diff --git a/embedded-c-system-code/All_cubeIDE/.cproject b/embedded-c-system-code/All_cubeIDE/.cproject
index 20a2829..3e676b9 100644
--- a/embedded-c-system-code/All_cubeIDE/.cproject
+++ b/embedded-c-system-code/All_cubeIDE/.cproject
@@ -22,8 +22,8 @@
-
-
+
+
@@ -50,6 +50,16 @@
+
+
+
@@ -58,7 +68,14 @@
-
+
+
+
+
+
+
+
+
@@ -121,6 +138,15 @@
+
+
+
@@ -129,7 +155,14 @@
-
+
+
+
+
+
+
+
+
@@ -156,14 +189,20 @@
+
+
+
+
+
+
+
-
\ No newline at end of file
diff --git a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.bin b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.bin
index 1d3e288..7ea6f17 100755
Binary files a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.bin and b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.bin differ
diff --git a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.elf b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.elf
index af71bd6..5532b95 100755
Binary files a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.elf and b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.elf differ
diff --git a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.hex b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.hex
index 9abee62..9836c8d 100644
--- a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.hex
+++ b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.hex
@@ -1,27 +1,27 @@
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diff --git a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.list b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.list
index ea4a281..1b1818f 100644
--- a/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.list
+++ b/embedded-c-system-code/All_cubeIDE/Debug/All_cubeIDE.list
@@ -5,45 +5,45 @@ Sections:
Idx Name Size VMA LMA File off Algn
0 .isr_vector 00000130 08000000 08000000 00010000 2**0
CONTENTS, ALLOC, LOAD, READONLY, DATA
- 1 .text 000033e4 08000130 08000130 00010130 2**3
+ 1 .text 0000351c 08000130 08000130 00010130 2**3
CONTENTS, ALLOC, LOAD, READONLY, CODE
- 2 .rodata 00000060 08003518 08003518 00013518 2**3
+ 2 .rodata 00000070 08003650 08003650 00013650 2**3
CONTENTS, ALLOC, LOAD, READONLY, DATA
- 3 .ARM.extab 00000000 08003578 08003578 00020068 2**0
+ 3 .ARM.extab 00000000 080036c0 080036c0 00020068 2**0
CONTENTS
- 4 .ARM 00000000 08003578 08003578 00020068 2**0
+ 4 .ARM 00000000 080036c0 080036c0 00020068 2**0
CONTENTS
- 5 .preinit_array 00000000 08003578 08003578 00020068 2**0
+ 5 .preinit_array 00000000 080036c0 080036c0 00020068 2**0
CONTENTS, ALLOC, LOAD, DATA
- 6 .init_array 00000004 08003578 08003578 00013578 2**2
+ 6 .init_array 00000004 080036c0 080036c0 000136c0 2**2
CONTENTS, ALLOC, LOAD, DATA
- 7 .fini_array 00000004 0800357c 0800357c 0001357c 2**2
+ 7 .fini_array 00000004 080036c4 080036c4 000136c4 2**2
CONTENTS, ALLOC, LOAD, DATA
- 8 .data 00000068 20000000 08003580 00020000 2**2
+ 8 .data 00000068 20000000 080036c8 00020000 2**2
CONTENTS, ALLOC, LOAD, DATA
- 9 .bss 000000a4 20000068 080035e8 00020068 2**2
+ 9 .bss 000000ac 20000068 08003730 00020068 2**2
ALLOC
- 10 ._user_heap_stack 00000604 2000010c 080035e8 0002010c 2**0
+ 10 ._user_heap_stack 00000604 20000114 08003730 00020114 2**0
ALLOC
11 .ARM.attributes 00000029 00000000 00000000 00020068 2**0
CONTENTS, READONLY
- 12 .debug_info 000019c9 00000000 00000000 00020091 2**0
+ 12 .debug_info 000019d3 00000000 00000000 00020091 2**0
CONTENTS, READONLY, DEBUGGING, OCTETS
- 13 .debug_abbrev 00000bb6 00000000 00000000 00021a5a 2**0
+ 13 .debug_abbrev 00000bd4 00000000 00000000 00021a64 2**0
CONTENTS, READONLY, DEBUGGING, OCTETS
- 14 .debug_aranges 00000358 00000000 00000000 00022610 2**3
+ 14 .debug_aranges 00000358 00000000 00000000 00022638 2**3
CONTENTS, READONLY, DEBUGGING, OCTETS
- 15 .debug_ranges 00000290 00000000 00000000 00022968 2**3
+ 15 .debug_ranges 00000290 00000000 00000000 00022990 2**3
CONTENTS, READONLY, DEBUGGING, OCTETS
- 16 .debug_macro 00002683 00000000 00000000 00022bf8 2**0
+ 16 .debug_macro 00002683 00000000 00000000 00022c20 2**0
CONTENTS, READONLY, DEBUGGING, OCTETS
- 17 .debug_line 000023b6 00000000 00000000 0002527b 2**0
+ 17 .debug_line 000023e3 00000000 00000000 000252a3 2**0
CONTENTS, READONLY, DEBUGGING, OCTETS
- 18 .debug_str 00009aa4 00000000 00000000 00027631 2**0
+ 18 .debug_str 00009aae 00000000 00000000 00027686 2**0
CONTENTS, READONLY, DEBUGGING, OCTETS
- 19 .comment 00000050 00000000 00000000 000310d5 2**0
+ 19 .comment 00000050 00000000 00000000 00031134 2**0
CONTENTS, READONLY
- 20 .debug_frame 0000105c 00000000 00000000 00031128 2**2
+ 20 .debug_frame 0000105c 00000000 00000000 00031184 2**2
CONTENTS, READONLY, DEBUGGING, OCTETS
Disassembly of section .text:
@@ -62,7 +62,7 @@ Disassembly of section .text:
8000146: bd10 pop {r4, pc}
8000148: 20000068 .word 0x20000068
800014c: 00000000 .word 0x00000000
- 8000150: 080034fc .word 0x080034fc
+ 8000150: 08003634 .word 0x08003634
08000154 :
8000154: b508 push {r3, lr}
@@ -74,7 +74,7 @@ Disassembly of section .text:
8000162: bd08 pop {r3, pc}
8000164: 00000000 .word 0x00000000
8000168: 2000006c .word 0x2000006c
- 800016c: 080034fc .word 0x080034fc
+ 800016c: 08003634 .word 0x08003634
08000170 <__aeabi_drsub>:
8000170: f081 4100 eor.w r1, r1, #2147483648 ; 0x80000000
@@ -2759,10 +2759,10 @@ s32 HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin)
80018bc: 4b0e ldr r3, [pc, #56] ; (80018f8 )
80018be: 2201 movs r2, #1
80018c0: 701a strb r2, [r3, #0]
- Global_s32NumOfRightCounts--;
+ Global_s32NumOfRightCounts++;
80018c2: 4b0e ldr r3, [pc, #56] ; (80018fc )
80018c4: 681b ldr r3, [r3, #0]
- 80018c6: 3b01 subs r3, #1
+ 80018c6: 3301 adds r3, #1
80018c8: 4a0c ldr r2, [pc, #48] ; (80018fc )
80018ca: 6013 str r3, [r2, #0]
80018cc: e00a b.n 80018e4
@@ -2776,10 +2776,10 @@ s32 HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin)
80018d4: 4b08 ldr r3, [pc, #32] ; (80018f8 )
80018d6: 2202 movs r2, #2
80018d8: 701a strb r2, [r3, #0]
- Global_s32NumOfRightCounts++;
+ Global_s32NumOfRightCounts--;
80018da: 4b08 ldr r3, [pc, #32] ; (80018fc )
80018dc: 681b ldr r3, [r3, #0]
- 80018de: 3301 adds r3, #1
+ 80018de: 3b01 subs r3, #1
80018e0: 4a06 ldr r2, [pc, #24] ; (80018fc )
80018e2: 6013 str r3, [r2, #0]
}
@@ -3536,2898 +3536,3021 @@ void MUSART2_voidInit(void)
8001d20: f7ff fa70 bl 8001204
/* baud rate = 9600 */
- USART2 -> BRR = 0x341;
- 8001d24: 4b0d ldr r3, [pc, #52] ; (8001d5c )
- 8001d26: f240 3241 movw r2, #833 ; 0x341
- 8001d2a: 609a str r2, [r3, #8]
+ //USART2 -> BRR = 0x341;
+ USART2 -> BRR = 0x45;
+ 8001d24: 4b0c ldr r3, [pc, #48] ; (8001d58 )
+ 8001d26: 2245 movs r2, #69 ; 0x45
+ 8001d28: 609a str r2, [r3, #8]
SET_BIT((USART2-> CR1), 3); /* Enabling Transmitter */
- 8001d2c: 4b0b ldr r3, [pc, #44] ; (8001d5c )
- 8001d2e: 68db ldr r3, [r3, #12]
- 8001d30: 4a0a ldr r2, [pc, #40] ; (8001d5c )
- 8001d32: f043 0308 orr.w r3, r3, #8
- 8001d36: 60d3 str r3, [r2, #12]
+ 8001d2a: 4b0b ldr r3, [pc, #44] ; (8001d58 )
+ 8001d2c: 68db ldr r3, [r3, #12]
+ 8001d2e: 4a0a ldr r2, [pc, #40] ; (8001d58 )
+ 8001d30: f043 0308 orr.w r3, r3, #8
+ 8001d34: 60d3 str r3, [r2, #12]
SET_BIT((USART2-> CR1), 2); /* Enabling Receiver */
- 8001d38: 4b08 ldr r3, [pc, #32] ; (8001d5c )
- 8001d3a: 68db ldr r3, [r3, #12]
- 8001d3c: 4a07 ldr r2, [pc, #28] ; (8001d5c )
- 8001d3e: f043 0304 orr.w r3, r3, #4
- 8001d42: 60d3 str r3, [r2, #12]
+ 8001d36: 4b08 ldr r3, [pc, #32] ; (8001d58 )
+ 8001d38: 68db ldr r3, [r3, #12]
+ 8001d3a: 4a07 ldr r2, [pc, #28] ; (8001d58 )
+ 8001d3c: f043 0304 orr.w r3, r3, #4
+ 8001d40: 60d3 str r3, [r2, #12]
SET_BIT((USART2-> CR1), 13); /* Enabling USART */
- 8001d44: 4b05 ldr r3, [pc, #20] ; (8001d5c )
- 8001d46: 68db ldr r3, [r3, #12]
- 8001d48: 4a04 ldr r2, [pc, #16] ; (8001d5c )
- 8001d4a: f443 5300 orr.w r3, r3, #8192 ; 0x2000
- 8001d4e: 60d3 str r3, [r2, #12]
+ 8001d42: 4b05 ldr r3, [pc, #20] ; (8001d58 )
+ 8001d44: 68db ldr r3, [r3, #12]
+ 8001d46: 4a04 ldr r2, [pc, #16] ; (8001d58 )
+ 8001d48: f443 5300 orr.w r3, r3, #8192 ; 0x2000
+ 8001d4c: 60d3 str r3, [r2, #12]
USART2 -> SR = 0; /* Clearing status register */
- 8001d50: 4b02 ldr r3, [pc, #8] ; (8001d5c )
- 8001d52: 2200 movs r2, #0
- 8001d54: 601a str r2, [r3, #0]
+ 8001d4e: 4b02 ldr r3, [pc, #8] ; (8001d58 )
+ 8001d50: 2200 movs r2, #0
+ 8001d52: 601a str r2, [r3, #0]
}
- 8001d56: bf00 nop
- 8001d58: bd80 pop {r7, pc}
- 8001d5a: bf00 nop
- 8001d5c: 40004400 .word 0x40004400
+ 8001d54: bf00 nop
+ 8001d56: bd80 pop {r7, pc}
+ 8001d58: 40004400 .word 0x40004400
-08001d60 :
+08001d5c :
void MUSART2_voidSendData(u8 Copy_u16Data)
{
- 8001d60: b480 push {r7}
- 8001d62: b083 sub sp, #12
- 8001d64: af00 add r7, sp, #0
- 8001d66: 4603 mov r3, r0
- 8001d68: 71fb strb r3, [r7, #7]
+ 8001d5c: b480 push {r7}
+ 8001d5e: b083 sub sp, #12
+ 8001d60: af00 add r7, sp, #0
+ 8001d62: 4603 mov r3, r0
+ 8001d64: 71fb strb r3, [r7, #7]
USART2 -> DR = Copy_u16Data;
- 8001d6a: 4a0b ldr r2, [pc, #44] ; (8001d98 )
- 8001d6c: 79fb ldrb r3, [r7, #7]
- 8001d6e: 6053 str r3, [r2, #4]
+ 8001d66: 4a0b ldr r2, [pc, #44] ; (8001d94 )
+ 8001d68: 79fb ldrb r3, [r7, #7]
+ 8001d6a: 6053 str r3, [r2, #4]
while((GET_BIT((USART2 -> SR), 6)) == 0);
- 8001d70: bf00 nop
- 8001d72: 4b09 ldr r3, [pc, #36] ; (8001d98 )
- 8001d74: 681b ldr r3, [r3, #0]
- 8001d76: 099b lsrs r3, r3, #6
- 8001d78: f003 0301 and.w r3, r3, #1
- 8001d7c: 2b00 cmp r3, #0
- 8001d7e: d0f8 beq.n 8001d72
+ 8001d6c: bf00 nop
+ 8001d6e: 4b09 ldr r3, [pc, #36] ; (8001d94 )
+ 8001d70: 681b ldr r3, [r3, #0]
+ 8001d72: 099b lsrs r3, r3, #6
+ 8001d74: f003 0301 and.w r3, r3, #1
+ 8001d78: 2b00 cmp r3, #0
+ 8001d7a: d0f8 beq.n 8001d6e
CLR_BIT(USART2->SR,6);
- 8001d80: 4b05 ldr r3, [pc, #20] ; (8001d98 )
- 8001d82: 681b ldr r3, [r3, #0]
- 8001d84: 4a04 ldr r2, [pc, #16] ; (8001d98 )
- 8001d86: f023 0340 bic.w r3, r3, #64 ; 0x40
- 8001d8a: 6013 str r3, [r2, #0]
+ 8001d7c: 4b05 ldr r3, [pc, #20] ; (8001d94 )
+ 8001d7e: 681b ldr r3, [r3, #0]
+ 8001d80: 4a04 ldr r2, [pc, #16] ; (8001d94 )
+ 8001d82: f023 0340 bic.w r3, r3, #64 ; 0x40
+ 8001d86: 6013 str r3, [r2, #0]
}
- 8001d8c: bf00 nop
- 8001d8e: 370c adds r7, #12
- 8001d90: 46bd mov sp, r7
- 8001d92: bc80 pop {r7}
- 8001d94: 4770 bx lr
- 8001d96: bf00 nop
- 8001d98: 40004400 .word 0x40004400
+ 8001d88: bf00 nop
+ 8001d8a: 370c adds r7, #12
+ 8001d8c: 46bd mov sp, r7
+ 8001d8e: bc80 pop {r7}
+ 8001d90: 4770 bx lr
+ 8001d92: bf00 nop
+ 8001d94: 40004400 .word 0x40004400
-08001d9c :
+08001d98 :
void MUSART2_voidSendString(u8 *Copy_u8String)
{
- 8001d9c: b580 push {r7, lr}
- 8001d9e: b082 sub sp, #8
- 8001da0: af00 add r7, sp, #0
- 8001da2: 6078 str r0, [r7, #4]
+ 8001d98: b580 push {r7, lr}
+ 8001d9a: b082 sub sp, #8
+ 8001d9c: af00 add r7, sp, #0
+ 8001d9e: 6078 str r0, [r7, #4]
while( (*Copy_u8String) != '\0' )
- 8001da4: e007 b.n 8001db6
+ 8001da0: e007 b.n 8001db2
{
MUSART2_voidSendData(*Copy_u8String);
- 8001da6: 687b ldr r3, [r7, #4]
- 8001da8: 781b ldrb r3, [r3, #0]
- 8001daa: 4618 mov r0, r3
- 8001dac: f7ff ffd8 bl 8001d60
+ 8001da2: 687b ldr r3, [r7, #4]
+ 8001da4: 781b ldrb r3, [r3, #0]
+ 8001da6: 4618 mov r0, r3
+ 8001da8: f7ff ffd8 bl 8001d5c
Copy_u8String++;
- 8001db0: 687b ldr r3, [r7, #4]
- 8001db2: 3301 adds r3, #1
- 8001db4: 607b str r3, [r7, #4]
+ 8001dac: 687b ldr r3, [r7, #4]
+ 8001dae: 3301 adds r3, #1
+ 8001db0: 607b str r3, [r7, #4]
while( (*Copy_u8String) != '\0' )
- 8001db6: 687b ldr r3, [r7, #4]
- 8001db8: 781b ldrb r3, [r3, #0]
- 8001dba: 2b00 cmp r3, #0
- 8001dbc: d1f3 bne.n 8001da6
+ 8001db2: 687b ldr r3, [r7, #4]
+ 8001db4: 781b ldrb r3, [r3, #0]
+ 8001db6: 2b00 cmp r3, #0
+ 8001db8: d1f3 bne.n 8001da2
}
}
- 8001dbe: bf00 nop
- 8001dc0: bf00 nop
- 8001dc2: 3708 adds r7, #8
- 8001dc4: 46bd mov sp, r7
- 8001dc6: bd80 pop {r7, pc}
+ 8001dba: bf00 nop
+ 8001dbc: bf00 nop
+ 8001dbe: 3708 adds r7, #8
+ 8001dc0: 46bd mov sp, r7
+ 8001dc2: bd80 pop {r7, pc}
-08001dc8 :
+08001dc4 :
void MUSART2_voidSendNumbers(s32 Copy_s32Number)
{
- 8001dc8: b580 push {r7, lr}
- 8001dca: b088 sub sp, #32
- 8001dcc: af00 add r7, sp, #0
- 8001dce: 6078 str r0, [r7, #4]
+ 8001dc4: b580 push {r7, lr}
+ 8001dc6: b088 sub sp, #32
+ 8001dc8: af00 add r7, sp, #0
+ 8001dca: 6078 str r0, [r7, #4]
char arr[15];
/* convert number to string */
// gcvt(Copy_s32Number, 8,arr);
itoa(Copy_s32Number , arr , 10);
- 8001dd0: f107 030c add.w r3, r7, #12
- 8001dd4: 220a movs r2, #10
- 8001dd6: 4619 mov r1, r3
- 8001dd8: 6878 ldr r0, [r7, #4]
- 8001dda: f000 fc69 bl 80026b0
+ 8001dcc: f107 030c add.w r3, r7, #12
+ 8001dd0: 220a movs r2, #10
+ 8001dd2: 4619 mov r1, r3
+ 8001dd4: 6878 ldr r0, [r7, #4]
+ 8001dd6: f000 fd05 bl 80027e4
u8* string = (u8*)arr;
- 8001dde: f107 030c add.w r3, r7, #12
- 8001de2: 61fb str r3, [r7, #28]
+ 8001dda: f107 030c add.w r3, r7, #12
+ 8001dde: 61fb str r3, [r7, #28]
MUSART2_voidSendString(string);
- 8001de4: 69f8 ldr r0, [r7, #28]
- 8001de6: f7ff ffd9 bl 8001d9c
+ 8001de0: 69f8 ldr r0, [r7, #28]
+ 8001de2: f7ff ffd9 bl 8001d98
}
- 8001dea: bf00 nop
- 8001dec: 3720 adds r7, #32
- 8001dee: 46bd mov sp, r7
- 8001df0: bd80 pop {r7, pc}
+ 8001de6: bf00 nop
+ 8001de8: 3720 adds r7, #32
+ 8001dea: 46bd mov sp, r7
+ 8001dec: bd80 pop {r7, pc}
...
-08001df4 :
+08001df0 :
u8 MUSART2_u8ReceiveData(void)
{
- 8001df4: b480 push {r7}
- 8001df6: b083 sub sp, #12
- 8001df8: af00 add r7, sp, #0
+ 8001df0: b480 push {r7}
+ 8001df2: b083 sub sp, #12
+ 8001df4: af00 add r7, sp, #0
u8 Loc_u8ReceivedData = 0;
- 8001dfa: 2300 movs r3, #0
- 8001dfc: 71fb strb r3, [r7, #7]
+ 8001df6: 2300 movs r3, #0
+ 8001df8: 71fb strb r3, [r7, #7]
/* wait until receive complete*/
while((GET_BIT((USART2 -> SR), 5)) == 0);
- 8001dfe: bf00 nop
- 8001e00: 4b07 ldr r3, [pc, #28] ; (8001e20 )
- 8001e02: 681b ldr r3, [r3, #0]
- 8001e04: 095b lsrs r3, r3, #5
- 8001e06: f003 0301 and.w r3, r3, #1
- 8001e0a: 2b00 cmp r3, #0
- 8001e0c: d0f8 beq.n 8001e00
+ 8001dfa: bf00 nop
+ 8001dfc: 4b07 ldr r3, [pc, #28] ; (8001e1c )
+ 8001dfe: 681b ldr r3, [r3, #0]
+ 8001e00: 095b lsrs r3, r3, #5
+ 8001e02: f003 0301 and.w r3, r3, #1
+ 8001e06: 2b00 cmp r3, #0
+ 8001e08: d0f8 beq.n 8001dfc
Loc_u8ReceivedData = USART2 -> DR;
- 8001e0e: 4b04 ldr r3, [pc, #16] ; (8001e20 )
- 8001e10: 685b ldr r3, [r3, #4]
- 8001e12: 71fb strb r3, [r7, #7]
+ 8001e0a: 4b04 ldr r3, [pc, #16] ; (8001e1c )
+ 8001e0c: 685b ldr r3, [r3, #4]
+ 8001e0e: 71fb strb r3, [r7, #7]
return (Loc_u8ReceivedData);
- 8001e14: 79fb ldrb r3, [r7, #7]
+ 8001e10: 79fb ldrb r3, [r7, #7]
}
- 8001e16: 4618 mov r0, r3
- 8001e18: 370c adds r7, #12
- 8001e1a: 46bd mov sp, r7
- 8001e1c: bc80 pop {r7}
- 8001e1e: 4770 bx lr
- 8001e20: 40004400 .word 0x40004400
+ 8001e12: 4618 mov r0, r3
+ 8001e14: 370c adds r7, #12
+ 8001e16: 46bd mov sp, r7
+ 8001e18: bc80 pop {r7}
+ 8001e1a: 4770 bx lr
+ 8001e1c: 40004400 .word 0x40004400
-08001e24 :
+08001e20 :
u8 MUSART2_u8ReceiveDataBlock(u8* Copy_u8DataArr)
{
- 8001e24: b580 push {r7, lr}
- 8001e26: b084 sub sp, #16
- 8001e28: af00 add r7, sp, #0
- 8001e2a: 6078 str r0, [r7, #4]
+ 8001e20: b580 push {r7, lr}
+ 8001e22: b084 sub sp, #16
+ 8001e24: af00 add r7, sp, #0
+ 8001e26: 6078 str r0, [r7, #4]
u8 Loc_u8Data = 0;
- 8001e2c: 2300 movs r3, #0
- 8001e2e: 73fb strb r3, [r7, #15]
+ 8001e28: 2300 movs r3, #0
+ 8001e2a: 73fb strb r3, [r7, #15]
u8 Loc_u8Index = 0;
- 8001e30: 2300 movs r3, #0
- 8001e32: 73bb strb r3, [r7, #14]
+ 8001e2c: 2300 movs r3, #0
+ 8001e2e: 73bb strb r3, [r7, #14]
Loc_u8Data = MUSART2_u8ReceiveData();
- 8001e34: f7ff ffde bl 8001df4
- 8001e38: 4603 mov r3, r0
- 8001e3a: 73fb strb r3, [r7, #15]
+ 8001e30: f7ff ffde bl 8001df0
+ 8001e34: 4603 mov r3, r0
+ 8001e36: 73fb strb r3, [r7, #15]
while(Loc_u8Data != '\0')
- 8001e3c: e00b b.n 8001e56
+ 8001e38: e00b b.n 8001e52
{
Copy_u8DataArr[Loc_u8Index] = Loc_u8Data;
- 8001e3e: 7bbb ldrb r3, [r7, #14]
- 8001e40: 687a ldr r2, [r7, #4]
- 8001e42: 4413 add r3, r2
- 8001e44: 7bfa ldrb r2, [r7, #15]
- 8001e46: 701a strb r2, [r3, #0]
+ 8001e3a: 7bbb ldrb r3, [r7, #14]
+ 8001e3c: 687a ldr r2, [r7, #4]
+ 8001e3e: 4413 add r3, r2
+ 8001e40: 7bfa ldrb r2, [r7, #15]
+ 8001e42: 701a strb r2, [r3, #0]
Loc_u8Index++;
- 8001e48: 7bbb ldrb r3, [r7, #14]
- 8001e4a: 3301 adds r3, #1
- 8001e4c: 73bb strb r3, [r7, #14]
+ 8001e44: 7bbb ldrb r3, [r7, #14]
+ 8001e46: 3301 adds r3, #1
+ 8001e48: 73bb strb r3, [r7, #14]
Loc_u8Data = MUSART2_u8ReceiveData();
- 8001e4e: f7ff ffd1 bl 8001df4
- 8001e52: 4603 mov r3, r0
- 8001e54: 73fb strb r3, [r7, #15]
+ 8001e4a: f7ff ffd1 bl 8001df0
+ 8001e4e: 4603 mov r3, r0
+ 8001e50: 73fb strb r3, [r7, #15]
while(Loc_u8Data != '\0')
- 8001e56: 7bfb ldrb r3, [r7, #15]
- 8001e58: 2b00 cmp r3, #0
- 8001e5a: d1f0 bne.n 8001e3e
+ 8001e52: 7bfb ldrb r3, [r7, #15]
+ 8001e54: 2b00 cmp r3, #0
+ 8001e56: d1f0 bne.n 8001e3a
}
return Loc_u8Index;
- 8001e5c: 7bbb ldrb r3, [r7, #14]
+ 8001e58: 7bbb ldrb r3, [r7, #14]
}
- 8001e5e: 4618 mov r0, r3
- 8001e60: 3710 adds r7, #16
- 8001e62: 46bd mov sp, r7
- 8001e64: bd80 pop {r7, pc}
+ 8001e5a: 4618 mov r0, r3
+ 8001e5c: 3710 adds r7, #16
+ 8001e5e: 46bd mov sp, r7
+ 8001e60: bd80 pop {r7, pc}
...
-08001e68 :
-s16 Local_Reading = 0;
-
+08001e64 :
+s16 Final_Value = 0 ;
+s16 Reading = 0 ;
/*ISR of EXTI8 (left encoder)*/
-void LeftEncoderGetReading (void)
+void RightEncoderGetReading (void)
{
- 8001e68: b580 push {r7, lr}
- 8001e6a: af00 add r7, sp, #0
- left_counts = HENCODER_voidEncoderCounts(GPIOA,PIN8);
- 8001e6c: 2108 movs r1, #8
- 8001e6e: 2000 movs r0, #0
- 8001e70: f7ff fcf2 bl 8001858
- 8001e74: 4603 mov r3, r0
- 8001e76: 4a02 ldr r2, [pc, #8] ; (8001e80 )
- 8001e78: 6013 str r3, [r2, #0]
+ 8001e64: b580 push {r7, lr}
+ 8001e66: af00 add r7, sp, #0
+ right_counts = HENCODER_voidEncoderCounts(GPIOA,PIN8);
+ 8001e68: 2108 movs r1, #8
+ 8001e6a: 2000 movs r0, #0
+ 8001e6c: f7ff fcf4 bl 8001858
+ 8001e70: 4603 mov r3, r0
+ 8001e72: 4a02 ldr r2, [pc, #8] ; (8001e7c )
+ 8001e74: 6013 str r3, [r2, #0]
}
+ 8001e76: bf00 nop
+ 8001e78: bd80 pop {r7, pc}
8001e7a: bf00 nop
- 8001e7c: bd80 pop {r7, pc}
- 8001e7e: bf00 nop
- 8001e80: 200000e0 .word 0x200000e0
+ 8001e7c: 200000dc .word 0x200000dc
-08001e84 :
+08001e80 :
/*ISR of EXTI10 (right encoder)*/
-void RightEncoderGetReading (void)
+void LeftEncoderGetReading (void)
{
- 8001e84: b580 push {r7, lr}
- 8001e86: af00 add r7, sp, #0
- right_counts = HENCODER_voidEncoderCounts(GPIOB,PIN10);
- 8001e88: 210a movs r1, #10
- 8001e8a: 2001 movs r0, #1
- 8001e8c: f7ff fce4 bl 8001858
- 8001e90: 4603 mov r3, r0
- 8001e92: 4a02 ldr r2, [pc, #8] ; (8001e9c )
- 8001e94: 6013 str r3, [r2, #0]
+ 8001e80: b580 push {r7, lr}
+ 8001e82: af00 add r7, sp, #0
+ left_counts = HENCODER_voidEncoderCounts(GPIOB,PIN10);
+ 8001e84: 210a movs r1, #10
+ 8001e86: 2001 movs r0, #1
+ 8001e88: f7ff fce6 bl 8001858
+ 8001e8c: 4603 mov r3, r0
+ 8001e8e: 4a02 ldr r2, [pc, #8] ; (8001e98 )
+ 8001e90: 6013 str r3, [r2, #0]
}
+ 8001e92: bf00 nop
+ 8001e94: bd80 pop {r7, pc}
8001e96: bf00 nop
- 8001e98: bd80 pop {r7, pc}
- 8001e9a: bf00 nop
- 8001e9c: 200000dc .word 0x200000dc
+ 8001e98: 200000e0 .word 0x200000e0
-08001ea0 :
+08001e9c :
s16 Get_Reading(void)
{
- 8001ea0: e92d 43b0 stmdb sp!, {r4, r5, r7, r8, r9, lr}
- 8001ea4: b082 sub sp, #8
- 8001ea6: af00 add r7, sp, #0
+ 8001e9c: e92d 43b0 stmdb sp!, {r4, r5, r7, r8, r9, lr}
+ 8001ea0: b082 sub sp, #8
+ 8001ea2: af00 add r7, sp, #0
Rx_arrlength = MUSART2_u8ReceiveDataBlock(data_arr);
- 8001ea8: 4853 ldr r0, [pc, #332] ; (8001ff8 )
- 8001eaa: f7ff ffbb bl 8001e24
- 8001eae: 4603 mov r3, r0
- 8001eb0: 461a mov r2, r3
- 8001eb2: 4b52 ldr r3, [pc, #328] ; (8001ffc )
- 8001eb4: 701a strb r2, [r3, #0]
+ 8001ea4: 4853 ldr r0, [pc, #332] ; (8001ff4 )
+ 8001ea6: f7ff ffbb bl 8001e20
+ 8001eaa: 4603 mov r3, r0
+ 8001eac: 461a mov r2, r3
+ 8001eae: 4b52 ldr r3, [pc, #328] ; (8001ff8 )
+ 8001eb0: 701a strb r2, [r3, #0]
Rx_mpu = 0;
- 8001eb6: 4b52 ldr r3, [pc, #328] ; (8002000 )
- 8001eb8: 2200 movs r2, #0
- 8001eba: 801a strh r2, [r3, #0]
+ 8001eb2: 4b52 ldr r3, [pc, #328] ; (8001ffc )
+ 8001eb4: 2200 movs r2, #0
+ 8001eb6: 801a strh r2, [r3, #0]
if(data_arr[0] == 'a')
- 8001ebc: 4b4e ldr r3, [pc, #312] ; (8001ff8 )
- 8001ebe: 781b ldrb r3, [r3, #0]
- 8001ec0: 2b61 cmp r3, #97 ; 0x61
- 8001ec2: f040 8090 bne.w 8001fe6
+ 8001eb8: 4b4e ldr r3, [pc, #312] ; (8001ff4 )
+ 8001eba: 781b ldrb r3, [r3, #0]
+ 8001ebc: 2b61 cmp r3, #97 ; 0x61
+ 8001ebe: f040 8090 bne.w 8001fe2
{
if (data_arr[1] == '-')
- 8001ec6: 4b4c ldr r3, [pc, #304] ; (8001ff8 )
- 8001ec8: 785b ldrb r3, [r3, #1]
- 8001eca: 2b2d cmp r3, #45 ; 0x2d
- 8001ecc: d14a bne.n 8001f64
+ 8001ec2: 4b4c ldr r3, [pc, #304] ; (8001ff4 )
+ 8001ec4: 785b ldrb r3, [r3, #1]
+ 8001ec6: 2b2d cmp r3, #45 ; 0x2d
+ 8001ec8: d14a bne.n 8001f60
{
for(u8 i = 2 ; i
+ 8001eca: 2302 movs r3, #2
+ 8001ecc: 71fb strb r3, [r7, #7]
+ 8001ece: e038 b.n 8001f42
{
Rx_mpu = Rx_mpu + (data_arr[i]-48)*pow(10,Rx_arrlength-1-i);
- 8001ed4: 4b4a ldr r3, [pc, #296] ; (8002000 )
- 8001ed6: f9b3 3000 ldrsh.w r3, [r3]
- 8001eda: 4618 mov r0, r3
- 8001edc: f7fe fa9a bl 8000414 <__aeabi_i2d>
- 8001ee0: 4604 mov r4, r0
- 8001ee2: 460d mov r5, r1
- 8001ee4: 79fb ldrb r3, [r7, #7]
- 8001ee6: 4a44 ldr r2, [pc, #272] ; (8001ff8 )
- 8001ee8: 5cd3 ldrb r3, [r2, r3]
- 8001eea: 3b30 subs r3, #48 ; 0x30
- 8001eec: 4618 mov r0, r3
- 8001eee: f7fe fa91 bl 8000414 <__aeabi_i2d>
- 8001ef2: 4680 mov r8, r0
- 8001ef4: 4689 mov r9, r1
- 8001ef6: 4b41 ldr r3, [pc, #260] ; (8001ffc )
- 8001ef8: 781b ldrb r3, [r3, #0]
- 8001efa: 1e5a subs r2, r3, #1
- 8001efc: 79fb ldrb r3, [r7, #7]
- 8001efe: 1ad3 subs r3, r2, r3
- 8001f00: 4618 mov r0, r3
- 8001f02: f7fe fa87 bl 8000414 <__aeabi_i2d>
- 8001f06: 4602 mov r2, r0
- 8001f08: 460b mov r3, r1
- 8001f0a: f04f 0000 mov.w r0, #0
- 8001f0e: 493d ldr r1, [pc, #244] ; (8002004 )
- 8001f10: f000 fc12 bl 8002738
- 8001f14: 4602 mov r2, r0
- 8001f16: 460b mov r3, r1
- 8001f18: 4640 mov r0, r8
- 8001f1a: 4649 mov r1, r9
- 8001f1c: f7fe fae4 bl 80004e8 <__aeabi_dmul>
- 8001f20: 4602 mov r2, r0
- 8001f22: 460b mov r3, r1
- 8001f24: 4620 mov r0, r4
- 8001f26: 4629 mov r1, r5
- 8001f28: f7fe f928 bl 800017c <__adddf3>
- 8001f2c: 4602 mov r2, r0
- 8001f2e: 460b mov r3, r1
- 8001f30: 4610 mov r0, r2
- 8001f32: 4619 mov r1, r3
- 8001f34: f7fe fd88 bl 8000a48 <__aeabi_d2iz>
- 8001f38: 4603 mov r3, r0
- 8001f3a: b21a sxth r2, r3
- 8001f3c: 4b30 ldr r3, [pc, #192] ; (8002000 )
- 8001f3e: 801a strh r2, [r3, #0]
+ 8001ed0: 4b4a ldr r3, [pc, #296] ; (8001ffc )
+ 8001ed2: f9b3 3000 ldrsh.w r3, [r3]
+ 8001ed6: 4618 mov r0, r3
+ 8001ed8: f7fe fa9c bl 8000414 <__aeabi_i2d>
+ 8001edc: 4604 mov r4, r0
+ 8001ede: 460d mov r5, r1
+ 8001ee0: 79fb ldrb r3, [r7, #7]
+ 8001ee2: 4a44 ldr r2, [pc, #272] ; (8001ff4 )
+ 8001ee4: 5cd3 ldrb r3, [r2, r3]
+ 8001ee6: 3b30 subs r3, #48 ; 0x30
+ 8001ee8: 4618 mov r0, r3
+ 8001eea: f7fe fa93 bl 8000414 <__aeabi_i2d>
+ 8001eee: 4680 mov r8, r0
+ 8001ef0: 4689 mov r9, r1
+ 8001ef2: 4b41 ldr r3, [pc, #260] ; (8001ff8 )
+ 8001ef4: 781b ldrb r3, [r3, #0]
+ 8001ef6: 1e5a subs r2, r3, #1
+ 8001ef8: 79fb ldrb r3, [r7, #7]
+ 8001efa: 1ad3 subs r3, r2, r3
+ 8001efc: 4618 mov r0, r3
+ 8001efe: f7fe fa89 bl 8000414 <__aeabi_i2d>
+ 8001f02: 4602 mov r2, r0
+ 8001f04: 460b mov r3, r1
+ 8001f06: f04f 0000 mov.w r0, #0
+ 8001f0a: 493d ldr r1, [pc, #244] ; (8002000 )
+ 8001f0c: f000 fcae bl 800286c
+ 8001f10: 4602 mov r2, r0
+ 8001f12: 460b mov r3, r1
+ 8001f14: 4640 mov r0, r8
+ 8001f16: 4649 mov r1, r9
+ 8001f18: f7fe fae6 bl 80004e8 <__aeabi_dmul>
+ 8001f1c: 4602 mov r2, r0
+ 8001f1e: 460b mov r3, r1
+ 8001f20: 4620 mov r0, r4
+ 8001f22: 4629 mov r1, r5
+ 8001f24: f7fe f92a bl 800017c <__adddf3>
+ 8001f28: 4602 mov r2, r0
+ 8001f2a: 460b mov r3, r1
+ 8001f2c: 4610 mov r0, r2
+ 8001f2e: 4619 mov r1, r3
+ 8001f30: f7fe fd8a bl 8000a48 <__aeabi_d2iz>
+ 8001f34: 4603 mov r3, r0
+ 8001f36: b21a sxth r2, r3
+ 8001f38: 4b30 ldr r3, [pc, #192] ; (8001ffc )
+ 8001f3a: 801a strh r2, [r3, #0]
for(u8 i = 2 ; i)
- 8001f48: 781b ldrb r3, [r3, #0]
- 8001f4a: 79fa ldrb r2, [r7, #7]
- 8001f4c: 429a cmp r2, r3
- 8001f4e: d3c1 bcc.n 8001ed4
+ 8001f3c: 79fb ldrb r3, [r7, #7]
+ 8001f3e: 3301 adds r3, #1
+ 8001f40: 71fb strb r3, [r7, #7]
+ 8001f42: 4b2d ldr r3, [pc, #180] ; (8001ff8 )
+ 8001f44: 781b ldrb r3, [r3, #0]
+ 8001f46: 79fa ldrb r2, [r7, #7]
+ 8001f48: 429a cmp r2, r3
+ 8001f4a: d3c1 bcc.n 8001ed0
}
Rx_mpu = Rx_mpu*-1;
- 8001f50: 4b2b ldr r3, [pc, #172] ; (8002000 )
- 8001f52: f9b3 3000 ldrsh.w r3, [r3]
+ 8001f4c: 4b2b ldr r3, [pc, #172] ; (8001ffc )
+ 8001f4e: f9b3 3000 ldrsh.w r3, [r3]
+ 8001f52: b29b uxth r3, r3
+ 8001f54: 425b negs r3, r3
8001f56: b29b uxth r3, r3
- 8001f58: 425b negs r3, r3
- 8001f5a: b29b uxth r3, r3
- 8001f5c: b21a sxth r2, r3
- 8001f5e: 4b28 ldr r3, [pc, #160] ; (8002000 )
- 8001f60: 801a strh r2, [r3, #0]
- 8001f62: e040 b.n 8001fe6
+ 8001f58: b21a sxth r2, r3
+ 8001f5a: 4b28 ldr r3, [pc, #160] ; (8001ffc )
+ 8001f5c: 801a strh r2, [r3, #0]
+ 8001f5e: e040 b.n 8001fe2
}
else
{
for(u8 i = 1 ; i
+ 8001f60: 2301 movs r3, #1
+ 8001f62: 71bb strb r3, [r7, #6]
+ 8001f64: e038 b.n 8001fd8
{
Rx_mpu = Rx_mpu + (data_arr[i]-48)*pow(10,Rx_arrlength-1-i);
- 8001f6a: 4b25 ldr r3, [pc, #148] ; (8002000 )
- 8001f6c: f9b3 3000 ldrsh.w r3, [r3]
- 8001f70: 4618 mov r0, r3
- 8001f72: f7fe fa4f bl 8000414 <__aeabi_i2d>
- 8001f76: 4604 mov r4, r0
- 8001f78: 460d mov r5, r1
- 8001f7a: 79bb ldrb r3, [r7, #6]
- 8001f7c: 4a1e ldr r2, [pc, #120] ; (8001ff8 )
- 8001f7e: 5cd3 ldrb r3, [r2, r3]
- 8001f80: 3b30 subs r3, #48 ; 0x30
- 8001f82: 4618 mov r0, r3
- 8001f84: f7fe fa46 bl 8000414 <__aeabi_i2d>
- 8001f88: 4680 mov r8, r0
- 8001f8a: 4689 mov r9, r1
- 8001f8c: 4b1b ldr r3, [pc, #108] ; (8001ffc )
- 8001f8e: 781b ldrb r3, [r3, #0]
- 8001f90: 1e5a subs r2, r3, #1
- 8001f92: 79bb ldrb r3, [r7, #6]
- 8001f94: 1ad3 subs r3, r2, r3
- 8001f96: 4618 mov r0, r3
- 8001f98: f7fe fa3c bl 8000414 <__aeabi_i2d>
- 8001f9c: 4602 mov r2, r0
- 8001f9e: 460b mov r3, r1
- 8001fa0: f04f 0000 mov.w r0, #0
- 8001fa4: 4917 ldr r1, [pc, #92] ; (8002004 )
- 8001fa6: f000 fbc7 bl 8002738
- 8001faa: 4602 mov r2, r0
- 8001fac: 460b mov r3, r1
- 8001fae: 4640 mov r0, r8
- 8001fb0: 4649 mov r1, r9
- 8001fb2: f7fe fa99 bl 80004e8 <__aeabi_dmul>
- 8001fb6: 4602 mov r2, r0
- 8001fb8: 460b mov r3, r1
- 8001fba: 4620 mov r0, r4
- 8001fbc: 4629 mov r1, r5
- 8001fbe: f7fe f8dd bl 800017c <__adddf3>
- 8001fc2: 4602 mov r2, r0
- 8001fc4: 460b mov r3, r1
- 8001fc6: 4610 mov r0, r2
- 8001fc8: 4619 mov r1, r3
- 8001fca: f7fe fd3d bl 8000a48 <__aeabi_d2iz>
- 8001fce: 4603 mov r3, r0
- 8001fd0: b21a sxth r2, r3
- 8001fd2: 4b0b ldr r3, [pc, #44] ; (8002000 )
- 8001fd4: 801a strh r2, [r3, #0]
+ 8001f66: 4b25 ldr r3, [pc, #148] ; (8001ffc )
+ 8001f68: f9b3 3000 ldrsh.w r3, [r3]
+ 8001f6c: 4618 mov r0, r3
+ 8001f6e: f7fe fa51 bl 8000414 <__aeabi_i2d>
+ 8001f72: 4604 mov r4, r0
+ 8001f74: 460d mov r5, r1
+ 8001f76: 79bb ldrb r3, [r7, #6]
+ 8001f78: 4a1e ldr r2, [pc, #120] ; (8001ff4 )
+ 8001f7a: 5cd3 ldrb r3, [r2, r3]
+ 8001f7c: 3b30 subs r3, #48 ; 0x30
+ 8001f7e: 4618 mov r0, r3
+ 8001f80: f7fe fa48 bl 8000414 <__aeabi_i2d>
+ 8001f84: 4680 mov r8, r0
+ 8001f86: 4689 mov r9, r1
+ 8001f88: 4b1b ldr r3, [pc, #108] ; (8001ff8 )
+ 8001f8a: 781b ldrb r3, [r3, #0]
+ 8001f8c: 1e5a subs r2, r3, #1
+ 8001f8e: 79bb ldrb r3, [r7, #6]
+ 8001f90: 1ad3 subs r3, r2, r3
+ 8001f92: 4618 mov r0, r3
+ 8001f94: f7fe fa3e bl 8000414 <__aeabi_i2d>
+ 8001f98: 4602 mov r2, r0
+ 8001f9a: 460b mov r3, r1
+ 8001f9c: f04f 0000 mov.w r0, #0
+ 8001fa0: 4917 ldr r1, [pc, #92] ; (8002000 )
+ 8001fa2: f000 fc63 bl 800286c
+ 8001fa6: 4602 mov r2, r0
+ 8001fa8: 460b mov r3, r1
+ 8001faa: 4640 mov r0, r8
+ 8001fac: 4649 mov r1, r9
+ 8001fae: f7fe fa9b bl 80004e8 <__aeabi_dmul>
+ 8001fb2: 4602 mov r2, r0
+ 8001fb4: 460b mov r3, r1
+ 8001fb6: 4620 mov r0, r4
+ 8001fb8: 4629 mov r1, r5
+ 8001fba: f7fe f8df bl 800017c <__adddf3>
+ 8001fbe: 4602 mov r2, r0
+ 8001fc0: 460b mov r3, r1
+ 8001fc2: 4610 mov r0, r2
+ 8001fc4: 4619 mov r1, r3
+ 8001fc6: f7fe fd3f bl 8000a48 <__aeabi_d2iz>
+ 8001fca: 4603 mov r3, r0
+ 8001fcc: b21a sxth r2, r3
+ 8001fce: 4b0b ldr r3, [pc, #44] ; (8001ffc )
+ 8001fd0: 801a strh r2, [r3, #0]
for(u8 i = 1 ; i)
- 8001fde: 781b ldrb r3, [r3, #0]
- 8001fe0: 79ba ldrb r2, [r7, #6]
- 8001fe2: 429a cmp r2, r3
- 8001fe4: d3c1 bcc.n 8001f6a
+ 8001fd2: 79bb ldrb r3, [r7, #6]
+ 8001fd4: 3301 adds r3, #1
+ 8001fd6: 71bb strb r3, [r7, #6]
+ 8001fd8: 4b07 ldr r3, [pc, #28] ; (8001ff8 )
+ 8001fda: 781b ldrb r3, [r3, #0]
+ 8001fdc: 79ba ldrb r2, [r7, #6]
+ 8001fde: 429a cmp r2, r3
+ 8001fe0: d3c1 bcc.n 8001f66
}
}
}
return Rx_mpu ;
- 8001fe6: 4b06 ldr r3, [pc, #24] ; (8002000 )
- 8001fe8: f9b3 3000 ldrsh.w r3, [r3]
+ 8001fe2: 4b06 ldr r3, [pc, #24] ; (8001ffc )
+ 8001fe4: f9b3 3000 ldrsh.w r3, [r3]
}
- 8001fec: 4618 mov r0, r3
- 8001fee: 3708 adds r7, #8
- 8001ff0: 46bd mov sp, r7
- 8001ff2: e8bd 83b0 ldmia.w sp!, {r4, r5, r7, r8, r9, pc}
- 8001ff6: bf00 nop
- 8001ff8: 200000f4 .word 0x200000f4
- 8001ffc: 200000f0 .word 0x200000f0
- 8002000: 2000010a .word 0x2000010a
- 8002004: 40240000 .word 0x40240000
+ 8001fe8: 4618 mov r0, r3
+ 8001fea: 3708 adds r7, #8
+ 8001fec: 46bd mov sp, r7
+ 8001fee: e8bd 83b0 ldmia.w sp!, {r4, r5, r7, r8, r9, pc}
+ 8001ff2: bf00 nop
+ 8001ff4: 200000f4 .word 0x200000f4
+ 8001ff8: 200000f0 .word 0x200000f0
+ 8001ffc: 2000010a .word 0x2000010a
+ 8002000: 40240000 .word 0x40240000
-08002008 :
+08002004 :
void RotateRight()
{
- 8002008: b580 push {r7, lr}
- 800200a: b082 sub sp, #8
- 800200c: af00 add r7, sp, #0
-
- s16 Reading = 0 ;
- 800200e: 2300 movs r3, #0
- 8002010: 807b strh r3, [r7, #2]
- s16 Final_Value = 0 ;
- 8002012: 2300 movs r3, #0
- 8002014: 80fb strh r3, [r7, #6]
+ 8002004: b580 push {r7, lr}
+ 8002006: b082 sub sp, #8
+ 8002008: af00 add r7, sp, #0
s16 error = 0;
- 8002016: 2300 movs r3, #0
- 8002018: 80bb strh r3, [r7, #4]
-
+ 800200a: 2300 movs r3, #0
+ 800200c: 80fb strh r3, [r7, #6]
Reading = Get_Reading() ;
- 800201a: f7ff ff41 bl 8001ea0
- 800201e: 4603 mov r3, r0
- 8002020: 807b strh r3, [r7, #2]
-
+ 800200e: f7ff ff45 bl 8001e9c
+ 8002012: 4603 mov r3, r0
+ 8002014: 461a mov r2, r3
+ 8002016: 4b43 ldr r3, [pc, #268] ; (8002124 )
+ 8002018: 801a strh r2, [r3, #0]
Final_Value = Reading + 90 ;
- 8002022: 887b ldrh r3, [r7, #2]
- 8002024: 335a adds r3, #90 ; 0x5a
- 8002026: b29b uxth r3, r3
- 8002028: 80fb strh r3, [r7, #6]
+ 800201a: 4b42 ldr r3, [pc, #264] ; (8002124 )
+ 800201c: f9b3 3000 ldrsh.w r3, [r3]
+ 8002020: b29b uxth r3, r3
+ 8002022: 335a adds r3, #90 ; 0x5a
+ 8002024: b29b uxth r3, r3
+ 8002026: b21a sxth r2, r3
+ 8002028: 4b3f ldr r3, [pc, #252] ; (8002128 )
+ 800202a: 801a strh r2, [r3, #0]
if (Final_Value > 180 )
- 800202a: f9b7 3006 ldrsh.w r3, [r7, #6]
- 800202e: 2bb4 cmp r3, #180 ; 0xb4
- 8002030: dd04 ble.n 800203c
+ 800202c: 4b3e ldr r3, [pc, #248] ; (8002128 )
+ 800202e: f9b3 3000 ldrsh.w r3, [r3]
+ 8002032: 2bb4 cmp r3, #180 ; 0xb4
+ 8002034: dd09 ble.n 800204a
{
Final_Value = Final_Value - 360 ;
- 8002032: 88fb ldrh r3, [r7, #6]
- 8002034: f5a3 73b4 sub.w r3, r3, #360 ; 0x168
- 8002038: b29b uxth r3, r3
- 800203a: 80fb strh r3, [r7, #6]
+ 8002036: 4b3c ldr r3, [pc, #240] ; (8002128 )
+ 8002038: f9b3 3000 ldrsh.w r3, [r3]
+ 800203c: b29b uxth r3, r3
+ 800203e: f5a3 73b4 sub.w r3, r3, #360 ; 0x168
+ 8002042: b29b uxth r3, r3
+ 8002044: b21a sxth r2, r3
+ 8002046: 4b38 ldr r3, [pc, #224] ; (8002128 )
+ 8002048: 801a strh r2, [r3, #0]
}
error = Final_Value - Reading ;
- 800203c: 88fa ldrh r2, [r7, #6]
- 800203e: 887b ldrh r3, [r7, #2]
- 8002040: 1ad3 subs r3, r2, r3
- 8002042: b29b uxth r3, r3
- 8002044: 80bb strh r3, [r7, #4]
+ 800204a: 4b37 ldr r3, [pc, #220] ; (8002128 )
+ 800204c: f9b3 3000 ldrsh.w r3, [r3]
+ 8002050: b29a uxth r2, r3
+ 8002052: 4b34 ldr r3, [pc, #208] ; (8002124 )
+ 8002054: f9b3 3000 ldrsh.w r3, [r3]
+ 8002058: b29b uxth r3, r3
+ 800205a: 1ad3 subs r3, r2, r3
+ 800205c: b29b uxth r3, r3
+ 800205e: 80fb strh r3, [r7, #6]
while (1)
{
MGPIO_VoidSetPinValue(GPIOA, 0, HIGH);
- 8002046: 2201 movs r2, #1
- 8002048: 2100 movs r1, #0
- 800204a: 2000 movs r0, #0
- 800204c: f7ff f9b0 bl 80013b0
+ 8002060: 2201 movs r2, #1
+ 8002062: 2100 movs r1, #0
+ 8002064: 2000 movs r0, #0
+ 8002066: f7ff f9a3 bl 80013b0
MGPIO_VoidSetPinValue(GPIOA, 5, LOW);
- 8002050: 2200 movs r2, #0
- 8002052: 2105 movs r1, #5
- 8002054: 2000 movs r0, #0
- 8002056: f7ff f9ab bl 80013b0
-
- MTIM2_voidOutputPWM_C2(30);
- 800205a: 201e movs r0, #30
- 800205c: f7ff fddc bl 8001c18
- MTIM3_voidOutputPWM(30);
- 8002060: 201e movs r0, #30
- 8002062: f7ff fe37 bl 8001cd4
+ 800206a: 2200 movs r2, #0
+ 800206c: 2105 movs r1, #5
+ 800206e: 2000 movs r0, #0
+ 8002070: f7ff f99e bl 80013b0
+
+ MTIM2_voidOutputPWM_C2(15);
+ 8002074: 200f movs r0, #15
+ 8002076: f7ff fdcf bl 8001c18
+ MTIM3_voidOutputPWM(15);
+ 800207a: 200f movs r0, #15
+ 800207c: f7ff fe2a bl 8001cd4
if (error < -180 )
- 8002066: f9b7 3004 ldrsh.w r3, [r7, #4]
- 800206a: f113 0fb4 cmn.w r3, #180 ; 0xb4
- 800206e: da04 bge.n 800207a
+ 8002080: f9b7 3006 ldrsh.w r3, [r7, #6]
+ 8002084: f113 0fb4 cmn.w r3, #180 ; 0xb4
+ 8002088: da04 bge.n 8002094
{
error += 360 ;
- 8002070: 88bb ldrh r3, [r7, #4]
- 8002072: f503 73b4 add.w r3, r3, #360 ; 0x168
- 8002076: b29b uxth r3, r3
- 8002078: 80bb strh r3, [r7, #4]
+ 800208a: 88fb ldrh r3, [r7, #6]
+ 800208c: f503 73b4 add.w r3, r3, #360 ; 0x168
+ 8002090: b29b uxth r3, r3
+ 8002092: 80fb strh r3, [r7, #6]
}
if ( error <= 0 )
- 800207a: f9b7 3004 ldrsh.w r3, [r7, #4]
- 800207e: 2b00 cmp r3, #0
- 8002080: dc1e bgt.n 80020c0
+ 8002094: f9b7 3006 ldrsh.w r3, [r7, #6]
+ 8002098: 2b00 cmp r3, #0
+ 800209a: dc2d bgt.n 80020f8
{
MTIM3_voidOutputPWM(0);
- 8002082: 2000 movs r0, #0
- 8002084: f7ff fe26 bl 8001cd4
+ 800209c: 2000 movs r0, #0
+ 800209e: f7ff fe19 bl 8001cd4
MTIM2_voidOutputPWM_C2(0);
- 8002088: 2000 movs r0, #0
- 800208a: f7ff fdc5 bl 8001c18
+ 80020a2: 2000 movs r0, #0
+ 80020a4: f7ff fdb8 bl 8001c18
HENCODER_s32GetZeroCounts(PIN8);
- 800208e: 2008 movs r0, #8
- 8002090: f7ff fc36 bl 8001900
+ 80020a8: 2008 movs r0, #8
+ 80020aa: f7ff fc29 bl 8001900
HENCODER_s32GetZeroCounts(PIN10);
- 8002094: 200a movs r0, #10
- 8002096: f7ff fc33 bl 8001900
+ 80020ae: 200a movs r0, #10
+ 80020b0: f7ff fc26 bl 8001900
MUSART2_voidSendString((u8*)"s2");
- 800209a: 4810 ldr r0, [pc, #64] ; (80020dc )
- 800209c: f7ff fe7e bl 8001d9c
+ 80020b4: 481d ldr r0, [pc, #116] ; (800212c )
+ 80020b6: f7ff fe6f bl 8001d98
+ MUSART2_voidSendString((u8*)"\r\n");
+ 80020ba: 481d ldr r0, [pc, #116] ; (8002130 )
+ 80020bc: f7ff fe6c bl 8001d98
+
+ MUSART2_voidSendString((u8*)"p");
+ 80020c0: 481c ldr r0, [pc, #112] ; (8002134 )
+ 80020c2: f7ff fe69 bl 8001d98
+ MUSART2_voidSendNumbers(Final_Value);
+ 80020c6: 4b18 ldr r3, [pc, #96] ; (8002128 )
+ 80020c8: f9b3 3000 ldrsh.w r3, [r3]
+ 80020cc: 4618 mov r0, r3
+ 80020ce: f7ff fe79 bl 8001dc4
MUSART2_voidSendString((u8*)"\r\n");
- 80020a0: 480f ldr r0, [pc, #60] ; (80020e0 )
- 80020a2: f7ff fe7b bl 8001d9c
+ 80020d2: 4817 ldr r0, [pc, #92] ; (8002130 )
+ 80020d4: f7ff fe60 bl 8001d98
+ MUSART2_voidSendString((u8*)"v");
+ 80020d8: 4817 ldr r0, [pc, #92] ; (8002138 )
+ 80020da: f7ff fe5d bl 8001d98
MUSART2_voidSendNumbers(reading);
- 80020a6: 4b0f ldr r3, [pc, #60] ; (80020e4 )
- 80020a8: 681b ldr r3, [r3, #0]
- 80020aa: 4618 mov r0, r3
- 80020ac: f7fe ffc2 bl 8001034 <__aeabi_f2iz>
- 80020b0: 4603 mov r3, r0
- 80020b2: 4618 mov r0, r3
- 80020b4: f7ff fe88 bl 8001dc8
+ 80020de: 4b17 ldr r3, [pc, #92] ; (800213c )
+ 80020e0: 681b ldr r3, [r3, #0]
+ 80020e2: 4618 mov r0, r3
+ 80020e4: f7fe ffa6 bl 8001034 <__aeabi_f2iz>
+ 80020e8: 4603 mov r3, r0
+ 80020ea: 4618 mov r0, r3
+ 80020ec: f7ff fe6a bl 8001dc4
MUSART2_voidSendString((u8*)"\r\n");
- 80020b8: 4809 ldr r0, [pc, #36] ; (80020e0 )
- 80020ba: f7ff fe6f bl 8001d9c
+ 80020f0: 480f ldr r0, [pc, #60] ; (8002130 )
+ 80020f2: f7ff fe51 bl 8001d98
break ;
- 80020be: e009 b.n 80020d4
+ 80020f6: e011 b.n 800211c
}
- Reading = Get_Reading() ;
- 80020c0: f7ff feee bl 8001ea0
- 80020c4: 4603 mov r3, r0
- 80020c6: 807b strh r3, [r7, #2]
+ Reading = Get_Reading() ;
+ 80020f8: f7ff fed0 bl 8001e9c
+ 80020fc: 4603 mov r3, r0
+ 80020fe: 461a mov r2, r3
+ 8002100: 4b08 ldr r3, [pc, #32] ; (8002124 )
+ 8002102: 801a strh r2, [r3, #0]
error = Final_Value - Reading ;
- 80020c8: 88fa ldrh r2, [r7, #6]
- 80020ca: 887b ldrh r3, [r7, #2]
- 80020cc: 1ad3 subs r3, r2, r3
- 80020ce: b29b uxth r3, r3
- 80020d0: 80bb strh r3, [r7, #4]
+ 8002104: 4b08 ldr r3, [pc, #32] ; (8002128 )
+ 8002106: f9b3 3000 ldrsh.w r3, [r3]
+ 800210a: b29a uxth r2, r3
+ 800210c: 4b05 ldr r3, [pc, #20] ; (8002124 )
+ 800210e: f9b3 3000 ldrsh.w r3, [r3]
+ 8002112: b29b uxth r3, r3
+ 8002114: 1ad3 subs r3, r2, r3
+ 8002116: b29b uxth r3, r3
+ 8002118: 80fb strh r3, [r7, #6]
MGPIO_VoidSetPinValue(GPIOA, 0, HIGH);
- 80020d2: e7b8 b.n 8002046
+ 800211a: e7a1 b.n 8002060
}
}
- 80020d4: bf00 nop
- 80020d6: 3708 adds r7, #8
- 80020d8: 46bd mov sp, r7
- 80020da: bd80 pop {r7, pc}
- 80020dc: 08003518 .word 0x08003518
- 80020e0: 0800351c .word 0x0800351c
- 80020e4: 200000e8 .word 0x200000e8
+ 800211c: bf00 nop
+ 800211e: 3708 adds r7, #8
+ 8002120: 46bd mov sp, r7
+ 8002122: bd80 pop {r7, pc}
+ 8002124: 20000110 .word 0x20000110
+ 8002128: 2000010e .word 0x2000010e
+ 800212c: 08003650 .word 0x08003650
+ 8002130: 08003654 .word 0x08003654
+ 8002134: 08003658 .word 0x08003658
+ 8002138: 0800365c .word 0x0800365c
+ 800213c: 200000e8 .word 0x200000e8
-080020e8 :
+08002140 :
void RotateLeft()
{
- 80020e8: b580 push {r7, lr}
- 80020ea: b082 sub sp, #8
- 80020ec: af00 add r7, sp, #0
-
- s16 Reading = 0 ;
- 80020ee: 2300 movs r3, #0
- 80020f0: 807b strh r3, [r7, #2]
- s16 Final_Value = 0 ;
- 80020f2: 2300 movs r3, #0
- 80020f4: 80fb strh r3, [r7, #6]
+ 8002140: b580 push {r7, lr}
+ 8002142: b082 sub sp, #8
+ 8002144: af00 add r7, sp, #0
s16 error = 0;
- 80020f6: 2300 movs r3, #0
- 80020f8: 80bb strh r3, [r7, #4]
-
+ 8002146: 2300 movs r3, #0
+ 8002148: 80fb strh r3, [r7, #6]
Reading = Get_Reading() ;
- 80020fa: f7ff fed1 bl 8001ea0
- 80020fe: 4603 mov r3, r0
- 8002100: 807b strh r3, [r7, #2]
-
+ 800214a: f7ff fea7 bl 8001e9c
+ 800214e: 4603 mov r3, r0
+ 8002150: 461a mov r2, r3
+ 8002152: 4b43 ldr r3, [pc, #268] ; (8002260 )
+ 8002154: 801a strh r2, [r3, #0]
Final_Value = Reading - 90 ;
- 8002102: 887b ldrh r3, [r7, #2]
- 8002104: 3b5a subs r3, #90 ; 0x5a
- 8002106: b29b uxth r3, r3
- 8002108: 80fb strh r3, [r7, #6]
+ 8002156: 4b42 ldr r3, [pc, #264] ; (8002260 )
+ 8002158: f9b3 3000 ldrsh.w r3, [r3]
+ 800215c: b29b uxth r3, r3
+ 800215e: 3b5a subs r3, #90 ; 0x5a
+ 8002160: b29b uxth r3, r3
+ 8002162: b21a sxth r2, r3
+ 8002164: 4b3f ldr r3, [pc, #252] ; (8002264 )
+ 8002166: 801a strh r2, [r3, #0]
if (Final_Value < -180 )
- 800210a: f9b7 3006 ldrsh.w r3, [r7, #6]
- 800210e: f113 0fb4 cmn.w r3, #180 ; 0xb4
- 8002112: da04 bge.n 800211e
+ 8002168: 4b3e ldr r3, [pc, #248] ; (8002264 )
+ 800216a: f9b3 3000 ldrsh.w r3, [r3]
+ 800216e: f113 0fb4 cmn.w r3, #180 ; 0xb4
+ 8002172: da09 bge.n 8002188
{
Final_Value = Final_Value + 360 ;
- 8002114: 88fb ldrh r3, [r7, #6]
- 8002116: f503 73b4 add.w r3, r3, #360 ; 0x168
- 800211a: b29b uxth r3, r3
- 800211c: 80fb strh r3, [r7, #6]
+ 8002174: 4b3b ldr r3, [pc, #236] ; (8002264 )
+ 8002176: f9b3 3000 ldrsh.w r3, [r3]
+ 800217a: b29b uxth r3, r3
+ 800217c: f503 73b4 add.w r3, r3, #360 ; 0x168
+ 8002180: b29b uxth r3, r3
+ 8002182: b21a sxth r2, r3
+ 8002184: 4b37 ldr r3, [pc, #220] ; (8002264 )
+ 8002186: 801a strh r2, [r3, #0]
}
error = Final_Value - Reading ;
- 800211e: 88fa ldrh r2, [r7, #6]
- 8002120: 887b ldrh r3, [r7, #2]
- 8002122: 1ad3 subs r3, r2, r3
- 8002124: b29b uxth r3, r3
- 8002126: 80bb strh r3, [r7, #4]
+ 8002188: 4b36 ldr r3, [pc, #216] ; (8002264 )
+ 800218a: f9b3 3000 ldrsh.w r3, [r3]
+ 800218e: b29a uxth r2, r3
+ 8002190: 4b33 ldr r3, [pc, #204] ; (8002260 )
+ 8002192: f9b3 3000 ldrsh.w r3, [r3]
+ 8002196: b29b uxth r3, r3
+ 8002198: 1ad3 subs r3, r2, r3
+ 800219a: b29b uxth r3, r3
+ 800219c: 80fb strh r3, [r7, #6]
while (1)
{
- MGPIO_VoidSetPinValue(GPIOA, 0, HIGH);
- 8002128: 2201 movs r2, #1
- 800212a: 2100 movs r1, #0
- 800212c: 2000 movs r0, #0
- 800212e: f7ff f93f bl 80013b0
- MGPIO_VoidSetPinValue(GPIOA, 5, LOW);
- 8002132: 2200 movs r2, #0
- 8002134: 2105 movs r1, #5
- 8002136: 2000 movs r0, #0
- 8002138: f7ff f93a bl 80013b0
-
- MTIM2_voidOutputPWM_C2(30);
- 800213c: 201e movs r0, #30
- 800213e: f7ff fd6b bl 8001c18
- MTIM3_voidOutputPWM(30);
- 8002142: 201e movs r0, #30
- 8002144: f7ff fdc6 bl 8001cd4
+ MGPIO_VoidSetPinValue(GPIOA, 0, LOW);
+ 800219e: 2200 movs r2, #0
+ 80021a0: 2100 movs r1, #0
+ 80021a2: 2000 movs r0, #0
+ 80021a4: f7ff f904 bl 80013b0
+ MGPIO_VoidSetPinValue(GPIOA, 5, HIGH);
+ 80021a8: 2201 movs r2, #1
+ 80021aa: 2105 movs r1, #5
+ 80021ac: 2000 movs r0, #0
+ 80021ae: f7ff f8ff bl 80013b0
+
+ MTIM2_voidOutputPWM_C2(15);
+ 80021b2: 200f movs r0, #15
+ 80021b4: f7ff fd30 bl 8001c18
+ MTIM3_voidOutputPWM(15);
+ 80021b8: 200f movs r0, #15
+ 80021ba: f7ff fd8b bl 8001cd4
if (error > 180 )
- 8002148: f9b7 3004 ldrsh.w r3, [r7, #4]
- 800214c: 2bb4 cmp r3, #180 ; 0xb4
- 800214e: dd04 ble.n 800215a
+ 80021be: f9b7 3006 ldrsh.w r3, [r7, #6]
+ 80021c2: 2bb4 cmp r3, #180 ; 0xb4
+ 80021c4: dd04 ble.n 80021d0
{
error -= 360 ;
- 8002150: 88bb ldrh r3, [r7, #4]
- 8002152: f5a3 73b4 sub.w r3, r3, #360 ; 0x168
- 8002156: b29b uxth r3, r3
- 8002158: 80bb strh r3, [r7, #4]
+ 80021c6: 88fb ldrh r3, [r7, #6]
+ 80021c8: f5a3 73b4 sub.w r3, r3, #360 ; 0x168
+ 80021cc: b29b uxth r3, r3
+ 80021ce: 80fb strh r3, [r7, #6]
}
if ( error >= 0 )
- 800215a: f9b7 3004 ldrsh.w r3, [r7, #4]
- 800215e: 2b00 cmp r3, #0
- 8002160: db1e blt.n 80021a0
+ 80021d0: f9b7 3006 ldrsh.w r3, [r7, #6]
+ 80021d4: 2b00 cmp r3, #0
+ 80021d6: db2d blt.n 8002234
{
MTIM3_voidOutputPWM(0);
- 8002162: 2000 movs r0, #0
- 8002164: f7ff fdb6 bl 8001cd4
+ 80021d8: 2000 movs r0, #0
+ 80021da: f7ff fd7b bl 8001cd4
MTIM2_voidOutputPWM_C2(0);
- 8002168: 2000 movs r0, #0
- 800216a: f7ff fd55 bl 8001c18
+ 80021de: 2000 movs r0, #0
+ 80021e0: f7ff fd1a bl 8001c18
HENCODER_s32GetZeroCounts(PIN8);
- 800216e: 2008 movs r0, #8
- 8002170: f7ff fbc6 bl 8001900
+ 80021e4: 2008 movs r0, #8
+ 80021e6: f7ff fb8b bl 8001900
HENCODER_s32GetZeroCounts(PIN10);
- 8002174: 200a movs r0, #10
- 8002176: f7ff fbc3 bl 8001900
+ 80021ea: 200a movs r0, #10
+ 80021ec: f7ff fb88 bl 8001900
MUSART2_voidSendString((u8*)"s2");
- 800217a: 4810 ldr r0, [pc, #64] ; (80021bc )
- 800217c: f7ff fe0e bl 8001d9c
+ 80021f0: 481d ldr r0, [pc, #116] ; (8002268 )
+ 80021f2: f7ff fdd1 bl 8001d98
+ MUSART2_voidSendString((u8*)"\r\n");
+ 80021f6: 481d ldr r0, [pc, #116] ; (800226c )
+ 80021f8: f7ff fdce bl 8001d98
+
+ MUSART2_voidSendString((u8*)"p");
+ 80021fc: 481c ldr r0, [pc, #112] ; (8002270 )
+ 80021fe: f7ff fdcb bl 8001d98
+ MUSART2_voidSendNumbers(Final_Value);
+ 8002202: 4b18 ldr r3, [pc, #96] ; (8002264