V1.01-002

增加锦泓的合链扭矩-初版。

Component/axis_motion/axis_motion.c

@@ -2010,6 +2010,7 @@ void axis_pp_change_speed (axis_object_t *axis, int rel,
                              axis->cur_speed_index = 0;
                              axis->accdec_count = AXIS_ACC_NUMBER_TABLE(axis)[axis->cur_speed_index];
                              axis->cur_accdec_status = 0;
+                             axis->cur_reg_value = AXIS_ACC_REG_TABLE(axis)[axis->cur_speed_index];
                              AXIS_SET_PERION(axis, AXIS_ACC_REG_TABLE(axis)[axis->cur_speed_index]);
                              //计算完成，切换回PP模式
                              axis->run_mode = AXIS_MODE_PP;
@@ -2076,6 +2077,7 @@ void axis_change_speed_direct(axis_object_t *axis, int target_speed) {
   axis->run_mode = AXIS_MODE_HOLD;
   //直接更新寄存器值
   reg_value = axis->clock / speed;
+  axis->cur_reg_value=reg_value;
   AXIS_SET_PERION(axis, reg_value);
   axis->cur_speed=speed;
   axis->start_speed = axis->cur_speed;
@@ -2086,6 +2088,7 @@ void axis_change_speed_direct(axis_object_t *axis, int target_speed) {
   axis->cur_speed_index = 0;
   axis->accdec_count = AXIS_ACC_NUMBER_TABLE(axis)[axis->cur_speed_index];
   axis->cur_accdec_status = 0;
+  axis->cur_reg_value = AXIS_ACC_REG_TABLE(axis)[axis->cur_speed_index];
   AXIS_SET_PERION(axis, AXIS_ACC_REG_TABLE(axis)[axis->cur_speed_index]);
   //让中断切换到连续运动模式
   axis->run_mode = AXIS_MODE_PV;        
@@ -2490,6 +2493,7 @@ void axis_start(axis_object_t *axis) {
   axis->cur_speed_index = 0;
   axis->accdec_count = AXIS_ACC_NUMBER_TABLE(axis)[axis->cur_speed_index];
   axis->cur_accdec_status = 0;
+  axis->cur_reg_value = AXIS_ACC_REG_TABLE(axis)[axis->cur_speed_index];
   AXIS_SET_PERION(axis, AXIS_ACC_REG_TABLE(axis)[axis->cur_speed_index]);
   AXIS_ON(axis);
   axis->outputs.on = AXIS_IS_ON(axis) != 0;
@@ -2570,6 +2574,9 @@ void axis_set_parameter(axis_object_t *axis, axis_paramter_t cmd, int argv) {
   case AXIS_ALARM_REVERSE:
     axis->inputs.alarm_reverse = argv;
     break;
+  case AXIS_USE_ENCODE:
+      axis->use_encode = argv;
+      break;
   }
 }
 

Component/axis_motion/axis_motion.h

@@ -98,7 +98,8 @@ typedef enum
         
         AXIS_DIR_REVERSE,       //方向电平取反               
         AXIS_EN_REVERSE,         //使能电平取反
-        AXIS_ALARM_REVERSE      //伺服告警极性转换
+        AXIS_ALARM_REVERSE,      //伺服告警极性转换
+        AXIS_USE_ENCODE         //使能使用编码器位置
         
 } axis_paramter_t;
 
@@ -162,6 +163,9 @@ typedef struct
 	unsigned short start_speed;  //启动速度
         unsigned short stop_speed;   //停止速度
 	unsigned short target_speed_reg;    //目标速度寄存器值
+    //编码器配置
+    unsigned char use_encode;       //0表示不使用编码器位置，1表示使用编码器位置
+    long plus_stop_position;     //运行指定脉冲数停止位置
 
 	//加减速度表
 	int acc_table_size; //加速表大小

Machine/FuXiaoWeiMachine/FXWChuantou_HeLian.c

@@ -1254,36 +1254,6 @@ void CTHL_TD_Motor(void)	 //
                                      3000,CTHL_PARAM_FKDW_Speed,45,30,300); //* 4/5
             
           }
-          /*   
-                            else if((CTHL_LianLengthCheck < 2000) && (CTHL_LianLengthCheckOld  <2000))          
-          {
-          CTHL_DataBuff = CTHL_PARAM_TD_RunSpeed;
-          AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_TD_RunSpeed,CTHL_LianLengthCheck + CTHL_LianLengthCheckOld - 650  - dwXRealPos,
-          3000,CTHL_PARAM_FKDW_Speed,45,15,0); //* 4/5
-        }
-                             else if((CTHL_LianLengthCheck < 5000) && (CTHL_LianLengthCheckOld  < 5000))          
-          {
-          CTHL_DataBuff = CTHL_PARAM_CLsudu_SPEED*2/3;
-          AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_CLsudu_SPEED*2/3,CTHL_LianLengthCheck + CTHL_LianLengthCheckOld - 650  - dwXRealPos,
-          3000,CTHL_PARAM_FKDW_Speed,45,15,0); //* 4/5
-        }
-                            else if(CTHL_LianLengthCheck >= (CTHL_LianLengthCheckOld + CTHL_LianLengthCheckOld/5))
-          {
-          //   AxisMovePosAccDecNotStop(X_AXIS,YWX_CTHL_PARAM_TD_RunSpeed*3/2,YWX_CTHL_LianLengthCheck/2 +YWX_CTHL_LianLengthCheckOld/2 - dwXRealPos,
-          //                                3000,YWX_CTHL_PARAM_TD_RunSpeed,45,20,0); //YWX_CTHL_PARAM_TD_RunSpeed 
-          
-          CTHL_DataBuff = CTHL_PARAM_CLsudu_SPEED;
-          AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_CLsudu_SPEED,CTHL_LianLengthCheck + CTHL_LianLengthCheck/2  - dwXRealPos,
-          3000,CTHL_PARAM_TD_RunSpeed ,45,25,0); //CTHL_PARAM_TD_RunSpeed 
-        }
-                            else
-          {
-          //   AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_TD_RunSpeed*3/2,CTHL_LianLengthCheck/2 +CTHL_LianLengthCheckOld/2 - dwXRealPos,
-          //                                3000,CTHL_PARAM_TD_RunSpeed,45,20,0); //CTHL_PARAM_TD_RunSpeed 
-          CTHL_DataBuff = CTHL_PARAM_CLsudu_SPEED;
-          AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_CLsudu_SPEED,CTHL_LianLengthCheck/2 + CTHL_LianLengthCheckOld  - dwXRealPos,
-          3000,CTHL_PARAM_TD_RunSpeed,45,25,0); //YWX_CTHL_PARAM_TD_RunSpeed 
-        }     */
         }
         else
         {  

Machine/JinHongMachine/JHChuantou_NL_HeLian.h

@@ -1,24 +1,9 @@
+#ifndef __JHCHUANGTOU_NL_HELIAN_H__
+#define __JHCHUANGTOU_NL_HELIAN_H__
 
 #if JIN_HONG_MACHINE==1
-
-
-extern void ExtiAcitionX02(void);
-extern void JH_CTHL_NL_SetAlarmCode(unsigned short alarm_code,unsigned short cStopFlag);
-extern void JH_CTHL_NL_ManualAction(void);
-extern void JH_CTHL_NL_AutoStepAction(void);
-extern void JH_CTHL_NL_TableAction(void);
-extern void JH_CTHL_NL_TD_Motor(void);
-extern void JH_CTHL_NL_CL_Motor(void);
-extern void JH_CTHL_NL_CheckStart(void);
-extern void JH_CTHL_NL_TLiao_Step(void);  //推料(推拉头)
-extern void JH_CTHL_NL_AlarmProtect(void);
-extern void JH_CTHL_NL_ZLT_Step(void);
-extern void JH_CTHL_NL_ZhenDongAction(void);
-extern void JH_CTHL_NL_bFKCXTDDWStep(void);
-extern void JH_CTHL_NL_bCXCRStep(void);
-extern void JH_CTHL_NL_bCLFirstStep(void);
-extern void JH_CTHL_NL_HeMo(void);
-extern void JH_CTHL_NL_SongDaiAction(void);
+extern void JH_CTHL_NL_Action(void);
+extern void JH_CTHL_NL_InitAction(void);
 #define DIR_P 1
 #define DIR_N 0
 
@@ -70,6 +55,7 @@ extern void JH_CTHL_NL_SongDaiAction(void);
 #define JH_CTHL_NL_YAxis_Origin_ALARM      32    //合链电机回零失败
 #define JH_CTHL_NL_Y_SF_ALR_ALARM          33      //Y伺服报警  
 #define JH_CTHL_NL_SongDai_ALARM           34      //送带异常
+#define JH_CTHL_NL_SERVO_CONFIG_ALARM      35      //伺服配置转矩限制失败
 
 #define JH_CTHL_NL_AutoStep            cStepMByte
 #define JH_CTHL_NL_ZhuangLiaoStep      cStepMByte1
@@ -252,6 +238,15 @@ extern void JH_CTHL_NL_SongDaiAction(void);
 #define JH_CTHL_NL_PARAM_CX_DELAY              (user_datas[68]*10)
 #define JH_CTHL_PARAM_DCGO_LENGTH            user_datas[69]//前码定位后再走长度
 #define JH_CTHL_PARAM_YaDai_LENGTH            user_datas[70]//提前压带
+//
+//伺服参数 180~190
+#define SERVO_PARAM_TRARR_LIMITMAX              user_datas[180]//伺服扭矩最大限制
+#define SERVO_PARAM_TRARR_LIMITMIN              user_datas[181]//伺服扭矩最小限制
+#define SERVO_PARAM_SPEED_DIFFER               user_datas[182]//速度差值
+#define SERVO_PARAM_ENCODE                     user_datas[190]//转换后的值
+#define SERVO_PARAM_ALARM                      user_datas[192]//转换后的值
+//横送检测时间
+#define HSLIAO_CHECK_TIME                      1//横送是检测穿头模和第一次合链是否在原位
 //输入 
 
 #define JH_CTHL_NL_START_IN            M0384 //X00  //启动
@@ -296,7 +291,7 @@ extern void JH_CTHL_NL_SongDaiAction(void);
 #define JH_CTHL_NL_DXK_VAVLE           M0306  //Y02 顶斜口电磁阀（顶斜码）
 #define JH_CTHL_NL_GDXM_VAVLE          M0307  //Y03 固定斜码
 #define JH_CTHL_NL_FKGD_VAVLE          M0308  //Y04 方块固定电磁阀(方块定位)
-#define JH_CTHL_NL_CXSCDW_VAVLE        M0309  //Y05 插销上止定位电磁阀(小插勾针)
+#define JH_CTHL_NL_CXSCDW_VAVLE        M0330  //Y05 插销上止定位电磁阀(小插勾针)
 #define JH_CTHL_NL_CXSX_VAVLE          M0310  //Y06 插销下移电磁阀(小插销上下)
 #define JH_CTHL_NL_CXQJD_VAVLE         M0311  //Y07 插销前夹带电磁阀(插销前锁带)
 //#define JH_CTHL_NL_CXHT_VAVLE          M0312       //Y10 摆臂
@@ -313,18 +308,20 @@ extern void JH_CTHL_NL_SongDaiAction(void);
 #define JH_CTHL_NL_ZhenDongPian_OUT    M0322       //Y22 振动盘启动
 #define JH_CTHL_NL_First_CT_VAVLE      M0323       //Y23 穿拉头电磁阀
 #define JH_CTHL_NL_MGuo_VAVLE          M0324       //Y24 码勾电磁阀
-#define JH_CTHL_NL_HL_VAVLE            M0325       //Y25 合链电磁阀
+#define JH_CTHL_NL_Run_DENG_VAVLE      M0325       //Y25 运行
+#define JH_CTHL_NL_Stop_DENG_VAVLE      M0327       //Y27 待机
+#define JH_CTHL_NL_ERROR_DENG_VAVLE      M0328       //Y30 报警
 
 #define JH_CTHL_NL_CXDWZ_VAVLE     M0326       //Y26 插销定位针(到位)电磁阀(小插卡位)
-//#define JH_CTHL_NL_CuiQi_VAVLE     M0327   //Y27 吹气电磁阀
 
-#define JH_CTHL_NL_YaiDai_VAVLE     M0327   //Y27 告警清除
-#define JH_CTHL_NL_SongDai_VAVLE   M0328       //Y30 送带电机启动
+#define JH_CTHL_NL_YaiDai_VAVLE     M0309   //Y27 告警清除
 
+#define JH_CTHL_NL_SongDai_VAVLE   M0330       //Y30 送带电机启动
 
+#define JH_CTHL_NL_HL_VAVLE            M0330       //Y25 合链电磁阀
 #define JH_CTHL_NL_ALARMCLR_VAVLE     M0330   //Y27 告警清除
 
-#define JH_CTHL_NL_Run_State       M0329   //Y31 运行灯
+#define JH_CTHL_NL_Run_State       M0330   //Y31 运行灯
 #define JH_CTHL_NL_Stop_State      M0330   //Y32 停止灯
 
 //M0~M4全局固定使用
@@ -393,5 +390,5 @@ extern void JH_CTHL_NL_SongDaiAction(void);
 
 
 #endif
-
+#endif
 

Machine/ZhenYuMachine/ZhenYuChuantou_HeLian.c

@@ -175,7 +175,7 @@ void CTHL_AutoStepAction(void)
               else
               {
                  SetEn(Y_AXIS, MOTOR_DISEN);//设置扭矩做准备                 
-                 if(get_tarr_set(Y_AXIS)!=2)//配置失败停机
+                 if(get_tarr_set(Y_AXIS)!=2)//是否配置转矩限制失败
                  {
                    SetEn(Y_AXIS, MOTOR_DISEN);//设置扭矩做准备
                    CTHL_wltzi=0;//停机 

Project/iar_release/Exe/Project.hex

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Project/iar_release/List/Project.map

@@ -1,1101 +0,0 @@
-###############################################################################
-#
-# IAR ELF Linker V8.32.3.193/W32 for ARM                  06/Jul/2024  16:17:28
-# Copyright 2007-2019 IAR Systems AB.
-#
-#    Output file  =  
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Exe\Project.out
-#    Map file     =  
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\List\Project.map
-#    Command line =  
-#        -f C:\Users\liaizun\AppData\Local\Temp\EW74CB.tmp
-#        (E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\Action.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\AllSeroDrv.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\axis_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\axis_motion.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\board.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\CCAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\CCChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\Encode.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\encrypt_md5.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\encrypt_xxtea.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\FeiYueAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\FXWAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\FXWChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\FXWChuantou_HeLian_D.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\FXWQueDuanJi_Kai.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\FYChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\GLAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\GLChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\GLQueduanChuantou.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hardware_delay.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hw_dma_uart.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hw_flash_data.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hw_iic.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hw_io_pin.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hw_power_off.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\hw_pwm.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\io_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\IOPinConfig.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JHAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JHChuantou_NL_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JLAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JLChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JLKKQueDuanJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\log_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\LongYiAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\LYChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\main.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\MathHelper.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\modbus_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\modbus_encoder.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\modbus_master.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\modbus_slave.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\nodelink_master_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\NodeLinkCommon.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\NodeLinkMaster.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\poweroff_save_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\servocom_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\software_timer.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\st_dma.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\st_flash.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\st_sys.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\startup_stm32f10x_hd.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\TinyLog.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\user_app.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\variable.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XingYeAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYChuanTouJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYChuChiJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYFangKuaiChaXiaoJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYHeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYJiaoYaDinCun.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYJinShuDinCun.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYMXC_NiLong_StepJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYQueduanChuantou.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYQueDuanJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\XYTieBuJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\YingXingAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\YuWenXuanAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\YWXChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\YWXChuantou_HeLian_New.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\YXChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\YXTWOChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\ZCYAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\ZCYChuantou_HeLian.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\ZhenYUAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\ZhenYuChuantou_HeLian.o
-#        --redirect _Printf=_PrintfFullNoMb --redirect _Scanf=_ScanfFullNoMb
-#        --no_out_extension -o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Exe\Project.out --map
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\List\Project.map
-#        --config
-#        E:\1Works\1Softwork\GC23005\Project\..\Project\stm32f103xE.icf
-#        --semihosting --entry __iar_program_start --vfe --text_out locale)
-#
-###############################################################################
-
-*******************************************************************************
-*** RUNTIME MODEL ATTRIBUTES
-***
-
-CppFlavor       = *
-__Heap_Handler  = DLMalloc
-__SystemLibrary = DLib
-__dlib_version  = 6
-
-
-*******************************************************************************
-*** HEAP SELECTION
-***
-
-The advanced heap was selected because the application calls memory
-allocation functions outside of system library functions, and there
-are calls to deallocation functions in the application.
-
-
-*******************************************************************************
-*** PLACEMENT SUMMARY
-***
-
-"A0":  place at 0x800'b200 { ro section .intvec };
-"P1":  place in [from 0x800'b200 to 0x807'ffff] { ro };
-define block CSTACK with size = 8K, alignment = 8 { };
-define block HEAP with size = 8K, alignment = 8 { };
-"P2":  place in [from 0x2000'0040 to 0x2000'ffff] {
-          rw, block CSTACK, block HEAP };
-"P3":  place in [from 0x2000'0000 to 0x2000'003f] { rw section .noinit };
-do not initialize { section .noinit };
-initialize by copy { rw };
-
-  Section            Kind         Address    Size  Object
-  -------            ----         -------    ----  ------
-"A0":                                       0x130
-  .intvec            ro code   0x800'b200   0x130  startup_stm32f10x_hd.o [1]
-                             - 0x800'b330   0x130
-
-"P1":                                      0xd5ac
-  .text              ro code   0x800'b330  0x3fbc  ZhenYuChuantou_HeLian.o [1]
-  .text              ro code   0x800'f2ec   0x31c  Action.o [1]
-  .text              ro code   0x800'f608   0xdbc  AllSeroDrv.o [1]
-  .text              ro code   0x801'03c4    0xa6  ABImemcpy.o [4]
-  .text              ro code   0x801'046a    0x7a  lz77_init_single.o [4]
-  .text              ro code   0x801'04e4   0xb7c  servocom_app.o [1]
-  .text              ro code   0x801'1060     0x8  abs.o [2]
-  .text              ro code   0x801'1068    0x1c  U32ToFlt.o [3]
-  .text              ro code   0x801'1084    0xfc  FltDiv.o [3]
-  .text              ro code   0x801'1180   0x78c  hw_pwm.o [1]
-  .text              ro code   0x801'190c    0x90  ZhenYUAction.o [1]
-  .text              ro code   0x801'199c   0x20c  IOPinConfig.o [1]
-  .text              ro code   0x801'1ba8    0x52  round.o [3]
-  .text              ro code   0x801'1bfa    0x3a  zero_init3.o [4]
-  .text              ro code   0x801'1c34    0x3a  DblToS32.o [3]
-  .text              ro code   0x801'1c70  0x22bc  axis_motion.o [1]
-  .text              ro code   0x801'3f2c    0x24  S32ToFlt.o [3]
-  .text              ro code   0x801'3f50    0x2a  FltToS32.o [3]
-  .text              ro code   0x801'3f7c    0xd8  FltMul.o [3]
-  .text              ro code   0x801'4054   0x662  modbus_master.o [1]
-  .text              ro code   0x801'46b8   0x158  software_timer.o [1]
-  .text              ro code   0x801'4810   0x304  st_sys.o [1]
-  .text              ro code   0x801'4b14    0x5c  hardware_delay.o [1]
-  .text              ro code   0x801'4b70    0x66  ABImemset.o [4]
-  .text              ro code   0x801'4bd8    0x24  FltCmpGe.o [3]
-  .text              ro code   0x801'4bfc    0x24  FltCmpLe.o [3]
-  .text              ro code   0x801'4c20    0xe2  FltAdd.o [3]
-  .text              ro code   0x801'4d04   0x238  modbus_encoder.o [1]
-  .text              ro code   0x801'4f3c    0x80  FltSub.o [3]
-  .text              ro code   0x801'4fbc   0x908  modbus_slave.o [1]
-  .text              ro code   0x801'58c4   0x800  hw_dma_uart.o [1]
-  .text              ro code   0x801'60c4   0x138  board.o [1]
-  .text              ro code   0x801'61fc    0x6c  st_dma.o [1]
-  .text              ro code   0x801'6268    0x48  FltToDbl.o [3]
-  .text              ro code   0x801'62b0   0x17a  DblAdd.o [3]
-  .text              ro code   0x801'642c   0x1c8  hw_io_pin.o [1]
-  .text              ro code   0x801'65f4    0x48  hw_power_off.o [1]
-  .text              ro code   0x801'663c    0xd2  DblSub.o [3]
-  .text              ro code   0x801'6710   0x5b4  nodelink_master_app.o [1]
-  .text              ro code   0x801'6cc4   0x4bc  NodeLinkMaster.o [1]
-  .text              ro code   0x801'7180    0x5a  NodeLinkCommon.o [1]
-  .text              ro code   0x801'71dc    0x68  memcmp.o [4]
-  .text              ro code   0x801'7244    0xcc  encrypt_xxtea.o [1]
-  .text              ro code   0x801'7310    0x6c  MathHelper.o [1]
-  .text              ro code   0x801'737c   0x2a4  poweroff_save_app.o [1]
-  .text              ro code   0x801'7620    0x5e  hw_flash_data.o [1]
-  .text              ro code   0x801'7680    0x10  log_app.o [1]
-  .text              ro code   0x801'7690   0x220  st_flash.o [1]
-  .text              ro code   0x801'78b0    0x6c  TinyLog.o [1]
-  .text              ro code   0x801'791c   0x288  modbus_app.o [1]
-  .text              ro code   0x801'7ba4   0x168  axis_app.o [1]
-  .rodata            const     0x801'7d0c   0x100  MathHelper.o [1]
-  .rodata            const     0x801'7e0c   0x100  MathHelper.o [1]
-  .rodata            const     0x801'7f0c   0x100  MathHelper.o [1]
-  .rodata            const     0x801'800c   0x100  modbus_encoder.o [1]
-  .rodata            const     0x801'810c   0x100  modbus_encoder.o [1]
-  .text              ro code   0x801'820c    0xe0  io_app.o [1]
-  .text              ro code   0x801'82ec    0x8c  Encode.o [1]
-  .text              ro code   0x801'8378    0x80  main.o [1]
-  .text              ro code   0x801'83f8     0x2  variable.o [1]
-  .text              ro code   0x801'83fa    0x10  user_app.o [1]
-  .text              ro code   0x801'840c    0x28  data_init.o [4]
-  .iar.init_table    const     0x801'8434    0x20  - Linker created -
-  .rodata            const     0x801'8454    0x20  st_flash.o [1]
-  .text              ro code   0x801'8474    0x1e  cmain.o [4]
-  .text              ro code   0x801'8492     0x4  low_level_init.o [2]
-  .text              ro code   0x801'8496     0x4  exit.o [2]
-  .text              ro code   0x801'849c     0xa  cexit.o [4]
-  .text              ro code   0x801'84a8    0x14  exit.o [5]
-  .rodata            const     0x801'84bc    0x10  modbus_encoder.o [1]
-  .rodata            const     0x801'84cc    0x10  NodeLinkMaster.o [1]
-  .rodata            const     0x801'84dc     0xc  Action.o [1]
-  .rodata            const     0x801'84e8     0xc  modbus_encoder.o [1]
-  .rodata            const     0x801'84f4     0xc  modbus_encoder.o [1]
-  .text              ro code   0x801'8500     0xc  cstartup_M.o [4]
-  .rodata            const     0x801'850c     0x8  Action.o [1]
-  .text              ro code   0x801'8514     0x8  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'851c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8520     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8524     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8528     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'852c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8530     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8534     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8538     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'853c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8540     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8544     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8548     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'854c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8550     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8554     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8558     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'855c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8560     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8564     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8568     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'856c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8570     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8574     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8578     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'857c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8580     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8584     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8588     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'858c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8590     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8594     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8598     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'859c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85a0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85a4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85a8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85ac     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85b0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85b4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85b8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85bc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85c0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85c4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85c8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85cc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85d0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85d4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85d8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85dc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85e0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85e4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85e8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85ec     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85f0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85f4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85f8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'85fc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8600     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8604     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8608     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'860c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8610     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8614     0x4  startup_stm32f10x_hd.o [1]
-  .rodata            const     0x801'8618     0x0  zero_init3.o [4]
-  .rodata            const     0x801'8618     0x0  lz77_init_single.o [4]
-  Initializer bytes  const     0x801'8618   0x2c4  <for P2-1>
-                             - 0x801'88dc  0xd5ac
-
-"P3":                                        0x40
-  .noinit            uninit   0x2000'0000    0x40  board.o [1]
-                            - 0x2000'0040    0x40
-
-"P2", part 1 of 3:                         0x181a
-  P2-1                        0x2000'0040  0x181a  <Init block>
-    .data            inited   0x2000'0040     0x4  AllSeroDrv.o [1]
-    .data            inited   0x2000'0044     0x4  AllSeroDrv.o [1]
-    .data            inited   0x2000'0048     0x4  AllSeroDrv.o [1]
-    .data            inited   0x2000'004c     0x4  board.o [1]
-    .data            inited   0x2000'0050     0x4  hardware_delay.o [1]
-    .data            inited   0x2000'0054    0x70  hw_dma_uart.o [1]
-    .data            inited   0x2000'00c4    0xa0  hw_dma_uart.o [1]
-    .data            inited   0x2000'0164     0x4  hw_dma_uart.o [1]
-    .data            inited   0x2000'0168    0xa0  hw_io_pin.o [1]
-    .data            inited   0x2000'0208    0x98  hw_io_pin.o [1]
-    .data            inited   0x2000'02a0    0xb4  hw_pwm.o [1]
-    .data            inited   0x2000'0354    0x24  hw_pwm.o [1]
-    .data            inited   0x2000'0378  0x1224  modbus_app.o [1]
-    .data            inited   0x2000'159c     0xc  nodelink_master_app.o [1]
-    .data            inited   0x2000'15a8     0xc  NodeLinkMaster.o [1]
-    .data            inited   0x2000'15b4     0x4  poweroff_save_app.o [1]
-    .data            inited   0x2000'15b8   0x270  servocom_app.o [1]
-    .data            inited   0x2000'1828    0x30  st_dma.o [1]
-    .data            inited   0x2000'1858     0x2  nodelink_master_app.o [1]
-                            - 0x2000'185a  0x181a
-
-"P2", part 2 of 3:                         0x4fc8
-  .bss               zero     0x2000'185c  0x31d4  axis_app.o [1]
-  .bss               zero     0x2000'4a30  0x1000  variable.o [1]
-  .bss               zero     0x2000'5a30   0x320  modbus_master.o [1]
-  .bss               zero     0x2000'5d50   0x280  modbus_master.o [1]
-  .bss               zero     0x2000'5fd0   0x154  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6124   0x100  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6224   0x100  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6324    0xa0  modbus_slave.o [1]
-  .bss               zero     0x2000'63c4    0x80  variable.o [1]
-  .bss               zero     0x2000'6444    0x68  servocom_app.o [1]
-  .bss               zero     0x2000'64ac    0x68  servocom_app.o [1]
-  .bss               zero     0x2000'6514    0x60  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6574    0x50  io_app.o [1]
-  .bss               zero     0x2000'65c4    0x38  modbus_app.o [1]
-  .bss               zero     0x2000'65fc    0x24  hw_pwm.o [1]
-  .bss               zero     0x2000'6620    0x24  hw_pwm.o [1]
-  .bss               zero     0x2000'6644    0x18  log_app.o [1]
-  .bss               zero     0x2000'665c    0x18  modbus_app.o [1]
-  .bss               zero     0x2000'6674     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'6680     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'668c     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'6698     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66a4     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66b0     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66bc     0xc  io_app.o [1]
-  .bss               zero     0x2000'66c8     0xc  io_app.o [1]
-  .bss               zero     0x2000'66d4     0x8  board.o [1]
-  .bss               zero     0x2000'66dc     0x8  io_app.o [1]
-  .bss               zero     0x2000'66e4     0x8  nodelink_master_app.o [1]
-  .bss               zero     0x2000'66ec     0x8  nodelink_master_app.o [1]
-  .bss               zero     0x2000'66f4     0x8  nodelink_master_app.o [1]
-  .bss               zero     0x2000'66fc     0x8  poweroff_save_app.o [1]
-  .bss               zero     0x2000'6704     0x4  Action.o [1]
-  .bss               zero     0x2000'6708     0x4  Action.o [1]
-  .bss               zero     0x2000'670c     0x4  Action.o [1]
-  .bss               zero     0x2000'6710     0x4  Action.o [1]
-  .bss               zero     0x2000'6714     0x4  Action.o [1]
-  .bss               zero     0x2000'6718     0x4  Action.o [1]
-  .bss               zero     0x2000'671c     0x4  Action.o [1]
-  .bss               zero     0x2000'6720     0x4  Action.o [1]
-  .bss               zero     0x2000'6724     0x4  Action.o [1]
-  .bss               zero     0x2000'6728     0x4  Action.o [1]
-  .bss               zero     0x2000'672c     0x4  Action.o [1]
-  .bss               zero     0x2000'6730     0x4  Action.o [1]
-  .bss               zero     0x2000'6734     0x4  Action.o [1]
-  .bss               zero     0x2000'6738     0x4  Action.o [1]
-  .bss               zero     0x2000'673c     0x4  Action.o [1]
-  .bss               zero     0x2000'6740     0x4  Action.o [1]
-  .bss               zero     0x2000'6744     0x4  Action.o [1]
-  .bss               zero     0x2000'6748     0x4  Action.o [1]
-  .bss               zero     0x2000'674c     0x4  Action.o [1]
-  .bss               zero     0x2000'6750     0x4  Action.o [1]
-  .bss               zero     0x2000'6754     0x4  Action.o [1]
-  .bss               zero     0x2000'6758     0x4  Action.o [1]
-  .bss               zero     0x2000'675c     0x4  Action.o [1]
-  .bss               zero     0x2000'6760     0x4  Action.o [1]
-  .bss               zero     0x2000'6764     0x4  Action.o [1]
-  .bss               zero     0x2000'6768     0x4  Action.o [1]
-  .bss               zero     0x2000'676c     0x4  Action.o [1]
-  .bss               zero     0x2000'6770     0x4  Action.o [1]
-  .bss               zero     0x2000'6774     0x4  Action.o [1]
-  .bss               zero     0x2000'6778     0x4  Action.o [1]
-  .bss               zero     0x2000'677c     0x4  Action.o [1]
-  .bss               zero     0x2000'6780     0x4  Action.o [1]
-  .bss               zero     0x2000'6784     0x4  Action.o [1]
-  .bss               zero     0x2000'6788     0x4  Action.o [1]
-  .bss               zero     0x2000'678c     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6790     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6794     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6798     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'679c     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'67a0     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'67a4     0x4  IOPinConfig.o [1]
-  .bss               zero     0x2000'67a8     0x4  main.o [1]
-  .bss               zero     0x2000'67ac     0x4  modbus_master.o [1]
-  .bss               zero     0x2000'67b0     0x4  modbus_slave.o [1]
-  .bss               zero     0x2000'67b4     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67b8     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67bc     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67c0     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67c4     0x4  poweroff_save_app.o [1]
-  .bss               zero     0x2000'67c8     0x4  poweroff_save_app.o [1]
-  .bss               zero     0x2000'67cc     0x4  servocom_app.o [1]
-  .bss               zero     0x2000'67d0     0x4  servocom_app.o [1]
-  .bss               zero     0x2000'67d4     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67d8     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67dc     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67e0     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67e4     0x4  st_flash.o [1]
-  .bss               zero     0x2000'67e8     0x4  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67ec     0x4  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67f0     0x4  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67f4     0x4  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67f8     0x2  Action.o [1]
-  .bss               zero     0x2000'67fa     0x2  Action.o [1]
-  .bss               zero     0x2000'67fc     0x2  Action.o [1]
-  .bss               zero     0x2000'67fe     0x2  Action.o [1]
-  .bss               zero     0x2000'6800     0x2  Action.o [1]
-  .bss               zero     0x2000'6802     0x2  Action.o [1]
-  .bss               zero     0x2000'6804     0x2  Action.o [1]
-  .bss               zero     0x2000'6806     0x2  Action.o [1]
-  .bss               zero     0x2000'6808     0x2  Action.o [1]
-  .bss               zero     0x2000'680a     0x1  Action.o [1]
-  .bss               zero     0x2000'680b     0x1  Action.o [1]
-  .bss               zero     0x2000'680c     0x1  Action.o [1]
-  .bss               zero     0x2000'680d     0x1  Action.o [1]
-  .bss               zero     0x2000'680e     0x1  Action.o [1]
-  .bss               zero     0x2000'680f     0x1  Action.o [1]
-  .bss               zero     0x2000'6810     0x1  Action.o [1]
-  .bss               zero     0x2000'6811     0x1  Action.o [1]
-  .bss               zero     0x2000'6812     0x1  Action.o [1]
-  .bss               zero     0x2000'6813     0x1  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6814     0x1  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6815     0x1  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6816     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6817     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6818     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6819     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'681a     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'681b     0x1  NodeLinkMaster.o [1]
-  .bss               zero     0x2000'681c     0x1  poweroff_save_app.o [1]
-  .bss               zero     0x2000'681d     0x1  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'681e     0x1  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'681f     0x1  ZhenYuChuantou_HeLian.o [1]
-  .bss               zero     0x2000'6820     0x1  ZhenYuChuantou_HeLian.o [1]
-                            - 0x2000'6821  0x4fc5
-
-"P2", part 3 of 3:                         0x2000
-  CSTACK                      0x2000'6828  0x2000  <Block>
-    CSTACK           uninit   0x2000'6828  0x2000  <Block tail>
-                            - 0x2000'8828  0x2000
-
-Unused ranges:
-
-         From           To      Size
-         ----           --      ----
-   0x801'88dc   0x807'ffff  0x6'7724
-  0x2000'185a  0x2000'185b       0x2
-  0x2000'6824  0x2000'6827       0x4
-  0x2000'8828  0x2000'ffff    0x77d8
-
-
-*******************************************************************************
-*** INIT TABLE
-***
-
-          Address      Size
-          -------      ----
-Zero (__iar_zero_init3)
-    1 destination range, total size 0x4fc5:
-          0x2000'185c  0x4fc5
-
-Copy/lz77 (__iar_lz77_init_single3)
-    1 source range, total size 0x2c4 (11% of destination):
-           0x801'8618   0x2c4
-    1 destination range, total size 0x181a:
-          0x2000'0040  0x181a
-
-
-
-*******************************************************************************
-*** MODULE SUMMARY
-***
-
-    Module                   ro code  ro data  rw data
-    ------                   -------  -------  -------
-command line/config:
-    --------------------------------------------------
-    Total:
-
-E:\1Works\1Softwork\GC23005\Project\iar_release\Obj: [1]
-    Action.o                     796       20      163
-    AllSeroDrv.o               3 516        1       39
-    Encode.o                     140
-    IOPinConfig.o                524                 4
-    MathHelper.o                 108      768
-    NodeLinkCommon.o              90
-    NodeLinkMaster.o           1 212       18       13
-    TinyLog.o                    108
-    ZhenYUAction.o               144
-    ZhenYuChuantou_HeLian.o   16 316                20
-    axis_app.o                   360            12 756
-    axis_motion.o              8 892
-    board.o                      312                76
-    encrypt_xxtea.o              204
-    hardware_delay.o              92        1        4
-    hw_dma_uart.o              2 048       31      276
-    hw_flash_data.o               94
-    hw_io_pin.o                  456       36      312
-    hw_power_off.o                72
-    hw_pwm.o                   1 932       25      360
-    io_app.o                     224               112
-    log_app.o                     16                24
-    main.o                       128                 4
-    modbus_app.o                 648      533    4 724
-    modbus_encoder.o             568      552
-    modbus_master.o            1 634             1 444
-    modbus_slave.o             2 312               164
-    nodelink_master_app.o      1 460        2    1 007
-    poweroff_save_app.o          676                21
-    servocom_app.o             2 940       72      840
-    software_timer.o             344                16
-    st_dma.o                     108        5       48
-    st_flash.o                   544       32        4
-    st_sys.o                     772
-    startup_stm32f10x_hd.o       564
-    user_app.o                    16
-    variable.o                     2             4 224
-    --------------------------------------------------
-    Total:                    50 372    2 096   26 655
-
-dl7M_tln.a: [2]
-    abs.o                          8
-    exit.o                         4
-    low_level_init.o               4
-    --------------------------------------------------
-    Total:                        16
-
-m7M_tl.a: [3]
-    DblAdd.o                     378
-    DblSub.o                     210
-    DblToS32.o                    58
-    FltAdd.o                     226
-    FltCmpGe.o                    36
-    FltCmpLe.o                    36
-    FltDiv.o                     252
-    FltMul.o                     216
-    FltSub.o                     128
-    FltToDbl.o                    72
-    FltToS32.o                    42
-    S32ToFlt.o                    36
-    U32ToFlt.o                    28
-    round.o                       82
-    --------------------------------------------------
-    Total:                     1 800
-
-rt7M_tl.a: [4]
-    ABImemcpy.o                  166
-    ABImemset.o                  102
-    cexit.o                       10
-    cmain.o                       30
-    cstartup_M.o                  12
-    data_init.o                   40
-    lz77_init_single.o           122
-    memcmp.o                     104
-    zero_init3.o                  58
-    --------------------------------------------------
-    Total:                       644
-
-shb_l.a: [5]
-    exit.o                        20
-    --------------------------------------------------
-    Total:                        20
-
-    Gaps                          24
-    Linker created                         32    8 192
-------------------------------------------------------
-    Grand Total:              52 876    2 128   34 847
-
-
-*******************************************************************************
-*** ENTRY LIST
-***
-
-Entry                       Address    Size  Type      Object
------                       -------    ----  ----      ------
-.iar.init_table$$Base    0x801'8434           --   Gb  - Linker created -
-.iar.init_table$$Limit   0x801'8454           --   Gb  - Linker created -
-?main                    0x801'8475          Code  Gb  cmain.o [4]
-Action                   0x800'f3e9    0x10  Code  Gb  Action.o [1]
-AddToTal                 0x800'f345    0x36  Code  Gb  Action.o [1]
-AxisContinueMoveAcc      0x801'01f1    0xb2  Code  Gb  AllSeroDrv.o [1]
-AxisContinueMoveChangeSpeed
-                         0x801'02ad   0x108  Code  Gb  AllSeroDrv.o [1]
-AxisDecStop              0x800'fcdf    0x32  Code  Gb  AllSeroDrv.o [1]
-AxisEgmStop              0x800'fd11    0x32  Code  Gb  AllSeroDrv.o [1]
-AxisMovePosAccDec        0x800'fd51   0x23e  Code  Gb  AllSeroDrv.o [1]
-AxisMovePosAccDecNotStop
-                         0x800'ffa9   0x248  Code  Gb  AllSeroDrv.o [1]
-BeginRecvFlg            0x2000'681a     0x1  Data  Gb  nodelink_master_app.o [1]
-BinToAscTab              0x801'84bc    0x10  Data  Lc  modbus_encoder.o [1]
-CRCTblHi                 0x801'7d0c   0x100  Data  Lc  MathHelper.o [1]
-CRCTblHi                 0x801'800c   0x100  Data  Lc  modbus_encoder.o [1]
-CRCTblLo                 0x801'7e0c   0x100  Data  Lc  MathHelper.o [1]
-CRCTblLo                 0x801'810c   0x100  Data  Lc  modbus_encoder.o [1]
-CSTACK$$Base            0x2000'6828           --   Gb  - Linker created -
-CSTACK$$Limit           0x2000'8828           --   Gb  - Linker created -
-CTHL_Action              0x800'f239    0x60  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_AlarmProtect        0x800'b48b     0x2  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_AutoStepAction      0x800'b48d   0x7f8  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_CheckStart          0x800'bd05   0x800  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_FZ_Motor            0x800'd6cd   0x7f8  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_InitAction          0x800'f19d    0x9c  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_ManualAction        0x800'ea85   0x718  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_Running_state       0x800'b381   0x10a  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_SetAlarmCode        0x800'b333    0x4e  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_TD_Motor            0x800'c565  0x1114  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_TLiao_Step          0x800'e7bd   0x198  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_ZLT_Step            0x800'df11   0x8a6  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CTHL_ZhenDongAction      0x800'e95d    0xf6  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-CalProSP                 0x800'f2ed    0x58  Code  Gb  Action.o [1]
-CalProSP::cProSpTime    0x2000'6784     0x4  Data  Lc  Action.o [1]
-ClrcToTal                0x800'f37b    0x1a  Code  Gb  Action.o [1]
-EXTI2_IRQHandler         0x801'8343    0x18  Code  Gb  Encode.o [1]
-EncoderInit              0x801'82ed    0x56  Code  Gb  Encode.o [1]
-ExtiAcitionX02           0x800'b331     0x2  Code  Gb  ZhenYuChuantou_HeLian.o [1]
-GPIO_Remap_Set           0x801'48b3    0x88  Code  Gb  st_sys.o [1]
-GPIO_Set                 0x801'493b    0xbe  Code  Gb  st_sys.o [1]
-GetAlarm                 0x800'f877   0x100  Code  Gb  AllSeroDrv.o [1]
-GetAlarmCode             0x800'f3a1     0xc  Code  Gb  Action.o [1]
-GetCurSpeed              0x800'fc0b    0x96  Code  Gb  AllSeroDrv.o [1]
-GetEn                    0x800'f82f    0x48  Code  Gb  AllSeroDrv.o [1]
-GetPos                   0x800'fb95    0x76  Code  Gb  AllSeroDrv.o [1]
-INTX_ENABLE              0x801'4a4d     0x4  Code  Gb  st_sys.o [1]
-IOPinConfigure           0x801'1b95    0x14  Code  Gb  IOPinConfig.o [1]
-IOPinDefualtConf_INOUT   0x801'1adb    0x52  Code  Gb  IOPinConfig.o [1]
-IOPinDefualtConf_OUTOUT
-                         0x801'1b2d    0x52  Code  Gb  IOPinConfig.o [1]
-InitAction               0x800'f3b7    0x32  Code  Gb  Action.o [1]
-InitPWM                  0x800'f3ad     0xa  Code  Gb  Action.o [1]
-InputPinConfig           0x801'199d    0xb4  Code  Gb  IOPinConfig.o [1]
-JLTFLG                  0x2000'681e     0x1  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-MYRCC_DeInit             0x801'49f9    0x52  Code  Gb  st_sys.o [1]
-ONCERUNFLG1             0x2000'6820     0x1  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-OutputPinConfig          0x801'1a51    0x8a  Code  Gb  IOPinConfig.o [1]
-PosToPulse               0x800'fad3    0x5a  Code  Gb  AllSeroDrv.o [1]
-PulseToPos               0x800'fa79    0x5a  Code  Gb  AllSeroDrv.o [1]
-ReSetWifi                0x800'f3f9   0x1d0  Code  Gb  Action.o [1]
-ReSetWifi::reset_wifi_delay
-                        0x2000'6788     0x4  Data  Lc  Action.o [1]
-ReSetWifi::save_times   0x2000'6808     0x2  Data  Lc  Action.o [1]
-Region$$Table$$Base      0x801'8434           --   Gb  - Linker created -
-Region$$Table$$Limit     0x801'8454           --   Gb  - Linker created -
-ResetFlg                0x2000'6819     0x1  Data  Gb  nodelink_master_app.o [1]
-SetAlarmCode             0x800'f395     0xc  Code  Gb  Action.o [1]
-SetAlarmReverse          0x800'f771    0xbe  Code  Gb  AllSeroDrv.o [1]
-SetClr                   0x800'f977    0x8e  Code  Gb  AllSeroDrv.o [1]
-SetDirReverse            0x800'f609    0x7e  Code  Gb  AllSeroDrv.o [1]
-SetEn                    0x800'f687    0x6c  Code  Gb  AllSeroDrv.o [1]
-SetEnReverse             0x800'f6f3    0x7e  Code  Gb  AllSeroDrv.o [1]
-SetPos                   0x800'fb2d    0x68  Code  Gb  AllSeroDrv.o [1]
-SetStopSelect            0x800'fca1    0x3e  Code  Gb  AllSeroDrv.o [1]
-Set_Ctrlmode_trans       0x800'fa05    0x44  Code  Gb  AllSeroDrv.o [1]
-Set_Servo_Runmode        0x800'fa49    0x30  Code  Gb  AllSeroDrv.o [1]
-Stm32_Clock_Init         0x801'4a59    0x6c  Code  Gb  st_sys.o [1]
-SysTick_Config           0x801'46dd    0x2e  Code  Lc  software_timer.o [1]
-SysTick_Handler          0x801'470b    0x24  Code  Gb  software_timer.o [1]
-Sys_NVIC_Init            0x801'4843    0x70  Code  Gb  st_sys.o [1]
-Sys_NVIC_PriorityGroupConfig
-                         0x801'4821    0x22  Code  Gb  st_sys.o [1]
-Sys_NVIC_SetVectorTable
-                         0x801'4811    0x10  Code  Gb  st_sys.o [1]
-Sys_Soft_Reset           0x801'4a51     0x8  Code  Gb  st_sys.o [1]
-TIM1_UP_IRQHandler       0x801'11a7    0x26  Code  Gb  hw_pwm.o [1]
-TIM4_IRQHandler          0x801'11cd    0x26  Code  Gb  hw_pwm.o [1]
-TIM5_IRQHandler          0x801'1181    0x26  Code  Gb  hw_pwm.o [1]
-TIM6_IRQHandler          0x801'6b5b    0x1a  Code  Gb  nodelink_master_app.o [1]
-XGearRatio              0x2000'0040     0x4  Data  Gb  AllSeroDrv.o [1]
-XMFLG                   0x2000'681f     0x1  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-YGearRatio              0x2000'0044     0x4  Data  Gb  AllSeroDrv.o [1]
-ZGearRatio              0x2000'0048     0x4  Data  Gb  AllSeroDrv.o [1]
-ZHENYU_Mechine_Action    0x801'197b    0x1e  Code  Gb  ZhenYUAction.o [1]
-ZHENYU_Mechine_InitAction
-                         0x801'190d    0x6e  Code  Gb  ZhenYUAction.o [1]
-__NVIC_SetPriority       0x801'46b9    0x24  Code  Lc  software_timer.o [1]
-__aeabi_cfcmple          0x801'4bfd          Code  Gb  FltCmpLe.o [3]
-__aeabi_cfrcmple         0x801'4bd9          Code  Gb  FltCmpGe.o [3]
-__aeabi_d2iz             0x801'1c35          Code  Gb  DblToS32.o [3]
-__aeabi_dadd             0x801'62b1          Code  Gb  DblAdd.o [3]
-__aeabi_f2d              0x801'6269          Code  Gb  FltToDbl.o [3]
-__aeabi_f2iz             0x801'3f51          Code  Gb  FltToS32.o [3]
-__aeabi_fadd             0x801'4c21          Code  Gb  FltAdd.o [3]
-__aeabi_fdiv             0x801'1085          Code  Gb  FltDiv.o [3]
-__aeabi_fmul             0x801'3f7d          Code  Gb  FltMul.o [3]
-__aeabi_fsub             0x801'4f3d          Code  Gb  FltSub.o [3]
-__aeabi_i2f              0x801'3f2d          Code  Gb  S32ToFlt.o [3]
-__aeabi_memcpy           0x801'03c5          Code  Gb  ABImemcpy.o [4]
-__aeabi_memcpy4          0x801'03e5          Code  Gb  ABImemcpy.o [4]
-__aeabi_memcpy8          0x801'03e5          Code  Gb  ABImemcpy.o [4]
-__aeabi_memset           0x801'4b71          Code  Gb  ABImemset.o [4]
-__aeabi_ui2f             0x801'1069          Code  Gb  U32ToFlt.o [3]
-__cmain                  0x801'8475          Code  Gb  cmain.o [4]
-__exit                   0x801'84a9    0x14  Code  Gb  exit.o [5]
-__iar_Memset             0x801'4b71          Code  Gb  ABImemset.o [4]
-__iar_Memset_word        0x801'4b79          Code  Gb  ABImemset.o [4]
-__iar_dadd               0x801'663d          Code  Gb  DblSub.o [3]
-__iar_data_init3         0x801'840d    0x28  Code  Gb  data_init.o [4]
-__iar_dsub               0x801'62c1          Code  Gb  DblAdd.o [3]
-__iar_dsubStart          0x801'62d3          Code  Gb  DblAdd.o [3]
-__iar_fadd               0x801'4f49          Code  Gb  FltSub.o [3]
-__iar_fsub               0x801'4c2d          Code  Gb  FltAdd.o [3]
-__iar_fsubStart          0x801'4c3d          Code  Gb  FltAdd.o [3]
-__iar_lz77_init_single3
-                         0x801'046b    0x7a  Code  Gb  lz77_init_single.o [4]
-__iar_program_start      0x801'8501          Code  Gb  cstartup_M.o [4]
-__iar_round64            0x801'1ba9          Code  Gb  round.o [3]
-__iar_zero_init3         0x801'1bfb    0x3a  Code  Gb  zero_init3.o [4]
-__low_level_init         0x801'8493     0x4  Code  Gb  low_level_init.o [2]
-__vector_table           0x800'b200          Data  Gb  startup_stm32f10x_hd.o [1]
-_call_main               0x801'8481          Code  Gb  cmain.o [4]
-_exit                    0x801'849d          Code  Gb  cexit.o [4]
-_main                    0x801'848f          Code  Gb  cmain.o [4]
-abs                      0x801'1061     0x8  Code  Gb  abs.o [2]
-app_save_parameter       0x801'752b    0x32  Code  Gb  poweroff_save_app.o [1]
-axis_acc_pwm_divide      0x801'2cd1    0x90  Code  Gb  axis_motion.o [1]
-axis_app_init            0x801'7bbf   0x116  Code  Gb  axis_app.o [1]
-axis_app_run             0x801'7cd5    0x1e  Code  Gb  axis_app.o [1]
-axis_calc_speed_table    0x801'2c97    0x3a  Code  Lc  axis_motion.o [1]
-axis_ccw                 0x801'1cef    0x30  Code  Gb  axis_motion.o [1]
-axis_cw                  0x801'1cc1    0x2e  Code  Gb  axis_motion.o [1]
-axis_dec_pwm_divide      0x801'2d61    0x8c  Code  Gb  axis_motion.o [1]
-axis_disable             0x801'1c99    0x28  Code  Gb  axis_motion.o [1]
-axis_emgstop             0x801'3781    0x30  Code  Gb  axis_motion.o [1]
-axis_enable              0x801'1c71    0x28  Code  Gb  axis_motion.o [1]
-axis_get_by_index        0x801'7ba5    0x1a  Code  Gb  axis_app.o [1]
-axis_get_com_pos         0x801'07f3    0x6a  Code  Lc  servocom_app.o [1]
-axis_get_parameter       0x801'391b    0xa6  Code  Gb  axis_motion.o [1]
-axis_home_method0        0x801'3b6b   0x1b2  Code  Gb  axis_motion.o [1]
-axis_home_method1        0x801'39c1   0x1aa  Code  Gb  axis_motion.o [1]
-axis_home_method2        0x801'3d1d    0xb4  Code  Gb  axis_motion.o [1]
-axis_home_run            0x801'3dd1    0x22  Code  Gb  axis_motion.o [1]
-axis_it_handle           0x801'2ded   0x598  Code  Gb  axis_motion.o [1]
-axis_mode0_calc_accdec   0x801'1d1f   0x27a  Code  Lc  axis_motion.o [1]
-axis_mode1_calc_accdec   0x801'1f99   0x3f0  Code  Lc  axis_motion.o [1]
-axis_mode2_calc_accdec   0x801'2389   0x460  Code  Lc  axis_motion.o [1]
-axis_mode3_calc_accdec   0x801'27e9   0x1b6  Code  Lc  axis_motion.o [1]
-axis_mode4_calc_accdec   0x801'29a9   0x2ee  Code  Lc  axis_motion.o [1]
-axis_objects            0x2000'185c  0x31d4  Data  Gb  axis_app.o [1]
-axis_pp                  0x801'3385   0x114  Code  Gb  axis_motion.o [1]
-axis_pp_change_speed     0x801'3499   0x15a  Code  Gb  axis_motion.o [1]
-axis_pv                  0x801'35f3    0x46  Code  Gb  axis_motion.o [1]
-axis_pv_change_speed     0x801'373f    0x42  Code  Gb  axis_motion.o [1]
-axis_pv_change_speed_table
-                         0x801'3639    0x90  Code  Gb  axis_motion.o [1]
-axis_run                 0x801'3df3   0x126  Code  Gb  axis_motion.o [1]
-axis_set_com_pos         0x801'07cd    0x26  Code  Gb  servocom_app.o [1]
-axis_set_parameter       0x801'3849    0xd2  Code  Gb  axis_motion.o [1]
-axis_start               0x801'37b1    0x98  Code  Gb  axis_motion.o [1]
-axis_stop                0x801'36dd    0x62  Code  Gb  axis_motion.o [1]
-axis_x                  0x2000'678c     0x4  Data  Gb  AllSeroDrv.o [1]
-axis_x_com_alarm        0x2000'6813     0x1  Data  Gb  AllSeroDrv.o [1]
-axis_x_ctrl_mode        0x2000'6798     0x4  Data  Lc  AllSeroDrv.o [1]
-axis_y                  0x2000'6790     0x4  Data  Gb  AllSeroDrv.o [1]
-axis_y_com_alarm        0x2000'6814     0x1  Data  Gb  AllSeroDrv.o [1]
-axis_y_ctrl_mode        0x2000'679c     0x4  Data  Lc  AllSeroDrv.o [1]
-axis_z                  0x2000'6794     0x4  Data  Gb  AllSeroDrv.o [1]
-axis_z_com_alarm        0x2000'6815     0x1  Data  Gb  AllSeroDrv.o [1]
-axis_z_ctrl_mode        0x2000'67a0     0x4  Data  Lc  AllSeroDrv.o [1]
-bus_timeout             0x2000'67bc     0x4  Data  Lc  nodelink_master_app.o [1]
-cCharBuff1              0x2000'680c     0x1  Data  Gb  Action.o [1]
-cCharBuff12             0x2000'6811     0x1  Data  Gb  Action.o [1]
-cCharBuff2              0x2000'680d     0x1  Data  Gb  Action.o [1]
-cCharBuff6              0x2000'680e     0x1  Data  Gb  Action.o [1]
-cCharBuff7              0x2000'680f     0x1  Data  Gb  Action.o [1]
-cCharBuff9              0x2000'6810     0x1  Data  Gb  Action.o [1]
-cDelayTime10            0x2000'6720     0x4  Data  Gb  Action.o [1]
-cDelayTime12            0x2000'6724     0x4  Data  Gb  Action.o [1]
-cDelayTime2             0x2000'6708     0x4  Data  Gb  Action.o [1]
-cDelayTime3             0x2000'670c     0x4  Data  Gb  Action.o [1]
-cDelayTime4             0x2000'6710     0x4  Data  Gb  Action.o [1]
-cDelayTime5             0x2000'6714     0x4  Data  Gb  Action.o [1]
-cDelayTime6             0x2000'6718     0x4  Data  Gb  Action.o [1]
-cDelayTime7             0x2000'671c     0x4  Data  Gb  Action.o [1]
-cDword32Buff1           0x2000'6760     0x4  Data  Gb  Action.o [1]
-cDword32Buff10          0x2000'6770     0x4  Data  Gb  Action.o [1]
-cDword32Buff6           0x2000'6764     0x4  Data  Gb  Action.o [1]
-cDword32Buff7           0x2000'6768     0x4  Data  Gb  Action.o [1]
-cDword32Buff9           0x2000'676c     0x4  Data  Gb  Action.o [1]
-cMachineType            0x2000'6704     0x4  Data  Gb  Action.o [1]
-cRunState2              0x2000'680a     0x1  Data  Gb  Action.o [1]
-cRunState3              0x2000'680b     0x1  Data  Gb  Action.o [1]
-cStartDelay             0x2000'67a8     0x4  Data  Gb  main.o [1]
-cStepMByte              0x2000'67f8     0x2  Data  Gb  Action.o [1]
-cStepMByte1             0x2000'67fa     0x2  Data  Gb  Action.o [1]
-cStepMByte2             0x2000'67fc     0x2  Data  Gb  Action.o [1]
-cStepMByte3             0x2000'67fe     0x2  Data  Gb  Action.o [1]
-cStepMByte7             0x2000'6800     0x2  Data  Gb  Action.o [1]
-cStepMByte8             0x2000'6802     0x2  Data  Gb  Action.o [1]
-cStepMByte9             0x2000'6804     0x2  Data  Gb  Action.o [1]
-cUDword32Buff1          0x2000'6728     0x4  Data  Gb  Action.o [1]
-cUDword32Buff10         0x2000'674c     0x4  Data  Gb  Action.o [1]
-cUDword32Buff11         0x2000'6750     0x4  Data  Gb  Action.o [1]
-cUDword32Buff12         0x2000'6754     0x4  Data  Gb  Action.o [1]
-cUDword32Buff13         0x2000'6758     0x4  Data  Gb  Action.o [1]
-cUDword32Buff14         0x2000'675c     0x4  Data  Gb  Action.o [1]
-cUDword32Buff2          0x2000'672c     0x4  Data  Gb  Action.o [1]
-cUDword32Buff3          0x2000'6730     0x4  Data  Gb  Action.o [1]
-cUDword32Buff4          0x2000'6734     0x4  Data  Gb  Action.o [1]
-cUDword32Buff5          0x2000'6738     0x4  Data  Gb  Action.o [1]
-cUDword32Buff6          0x2000'673c     0x4  Data  Gb  Action.o [1]
-cUDword32Buff7          0x2000'6740     0x4  Data  Gb  Action.o [1]
-cUDword32Buff8          0x2000'6744     0x4  Data  Gb  Action.o [1]
-cUDword32Buff9          0x2000'6748     0x4  Data  Gb  Action.o [1]
-cUShort16Buff2          0x2000'6806     0x2  Data  Gb  Action.o [1]
-cWifiStep               0x2000'6812     0x1  Data  Gb  Action.o [1]
-clr_com_servo_alarm      0x801'0709    0x56  Code  Gb  servocom_app.o [1]
-clr_com_servo_alarm::clr_com_servo_x_delay
-                        0x2000'67cc     0x4  Data  Lc  servocom_app.o [1]
-clr_com_servo_alarm::clr_com_servo_y_delay
-                        0x2000'67d0     0x4  Data  Lc  servocom_app.o [1]
-comflag                 0x2000'681d     0x1  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-crc8_table               0x801'7f0c   0x100  Data  Lc  MathHelper.o [1]
-cuanliantime            0x2000'67f0     0x4  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-cur_ms                  0x2000'67d8     0x4  Data  Lc  software_timer.o [1]
-cur_second              0x2000'67d4     0x4  Data  Lc  software_timer.o [1]
-current_core_freq       0x2000'0164     0x4  Data  Lc  hw_dma_uart.o [1]
-cycletime               0x2000'67e8     0x4  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-data_area_count         0x2000'67b0     0x4  Data  Lc  modbus_slave.o [1]
-data_area_table         0x2000'6324    0xa0  Data  Lc  modbus_slave.o [1]
-deivce0_on_timeout       0x801'6cc5     0x2  Code  Lc  NodeLinkMaster.o [1]
-device0                 0x2000'15a8     0xc  Data  Lc  NodeLinkMaster.o [1]
-device0_on_recv          0x801'6cc7     0x2  Code  Lc  NodeLinkMaster.o [1]
-device0_on_send          0x801'6cc9     0x4  Code  Lc  NodeLinkMaster.o [1]
-dwTickCount             0x2000'67e0     0x4  Data  Gb  software_timer.o [1]
-dwXRealPos              0x2000'6774     0x4  Data  Gb  Action.o [1]
-dwYRealPos              0x2000'6778     0x4  Data  Gb  Action.o [1]
-dwYRealPos_com          0x2000'677c     0x4  Data  Gb  Action.o [1]
-dwZRealPos              0x2000'6780     0x4  Data  Gb  Action.o [1]
-encode_to_length         0x801'07a7    0x26  Code  Lc  servocom_app.o [1]
-exit                     0x801'8497     0x4  Code  Gb  exit.o [2]
-flash_last_wait_time    0x2000'67e4     0x4  Data  Gb  st_flash.o [1]
-freq_to_speed            0x801'085d    0x2a  Code  Lc  servocom_app.o [1]
-get_encode_value         0x801'0887    0x24  Code  Gb  servocom_app.o [1]
-get_tarr_set             0x801'0c3f    0x52  Code  Gb  servocom_app.o [1]
-hw_board_enter_powerless
-                         0x801'61a3    0x24  Code  Gb  board.o [1]
-hw_board_init            0x801'6121    0x44  Code  Gb  board.o [1]
-hw_board_reboot          0x801'61f5     0x8  Code  Gb  board.o [1]
-hw_delay_init            0x801'4b15    0x24  Code  Gb  hardware_delay.o [1]
-hw_delay_us              0x801'4b39    0x22  Code  Gb  hardware_delay.o [1]
-hw_dma_uart_begin_read   0x801'5c8b    0xec  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_begin_write
-                         0x801'5d77    0xa2  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_control      0x801'5f3b   0x158  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_init         0x801'58c5   0x3c6  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_read_finish
-                         0x801'5e19    0xb8  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_write_finish
-                         0x801'5ed1    0x6a  Code  Gb  hw_dma_uart.o [1]
-hw_flash_data_check_empty
-                         0x801'765b    0x24  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_erase      0x801'7641    0x1a  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_read       0x801'7621    0x10  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_write      0x801'7631    0x10  Code  Gb  hw_flash_data.o [1]
-hw_io_pin_init           0x801'642d    0xf2  Code  Gb  hw_io_pin.o [1]
-hw_io_pin_input          0x801'659b    0x3e  Code  Gb  hw_io_pin.o [1]
-hw_io_pin_output         0x801'651f    0x7c  Code  Gb  hw_io_pin.o [1]
-hw_noinit_data          0x2000'0000    0x40  Data  Lc  board.o [1]
-hw_noinit_write          0x801'619b     0x8  Code  Gb  board.o [1]
-hw_power_is_off          0x801'6613    0x12  Code  Gb  hw_power_off.o [1]
-hw_power_is_on           0x801'6625     0xc  Code  Gb  hw_power_off.o [1]
-hw_power_off_init        0x801'65f5    0x1e  Code  Gb  hw_power_off.o [1]
-hw_pwm_alr_init          0x801'14e1    0x7e  Code  Lc  hw_pwm.o [1]
-hw_pwm_clr_init          0x801'1463    0x7e  Code  Lc  hw_pwm.o [1]
-hw_pwm_cr_registers     0x2000'668c     0xc  Data  Gb  hw_pwm.o [1]
-hw_pwm_default_handler   0x801'11f3     0x2  Code  Gb  hw_pwm.o [1]
-hw_pwm_dir_init          0x801'1369    0x7c  Code  Lc  hw_pwm.o [1]
-hw_pwm_dir_rw_map       0x2000'65fc    0x24  Data  Gb  hw_pwm.o [1]
-hw_pwm_dutycycle_registers
-                        0x2000'6680     0xc  Data  Gb  hw_pwm.o [1]
-hw_pwm_egr_registers    0x2000'6698     0xc  Data  Gb  hw_pwm.o [1]
-hw_pwm_en_rw_map        0x2000'6620    0x24  Data  Gb  hw_pwm.o [1]
-hw_pwm_get_alr           0x801'1259    0x26  Code  Gb  hw_pwm.o [1]
-hw_pwm_get_clk           0x801'12e3    0x10  Code  Gb  hw_pwm.o [1]
-hw_pwm_init              0x801'1851    0x66  Code  Gb  hw_pwm.o [1]
-hw_pwm_it_register       0x801'12f3    0x24  Code  Gb  hw_pwm.o [1]
-hw_pwm_maps             0x2000'0354    0x24  Data  Lc  hw_pwm.o [1]
-hw_pwm_on_init           0x801'13e5    0x7e  Code  Lc  hw_pwm.o [1]
-hw_pwm_period_registers
-                        0x2000'6674     0xc  Data  Gb  hw_pwm.o [1]
-hw_pwm_pulse_init        0x801'1317    0x52  Code  Lc  hw_pwm.o [1]
-hw_pwm_set_clr           0x801'127f    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_set_dir           0x801'11f5    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_set_enable        0x801'1227    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_set_tmode         0x801'12b1    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_tarr_init         0x801'15db    0x74  Code  Lc  hw_pwm.o [1]
-hw_pwm_timer_init        0x801'164f   0x202  Code  Lc  hw_pwm.o [1]
-hw_pwm_tmode_init        0x801'155f    0x7c  Code  Lc  hw_pwm.o [1]
-hw_run_status_init       0x801'60d9    0x48  Code  Lc  board.o [1]
-hw_run_status_off        0x801'60c5     0xa  Code  Gb  board.o [1]
-hw_run_status_on         0x801'60cf     0xa  Code  Gb  board.o [1]
-hw_run_status_show       0x801'6165    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        0x801'820d    0x90  Code  Gb  io_app.o [1]
-io_app_write_ouput       0x801'829d    0x38  Code  Gb  io_app.o [1]
-io_extern_count         0x2000'6816     0x1  Data  Lc  nodelink_master_app.o [1]
-io_extern_datas         0x2000'6514    0x60  Data  Lc  nodelink_master_app.o [1]
-io_extern_input_count   0x2000'6817     0x1  Data  Lc  nodelink_master_app.o [1]
-io_extern_inputs        0x2000'66e4     0x8  Data  Gb  nodelink_master_app.o [1]
-io_extern_ops           0x2000'159c     0xc  Data  Lc  nodelink_master_app.o [1]
-io_extern_output_count  0x2000'6818     0x1  Data  Lc  nodelink_master_app.o [1]
-io_extern_outputs       0x2000'66ec     0x8  Data  Gb  nodelink_master_app.o [1]
-io_input_map            0x2000'0168    0xa0  Data  Lc  hw_io_pin.o [1]
-io_inputs               0x2000'66bc     0xc  Data  Gb  io_app.o [1]
-io_inputs_M_old         0x2000'67a4     0x4  Data  Gb  IOPinConfig.o [1]
-io_inputs_buffer        0x2000'6574    0x50  Data  Gb  io_app.o [1]
-io_inputs_old           0x2000'66c8     0xc  Data  Gb  io_app.o [1]
-io_output_map           0x2000'0208    0x98  Data  Lc  hw_io_pin.o [1]
-io_outputs              0x2000'66dc     0x8  Data  Gb  io_app.o [1]
-log_app_save             0x801'7681     0xa  Code  Gb  log_app.o [1]
-main                     0x801'8379    0x80  Code  Gb  main.o [1]
-master                  0x2000'5fd0   0x154  Data  Gb  nodelink_master_app.o [1]
-master1                 0x2000'65c4    0x38  Data  Gb  modbus_app.o [1]
-master_callback          0x801'67ed    0xc6  Code  Lc  nodelink_master_app.o [1]
-memcmp                   0x801'71dd          Code  Gb  memcmp.o [4]
-mh_crc16_calc            0x801'7311    0x3e  Code  Gb  MathHelper.o [1]
-mh_crc8_calc             0x801'734f    0x22  Code  Gb  MathHelper.o [1]
-middle_coils            0x2000'63c4    0x80  Data  Gb  variable.o [1]
-modbus_app_proc          0x801'7b53    0x3a  Code  Gb  modbus_app.o [1]
-modbus_ascii_encoder     0x801'84f4     0xc  Data  Lc  modbus_encoder.o [1]
-modbus_calc_crc          0x801'4d1f    0x3e  Code  Lc  modbus_encoder.o [1]
-modbus_calc_lrc          0x801'4d05    0x1a  Code  Lc  modbus_encoder.o [1]
-modbus_encoder_ascii_decode
-                         0x801'4e51    0x96  Code  Lc  modbus_encoder.o [1]
-modbus_encoder_ascii_encode
-                         0x801'4dd7    0x66  Code  Lc  modbus_encoder.o [1]
-modbus_encoder_get       0x801'4f13    0x14  Code  Gb  modbus_encoder.o [1]
-modbus_encoder_match     0x801'4ee7    0x2c  Code  Gb  modbus_encoder.o [1]
-modbus_encoder_rtu_decode
-                         0x801'4d9d    0x3a  Code  Lc  modbus_encoder.o [1]
-modbus_encoder_rtu_encode
-                         0x801'4d5d    0x32  Code  Lc  modbus_encoder.o [1]
-modbus_endcoder_ascii_length_calc
-                         0x801'4e3d    0x14  Code  Lc  modbus_encoder.o [1]
-modbus_endcoder_rtu_length_calc
-                         0x801'4d8f     0xe  Code  Lc  modbus_encoder.o [1]
-modbus_master_add_once_cmd
-                         0x801'40f3    0x88  Code  Gb  modbus_master.o [1]
-modbus_master_add_period_cmd
-                         0x801'4071    0x82  Code  Gb  modbus_master.o [1]
-modbus_master_app        0x801'7af7    0x5c  Code  Lc  modbus_app.o [1]
-modbus_master_create_request
-                         0x801'423d   0x2de  Code  Lc  modbus_master.o [1]
-modbus_master_deal_respone
-                         0x801'451b    0xb4  Code  Lc  modbus_master.o [1]
-modbus_master_get_cmd    0x801'4189    0xb4  Code  Lc  modbus_master.o [1]
-modbus_master_init       0x801'4055    0x1c  Code  Gb  modbus_master.o [1]
-modbus_master_run        0x801'45cf    0xe8  Code  Gb  modbus_master.o [1]
-modbus_rtu_encoder       0x801'84e8     0xc  Data  Lc  modbus_encoder.o [1]
-modbus_slave_add_dataarea
-                         0x801'5877    0x46  Code  Gb  modbus_slave.o [1]
-modbus_slave_app         0x801'7a43    0xb4  Code  Lc  modbus_app.o [1]
-modbus_slave_copy_to_flash
-                         0x801'55b9    0x80  Code  Lc  modbus_slave.o [1]
-modbus_slave_enter_app   0x801'5469    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_erase_app   0x801'54bb    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_exit_app    0x801'5417    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_find_dataarea
-                         0x801'4fbd    0x36  Code  Lc  modbus_slave.o [1]
-modbus_slave_read_coils
-                         0x801'4ff3    0xb6  Code  Lc  modbus_slave.o [1]
-modbus_slave_read_registers
-                         0x801'50a9    0x8c  Code  Lc  modbus_slave.o [1]
-modbus_slave_receive_app
-                         0x801'550d    0xac  Code  Lc  modbus_slave.o [1]
-modbus_slave_run         0x801'578d    0xea  Code  Gb  modbus_slave.o [1]
-modbus_slave_write_coil
-                         0x801'5135    0xa6  Code  Lc  modbus_slave.o [1]
-modbus_slave_write_coils
-                         0x801'51db   0x1d8  Code  Lc  modbus_slave.o [1]
-modbus_slave_write_register
-                         0x801'53b3    0x64  Code  Lc  modbus_slave.o [1]
-modbus_slave_write_registers
-                         0x801'56cb    0xc2  Code  Lc  modbus_slave.o [1]
-modbus_slave_write_to_flash
-                         0x801'5639    0x92  Code  Lc  modbus_slave.o [1]
-modbus_status           0x2000'0378  0x1224  Data  Lc  modbus_app.o [1]
-mosbus_app_init          0x801'7963    0xe0  Code  Gb  modbus_app.o [1]
-mylog                   0x2000'6644    0x18  Data  Lc  log_app.o [1]
-next_save_posi          0x2000'15b4     0x4  Data  Gb  poweroff_save_app.o [1]
-nl_recv_step            0x2000'67b4     0x4  Data  Lc  nodelink_master_app.o [1]
-nl_send_step            0x2000'67b8     0x4  Data  Gb  nodelink_master_app.o [1]
-nodelink_decode          0x801'7181    0x30  Code  Gb  NodeLinkCommon.o [1]
-nodelink_encode          0x801'71b1    0x2a  Code  Gb  NodeLinkCommon.o [1]
-nodelink_find_device_by_ID
-                         0x801'6d25    0x2c  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_app_init
-                         0x801'68b3    0x6a  Code  Gb  nodelink_master_app.o [1]
-nodelink_master_app_run
-                         0x801'691d   0x1e0  Code  Gb  nodelink_master_app.o [1]
-nodelink_master_app_run::connect_time
-                        0x2000'67c0     0x4  Data  Lc  nodelink_master_app.o [1]
-nodelink_master_begin_scan
-                         0x801'6e79    0x22  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_begin_working
-                         0x801'6e9b     0xe  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_init     0x801'6ccd    0x58  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_recv     0x801'6d51   0x118  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_reset    0x801'6e69    0x10  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_send     0x801'6ebf   0x2ac  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_send::curDevice
-                        0x2000'681b     0x1  Data  Lc  NodeLinkMaster.o [1]
-nodelink_master_set_callback
-                         0x801'6eb9     0x6  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_set_code
-                         0x801'6ea9    0x10  Code  Gb  NodeLinkMaster.o [1]
-nodelink_read_input      0x801'6b75    0x5a  Code  Gb  nodelink_master_app.o [1]
-nodelink_timer_init      0x801'6afd    0x5e  Code  Gb  nodelink_master_app.o [1]
-nodelink_write_output    0x801'6bcf    0x66  Code  Gb  nodelink_master_app.o [1]
-once_cmd_pool           0x2000'5d50   0x280  Data  Lc  modbus_master.o [1]
-page_infos               0x801'8454    0x20  Data  Lc  st_flash.o [1]
-period_cmd_count        0x2000'67ac     0x4  Data  Lc  modbus_master.o [1]
-period_cmd_pool         0x2000'5a30   0x320  Data  Lc  modbus_master.o [1]
-pin_maps                0x2000'02a0    0xb4  Data  Lc  hw_pwm.o [1]
-power_off_sample        0x2000'67c4     0x4  Data  Lc  poweroff_save_app.o [1]
-power_on_flag           0x2000'681c     0x1  Data  Lc  poweroff_save_app.o [1]
-poweroff_app_init        0x801'737d   0x1ae  Code  Gb  poweroff_save_app.o [1]
-poweroff_app_run         0x801'755d    0xa4  Code  Gb  poweroff_save_app.o [1]
-pwm_handle_maps         0x2000'66a4     0xc  Data  Lc  hw_pwm.o [1]
-pwm_hanlde_parames      0x2000'66b0     0xc  Data  Lc  hw_pwm.o [1]
-recv_buffer             0x2000'6124   0x100  Data  Lc  nodelink_master_app.o [1]
-reload_valve            0x2000'67dc     0x4  Data  Lc  software_timer.o [1]
-round                    0x801'1ba9          Code  Gb  round.o [3]
-roundl                   0x801'1ba9          Code  Gb  round.o [3]
-run_led_speed           0x2000'004c     0x4  Data  Gb  board.o [1]
-run_status_timer        0x2000'66d4     0x8  Data  Lc  board.o [1]
-send_buffer             0x2000'6224   0x100  Data  Lc  nodelink_master_app.o [1]
-send_timer              0x2000'66f4     0x8  Data  Lc  nodelink_master_app.o [1]
-sendtime                0x2000'1858     0x2  Data  Gb  nodelink_master_app.o [1]
-servo_axis_com_respone   0x801'08ab    0xf2  Code  Lc  servocom_app.o [1]
-servo_com_cmd            0x801'04e5   0x224  Code  Lc  servocom_app.o [1]
-servo_com_cmd_table     0x2000'15b8   0x270  Data  Gb  servocom_app.o [1]
-servo_com_get_alarm      0x801'099d    0x2e  Code  Lc  servocom_app.o [1]
-servo_com_init           0x801'0e85   0x1b6  Code  Lc  servocom_app.o [1]
-servo_com_respone        0x801'09cb    0x1a  Code  Gb  servocom_app.o [1]
-servo_com_run            0x801'103b    0x16  Code  Gb  servocom_app.o [1]
-servo_x                 0x2000'6444    0x68  Data  Gb  servocom_app.o [1]
-servo_y                 0x2000'64ac    0x68  Data  Gb  servocom_app.o [1]
-set_com_alarm_reverse    0x801'0787    0x20  Code  Gb  servocom_app.o [1]
-set_com_servo_param      0x801'075f    0x28  Code  Gb  servocom_app.o [1]
-set_ctrl_tarr_axis_init
-                         0x801'0c91    0x96  Code  Lc  servocom_app.o [1]
-set_ctrl_tarr_config     0x801'0d27    0x2c  Code  Lc  servocom_app.o [1]
-set_servo_axis_mode      0x801'0d53    0xec  Code  Lc  servocom_app.o [1]
-set_servo_mode           0x801'0e3f    0x28  Code  Lc  servocom_app.o [1]
-set_servo_postotarr_limit
-                         0x801'09e5    0xf0  Code  Gb  servocom_app.o [1]
-set_servo_tarr_limit     0x801'0ad5   0x16a  Code  Gb  servocom_app.o [1]
-slave1_on_comm           0x801'791d    0x46  Code  Lc  modbus_app.o [1]
-slave_on_recv            0x801'677b    0x68  Code  Lc  nodelink_master_app.o [1]
-slave_on_send            0x801'6711    0x6a  Code  Lc  nodelink_master_app.o [1]
-slave_on_timeout         0x801'67e3     0xa  Code  Lc  nodelink_master_app.o [1]
-slaves                  0x2000'665c    0x18  Data  Lc  modbus_app.o [1]
-st_dma_get_dmax          0x801'6243    0x16  Code  Gb  st_dma.o [1]
-st_dma_get_stream        0x801'6231    0x12  Code  Gb  st_dma.o [1]
-st_dma_init              0x801'61fd    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
-                         0x801'77c7    0x22  Code  Gb  st_flash.o [1]
-st_flash_erase_secotr    0x801'7705    0x84  Code  Gb  st_flash.o [1]
-st_flash_error_no        0x801'76b7    0x22  Code  Gb  st_flash.o [1]
-st_flash_lock            0x801'76ab     0xc  Code  Gb  st_flash.o [1]
-st_flash_read            0x801'7891    0x20  Code  Gb  st_flash.o [1]
-st_flash_read_word       0x801'77c3     0x4  Code  Gb  st_flash.o [1]
-st_flash_unlock          0x801'7691    0x1a  Code  Gb  st_flash.o [1]
-st_flash_wait_done       0x801'76d9    0x2c  Code  Gb  st_flash.o [1]
-st_flash_write           0x801'77e9    0x7e  Code  Gb  st_flash.o [1]
-st_flash_write_half_word
-                         0x801'7789    0x3a  Code  Gb  st_flash.o [1]
-sw_timer_delay           0x801'47bd    0x2a  Code  Gb  software_timer.o [1]
-sw_timer_expire          0x801'4793    0x2a  Code  Gb  software_timer.o [1]
-sw_timer_init            0x801'472f    0x18  Code  Gb  software_timer.o [1]
-sw_timer_now             0x801'4747    0x32  Code  Gb  software_timer.o [1]
-sw_timer_start           0x801'4779    0x1a  Code  Gb  software_timer.o [1]
-system_core_clock       0x2000'0050     0x4  Data  Lc  hardware_delay.o [1]
-testDisplay             0x2000'67c8     0x4  Data  Gb  poweroff_save_app.o [1]
-timer                   0x2000'66fc     0x8  Data  Lc  poweroff_save_app.o [1]
-tiny_log_save            0x801'78b1    0x6c  Code  Gb  TinyLog.o [1]
-tuodaitime              0x2000'67f4     0x4  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-user_app_init            0x801'83fb     0x8  Code  Gb  user_app.o [1]
-user_app_run             0x801'8403     0x8  Code  Gb  user_app.o [1]
-user_datas              0x2000'4a30  0x1000  Data  Gb  variable.o [1]
-variable_init            0x801'83f9     0x2  Code  Gb  variable.o [1]
-xxtea_uint_encrypt       0x801'7245    0xc6  Code  Gb  encrypt_xxtea.o [1]
-zlttime                 0x2000'67ec     0x4  Data  Gb  ZhenYuChuantou_HeLian.o [1]
-
-
-[1] = E:\1Works\1Softwork\GC23005\Project\iar_release\Obj
-[2] = dl7M_tln.a
-[3] = m7M_tl.a
-[4] = rt7M_tl.a
-[5] = shb_l.a
-
-  52 876 bytes of readonly  code memory
-   2 128 bytes of readonly  data memory
-  34 847 bytes of readwrite data memory
-
-Errors: none
-Warnings: none

Project/settings/Project.Debug.cspy.bat

@@ -25,7 +25,7 @@ if not "%~1" == "" goto debugFile
 
 @echo on 
 
-"C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.general.xcl" --backend -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.driver.xcl" 
+"C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.general.xcl" --backend -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.driver.xcl" 
 
 @echo off 
 goto end 
@@ -34,7 +34,7 @@ goto end
 
 @echo on 
 
-"C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.general.xcl" "--debug_file=%~1" --backend -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.driver.xcl" 
+"C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.general.xcl" "--debug_file=%~1" --backend -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.driver.xcl" 
 
 @echo off 
 :end

Project/settings/Project.Debug.cspy.ps1

@@ -23,9 +23,9 @@
 
 if ($debugfile -eq "")
 {
-& "C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.general.xcl" --backend -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.driver.xcl" 
+& "C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.general.xcl" --backend -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.driver.xcl" 
 }
 else
 {
-& "C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.general.xcl" --debug_file=$debugfile --backend -f "E:\1Works\GCfork\GC23005\Project\settings\Project.Debug.driver.xcl" 
+& "C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.general.xcl" --debug_file=$debugfile --backend -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.driver.xcl" 
 }

Project/settings/Project.Debug.general.xcl

@@ -2,7 +2,7 @@
 
 "C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\arm\bin\armjlink2.dll" 
 
-"E:\1Works\GCfork\GC23005\Project\iar_release\Exe\Project.out" 
+"E:\1Works\1Softwork\GC23005\Project\iar_release\Exe\Project.out" 
 
 --plugin="C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\arm\bin\armbat.dll" 
 

Project/settings/Project.dnx

@@ -183,17 +183,13 @@
         <Bp5>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\User\Action.c}.2.14" 0 0 1 "" 0 "" 0</Bp5>
         <Bp6>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\ChuanChiMachine\CCChuantou_HeLian.c}.57.1" 0 0 1 "" 0 "" 0</Bp6>
         <Bp7>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\ChuanChiMachine\CCChuantou_HeLian.c}.625.1" 0 0 1 "" 0 "" 0</Bp7>
-        <Bp8>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\JinHongMachine\JHChuantou_NL_HeLian.c}.53.1" 0 0 1 "" 0 "" 0</Bp8>
-        <Bp9>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\JinHongMachine\JHChuantou_NL_HeLian.c}.2918.1" 0 0 1 "" 0 "" 0</Bp9>
-        <Bp10>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\JinHongMachine\JHChuantou_NL_HeLian.c}.3084.1" 0 0 1 "" 0 "" 0</Bp10>
-        <Bp11>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\XinYeMachine\XYChuantou_HeLian.c}.2555.7" 0 0 1 "" 0 "" 0</Bp11>
-        <Bp12>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\JinHongMachine\JHChuantou_NL_HeLian.h}.314.63" 0 0 1 "" 0 "" 0</Bp12>
-        <Bp13>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\YingXingMachine\YXChuantou_HeLian.c}.137.1" 0 0 1 "" 0 "" 0</Bp13>
-        <Bp14>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\ChangShengGeiLiMachine\GLChuantou_HeLian.c}.1834.1" 0 0 1 "" 0 "" 0</Bp14>
-        <Bp15>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\FuXiaoWeiMachine\FXWChuantou_HeLian.c}.346.60" 0 0 1 "" 0 "" 0</Bp15>
-        <Bp16>_ 1 "EMUL_DATA" "get_encode_value" 0 0 0 0 4294967295</Bp16>
-        <Bp17>_ 1 "EMUL_CODE" "{$PROJ_DIR$\..\STLib\startup_stm32f10x_hd.s}.158.1" 0 0 1 "" 0 "" 0</Bp17>
-        <Count>18</Count>
+        <Bp8>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\XinYeMachine\XYChuantou_HeLian.c}.2555.7" 0 0 1 "" 0 "" 0</Bp8>
+        <Bp9>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\YingXingMachine\YXChuantou_HeLian.c}.137.1" 0 0 1 "" 0 "" 0</Bp9>
+        <Bp10>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\ChangShengGeiLiMachine\GLChuantou_HeLian.c}.1834.1" 0 0 1 "" 0 "" 0</Bp10>
+        <Bp11>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\FuXiaoWeiMachine\FXWChuantou_HeLian.c}.346.60" 0 0 1 "" 0 "" 0</Bp11>
+        <Bp12>_ 1 "EMUL_DATA" "get_encode_value" 0 0 0 0 4294967295</Bp12>
+        <Bp13>_ 1 "EMUL_CODE" "{$PROJ_DIR$\..\STLib\startup_stm32f10x_hd.s}.158.1" 0 0 1 "" 0 "" 0</Bp13>
+        <Count>14</Count>
     </Breakpoints2>
     <Aliases>
         <A0>_ "F:\圭辰备份\WORK\GC23005-V1.0(GD32F303)\GC23005-V1.0(GD32F303)\HARDWARE\board.c" ""</A0>

User/Action.h

@@ -200,12 +200,12 @@ extern unsigned char Y07Flg;
    
 //厂家配置
 #define HAI_HUA_MACHINE      (0)               // 海华拉链
-#define JIN_HONG_MACHINE     (0)               // 锦泓拉链
+#define JIN_HONG_MACHINE     (1)               // 锦泓拉链
 #define HONG_YE_MACHINE      (0)               // 宏业拉链
 #define FU_XIAO_WEI_MACHINE   (0)               // 付小伟
 #define CHANG_SHENG_GEI_LI_MACHINE (0)         // 昌盛给力拉链
 #define YOU_GUAN_MACHINE     (0)               // 福建优冠拉链。
-#define ZHEN_YU_MACHINE      (1)               // 振宇拉链
+#define ZHEN_YU_MACHINE      (0)               // 振宇拉链
 #define JUN_TENG_MACHINE     (0)               // 南通骏腾拉链
 #define JIA_CHENG_WEI_YE_MACHINE   (0)         // 嘉成伟业拉链
 #define XIN_SHENG_MACHINE    (0)               // 欣盛拉链

User/servocom_app.c

@@ -449,15 +449,15 @@ int set_servo_postotarr_limit(unsigned short axis,int tarr,
       //配置扭矩模式下的速度限制、扭矩限制、扭矩基准值
       servo_x.speed_plimit_set=freq_to_speed(P_freq,servo_x.cycle_pulse);
       servo_x.speed_nlimit_set=freq_to_speed(N_freq,servo_x.cycle_pulse);
-      if(tarr<200)tarr=200;
+      if(tarr<100)tarr=100;
       if(dir)servo_x.tarr_limit_set=-tarr; 
       else servo_x.tarr_limit_set=tarr;      
       servo_com_cmd(axis,SPEED_LIMIT_SET);
       //servo_x.cmd_fb[SPEED_LIMIT_SET]=0;//清除反馈命令   
       //转矩的基准值设置
-      servo_x.tarr_basis=tarr-100;
-      servo_x.tarr_basis_up=100;
-      servo_x.tarr_basis_dw=50;
+      servo_x.tarr_basis=tarr-50;
+      servo_x.tarr_basis_up=50;
+      servo_x.tarr_basis_dw=30;
       servo_com_cmd(axis,TARR_BASE_SET);
       //servo_x.cmd_fb[TARR_BASE_SET]=0;//清除反馈命令
       servo_x.set_tarr_OKflag=0;
@@ -467,15 +467,15 @@ int set_servo_postotarr_limit(unsigned short axis,int tarr,
       //配置扭矩模式下的速度限制、扭矩限制、扭矩基准值
       servo_y.speed_plimit_set=freq_to_speed(P_freq,servo_y.cycle_pulse);
       servo_y.speed_nlimit_set=freq_to_speed(N_freq,servo_y.cycle_pulse);
-      if(tarr<200)tarr=200;
+      if(tarr<100)tarr=100;
       if(dir)servo_y.tarr_limit_set=-tarr; 
       else servo_y.tarr_limit_set=tarr;       
       servo_com_cmd(axis,SPEED_LIMIT_SET);
       //servo_y.cmd_fb[SPEED_LIMIT_SET]=0;//清除反馈命令   
       //转矩的基准值设置
-      servo_y.tarr_basis=tarr-100;
-      servo_y.tarr_basis_up=100;
-      servo_y.tarr_basis_dw=50;
+      servo_y.tarr_basis=tarr-50;
+      servo_y.tarr_basis_up=50;
+      servo_y.tarr_basis_dw=30;
       servo_com_cmd(axis,TARR_BASE_SET);
       //servo_y.cmd_fb[TARR_BASE_SET]=0;//清除反馈命令
       servo_y.set_tarr_OKflag=0;
@@ -636,7 +636,7 @@ static int set_ctrl_tarr_config(unsigned short axis,unsigned short mode)
 //1转矩模式，采用转矩切换方式
 static void set_servo_axis_mode(unsigned short axis,servo_param_t *servo_axis,unsigned short mode)
 {  
-  SetEn(axis, MOTOR_EN);//停机关使能
+  //SetEn(axis, MOTOR_EN);//停机关使能
   switch(mode)
   {
   case 0:
@@ -744,7 +744,7 @@ static int servo_com_init(unsigned short axis,servo_param_t *servo_axis)
     break;
   case 2://配置伺服驱动器。
      //停机关使能
-    SetEn(axis, MOTOR_DISEN);
+    //SetEn(axis, 1);
     set_servo_mode(axis,RUN_MODE);
     servo_axis->com_number++;
     sw_timer_start(&servo_axis->timer, 2, 0);//1S超时
@@ -826,7 +826,7 @@ int servo_test_pluse_mode(void)
     //Set_Ctrlmode_trans(Y_AXIS,TARR_MODE_LIMIT1); 
     sw_timer_start(&servo_com_timer, 10, 0);
     servo_test_step++;
-    CTHL_XSavePosBuff=servo_com_timer.usec;
+    //CTHL_XSavePosBuff=servo_com_timer.usec;
     break;
   case 4://位置运行
     AxisMovePosAccDecNotStop(Y_AXIS,2000,50000,1000,1000,20,50,50);

User/servocom_app.h

@@ -2,8 +2,8 @@
 #define __SERVOCOM__APP_H__
 
 #define SERVO_AXISNUM           2
-#define X_USERING_TARR          0//1
-#define Y_USERING_TARR          1
+#define X_USERING_TARR          1
+#define Y_USERING_TARR          0
 
 #define SERVO_COM_CMD_NUMBER    13
 #define SERVO_X_COM_ID          1 //x轴，Y轴同时用时ID，不能一样。