V1.01-006

付双电机，小改动，临时备份

Machine/FuXiaoWeiMachine/FXWChuantou_HeLian.c

@@ -98,8 +98,8 @@ void CTHL_Action(void)
   dwZRealPos = GetPos(Z_AXIS); 
   dwYRealPos_com=get_encode_value(Y_AXIS);
   
-  user_datas[121] = XCCR_LENGTH;//CTXM_DOWN_TIME;//dwYRealPos_com;//servo_y.init_step;//CTHL_ZhuangLiaoStep;
-  user_datas[122] = servo_y.IO_TO_COM;
+  user_datas[121] = CTHL_LianLengthCheckFK_GL;//CTXM_DOWN_TIME;//dwYRealPos_com;//servo_y.init_step;//CTHL_ZhuangLiaoStep;
+  user_datas[122] = CTHL_LianLengthCheckFK_DW;
   user_datas[123] = CTHL_AutoStep;
   user_datas[124] = CTHL_LianLengthCheck;//CTHL_ZhuangLiaoStep;
   user_datas[125] = CTHL_LianLengthCheckOld;//CTHL_TLiaoStep;
@@ -868,7 +868,7 @@ void CTHL_CheckStart(void)
       //      CTHL_HSLiao_VAVLE  =0;    
       //       CTHL_JLTou_VAVLE  =0;                             
       CTHL_CTXM_VAVLE =0;           
-      CTHL_MGuo_VAVLE = 0;
+      //CTHL_MGuo_VAVLE = 0;
       CTHL_JXM_VAVLE   =0;                  
       CTHL_QMDW_VAVLE   =0;        
       CTHL_TFK_VAVLE    =0;        
@@ -1066,15 +1066,15 @@ void CTHL_TD_Motor(void)	 //
     if(CTHL_FK_Check_UP)
     {           
       CTHL_XSavePosBuff = dwXRealPos;
-      AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_TDDW_LENGTH,
+      AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_XMCR_YJDW_LENGTH,
                         1000,1000,100,100,50); 
-      AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed*4/5,CTHL_PARAM_TDDW_LENGTH,
+      AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed*4/5,CTHL_PARAM_XMCR_YJDW_LENGTH,
                         1000,1000,100,100,50);                   
       CTHL_TD_MotorStep = 3;  
     }    
     break;
   case 3:
-    if(dwXRealPos>=CTHL_XSavePosBuff+CTHL_PARAM_XMCR_YJDW_LENGTH)
+    if(dwXRealPos>=CTHL_XSavePosBuff+CTHL_PARAM_XMCR_YJDW_LENGTH-200)
     {
       CTHL_FKDW_VAVLE=1; 
       CTHL_TXM_VAVLE=0;
@@ -1210,7 +1210,6 @@ void CTHL_TD_Motor(void)	 //
     {
       CTHL_HL_VAVLE=0;
     }
-    
     if(CTHL_FK_Check_UP && !bFKCheck_Flag)
     {
       bFKCheck_Flag = 1; 
@@ -1221,8 +1220,7 @@ void CTHL_TD_Motor(void)	 //
       CTHL_TD_MotorDelay = dwTickCount + CTHL_PARAM_TuiXiaMo_DELAY;
     }
     else if(dwTickCount >= CTHL_TD_MotorDelay)   //下模离开后延时加速
-    {  
-
+    { 
         bHeLaTouOK = 1;
         if((CTHL_cZipCnt > 1) && (!CTHL_NoLaLian_IN))
         {                    
@@ -1247,8 +1245,8 @@ void CTHL_TD_Motor(void)	 //
             CTHL_LENTH=CTHL_LianLengthCheck + CTHL_LianLengthCheckOld  - dwXRealPos;
           }
           CTHL_DataBuff = CTHL_PARAM_CLsudu_SPEED;
-          CTHL_LENTH=CTHL_LianLengthCheck+CTHL_LianLengthAutoFZcheck- dwXRealPos;
-          AxisMovePosAccDecNotStop(X_AXIS,CTHL_DataBuff,CTHL_LENTH,1000,CTHL_PARAM_FKDW_Speed,250,250,200); 
+          CTHL_LENTH=CTHL_LianLengthCheckFK_GL- dwXRealPos;
+          AxisMovePosAccDecNotStop(X_AXIS,CTHL_DataBuff,CTHL_LENTH,1000,CTHL_PARAM_FKDW_Speed,250,250,300); 
         }
         else
         {  
@@ -1373,25 +1371,8 @@ void CTHL_TD_Motor(void)	 //
     if(((dwXRealPos+1700)>((CTHL_LianLengthAutoFZCRcheck+2700)-CTHL_PARAM_HELIAN_LENGTH)) || (bFKCheck_Flag && (dwXRealPos >= (CTHL_XSavePosBuff3 + 2500))))
     {
       CTHL_HL_VAVLE=0;
-    }     
-    //这里判断中间某条没有方块
-    if(CTHL_LianLengthCheckOld >= CTHL_LianLengthCheck)
-    {
-      //说明下一条没有方块
-      if((dwXRealPos >= (CTHL_XSavePosBuff3 + CTHL_LianLengthCheckOld + 1500)) && (CTHL_LianLengthCheck >1500))
-      {
-        CTHL_TD_MotorStep = 12; 
-      }  
-    } 
-    else
-    {  
-      //说明下一条没有方块
-      if((dwXRealPos >= (CTHL_XSavePosBuff3 + CTHL_LianLengthCheck + 1500)) && (CTHL_LianLengthCheck >1700))
-      {
-        CTHL_TD_MotorStep = 12; 
-      }  
-    }
-    
+    }    
+
     if(!CTHL_FK_Check && (dwXRealPos >= (CTHL_XSavePosBuff3 + 800))) 
     {
       
@@ -1441,19 +1422,48 @@ void CTHL_TD_Motor(void)	 //
     {
       CTHL_HL_VAVLE=0;
     }
+    //这里判断中间某条没有方块
+    if(CTHL_cZipCnt > 1&&(dwXRealPos >= CTHL_LianLengthCheckFK_DW+200))
+    {
+      //说明下一条没有方块
+        AxisContinueMoveAcc(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed/2,DIR_P,1000,800,50,50);
+        AxisContinueMoveAcc(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed/2,DIR_P,1000,800,50,50);  
+        CTHL_TD_MotorStep = 51;
+    }
     //第二次感应方块， 要做定位
     if(CTHL_FK_Check_UP && (dwXRealPos >= (CTHL_XSavePosBuff3 + 1800)))
     {
       // user_datas[127] = dwXRealPos;
-      if(!CTHL_NoLaLian_IN)
+      CTHL_XSavePosBuff = dwXRealPos;
+      if(CTHL_cZipCnt > 1&&!CTHL_NoLaLian_IN_UP)
+      {          
+        CTHL_LENTH=dwXRealPos-CTHL_LianLengthCheckFK_GL;
+        if(CTHL_LENTH>0)
+        {
+          CTHL_LENTH=CTHL_PARAM_TDDW_LENGTH;
+          AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_LENTH,
+                            1000,1000,30,80,50); 
+          AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_LENTH,
+                            1000,1000,30,80,50); 
+        }
+        else
+        {
+           AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FKDWMAN_Speed/2,CTHL_PARAM_TDDW_LENGTH-100,
+                            1000,1000,30,80,100); 
+           AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed/2,CTHL_PARAM_TDDW_LENGTH-100,
+                            1000,1000,30,80,100); 
+        }
+      }
+      else
       {
+          CTHL_LENTH=CTHL_PARAM_XMCR_YJDW_LENGTH;
+          AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_XMCR_YJDW_LENGTH,
+                            1000,1000,30,80,50); 
+          AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_XMCR_YJDW_LENGTH,
+                            1000,1000,30,80,50); 
         
-        CTHL_XSavePosBuff = dwXRealPos;
-        AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_TDDW_LENGTH,
-                          1000,1000,30,80,50); 
-        AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed*4/5,CTHL_PARAM_TDDW_LENGTH,
-                          1000,1000,30,80,50);  
       }
+      
       if(((dwXRealPos-CTHL_XSavePosBuff3) <= CTHL_PARAM_GFJ_LENGTH) && (CTHL_cZipCnt>1))
       {
         CTHL_TD_MotorStep=50;
@@ -1473,8 +1483,8 @@ void CTHL_TD_Motor(void)	 //
       bFZ_LengthOK = 1;                               
       if(CTHL_cZipCnt)CTHL_LianLengthCheckOld = CTHL_LianLengthCheck;
       CTHL_LianLengthCheck = dwXRealPos - CTHL_XSavePosBuff3; 
+      CTHL_LianLengthCheckFK_GL=dwXRealPos;
     }  
-    CTHL_XSavePosBuff = dwXRealPos; 
     if(CTHL_cZipCnt > 1)
     {
       if((dwXRealPos >= (CTHL_PARAM_WLCDSHEZHI_LENTH+CTHL_LianLengthAutoCheck)))
@@ -1511,7 +1521,7 @@ void CTHL_TD_Motor(void)	 //
     }
     else
     {
-       if(dwXRealPos>=CTHL_XSavePosBuff+CTHL_PARAM_XMCR_YJDW_LENGTH)
+       if(dwXRealPos>=CTHL_XSavePosBuff+CTHL_PARAM_XMCR_YJDW_LENGTH-200)
       {
         CTHL_FKDW_VAVLE=1; 
         CTHL_TXM_VAVLE=0;
@@ -1535,6 +1545,7 @@ void CTHL_TD_Motor(void)	 //
       AxisEgmStop(Y_AXIS);
       bFZ_LengthOK = 1;
       CTHL_TXM_VAVLE=0;
+      CTHL_LianLengthCheckFK_DW=dwXRealPos;
     }    
     break;
   case 18:
@@ -1786,7 +1797,7 @@ void CTHL_FZ_Motor(void)	 //
             CTHL_SetAlarmCode(CTHL_CRFK_ALARM,bRunning);  //穿入方块超出预设长度            
           }
           //方块检测异常(光纤)
-          if(abs(dwXRealPos) >= (CTHL_LianLengthAutoFZCRcheck + 300))
+          if(abs(dwXRealPos) >= (CTHL_LianLengthAutoFZCRcheck + 500))
           {
             bCxcAuto=1;//停轴
             SetEn(Y_AXIS, MOTOR_DISEN);
@@ -1856,7 +1867,7 @@ void CTHL_FZ_Motor(void)	 //
     }         
     break;  
   case 100:
-    if(CTHL_FKGY_IN_UP)
+    if(CTHL_FKGY_IN)
     {
       CTHL_FZ_MotorStep = 4; 
     }
@@ -1887,7 +1898,7 @@ void CTHL_FZ_Motor(void)	 //
   case 101: 
     if(CTHL_FKGY_IN_UP)
     {
-      CTHL_FZ_MotorStep = 4; 
+      CTHL_FZ_MotorStep = 5; 
     }
     else
     {
@@ -1906,7 +1917,7 @@ void CTHL_FZ_Motor(void)	 //
   case 102:
     if(CTHL_FKGY_IN_UP)
     {
-      CTHL_FZ_MotorStep = 4; 
+      CTHL_FZ_MotorStep = 5; 
     }
     else if(dwTickCount>CTHL_FZ_MotorDelay)
     {

Machine/FuXiaoWeiMachine/FXWChuantou_HeLian.h

@@ -77,8 +77,8 @@ extern void ExtiAcitionX02(void);
 #define CTHL_LianLengthCheck     cUDword32Buff1
 #define CTHL_LianLengthAutoCheck cUDword32Buff2
 #define CTHL_LianLengthCheckOld  cUDword32Buff3
-#define CTHL_LianLengthCheckFK_UP  cUDword32Buff4
-#define CTHL_LianLengthAutoCheckERROR cUDword32Buff5
+#define CTHL_LianLengthCheckFK_GL  cUDword32Buff4
+#define CTHL_LianLengthCheckFK_DW cUDword32Buff5
 #define CTHL_LianLengthAutoCRCDcheck  cUDword32Buff6
 #define CTHL_LianLengthAutoFZcheck  cUDword32Buff7
 #define CTHL_LianLengthAutoFZCRcheck  cUDword32Buff8

Project/iar_release/List/Project.map

@@ -1,12 +1,12 @@
 ###############################################################################
 #
-# IAR ELF Linker V8.32.3.193/W32 for ARM                  01/Sep/2024  13:59:42
+# IAR ELF Linker V8.32.3.193/W32 for ARM                  02/Sep/2024  14:39:43
 # Copyright 2007-2019 IAR Systems AB.
 #
 #    Output file  =  E:\1Works\GC23005\Project\iar_release\Exe\Project.out
 #    Map file     =  E:\1Works\GC23005\Project\iar_release\List\Project.map
 #    Command line =  
-#        -f C:\Users\liaizun\AppData\Local\Temp\EW65D9.tmp
+#        -f C:\Users\liaizun\AppData\Local\Temp\EW71AE.tmp
 #        (E:\1Works\GC23005\Project\iar_release\Obj\Action.o
 #        E:\1Works\GC23005\Project\iar_release\Obj\AllSeroDrv.o
 #        E:\1Works\GC23005\Project\iar_release\Obj\axis_app.o
@@ -137,7 +137,7 @@ initialize by copy { rw };
   .intvec            ro code   0x800'b200    0x130  startup_stm32f10x_hd.o [1]
                              - 0x800'b330    0x130
 
-"P1":                                      0x1e77d
+"P1":                                      0x1e849
   .text              ro code   0x800'b330   0x5aac  FXWChuantou_HeLian_D.o [1]
   .text              ro code   0x801'0ddc    0x338  Action.o [1]
   .text              ro code   0x801'1114     0x1c  U32ToFlt.o [3]
@@ -162,117 +162,66 @@ initialize by copy { rw };
   .text              ro code   0x801'5d80    0x304  st_sys.o [1]
   .text              ro code   0x801'6084     0x5c  hardware_delay.o [1]
   .text              ro code   0x801'60e0   0x53bc  FXWQueDuanJi_Bi.o [1]
-  .text              ro code   0x801'b49c   0x49f0  FXWChuantou_HeLian.o [1]
-  .text              ro code   0x801'fe8c   0x544c  FXWQueDuanJi_Kai.o [1]
-  .text              ro code   0x802'52d8     0xa6  ABImemcpy.o [4]
-  .text              ro code   0x802'5380     0x66  ABImemset.o [4]
-  .text              ro code   0x802'53e8     0x24  FltCmpGe.o [3]
-  .text              ro code   0x802'540c     0x24  FltCmpLe.o [3]
-  .text              ro code   0x802'5430     0xe2  FltAdd.o [3]
-  .text              ro code   0x802'5512      0x8  abs.o [2]
-  .text              ro code   0x802'551c    0x662  modbus_master.o [1]
-  .text              ro code   0x802'5b80    0x158  software_timer.o [1]
-  .text              ro code   0x802'5cd8     0x80  FltSub.o [3]
-  .text              ro code   0x802'5d58    0x238  modbus_encoder.o [1]
-  .text              ro code   0x802'5f90    0x908  modbus_slave.o [1]
-  .text              ro code   0x802'6898    0x800  hw_dma_uart.o [1]
-  .text              ro code   0x802'7098    0x138  board.o [1]
-  .text              ro code   0x802'71d0     0x6c  st_dma.o [1]
-  .text              ro code   0x802'723c     0x48  FltToDbl.o [3]
-  .text              ro code   0x802'7284    0x17a  DblAdd.o [3]
-  .text              ro code   0x802'7400    0x1c8  hw_io_pin.o [1]
-  .text              ro code   0x802'75c8     0x48  hw_power_off.o [1]
-  .text              ro code   0x802'7610     0xd2  DblSub.o [3]
-  .text              ro code   0x802'76e4    0x5b4  nodelink_master_app.o [1]
-  .text              ro code   0x802'7c98    0x4bc  NodeLinkMaster.o [1]
-  .text              ro code   0x802'8154     0x5a  NodeLinkCommon.o [1]
-  .text              ro code   0x802'81b0     0x68  memcmp.o [4]
-  .text              ro code   0x802'8218     0xcc  encrypt_xxtea.o [1]
-  .text              ro code   0x802'82e4     0x6c  MathHelper.o [1]
-  .text              ro code   0x802'8350    0x2a4  poweroff_save_app.o [1]
-  .text              ro code   0x802'85f4     0x5e  hw_flash_data.o [1]
-  .text              ro code   0x802'8654     0x10  log_app.o [1]
-  .text              ro code   0x802'8664    0x220  st_flash.o [1]
-  .text              ro code   0x802'8884     0x6c  TinyLog.o [1]
-  .text              ro code   0x802'88f0    0x28c  Encode.o [1]
-  .text              ro code   0x802'8b7c    0x288  modbus_app.o [1]
-  .text              ro code   0x802'8e04    0x168  axis_app.o [1]
-  .rodata            const     0x802'8f6c    0x100  MathHelper.o [1]
-  .rodata            const     0x802'906c    0x100  MathHelper.o [1]
-  .rodata            const     0x802'916c    0x100  MathHelper.o [1]
-  .rodata            const     0x802'926c    0x100  modbus_encoder.o [1]
-  .rodata            const     0x802'936c    0x100  modbus_encoder.o [1]
-  .text              ro code   0x802'946c     0xe0  io_app.o [1]
-  .text              ro code   0x802'954c     0x80  main.o [1]
-  .text              ro code   0x802'95cc      0x2  variable.o [1]
-  .text              ro code   0x802'95ce     0x10  user_app.o [1]
-  .text              ro code   0x802'95e0     0x28  data_init.o [4]
-  .iar.init_table    const     0x802'9608     0x20  - Linker created -
-  .rodata            const     0x802'9628     0x20  st_flash.o [1]
-  .text              ro code   0x802'9648     0x1e  cmain.o [4]
-  .text              ro code   0x802'9666      0x4  low_level_init.o [2]
-  .text              ro code   0x802'966a      0x4  exit.o [2]
-  .text              ro code   0x802'9670      0xa  cexit.o [4]
-  .text              ro code   0x802'967c     0x14  exit.o [5]
-  .rodata            const     0x802'9690     0x10  modbus_encoder.o [1]
-  .rodata            const     0x802'96a0     0x10  NodeLinkMaster.o [1]
-  .rodata            const     0x802'96b0      0xc  Action.o [1]
-  .rodata            const     0x802'96bc      0xc  modbus_encoder.o [1]
-  .rodata            const     0x802'96c8      0xc  modbus_encoder.o [1]
-  .text              ro code   0x802'96d4      0xc  cstartup_M.o [4]
-  .rodata            const     0x802'96e0      0x8  Action.o [1]
-  .text              ro code   0x802'96e8      0x8  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'96f0      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'96f4      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'96f8      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'96fc      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9700      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9704      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9708      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'970c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9710      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9714      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9718      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'971c      0x4  startup_stm32f10x_hd.o [1]
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-  .text              ro code   0x802'9724      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9728      0x4  startup_stm32f10x_hd.o [1]
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-  .text              ro code   0x802'9738      0x4  startup_stm32f10x_hd.o [1]
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-  .text              ro code   0x802'9740      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9744      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9748      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'974c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9750      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9754      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9758      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'975c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9760      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9764      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9768      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'976c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9770      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9774      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9778      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'977c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9780      0x4  startup_stm32f10x_hd.o [1]
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-  .text              ro code   0x802'978c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9790      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9794      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'9798      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'979c      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97a0      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97a4      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97a8      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97ac      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97b0      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97b4      0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x802'97b8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x801'b49c   0x4abc  FXWChuantou_HeLian.o [1]
+  .text              ro code   0x801'ff58   0x544c  FXWQueDuanJi_Kai.o [1]
+  .text              ro code   0x802'53a4     0xa6  ABImemcpy.o [4]
+  .text              ro code   0x802'544c     0x66  ABImemset.o [4]
+  .text              ro code   0x802'54b4     0x24  FltCmpGe.o [3]
+  .text              ro code   0x802'54d8     0x24  FltCmpLe.o [3]
+  .text              ro code   0x802'54fc     0xe2  FltAdd.o [3]
+  .text              ro code   0x802'55de      0x8  abs.o [2]
+  .text              ro code   0x802'55e8    0x662  modbus_master.o [1]
+  .text              ro code   0x802'5c4c    0x158  software_timer.o [1]
+  .text              ro code   0x802'5da4     0x80  FltSub.o [3]
+  .text              ro code   0x802'5e24    0x238  modbus_encoder.o [1]
+  .text              ro code   0x802'605c    0x908  modbus_slave.o [1]
+  .text              ro code   0x802'6964    0x800  hw_dma_uart.o [1]
+  .text              ro code   0x802'7164    0x138  board.o [1]
+  .text              ro code   0x802'729c     0x6c  st_dma.o [1]
+  .text              ro code   0x802'7308     0x48  FltToDbl.o [3]
+  .text              ro code   0x802'7350    0x17a  DblAdd.o [3]
+  .text              ro code   0x802'74cc    0x1c8  hw_io_pin.o [1]
+  .text              ro code   0x802'7694     0x48  hw_power_off.o [1]
+  .text              ro code   0x802'76dc     0xd2  DblSub.o [3]
+  .text              ro code   0x802'77b0    0x5b4  nodelink_master_app.o [1]
+  .text              ro code   0x802'7d64    0x4bc  NodeLinkMaster.o [1]
+  .text              ro code   0x802'8220     0x5a  NodeLinkCommon.o [1]
+  .text              ro code   0x802'827c     0x68  memcmp.o [4]
+  .text              ro code   0x802'82e4     0xcc  encrypt_xxtea.o [1]
+  .text              ro code   0x802'83b0     0x6c  MathHelper.o [1]
+  .text              ro code   0x802'841c    0x2a4  poweroff_save_app.o [1]
+  .text              ro code   0x802'86c0     0x5e  hw_flash_data.o [1]
+  .text              ro code   0x802'8720     0x10  log_app.o [1]
+  .text              ro code   0x802'8730    0x220  st_flash.o [1]
+  .text              ro code   0x802'8950     0x6c  TinyLog.o [1]
+  .text              ro code   0x802'89bc    0x28c  Encode.o [1]
+  .text              ro code   0x802'8c48    0x288  modbus_app.o [1]
+  .text              ro code   0x802'8ed0    0x168  axis_app.o [1]
+  .rodata            const     0x802'9038    0x100  MathHelper.o [1]
+  .rodata            const     0x802'9138    0x100  MathHelper.o [1]
+  .rodata            const     0x802'9238    0x100  MathHelper.o [1]
+  .rodata            const     0x802'9338    0x100  modbus_encoder.o [1]
+  .rodata            const     0x802'9438    0x100  modbus_encoder.o [1]
+  .text              ro code   0x802'9538     0xe0  io_app.o [1]
+  .text              ro code   0x802'9618     0x80  main.o [1]
+  .text              ro code   0x802'9698      0x2  variable.o [1]
+  .text              ro code   0x802'969a     0x10  user_app.o [1]
+  .text              ro code   0x802'96ac     0x28  data_init.o [4]
+  .iar.init_table    const     0x802'96d4     0x20  - Linker created -
+  .rodata            const     0x802'96f4     0x20  st_flash.o [1]
+  .text              ro code   0x802'9714     0x1e  cmain.o [4]
+  .text              ro code   0x802'9732      0x4  low_level_init.o [2]
+  .text              ro code   0x802'9736      0x4  exit.o [2]
+  .text              ro code   0x802'973c      0xa  cexit.o [4]
+  .text              ro code   0x802'9748     0x14  exit.o [5]
+  .rodata            const     0x802'975c     0x10  modbus_encoder.o [1]
+  .rodata            const     0x802'976c     0x10  NodeLinkMaster.o [1]
+  .rodata            const     0x802'977c      0xc  Action.o [1]
+  .rodata            const     0x802'9788      0xc  modbus_encoder.o [1]
+  .rodata            const     0x802'9794      0xc  modbus_encoder.o [1]
+  .text              ro code   0x802'97a0      0xc  cstartup_M.o [4]
+  .rodata            const     0x802'97ac      0x8  Action.o [1]
+  .text              ro code   0x802'97b4      0x8  startup_stm32f10x_hd.o [1]
   .text              ro code   0x802'97bc      0x4  startup_stm32f10x_hd.o [1]
   .text              ro code   0x802'97c0      0x4  startup_stm32f10x_hd.o [1]
   .text              ro code   0x802'97c4      0x4  startup_stm32f10x_hd.o [1]
@@ -284,10 +233,61 @@ initialize by copy { rw };
   .text              ro code   0x802'97dc      0x4  startup_stm32f10x_hd.o [1]
   .text              ro code   0x802'97e0      0x4  startup_stm32f10x_hd.o [1]
   .text              ro code   0x802'97e4      0x4  startup_stm32f10x_hd.o [1]
-  .rodata            const     0x802'97e8      0x0  zero_init3.o [4]
-  .rodata            const     0x802'97e8      0x0  lz77_init_single.o [4]
-  Initializer bytes  const     0x802'97e8    0x2c5  <for P2-1>
-                             - 0x802'9aad  0x1e77d
+  .text              ro code   0x802'97e8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'97ec      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'97f0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'97f4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'97f8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'97fc      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9800      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9804      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9808      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'980c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9810      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9814      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9818      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'981c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9820      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9824      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9828      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'982c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9830      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9834      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9838      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'983c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9840      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9844      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9848      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'984c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9850      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9854      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9858      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'985c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9860      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9864      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9868      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'986c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9870      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9874      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9878      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'987c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9880      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9884      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9888      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'988c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9890      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9894      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9898      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'989c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'98a0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'98a4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'98a8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'98ac      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'98b0      0x4  startup_stm32f10x_hd.o [1]
+  .rodata            const     0x802'98b4      0x0  zero_init3.o [4]
+  .rodata            const     0x802'98b4      0x0  lz77_init_single.o [4]
+  Initializer bytes  const     0x802'98b4    0x2c5  <for P2-1>
+                             - 0x802'9b79  0x1e849
 
 "P3":                                         0x40
   .noinit            uninit   0x2000'0000     0x40  board.o [1]
@@ -507,7 +507,7 @@ Unused ranges:
 
          From           To      Size
          ----           --      ----
-   0x802'9aad   0x807'ffff  0x5'6553
+   0x802'9b79   0x807'ffff  0x5'6487
   0x2000'185a  0x2000'185b       0x2
   0x2000'88d0  0x2000'ffff    0x7730
 
@@ -524,7 +524,7 @@ Zero (__iar_zero_init3)
 
 Copy/lz77 (__iar_lz77_init_single3)
     1 source range, total size 0x2c5 (11% of destination):
-           0x802'97e8   0x2c5
+           0x802'98b4   0x2c5
     1 destination range, total size 0x181a:
           0x2000'0040  0x181a
 
@@ -545,7 +545,7 @@ E:\1Works\GC23005\Project\iar_release\Obj: [1]
     AllSeroDrv.o              3 664        1       39
     Encode.o                    652                20
     FXWAction.o                 176
-    FXWChuantou_HeLian.o     18 928                21
+    FXWChuantou_HeLian.o     19 132                21
     FXWChuantou_HeLian_D.o   23 212
     FXWQueDuanJi_Bi.o        21 436                16
     FXWQueDuanJi_Kai.o       21 580                16
@@ -582,7 +582,7 @@ E:\1Works\GC23005\Project\iar_release\Obj: [1]
     user_app.o                   16
     variable.o                    2             4 224
     -------------------------------------------------
-    Total:                  119 936    2 097   26 829
+    Total:                  120 140    2 097   26 829
 
 dl7M_tln.a: [2]
     abs.o                         8
@@ -634,7 +634,7 @@ shb_l.a: [5]
     Gaps                         32
     Linker created                        32    8 192
 -----------------------------------------------------
-    Grand Total:            122 972    2 129   35 021
+    Grand Total:            123 176    2 129   35 021
 
 
 *******************************************************************************
@@ -643,9 +643,9 @@ shb_l.a: [5]
 
 Entry                       Address    Size  Type      Object
 -----                       -------    ----  ----      ------
-.iar.init_table$$Base    0x802'9608           --   Gb  - Linker created -
-.iar.init_table$$Limit   0x802'9628           --   Gb  - Linker created -
-?main                    0x802'9649          Code  Gb  cmain.o [4]
+.iar.init_table$$Base    0x802'96d4           --   Gb  - Linker created -
+.iar.init_table$$Limit   0x802'96f4           --   Gb  - Linker created -
+?main                    0x802'9715          Code  Gb  cmain.o [4]
 Action                   0x801'0ef7    0x10  Code  Gb  Action.o [1]
 AddToTal                 0x801'0e35    0x36  Code  Gb  Action.o [1]
 AxisChangeSpeedDirect    0x801'2011    0x60  Code  Gb  AllSeroDrv.o [1]
@@ -687,36 +687,36 @@ Bi_QueDuan_XiaQue        0x801'aae5   0x780  Code  Gb  FXWQueDuanJi_Bi.o [1]
 Bi_QueDuan_YMotor        0x801'9ccd   0x788  Code  Gb  FXWQueDuanJi_Bi.o [1]
 Bi_QueDuan_ZMotor        0x801'a475   0x53a  Code  Gb  FXWQueDuanJi_Bi.o [1]
 Bi_StopCode              0x801'60fb   0x134  Code  Gb  FXWQueDuanJi_Bi.o [1]
-BinToAscTab              0x802'9690    0x10  Data  Lc  modbus_encoder.o [1]
-CRCTblHi                 0x802'8f6c   0x100  Data  Lc  MathHelper.o [1]
-CRCTblHi                 0x802'926c   0x100  Data  Lc  modbus_encoder.o [1]
-CRCTblLo                 0x802'906c   0x100  Data  Lc  MathHelper.o [1]
-CRCTblLo                 0x802'936c   0x100  Data  Lc  modbus_encoder.o [1]
+BinToAscTab              0x802'975c    0x10  Data  Lc  modbus_encoder.o [1]
+CRCTblHi                 0x802'9038   0x100  Data  Lc  MathHelper.o [1]
+CRCTblHi                 0x802'9338   0x100  Data  Lc  modbus_encoder.o [1]
+CRCTblLo                 0x802'9138   0x100  Data  Lc  MathHelper.o [1]
+CRCTblLo                 0x802'9438   0x100  Data  Lc  modbus_encoder.o [1]
 CSTACK$$Base            0x2000'68d0           --   Gb  - Linker created -
 CSTACK$$Limit           0x2000'88d0           --   Gb  - Linker created -
-CTHL_Action              0x801'b5c3    0x98  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_Action              0x801'b5c3    0x94  Code  Gb  FXWChuantou_HeLian.o [1]
 CTHL_AlarmProtect        0x801'b695     0x2  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_AutoStepAction      0x801'b699   0xf7c  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_AutoStepAction      0x801'b699   0xf78  Code  Gb  FXWChuantou_HeLian.o [1]
 CTHL_AutoStepAction::hemoflag1
                         0x2000'68c6     0x1  Data  Lc  FXWChuantou_HeLian.o [1]
 CTHL_AutoStepAction::hemoflag2
                         0x2000'68c7     0x1  Data  Lc  FXWChuantou_HeLian.o [1]
-CTHL_CheckStart          0x801'c639   0x946  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_FZ_Motor            0x801'e2f9   0xa28  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_CheckStart          0x801'c639   0x93a  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_FZ_Motor            0x801'e3d5   0xa18  Code  Gb  FXWChuantou_HeLian.o [1]
 CTHL_InitAction          0x801'b4e5    0xde  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_ManualAction        0x801'f625   0x830  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_ManualAction        0x801'f6f1   0x830  Code  Gb  FXWChuantou_HeLian.o [1]
 CTHL_NoLaLian_Speed_Proc
-                         0x801'cf85    0x70  Code  Gb  FXWChuantou_HeLian.o [1]
+                         0x801'cf79    0x70  Code  Gb  FXWChuantou_HeLian.o [1]
 CTHL_SetAlarmCode        0x801'b49d    0x48  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_TD_Motor            0x801'd07d  0x1234  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_TLiao_Step          0x801'f3a1   0x156  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_ZLT_Step            0x801'ed61   0x636  Code  Gb  FXWChuantou_HeLian.o [1]
-CTHL_ZhenDongAction      0x801'f4f7    0xf6  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_TD_Motor            0x801'd071  0x131a  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_TLiao_Step          0x801'f46d   0x156  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_ZLT_Step            0x801'ee2d   0x636  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_ZhenDongAction      0x801'f5c3    0xf6  Code  Gb  FXWChuantou_HeLian.o [1]
 CTXM_DOWN_TIME          0x2000'6808     0x4  Data  Gb  FXWChuantou_HeLian.o [1]
 CalProSP                 0x801'0ddd    0x58  Code  Gb  Action.o [1]
 CalProSP::cProSpTime    0x2000'67e8     0x4  Data  Lc  Action.o [1]
 ClrcToTal                0x801'0e6b    0x1a  Code  Gb  Action.o [1]
-EncoderInit              0x802'88f1   0x1b8  Code  Gb  Encode.o [1]
+EncoderInit              0x802'89bd   0x1b8  Code  Gb  Encode.o [1]
 FXW_Mechine_Action       0x801'2b47    0x30  Code  Gb  FXWAction.o [1]
 FXW_Mechine_InitAction   0x801'2acd    0x7a  Code  Gb  FXWAction.o [1]
 FZ_ALARM_FLG            0x2000'68c5     0x1  Data  Gb  FXWChuantou_HeLian.o [1]
@@ -737,36 +737,36 @@ IOPinDefualtConf_OUTOUT
 InitAction               0x801'0ec5    0x32  Code  Gb  Action.o [1]
 InitPWM                  0x801'0ebb     0xa  Code  Gb  Action.o [1]
 InputPinConfig           0x801'2b7d    0xb4  Code  Gb  IOPinConfig.o [1]
-KAI_QD_SetAlarmCode      0x801'fe8d    0x1a  Code  Gb  FXWQueDuanJi_Kai.o [1]
+KAI_QD_SetAlarmCode      0x801'ff59    0x1a  Code  Gb  FXWQueDuanJi_Kai.o [1]
 KAI_QD_length_buffer    0x2000'6828     0x4  Data  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_Action       0x802'009f    0xb8  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_Action       0x802'016b    0xb8  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_AlarmProtect
-                         0x802'0a29    0x70  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_AutoAction   0x802'0aed   0x3b2  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_BingLian     0x802'1581   0x1c4  Code  Gb  FXWQueDuanJi_Kai.o [1]
+                         0x802'0af5    0x70  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_AutoAction   0x802'0bb9   0x3b2  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_BingLian     0x802'164d   0x1c4  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_BingLian::bl_pos_buff
                         0x2000'6830     0x4  Data  Lc  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_CheckLength
-                         0x802'1505    0x54  Code  Gb  FXWQueDuanJi_Kai.o [1]
+                         0x802'15d1    0x54  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_CheckLength::start_dist
                         0x2000'682c     0x4  Data  Lc  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_InitAction   0x801'ffc3    0xdc  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_InitAction   0x802'008f    0xdc  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_ManualAction
-                         0x802'0157   0x8d2  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_Motor        0x802'17cd  0x1c82  Code  Gb  FXWQueDuanJi_Kai.o [1]
+                         0x802'0223   0x8d2  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_Motor        0x802'1899  0x1c82  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_Motor::cUDword32Buff7
                         0x2000'6834     0x4  Data  Lc  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_ReBack       0x802'3455   0x208  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_ReBack       0x802'3521   0x208  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_SecondXiaQue
-                         0x802'50c9   0x1d0  Code  Gb  FXWQueDuanJi_Kai.o [1]
+                         0x802'5195   0x1d0  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_StepCheckStart
-                         0x802'0eb1   0x64e  Code  Gb  FXWQueDuanJi_Kai.o [1]
+                         0x802'0f7d   0x64e  Code  Gb  FXWQueDuanJi_Kai.o [1]
 Kai_QueDuan_TuiLianAction
-                         0x802'41f1    0xdc  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_XiaQue       0x802'4321   0xd90  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_YMotor       0x802'3679   0x6f6  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_QueDuan_ZMotor       0x802'3da5   0x43e  Code  Gb  FXWQueDuanJi_Kai.o [1]
-Kai_StopCode             0x801'fea7   0x11c  Code  Gb  FXWQueDuanJi_Kai.o [1]
+                         0x802'42bd    0xdc  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_XiaQue       0x802'43ed   0xd90  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_YMotor       0x802'3745   0x6f6  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_ZMotor       0x802'3e71   0x43e  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_StopCode             0x801'ff73   0x11c  Code  Gb  FXWQueDuanJi_Kai.o [1]
 MYRCC_DeInit             0x801'5f69    0x52  Code  Gb  st_sys.o [1]
 OutputPinConfig          0x801'2c31    0x8a  Code  Gb  IOPinConfig.o [1]
 PRV_CTXM_DOWN_TIME      0x2000'680c     0x4  Data  Gb  FXWChuantou_HeLian.o [1]
@@ -777,8 +777,8 @@ ReSetWifi                0x801'0f07   0x1d0  Code  Gb  Action.o [1]
 ReSetWifi::reset_wifi_delay
                         0x2000'67ec     0x4  Data  Lc  Action.o [1]
 ReSetWifi::save_times   0x2000'68a0     0x2  Data  Lc  Action.o [1]
-Region$$Table$$Base      0x802'9608           --   Gb  - Linker created -
-Region$$Table$$Limit     0x802'9628           --   Gb  - Linker created -
+Region$$Table$$Base      0x802'96d4           --   Gb  - Linker created -
+Region$$Table$$Limit     0x802'96f4           --   Gb  - Linker created -
 ResetFlg                0x2000'68cb     0x1  Data  Gb  nodelink_master_app.o [1]
 SetAlarmCode             0x801'0e85     0xc  Code  Gb  Action.o [1]
 SetClr                   0x801'1599    0x8e  Code  Gb  AllSeroDrv.o [1]
@@ -794,8 +794,8 @@ Set_Ctrlmode_trans       0x801'1627    0x44  Code  Gb  AllSeroDrv.o [1]
 Set_Servo_Runmode        0x801'166b    0x30  Code  Gb  AllSeroDrv.o [1]
 SingOneFlg              0x2000'68c0     0x1  Data  Gb  Action.o [1]
 Stm32_Clock_Init         0x801'5fc9    0x6c  Code  Gb  st_sys.o [1]
-SysTick_Config           0x802'5ba5    0x2e  Code  Lc  software_timer.o [1]
-SysTick_Handler          0x802'5bd3    0x24  Code  Gb  software_timer.o [1]
+SysTick_Config           0x802'5c71    0x2e  Code  Lc  software_timer.o [1]
+SysTick_Handler          0x802'5c9f    0x24  Code  Gb  software_timer.o [1]
 Sys_NVIC_Init            0x801'5db3    0x70  Code  Gb  st_sys.o [1]
 Sys_NVIC_PriorityGroupConfig
                          0x801'5d91    0x22  Code  Gb  st_sys.o [1]
@@ -803,11 +803,11 @@ Sys_NVIC_SetVectorTable
                          0x801'5d81    0x10  Code  Gb  st_sys.o [1]
 Sys_Soft_Reset           0x801'5fc1     0x8  Code  Gb  st_sys.o [1]
 TIM1_UP_IRQHandler       0x801'2367    0x26  Code  Gb  hw_pwm.o [1]
-TIM2_IRQHandler          0x802'8aa9    0x36  Code  Gb  Encode.o [1]
-TIM3_IRQHandler          0x802'8adf    0x34  Code  Gb  Encode.o [1]
+TIM2_IRQHandler          0x802'8b75    0x36  Code  Gb  Encode.o [1]
+TIM3_IRQHandler          0x802'8bab    0x34  Code  Gb  Encode.o [1]
 TIM4_IRQHandler          0x801'238d    0x26  Code  Gb  hw_pwm.o [1]
 TIM5_IRQHandler          0x801'2341    0x26  Code  Gb  hw_pwm.o [1]
-TIM6_IRQHandler          0x802'7b2f    0x1a  Code  Gb  nodelink_master_app.o [1]
+TIM6_IRQHandler          0x802'7bfb    0x1a  Code  Gb  nodelink_master_app.o [1]
 XCCR_LENGTH             0x2000'68a2     0x2  Data  Gb  FXWChuantou_HeLian.o [1]
 XGearRatio              0x2000'0040     0x4  Data  Gb  AllSeroDrv.o [1]
 XY_CTHL_Action           0x800'b48f    0x84  Code  Gb  FXWChuantou_HeLian_D.o [1]
@@ -829,53 +829,53 @@ XY_CTHL_bCXCRStep        0x800'f839   0x46a  Code  Gb  FXWChuantou_HeLian_D.o [1
 XY_CTHL_bFKCXTDDWStep    0x800'f659   0x1c8  Code  Gb  FXWChuantou_HeLian_D.o [1]
 YGearRatio              0x2000'0044     0x4  Data  Gb  AllSeroDrv.o [1]
 ZGearRatio              0x2000'0048     0x4  Data  Gb  AllSeroDrv.o [1]
-__NVIC_SetPriority       0x802'5b81    0x24  Code  Lc  software_timer.o [1]
+__NVIC_SetPriority       0x802'5c4d    0x24  Code  Lc  software_timer.o [1]
 __aeabi_cdcmple          0x801'2311          Code  Gb  DblCmpLe.o [3]
-__aeabi_cfcmple          0x802'540d          Code  Gb  FltCmpLe.o [3]
-__aeabi_cfrcmple         0x802'53e9          Code  Gb  FltCmpGe.o [3]
+__aeabi_cfcmple          0x802'54d9          Code  Gb  FltCmpLe.o [3]
+__aeabi_cfrcmple         0x802'54b5          Code  Gb  FltCmpGe.o [3]
 __aeabi_d2iz             0x801'2ddd          Code  Gb  DblToS32.o [3]
-__aeabi_dadd             0x802'7285          Code  Gb  DblAdd.o [3]
+__aeabi_dadd             0x802'7351          Code  Gb  DblAdd.o [3]
 __aeabi_dmul             0x801'2111          Code  Gb  DblMul.o [3]
-__aeabi_f2d              0x802'723d          Code  Gb  FltToDbl.o [3]
+__aeabi_f2d              0x802'7309          Code  Gb  FltToDbl.o [3]
 __aeabi_f2iz             0x801'5c7d          Code  Gb  FltToS32.o [3]
-__aeabi_fadd             0x802'5431          Code  Gb  FltAdd.o [3]
+__aeabi_fadd             0x802'54fd          Code  Gb  FltAdd.o [3]
 __aeabi_fdiv             0x801'1131          Code  Gb  FltDiv.o [3]
 __aeabi_fmul             0x801'5ca9          Code  Gb  FltMul.o [3]
-__aeabi_fsub             0x802'5cd9          Code  Gb  FltSub.o [3]
+__aeabi_fsub             0x802'5da5          Code  Gb  FltSub.o [3]
 __aeabi_i2d              0x801'22ed          Code  Gb  S32ToDbl.o [3]
 __aeabi_i2f              0x801'5c59          Code  Gb  S32ToFlt.o [3]
-__aeabi_memcpy           0x802'52d9          Code  Gb  ABImemcpy.o [4]
-__aeabi_memcpy4          0x802'52f9          Code  Gb  ABImemcpy.o [4]
-__aeabi_memcpy8          0x802'52f9          Code  Gb  ABImemcpy.o [4]
-__aeabi_memset           0x802'5381          Code  Gb  ABImemset.o [4]
+__aeabi_memcpy           0x802'53a5          Code  Gb  ABImemcpy.o [4]
+__aeabi_memcpy4          0x802'53c5          Code  Gb  ABImemcpy.o [4]
+__aeabi_memcpy8          0x802'53c5          Code  Gb  ABImemcpy.o [4]
+__aeabi_memset           0x802'544d          Code  Gb  ABImemset.o [4]
 __aeabi_ui2d             0x801'207d          Code  Gb  U32ToDbl.o [3]
 __aeabi_ui2f             0x801'1115          Code  Gb  U32ToFlt.o [3]
-__cmain                  0x802'9649          Code  Gb  cmain.o [4]
-__exit                   0x802'967d    0x14  Code  Gb  exit.o [5]
-__iar_Memset             0x802'5381          Code  Gb  ABImemset.o [4]
-__iar_Memset_word        0x802'5389          Code  Gb  ABImemset.o [4]
-__iar_dadd               0x802'7611          Code  Gb  DblSub.o [3]
-__iar_data_init3         0x802'95e1    0x28  Code  Gb  data_init.o [4]
-__iar_dsub               0x802'7295          Code  Gb  DblAdd.o [3]
-__iar_dsubStart          0x802'72a7          Code  Gb  DblAdd.o [3]
-__iar_fadd               0x802'5ce5          Code  Gb  FltSub.o [3]
-__iar_fsub               0x802'543d          Code  Gb  FltAdd.o [3]
-__iar_fsubStart          0x802'544d          Code  Gb  FltAdd.o [3]
+__cmain                  0x802'9715          Code  Gb  cmain.o [4]
+__exit                   0x802'9749    0x14  Code  Gb  exit.o [5]
+__iar_Memset             0x802'544d          Code  Gb  ABImemset.o [4]
+__iar_Memset_word        0x802'5455          Code  Gb  ABImemset.o [4]
+__iar_dadd               0x802'76dd          Code  Gb  DblSub.o [3]
+__iar_data_init3         0x802'96ad    0x28  Code  Gb  data_init.o [4]
+__iar_dsub               0x802'7361          Code  Gb  DblAdd.o [3]
+__iar_dsubStart          0x802'7373          Code  Gb  DblAdd.o [3]
+__iar_fadd               0x802'5db1          Code  Gb  FltSub.o [3]
+__iar_fsub               0x802'5509          Code  Gb  FltAdd.o [3]
+__iar_fsubStart          0x802'5519          Code  Gb  FltAdd.o [3]
 __iar_lz77_init_single3
                          0x801'2097    0x7a  Code  Gb  lz77_init_single.o [4]
-__iar_program_start      0x802'96d5          Code  Gb  cstartup_M.o [4]
+__iar_program_start      0x802'97a1          Code  Gb  cstartup_M.o [4]
 __iar_round64            0x801'2d89          Code  Gb  round.o [3]
 __iar_zero_init3         0x801'22b3    0x3a  Code  Gb  zero_init3.o [4]
-__low_level_init         0x802'9667     0x4  Code  Gb  low_level_init.o [2]
+__low_level_init         0x802'9733     0x4  Code  Gb  low_level_init.o [2]
 __vector_table           0x800'b200          Data  Gb  startup_stm32f10x_hd.o [1]
-_call_main               0x802'9655          Code  Gb  cmain.o [4]
-_exit                    0x802'9671          Code  Gb  cexit.o [4]
-_main                    0x802'9663          Code  Gb  cmain.o [4]
-abs                      0x802'5513     0x8  Code  Gb  abs.o [2]
-app_save_parameter       0x802'84ff    0x32  Code  Gb  poweroff_save_app.o [1]
+_call_main               0x802'9721          Code  Gb  cmain.o [4]
+_exit                    0x802'973d          Code  Gb  cexit.o [4]
+_main                    0x802'972f          Code  Gb  cmain.o [4]
+abs                      0x802'55df     0x8  Code  Gb  abs.o [2]
+app_save_parameter       0x802'85cb    0x32  Code  Gb  poweroff_save_app.o [1]
 axis_acc_pwm_divide      0x801'3e79    0x8c  Code  Gb  axis_motion.o [1]
-axis_app_init            0x802'8e1f   0x116  Code  Gb  axis_app.o [1]
-axis_app_run             0x802'8f35    0x1e  Code  Gb  axis_app.o [1]
+axis_app_init            0x802'8eeb   0x116  Code  Gb  axis_app.o [1]
+axis_app_run             0x802'9001    0x1e  Code  Gb  axis_app.o [1]
 axis_calc_speed_table    0x801'3e3f    0x3a  Code  Lc  axis_motion.o [1]
 axis_ccw                 0x801'2e97    0x30  Code  Gb  axis_motion.o [1]
 axis_change_speed_direct
@@ -885,7 +885,7 @@ axis_dec_pwm_divide      0x801'3f05    0x86  Code  Gb  axis_motion.o [1]
 axis_disable             0x801'2e41    0x28  Code  Gb  axis_motion.o [1]
 axis_emgstop             0x801'49ff    0x30  Code  Gb  axis_motion.o [1]
 axis_enable              0x801'2e19    0x28  Code  Gb  axis_motion.o [1]
-axis_get_by_index        0x802'8e05    0x1a  Code  Gb  axis_app.o [1]
+axis_get_by_index        0x802'8ed1    0x1a  Code  Gb  axis_app.o [1]
 axis_get_com_pos         0x801'54c3    0x6a  Code  Lc  servocom_app.o [1]
 axis_get_parameter       0x801'4bb3    0xa6  Code  Gb  axis_motion.o [1]
 axis_home_method0        0x801'4e03   0x1b2  Code  Gb  axis_motion.o [1]
@@ -1016,55 +1016,55 @@ clr_com_servo_alarm::clr_com_servo_x_delay
                         0x2000'6860     0x4  Data  Lc  servocom_app.o [1]
 clr_com_servo_alarm::clr_com_servo_y_delay
                         0x2000'6864     0x4  Data  Lc  servocom_app.o [1]
-crc8_table               0x802'916c   0x100  Data  Lc  MathHelper.o [1]
+crc8_table               0x802'9238   0x100  Data  Lc  MathHelper.o [1]
 cur_ms                  0x2000'686c     0x4  Data  Lc  software_timer.o [1]
 cur_second              0x2000'6868     0x4  Data  Lc  software_timer.o [1]
 current_core_freq       0x2000'0164     0x4  Data  Lc  hw_dma_uart.o [1]
 data_area_count         0x2000'6844     0x4  Data  Lc  modbus_slave.o [1]
 data_area_table         0x2000'633c    0xa0  Data  Lc  modbus_slave.o [1]
-deivce0_on_timeout       0x802'7c99     0x2  Code  Lc  NodeLinkMaster.o [1]
+deivce0_on_timeout       0x802'7d65     0x2  Code  Lc  NodeLinkMaster.o [1]
 device0                 0x2000'15a8     0xc  Data  Lc  NodeLinkMaster.o [1]
-device0_on_recv          0x802'7c9b     0x2  Code  Lc  NodeLinkMaster.o [1]
-device0_on_send          0x802'7c9d     0x4  Code  Lc  NodeLinkMaster.o [1]
+device0_on_recv          0x802'7d67     0x2  Code  Lc  NodeLinkMaster.o [1]
+device0_on_send          0x802'7d69     0x4  Code  Lc  NodeLinkMaster.o [1]
 dwTickCount             0x2000'6874     0x4  Data  Gb  software_timer.o [1]
 dwXRealPos              0x2000'67d8     0x4  Data  Gb  Action.o [1]
 dwYRealPos              0x2000'67dc     0x4  Data  Gb  Action.o [1]
 dwYRealPos_com          0x2000'67e0     0x4  Data  Gb  Action.o [1]
 dwZRealPos              0x2000'67e4     0x4  Data  Gb  Action.o [1]
 encode_to_length         0x801'5477    0x26  Code  Lc  servocom_app.o [1]
-exit                     0x802'966b     0x4  Code  Gb  exit.o [2]
+exit                     0x802'9737     0x4  Code  Gb  exit.o [2]
 flash_last_wait_time    0x2000'6878     0x4  Data  Gb  st_flash.o [1]
 freq_to_speed            0x801'552d    0x2a  Code  Lc  servocom_app.o [1]
 get_encode_value         0x801'5557    0x24  Code  Gb  servocom_app.o [1]
 get_tarr_set             0x801'57c1    0x56  Code  Gb  servocom_app.o [1]
 hw_board_enter_powerless
-                         0x802'7177    0x24  Code  Gb  board.o [1]
-hw_board_init            0x802'70f5    0x44  Code  Gb  board.o [1]
-hw_board_reboot          0x802'71c9     0x8  Code  Gb  board.o [1]
+                         0x802'7243    0x24  Code  Gb  board.o [1]
+hw_board_init            0x802'71c1    0x44  Code  Gb  board.o [1]
+hw_board_reboot          0x802'7295     0x8  Code  Gb  board.o [1]
 hw_delay_init            0x801'6085    0x24  Code  Gb  hardware_delay.o [1]
 hw_delay_us              0x801'60a9    0x22  Code  Gb  hardware_delay.o [1]
-hw_dma_uart_begin_read   0x802'6c5f    0xec  Code  Gb  hw_dma_uart.o [1]
+hw_dma_uart_begin_read   0x802'6d2b    0xec  Code  Gb  hw_dma_uart.o [1]
 hw_dma_uart_begin_write
-                         0x802'6d4b    0xa2  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_control      0x802'6f0f   0x158  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_init         0x802'6899   0x3c6  Code  Gb  hw_dma_uart.o [1]
+                         0x802'6e17    0xa2  Code  Gb  hw_dma_uart.o [1]
+hw_dma_uart_control      0x802'6fdb   0x158  Code  Gb  hw_dma_uart.o [1]
+hw_dma_uart_init         0x802'6965   0x3c6  Code  Gb  hw_dma_uart.o [1]
 hw_dma_uart_read_finish
-                         0x802'6ded    0xb8  Code  Gb  hw_dma_uart.o [1]
+                         0x802'6eb9    0xb8  Code  Gb  hw_dma_uart.o [1]
 hw_dma_uart_write_finish
-                         0x802'6ea5    0x6a  Code  Gb  hw_dma_uart.o [1]
+                         0x802'6f71    0x6a  Code  Gb  hw_dma_uart.o [1]
 hw_flash_data_check_empty
-                         0x802'862f    0x24  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_erase      0x802'8615    0x1a  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_read       0x802'85f5    0x10  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_write      0x802'8605    0x10  Code  Gb  hw_flash_data.o [1]
-hw_io_pin_init           0x802'7401    0xf2  Code  Gb  hw_io_pin.o [1]
-hw_io_pin_input          0x802'756f    0x3e  Code  Gb  hw_io_pin.o [1]
-hw_io_pin_output         0x802'74f3    0x7c  Code  Gb  hw_io_pin.o [1]
+                         0x802'86fb    0x24  Code  Gb  hw_flash_data.o [1]
+hw_flash_data_erase      0x802'86e1    0x1a  Code  Gb  hw_flash_data.o [1]
+hw_flash_data_read       0x802'86c1    0x10  Code  Gb  hw_flash_data.o [1]
+hw_flash_data_write      0x802'86d1    0x10  Code  Gb  hw_flash_data.o [1]
+hw_io_pin_init           0x802'74cd    0xf2  Code  Gb  hw_io_pin.o [1]
+hw_io_pin_input          0x802'763b    0x3e  Code  Gb  hw_io_pin.o [1]
+hw_io_pin_output         0x802'75bf    0x7c  Code  Gb  hw_io_pin.o [1]
 hw_noinit_data          0x2000'0000    0x40  Data  Lc  board.o [1]
-hw_noinit_write          0x802'716f     0x8  Code  Gb  board.o [1]
-hw_power_is_off          0x802'75e7    0x12  Code  Gb  hw_power_off.o [1]
-hw_power_is_on           0x802'75f9     0xc  Code  Gb  hw_power_off.o [1]
-hw_power_off_init        0x802'75c9    0x1e  Code  Gb  hw_power_off.o [1]
+hw_noinit_write          0x802'723b     0x8  Code  Gb  board.o [1]
+hw_power_is_off          0x802'76b3    0x12  Code  Gb  hw_power_off.o [1]
+hw_power_is_on           0x802'76c5     0xc  Code  Gb  hw_power_off.o [1]
+hw_power_off_init        0x802'7695    0x1e  Code  Gb  hw_power_off.o [1]
 hw_pwm_alr_init          0x801'26a1    0x7e  Code  Lc  hw_pwm.o [1]
 hw_pwm_clr_init          0x801'2623    0x7e  Code  Lc  hw_pwm.o [1]
 hw_pwm_cr_registers     0x2000'66b8     0xc  Data  Gb  hw_pwm.o [1]
@@ -1091,14 +1091,14 @@ hw_pwm_set_tmode         0x801'2471    0x32  Code  Gb  hw_pwm.o [1]
 hw_pwm_tarr_init         0x801'279b    0x74  Code  Lc  hw_pwm.o [1]
 hw_pwm_timer_init        0x801'280f   0x202  Code  Lc  hw_pwm.o [1]
 hw_pwm_tmode_init        0x801'271f    0x7c  Code  Lc  hw_pwm.o [1]
-hw_run_status_init       0x802'70ad    0x48  Code  Lc  board.o [1]
-hw_run_status_off        0x802'7099     0xa  Code  Gb  board.o [1]
-hw_run_status_on         0x802'70a3     0xa  Code  Gb  board.o [1]
-hw_run_status_show       0x802'7139    0x36  Code  Gb  board.o [1]
+hw_run_status_init       0x802'7179    0x48  Code  Lc  board.o [1]
+hw_run_status_off        0x802'7165     0xa  Code  Gb  board.o [1]
+hw_run_status_on         0x802'716f     0xa  Code  Gb  board.o [1]
+hw_run_status_show       0x802'7205    0x36  Code  Gb  board.o [1]
 hw_uart_pins_map        0x2000'0054    0x70  Data  Lc  hw_dma_uart.o [1]
 hw_uarts_map            0x2000'00c4    0xa0  Data  Lc  hw_dma_uart.o [1]
-io_app_read_input        0x802'946d    0x90  Code  Gb  io_app.o [1]
-io_app_write_ouput       0x802'94fd    0x38  Code  Gb  io_app.o [1]
+io_app_read_input        0x802'9539    0x90  Code  Gb  io_app.o [1]
+io_app_write_ouput       0x802'95c9    0x38  Code  Gb  io_app.o [1]
 io_extern_count         0x2000'68c8     0x1  Data  Lc  nodelink_master_app.o [1]
 io_extern_datas         0x2000'652c    0x60  Data  Lc  nodelink_master_app.o [1]
 io_extern_input_count   0x2000'68c9     0x1  Data  Lc  nodelink_master_app.o [1]
@@ -1113,115 +1113,115 @@ io_inputs_buffer        0x2000'658c    0x50  Data  Gb  io_app.o [1]
 io_inputs_old           0x2000'66f4     0xc  Data  Gb  io_app.o [1]
 io_output_map           0x2000'0208    0x98  Data  Lc  hw_io_pin.o [1]
 io_outputs              0x2000'6708     0x8  Data  Gb  io_app.o [1]
-log_app_save             0x802'8655     0xa  Code  Gb  log_app.o [1]
-main                     0x802'954d    0x80  Code  Gb  main.o [1]
+log_app_save             0x802'8721     0xa  Code  Gb  log_app.o [1]
+main                     0x802'9619    0x80  Code  Gb  main.o [1]
 master                  0x2000'5fe8   0x154  Data  Gb  nodelink_master_app.o [1]
 master1                 0x2000'65dc    0x38  Data  Gb  modbus_app.o [1]
-master_callback          0x802'77c1    0xc6  Code  Lc  nodelink_master_app.o [1]
-memcmp                   0x802'81b1          Code  Gb  memcmp.o [4]
-mh_crc16_calc            0x802'82e5    0x3e  Code  Gb  MathHelper.o [1]
-mh_crc8_calc             0x802'8323    0x22  Code  Gb  MathHelper.o [1]
+master_callback          0x802'788d    0xc6  Code  Lc  nodelink_master_app.o [1]
+memcmp                   0x802'827d          Code  Gb  memcmp.o [4]
+mh_crc16_calc            0x802'83b1    0x3e  Code  Gb  MathHelper.o [1]
+mh_crc8_calc             0x802'83ef    0x22  Code  Gb  MathHelper.o [1]
 middle_coils            0x2000'63dc    0x80  Data  Gb  variable.o [1]
-modbus_app_proc          0x802'8db3    0x3a  Code  Gb  modbus_app.o [1]
-modbus_ascii_encoder     0x802'96c8     0xc  Data  Lc  modbus_encoder.o [1]
-modbus_calc_crc          0x802'5d73    0x3e  Code  Lc  modbus_encoder.o [1]
-modbus_calc_lrc          0x802'5d59    0x1a  Code  Lc  modbus_encoder.o [1]
+modbus_app_proc          0x802'8e7f    0x3a  Code  Gb  modbus_app.o [1]
+modbus_ascii_encoder     0x802'9794     0xc  Data  Lc  modbus_encoder.o [1]
+modbus_calc_crc          0x802'5e3f    0x3e  Code  Lc  modbus_encoder.o [1]
+modbus_calc_lrc          0x802'5e25    0x1a  Code  Lc  modbus_encoder.o [1]
 modbus_encoder_ascii_decode
-                         0x802'5ea5    0x96  Code  Lc  modbus_encoder.o [1]
+                         0x802'5f71    0x96  Code  Lc  modbus_encoder.o [1]
 modbus_encoder_ascii_encode
-                         0x802'5e2b    0x66  Code  Lc  modbus_encoder.o [1]
-modbus_encoder_get       0x802'5f67    0x14  Code  Gb  modbus_encoder.o [1]
-modbus_encoder_match     0x802'5f3b    0x2c  Code  Gb  modbus_encoder.o [1]
+                         0x802'5ef7    0x66  Code  Lc  modbus_encoder.o [1]
+modbus_encoder_get       0x802'6033    0x14  Code  Gb  modbus_encoder.o [1]
+modbus_encoder_match     0x802'6007    0x2c  Code  Gb  modbus_encoder.o [1]
 modbus_encoder_rtu_decode
-                         0x802'5df1    0x3a  Code  Lc  modbus_encoder.o [1]
+                         0x802'5ebd    0x3a  Code  Lc  modbus_encoder.o [1]
 modbus_encoder_rtu_encode
-                         0x802'5db1    0x32  Code  Lc  modbus_encoder.o [1]
+                         0x802'5e7d    0x32  Code  Lc  modbus_encoder.o [1]
 modbus_endcoder_ascii_length_calc
-                         0x802'5e91    0x14  Code  Lc  modbus_encoder.o [1]
+                         0x802'5f5d    0x14  Code  Lc  modbus_encoder.o [1]
 modbus_endcoder_rtu_length_calc
-                         0x802'5de3     0xe  Code  Lc  modbus_encoder.o [1]
+                         0x802'5eaf     0xe  Code  Lc  modbus_encoder.o [1]
 modbus_master_add_once_cmd
-                         0x802'55bb    0x88  Code  Gb  modbus_master.o [1]
+                         0x802'5687    0x88  Code  Gb  modbus_master.o [1]
 modbus_master_add_period_cmd
-                         0x802'5539    0x82  Code  Gb  modbus_master.o [1]
-modbus_master_app        0x802'8d57    0x5c  Code  Lc  modbus_app.o [1]
+                         0x802'5605    0x82  Code  Gb  modbus_master.o [1]
+modbus_master_app        0x802'8e23    0x5c  Code  Lc  modbus_app.o [1]
 modbus_master_create_request
-                         0x802'5705   0x2de  Code  Lc  modbus_master.o [1]
+                         0x802'57d1   0x2de  Code  Lc  modbus_master.o [1]
 modbus_master_deal_respone
-                         0x802'59e3    0xb4  Code  Lc  modbus_master.o [1]
-modbus_master_get_cmd    0x802'5651    0xb4  Code  Lc  modbus_master.o [1]
-modbus_master_init       0x802'551d    0x1c  Code  Gb  modbus_master.o [1]
-modbus_master_run        0x802'5a97    0xe8  Code  Gb  modbus_master.o [1]
-modbus_rtu_encoder       0x802'96bc     0xc  Data  Lc  modbus_encoder.o [1]
+                         0x802'5aaf    0xb4  Code  Lc  modbus_master.o [1]
+modbus_master_get_cmd    0x802'571d    0xb4  Code  Lc  modbus_master.o [1]
+modbus_master_init       0x802'55e9    0x1c  Code  Gb  modbus_master.o [1]
+modbus_master_run        0x802'5b63    0xe8  Code  Gb  modbus_master.o [1]
+modbus_rtu_encoder       0x802'9788     0xc  Data  Lc  modbus_encoder.o [1]
 modbus_slave_add_dataarea
-                         0x802'684b    0x46  Code  Gb  modbus_slave.o [1]
-modbus_slave_app         0x802'8ca3    0xb4  Code  Lc  modbus_app.o [1]
+                         0x802'6917    0x46  Code  Gb  modbus_slave.o [1]
+modbus_slave_app         0x802'8d6f    0xb4  Code  Lc  modbus_app.o [1]
 modbus_slave_copy_to_flash
-                         0x802'658d    0x80  Code  Lc  modbus_slave.o [1]
-modbus_slave_enter_app   0x802'643d    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_erase_app   0x802'648f    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_exit_app    0x802'63eb    0x52  Code  Lc  modbus_slave.o [1]
+                         0x802'6659    0x80  Code  Lc  modbus_slave.o [1]
+modbus_slave_enter_app   0x802'6509    0x52  Code  Lc  modbus_slave.o [1]
+modbus_slave_erase_app   0x802'655b    0x52  Code  Lc  modbus_slave.o [1]
+modbus_slave_exit_app    0x802'64b7    0x52  Code  Lc  modbus_slave.o [1]
 modbus_slave_find_dataarea
-                         0x802'5f91    0x36  Code  Lc  modbus_slave.o [1]
+                         0x802'605d    0x36  Code  Lc  modbus_slave.o [1]
 modbus_slave_read_coils
-                         0x802'5fc7    0xb6  Code  Lc  modbus_slave.o [1]
+                         0x802'6093    0xb6  Code  Lc  modbus_slave.o [1]
 modbus_slave_read_registers
-                         0x802'607d    0x8c  Code  Lc  modbus_slave.o [1]
+                         0x802'6149    0x8c  Code  Lc  modbus_slave.o [1]
 modbus_slave_receive_app
-                         0x802'64e1    0xac  Code  Lc  modbus_slave.o [1]
-modbus_slave_run         0x802'6761    0xea  Code  Gb  modbus_slave.o [1]
+                         0x802'65ad    0xac  Code  Lc  modbus_slave.o [1]
+modbus_slave_run         0x802'682d    0xea  Code  Gb  modbus_slave.o [1]
 modbus_slave_write_coil
-                         0x802'6109    0xa6  Code  Lc  modbus_slave.o [1]
+                         0x802'61d5    0xa6  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_coils
-                         0x802'61af   0x1d8  Code  Lc  modbus_slave.o [1]
+                         0x802'627b   0x1d8  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_register
-                         0x802'6387    0x64  Code  Lc  modbus_slave.o [1]
+                         0x802'6453    0x64  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_registers
-                         0x802'669f    0xc2  Code  Lc  modbus_slave.o [1]
+                         0x802'676b    0xc2  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_to_flash
-                         0x802'660d    0x92  Code  Lc  modbus_slave.o [1]
+                         0x802'66d9    0x92  Code  Lc  modbus_slave.o [1]
 modbus_status           0x2000'0378  0x1224  Data  Lc  modbus_app.o [1]
-mosbus_app_init          0x802'8bc3    0xe0  Code  Gb  modbus_app.o [1]
+mosbus_app_init          0x802'8c8f    0xe0  Code  Gb  modbus_app.o [1]
 mylog                   0x2000'665c    0x18  Data  Lc  log_app.o [1]
 next_save_posi          0x2000'15b4     0x4  Data  Gb  poweroff_save_app.o [1]
 nl_recv_step            0x2000'6848     0x4  Data  Lc  nodelink_master_app.o [1]
 nl_send_step            0x2000'684c     0x4  Data  Gb  nodelink_master_app.o [1]
-nodelink_decode          0x802'8155    0x30  Code  Gb  NodeLinkCommon.o [1]
-nodelink_encode          0x802'8185    0x2a  Code  Gb  NodeLinkCommon.o [1]
+nodelink_decode          0x802'8221    0x30  Code  Gb  NodeLinkCommon.o [1]
+nodelink_encode          0x802'8251    0x2a  Code  Gb  NodeLinkCommon.o [1]
 nodelink_find_device_by_ID
-                         0x802'7cf9    0x2c  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7dc5    0x2c  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_app_init
-                         0x802'7887    0x6a  Code  Gb  nodelink_master_app.o [1]
+                         0x802'7953    0x6a  Code  Gb  nodelink_master_app.o [1]
 nodelink_master_app_run
-                         0x802'78f1   0x1e0  Code  Gb  nodelink_master_app.o [1]
+                         0x802'79bd   0x1e0  Code  Gb  nodelink_master_app.o [1]
 nodelink_master_app_run::connect_time
                         0x2000'6854     0x4  Data  Lc  nodelink_master_app.o [1]
 nodelink_master_begin_scan
-                         0x802'7e4d    0x22  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7f19    0x22  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_begin_working
-                         0x802'7e6f     0xe  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_init     0x802'7ca1    0x58  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_recv     0x802'7d25   0x118  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_reset    0x802'7e3d    0x10  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_send     0x802'7e93   0x2ac  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7f3b     0xe  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_init     0x802'7d6d    0x58  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_recv     0x802'7df1   0x118  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_reset    0x802'7f09    0x10  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_send     0x802'7f5f   0x2ac  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_send::curDevice
                         0x2000'68cd     0x1  Data  Lc  NodeLinkMaster.o [1]
 nodelink_master_set_callback
-                         0x802'7e8d     0x6  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7f59     0x6  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_set_code
-                         0x802'7e7d    0x10  Code  Gb  NodeLinkMaster.o [1]
-nodelink_read_input      0x802'7b49    0x5a  Code  Gb  nodelink_master_app.o [1]
-nodelink_timer_init      0x802'7ad1    0x5e  Code  Gb  nodelink_master_app.o [1]
-nodelink_write_output    0x802'7ba3    0x66  Code  Gb  nodelink_master_app.o [1]
+                         0x802'7f49    0x10  Code  Gb  NodeLinkMaster.o [1]
+nodelink_read_input      0x802'7c15    0x5a  Code  Gb  nodelink_master_app.o [1]
+nodelink_timer_init      0x802'7b9d    0x5e  Code  Gb  nodelink_master_app.o [1]
+nodelink_write_output    0x802'7c6f    0x66  Code  Gb  nodelink_master_app.o [1]
 once_cmd_pool           0x2000'5d68   0x280  Data  Lc  modbus_master.o [1]
-page_infos               0x802'9628    0x20  Data  Lc  st_flash.o [1]
+page_infos               0x802'96f4    0x20  Data  Lc  st_flash.o [1]
 period_cmd_count        0x2000'6840     0x4  Data  Lc  modbus_master.o [1]
 period_cmd_pool         0x2000'5a48   0x320  Data  Lc  modbus_master.o [1]
 pin_maps                0x2000'02a0    0xb4  Data  Lc  hw_pwm.o [1]
 power_off_sample        0x2000'6858     0x4  Data  Lc  poweroff_save_app.o [1]
 power_on_flag           0x2000'68ce     0x1  Data  Lc  poweroff_save_app.o [1]
-poweroff_app_init        0x802'8351   0x1ae  Code  Gb  poweroff_save_app.o [1]
-poweroff_app_run         0x802'8531    0xa4  Code  Gb  poweroff_save_app.o [1]
+poweroff_app_init        0x802'841d   0x1ae  Code  Gb  poweroff_save_app.o [1]
+poweroff_app_run         0x802'85fd    0xa4  Code  Gb  poweroff_save_app.o [1]
 pwm_handle_maps         0x2000'66d0     0xc  Data  Lc  hw_pwm.o [1]
 pwm_hanlde_parames      0x2000'66dc     0xc  Data  Lc  hw_pwm.o [1]
 recv_buffer             0x2000'613c   0x100  Data  Lc  nodelink_master_app.o [1]
@@ -1250,41 +1250,41 @@ set_servo_axis_mode      0x801'5909    0xae  Code  Lc  servocom_app.o [1]
 set_servo_mode           0x801'59b7    0x28  Code  Lc  servocom_app.o [1]
 set_servo_postotarr_limit
                          0x801'56d1    0xf0  Code  Gb  servocom_app.o [1]
-slave1_on_comm           0x802'8b7d    0x46  Code  Lc  modbus_app.o [1]
-slave_on_recv            0x802'774f    0x68  Code  Lc  nodelink_master_app.o [1]
-slave_on_send            0x802'76e5    0x6a  Code  Lc  nodelink_master_app.o [1]
-slave_on_timeout         0x802'77b7     0xa  Code  Lc  nodelink_master_app.o [1]
+slave1_on_comm           0x802'8c49    0x46  Code  Lc  modbus_app.o [1]
+slave_on_recv            0x802'781b    0x68  Code  Lc  nodelink_master_app.o [1]
+slave_on_send            0x802'77b1    0x6a  Code  Lc  nodelink_master_app.o [1]
+slave_on_timeout         0x802'7883     0xa  Code  Lc  nodelink_master_app.o [1]
 slaves                  0x2000'6674    0x18  Data  Lc  modbus_app.o [1]
-st_dma_get_dmax          0x802'7217    0x16  Code  Gb  st_dma.o [1]
-st_dma_get_stream        0x802'7205    0x12  Code  Gb  st_dma.o [1]
-st_dma_init              0x802'71d1    0x34  Code  Gb  st_dma.o [1]
+st_dma_get_dmax          0x802'72e3    0x16  Code  Gb  st_dma.o [1]
+st_dma_get_stream        0x802'72d1    0x12  Code  Gb  st_dma.o [1]
+st_dma_init              0x802'729d    0x34  Code  Gb  st_dma.o [1]
 st_dma_steam_map        0x2000'1828    0x30  Data  Lc  st_dma.o [1]
 st_flash_addr_to_sector_no
-                         0x802'879b    0x22  Code  Gb  st_flash.o [1]
-st_flash_erase_secotr    0x802'86d9    0x84  Code  Gb  st_flash.o [1]
-st_flash_error_no        0x802'868b    0x22  Code  Gb  st_flash.o [1]
-st_flash_lock            0x802'867f     0xc  Code  Gb  st_flash.o [1]
-st_flash_read            0x802'8865    0x20  Code  Gb  st_flash.o [1]
-st_flash_read_word       0x802'8797     0x4  Code  Gb  st_flash.o [1]
-st_flash_unlock          0x802'8665    0x1a  Code  Gb  st_flash.o [1]
-st_flash_wait_done       0x802'86ad    0x2c  Code  Gb  st_flash.o [1]
-st_flash_write           0x802'87bd    0x7e  Code  Gb  st_flash.o [1]
+                         0x802'8867    0x22  Code  Gb  st_flash.o [1]
+st_flash_erase_secotr    0x802'87a5    0x84  Code  Gb  st_flash.o [1]
+st_flash_error_no        0x802'8757    0x22  Code  Gb  st_flash.o [1]
+st_flash_lock            0x802'874b     0xc  Code  Gb  st_flash.o [1]
+st_flash_read            0x802'8931    0x20  Code  Gb  st_flash.o [1]
+st_flash_read_word       0x802'8863     0x4  Code  Gb  st_flash.o [1]
+st_flash_unlock          0x802'8731    0x1a  Code  Gb  st_flash.o [1]
+st_flash_wait_done       0x802'8779    0x2c  Code  Gb  st_flash.o [1]
+st_flash_write           0x802'8889    0x7e  Code  Gb  st_flash.o [1]
 st_flash_write_half_word
-                         0x802'875d    0x3a  Code  Gb  st_flash.o [1]
-sw_timer_delay           0x802'5c85    0x2a  Code  Gb  software_timer.o [1]
-sw_timer_expire          0x802'5c5b    0x2a  Code  Gb  software_timer.o [1]
-sw_timer_init            0x802'5bf7    0x18  Code  Gb  software_timer.o [1]
-sw_timer_now             0x802'5c0f    0x32  Code  Gb  software_timer.o [1]
-sw_timer_start           0x802'5c41    0x1a  Code  Gb  software_timer.o [1]
+                         0x802'8829    0x3a  Code  Gb  st_flash.o [1]
+sw_timer_delay           0x802'5d51    0x2a  Code  Gb  software_timer.o [1]
+sw_timer_expire          0x802'5d27    0x2a  Code  Gb  software_timer.o [1]
+sw_timer_init            0x802'5cc3    0x18  Code  Gb  software_timer.o [1]
+sw_timer_now             0x802'5cdb    0x32  Code  Gb  software_timer.o [1]
+sw_timer_start           0x802'5d0d    0x1a  Code  Gb  software_timer.o [1]
 system_core_clock       0x2000'0050     0x4  Data  Lc  hardware_delay.o [1]
 testDisplay             0x2000'685c     0x4  Data  Gb  poweroff_save_app.o [1]
 timer                   0x2000'6728     0x8  Data  Lc  poweroff_save_app.o [1]
-tiny_log_save            0x802'8885    0x6c  Code  Gb  TinyLog.o [1]
-user_app_init            0x802'95cf     0x8  Code  Gb  user_app.o [1]
-user_app_run             0x802'95d7     0x8  Code  Gb  user_app.o [1]
+tiny_log_save            0x802'8951    0x6c  Code  Gb  TinyLog.o [1]
+user_app_init            0x802'969b     0x8  Code  Gb  user_app.o [1]
+user_app_run             0x802'96a3     0x8  Code  Gb  user_app.o [1]
 user_datas              0x2000'4a48  0x1000  Data  Gb  variable.o [1]
-variable_init            0x802'95cd     0x2  Code  Gb  variable.o [1]
-xxtea_uint_encrypt       0x802'8219    0xc6  Code  Gb  encrypt_xxtea.o [1]
+variable_init            0x802'9699     0x2  Code  Gb  variable.o [1]
+xxtea_uint_encrypt       0x802'82e5    0xc6  Code  Gb  encrypt_xxtea.o [1]
 
 
 [1] = E:\1Works\GC23005\Project\iar_release\Obj
@@ -1293,7 +1293,7 @@ xxtea_uint_encrypt       0x802'8219    0xc6  Code  Gb  encrypt_xxtea.o [1]
 [4] = rt7M_tl.a
 [5] = shb_l.a
 
-  122 972 bytes of readonly  code memory
+  123 176 bytes of readonly  code memory
     2 129 bytes of readonly  data memory
    35 021 bytes of readwrite data memory