3
 1456              		.loc 1 459 5
 1457 0350 012B     		cmp	r3, #1
 1458 0352 06D0     		beq	.L88
 1459              		.loc 1 459 38 discriminator 1
 1460 0354 FFF7FEFF 		bl	HAL_GetTick
 1461 0358 0346     		mov	r3, r0
 1462              		.loc 1 459 35 discriminator 1
 1463 035a 42F20F72 		movw	r2, #9999
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 36


 1464 035e 9342     		cmp	r3, r2
 1465 0360 0BD8     		bhi	.L89
 1466              	.L88:
 460:user_src/soft_can.c ****     put_candata_to_rkfifo_rx(RxHeader, RxData);
 1467              		.loc 1 460 5
 1468 0362 0A4B     		ldr	r3, .L97
 1469 0364 0A4A     		ldr	r2, .L97+4
 1470 0366 0392     		str	r2, [sp, #12]
 1471 0368 6C46     		mov	r4, sp
 1472 036a 03F11002 		add	r2, r3, #16
 1473 036e 07CA     		ldm	r2, {r0, r1, r2}
 1474 0370 84E80700 		stm	r4, {r0, r1, r2}
 1475 0374 0FCB     		ldm	r3, {r0, r1, r2, r3}
 1476 0376 FFF7FEFF 		bl	put_candata_to_rkfifo_rx
 1477              	.L89:
 461:user_src/soft_can.c ****   
 462:user_src/soft_can.c ****   
 463:user_src/soft_can.c ****   //�齿鰵�枏��交𤣰銝剜鱏
 464:user_src/soft_can.c ****   HAL_CAN_ActivateNotification(hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 1478              		.loc 1 464 3
 1479 037a 0221     		movs	r1, #2
 1480 037c 7868     		ldr	r0, [r7, #4]
 1481 037e FFF7FEFF 		bl	HAL_CAN_ActivateNotification
 465:user_src/soft_can.c **** }
 1482              		.loc 1 465 1
 1483 0382 00BF     		nop
 1484 0384 0C37     		adds	r7, r7, #12
 1485              	.LCFI14:
 1486              		.cfi_def_cfa_offset 12
 1487 0386 BD46     		mov	sp, r7
 1488              	.LCFI15:
 1489              		.cfi_def_cfa_register 13
 1490              		@ sp needed
 1491 0388 90BD     		pop	{r4, r7, pc}
 1492              	.L98:
 1493 038a 00BF     		.align	2
 1494              	.L97:
 1495 038c 00000000 		.word	RxHeader
 1496 0390 00000000 		.word	RxData
 1497 0394 00000000 		.word	planep
 1498              		.cfi_endproc
 1499              	.LFE135:
 1501              		.section	.text.can_start_init,"ax",%progbits
 1502              		.align	1
 1503              		.global	can_start_init
 1504              		.syntax unified
 1505              		.thumb
 1506              		.thumb_func
 1508              	can_start_init:
 1509              	.LFB136:
 466:user_src/soft_can.c **** 
 467:user_src/soft_can.c **** 
 468:user_src/soft_can.c **** /**
 469:user_src/soft_can.c ****   * @file    can_start_init
 470:user_src/soft_can.c ****   * @brief   CAN�嘥��� 
 471:user_src/soft_can.c ****   * @param   none
 472:user_src/soft_can.c ****   * @details 
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 37


 473:user_src/soft_can.c ****   * @author  Zhang Sir 
 474:user_src/soft_can.c ****  **/
 475:user_src/soft_can.c **** void can_start_init()
 476:user_src/soft_can.c **** {
 1510              		.loc 1 476 1
 1511              		.cfi_startproc
 1512              		@ args = 0, pretend = 0, frame = 0
 1513              		@ frame_needed = 1, uses_anonymous_args = 0
 1514 0000 80B5     		push	{r7, lr}
 1515              	.LCFI16:
 1516              		.cfi_def_cfa_offset 8
 1517              		.cfi_offset 7, -8
 1518              		.cfi_offset 14, -4
 1519 0002 00AF     		add	r7, sp, #0
 1520              	.LCFI17:
 1521              		.cfi_def_cfa_register 7
 477:user_src/soft_can.c ****   Can_filter_init();
 1522              		.loc 1 477 3
 1523 0004 FFF7FEFF 		bl	Can_filter_init
 478:user_src/soft_can.c ****   HAL_CAN_Start(&hcan);
 1524              		.loc 1 478 3
 1525 0008 0D48     		ldr	r0, .L100
 1526 000a FFF7FEFF 		bl	HAL_CAN_Start
 479:user_src/soft_can.c **** 
 480:user_src/soft_can.c ****   //撘��舫�霂臬���㦤
 481:user_src/soft_can.c ****   HAL_NVIC_EnableIRQ(CAN_SCE_IRQn);
 1527              		.loc 1 481 3
 1528 000e 1620     		movs	r0, #22
 1529 0010 FFF7FEFF 		bl	HAL_NVIC_EnableIRQ
 482:user_src/soft_can.c ****   
 483:user_src/soft_can.c ****   // //撘��舫�霂臭葉��
 484:user_src/soft_can.c ****    //__HAL_CAN_ENABLE_IT(&hcan, CAN_IT_ERROR | CAN_IT_ERROR_WARNING | CAN_IT_ERROR_PASSIVE | CAN_IT
 485:user_src/soft_can.c ****   // //撘��� �桃拳皛～��滯�箝��𦻖�� 銝剜鱏
 486:user_src/soft_can.c ****   __HAL_CAN_ENABLE_IT(&hcan, CAN_IT_RX_FIFO0_FULL | CAN_IT_RX_FIFO0_OVERRUN);
 1530              		.loc 1 486 3
 1531 0014 0A4B     		ldr	r3, .L100
 1532 0016 1B68     		ldr	r3, [r3]
 1533 0018 5A69     		ldr	r2, [r3, #20]
 1534 001a 094B     		ldr	r3, .L100
 1535 001c 1B68     		ldr	r3, [r3]
 1536 001e 42F00C02 		orr	r2, r2, #12
 1537 0022 5A61     		str	r2, [r3, #20]
 487:user_src/soft_can.c **** 
 488:user_src/soft_can.c ****   HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
 1538              		.loc 1 488 3
 1539 0024 0221     		movs	r1, #2
 1540 0026 0648     		ldr	r0, .L100
 1541 0028 FFF7FEFF 		bl	HAL_CAN_ActivateNotification
 489:user_src/soft_can.c ****   HAL_GPIO_WritePin(GPIOA, CAN_SLIENT_Pin, GPIO_PIN_RESET); //CAN�餌瑪雿輯�
 1542              		.loc 1 489 3
 1543 002c 0022     		movs	r2, #0
 1544 002e 4FF48071 		mov	r1, #256
 1545 0032 4FF09040 		mov	r0, #1207959552
 1546 0036 FFF7FEFF 		bl	HAL_GPIO_WritePin
 490:user_src/soft_can.c **** }
 1547              		.loc 1 490 1
 1548 003a 00BF     		nop
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 38


 1549 003c 80BD     		pop	{r7, pc}
 1550              	.L101:
 1551 003e 00BF     		.align	2
 1552              	.L100:
 1553 0040 00000000 		.word	hcan
 1554              		.cfi_endproc
 1555              	.LFE136:
 1557              		.global	update_count
 1558              		.section	.bss.update_count,"aw",%nobits
 1559              		.align	2
 1562              	update_count:
 1563 0000 00000000 		.space	4
 1564              		.section	.text.Can_obstacle_update,"ax",%progbits
 1565              		.align	1
 1566              		.global	Can_obstacle_update
 1567              		.syntax unified
 1568              		.thumb
 1569              		.thumb_func
 1571              	Can_obstacle_update:
 1572              	.LFB137:
 491:user_src/soft_can.c **** 
 492:user_src/soft_can.c **** 
 493:user_src/soft_can.c **** /**
 494:user_src/soft_can.c ****   * @file    Can_obstacle_update
 495:user_src/soft_can.c ****   * @brief   �思�瘥娪𡺨颲遨AN��銁蝥踹�蝥批遆�� 
 496:user_src/soft_can.c ****   * @param   0=�煾���蝥扯窈瘙�    1=�交𤣰霂瑟���漣�嗆��  2=�煾��聢撘誩���誘
 497:user_src/soft_can.c ****   *           3=�交𤣰�澆��𣇉𠶖�� 4=�煾𡺨颲曉����蝥批� 5=�煾��嵗撉��  6=�交𤣰�瑁噢�
 498:user_src/soft_can.c ****   * @details 
 499:user_src/soft_can.c ****   * @author  Zhang Sir 
 500:user_src/soft_can.c ****  **/
 501:user_src/soft_can.c **** uint32_t update_count = 0;
 502:user_src/soft_can.c **** void Can_obstacle_update()
 503:user_src/soft_can.c **** {
 1573              		.loc 1 503 1
 1574              		.cfi_startproc
 1575              		@ args = 0, pretend = 0, frame = 16
 1576              		@ frame_needed = 1, uses_anonymous_args = 0
 1577 0000 80B5     		push	{r7, lr}
 1578              	.LCFI18:
 1579              		.cfi_def_cfa_offset 8
 1580              		.cfi_offset 7, -8
 1581              		.cfi_offset 14, -4
 1582 0002 84B0     		sub	sp, sp, #16
 1583              	.LCFI19:
 1584              		.cfi_def_cfa_offset 24
 1585 0004 00AF     		add	r7, sp, #0
 1586              	.LCFI20:
 1587              		.cfi_def_cfa_register 7
 504:user_src/soft_can.c **** 
 505:user_src/soft_can.c ****   static uint32_t update_i = 0;
 506:user_src/soft_can.c ****   static uint32_t check_sum = 0;
 507:user_src/soft_can.c ****   static uint16_t pack_count = 1;
 508:user_src/soft_can.c ****   uint16_t size_count = 0;
 1588              		.loc 1 508 12
 1589 0006 0023     		movs	r3, #0
 1590 0008 7B81     		strh	r3, [r7, #10]	@ movhi
 509:user_src/soft_can.c ****   uint32_t for_i = 0;
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 39


 1591              		.loc 1 509 12
 1592 000a 0023     		movs	r3, #0
 1593 000c FB60     		str	r3, [r7, #12]
 510:user_src/soft_can.c ****   uint8_t obstacle_buf[8] = {0};
 1594              		.loc 1 510 11
 1595 000e 0023     		movs	r3, #0
 1596 0010 3B60     		str	r3, [r7]
 1597 0012 0023     		movs	r3, #0
 1598 0014 7B60     		str	r3, [r7, #4]
 511:user_src/soft_can.c **** 
 512:user_src/soft_can.c ****   switch (update_count)
 1599              		.loc 1 512 3
 1600 0016 A24B     		ldr	r3, .L139
 1601 0018 1B68     		ldr	r3, [r3]
 1602 001a 062B     		cmp	r3, #6
 1603 001c 00F2B281 		bhi	.L133
 1604 0020 01A2     		adr	r2, .L105
 1605 0022 52F823F0 		ldr	pc, [r2, r3, lsl #2]
 1606 0026 00BF     		.p2align 2
 1607              	.L105:
 1608 0028 45000000 		.word	.L111+1
 1609 002c 89000000 		.word	.L110+1
 1610 0030 D9000000 		.word	.L109+1
 1611 0034 21010000 		.word	.L108+1
 1612 0038 8D010000 		.word	.L107+1
 1613 003c C9020000 		.word	.L106+1
 1614 0040 11030000 		.word	.L104+1
 1615              		.p2align 1
 1616              	.L111:
 513:user_src/soft_can.c ****   {
 514:user_src/soft_can.c ****   case 0:
 515:user_src/soft_can.c ****     //�煾𡺨颲曉���窈瘙��蝥�
 516:user_src/soft_can.c ****     if (Update_buf[4] == 51)
 1617              		.loc 1 516 19
 1618 0044 974B     		ldr	r3, .L139+4
 1619 0046 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1620              		.loc 1 516 8
 1621 0048 332B     		cmp	r3, #51
 1622 004a 02D1     		bne	.L112
 517:user_src/soft_can.c ****     {
 518:user_src/soft_can.c ****       obstacle_buf[0] = 0x11; // �漤𡺨颲�
 1623              		.loc 1 518 23
 1624 004c 1123     		movs	r3, #17
 1625 004e 3B70     		strb	r3, [r7]
 1626 0050 0CE0     		b	.L113
 1627              	.L112:
 519:user_src/soft_can.c ****     }
 520:user_src/soft_can.c ****     else if (Update_buf[4] == 52)
 1628              		.loc 1 520 24
 1629 0052 944B     		ldr	r3, .L139+4
 1630 0054 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1631              		.loc 1 520 13
 1632 0056 342B     		cmp	r3, #52
 1633 0058 02D1     		bne	.L114
 521:user_src/soft_can.c ****     {
 522:user_src/soft_can.c ****       obstacle_buf[0] = 0x12; //�𡡞𡺨颲�
 1634              		.loc 1 522 23
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 40


 1635 005a 1223     		movs	r3, #18
 1636 005c 3B70     		strb	r3, [r7]
 1637 005e 05E0     		b	.L113
 1638              	.L114:
 523:user_src/soft_can.c ****     }
 524:user_src/soft_can.c ****     else if (Update_buf[4] == 56)
 1639              		.loc 1 524 24
 1640 0060 904B     		ldr	r3, .L139+4
 1641 0062 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1642              		.loc 1 524 13
 1643 0064 382B     		cmp	r3, #56
 1644 0066 01D1     		bne	.L113
 525:user_src/soft_can.c ****     {
 526:user_src/soft_can.c ****       obstacle_buf[0] = 0x0B;
 1645              		.loc 1 526 23
 1646 0068 0B23     		movs	r3, #11
 1647 006a 3B70     		strb	r3, [r7]
 1648              	.L113:
 527:user_src/soft_can.c ****     }
 528:user_src/soft_can.c **** 
 529:user_src/soft_can.c ****     HAL_Delay(5);
 1649              		.loc 1 529 5
 1650 006c 0520     		movs	r0, #5
 1651 006e FFF7FEFF 		bl	HAL_Delay
 530:user_src/soft_can.c ****     can_send_msg_normal(obstacle_buf, 1, 0x7E0);
 1652              		.loc 1 530 5
 1653 0072 3B46     		mov	r3, r7
 1654 0074 4FF4FC62 		mov	r2, #2016
 1655 0078 0121     		movs	r1, #1
 1656 007a 1846     		mov	r0, r3
 1657 007c FFF7FEFF 		bl	can_send_msg_normal
 531:user_src/soft_can.c **** 
 532:user_src/soft_can.c ****     update_count = 1;
 1658              		.loc 1 532 18
 1659 0080 874B     		ldr	r3, .L139
 1660 0082 0122     		movs	r2, #1
 1661 0084 1A60     		str	r2, [r3]
 533:user_src/soft_can.c ****     
 534:user_src/soft_can.c ****     break;
 1662              		.loc 1 534 5
 1663 0086 86E1     		b	.L115
 1664              	.L110:
 535:user_src/soft_can.c **** 
 536:user_src/soft_can.c ****   case 1:
 537:user_src/soft_can.c ****     
 538:user_src/soft_can.c ****     if (Rupdate.buf_flag == true && Rupdate.U7E1 == true)
 1665              		.loc 1 538 16
 1666 0088 874B     		ldr	r3, .L139+8
 1667 008a DB78     		ldrb	r3, [r3, #3]	@ zero_extendqisi2
 1668              		.loc 1 538 8
 1669 008c 002B     		cmp	r3, #0
 1670 008e 00F07B81 		beq	.L134
 1671              		.loc 1 538 44 discriminator 1
 1672 0092 854B     		ldr	r3, .L139+8
 1673 0094 1B78     		ldrb	r3, [r3]	@ zero_extendqisi2
 1674              		.loc 1 538 34 discriminator 1
 1675 0096 002B     		cmp	r3, #0
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 41


 1676 0098 00F07681 		beq	.L134
 539:user_src/soft_can.c ****     {
 540:user_src/soft_can.c ****       if (Rupdate.update_buf[1] == 0x00) //radar_update_buf[0] 0x11 0x12
 1677              		.loc 1 540 29
 1678 009c 824B     		ldr	r3, .L139+8
 1679 009e 9B79     		ldrb	r3, [r3, #6]	@ zero_extendqisi2
 1680              		.loc 1 540 10
 1681 00a0 002B     		cmp	r3, #0
 1682 00a2 03D1     		bne	.L117
 541:user_src/soft_can.c ****       {
 542:user_src/soft_can.c ****         //�瑁噢餈𥕦��瑕�璅∪�
 543:user_src/soft_can.c ****         update_count = 2;
 1683              		.loc 1 543 22
 1684 00a4 7E4B     		ldr	r3, .L139
 1685 00a6 0222     		movs	r2, #2
 1686 00a8 1A60     		str	r2, [r3]
 1687 00aa 09E0     		b	.L118
 1688              	.L117:
 544:user_src/soft_can.c ****       }
 545:user_src/soft_can.c ****       else if (Rupdate.update_buf[1] == 0x01)
 1689              		.loc 1 545 34
 1690 00ac 7E4B     		ldr	r3, .L139+8
 1691 00ae 9B79     		ldrb	r3, [r3, #6]	@ zero_extendqisi2
 1692              		.loc 1 545 15
 1693 00b0 012B     		cmp	r3, #1
 1694 00b2 05D1     		bne	.L118
 546:user_src/soft_can.c ****       {                            //���箏��蹱芋撘�
 547:user_src/soft_can.c ****         radar_update_flag = false; //�喲𡡒��漣
 1695              		.loc 1 547 27
 1696 00b4 7D4B     		ldr	r3, .L139+12
 1697 00b6 0022     		movs	r2, #0
 1698 00b8 1A70     		strb	r2, [r3]
 548:user_src/soft_can.c ****         update_count = 0;
 1699              		.loc 1 548 22
 1700 00ba 794B     		ldr	r3, .L139
 1701 00bc 0022     		movs	r2, #0
 1702 00be 1A60     		str	r2, [r3]
 1703              	.L118:
 549:user_src/soft_can.c **** 
 550:user_src/soft_can.c ****       }
 551:user_src/soft_can.c ****       Rupdate.U7E1 = false;
 1704              		.loc 1 551 20
 1705 00c0 794B     		ldr	r3, .L139+8
 1706 00c2 0022     		movs	r2, #0
 1707 00c4 1A70     		strb	r2, [r3]
 552:user_src/soft_can.c ****       Rupdate.buf_flag = false;
 1708              		.loc 1 552 24
 1709 00c6 784B     		ldr	r3, .L139+8
 1710 00c8 0022     		movs	r2, #0
 1711 00ca DA70     		strb	r2, [r3, #3]
 553:user_src/soft_can.c ****       memset(Rupdate.update_buf,0,8);
 1712              		.loc 1 553 7
 1713 00cc 0822     		movs	r2, #8
 1714 00ce 0021     		movs	r1, #0
 1715 00d0 7748     		ldr	r0, .L139+16
 1716 00d2 FFF7FEFF 		bl	memset
 554:user_src/soft_can.c ****     }
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 42


 555:user_src/soft_can.c ****     break;
 1717              		.loc 1 555 5
 1718 00d6 57E1     		b	.L134
 1719              	.L109:
 556:user_src/soft_can.c **** 
 557:user_src/soft_can.c ****   case 2:
 558:user_src/soft_can.c ****     memset(obstacle_buf, 0, 8);
 1720              		.loc 1 558 5
 1721 00d8 3B46     		mov	r3, r7
 1722 00da 0822     		movs	r2, #8
 1723 00dc 0021     		movs	r1, #0
 1724 00de 1846     		mov	r0, r3
 1725 00e0 FFF7FEFF 		bl	memset
 559:user_src/soft_can.c **** 
 560:user_src/soft_can.c ****     obstacle_buf[0] = 0x01;
 1726              		.loc 1 560 21
 1727 00e4 0123     		movs	r3, #1
 1728 00e6 3B70     		strb	r3, [r7]
 561:user_src/soft_can.c ****     obstacle_buf[1] = 0x09;
 1729              		.loc 1 561 21
 1730 00e8 0923     		movs	r3, #9
 1731 00ea 7B70     		strb	r3, [r7, #1]
 562:user_src/soft_can.c ****     obstacle_buf[2] = 0x09;
 1732              		.loc 1 562 21
 1733 00ec 0923     		movs	r3, #9
 1734 00ee BB70     		strb	r3, [r7, #2]
 563:user_src/soft_can.c ****     obstacle_buf[3] = 0x04;
 1735              		.loc 1 563 21
 1736 00f0 0423     		movs	r3, #4
 1737 00f2 FB70     		strb	r3, [r7, #3]
 564:user_src/soft_can.c ****     obstacle_buf[4] = 0x00;
 1738              		.loc 1 564 21
 1739 00f4 0023     		movs	r3, #0
 1740 00f6 3B71     		strb	r3, [r7, #4]
 565:user_src/soft_can.c ****     obstacle_buf[5] = 0x09;
 1741              		.loc 1 565 21
 1742 00f8 0923     		movs	r3, #9
 1743 00fa 7B71     		strb	r3, [r7, #5]
 566:user_src/soft_can.c ****     obstacle_buf[6] = 0x02;
 1744              		.loc 1 566 21
 1745 00fc 0223     		movs	r3, #2
 1746 00fe BB71     		strb	r3, [r7, #6]
 567:user_src/soft_can.c ****     obstacle_buf[7] = 0x06;
 1747              		.loc 1 567 21
 1748 0100 0623     		movs	r3, #6
 1749 0102 FB71     		strb	r3, [r7, #7]
 568:user_src/soft_can.c **** 
 569:user_src/soft_can.c ****     HAL_Delay(5);
 1750              		.loc 1 569 5
 1751 0104 0520     		movs	r0, #5
 1752 0106 FFF7FEFF 		bl	HAL_Delay
 570:user_src/soft_can.c ****     can_send_msg_normal(obstacle_buf, 8, 0x7E2);
 1753              		.loc 1 570 5
 1754 010a 3B46     		mov	r3, r7
 1755 010c 40F2E272 		movw	r2, #2018
 1756 0110 0821     		movs	r1, #8
 1757 0112 1846     		mov	r0, r3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 43


 1758 0114 FFF7FEFF 		bl	can_send_msg_normal
 571:user_src/soft_can.c **** 
 572:user_src/soft_can.c ****     update_count = 3;
 1759              		.loc 1 572 18
 1760 0118 614B     		ldr	r3, .L139
 1761 011a 0322     		movs	r2, #3
 1762 011c 1A60     		str	r2, [r3]
 573:user_src/soft_can.c ****     break;
 1763              		.loc 1 573 5
 1764 011e 3AE1     		b	.L115
 1765              	.L108:
 574:user_src/soft_can.c **** 
 575:user_src/soft_can.c ****   case 3:
 576:user_src/soft_can.c ****     if (Rupdate.buf_flag == true && Rupdate.U7E3 == true)
 1766              		.loc 1 576 16
 1767 0120 614B     		ldr	r3, .L139+8
 1768 0122 DB78     		ldrb	r3, [r3, #3]	@ zero_extendqisi2
 1769              		.loc 1 576 8
 1770 0124 002B     		cmp	r3, #0
 1771 0126 00F03181 		beq	.L135
 1772              		.loc 1 576 44 discriminator 1
 1773 012a 5F4B     		ldr	r3, .L139+8
 1774 012c 5B78     		ldrb	r3, [r3, #1]	@ zero_extendqisi2
 1775              		.loc 1 576 34 discriminator 1
 1776 012e 002B     		cmp	r3, #0
 1777 0130 00F02C81 		beq	.L135
 577:user_src/soft_can.c ****     {
 578:user_src/soft_can.c ****       if (Rupdate.update_buf[0] == 0xA6)
 1778              		.loc 1 578 29
 1779 0134 5C4B     		ldr	r3, .L139+8
 1780 0136 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 1781              		.loc 1 578 10
 1782 0138 A62B     		cmp	r3, #166
 1783 013a 13D1     		bne	.L120
 579:user_src/soft_can.c ****       { //�澆��𡝗���
 580:user_src/soft_can.c ****         update_count = 4;
 1784              		.loc 1 580 22
 1785 013c 584B     		ldr	r3, .L139
 1786 013e 0422     		movs	r2, #4
 1787 0140 1A60     		str	r2, [r3]
 581:user_src/soft_can.c ****         update_i = 16;
 1788              		.loc 1 581 18
 1789 0142 5C4B     		ldr	r3, .L139+20
 1790 0144 1022     		movs	r2, #16
 1791 0146 1A60     		str	r2, [r3]
 582:user_src/soft_can.c ****         Update_ack_func(Update_buf[4], 200, &Update_buf[6]);
 1792              		.loc 1 582 9
 1793 0148 564B     		ldr	r3, .L139+4
 1794 014a 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1795 014c 5A4A     		ldr	r2, .L139+24
 1796 014e C821     		movs	r1, #200
 1797 0150 1846     		mov	r0, r3
 1798 0152 FFF7FEFF 		bl	Update_ack_func
 583:user_src/soft_can.c ****         uart_info.use_update_buf_flag = false;
 1799              		.loc 1 583 39
 1800 0156 594B     		ldr	r3, .L139+28
 1801 0158 0022     		movs	r2, #0
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 44


 1802 015a 5A70     		strb	r2, [r3, #1]
 584:user_src/soft_can.c ****         //�脫迫餈䂿賒��漣
 585:user_src/soft_can.c ****         check_sum = 0;
 1803              		.loc 1 585 19
 1804 015c 584B     		ldr	r3, .L139+32
 1805 015e 0022     		movs	r2, #0
 1806 0160 1A60     		str	r2, [r3]
 1807 0162 0CE0     		b	.L121
 1808              	.L120:
 586:user_src/soft_can.c ****       }
 587:user_src/soft_can.c ****       else if (Rupdate.update_buf[0] == 0xA8)
 1809              		.loc 1 587 34
 1810 0164 504B     		ldr	r3, .L139+8
 1811 0166 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 1812              		.loc 1 587 15
 1813 0168 A82B     		cmp	r3, #168
 1814 016a 08D1     		bne	.L121
 588:user_src/soft_can.c ****       { //�澆��硋仃韐�
 589:user_src/soft_can.c ****         radar_update_flag = false;
 1815              		.loc 1 589 27
 1816 016c 4F4B     		ldr	r3, .L139+12
 1817 016e 0022     		movs	r2, #0
 1818 0170 1A70     		strb	r2, [r3]
 590:user_src/soft_can.c ****         Rupdate.update_flag = false;
 1819              		.loc 1 590 29
 1820 0172 4D4B     		ldr	r3, .L139+8
 1821 0174 0022     		movs	r2, #0
 1822 0176 1A71     		strb	r2, [r3, #4]
 591:user_src/soft_can.c ****         update_count = 0;
 1823              		.loc 1 591 22
 1824 0178 494B     		ldr	r3, .L139
 1825 017a 0022     		movs	r2, #0
 1826 017c 1A60     		str	r2, [r3]
 1827              	.L121:
 592:user_src/soft_can.c ****       }
 593:user_src/soft_can.c ****       Rupdate.U7E3 = false;
 1828              		.loc 1 593 20
 1829 017e 4A4B     		ldr	r3, .L139+8
 1830 0180 0022     		movs	r2, #0
 1831 0182 5A70     		strb	r2, [r3, #1]
 594:user_src/soft_can.c ****       Rupdate.buf_flag = false;
 1832              		.loc 1 594 24
 1833 0184 484B     		ldr	r3, .L139+8
 1834 0186 0022     		movs	r2, #0
 1835 0188 DA70     		strb	r2, [r3, #3]
 595:user_src/soft_can.c ****     }
 596:user_src/soft_can.c ****     break;
 1836              		.loc 1 596 5
 1837 018a FFE0     		b	.L135
 1838              	.L107:
 597:user_src/soft_can.c **** 
 598:user_src/soft_can.c ****   case 4:
 599:user_src/soft_can.c ****     if (uart_info.use_update_buf_flag == true) 
 1839              		.loc 1 599 18
 1840 018c 4B4B     		ldr	r3, .L139+28
 1841 018e 5B78     		ldrb	r3, [r3, #1]	@ zero_extendqisi2
 1842              		.loc 1 599 8
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 45


 1843 0190 002B     		cmp	r3, #0
 1844 0192 00F0FD80 		beq	.L136
 600:user_src/soft_can.c ****     {
 601:user_src/soft_can.c ****       if (Update_buf[5] == 201)
 1845              		.loc 1 601 21
 1846 0196 434B     		ldr	r3, .L139+4
 1847 0198 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 1848              		.loc 1 601 10
 1849 019a C92B     		cmp	r3, #201
 1850 019c 5BD1     		bne	.L123
 1851 019e 414B     		ldr	r3, .L139+4
 1852 01a0 DB88     		ldrh	r3, [r3, #6]	@ unaligned
 1853 01a2 9BB2     		uxth	r3, r3
 602:user_src/soft_can.c ****       {
 603:user_src/soft_can.c ****         memcpy(&size_count, &Update_buf[6], 2);
 1854              		.loc 1 603 9
 1855 01a4 7B81     		strh	r3, [r7, #10]	@ movhi
 604:user_src/soft_can.c ****         if (pack_count == size_count)
 1856              		.loc 1 604 24
 1857 01a6 474B     		ldr	r3, .L139+36
 1858 01a8 1A88     		ldrh	r2, [r3]
 1859 01aa 7B89     		ldrh	r3, [r7, #10]
 1860              		.loc 1 604 12
 1861 01ac 9A42     		cmp	r2, r3
 1862 01ae 41D1     		bne	.L124
 605:user_src/soft_can.c ****         { //�脫迫�煾��㮾���
 606:user_src/soft_can.c **** 
 607:user_src/soft_can.c ****           // 蝚砌����8摮𡑒�銝滩� 蝚砌����憪见������128摮𡑒�
 608:user_src/soft_can.c ****           can_send_msg_normal(&Update_buf[update_i], 8, 0x7E4);
 1863              		.loc 1 608 42
 1864 01b0 404B     		ldr	r3, .L139+20
 1865 01b2 1B68     		ldr	r3, [r3]
 1866              		.loc 1 608 31
 1867 01b4 3B4A     		ldr	r2, .L139+4
 1868 01b6 1344     		add	r3, r3, r2
 1869              		.loc 1 608 11
 1870 01b8 40F2E472 		movw	r2, #2020
 1871 01bc 0821     		movs	r1, #8
 1872 01be 1846     		mov	r0, r3
 1873 01c0 FFF7FEFF 		bl	can_send_msg_normal
 609:user_src/soft_can.c **** 
 610:user_src/soft_can.c ****           for (for_i = 0; for_i < 8; for_i++) // 霈∠��⊿�
 1874              		.loc 1 610 22
 1875 01c4 0023     		movs	r3, #0
 1876 01c6 FB60     		str	r3, [r7, #12]
 1877              		.loc 1 610 11
 1878 01c8 0EE0     		b	.L125
 1879              	.L126:
 611:user_src/soft_can.c ****           {
 612:user_src/soft_can.c ****             check_sum += Update_buf[update_i + for_i];
 1880              		.loc 1 612 46 discriminator 3
 1881 01ca 3A4B     		ldr	r3, .L139+20
 1882 01cc 1A68     		ldr	r2, [r3]
 1883 01ce FB68     		ldr	r3, [r7, #12]
 1884 01d0 1344     		add	r3, r3, r2
 1885              		.loc 1 612 36 discriminator 3
 1886 01d2 344A     		ldr	r2, .L139+4
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 46


 1887 01d4 D35C     		ldrb	r3, [r2, r3]	@ zero_extendqisi2
 1888 01d6 1A46     		mov	r2, r3
 1889              		.loc 1 612 23 discriminator 3
 1890 01d8 394B     		ldr	r3, .L139+32
 1891 01da 1B68     		ldr	r3, [r3]
 1892 01dc 1344     		add	r3, r3, r2
 1893 01de 384A     		ldr	r2, .L139+32
 1894 01e0 1360     		str	r3, [r2]
 610:user_src/soft_can.c ****           {
 1895              		.loc 1 610 43 discriminator 3
 1896 01e2 FB68     		ldr	r3, [r7, #12]
 1897 01e4 0133     		adds	r3, r3, #1
 1898 01e6 FB60     		str	r3, [r7, #12]
 1899              	.L125:
 610:user_src/soft_can.c ****           {
 1900              		.loc 1 610 11 discriminator 1
 1901 01e8 FB68     		ldr	r3, [r7, #12]
 1902 01ea 072B     		cmp	r3, #7
 1903 01ec EDD9     		bls	.L126
 613:user_src/soft_can.c ****           }
 614:user_src/soft_can.c ****         
 615:user_src/soft_can.c ****           update_i += 8;
 1904              		.loc 1 615 20
 1905 01ee 314B     		ldr	r3, .L139+20
 1906 01f0 1B68     		ldr	r3, [r3]
 1907 01f2 0833     		adds	r3, r3, #8
 1908 01f4 2F4A     		ldr	r2, .L139+20
 1909 01f6 1360     		str	r3, [r2]
 616:user_src/soft_can.c **** 
 617:user_src/soft_can.c ****           if (update_i >= 136)
 1910              		.loc 1 617 24
 1911 01f8 2E4B     		ldr	r3, .L139+20
 1912 01fa 1B68     		ldr	r3, [r3]
 1913              		.loc 1 617 14
 1914 01fc 872B     		cmp	r3, #135
 1915 01fe 40F2C780 		bls	.L136
 618:user_src/soft_can.c ****           {
 619:user_src/soft_can.c ****             update_i = 8;
 1916              		.loc 1 619 22
 1917 0202 2C4B     		ldr	r3, .L139+20
 1918 0204 0822     		movs	r2, #8
 1919 0206 1A60     		str	r2, [r3]
 620:user_src/soft_can.c ****             pack_count++;
 1920              		.loc 1 620 23
 1921 0208 2E4B     		ldr	r3, .L139+36
 1922 020a 1B88     		ldrh	r3, [r3]
 1923 020c 0133     		adds	r3, r3, #1
 1924 020e 9AB2     		uxth	r2, r3
 1925 0210 2C4B     		ldr	r3, .L139+36
 1926 0212 1A80     		strh	r2, [r3]	@ movhi
 621:user_src/soft_can.c ****             Update_ack_func(Update_buf[4], 201, &Update_buf[6]);
 1927              		.loc 1 621 13
 1928 0214 234B     		ldr	r3, .L139+4
 1929 0216 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1930 0218 274A     		ldr	r2, .L139+24
 1931 021a C921     		movs	r1, #201
 1932 021c 1846     		mov	r0, r3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 47


 1933 021e FFF7FEFF 		bl	Update_ack_func
 622:user_src/soft_can.c ****             memset(&Update_buf, 0, 150);
 1934              		.loc 1 622 13
 1935 0222 9622     		movs	r2, #150
 1936 0224 0021     		movs	r1, #0
 1937 0226 1F48     		ldr	r0, .L139+4
 1938 0228 FFF7FEFF 		bl	memset
 623:user_src/soft_can.c ****             uart_info.use_update_buf_flag = false;
 1939              		.loc 1 623 43
 1940 022c 234B     		ldr	r3, .L139+28
 1941 022e 0022     		movs	r2, #0
 1942 0230 5A70     		strb	r2, [r3, #1]
 624:user_src/soft_can.c ****           }
 625:user_src/soft_can.c ****         }
 626:user_src/soft_can.c ****         else if(pack_count > size_count)
 627:user_src/soft_can.c ****         {
 628:user_src/soft_can.c ****             Update_ack_func(Update_buf[4], 201, &Update_buf[6]);
 629:user_src/soft_can.c ****             uart_info.use_update_buf_flag = false;
 630:user_src/soft_can.c ****         }
 631:user_src/soft_can.c ****       }
 632:user_src/soft_can.c ****       else if (Update_buf[5] == 202)
 633:user_src/soft_can.c ****       {
 634:user_src/soft_can.c ****         //銝脣藁蝏𤘪����
 635:user_src/soft_can.c ****         Update_ack_func(Update_buf[4], 202, &Update_buf[6]);
 636:user_src/soft_can.c ****         update_count = 5;
 637:user_src/soft_can.c ****         uart_info.use_update_buf_flag = false;
 638:user_src/soft_can.c ****       }
 639:user_src/soft_can.c ****       else if (Update_buf[5] == 200)
 640:user_src/soft_can.c ****       {
 641:user_src/soft_can.c ****         Update_ack_func(Update_buf[4], 200, &Update_buf[6]);
 642:user_src/soft_can.c ****         uart_info.use_update_buf_flag = false;
 643:user_src/soft_can.c ****       }
 644:user_src/soft_can.c ****       else
 645:user_src/soft_can.c ****       {
 646:user_src/soft_can.c ****         uart_info.use_update_buf_flag = false;
 647:user_src/soft_can.c ****       }
 648:user_src/soft_can.c ****     }
 649:user_src/soft_can.c ****     break;
 1943              		.loc 1 649 5
 1944 0232 ADE0     		b	.L136
 1945              	.L124:
 626:user_src/soft_can.c ****         {
 1946              		.loc 1 626 28
 1947 0234 234B     		ldr	r3, .L139+36
 1948 0236 1A88     		ldrh	r2, [r3]
 1949 0238 7B89     		ldrh	r3, [r7, #10]
 626:user_src/soft_can.c ****         {
 1950              		.loc 1 626 16
 1951 023a 9A42     		cmp	r2, r3
 1952 023c 40F2A880 		bls	.L136
 628:user_src/soft_can.c ****             uart_info.use_update_buf_flag = false;
 1953              		.loc 1 628 13
 1954 0240 184B     		ldr	r3, .L139+4
 1955 0242 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1956 0244 1C4A     		ldr	r2, .L139+24
 1957 0246 C921     		movs	r1, #201
 1958 0248 1846     		mov	r0, r3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 48


 1959 024a FFF7FEFF 		bl	Update_ack_func
 629:user_src/soft_can.c ****         }
 1960              		.loc 1 629 43
 1961 024e 1B4B     		ldr	r3, .L139+28
 1962 0250 0022     		movs	r2, #0
 1963 0252 5A70     		strb	r2, [r3, #1]
 1964              		.loc 1 649 5
 1965 0254 9CE0     		b	.L136
 1966              	.L123:
 632:user_src/soft_can.c ****       {
 1967              		.loc 1 632 26
 1968 0256 134B     		ldr	r3, .L139+4
 1969 0258 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 632:user_src/soft_can.c ****       {
 1970              		.loc 1 632 15
 1971 025a CA2B     		cmp	r3, #202
 1972 025c 0DD1     		bne	.L127
 635:user_src/soft_can.c ****         update_count = 5;
 1973              		.loc 1 635 9
 1974 025e 114B     		ldr	r3, .L139+4
 1975 0260 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 1976 0262 154A     		ldr	r2, .L139+24
 1977 0264 CA21     		movs	r1, #202
 1978 0266 1846     		mov	r0, r3
 1979 0268 FFF7FEFF 		bl	Update_ack_func
 636:user_src/soft_can.c ****         uart_info.use_update_buf_flag = false;
 1980              		.loc 1 636 22
 1981 026c 0C4B     		ldr	r3, .L139
 1982 026e 0522     		movs	r2, #5
 1983 0270 1A60     		str	r2, [r3]
 637:user_src/soft_can.c ****       }
 1984              		.loc 1 637 39
 1985 0272 124B     		ldr	r3, .L139+28
 1986 0274 0022     		movs	r2, #0
 1987 0276 5A70     		strb	r2, [r3, #1]
 1988              		.loc 1 649 5
 1989 0278 8AE0     		b	.L136
 1990              	.L127:
 639:user_src/soft_can.c ****       {
 1991              		.loc 1 639 26
 1992 027a 0A4B     		ldr	r3, .L139+4
 1993 027c 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 639:user_src/soft_can.c ****       {
 1994              		.loc 1 639 15
 1995 027e C82B     		cmp	r3, #200
 1996 0280 0AD1     		bne	.L128
 641:user_src/soft_can.c ****         uart_info.use_update_buf_flag = false;
 1997              		.loc 1 641 9
 1998 0282 084B     		ldr	r3, .L139+4
 1999 0284 1B79     		ldrb	r3, [r3, #4]	@ zero_extendqisi2
 2000 0286 0C4A     		ldr	r2, .L139+24
 2001 0288 C821     		movs	r1, #200
 2002 028a 1846     		mov	r0, r3
 2003 028c FFF7FEFF 		bl	Update_ack_func
 642:user_src/soft_can.c ****       }
 2004              		.loc 1 642 39
 2005 0290 0A4B     		ldr	r3, .L139+28
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 49


 2006 0292 0022     		movs	r2, #0
 2007 0294 5A70     		strb	r2, [r3, #1]
 2008              		.loc 1 649 5
 2009 0296 7BE0     		b	.L136
 2010              	.L128:
 646:user_src/soft_can.c ****       }
 2011              		.loc 1 646 39
 2012 0298 084B     		ldr	r3, .L139+28
 2013 029a 0022     		movs	r2, #0
 2014 029c 5A70     		strb	r2, [r3, #1]
 2015              		.loc 1 649 5
 2016 029e 77E0     		b	.L136
 2017              	.L140:
 2018              		.align	2
 2019              	.L139:
 2020 02a0 00000000 		.word	update_count
 2021 02a4 00000000 		.word	Update_buf
 2022 02a8 00000000 		.word	Rupdate
 2023 02ac 00000000 		.word	radar_update_flag
 2024 02b0 05000000 		.word	Rupdate+5
 2025 02b4 00000000 		.word	update_i.2
 2026 02b8 06000000 		.word	Update_buf+6
 2027 02bc 00000000 		.word	uart_info
 2028 02c0 00000000 		.word	check_sum.1
 2029 02c4 00000000 		.word	pack_count.0
 2030              	.L106:
 650:user_src/soft_can.c **** 
 651:user_src/soft_can.c ****   case 5:
 652:user_src/soft_can.c ****     memset(obstacle_buf, 0, 8);
 2031              		.loc 1 652 5
 2032 02c8 3B46     		mov	r3, r7
 2033 02ca 0822     		movs	r2, #8
 2034 02cc 0021     		movs	r1, #0
 2035 02ce 1846     		mov	r0, r3
 2036 02d0 FFF7FEFF 		bl	memset
 653:user_src/soft_can.c **** 
 654:user_src/soft_can.c ****     obstacle_buf[0] = (check_sum >> 24) & 0xff;
 2037              		.loc 1 654 34
 2038 02d4 324B     		ldr	r3, .L141
 2039 02d6 1B68     		ldr	r3, [r3]
 2040 02d8 1B0E     		lsrs	r3, r3, #24
 2041              		.loc 1 654 21
 2042 02da DBB2     		uxtb	r3, r3
 2043 02dc 3B70     		strb	r3, [r7]
 655:user_src/soft_can.c ****     obstacle_buf[1] = (check_sum >> 16) & 0xff;
 2044              		.loc 1 655 34
 2045 02de 304B     		ldr	r3, .L141
 2046 02e0 1B68     		ldr	r3, [r3]
 2047 02e2 1B0C     		lsrs	r3, r3, #16
 2048              		.loc 1 655 21
 2049 02e4 DBB2     		uxtb	r3, r3
 2050 02e6 7B70     		strb	r3, [r7, #1]
 656:user_src/soft_can.c ****     obstacle_buf[2] = (check_sum >> 8) & 0xff;
 2051              		.loc 1 656 34
 2052 02e8 2D4B     		ldr	r3, .L141
 2053 02ea 1B68     		ldr	r3, [r3]
 2054 02ec 1B0A     		lsrs	r3, r3, #8
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 50


 2055              		.loc 1 656 21
 2056 02ee DBB2     		uxtb	r3, r3
 2057 02f0 BB70     		strb	r3, [r7, #2]
 657:user_src/soft_can.c ****     obstacle_buf[3] = (check_sum)&0xff;
 2058              		.loc 1 657 21
 2059 02f2 2B4B     		ldr	r3, .L141
 2060 02f4 1B68     		ldr	r3, [r3]
 2061 02f6 DBB2     		uxtb	r3, r3
 2062 02f8 FB70     		strb	r3, [r7, #3]
 658:user_src/soft_can.c **** 
 659:user_src/soft_can.c ****     can_send_msg_normal(obstacle_buf, 4, 0x7E5);
 2063              		.loc 1 659 5
 2064 02fa 3B46     		mov	r3, r7
 2065 02fc 40F2E572 		movw	r2, #2021
 2066 0300 0421     		movs	r1, #4
 2067 0302 1846     		mov	r0, r3
 2068 0304 FFF7FEFF 		bl	can_send_msg_normal
 660:user_src/soft_can.c ****     update_count = 6;
 2069              		.loc 1 660 18
 2070 0308 264B     		ldr	r3, .L141+4
 2071 030a 0622     		movs	r2, #6
 2072 030c 1A60     		str	r2, [r3]
 661:user_src/soft_can.c **** 
 662:user_src/soft_can.c ****     break;
 2073              		.loc 1 662 5
 2074 030e 42E0     		b	.L115
 2075              	.L104:
 663:user_src/soft_can.c **** 
 664:user_src/soft_can.c ****   case 6:
 665:user_src/soft_can.c ****     if (Rupdate.buf_flag == true && Rupdate.U7E6 == true)
 2076              		.loc 1 665 16
 2077 0310 254B     		ldr	r3, .L141+8
 2078 0312 DB78     		ldrb	r3, [r3, #3]	@ zero_extendqisi2
 2079              		.loc 1 665 8
 2080 0314 002B     		cmp	r3, #0
 2081 0316 3DD0     		beq	.L137
 2082              		.loc 1 665 44 discriminator 1
 2083 0318 234B     		ldr	r3, .L141+8
 2084 031a 9B78     		ldrb	r3, [r3, #2]	@ zero_extendqisi2
 2085              		.loc 1 665 34 discriminator 1
 2086 031c 002B     		cmp	r3, #0
 2087 031e 39D0     		beq	.L137
 666:user_src/soft_can.c ****     {
 667:user_src/soft_can.c ****       if (Rupdate.update_buf[0] == 0x66)
 2088              		.loc 1 667 29
 2089 0320 214B     		ldr	r3, .L141+8
 2090 0322 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 2091              		.loc 1 667 10
 2092 0324 662B     		cmp	r3, #102
 2093 0326 03D1     		bne	.L130
 668:user_src/soft_can.c ****       {
 669:user_src/soft_can.c ****         update_count = 0; //�湔鰵�𣂼�
 2094              		.loc 1 669 22
 2095 0328 1E4B     		ldr	r3, .L141+4
 2096 032a 0022     		movs	r2, #0
 2097 032c 1A60     		str	r2, [r3]
 2098 032e 0EE0     		b	.L131
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 51


 2099              	.L130:
 670:user_src/soft_can.c ****       }
 671:user_src/soft_can.c ****       else if (Rupdate.update_buf[0] == 0x88)
 2100              		.loc 1 671 34
 2101 0330 1D4B     		ldr	r3, .L141+8
 2102 0332 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 2103              		.loc 1 671 15
 2104 0334 882B     		cmp	r3, #136
 2105 0336 03D1     		bne	.L132
 672:user_src/soft_can.c ****       {
 673:user_src/soft_can.c ****         update_count = 0; //�⊿�憭梯揖
 2106              		.loc 1 673 22
 2107 0338 1A4B     		ldr	r3, .L141+4
 2108 033a 0022     		movs	r2, #0
 2109 033c 1A60     		str	r2, [r3]
 2110 033e 06E0     		b	.L131
 2111              	.L132:
 674:user_src/soft_can.c ****       }
 675:user_src/soft_can.c ****       else if (Rupdate.update_buf[0] == 0xff)
 2112              		.loc 1 675 34
 2113 0340 194B     		ldr	r3, .L141+8
 2114 0342 5B79     		ldrb	r3, [r3, #5]	@ zero_extendqisi2
 2115              		.loc 1 675 15
 2116 0344 FF2B     		cmp	r3, #255
 2117 0346 02D1     		bne	.L131
 676:user_src/soft_can.c ****       {
 677:user_src/soft_can.c ****         update_count = 0; //銵函內�箔辣頞�枂��憭批��函征�湛� bootloader撠���唳聢撘誩���
 2118              		.loc 1 677 22
 2119 0348 164B     		ldr	r3, .L141+4
 2120 034a 0022     		movs	r2, #0
 2121 034c 1A60     		str	r2, [r3]
 2122              	.L131:
 678:user_src/soft_can.c ****       }
 679:user_src/soft_can.c ****       pack_count = 1;
 2123              		.loc 1 679 18
 2124 034e 174B     		ldr	r3, .L141+12
 2125 0350 0122     		movs	r2, #1
 2126 0352 1A80     		strh	r2, [r3]	@ movhi
 680:user_src/soft_can.c ****       Rupdate.buf_flag = false;
 2127              		.loc 1 680 24
 2128 0354 144B     		ldr	r3, .L141+8
 2129 0356 0022     		movs	r2, #0
 2130 0358 DA70     		strb	r2, [r3, #3]
 681:user_src/soft_can.c ****       radar_update_flag = false;
 2131              		.loc 1 681 25
 2132 035a 154B     		ldr	r3, .L141+16
 2133 035c 0022     		movs	r2, #0
 2134 035e 1A70     		strb	r2, [r3]
 682:user_src/soft_can.c ****       Rupdate.update_flag = false;
 2135              		.loc 1 682 27
 2136 0360 114B     		ldr	r3, .L141+8
 2137 0362 0022     		movs	r2, #0
 2138 0364 1A71     		strb	r2, [r3, #4]
 683:user_src/soft_can.c ****       Rupdate.U7E6 = false;
 2139              		.loc 1 683 20
 2140 0366 104B     		ldr	r3, .L141+8
 2141 0368 0022     		movs	r2, #0
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 52


 2142 036a 9A70     		strb	r2, [r3, #2]
 684:user_src/soft_can.c **** 
 685:user_src/soft_can.c ****       //�齿鰵�煾����砌縑��
 686:user_src/soft_can.c ****       uavr11_info.get_radar_ver_flag = false;
 2143              		.loc 1 686 38
 2144 036c 114B     		ldr	r3, .L141+20
 2145 036e 0022     		movs	r2, #0
 2146 0370 83F82C20 		strb	r2, [r3, #44]
 687:user_src/soft_can.c ****       uavr12_info.get_radar_ver_flag = false;
 2147              		.loc 1 687 38
 2148 0374 104B     		ldr	r3, .L141+24
 2149 0376 0022     		movs	r2, #0
 2150 0378 83F82C20 		strb	r2, [r3, #44]
 688:user_src/soft_can.c ****       uavr56_info.get_radar_ver_flag = false;
 2151              		.loc 1 688 38
 2152 037c 0F4B     		ldr	r3, .L141+28
 2153 037e 0022     		movs	r2, #0
 2154 0380 5A76     		strb	r2, [r3, #25]
 689:user_src/soft_can.c ****     }
 690:user_src/soft_can.c ****     break;
 2155              		.loc 1 690 5
 2156 0382 07E0     		b	.L137
 2157              	.L133:
 691:user_src/soft_can.c ****   default:
 692:user_src/soft_can.c ****     break;
 2158              		.loc 1 692 5
 2159 0384 00BF     		nop
 2160 0386 06E0     		b	.L138
 2161              	.L134:
 555:user_src/soft_can.c **** 
 2162              		.loc 1 555 5
 2163 0388 00BF     		nop
 2164 038a 04E0     		b	.L138
 2165              	.L135:
 596:user_src/soft_can.c **** 
 2166              		.loc 1 596 5
 2167 038c 00BF     		nop
 2168 038e 02E0     		b	.L138
 2169              	.L136:
 649:user_src/soft_can.c **** 
 2170              		.loc 1 649 5
 2171 0390 00BF     		nop
 2172 0392 00E0     		b	.L138
 2173              	.L137:
 690:user_src/soft_can.c ****   default:
 2174              		.loc 1 690 5
 2175 0394 00BF     		nop
 2176              	.L115:
 2177              	.L138:
 693:user_src/soft_can.c ****   }
 694:user_src/soft_can.c **** 
 695:user_src/soft_can.c **** }
 2178              		.loc 1 695 1
 2179 0396 00BF     		nop
 2180 0398 1037     		adds	r7, r7, #16
 2181              	.LCFI21:
 2182              		.cfi_def_cfa_offset 8
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 53


 2183 039a BD46     		mov	sp, r7
 2184              	.LCFI22:
 2185              		.cfi_def_cfa_register 13
 2186              		@ sp needed
 2187 039c 80BD     		pop	{r7, pc}
 2188              	.L142:
 2189 039e 00BF     		.align	2
 2190              	.L141:
 2191 03a0 00000000 		.word	check_sum.1
 2192 03a4 00000000 		.word	update_count
 2193 03a8 00000000 		.word	Rupdate
 2194 03ac 00000000 		.word	pack_count.0
 2195 03b0 00000000 		.word	radar_update_flag
 2196 03b4 00000000 		.word	uavr11_info
 2197 03b8 00000000 		.word	uavr12_info
 2198 03bc 00000000 		.word	uavr56_info
 2199              		.cfi_endproc
 2200              	.LFE137:
 2202              		.section	.text.can_send_msg_normal,"ax",%progbits
 2203              		.align	1
 2204              		.global	can_send_msg_normal
 2205              		.syntax unified
 2206              		.thumb
 2207              		.thumb_func
 2209              	can_send_msg_normal:
 2210              	.LFB138:
 696:user_src/soft_can.c **** 
 697:user_src/soft_can.c **** 
 698:user_src/soft_can.c **** /**
 699:user_src/soft_can.c ****   * @file    can_send_msg_normal
 700:user_src/soft_can.c ****   * @brief   CAN���鋆����遆�唳�撅訫葷 
 701:user_src/soft_can.c ****   * @param   
 702:user_src/soft_can.c ****   * @details 
 703:user_src/soft_can.c ****   * @author  Zhang Sir 
 704:user_src/soft_can.c ****  **/
 705:user_src/soft_can.c **** void can_send_msg_normal(unsigned char *data, unsigned char length, unsigned int extid)
 706:user_src/soft_can.c **** {
 2211              		.loc 1 706 1
 2212              		.cfi_startproc
 2213              		@ args = 0, pretend = 0, frame = 48
 2214              		@ frame_needed = 1, uses_anonymous_args = 0
 2215 0000 90B5     		push	{r4, r7, lr}
 2216              	.LCFI23:
 2217              		.cfi_def_cfa_offset 12
 2218              		.cfi_offset 4, -12
 2219              		.cfi_offset 7, -8
 2220              		.cfi_offset 14, -4
 2221 0002 91B0     		sub	sp, sp, #68
 2222              	.LCFI24:
 2223              		.cfi_def_cfa_offset 80
 2224 0004 04AF     		add	r7, sp, #16
 2225              	.LCFI25:
 2226              		.cfi_def_cfa 7, 64
 2227 0006 F860     		str	r0, [r7, #12]
 2228 0008 0B46     		mov	r3, r1
 2229 000a 7A60     		str	r2, [r7, #4]
 2230 000c FB72     		strb	r3, [r7, #11]
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 54


 707:user_src/soft_can.c ****   //霈∠��餃葷��
 708:user_src/soft_can.c ****   unsigned char frame_num = (length - 1) / 8 + 1;
 2231              		.loc 1 708 37
 2232 000e FB7A     		ldrb	r3, [r7, #11]	@ zero_extendqisi2
 2233 0010 013B     		subs	r3, r3, #1
 2234              		.loc 1 708 42
 2235 0012 002B     		cmp	r3, #0
 2236 0014 00DA     		bge	.L144
 2237 0016 0733     		adds	r3, r3, #7
 2238              	.L144:
 2239 0018 DB10     		asrs	r3, r3, #3
 2240              		.loc 1 708 46
 2241 001a DBB2     		uxtb	r3, r3
 2242              		.loc 1 708 17
 2243 001c 0133     		adds	r3, r3, #1
 2244 001e 87F82730 		strb	r3, [r7, #39]
 2245              	.LBB2:
 709:user_src/soft_can.c **** 
 710:user_src/soft_can.c ****   for (char sequence = 0; sequence < frame_num; sequence++)
 2246              		.loc 1 710 13
 2247 0022 0023     		movs	r3, #0
 2248 0024 87F82F30 		strb	r3, [r7, #47]
 2249              		.loc 1 710 3
 2250 0028 77E0     		b	.L145
 2251              	.L154:
 2252              	.LBB3:
 711:user_src/soft_can.c ****   {
 712:user_src/soft_can.c ****     uint8_t Data[8];
 713:user_src/soft_can.c ****     TxHeader.ExtId = extid;
 2253              		.loc 1 713 20
 2254 002a 414A     		ldr	r2, .L155
 2255 002c 7B68     		ldr	r3, [r7, #4]
 2256 002e 5360     		str	r3, [r2, #4]
 714:user_src/soft_can.c ****     TxHeader.RTR = CAN_RTR_DATA;
 2257              		.loc 1 714 18
 2258 0030 3F4B     		ldr	r3, .L155
 2259 0032 0022     		movs	r2, #0
 2260 0034 DA60     		str	r2, [r3, #12]
 715:user_src/soft_can.c ****     TxHeader.IDE = CAN_ID_EXT;
 2261              		.loc 1 715 18
 2262 0036 3E4B     		ldr	r3, .L155
 2263 0038 0422     		movs	r2, #4
 2264 003a 9A60     		str	r2, [r3, #8]
 716:user_src/soft_can.c **** 
 717:user_src/soft_can.c ****     //���撣扳糓�拙�撣抒�11
 718:user_src/soft_can.c ****     TxHeader.StdId = TxHeader.ExtId & 0x1FFC0000;
 2265              		.loc 1 718 30
 2266 003c 3C4B     		ldr	r3, .L155
 2267 003e 5A68     		ldr	r2, [r3, #4]
 2268              		.loc 1 718 37
 2269 0040 3C4B     		ldr	r3, .L155+4
 2270 0042 1340     		ands	r3, r3, r2
 2271              		.loc 1 718 20
 2272 0044 3A4A     		ldr	r2, .L155
 2273 0046 1360     		str	r3, [r2]
 719:user_src/soft_can.c **** 
 720:user_src/soft_can.c ****     //憒���拐���鵭摨血之鈭�8銝芸�����蹱迨撣批�8摮𡑒�
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 55


 721:user_src/soft_can.c ****     if (length - (sequence + 1) * 8 >= 0)
 2274              		.loc 1 721 16
 2275 0048 FA7A     		ldrb	r2, [r7, #11]	@ zero_extendqisi2
 2276              		.loc 1 721 28
 2277 004a 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2278 004e 0133     		adds	r3, r3, #1
 2279              		.loc 1 721 33
 2280 0050 DB00     		lsls	r3, r3, #3
 2281              		.loc 1 721 16
 2282 0052 D31A     		subs	r3, r2, r3
 2283              		.loc 1 721 8
 2284 0054 002B     		cmp	r3, #0
 2285 0056 03DB     		blt	.L146
 722:user_src/soft_can.c ****       TxHeader.DLC = 8;
 2286              		.loc 1 722 20
 2287 0058 354B     		ldr	r3, .L155
 2288 005a 0822     		movs	r2, #8
 2289 005c 1A61     		str	r2, [r3, #16]
 2290 005e 07E0     		b	.L147
 2291              	.L146:
 723:user_src/soft_can.c ****     //�血��煾���雿坔���
 724:user_src/soft_can.c ****     else
 725:user_src/soft_can.c ****       TxHeader.DLC = length - sequence * 8;
 2292              		.loc 1 725 29
 2293 0060 FA7A     		ldrb	r2, [r7, #11]	@ zero_extendqisi2
 2294              		.loc 1 725 40
 2295 0062 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2296 0066 DB00     		lsls	r3, r3, #3
 2297              		.loc 1 725 29
 2298 0068 D31A     		subs	r3, r2, r3
 2299 006a 1A46     		mov	r2, r3
 2300              		.loc 1 725 20
 2301 006c 304B     		ldr	r3, .L155
 2302 006e 1A61     		str	r2, [r3, #16]
 2303              	.L147:
 2304              	.LBB4:
 726:user_src/soft_can.c **** 
 727:user_src/soft_can.c ****     //摮𡑒�韏见��
 728:user_src/soft_can.c ****     for (int i = 0; i < TxHeader.DLC; i++)
 2305              		.loc 1 728 14
 2306 0070 0023     		movs	r3, #0
 2307 0072 BB62     		str	r3, [r7, #40]
 2308              		.loc 1 728 5
 2309 0074 11E0     		b	.L148
 2310              	.L149:
 729:user_src/soft_can.c ****     {
 730:user_src/soft_can.c ****       Data[i] = *(data + sequence * 8 + i);
 2311              		.loc 1 730 35 discriminator 3
 2312 0076 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2313 007a DB00     		lsls	r3, r3, #3
 2314 007c 1A46     		mov	r2, r3
 2315              		.loc 1 730 39 discriminator 3
 2316 007e BB6A     		ldr	r3, [r7, #40]
 2317 0080 1344     		add	r3, r3, r2
 2318 0082 FA68     		ldr	r2, [r7, #12]
 2319 0084 1344     		add	r3, r3, r2
 2320              		.loc 1 730 17 discriminator 3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 56


 2321 0086 1978     		ldrb	r1, [r3]	@ zero_extendqisi2
 2322              		.loc 1 730 15 discriminator 3
 2323 0088 07F11802 		add	r2, r7, #24
 2324 008c BB6A     		ldr	r3, [r7, #40]
 2325 008e 1344     		add	r3, r3, r2
 2326 0090 0A46     		mov	r2, r1
 2327 0092 1A70     		strb	r2, [r3]
 728:user_src/soft_can.c ****     {
 2328              		.loc 1 728 40 discriminator 3
 2329 0094 BB6A     		ldr	r3, [r7, #40]
 2330 0096 0133     		adds	r3, r3, #1
 2331 0098 BB62     		str	r3, [r7, #40]
 2332              	.L148:
 728:user_src/soft_can.c ****     {
 2333              		.loc 1 728 33 discriminator 1
 2334 009a 254B     		ldr	r3, .L155
 2335 009c 1A69     		ldr	r2, [r3, #16]
 728:user_src/soft_can.c ****     {
 2336              		.loc 1 728 23 discriminator 1
 2337 009e BB6A     		ldr	r3, [r7, #40]
 728:user_src/soft_can.c ****     {
 2338              		.loc 1 728 5 discriminator 1
 2339 00a0 9A42     		cmp	r2, r3
 2340 00a2 E8D8     		bhi	.L149
 2341              	.LBE4:
 731:user_src/soft_can.c ****     }
 732:user_src/soft_can.c ****     if(planep.Candebug_flag == true || HAL_GetTick() < 10000)
 2342              		.loc 1 732 14
 2343 00a4 244B     		ldr	r3, .L155+8
 2344 00a6 B3F91430 		ldrsh	r3, [r3, #20]	@ unaligned
 2345 00aa 1BB2     		sxth	r3, r3
 2346              		.loc 1 732 7
 2347 00ac 012B     		cmp	r3, #1
 2348 00ae 06D0     		beq	.L150
 2349              		.loc 1 732 40 discriminator 1
 2350 00b0 FFF7FEFF 		bl	HAL_GetTick
 2351 00b4 0346     		mov	r3, r0
 2352              		.loc 1 732 37 discriminator 1
 2353 00b6 42F20F72 		movw	r2, #9999
 2354 00ba 9342     		cmp	r3, r2
 2355 00bc 0DD8     		bhi	.L151
 2356              	.L150:
 733:user_src/soft_can.c ****        put_candata_to_rkfifo_tx(TxHeader, Data);
 2357              		.loc 1 733 8
 2358 00be 1C4B     		ldr	r3, .L155
 2359 00c0 07F11802 		add	r2, r7, #24
 2360 00c4 0292     		str	r2, [sp, #8]
 2361 00c6 6C46     		mov	r4, sp
 2362 00c8 03F11002 		add	r2, r3, #16
 2363 00cc 92E80300 		ldm	r2, {r0, r1}
 2364 00d0 84E80300 		stm	r4, {r0, r1}
 2365 00d4 0FCB     		ldm	r3, {r0, r1, r2, r3}
 2366 00d6 FFF7FEFF 		bl	put_candata_to_rkfifo_tx
 2367              	.L151:
 734:user_src/soft_can.c ****     //CAN�望�銝劐葵�煾���蝞梧�敶㮖�銝芷�蝞梢�皛⊥𧒄�唳㺭�格�瘜訫���
 735:user_src/soft_can.c ****     //蝑匧��匧虾雿輻鍂���蝞梧�撟嗅���枂��
 736:user_src/soft_can.c ****     uint32_t time2 = HAL_GetTick();
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 57


 2368              		.loc 1 736 22
 2369 00da FFF7FEFF 		bl	HAL_GetTick
 2370 00de 3862     		str	r0, [r7, #32]
 737:user_src/soft_can.c ****     uint32_t TxMailBox0 = 0;
 2371              		.loc 1 737 14
 2372 00e0 0023     		movs	r3, #0
 2373 00e2 7B61     		str	r3, [r7, #20]
 738:user_src/soft_can.c ****     while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0 && HAL_GetTick() - time2 < 2)
 2374              		.loc 1 738 11
 2375 00e4 00BF     		nop
 2376              	.L153:
 2377              		.loc 1 738 12 discriminator 2
 2378 00e6 1548     		ldr	r0, .L155+12
 2379 00e8 FFF7FEFF 		bl	HAL_CAN_GetTxMailboxesFreeLevel
 2380 00ec 0346     		mov	r3, r0
 2381              		.loc 1 738 11 discriminator 2
 2382 00ee 002B     		cmp	r3, #0
 2383 00f0 06D1     		bne	.L152
 2384              		.loc 1 738 59 discriminator 1
 2385 00f2 FFF7FEFF 		bl	HAL_GetTick
 2386 00f6 0246     		mov	r2, r0
 2387              		.loc 1 738 73 discriminator 1
 2388 00f8 3B6A     		ldr	r3, [r7, #32]
 2389 00fa D31A     		subs	r3, r2, r3
 2390              		.loc 1 738 56 discriminator 1
 2391 00fc 012B     		cmp	r3, #1
 2392 00fe F2D9     		bls	.L153
 2393              	.L152:
 739:user_src/soft_can.c ****     {
 740:user_src/soft_can.c ****     }
 741:user_src/soft_can.c ****     HAL_CAN_AddTxMessage(&hcan, &TxHeader, Data, &TxMailBox0);
 2394              		.loc 1 741 5 discriminator 2
 2395 0100 07F11403 		add	r3, r7, #20
 2396 0104 07F11802 		add	r2, r7, #24
 2397 0108 0949     		ldr	r1, .L155
 2398 010a 0C48     		ldr	r0, .L155+12
 2399 010c FFF7FEFF 		bl	HAL_CAN_AddTxMessage
 2400              	.LBE3:
 710:user_src/soft_can.c ****   {
 2401              		.loc 1 710 57 discriminator 2
 2402 0110 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2403 0114 0133     		adds	r3, r3, #1
 2404 0116 87F82F30 		strb	r3, [r7, #47]
 2405              	.L145:
 710:user_src/soft_can.c ****   {
 2406              		.loc 1 710 3 discriminator 1
 2407 011a 97F82F20 		ldrb	r2, [r7, #47]	@ zero_extendqisi2
 2408 011e 97F82730 		ldrb	r3, [r7, #39]	@ zero_extendqisi2
 2409 0122 9A42     		cmp	r2, r3
 2410 0124 81D3     		bcc	.L154
 2411              	.LBE2:
 742:user_src/soft_can.c ****   }
 743:user_src/soft_can.c **** }
 2412              		.loc 1 743 1
 2413 0126 00BF     		nop
 2414 0128 00BF     		nop
 2415 012a 3437     		adds	r7, r7, #52
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 58


 2416              	.LCFI26:
 2417              		.cfi_def_cfa_offset 12
 2418 012c BD46     		mov	sp, r7
 2419              	.LCFI27:
 2420              		.cfi_def_cfa_register 13
 2421              		@ sp needed
 2422 012e 90BD     		pop	{r4, r7, pc}
 2423              	.L156:
 2424              		.align	2
 2425              	.L155:
 2426 0130 00000000 		.word	TxHeader
 2427 0134 0000FC1F 		.word	536608768
 2428 0138 00000000 		.word	planep
 2429 013c 00000000 		.word	hcan
 2430              		.cfi_endproc
 2431              	.LFE138:
 2433              		.section	.text.can_send_msg_normalstd,"ax",%progbits
 2434              		.align	1
 2435              		.global	can_send_msg_normalstd
 2436              		.syntax unified
 2437              		.thumb
 2438              		.thumb_func
 2440              	can_send_msg_normalstd:
 2441              	.LFB139:
 744:user_src/soft_can.c **** 
 745:user_src/soft_can.c **** 
 746:user_src/soft_can.c **** /**
 747:user_src/soft_can.c ****   * @file    can_send_msg_normalstd
 748:user_src/soft_can.c ****   * @brief   CAN���鋆����遆�唳���葷 
 749:user_src/soft_can.c ****   * @param   
 750:user_src/soft_can.c ****   * @details 
 751:user_src/soft_can.c ****   * @author  Zhang Sir 
 752:user_src/soft_can.c ****  **/
 753:user_src/soft_can.c **** void can_send_msg_normalstd(unsigned char *data, unsigned char length, unsigned int stdid)
 754:user_src/soft_can.c **** {
 2442              		.loc 1 754 1
 2443              		.cfi_startproc
 2444              		@ args = 0, pretend = 0, frame = 48
 2445              		@ frame_needed = 1, uses_anonymous_args = 0
 2446 0000 90B5     		push	{r4, r7, lr}
 2447              	.LCFI28:
 2448              		.cfi_def_cfa_offset 12
 2449              		.cfi_offset 4, -12
 2450              		.cfi_offset 7, -8
 2451              		.cfi_offset 14, -4
 2452 0002 91B0     		sub	sp, sp, #68
 2453              	.LCFI29:
 2454              		.cfi_def_cfa_offset 80
 2455 0004 04AF     		add	r7, sp, #16
 2456              	.LCFI30:
 2457              		.cfi_def_cfa 7, 64
 2458 0006 F860     		str	r0, [r7, #12]
 2459 0008 0B46     		mov	r3, r1
 2460 000a 7A60     		str	r2, [r7, #4]
 2461 000c FB72     		strb	r3, [r7, #11]
 755:user_src/soft_can.c ****   // 霈∠��餃葷��
 756:user_src/soft_can.c ****   unsigned char frame_num = (length - 1) / 8 + 1;
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 59


 2462              		.loc 1 756 37
 2463 000e FB7A     		ldrb	r3, [r7, #11]	@ zero_extendqisi2
 2464 0010 013B     		subs	r3, r3, #1
 2465              		.loc 1 756 42
 2466 0012 002B     		cmp	r3, #0
 2467 0014 00DA     		bge	.L158
 2468 0016 0733     		adds	r3, r3, #7
 2469              	.L158:
 2470 0018 DB10     		asrs	r3, r3, #3
 2471              		.loc 1 756 46
 2472 001a DBB2     		uxtb	r3, r3
 2473              		.loc 1 756 17
 2474 001c 0133     		adds	r3, r3, #1
 2475 001e 87F82730 		strb	r3, [r7, #39]
 2476              	.LBB5:
 757:user_src/soft_can.c ****   uint8_t Datas[8];
 758:user_src/soft_can.c ****   for (char sequence = 0; sequence < frame_num; sequence++)
 2477              		.loc 1 758 13
 2478 0022 0023     		movs	r3, #0
 2479 0024 87F82F30 		strb	r3, [r7, #47]
 2480              		.loc 1 758 3
 2481 0028 71E0     		b	.L159
 2482              	.L168:
 2483              	.LBB6:
 759:user_src/soft_can.c ****   {
 760:user_src/soft_can.c ****     TxHeader.RTR = CAN_RTR_DATA;
 2484              		.loc 1 760 18
 2485 002a 3E4B     		ldr	r3, .L169
 2486 002c 0022     		movs	r2, #0
 2487 002e DA60     		str	r2, [r3, #12]
 761:user_src/soft_can.c ****     TxHeader.IDE = CAN_ID_STD;
 2488              		.loc 1 761 18
 2489 0030 3C4B     		ldr	r3, .L169
 2490 0032 0022     		movs	r2, #0
 2491 0034 9A60     		str	r2, [r3, #8]
 762:user_src/soft_can.c **** 
 763:user_src/soft_can.c ****     TxHeader.StdId = stdid;
 2492              		.loc 1 763 20
 2493 0036 3B4A     		ldr	r2, .L169
 2494 0038 7B68     		ldr	r3, [r7, #4]
 2495 003a 1360     		str	r3, [r2]
 764:user_src/soft_can.c **** 
 765:user_src/soft_can.c ****     //憒���拐���鵭摨血之8銝芸�����蹱迨撣批�8銝�
 766:user_src/soft_can.c ****     if (length - (sequence + 1) * 8 >= 0)
 2496              		.loc 1 766 16
 2497 003c FA7A     		ldrb	r2, [r7, #11]	@ zero_extendqisi2
 2498              		.loc 1 766 28
 2499 003e 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2500 0042 0133     		adds	r3, r3, #1
 2501              		.loc 1 766 33
 2502 0044 DB00     		lsls	r3, r3, #3
 2503              		.loc 1 766 16
 2504 0046 D31A     		subs	r3, r2, r3
 2505              		.loc 1 766 8
 2506 0048 002B     		cmp	r3, #0
 2507 004a 03DB     		blt	.L160
 767:user_src/soft_can.c ****       TxHeader.DLC = 8;
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 60


 2508              		.loc 1 767 20
 2509 004c 354B     		ldr	r3, .L169
 2510 004e 0822     		movs	r2, #8
 2511 0050 1A61     		str	r2, [r3, #16]
 2512 0052 07E0     		b	.L161
 2513              	.L160:
 768:user_src/soft_can.c ****     //�血��煾���雿坔���
 769:user_src/soft_can.c ****     else
 770:user_src/soft_can.c ****       TxHeader.DLC = length - sequence * 8;
 2514              		.loc 1 770 29
 2515 0054 FA7A     		ldrb	r2, [r7, #11]	@ zero_extendqisi2
 2516              		.loc 1 770 40
 2517 0056 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2518 005a DB00     		lsls	r3, r3, #3
 2519              		.loc 1 770 29
 2520 005c D31A     		subs	r3, r2, r3
 2521 005e 1A46     		mov	r2, r3
 2522              		.loc 1 770 20
 2523 0060 304B     		ldr	r3, .L169
 2524 0062 1A61     		str	r2, [r3, #16]
 2525              	.L161:
 2526              	.LBB7:
 771:user_src/soft_can.c **** 
 772:user_src/soft_can.c ****     //摮𡑒�韏贝�
 773:user_src/soft_can.c ****     for (int i = 0; i < TxHeader.DLC; i++)
 2527              		.loc 1 773 14
 2528 0064 0023     		movs	r3, #0
 2529 0066 BB62     		str	r3, [r7, #40]
 2530              		.loc 1 773 5
 2531 0068 11E0     		b	.L162
 2532              	.L163:
 774:user_src/soft_can.c ****     {
 775:user_src/soft_can.c ****       Datas[i] = *(data + sequence * 8 + i);
 2533              		.loc 1 775 36 discriminator 3
 2534 006a 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2535 006e DB00     		lsls	r3, r3, #3
 2536 0070 1A46     		mov	r2, r3
 2537              		.loc 1 775 40 discriminator 3
 2538 0072 BB6A     		ldr	r3, [r7, #40]
 2539 0074 1344     		add	r3, r3, r2
 2540 0076 FA68     		ldr	r2, [r7, #12]
 2541 0078 1344     		add	r3, r3, r2
 2542              		.loc 1 775 18 discriminator 3
 2543 007a 1978     		ldrb	r1, [r3]	@ zero_extendqisi2
 2544              		.loc 1 775 16 discriminator 3
 2545 007c 07F11802 		add	r2, r7, #24
 2546 0080 BB6A     		ldr	r3, [r7, #40]
 2547 0082 1344     		add	r3, r3, r2
 2548 0084 0A46     		mov	r2, r1
 2549 0086 1A70     		strb	r2, [r3]
 773:user_src/soft_can.c ****     {
 2550              		.loc 1 773 40 discriminator 3
 2551 0088 BB6A     		ldr	r3, [r7, #40]
 2552 008a 0133     		adds	r3, r3, #1
 2553 008c BB62     		str	r3, [r7, #40]
 2554              	.L162:
 773:user_src/soft_can.c ****     {
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 61


 2555              		.loc 1 773 33 discriminator 1
 2556 008e 254B     		ldr	r3, .L169
 2557 0090 1A69     		ldr	r2, [r3, #16]
 773:user_src/soft_can.c ****     {
 2558              		.loc 1 773 23 discriminator 1
 2559 0092 BB6A     		ldr	r3, [r7, #40]
 773:user_src/soft_can.c ****     {
 2560              		.loc 1 773 5 discriminator 1
 2561 0094 9A42     		cmp	r2, r3
 2562 0096 E8D8     		bhi	.L163
 2563              	.LBE7:
 776:user_src/soft_can.c ****     }
 777:user_src/soft_can.c **** 
 778:user_src/soft_can.c ****     if(planep.Candebug_flag == true || HAL_GetTick() < 10000)
 2564              		.loc 1 778 14
 2565 0098 234B     		ldr	r3, .L169+4
 2566 009a B3F91430 		ldrsh	r3, [r3, #20]	@ unaligned
 2567 009e 1BB2     		sxth	r3, r3
 2568              		.loc 1 778 7
 2569 00a0 012B     		cmp	r3, #1
 2570 00a2 06D0     		beq	.L164
 2571              		.loc 1 778 40 discriminator 1
 2572 00a4 FFF7FEFF 		bl	HAL_GetTick
 2573 00a8 0346     		mov	r3, r0
 2574              		.loc 1 778 37 discriminator 1
 2575 00aa 42F20F72 		movw	r2, #9999
 2576 00ae 9342     		cmp	r3, r2
 2577 00b0 0DD8     		bhi	.L165
 2578              	.L164:
 779:user_src/soft_can.c ****        put_candata_to_rkfifo_tx(TxHeader, Datas);
 2579              		.loc 1 779 8
 2580 00b2 1C4B     		ldr	r3, .L169
 2581 00b4 07F11802 		add	r2, r7, #24
 2582 00b8 0292     		str	r2, [sp, #8]
 2583 00ba 6C46     		mov	r4, sp
 2584 00bc 03F11002 		add	r2, r3, #16
 2585 00c0 92E80300 		ldm	r2, {r0, r1}
 2586 00c4 84E80300 		stm	r4, {r0, r1}
 2587 00c8 0FCB     		ldm	r3, {r0, r1, r2, r3}
 2588 00ca FFF7FEFF 		bl	put_candata_to_rkfifo_tx
 2589              	.L165:
 780:user_src/soft_can.c **** 
 781:user_src/soft_can.c ****     //CAN�望�銝劐葵�煾���蝞梧�敶㮖�銝芷�蝞梢�皛⊥𧒄�唳㺭�格�瘜訫���
 782:user_src/soft_can.c ****     //蝑匧��匧虾雿輻鍂���蝞梧�撟嗅���枂��
 783:user_src/soft_can.c ****     uint32_t time2 = HAL_GetTick();
 2590              		.loc 1 783 22
 2591 00ce FFF7FEFF 		bl	HAL_GetTick
 2592 00d2 3862     		str	r0, [r7, #32]
 784:user_src/soft_can.c ****     uint32_t TxMailBox0 = 0;
 2593              		.loc 1 784 14
 2594 00d4 0023     		movs	r3, #0
 2595 00d6 7B61     		str	r3, [r7, #20]
 785:user_src/soft_can.c ****     while (HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0 && HAL_GetTick() - time2 < 2)
 2596              		.loc 1 785 11
 2597 00d8 00BF     		nop
 2598              	.L167:
 2599              		.loc 1 785 12 discriminator 2
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 62


 2600 00da 1448     		ldr	r0, .L169+8
 2601 00dc FFF7FEFF 		bl	HAL_CAN_GetTxMailboxesFreeLevel
 2602 00e0 0346     		mov	r3, r0
 2603              		.loc 1 785 11 discriminator 2
 2604 00e2 002B     		cmp	r3, #0
 2605 00e4 06D1     		bne	.L166
 2606              		.loc 1 785 59 discriminator 1
 2607 00e6 FFF7FEFF 		bl	HAL_GetTick
 2608 00ea 0246     		mov	r2, r0
 2609              		.loc 1 785 73 discriminator 1
 2610 00ec 3B6A     		ldr	r3, [r7, #32]
 2611 00ee D31A     		subs	r3, r2, r3
 2612              		.loc 1 785 56 discriminator 1
 2613 00f0 012B     		cmp	r3, #1
 2614 00f2 F2D9     		bls	.L167
 2615              	.L166:
 786:user_src/soft_can.c ****     {
 787:user_src/soft_can.c ****     }
 788:user_src/soft_can.c ****     HAL_CAN_AddTxMessage(&hcan, &TxHeader, Datas, &TxMailBox0);
 2616              		.loc 1 788 5 discriminator 2
 2617 00f4 07F11403 		add	r3, r7, #20
 2618 00f8 07F11802 		add	r2, r7, #24
 2619 00fc 0949     		ldr	r1, .L169
 2620 00fe 0B48     		ldr	r0, .L169+8
 2621 0100 FFF7FEFF 		bl	HAL_CAN_AddTxMessage
 2622              	.LBE6:
 758:user_src/soft_can.c ****   {
 2623              		.loc 1 758 57 discriminator 2
 2624 0104 97F82F30 		ldrb	r3, [r7, #47]	@ zero_extendqisi2
 2625 0108 0133     		adds	r3, r3, #1
 2626 010a 87F82F30 		strb	r3, [r7, #47]
 2627              	.L159:
 758:user_src/soft_can.c ****   {
 2628              		.loc 1 758 3 discriminator 1
 2629 010e 97F82F20 		ldrb	r2, [r7, #47]	@ zero_extendqisi2
 2630 0112 97F82730 		ldrb	r3, [r7, #39]	@ zero_extendqisi2
 2631 0116 9A42     		cmp	r2, r3
 2632 0118 87D3     		bcc	.L168
 2633              	.LBE5:
 789:user_src/soft_can.c ****   }
 790:user_src/soft_can.c **** }
 2634              		.loc 1 790 1
 2635 011a 00BF     		nop
 2636 011c 00BF     		nop
 2637 011e 3437     		adds	r7, r7, #52
 2638              	.LCFI31:
 2639              		.cfi_def_cfa_offset 12
 2640 0120 BD46     		mov	sp, r7
 2641              	.LCFI32:
 2642              		.cfi_def_cfa_register 13
 2643              		@ sp needed
 2644 0122 90BD     		pop	{r4, r7, pc}
 2645              	.L170:
 2646              		.align	2
 2647              	.L169:
 2648 0124 00000000 		.word	TxHeader
 2649 0128 00000000 		.word	planep
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 63


 2650 012c 00000000 		.word	hcan
 2651              		.cfi_endproc
 2652              	.LFE139:
 2654              		.section	.text.check_radar_link_status,"ax",%progbits
 2655              		.align	1
 2656              		.global	check_radar_link_status
 2657              		.syntax unified
 2658              		.thumb
 2659              		.thumb_func
 2661              	check_radar_link_status:
 2662              	.LFB140:
 791:user_src/soft_can.c **** 
 792:user_src/soft_can.c **** /**
 793:user_src/soft_can.c ****   * @file    check_radar_link_status
 794:user_src/soft_can.c ****   * @brief   璉��仿𡺨颲曇��亙遆�� 
 795:user_src/soft_can.c ****   * @param   
 796:user_src/soft_can.c ****   * @details 
 797:user_src/soft_can.c ****   * @author  Zhang Sir 
 798:user_src/soft_can.c ****  **/
 799:user_src/soft_can.c **** void check_radar_link_status()
 800:user_src/soft_can.c **** {
 2663              		.loc 1 800 1
 2664              		.cfi_startproc
 2665              		@ args = 0, pretend = 0, frame = 0
 2666              		@ frame_needed = 1, uses_anonymous_args = 0
 2667 0000 80B5     		push	{r7, lr}
 2668              	.LCFI33:
 2669              		.cfi_def_cfa_offset 8
 2670              		.cfi_offset 7, -8
 2671              		.cfi_offset 14, -4
 2672 0002 00AF     		add	r7, sp, #0
 2673              	.LCFI34:
 2674              		.cfi_def_cfa_register 7
 801:user_src/soft_can.c ****   //Check_dev_link(&muniu_ter_info.Link,3000,(char *)&muniu_ter_info,sizeof(uavr_terrain));
 802:user_src/soft_can.c ****   Check_dev_link(&mimo_ter_info.Link,3000,(char *)&mimo_ter_info,sizeof(uavr_terrain));
 2675              		.loc 1 802 3
 2676 0004 4523     		movs	r3, #69
 2677 0006 2A4A     		ldr	r2, .L172
 2678 0008 40F6B831 		movw	r1, #3000
 2679 000c 2848     		ldr	r0, .L172
 2680 000e FFF7FEFF 		bl	Check_dev_link
 803:user_src/soft_can.c ****   Check_dev_link(&uavr56_info.Link,3000,(char *)&uavr56_info,sizeof(uavr_terrain));
 2681              		.loc 1 803 3
 2682 0012 4523     		movs	r3, #69
 2683 0014 274A     		ldr	r2, .L172+4
 2684 0016 40F6B831 		movw	r1, #3000
 2685 001a 2648     		ldr	r0, .L172+4
 2686 001c FFF7FEFF 		bl	Check_dev_link
 804:user_src/soft_can.c ****   Check_dev_link(&uavr11_info.Link,3000,(char *)&uavr11_info,sizeof(uavr_obs));
 2687              		.loc 1 804 3
 2688 0020 4523     		movs	r3, #69
 2689 0022 254A     		ldr	r2, .L172+8
 2690 0024 40F6B831 		movw	r1, #3000
 2691 0028 2348     		ldr	r0, .L172+8
 2692 002a FFF7FEFF 		bl	Check_dev_link
 805:user_src/soft_can.c ****   Check_dev_link(&uavr12_info.Link,3000,(char *)&uavr12_info,sizeof(uavr_obs));
 2693              		.loc 1 805 3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 64


 2694 002e 4523     		movs	r3, #69
 2695 0030 224A     		ldr	r2, .L172+12
 2696 0032 40F6B831 		movw	r1, #3000
 2697 0036 2148     		ldr	r0, .L172+12
 2698 0038 FFF7FEFF 		bl	Check_dev_link
 806:user_src/soft_can.c ****   Check_dev_link(&mimo_f_info.Link,3000,(char *)&mimo_f_info,sizeof(uavr_obs));
 2699              		.loc 1 806 3
 2700 003c 4523     		movs	r3, #69
 2701 003e 204A     		ldr	r2, .L172+16
 2702 0040 40F6B831 		movw	r1, #3000
 2703 0044 1E48     		ldr	r0, .L172+16
 2704 0046 FFF7FEFF 		bl	Check_dev_link
 807:user_src/soft_can.c ****   Check_dev_link(&mimo_b_info.Link,3000,(char *)&mimo_b_info,sizeof(uavr_obs));
 2705              		.loc 1 807 3
 2706 004a 4523     		movs	r3, #69
 2707 004c 1D4A     		ldr	r2, .L172+20
 2708 004e 40F6B831 		movw	r1, #3000
 2709 0052 1C48     		ldr	r0, .L172+20
 2710 0054 FFF7FEFF 		bl	Check_dev_link
 808:user_src/soft_can.c ****   Check_dev_link(&DM_ter_info.Link,3000,(char *)&DM_ter_info,sizeof(uavr_terrain));
 2711              		.loc 1 808 3
 2712 0058 4523     		movs	r3, #69
 2713 005a 1B4A     		ldr	r2, .L172+24
 2714 005c 40F6B831 		movw	r1, #3000
 2715 0060 1948     		ldr	r0, .L172+24
 2716 0062 FFF7FEFF 		bl	Check_dev_link
 809:user_src/soft_can.c ****   Check_dev_link(&DM_f_info.Link,3000,(char *)&DM_f_info,sizeof(uavr_obs));
 2717              		.loc 1 809 3
 2718 0066 4523     		movs	r3, #69
 2719 0068 184A     		ldr	r2, .L172+28
 2720 006a 40F6B831 		movw	r1, #3000
 2721 006e 1748     		ldr	r0, .L172+28
 2722 0070 FFF7FEFF 		bl	Check_dev_link
 810:user_src/soft_can.c ****   //Check_dev_link(&mimo_360_info,3000,NULL,sizeof(uavr_obs));
 811:user_src/soft_can.c ****   Check_dev_link(&DM_status,3000,NULL,sizeof(DM_RADAR));
 2723              		.loc 1 811 3
 2724 0074 9E23     		movs	r3, #158
 2725 0076 0022     		movs	r2, #0
 2726 0078 40F6B831 		movw	r1, #3000
 2727 007c 1448     		ldr	r0, .L172+32
 2728 007e FFF7FEFF 		bl	Check_dev_link
 812:user_src/soft_can.c ****   Check_dev_link(&Dev.Part_Tradar_Link,3000,(char *)&Dev.Part_radarT,sizeof(Part_Tradar));
 2729              		.loc 1 812 3
 2730 0082 0723     		movs	r3, #7
 2731 0084 134A     		ldr	r2, .L172+36
 2732 0086 40F6B831 		movw	r1, #3000
 2733 008a 1348     		ldr	r0, .L172+40
 2734 008c FFF7FEFF 		bl	Check_dev_link
 813:user_src/soft_can.c ****   Check_dev_link(&Dev.Part_Fradar_Link,3000,(char *)&Dev.Part_radarF,sizeof(Part_Fradar));
 2735              		.loc 1 813 3
 2736 0090 1323     		movs	r3, #19
 2737 0092 124A     		ldr	r2, .L172+44
 2738 0094 40F6B831 		movw	r1, #3000
 2739 0098 1148     		ldr	r0, .L172+48
 2740 009a FFF7FEFF 		bl	Check_dev_link
 814:user_src/soft_can.c ****   Check_dev_link(&Dev.Part_Bradar_Link,3000,(char *)&Dev.Part_radarB,sizeof(Part_Fradar));
 2741              		.loc 1 814 3
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 65


 2742 009e 1323     		movs	r3, #19
 2743 00a0 104A     		ldr	r2, .L172+52
 2744 00a2 40F6B831 		movw	r1, #3000
 2745 00a6 1048     		ldr	r0, .L172+56
 2746 00a8 FFF7FEFF 		bl	Check_dev_link
 815:user_src/soft_can.c **** }
 2747              		.loc 1 815 1
 2748 00ac 00BF     		nop
 2749 00ae 80BD     		pop	{r7, pc}
 2750              	.L173:
 2751              		.align	2
 2752              	.L172:
 2753 00b0 00000000 		.word	mimo_ter_info
 2754 00b4 00000000 		.word	uavr56_info
 2755 00b8 00000000 		.word	uavr11_info
 2756 00bc 00000000 		.word	uavr12_info
 2757 00c0 00000000 		.word	mimo_f_info
 2758 00c4 00000000 		.word	mimo_b_info
 2759 00c8 00000000 		.word	DM_ter_info
 2760 00cc 00000000 		.word	DM_f_info
 2761 00d0 00000000 		.word	DM_status
 2762 00d4 2C020000 		.word	Dev+556
 2763 00d8 34020000 		.word	Dev+564
 2764 00dc 40020000 		.word	Dev+576
 2765 00e0 54020000 		.word	Dev+596
 2766 00e4 74020000 		.word	Dev+628
 2767 00e8 88020000 		.word	Dev+648
 2768              		.cfi_endproc
 2769              	.LFE140:
 2771              		.section	.text.put_date_to_can,"ax",%progbits
 2772              		.align	1
 2773              		.global	put_date_to_can
 2774              		.syntax unified
 2775              		.thumb
 2776              		.thumb_func
 2778              	put_date_to_can:
 2779              	.LFB141:
 816:user_src/soft_can.c **** 
 817:user_src/soft_can.c **** void put_date_to_can(uint8_t *buf,uint8_t par1,uint8_t par2,uint8_t par3,uint8_t par4,uint8_t par5,
 818:user_src/soft_can.c ****                         uint8_t par6,uint8_t par7,uint8_t par8)
 819:user_src/soft_can.c **** {
 2780              		.loc 1 819 1
 2781              		.cfi_startproc
 2782              		@ args = 20, pretend = 0, frame = 16
 2783              		@ frame_needed = 1, uses_anonymous_args = 0
 2784              		@ link register save eliminated.
 2785 0000 80B4     		push	{r7}
 2786              	.LCFI35:
 2787              		.cfi_def_cfa_offset 4
 2788              		.cfi_offset 7, -4
 2789 0002 85B0     		sub	sp, sp, #20
 2790              	.LCFI36:
 2791              		.cfi_def_cfa_offset 24
 2792 0004 00AF     		add	r7, sp, #0
 2793              	.LCFI37:
 2794              		.cfi_def_cfa_register 7
 2795 0006 7860     		str	r0, [r7, #4]
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 66


 2796 0008 0846     		mov	r0, r1
 2797 000a 1146     		mov	r1, r2
 2798 000c 1A46     		mov	r2, r3
 2799 000e 0346     		mov	r3, r0
 2800 0010 FB70     		strb	r3, [r7, #3]
 2801 0012 0B46     		mov	r3, r1
 2802 0014 BB70     		strb	r3, [r7, #2]
 2803 0016 1346     		mov	r3, r2
 2804 0018 7B70     		strb	r3, [r7, #1]
 820:user_src/soft_can.c ****   uint8_t *ptr = buf;
 2805              		.loc 1 820 12
 2806 001a 7B68     		ldr	r3, [r7, #4]
 2807 001c FB60     		str	r3, [r7, #12]
 821:user_src/soft_can.c ****   *(ptr++) = par1;
 2808              		.loc 1 821 8
 2809 001e FB68     		ldr	r3, [r7, #12]
 2810 0020 5A1C     		adds	r2, r3, #1
 2811 0022 FA60     		str	r2, [r7, #12]
 2812              		.loc 1 821 12
 2813 0024 FA78     		ldrb	r2, [r7, #3]
 2814 0026 1A70     		strb	r2, [r3]
 822:user_src/soft_can.c ****   *(ptr++) = par2;
 2815              		.loc 1 822 8
 2816 0028 FB68     		ldr	r3, [r7, #12]
 2817 002a 5A1C     		adds	r2, r3, #1
 2818 002c FA60     		str	r2, [r7, #12]
 2819              		.loc 1 822 12
 2820 002e BA78     		ldrb	r2, [r7, #2]
 2821 0030 1A70     		strb	r2, [r3]
 823:user_src/soft_can.c ****   *(ptr++) = par3;
 2822              		.loc 1 823 8
 2823 0032 FB68     		ldr	r3, [r7, #12]
 2824 0034 5A1C     		adds	r2, r3, #1
 2825 0036 FA60     		str	r2, [r7, #12]
 2826              		.loc 1 823 12
 2827 0038 7A78     		ldrb	r2, [r7, #1]
 2828 003a 1A70     		strb	r2, [r3]
 824:user_src/soft_can.c ****   *(ptr++) = par4;
 2829              		.loc 1 824 8
 2830 003c FB68     		ldr	r3, [r7, #12]
 2831 003e 5A1C     		adds	r2, r3, #1
 2832 0040 FA60     		str	r2, [r7, #12]
 2833              		.loc 1 824 12
 2834 0042 3A7E     		ldrb	r2, [r7, #24]
 2835 0044 1A70     		strb	r2, [r3]
 825:user_src/soft_can.c ****   *(ptr++) = par5;
 2836              		.loc 1 825 8
 2837 0046 FB68     		ldr	r3, [r7, #12]
 2838 0048 5A1C     		adds	r2, r3, #1
 2839 004a FA60     		str	r2, [r7, #12]
 2840              		.loc 1 825 12
 2841 004c 3A7F     		ldrb	r2, [r7, #28]
 2842 004e 1A70     		strb	r2, [r3]
 826:user_src/soft_can.c ****   *(ptr++) = par6;
 2843              		.loc 1 826 8
 2844 0050 FB68     		ldr	r3, [r7, #12]
 2845 0052 5A1C     		adds	r2, r3, #1
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 67


 2846 0054 FA60     		str	r2, [r7, #12]
 2847              		.loc 1 826 12
 2848 0056 97F82020 		ldrb	r2, [r7, #32]
 2849 005a 1A70     		strb	r2, [r3]
 827:user_src/soft_can.c ****   *(ptr++) = par7;
 2850              		.loc 1 827 8
 2851 005c FB68     		ldr	r3, [r7, #12]
 2852 005e 5A1C     		adds	r2, r3, #1
 2853 0060 FA60     		str	r2, [r7, #12]
 2854              		.loc 1 827 12
 2855 0062 97F82420 		ldrb	r2, [r7, #36]
 2856 0066 1A70     		strb	r2, [r3]
 828:user_src/soft_can.c ****   *(ptr++) = par8;
 2857              		.loc 1 828 8
 2858 0068 FB68     		ldr	r3, [r7, #12]
 2859 006a 5A1C     		adds	r2, r3, #1
 2860 006c FA60     		str	r2, [r7, #12]
 2861              		.loc 1 828 12
 2862 006e 97F82820 		ldrb	r2, [r7, #40]
 2863 0072 1A70     		strb	r2, [r3]
 829:user_src/soft_can.c **** }
 2864              		.loc 1 829 1
 2865 0074 00BF     		nop
 2866 0076 1437     		adds	r7, r7, #20
 2867              	.LCFI38:
 2868              		.cfi_def_cfa_offset 4
 2869 0078 BD46     		mov	sp, r7
 2870              	.LCFI39:
 2871              		.cfi_def_cfa_register 13
 2872              		@ sp needed
 2873 007a 5DF8047B 		ldr	r7, [sp], #4
 2874              	.LCFI40:
 2875              		.cfi_restore 7
 2876              		.cfi_def_cfa_offset 0
 2877 007e 7047     		bx	lr
 2878              		.cfi_endproc
 2879              	.LFE141:
 2881              		.section	.text.CAN1_SCE_IRQHandler,"ax",%progbits
 2882              		.align	1
 2883              		.global	CAN1_SCE_IRQHandler
 2884              		.syntax unified
 2885              		.thumb
 2886              		.thumb_func
 2888              	CAN1_SCE_IRQHandler:
 2889              	.LFB142:
 830:user_src/soft_can.c **** 
 831:user_src/soft_can.c **** /**
 832:user_src/soft_can.c ****   * @file    CAN1_SCE_IRQHandler
 833:user_src/soft_can.c ****   * @brief   CAN�躰秤銝剜鱏憭�� 
 834:user_src/soft_can.c ****   * @param   
 835:user_src/soft_can.c ****   * @details 
 836:user_src/soft_can.c ****   * @author  Zhang Sir 
 837:user_src/soft_can.c ****  **/
 838:user_src/soft_can.c **** void CAN1_SCE_IRQHandler()
 839:user_src/soft_can.c **** {
 2890              		.loc 1 839 1
 2891              		.cfi_startproc
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 68


 2892              		@ args = 0, pretend = 0, frame = 0
 2893              		@ frame_needed = 1, uses_anonymous_args = 0
 2894              		@ link register save eliminated.
 2895 0000 80B4     		push	{r7}
 2896              	.LCFI41:
 2897              		.cfi_def_cfa_offset 4
 2898              		.cfi_offset 7, -4
 2899 0002 00AF     		add	r7, sp, #0
 2900              	.LCFI42:
 2901              		.cfi_def_cfa_register 7
 840:user_src/soft_can.c ****   if (__HAL_CAN_GET_FLAG(&hcan, CAN_FLAG_BOF) != RESET)
 2902              		.loc 1 840 7
 2903 0004 144B     		ldr	r3, .L179
 2904 0006 1B68     		ldr	r3, [r3]
 2905 0008 9B69     		ldr	r3, [r3, #24]
 2906 000a 03F00403 		and	r3, r3, #4
 2907              		.loc 1 840 6
 2908 000e 042B     		cmp	r3, #4
 2909 0010 03D1     		bne	.L176
 841:user_src/soft_can.c ****   {
 842:user_src/soft_can.c ****     __HAL_CAN_CLEAR_FLAG(&hcan, CAN_FLAG_ERRI);
 2910              		.loc 1 842 5
 2911 0012 114B     		ldr	r3, .L179
 2912 0014 1B68     		ldr	r3, [r3]
 2913 0016 0422     		movs	r2, #4
 2914 0018 5A60     		str	r2, [r3, #4]
 2915              	.L176:
 843:user_src/soft_can.c ****   }
 844:user_src/soft_can.c ****   if (__HAL_CAN_GET_FLAG(&hcan, CAN_FLAG_EPV) != RESET)
 2916              		.loc 1 844 7
 2917 001a 0F4B     		ldr	r3, .L179
 2918 001c 1B68     		ldr	r3, [r3]
 2919 001e 9B69     		ldr	r3, [r3, #24]
 2920 0020 03F00203 		and	r3, r3, #2
 2921              		.loc 1 844 6
 2922 0024 022B     		cmp	r3, #2
 2923 0026 03D1     		bne	.L177
 845:user_src/soft_can.c ****   {
 846:user_src/soft_can.c ****     __HAL_CAN_CLEAR_FLAG(&hcan, CAN_FLAG_ERRI);
 2924              		.loc 1 846 5
 2925 0028 0B4B     		ldr	r3, .L179
 2926 002a 1B68     		ldr	r3, [r3]
 2927 002c 0422     		movs	r2, #4
 2928 002e 5A60     		str	r2, [r3, #4]
 2929              	.L177:
 847:user_src/soft_can.c ****   }
 848:user_src/soft_can.c ****   if (__HAL_CAN_GET_FLAG(&hcan, CAN_FLAG_EWG) != RESET)
 2930              		.loc 1 848 7
 2931 0030 094B     		ldr	r3, .L179
 2932 0032 1B68     		ldr	r3, [r3]
 2933 0034 9B69     		ldr	r3, [r3, #24]
 2934 0036 03F00103 		and	r3, r3, #1
 2935              		.loc 1 848 6
 2936 003a 012B     		cmp	r3, #1
 2937 003c 03D1     		bne	.L178
 849:user_src/soft_can.c ****   {
 850:user_src/soft_can.c ****     __HAL_CAN_CLEAR_FLAG(&hcan, CAN_FLAG_ERRI);
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 69


 2938              		.loc 1 850 5
 2939 003e 064B     		ldr	r3, .L179
 2940 0040 1B68     		ldr	r3, [r3]
 2941 0042 0422     		movs	r2, #4
 2942 0044 5A60     		str	r2, [r3, #4]
 2943              	.L178:
 851:user_src/soft_can.c ****   }
 852:user_src/soft_can.c **** 
 853:user_src/soft_can.c ****   __HAL_CAN_CLEAR_FLAG(&hcan, CAN_FLAG_ERRI);
 2944              		.loc 1 853 3
 2945 0046 044B     		ldr	r3, .L179
 2946 0048 1B68     		ldr	r3, [r3]
 2947 004a 0422     		movs	r2, #4
 2948 004c 5A60     		str	r2, [r3, #4]
 854:user_src/soft_can.c **** }
 2949              		.loc 1 854 1
 2950 004e 00BF     		nop
 2951 0050 BD46     		mov	sp, r7
 2952              	.LCFI43:
 2953              		.cfi_def_cfa_register 13
 2954              		@ sp needed
 2955 0052 5DF8047B 		ldr	r7, [sp], #4
 2956              	.LCFI44:
 2957              		.cfi_restore 7
 2958              		.cfi_def_cfa_offset 0
 2959 0056 7047     		bx	lr
 2960              	.L180:
 2961              		.align	2
 2962              	.L179:
 2963 0058 00000000 		.word	hcan
 2964              		.cfi_endproc
 2965              	.LFE142:
 2967              		.section	.bss.update_i.2,"aw",%nobits
 2968              		.align	2
 2971              	update_i.2:
 2972 0000 00000000 		.space	4
 2973              		.section	.bss.check_sum.1,"aw",%nobits
 2974              		.align	2
 2977              	check_sum.1:
 2978 0000 00000000 		.space	4
 2979              		.section	.data.pack_count.0,"aw"
 2980              		.align	1
 2983              	pack_count.0:
 2984 0000 0100     		.short	1
 2985              		.text
 2986              	.Letext0:
 2987              		.file 2 "d:\\arm-gcc\\arm-none-eabi\\include\\machine\\_default_types.h"
 2988              		.file 3 "d:\\arm-gcc\\arm-none-eabi\\include\\sys\\_stdint.h"
 2989              		.file 4 "Drivers/CMSIS/Device/ST/STM32F3xx/Include/stm32f302xc.h"
 2990              		.file 5 "Drivers/CMSIS/Device/ST/STM32F3xx/Include/stm32f3xx.h"
 2991              		.file 6 "Drivers/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_def.h"
 2992              		.file 7 "Drivers/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_gpio.h"
 2993              		.file 8 "Drivers/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_can.h"
 2994              		.file 9 "user_inc/soft_can.h"
 2995              		.file 10 "Core/Inc/can.h"
 2996              		.file 11 "user_inc/soft_uart.h"
 2997              		.file 12 "user_inc/common.h"
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 70


 2998              		.file 13 "user_inc/soft_terrain.h"
 2999              		.file 14 "user_inc/soft_obstacle.h"
 3000              		.file 15 "user_inc/soft_p_2_c.h"
 3001              		.file 16 "user_inc/soft_eft.h"
 3002              		.file 17 "user_inc/soft_seed_device.h"
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 71


DEFINED SYMBOLS
                            *ABS*:00000000 soft_can.c
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:24     .bss.RxHeader:00000000 RxHeader
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:21     .bss.RxHeader:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:31     .bss.TxHeader:00000000 TxHeader
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:28     .bss.TxHeader:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:38     .bss.RxData:00000000 RxData
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:35     .bss.RxData:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:45     .bss.Rupdate:00000000 Rupdate
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:42     .bss.Rupdate:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:48     .text.Can_decode_data_function:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:54     .text.Can_decode_data_function:00000000 Can_decode_data_function
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:481    .text.Can_decode_data_function:000002b0 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:490    .text.Can_filter_init:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:496    .text.Can_filter_init:00000000 Can_filter_init
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:904    .text.Can_filter_init:0000025c $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:909    .text.HAL_CAN_RxFifo0MsgPendingCallback:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:915    .text.HAL_CAN_RxFifo0MsgPendingCallback:00000000 HAL_CAN_RxFifo0MsgPendingCallback
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1155   .text.HAL_CAN_RxFifo0MsgPendingCallback:00000160 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1168   .text.HAL_CAN_RxFifo0MsgPendingCallback:00000194 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1341   .text.HAL_CAN_RxFifo0MsgPendingCallback:00000290 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1347   .text.HAL_CAN_RxFifo0MsgPendingCallback:000002a8 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1365   .text.HAL_CAN_RxFifo0MsgPendingCallback:000002bc $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1373   .text.HAL_CAN_RxFifo0MsgPendingCallback:000002d4 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1495   .text.HAL_CAN_RxFifo0MsgPendingCallback:0000038c $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1502   .text.can_start_init:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1508   .text.can_start_init:00000000 can_start_init
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1553   .text.can_start_init:00000040 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1562   .bss.update_count:00000000 update_count
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1559   .bss.update_count:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1565   .text.Can_obstacle_update:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1571   .text.Can_obstacle_update:00000000 Can_obstacle_update
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1608   .text.Can_obstacle_update:00000028 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:1615   .text.Can_obstacle_update:00000044 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2209   .text.can_send_msg_normal:00000000 can_send_msg_normal
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2020   .text.Can_obstacle_update:000002a0 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2971   .bss.update_i.2:00000000 update_i.2
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2977   .bss.check_sum.1:00000000 check_sum.1
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2983   .data.pack_count.0:00000000 pack_count.0
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2032   .text.Can_obstacle_update:000002c8 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2191   .text.Can_obstacle_update:000003a0 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2203   .text.can_send_msg_normal:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2426   .text.can_send_msg_normal:00000130 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2434   .text.can_send_msg_normalstd:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2440   .text.can_send_msg_normalstd:00000000 can_send_msg_normalstd
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2648   .text.can_send_msg_normalstd:00000124 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2655   .text.check_radar_link_status:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2661   .text.check_radar_link_status:00000000 check_radar_link_status
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2753   .text.check_radar_link_status:000000b0 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2772   .text.put_date_to_can:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2778   .text.put_date_to_can:00000000 put_date_to_can
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2882   .text.CAN1_SCE_IRQHandler:00000000 $t
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2888   .text.CAN1_SCE_IRQHandler:00000000 CAN1_SCE_IRQHandler
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2963   .text.CAN1_SCE_IRQHandler:00000058 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2968   .bss.update_i.2:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2974   .bss.check_sum.1:00000000 $d
C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s:2980   .data.pack_count.0:00000000 $d
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 72



UNDEFINED SYMBOLS
can_recv_enzhao_terrain
can_recv_mimor_flow_function
can_recv_enzhao_obstacle
can_recv_mimo_signal_obstacle
can_recv_mimo_radar_version
EngGeelyCanRecvHookFunction
EZ_Radar_UpdateCanRecvHookFunction
TattuCanRecvHookFunction
can_recv_mocib_version_info
QxBmsCanRecvHookFunction
DMlacklossCanRecvFunction
HobbywingCanRecvHookFunction
HAL_CAN_ConfigFilter
Error_Handler
hcan
HAL_CAN_GetRxMessage
can_recv_mocib_F_obstacle
can_recv_mocib_B_obstacle
can_recv_mocib_terrain
OkcellCanRecvHookFunction
can_recv_mocib_updata_read_set_hookfunction
HerewinCanRecvHookFunction
EftCanRecvHookFunction
liquid_recieved_hookfuction
Flow_recieved_hookfuction
Weight_recieved_hookfuction
Update_Dev_Bootversion_Function
distributor_recieved_hookfuction
DM_terrain_recieved_hookfuction
uart_info
DM_Fobs_recieved_hookfuction
DM_Bobs_recieved_hookfuction
BMSCanRecvHookFunction
HAL_GetTick
put_candata_to_rkfifo_rx
HAL_CAN_ActivateNotification
planep
HAL_CAN_Start
HAL_NVIC_EnableIRQ
HAL_GPIO_WritePin
HAL_Delay
memset
Update_ack_func
Update_buf
radar_update_flag
uavr11_info
uavr12_info
uavr56_info
put_candata_to_rkfifo_tx
HAL_CAN_GetTxMailboxesFreeLevel
HAL_CAN_AddTxMessage
Check_dev_link
mimo_ter_info
mimo_f_info
mimo_b_info
ARM GAS  C:\Users\zl835\AppData\Local\Temp\ccD4Q1Qs.s 			page 73


DM_ter_info
DM_f_info
DM_status
Dev