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V1.01-005 test

付小伟双电机合链机备份
liaizun 2 luni în urmă
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f84d0213f3

Fișier diff suprimat deoarece este prea mare
+ 152 - 435
Machine/FuXiaoWeiMachine/FXWChuantou_HeLian.c


+ 8 - 9
Machine/FuXiaoWeiMachine/FXWChuantou_HeLian.h

@@ -56,7 +56,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_ZhenDongStep        cStepMByte6
 #define CTHL_SongLiaoStep        cStepMByte7
 #define CTHL_FZ_MotorStep        cStepMByte8     //穿链
-#define CTHL_AutoStep1           cStepMByte9
+#define CTHL_CTXMSSStep          cStepMByte9
 
 
 
@@ -67,7 +67,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_TestDelay            cDelayTime6
 #define CTHL_FZ_MotorDelay        cDelayTime7
 #define CTHL_TouchDelay           cDelayTime8
-#define CTHL_AutoDelay1           cDelayTime9
+#define CTHL_CTXMSS_Delay           cDelayTime9
 #define CTHL_ZDP_Delay            cDelayTime10
 #define CTHL_MOTORZ_Delay            cDelayTime11
 #define CTHL_bSFBBAOJIN_Delay   cDelayTime12
@@ -92,7 +92,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_XSavePosBuff        cDword32Buff1
 #define CTHL_X_CXPosBuff         cDword32Buff2
 #define CTHL_YSavePosBuff        cDword32Buff3
-#define CTHL_CheckInX02PosBuff   cDword32Buff4
+
 #define CTHL_YsaveCXDWPosBuff   cDword32Buff5
 #define CTHL_LENTH              cDword32Buff6
 #define CTHL_XSavePosBuff1      cDword32Buff7
@@ -111,11 +111,10 @@ extern void ExtiAcitionX02(void);
 #define CTHL_wltzi                  cCharBuff6
 #define CTHL_cStopMode              cCharBuff7
 #define cTDAUTO                     cCharBuff8
-#define cDELAYONE                   cCharBuff9
-#define cGFJAUTO                    cCharBuff10
+
 #define cHELIANMG                   cCharBuff11
 #define cBAOjin                     cCharBuff12
-       
+#define CTHL_CTXMSS_FLAG            cCharBuff13       
 //位标志位
 #define bTuiLaTouOkFlg              bBitFlag0
 #define bZhuangLiaoOkFlg            bBitFlag1
@@ -123,7 +122,7 @@ extern void ExtiAcitionX02(void);
 #define bHeLaTouOK                  bBitFlag3
 #define bCL_EN_FLG                  bBitFlag4
 #define bCL_OK_FLG                  bBitFlag5
-#define bCheckEN_FLG                bBitFlag6
+
 #define bSingOneFlg                 bBitFlag7  
 #define bCxcAuto                    bBitFlag8
 #define bDanBuAuto                  bBitFlag9
@@ -132,7 +131,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_ZhouWanone             bBitFlag12
 #define CTHL_ZhouWantwo             bBitFlag13
 #define CTHL_GF_Change              bBitFlag14
-#define CTHL_SD                     bBitFlag15         //松一次带
+
 
 #define CTHL_TOTAL_ADDR  76
 
@@ -196,7 +195,7 @@ extern void ExtiAcitionX02(void);
 #define CTHL_PARAM_FZCXC_LENGTH                 user_datas[47]//穿小插反转距离
 #define CTHL_PARAM_XMZM_MODE                   user_datas[48]//斜码直码切换
 //#define CTHL_PARAM_YSXC_DELAY                   (user_datas[49]*10)//延时顶链
-#define CTHL_PARAM_TD_RunSpeed                  (user_datas[50])//整数 拖带电机拖带速度
+//#define CTHL_PARAM_TD_RunSpeed                  (user_datas[50])//整数 拖带电机拖带速度
 
 #define CTHL_PARAM_FZ_Speed                     (user_datas[51]) //整数 反转速度
 #define CTHL_PARAM_FKDW_OUT_DELAY               (user_datas[52]) //方块定位阀延时动作

+ 2 - 6
Machine/FuXiaoWeiMachine/FXWChuantou_HeLian_D.c

@@ -864,8 +864,7 @@ void XY_CTHL_AutoStepAction(void)
                     if(!XY_CTHL_PARAM_XCDWGY_MODE || XY_CTHL_PARAM_XCDWGY_MODE==1)
                     {
                         cXcxcrCnt=0;
-                        cXiaoChaCNT=0;
-                        user_datas[100]=0;
+                        cXiaoChaCNT=0;                        
                         XY_CTHL_CXSCDW_VAVLE = 0;   //Y21 插销上止定位关   
                         bZhuangLiaoOkFlg = 0;
                         XY_CTHL_CXXY_VAVLE = 0;     //Y06 插销下移电磁阀
@@ -1001,8 +1000,7 @@ void XY_CTHL_AutoStepAction(void)
             {
                 XY_CTHL_AutoStep = 20;
                 cXcxcrCnt=0;
-                cXiaoChaCNT=0;
-                user_datas[100]=0;
+                cXiaoChaCNT=0;                
                 if(!cBAOHUCNT)
                     XY_CTHL_AutoDelay = dwTickCount + XY_CTHL_PARAM_First_CL_DELAY;//延时一次穿入
                 else
@@ -1905,7 +1903,6 @@ void XY_CTHL_TD_Motor(void)	 //
     case 1:
         if(dwTickCount >= XY_CTHL_TD_MotorDelay)  //给锁轴时间
         {
-            bCheckEN_FLG = 1;
             XY_CTHL_SD_VAVLE=0;
             XY_CTHL_X_CXPosBuff=0;
             XY_CTHL_CheckInX02PosBuff= 0;
@@ -2058,7 +2055,6 @@ void XY_CTHL_TD_Motor(void)	 //
             XY_CTHL_X_CXPosBuff=0;          
             AxisContinueMoveAcc(X_AXIS,XY_CTHL_XCCR_SPEED,DIR_P,1200,1200,15,15);   
             XY_CTHL_CheckInX02PosBuff= 0;
-            bCheckEN_FLG = 1;
         }
         break;
     case 11:   

+ 352 - 219
Machine/JunYueMachine/JuYueChuantou_HeLian.c

@@ -142,17 +142,17 @@ void CTHL_AutoStepAction(void)
   {
     switch(CTHL_AutoStep)
     {
-    case 1:      
+    case 1: 
+      CTHL_Auto_RunState=CTHL_STATE_START;//存在着装拉头,拖带,下模上升
       if(dwTickCount >= CTHL_AutoDelay)
       {    
         if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
-        {
-                   
+        {        
           CTHL_TXM_VAVLE=0;
           CTHL_AutoStep = 2;
           //设置反转电机的扭矩和速度的设置       
           freq=CTHL_PARAM_FZ_Speed+SERVO_PARAM_SPEED_DIFFER;
-          if(CTHL_cZipCnt > 1)
+          if(CTHL_cZipCnt >=1)
           {
             set_servo_postotarr_limit(Y_AXIS,SERVO_PARAM_TRARR_LIMITMIN,freq,freq,SERVO_TARR_CW); 
           }
@@ -164,12 +164,6 @@ void CTHL_AutoStepAction(void)
           bCxcAuto=0;
           if(CTHL_cZipCnt > 1)  CTHL_AutoDelay = dwTickCount + 2;//拉头检测时间            
           else CTHL_AutoDelay = dwTickCount + 100;//拉头检测时间
-            
-          if(CTHL_ZhuangLiaoStep == 0)
-          { 
-            CTHL_ZhuangLiaoStep = 1;
-            CTHL_TryCnt = 0;
-          } 
           CTHL_GF_Change = 0;
         }
       }
@@ -192,6 +186,8 @@ void CTHL_AutoStepAction(void)
               CTHL_JLTou_VAVLE = 0;  //接拉头
               CTHL_AutoStep = 3;
               CTHL_AutoDelay = dwTickCount + CTHL_VAVLE_ERROR_TIME;
+              
+              CTHL_Auto_RunState=CTHL_STATE_QMDW;
             }
         }
       }
@@ -219,8 +215,8 @@ void CTHL_AutoStepAction(void)
         if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
         {
           //AxisContinueMoveAcc(X_AXIS,1000,DIR_N,1000,600,15,5);
-          AxisMovePosAccDec(X_AXIS,1000,-CTHL_PARAM_JMDW_LENGTH,1000,800,10,10,0); //前拖带松一点带 
-          AxisContinueMoveAcc(Y_AXIS,1000,DIR_N,1000,610,15,5);
+          AxisMovePosAccDec(X_AXIS,1500,-CTHL_PARAM_JMDW_LENGTH,1500,800,10,10,0); //前拖带松一点带 
+          AxisContinueMoveAcc(Y_AXIS,1500,DIR_N,1500,610,15,5);
           
           //Set_Ctrlmode_trans(Y_AXIS,TARR_MODE);
           CTHL_AutoStep = 5;
@@ -228,7 +224,7 @@ void CTHL_AutoStepAction(void)
           CTHL_JXM_VAVLE = 1;  //夹斜码电磁阀 
         }
       }
-      else if((dwTickCount >= CTHL_AutoDelay+3000)
+      else if((dwTickCount >= CTHL_AutoDelay+3000))
       {
         CTHL_SetAlarmCode(CTHL_QMDW_Limit_ALARM,bRunning);//前码定位感应异常
       }
@@ -287,7 +283,9 @@ void CTHL_AutoStepAction(void)
       if(dwTickCount >= CTHL_AutoDelay&& !X_DRV&&!Y_DRV)
       {
         if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
-        {                  
+        { 
+          CTHL_Auto_RunState=CTHL_STATE_FZDW;
+          
           CTHL_QMDW_VAVLE=0;
           CTHL_FZ_MotorStep=1;      //反转穿入
           //CTHL_FKDW_VAVLE = 0;
@@ -316,6 +314,7 @@ void CTHL_AutoStepAction(void)
       {
         if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
         {
+          CTHL_Auto_RunState=CTHL_STATE_FZCL;
           CTHL_FZ_MotorStep=20;   
           CTHL_AutoStep = 11;
           CTHL_FZ_MotorDelay = dwTickCount + 0;          
@@ -327,6 +326,7 @@ void CTHL_AutoStepAction(void)
       {     
         if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
         {
+          CTHL_Auto_RunState=CTHL_STATE_CXCR;
           CTHL_JCBI_VAVLE = 1; 
           CTHL_SD = 1;         
           CTHL_AutoStep = 12;
@@ -357,7 +357,7 @@ void CTHL_AutoStepAction(void)
     case 13:   
       if(dwTickCount >= CTHL_AutoDelay && !Y_DRV)
       {
-         SetPos(X_AXIS, 0);
+        SetPos(X_AXIS, 0);
         if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
         {
           CTHL_AutoDelay = dwTickCount + 0;//CTHL_PARAM_YDC_DELAY; 
@@ -367,7 +367,9 @@ void CTHL_AutoStepAction(void)
             CTHL_SD = 0;
             AxisMovePosAccDec(Y_AXIS,CTHL_PARAM_XCCR_SPEED+100,CTHL_PARAM_XCCR_LENGTH+CTHL_PARAM_FZCXC_LENGTH,800,800,15,15,0);
           }
-          CTHL_AutoStep = 14; 
+          CTHL_DingDai_VAVLE=1;
+          CTHL_AutoStep = 14;
+          
         }
         CTHL_XSavePosBuff3=dwXRealPos;
       }
@@ -377,7 +379,8 @@ void CTHL_AutoStepAction(void)
       {
         XCCR_LENGTH=dwXRealPos-CTHL_XSavePosBuff3;
         CTHL_XSavePosBuff3 = dwXRealPos;
-        CTHL_AutoStep = 15; 
+        CTHL_AutoStep = 15;
+        
         
         CTHL_XCDW_VAVLE=0;       
         CTHL_AutoDelay = dwTickCount + CTHL_PARAM_TXCDW_DELAY;
@@ -385,12 +388,13 @@ void CTHL_AutoStepAction(void)
       //else if((dwTickCount >= (CTHL_AutoDelay+1000)) && (!CTHL_bHandWork_MODE))
       else if((dwTickCount >= (CTHL_AutoDelay+1200)||(dwXRealPos>=CTHL_XSavePosBuff3+CTHL_PARAM_XCCRBH_LENGTH)) && (!CTHL_bHandWork_MODE))
       {
-        bCxcAuto=1;
+        bCxcAuto=0;
+        CTHL_DingDai_VAVLE=0;
         CTHL_XSavePosBuff3 = dwXRealPos;
         AxisEgmStop(X_AXIS);  
         AxisEgmStop(Y_AXIS);
-        CTHL_AutoStep = 100; 
-        CTHL_JCBI_VAVLE = 0;   //Y16小插摆臂电磁阀
+        //CTHL_AutoStep = 100; 
+        //CTHL_JCBI_VAVLE = 0;   //Y16小插摆臂电磁阀
         //AxisMovePosAccDec(X_AXIS,800,-100,800,800,15,15,0);//前轮布放松一点
         CTHL_SetAlarmCode(CTHL_XCDW_Limit_ALARM,bRunning);//小插定位针异常
       }
@@ -403,7 +407,8 @@ void CTHL_AutoStepAction(void)
         if(dwTickCount >= CTHL_AutoDelay)
         {                   
           CTHL_XCDW_VAVLE=0;
-          CTHL_TFK_VAVLE = 0;          
+          CTHL_TFK_VAVLE = 0;
+          CTHL_DingDai_VAVLE=0;          
           if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
           {
             cDELAYONE=0;
@@ -538,17 +543,15 @@ void CTHL_AutoStepAction(void)
     case 17:
       if(dwTickCount >= CTHL_AutoDelay)
       {
-        if(!X_DRV)
+        if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
         {
-          if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
-          {
-            cDELAYONE=0;
-            CTHL_TFK_VAVLE=0;
-            CTHL_TD_MotorStep =10;
-            CTHL_TD_MotorDelay = dwTickCount+ CTHL_PARAM_XCLD_DELAY;
-            CTHL_AutoStep = 18;
-          }
-        }
+          CTHL_Auto_RunState=CTHL_STATE_TD;
+          cDELAYONE=0;
+          CTHL_TFK_VAVLE=0;
+          CTHL_TD_MotorStep =10;
+          CTHL_TD_MotorDelay = dwTickCount+ CTHL_PARAM_XCLD_DELAY;
+          CTHL_AutoStep = 18;
+        }        
       }
       break;  
     case 18:
@@ -565,38 +568,31 @@ void CTHL_AutoStepAction(void)
       break;
     case 19:
       if((CTHL_TD_MotorStep == 0))
-      {   
-        //               if(CTHL_START_IN)
-        {  
-          if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
+      {
+        CTHL_Auto_RunState=CTHL_STATE_TD;
+        if(!CTHL_bDANBU_MODE || CTHL_START_IN_UP)
+        {
+          CTHL_AutoStep = 1; 
+          if(bSingOneFlg)
           {
-            CTHL_AutoStep = 1; 
-            if(CTHL_cStopMode==1 || bSingOneFlg)
-            {
-              CTHL_cStopMode=2;
-              CTHL_ZhouWantwo=1;
-              CTHL_CTXM_VAVLE =0; 
-            }
-            AddToTal(CTHL_TOTAL_ADDR);    
-            AddToTal(CTHL_TRUST_ALARM_ADDR);                 
-            CalProSP(CTHL_SPEED_ADDR);
-            //公分节那条也不加
-            if((CTHL_cZipCnt<3) && !CTHL_GF_Change) 
-              CTHL_cZipCnt++;
-            if((CTHL_NoLaLian_IN))
-              CTHL_cZipCnt = 0;
-            if(bSingOneFlg || CTHL_bHandWork_MODE)
-            {
-              CTHL_AutoStep = 0;
-              bRunning = 0;
-              bSingOneFlg = 0;
-            } 
-            CTHL_GF_Change = 0;
+            CTHL_CTXM_VAVLE =0;
+            CTHL_AutoStep = 0;
+            bRunning = 0;
+            bSingOneFlg = 0;
           }
-        }     
+          AddToTal(CTHL_TOTAL_ADDR);    
+          AddToTal(CTHL_TRUST_ALARM_ADDR);                 
+          CalProSP(CTHL_SPEED_ADDR);
+          //公分节那条也不加
+          if((CTHL_cZipCnt<3) && !CTHL_GF_Change) 
+            CTHL_cZipCnt++;
+          if((CTHL_NoLaLian_IN))
+            CTHL_cZipCnt = 0;
+          CTHL_GF_Change = 0;
+          CTHL_AutoDelay = dwTickCount+0;
+        }             
       }
-      break;
-      
+      break;      
     } 
   }
 }
@@ -680,15 +676,15 @@ void CTHL_CTXMSS_Proc(void)
         CTHL_CTXMSS_FLAG=0;
         if(!CTHL_LTou_Check && !CTHL_TXM_Limit_IN)//有拉头,推斜码到位不能亮
         {
-          //if(!CTHL_ZhouWanone && !bSingOneFlg)
+          if(!bSingOneFlg)
           {
             CTHL_CTXM_VAVLE=1;
             CTHL_CTXMSSStep = 21;
           }
-          //else
-          //{
-          //  CTHL_CTXMSSStep = 0;
-          //}
+          else
+          {
+            CTHL_CTXMSSStep = 0;
+          }
         }
         else 
         {
@@ -706,6 +702,180 @@ void CTHL_CTXMSS_Proc(void)
     }
   }
 }
+//长按停止处理
+void CTHL_STOP_longPress_Proc(void)
+{
+    if(bRunning)//保存停机位置
+    {
+       CTHL_Save_AutoStep=CTHL_AutoStep;            
+       CTHL_Save_ZhuangLiaoStep=CTHL_ZhuangLiaoStep;      
+       CTHL_Save_TLiaoStep=CTHL_TLiaoStep;           
+       CTHL_Save_TD_MotorStep=CTHL_TD_MotorStep;       
+       CTHL_Save_FZ_MotorStep=CTHL_FZ_MotorStep;        
+       CTHL_Save_CTXMSSStep=CTHL_CTXMSSStep;
+    }
+    CTHL_AutoStep = 0;      
+    CTHL_FZ_MotorStep =0;   
+    CTHL_TD_MotorStep =0;
+    CTHL_ZhuangLiaoStep=0;
+    CTHL_TLiaoStep=0;
+    CTHL_Save_CTXMSSStep=0;
+    
+    bSingOneFlg=0;
+    cBAOjin=0;   
+    CTHL_wltzi=0;
+
+    CTHL_TLiao_VAVLE=0;             
+    CTHL_HSLiao_VAVLE  =0;    
+    CTHL_JLTou_VAVLE  =0;      
+    CTHL_TXM_VAVLE=0;
+    CTHL_CTXM_VAVLE =0;           
+    CTHL_MGuo_VAVLE = 0;
+    CTHL_JXM_VAVLE   =0;                  
+    CTHL_QMDW_VAVLE   =0;        
+    CTHL_TFK_VAVLE    =0;        
+
+    CTHL_HL_VAVLE     =0;      
+    CTHL_YFK_VAVLE    =0;      
+    CTHL_YXC_VAVLE     =0;     
+    CTHL_XCDW_VAVLE=0;
+    CTHL_JCBI_VAVLE    =0; 
+    CTHL_DingDai_VAVLE=0;
+    CTHL_LINK_ALARM=0;
+    
+    AxisEgmStop(X_AXIS);
+    AxisEgmStop(Y_AXIS);
+    Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
+    SetEn(X_AXIS, MOTOR_EN);
+    SetEn(Y_AXIS, MOTOR_EN);
+    if((GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1) && !CTHL_PARAM_DBSF_MODE)
+    {
+      SetClr(X_AXIS, MOTOR_NOALARM);
+      SetClr(Y_AXIS, MOTOR_NOALARM);
+      CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
+    }
+    if(CTHL_PARAM_DBSF_MODE)
+    {
+      if(!CTHL_SF_ALR_IN)
+      {
+        CTHL_SF_ALR_CLR=1;
+        CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
+      }
+    }
+    SetAlarmCode(CTHL_ALARM_ADDR,0);      
+      
+    bRunning=0;
+    bStop=0;
+}
+//短按停止处理
+void CTHL_STOP_ShortPress_Proc(void)
+{
+    if(bRunning)
+    {
+       CTHL_Save_AutoStep=CTHL_AutoStep;            
+       CTHL_Save_ZhuangLiaoStep=CTHL_ZhuangLiaoStep;      
+       CTHL_Save_TLiaoStep=CTHL_TLiaoStep;           
+       CTHL_Save_TD_MotorStep=CTHL_TD_MotorStep;       
+       CTHL_Save_FZ_MotorStep=CTHL_FZ_MotorStep;        
+       CTHL_Save_CTXMSSStep=CTHL_CTXMSSStep;
+       switch(CTHL_Auto_RunState)
+       {
+       case CTHL_STATE_IDE:
+         break;
+       case CTHL_STATE_START:         
+       case CTHL_STATE_QMDW:
+       case CTHL_STATE_FZCL:
+       case CTHL_STATE_FZDW:
+       case CTHL_STATE_CXCR:
+       case CTHL_STATE_OVER:
+         bSingOneFlg=1;
+         break;
+       case CTHL_STATE_TD: 
+         if(CTHL_TD_RunState==CTHL_STATE_TDLL)
+         {
+            bRunning=0;
+            CTHL_AutoStep=0;
+            CTHL_TD_MotorStep=0;
+            CTHL_FZ_MotorStep=0;
+            CTHL_CTXMSSStep=0;
+            
+            CTHL_CTXM_VAVLE=0;
+            AxisEgmStop(X_AXIS);
+            AxisEgmStop(Y_AXIS);
+            Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
+            SetEn(X_AXIS, MOTOR_EN);
+            SetEn(Y_AXIS, MOTOR_EN);
+         }
+         else
+         {
+           bSingOneFlg=1;
+         }
+         break;         
+       }
+    }
+    else
+    {
+      CTHL_TLiao_VAVLE=0;             
+      CTHL_HSLiao_VAVLE  =0;    
+      CTHL_JLTou_VAVLE  =0;      
+      CTHL_TXM_VAVLE=0;
+      CTHL_CTXM_VAVLE =0;           
+      CTHL_MGuo_VAVLE = 0;
+      CTHL_JXM_VAVLE   =0;                  
+      CTHL_QMDW_VAVLE   =0;        
+      CTHL_TFK_VAVLE    =0;        
+
+      CTHL_HL_VAVLE     =0;      
+      CTHL_YFK_VAVLE    =0;      
+      CTHL_YXC_VAVLE     =0;     
+      CTHL_XCDW_VAVLE=0;
+      CTHL_JCBI_VAVLE    =0; 
+      CTHL_DingDai_VAVLE=0;
+      CTHL_LINK_ALARM=0;
+      
+      AxisEgmStop(X_AXIS);
+      AxisEgmStop(Y_AXIS);
+      Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
+      SetEn(X_AXIS, MOTOR_EN);
+      SetEn(Y_AXIS, MOTOR_EN);
+      if((GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1) && !CTHL_PARAM_DBSF_MODE)
+      {
+        SetClr(X_AXIS, MOTOR_NOALARM);
+        SetClr(Y_AXIS, MOTOR_NOALARM);
+        CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
+      }
+      if(CTHL_PARAM_DBSF_MODE)
+      {
+        if(!CTHL_SF_ALR_IN)
+        {
+          CTHL_SF_ALR_CLR=1;
+          CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
+        }
+      }
+      SetAlarmCode(CTHL_ALARM_ADDR,0); 
+    }
+}
+//停止出处理
+void CTHL_STOP_Proc(void)
+{
+  if((CTHL_STOP_IN||bStop))//长按停止1.5S
+  {
+    if(dwTickCount>=CTHL_Stop_PressLongTime)
+     //长按停止处理
+     CTHL_STOP_longPress_Proc();
+  }
+  else
+  {
+    CTHL_Stop_PressLongTime=dwTickCount+1500;
+  }
+  if(CTHL_STOP_IN_UP|| bStop)//短按处理
+  {
+    //CTHL_Stop_PressTime=dwTickCount+100;
+    CTHL_STOP_ShortPress_Proc();
+    
+  }
+  //if(CTHL_STOP_IN_DW)CTHL_Stop_PressTime = dwTickCount + 80;
+}
 void CTHL_CheckStart(void)
 {
   //if(!CTHL_SafeDoor_IN && bRunning)
@@ -774,7 +944,7 @@ void CTHL_CheckStart(void)
     if(!bRunning)
     {     
       bRunning = 1;
-      if( CTHL_bSingOne)bSingOneFlg=1;
+      if(CTHL_bSingOne)bSingOneFlg=1;
       SetEn(X_AXIS, MOTOR_DISEN);
       SetEn(Y_AXIS, MOTOR_DISEN);
       CTHL_FZ_MotorStep = 0;
@@ -785,7 +955,7 @@ void CTHL_CheckStart(void)
        CTHL_TryCnt = 0;
       bCxcAuto=0;
       bCL_EN_FLG = 0;
-      CTHL_stop=0;
+
       
       CTHL_TLiao_VAVLE =0;      
       CTHL_HSLiao_VAVLE   =0;      
@@ -821,131 +991,38 @@ void CTHL_CheckStart(void)
       bZhuangLiaoOkFlg= 0; 
       
       bFZ_LengthOK = 0;
-      CTHL_LianLengthCheck = 0; 
+      CTHL_LianLengthCheck = 0;
+      CTHL_LianLengthCheckOld = 0;
     }  
     bStart = 0;
     CTHL_bSingOne=0;
   }   
-  if(CTHL_ZhouWantwo)//作为一条后停机
-  {
-    CTHL_ZhouWantwo=0;
-    if(CTHL_ZhouWanone)
-    {
-      CTHL_ZhouWanone=0;
-      bRunning=0;
-      CTHL_cStopMode=0; 
-      AxisEgmStop(X_AXIS);
-      AxisEgmStop(Y_AXIS);      
-      if((GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1) && !CTHL_PARAM_DBSF_MODE)
-      {
-        SetClr(X_AXIS, MOTOR_NOALARM);
-        SetClr(Y_AXIS, MOTOR_NOALARM);
-        CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
-      }
-      if(CTHL_PARAM_DBSF_MODE)
-      {
-        if(!CTHL_SF_ALR_IN)
-        {
-          CTHL_SF_ALR_CLR=1;
-          CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;          
-        }
-      }
-      SetEn(X_AXIS, MOTOR_EN);
-      SetEn(Y_AXIS, MOTOR_EN);
-      
-      bSingOneFlg=0;
-      CTHL_AutoStep = 0; 
-      CTHL_FZ_MotorStep =0;   
-      CTHL_TD_MotorStep =0;  
-      CTHL_CTXM_VAVLE =0;       
-    }
-  }
   //停止
-  if(CTHL_STOP_IN_UP || bStop)
-  {
-    if(CTHL_cStopMode < 2)CTHL_cStopMode++;      
-    if(CTHL_cStopMode==1 && bRunning)CTHL_ZhouWanone=1; //按一次停止     
-    if(bRunning && CTHL_cStopMode == 2||!bRunning)//按下2次停止
-    {   
-      
-      CTHL_cStopMode=0; 
-      bSingOneFlg=0;      
-      cBAOjin=0;
-      CTHL_wltzi=0;
-      
-      AxisEgmStop(X_AXIS);
-      AxisEgmStop(Y_AXIS);
-      Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
-      SetEn(X_AXIS, MOTOR_EN);
-      SetEn(Y_AXIS, MOTOR_EN);
-      
-      CTHL_AutoStep = 0; 
-      CTHL_stop=0;
-      CTHL_FZ_MotorStep =0;   
-      CTHL_TD_MotorStep =0;
-      if(!bRunning) 
-      {
-         CTHL_ZhuangLiaoStep=0;
-         CTHL_TLiaoStep=0;
-         CTHL_TLiao_VAVLE=0;             
-         CTHL_HSLiao_VAVLE  =0;    
-         CTHL_JLTou_VAVLE  =0;  
-      }
-      CTHL_TXM_VAVLE=0;
-      CTHL_CTXM_VAVLE =0;           
-      CTHL_MGuo_VAVLE = 0;
-      CTHL_JXM_VAVLE   =0;                  
-      CTHL_QMDW_VAVLE   =0;        
-      CTHL_TFK_VAVLE    =0;        
-    
-      CTHL_HL_VAVLE     =0;      
-      CTHL_YFK_VAVLE    =0;      
-      CTHL_YXC_VAVLE     =0;     
-      CTHL_XCDW_VAVLE=0;
-      CTHL_JCBI_VAVLE    =0; 
-      CTHL_DingDai_VAVLE=0;
-      
-      SetAlarmCode(CTHL_ALARM_ADDR,0); 
-      if((GetAlarm(X_AXIS)==1 || GetAlarm(Y_AXIS)==1) && !CTHL_PARAM_DBSF_MODE)
-      {
-        SetClr(X_AXIS, MOTOR_NOALARM);
-        SetClr(Y_AXIS, MOTOR_NOALARM);
-        CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
-      }
-      if(CTHL_PARAM_DBSF_MODE)
-      {
-        if(!CTHL_SF_ALR_IN)
-        {
-          CTHL_SF_ALR_CLR=1;
-          CTHL_bSFBBAOJIN_Delay= dwTickCount + 2000;
-        }
-      }
-      SetPos(X_AXIS, 0); 
-      SetPos(Y_AXIS, 0); 
-      SetPos(Z_AXIS, 0); 
-      SetAlarmCode(CTHL_ALARM_ADDR,0);
+  CTHL_STOP_Proc();
 
-      bFZ_LengthOK = 0;
-      CTHL_LianLengthCheck = 0;
-      CTHL_LianLengthCheckOld = 0;
-      
-      bRunning=0;
-    }
-    bStop=0;
-  }  
   if(bAlarmStop)
   {   
     bRunning   = 0;
     bAlarmStop=0;
     CTHL_cStopMode=0;
-    CTHL_XCDW_VAVLE=0;
+    
+    CTHL_Save_AutoStep=CTHL_AutoStep;            
+    CTHL_Save_ZhuangLiaoStep=CTHL_ZhuangLiaoStep;      
+    CTHL_Save_TLiaoStep=CTHL_TLiaoStep;           
+    CTHL_Save_TD_MotorStep=CTHL_TD_MotorStep;       
+    CTHL_Save_FZ_MotorStep=CTHL_FZ_MotorStep;        
+    CTHL_Save_CTXMSSStep=CTHL_CTXMSSStep;    
+   
     AxisEgmStop(X_AXIS);
     AxisEgmStop(Y_AXIS);
     Set_Ctrlmode_trans(Y_AXIS,POS_MODE);
-    //   AxisEgmStop(Z_AXIS);
+
+    CTHL_XCDW_VAVLE=0;
+    
     CTHL_AutoStep = 0; 
     CTHL_FZ_MotorStep =0;   
-    CTHL_TD_MotorStep =0;   
+    CTHL_TD_MotorStep =0;
+    CTHL_CTXMSSStep=0;
   }
 #endif    
 }   
@@ -1010,22 +1087,27 @@ void CTHL_TDLength_BH_Proc(unsigned short local)//拖带长度保护
 //拖带合链
 void CTHL_TDHL_Proc(void)
 {
-  //合链              
-  if(dwXRealPos >= (CTHL_PARAM_SMG_LENGTH + CTHL_XSavePosBuff1)&&!CTHL_bHandWork_MODE)
-  {
-    CTHL_XSavePosBuff2=dwXRealPos;
-    CTHL_HL_VAVLE=1;
-  }    
   //合链结束
   if(CTHL_cZipCnt < 2)
   {
+     //合链              
+    if(dwXRealPos >= (CTHL_PARAM_SMG_LENGTH + CTHL_XSavePosBuff1)&&!CTHL_bHandWork_MODE)
+    {
+      //CTHL_XSavePosBuff2=dwXRealPos;
+      CTHL_HL_VAVLE=1;
+    } 
     if((dwXRealPos>(CTHL_LianLengthAutoFZCRcheck)))
     {
       CTHL_HL_VAVLE=0;
     }
+ 
   }
   else
   {
+    if(dwXRealPos >= CTHL_PARAM_HL_LENGTH)
+    {
+      CTHL_HL_VAVLE=1;
+    }
     if((dwXRealPos>(CTHL_PARAM_HLWZ_LENGTH+CTHL_LianLengthAutoFZCRcheck-CTHL_PARAM_HELIAN_LENGTH)))
     {
       CTHL_HL_VAVLE=0;
@@ -1079,6 +1161,7 @@ void CTHL_TD_Motor(void)	 //
   case 1:
     if(dwTickCount >= CTHL_TD_MotorDelay)  //给锁轴时间
     {
+      CTHL_TD_RunState=CTHL_STATE_TDLL;
       //CTHL_FKDW_VAVLE=0;      
       if(CTHL_PARAM_Test)
         CTHL_TXM_VAVLE    = 0 ;    
@@ -1096,7 +1179,8 @@ void CTHL_TD_Motor(void)	 //
       CTHL_SetAlarmCode(CTHL_WLZDTJ_ALARM,bRunning);   //无拉链自动停机   
     }    
     if(CTHL_FK_Check_UP)
-    {           
+    {
+      CTHL_TD_RunState=CTHL_STATE_FKGY;
       CTHL_XSavePosBuff = dwXRealPos;
       AxisContinueMoveChangeSpeed(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,1000,20,20);
       AxisContinueMoveChangeSpeed(Y_AXIS,CTHL_PARAM_FKDWMAN_Speed,1000,20,20);
@@ -1125,6 +1209,8 @@ void CTHL_TD_Motor(void)	 //
     //}
     if(CTHL_FKDW_IN_UP)
     {
+      CTHL_TD_RunState=CTHL_STATE_FKDW;
+      
       CTHL_TD_MotorStep = 5; 
       CTHL_TD_MotorDelay = dwTickCount+ 0;
       AxisMovePosAccDec(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_XMCR_YJDW_LENGTH,
@@ -1143,6 +1229,8 @@ void CTHL_TD_Motor(void)	 //
   case 10:   
     if(dwTickCount >= CTHL_TD_MotorDelay)
     {
+      CTHL_TD_RunState=CTHL_STATE_TDHL;
+      
       CTHL_JCBI_VAVLE=0;
       CTHL_DingDai_VAVLE=0;      
       CTHL_YXC_VAVLE=0;
@@ -1242,7 +1330,7 @@ void CTHL_TD_Motor(void)	 //
             CTHL_LENTH=CTHL_LianLengthCheck + CTHL_LianLengthCheckOld- dwXRealPos; 
           }
           AxisMovePosAccDecNotStop(X_AXIS,CTHL_DataBuff,CTHL_LENTH,
-                                     1000,CTHL_PARAM_FKDW_Speed,80,50,200);          
+                                     1000,CTHL_PARAM_FKDW_Speed,250,250,300);          
         }
         else
         {  
@@ -1250,9 +1338,9 @@ void CTHL_TD_Motor(void)	 //
             CTHL_DataBuff = CTHL_PARAM_FKDWMAN_Speed/2;
           else
             CTHL_DataBuff = CTHL_PARAM_First_SPEED;
-          AxisContinueMoveAcc(X_AXIS,CTHL_DataBuff,DIR_P,1500,800,15,15);
+          AxisContinueMoveAcc(X_AXIS,CTHL_DataBuff,DIR_P,1000,800,15,15);
         }        
-        AxisContinueMoveAcc(Y_AXIS,CTHL_DataBuff,DIR_P,1500,800,15,15); 
+        AxisContinueMoveAcc(Y_AXIS,CTHL_DataBuff,DIR_P,1000,800,15,15); 
         CTHL_TD_MotorStep = 13;
       }
     }   
@@ -1269,6 +1357,7 @@ void CTHL_TD_Motor(void)	 //
     }
     else if(bFKCheck_Flag)  //说明第一个方块已经检测到
     {
+      CTHL_TD_RunState=CTHL_STATE_TDLL;
       CTHL_TD_MotorStep = 14;      
     }
     break; 
@@ -1287,10 +1376,11 @@ void CTHL_TD_Motor(void)	 //
      CTHL_TDLength_BH_Proc(1);
      CTHL_NoLaLian_Speed_Proc();      
      CTHL_TDHL_Proc();
-    
+     CTHL_TD_RunState=CTHL_STATE_TDLL;
     //第二次感应方块, 要做定位
     if(CTHL_FK_Check_UP && (dwXRealPos >= (CTHL_XSavePosBuff3 + 1800)))
     {
+      CTHL_TD_RunState=CTHL_STATE_FKGY;
       if(!CTHL_bHandWork_MODE)
       {
         if(!CTHL_NoLaLian_IN)
@@ -1346,6 +1436,7 @@ void CTHL_TD_Motor(void)	 //
     //}
     if(CTHL_FKDW_IN)
     {
+      CTHL_TD_RunState=CTHL_STATE_FKDW;
       if(CTHL_cZipCnt > 1&&!CTHL_NoLaLian_IN_UP)
       {
         AxisMovePosAccDec(X_AXIS,CTHL_PARAM_FKDWMAN_Speed,CTHL_PARAM_TDDW_LENGTH,
@@ -1427,9 +1518,9 @@ void CTHL_FZ_Motor(void)	 //
       else 
       {
         AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_JXM_SPEED,-CTHL_PARAM_XMCR_SLOW_LENGTH,
-                                 1200,CTHL_PARAM_JXM_SPEED,50,100,0);
+                                 1000,CTHL_PARAM_JXM_SPEED,50,100,0);
         AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_JXM_SPEED+500,-CTHL_PARAM_XMCR_SLOW_LENGTH,
-                                 1500,CTHL_PARAM_JXM_SPEED,50,100,0); 
+                                 1000,CTHL_PARAM_JXM_SPEED,50,100,0); 
       }  
       CTHL_FZ_MotorStep = 2;                              
     }
@@ -1451,20 +1542,34 @@ void CTHL_FZ_Motor(void)	 //
         //长度=反转长度-慢速长度-减速长度-修正长度;
         CTHL_LENTH = CTHL_LianLengthAutoFZCRcheck-abs(dwXRealPos)-CTHL_PARAM_FZJS_LENGTH;
         AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FZ_Speed,-CTHL_LENTH,
-                                 1500,CTHL_PARAM_FZDS_Speed,120,100,0); 
+                                 1000,CTHL_PARAM_FZDS_Speed,250,150,0); 
         AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FZ_Speed+120,-CTHL_LENTH,
-                                 1500,CTHL_PARAM_FZDS_Speed,120,100,0);
+                                 1000,CTHL_PARAM_FZDS_Speed,120,100,0);
       }        
       CTHL_FZ_MotorStep++;      
     }
     //电机速度差太大
-    if(abs(dwXRealPos)>dwYRealPos_com+4500)
+    if(CTHL_cZipCnt<1)
+    {
+      if(abs(dwXRealPos)>dwYRealPos_com+1500)
+      {
+        //CTHL_FZ_MotorStep=100;
+        bCxcAuto=0;//停轴
+        SetEn(Y_AXIS, MOTOR_DISEN);
+        //SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
+        CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机卡滞   
+      }
+    }
+    else
     {
-      //CTHL_FZ_MotorStep=100;
-      //bCxcAuto=0;//停轴
-      //SetEn(Y_AXIS, MOTOR_DISEN);
-      SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
-      //CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机卡滞   
+      if(abs(dwXRealPos)>dwYRealPos_com+3000)
+      {
+        //CTHL_FZ_MotorStep=100;
+        bCxcAuto=0;//停轴
+        SetEn(Y_AXIS, MOTOR_DISEN);
+        //SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
+        CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机卡滞   
+      }
     }
     break;
   case 3:
@@ -1479,9 +1584,9 @@ void CTHL_FZ_Motor(void)	 //
       if(abs(dwXRealPos)>=CTHL_LENTH+CTHL_PARAM_XMCR_SLOW_LENGTH)
       {
         AxisMovePosAccDecNotStop(X_AXIS,CTHL_PARAM_FZDS_Speed,-CTHL_PARAM_FZJS_LENGTH,
-                                 1500,1000,120,80,CTHL_PARAM_FZJSDS_LENGTH);
+                                 1000,1000,120,80,CTHL_PARAM_FZJSDS_LENGTH);
         AxisMovePosAccDecNotStop(Y_AXIS,CTHL_PARAM_FZDS_Speed,-CTHL_PARAM_FZJS_LENGTH,
-                                 1500,1000,120,80,CTHL_PARAM_FZJSDS_LENGTH);         
+                                 1000,1000,120,80,CTHL_PARAM_FZJSDS_LENGTH);         
         CTHL_FZ_MotorStep++; 
       }
     }
@@ -1490,14 +1595,14 @@ void CTHL_FZ_Motor(void)	 //
     {
       if(abs(dwXRealPos)>= (CTHL_PARAM_WLCDSHEZHI_LENTH+ CTHL_LianLengthAutoFZCRcheck)) //拉带报警长度
       {
-        bCxcAuto=1;//停轴
+        bCxcAuto=0;//停轴
         SetEn(Y_AXIS, MOTOR_DISEN);
         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))
       {
-        bCxcAuto=1;//停轴
+        bCxcAuto=0;//停轴
         SetEn(Y_AXIS, MOTOR_DISEN);
         CTHL_SetAlarmCode(CTHL_FK_Check_ALARM,bRunning); 
       }  
@@ -1505,19 +1610,33 @@ void CTHL_FZ_Motor(void)	 //
     else
     {
       if(abs(dwXRealPos) >= CTHL_PARAM_first_CL_MAX_Length){  //位置大于第一条拉链长度    
-        bCxcAuto=1;//停轴
+        bCxcAuto=0;//停轴
         SetEn(Y_AXIS, MOTOR_DISEN);
         CTHL_SetAlarmCode(CTHL_CRFK_ALARM,bRunning);   //穿入方块超出预设长度                  
       }
     }
     //电机速度差太大
-    if(abs(dwXRealPos)>dwYRealPos_com+4500)
+    if(CTHL_cZipCnt<1)
     {
-        //CTHL_FZ_MotorStep=100;
-      //bCxcAuto=0;//停轴
-      //SetEn(Y_AXIS, MOTOR_DISEN);
-      SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
-      //CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机   
+      if(abs(dwXRealPos)>dwYRealPos_com+1500)
+      {
+          //CTHL_FZ_MotorStep=100;
+        bCxcAuto=0;//停轴
+        SetEn(Y_AXIS, MOTOR_DISEN);
+        //SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
+        CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机   
+      }
+    }
+    else
+    {
+      if(abs(dwXRealPos)>dwYRealPos_com+3000)
+      {
+          //CTHL_FZ_MotorStep=100;
+        bCxcAuto=0;//停轴
+        SetEn(Y_AXIS, MOTOR_DISEN);
+        SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
+        CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机   
+      }
     }
     break;
   case 4:
@@ -1528,7 +1647,7 @@ void CTHL_FZ_Motor(void)	 //
       CTHL_XSavePosBuff1 = abs(dwXRealPos);
       if(CTHL_cZipCnt<1||CTHL_NoLaLian_IN){//记录前两条的方块感应长度;
         //停机距离调整
-        CTHL_LENTH=CTHL_PARAM_FZSTOP_LENGTH;
+        CTHL_LENTH=10;//CTHL_PARAM_FZSTOP_LENGTH;
         AxisMovePosAccDec(X_AXIS,800,-CTHL_LENTH,
                           800,800,15,25,0);
         AxisMovePosAccDec(Y_AXIS,600,-CTHL_LENTH,
@@ -1549,14 +1668,14 @@ void CTHL_FZ_Motor(void)	 //
     {
       if(abs(dwXRealPos)>= (CTHL_PARAM_WLCDSHEZHI_LENTH+ CTHL_LianLengthAutoFZCRcheck)) //拉带报警长度
       {
-        bCxcAuto=1;//停轴
+        bCxcAuto=0;//停轴
         SetEn(Y_AXIS, MOTOR_DISEN);
         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))
       {
-        bCxcAuto=1;//停轴
+        bCxcAuto=0;//停轴
         SetEn(Y_AXIS, MOTOR_DISEN);
         CTHL_SetAlarmCode(CTHL_FK_Check_ALARM,bRunning); 
       }  
@@ -1564,18 +1683,32 @@ void CTHL_FZ_Motor(void)	 //
     else
     {
       if(abs(dwXRealPos) >= CTHL_PARAM_first_CL_MAX_Length){  //位置大于第一条拉链长度    
-        bCxcAuto=1;//停轴
+        bCxcAuto=0;//停轴
         CTHL_SetAlarmCode(CTHL_CRFK_ALARM,bRunning);   //穿入方块超出预设长度                  
       }
     }
     //电机速度差太大
-    if((abs(dwXRealPos)>dwYRealPos_com+4500)&&!FZ_ALARM_FLG)
+    if(CTHL_cZipCnt<1)
+    {
+      if(abs(dwXRealPos)>dwYRealPos_com+1500)
+      {
+          //CTHL_FZ_MotorStep=100;
+        bCxcAuto=0;//停轴
+        SetEn(Y_AXIS, MOTOR_DISEN);
+        //SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
+        CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机   
+      }
+    }
+    else
     {
-       //CTHL_FZ_MotorStep=100;
-      //bCxcAuto=0;//停轴
-      //SetEn(Y_AXIS, MOTOR_DISEN);
-      SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
-      //CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机  
+      if(abs(dwXRealPos)>dwYRealPos_com+3000)
+      {
+          //CTHL_FZ_MotorStep=100;
+        bCxcAuto=0;//停轴
+        SetEn(Y_AXIS, MOTOR_DISEN);
+        SetAlarmCode(CTHL_ALARM_ADDR,CTHL_FZTD_KZ_ALARM);
+        CTHL_SetAlarmCode(CTHL_FZTD_KZ_ALARM,bRunning);   //反转电机   
+      }
     }
     break;
   case 5:       
@@ -2321,7 +2454,7 @@ void CTHL_ManualAction(void)
         CTHL_MGuo_VAVLE = 1;   //判断是否已经有料  
         CTHL_GDLT_VAVLE=0;
         CTHL_TryCnt = 0;
-        CTHL_ZhuangLiaoDelay = dwTickCount + 1000;
+        CTHL_ZhuangLiaoDelay = dwTickCount + 500;
       }  
     }
     if(CTHL_bYJDW)  //一键定位

+ 29 - 6
Machine/JunYueMachine/JuYueChuantou_HeLian.h

@@ -15,9 +15,21 @@
 #define CTHL_MOTOR_ALARM_TIME   5000
 
 #define HSLIAO_CHECK_TIME                      1//横送是检测穿头模和第一次合链是否在原位
+
 //合链运行状态
 #define CTHL_STATE_IDE               0//空闲台
-#define CTHL_STATE_QMDW              1//前码定位
+#define CTHL_STATE_START             1//开始状态
+#define CTHL_STATE_QMDW              2//前码定位
+#define CTHL_STATE_FZCL              3//反转穿链
+#define CTHL_STATE_FZDW              4//反转定位
+#define CTHL_STATE_CXCR              5//插销传入
+#define CTHL_STATE_TD                6//拖带
+#define CTHL_STATE_OVER              7//循环结束
+
+#define CTHL_STATE_TDHL              8//拖带合链
+#define CTHL_STATE_TDLL              9//拖带拉链
+#define CTHL_STATE_FKGY              10//方块感应
+#define CTHL_STATE_FKDW              11//方块定位
 
 //故障代码列表
 #define CTHL_NO_ALARM                0
@@ -55,7 +67,12 @@
 #define CTHL_SongLiaoStep        cStepMByte7
 #define CTHL_FZ_MotorStep        cStepMByte8     //穿链
 #define CTHL_CTXMSSStep          cStepMByte9
-
+#define CTHL_Save_AutoStep       cStepMByte10
+#define CTHL_Save_ZhuangLiaoStep cStepMByte11
+#define CTHL_Save_TLiaoStep      cStepMByte12
+#define CTHL_Save_TD_MotorStep   cStepMByte13
+#define CTHL_Save_FZ_MotorStep   cStepMByte14
+#define CTHL_Save_CTXMSSStep     cStepMByte15
 
 #define CTHL_ZhuangLiaoDelay      cDelayTime2
 #define CTHL_TLiao_Delay          cDelayTime3
@@ -68,7 +85,8 @@
 #define CTHL_ZDP_Delay            cDelayTime10
 #define CTHL_MOTORZ_Delay            cDelayTime11
 #define CTHL_bSFBBAOJIN_Delay   cDelayTime12
-
+#define CTHL_Stop_PressLongTime    cDelayTime13
+#define CTHL_Stop_PressTime       cDelayTime14
 
 //32位无符号变量
 #define CTHL_LianLengthCheck     cUDword32Buff1
@@ -82,7 +100,8 @@
 #define CTHL_LianLengthAutoFZcheck_DW cUDword32Buff9
 #define CTHL_LianLengthAutolengthcheck cUDword32Buff10
 #define CTHL_DataBuff                  cUDword32Buff11
-#define CTHL_LianLengthBuff            cUDword32Buff12         
+#define CTHL_LianLengthBuff            cUDword32Buff12  
+
 
 
 //32位有符号变量
@@ -99,11 +118,14 @@
 //16位变量
 #define CTHL_RunStepSave            cUShort16Buff1
 #define CTHL_Test                   cUShort16Buff2
-#define CTHL_RunState               cUShort16Buff3  //合链运行状态  
+#define CTHL_Auto_RunState          cUShort16Buff3  //合链运行状态  
+#define CTHL_TD_RunState            cUShort16Buff3  //合链运行状态  
+#define CTHL_FZ_RunState            cUShort16Buff3  //合链运行状态 
+#define CTHL_ZLT_RunState            cUShort16Buff3  //合链运行状态 
 //8位变量
 #define CTHL_TryCnt                 cCharBuff1
 #define CTHL_cZipCnt                cCharBuff2
-#define CTHL_stop                   cCharBuff3
+
 #define CTHL_AUTO_start             cCharBuff4
 #define CTHL_MOTOR_MODE             cCharBuff5
 #define CTHL_wltzi                  cCharBuff6
@@ -269,6 +291,7 @@
 #define CTHL_START_IN_UP           (M0393 && !OLDM393)
 #define CTHL_STOP_IN               M0394        // X12  //停止
 #define CTHL_STOP_IN_UP            (M0394 && !OLDM394)
+#define CTHL_STOP_IN_DW            (!M0394 && OLDM394)
 
 #define CTHL_TLiao_Limit_IN       M0396       //X14推料到位,给拉头到位
 #define CTHL_TXM_Limit_IN          M0397       //X15推斜码到位,侧推布带到位

Fișier diff suprimat deoarece este prea mare
+ 1133 - 1186
Project/Project.dep


+ 1017 - 820
Project/iar_release/List/Project.map

@@ -1,103 +1,100 @@
 ###############################################################################
 #
-# IAR ELF Linker V8.32.3.193/W32 for ARM                  26/Aug/2024  18:56:40
+# IAR ELF Linker V8.32.3.193/W32 for ARM                  29/Aug/2024  11:14:40
 # 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
+#    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\EWBD9.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_Bi.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\JHMXC_NiLong_StepJi.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JHQueduanChuantou.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\JuYueAction.o
-#        E:\1Works\1Softwork\GC23005\Project\iar_release\Obj\JuYueChuantou_HeLian.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
+#        -f C:\Users\liaizun\AppData\Local\Temp\EW3A2D.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
+#        E:\1Works\GC23005\Project\iar_release\Obj\axis_motion.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\board.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\CCAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\CCChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\Encode.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\encrypt_md5.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\encrypt_xxtea.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FeiYueAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FXWAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FXWChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FXWChuantou_HeLian_D.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FXWQueDuanJi_Bi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FXWQueDuanJi_Kai.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\FYChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\GLAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\GLChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\GLQueduanChuantou.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hardware_delay.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hw_dma_uart.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hw_flash_data.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hw_iic.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hw_io_pin.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hw_power_off.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\hw_pwm.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\io_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\IOPinConfig.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JHAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JHChuantou_NL_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JHMXC_NiLong_StepJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JHQueduanChuantou.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JLAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JLChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JLKKQueDuanJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JuYueAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\JuYueChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\log_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\LongYiAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\LYChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\main.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\MathHelper.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\modbus_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\modbus_encoder.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\modbus_master.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\modbus_slave.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\nodelink_master_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\NodeLinkCommon.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\NodeLinkMaster.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\poweroff_save_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\servocom_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\software_timer.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\st_dma.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\st_flash.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\st_sys.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\startup_stm32f10x_hd.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\TinyLog.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\user_app.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\variable.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XingYeAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYChuanTouJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYChuChiJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYFangKuaiChaXiaoJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYHeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYJiaoYaDinCun.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYJinShuDinCun.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYMXC_NiLong_StepJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYQueduanChuantou.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYQueDuanJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\XYTieBuJi.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\YingXingAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\YuWenXuanAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\YWXChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\YWXChuantou_HeLian_New.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\YXChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\YXTWOChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\ZCYAction.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\ZCYChuantou_HeLian.o
+#        E:\1Works\GC23005\Project\iar_release\Obj\ZhenYUAction.o
+#        E:\1Works\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)
+#        E:\1Works\GC23005\Project\iar_release\Exe\Project.out --map
+#        E:\1Works\GC23005\Project\iar_release\List\Project.map --config
+#        E:\1Works\GC23005\Project\..\Project\stm32f103xE.icf --semihosting
+#        --entry __iar_program_start --vfe --text_out locale)
 #
 ###############################################################################
 
@@ -134,322 +131,385 @@ define block HEAP with size = 8K, alignment = 8 { };
 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
+  Section            Kind         Address     Size  Object
+  -------            ----         -------     ----  ------
+"A0":                                        0x130
+  .intvec            ro code   0x800'b200    0x130  startup_stm32f10x_hd.o [1]
+                             - 0x800'b330    0x130
 
-"P1":                                      0xd829
-  .text              ro code   0x800'b330  0x41e4  JuYueChuantou_HeLian.o [1]
-  .text              ro code   0x800'f514   0x31c  Action.o [1]
-  .text              ro code   0x800'f830   0xd04  AllSeroDrv.o [1]
-  .text              ro code   0x801'0534    0x1c  U32ToFlt.o [3]
-  .text              ro code   0x801'0550    0xfc  FltDiv.o [3]
-  .text              ro code   0x801'064c   0xa80  servocom_app.o [1]
-  .text              ro code   0x801'10cc     0x8  abs.o [2]
-  .text              ro code   0x801'10d4   0x78c  hw_pwm.o [1]
-  .text              ro code   0x801'1860    0x90  JuYueAction.o [1]
-  .text              ro code   0x801'18f0   0x20c  IOPinConfig.o [1]
-  .text              ro code   0x801'1afc    0x52  round.o [3]
-  .text              ro code   0x801'1b4e    0x7a  lz77_init_single.o [4]
-  .text              ro code   0x801'1bc8    0x3a  DblToS32.o [3]
-  .text              ro code   0x801'1c02    0x3a  zero_init3.o [4]
-  .text              ro code   0x801'1c3c  0x22c8  axis_motion.o [1]
-  .text              ro code   0x801'3f04    0x24  S32ToFlt.o [3]
-  .text              ro code   0x801'3f28    0x2a  FltToS32.o [3]
-  .text              ro code   0x801'3f54    0xd8  FltMul.o [3]
-  .text              ro code   0x801'402c   0x662  modbus_master.o [1]
-  .text              ro code   0x801'4690   0x158  software_timer.o [1]
-  .text              ro code   0x801'47e8   0x304  st_sys.o [1]
-  .text              ro code   0x801'4aec    0x5c  hardware_delay.o [1]
-  .text              ro code   0x801'4b48    0xa6  ABImemcpy.o [4]
-  .text              ro code   0x801'4bf0    0x66  ABImemset.o [4]
-  .text              ro code   0x801'4c58    0x24  FltCmpGe.o [3]
-  .text              ro code   0x801'4c7c    0x24  FltCmpLe.o [3]
-  .text              ro code   0x801'4ca0    0xe2  FltAdd.o [3]
-  .text              ro code   0x801'4d84   0x238  modbus_encoder.o [1]
-  .text              ro code   0x801'4fbc    0x80  FltSub.o [3]
-  .text              ro code   0x801'503c   0x908  modbus_slave.o [1]
-  .text              ro code   0x801'5944   0x800  hw_dma_uart.o [1]
-  .text              ro code   0x801'6144   0x138  board.o [1]
-  .text              ro code   0x801'627c    0x6c  st_dma.o [1]
-  .text              ro code   0x801'62e8    0x48  FltToDbl.o [3]
-  .text              ro code   0x801'6330   0x17a  DblAdd.o [3]
-  .text              ro code   0x801'64ac   0x1c8  hw_io_pin.o [1]
-  .text              ro code   0x801'6674    0x48  hw_power_off.o [1]
-  .text              ro code   0x801'66bc    0xd2  DblSub.o [3]
-  .text              ro code   0x801'6790   0x5b4  nodelink_master_app.o [1]
-  .text              ro code   0x801'6d44   0x4bc  NodeLinkMaster.o [1]
-  .text              ro code   0x801'7200    0x5a  NodeLinkCommon.o [1]
-  .text              ro code   0x801'725c    0x68  memcmp.o [4]
-  .text              ro code   0x801'72c4    0xcc  encrypt_xxtea.o [1]
-  .text              ro code   0x801'7390    0x6c  MathHelper.o [1]
-  .text              ro code   0x801'73fc   0x2a4  poweroff_save_app.o [1]
-  .text              ro code   0x801'76a0    0x5e  hw_flash_data.o [1]
-  .text              ro code   0x801'7700    0x10  log_app.o [1]
-  .text              ro code   0x801'7710   0x220  st_flash.o [1]
-  .text              ro code   0x801'7930    0x6c  TinyLog.o [1]
-  .text              ro code   0x801'799c   0x28c  Encode.o [1]
-  .text              ro code   0x801'7c28   0x288  modbus_app.o [1]
-  .text              ro code   0x801'7eb0   0x168  axis_app.o [1]
-  .rodata            const     0x801'8018   0x100  MathHelper.o [1]
-  .rodata            const     0x801'8118   0x100  MathHelper.o [1]
-  .rodata            const     0x801'8218   0x100  MathHelper.o [1]
-  .rodata            const     0x801'8318   0x100  modbus_encoder.o [1]
-  .rodata            const     0x801'8418   0x100  modbus_encoder.o [1]
-  .text              ro code   0x801'8518    0xe0  io_app.o [1]
-  .text              ro code   0x801'85f8    0x80  main.o [1]
-  .text              ro code   0x801'8678     0x2  variable.o [1]
-  .text              ro code   0x801'867a    0x10  user_app.o [1]
-  .text              ro code   0x801'868c    0x28  data_init.o [4]
-  .iar.init_table    const     0x801'86b4    0x20  - Linker created -
-  .rodata            const     0x801'86d4    0x20  st_flash.o [1]
-  .text              ro code   0x801'86f4    0x1e  cmain.o [4]
-  .text              ro code   0x801'8712     0x4  low_level_init.o [2]
-  .text              ro code   0x801'8716     0x4  exit.o [2]
-  .text              ro code   0x801'871c     0xa  cexit.o [4]
-  .text              ro code   0x801'8728    0x14  exit.o [5]
-  .rodata            const     0x801'873c    0x10  modbus_encoder.o [1]
-  .rodata            const     0x801'874c    0x10  NodeLinkMaster.o [1]
-  .rodata            const     0x801'875c     0xc  Action.o [1]
-  .rodata            const     0x801'8768     0xc  modbus_encoder.o [1]
-  .rodata            const     0x801'8774     0xc  modbus_encoder.o [1]
-  .text              ro code   0x801'8780     0xc  cstartup_M.o [4]
-  .rodata            const     0x801'878c     0x8  Action.o [1]
-  .text              ro code   0x801'8794     0x8  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'879c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87a0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87a4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87a8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87ac     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87b0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87b4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87b8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87bc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87c0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87c4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87c8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87cc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87d0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87d4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87d8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87dc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87e0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87e4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87e8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87ec     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87f0     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87f4     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87f8     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'87fc     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8800     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8804     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8808     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'880c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8810     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8814     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8818     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'881c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8820     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8824     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8828     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'882c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8830     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8834     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8838     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'883c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8840     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8844     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8848     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'884c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8850     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8854     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8858     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'885c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8860     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8864     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8868     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'886c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8870     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8874     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8878     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'887c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8880     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8884     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8888     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'888c     0x4  startup_stm32f10x_hd.o [1]
-  .text              ro code   0x801'8890     0x4  startup_stm32f10x_hd.o [1]
-  .rodata            const     0x801'8894     0x0  zero_init3.o [4]
-  .rodata            const     0x801'8894     0x0  lz77_init_single.o [4]
-  Initializer bytes  const     0x801'8894   0x2c5  <for P2-1>
-                             - 0x801'8b59  0xd829
+"P1":                                      0x1e621
+  .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]
+  .text              ro code   0x801'1130     0xfc  FltDiv.o [3]
+  .text              ro code   0x801'122c    0xe50  AllSeroDrv.o [1]
+  .text              ro code   0x801'207c     0x1a  U32ToDbl.o [3]
+  .text              ro code   0x801'2096     0x7a  lz77_init_single.o [4]
+  .text              ro code   0x801'2110    0x1a2  DblMul.o [3]
+  .text              ro code   0x801'22b2     0x3a  zero_init3.o [4]
+  .text              ro code   0x801'22ec     0x22  S32ToDbl.o [3]
+  .text              ro code   0x801'2310     0x2e  DblCmpLe.o [3]
+  .text              ro code   0x801'2340    0x78c  hw_pwm.o [1]
+  .text              ro code   0x801'2acc     0xb0  FXWAction.o [1]
+  .text              ro code   0x801'2b7c    0x20c  IOPinConfig.o [1]
+  .text              ro code   0x801'2d88     0x52  round.o [3]
+  .text              ro code   0x801'2ddc     0x3a  DblToS32.o [3]
+  .text              ro code   0x801'2e18   0x23ac  axis_motion.o [1]
+  .text              ro code   0x801'51c4    0xa80  servocom_app.o [1]
+  .text              ro code   0x801'5c44     0x24  S32ToFlt.o [3]
+  .text              ro code   0x801'5c68     0x2a  FltToS32.o [3]
+  .text              ro code   0x801'5c94     0xd8  FltMul.o [3]
+  .text              ro code   0x801'5d6c    0x304  st_sys.o [1]
+  .text              ro code   0x801'6070     0x5c  hardware_delay.o [1]
+  .text              ro code   0x801'60cc   0x53bc  FXWQueDuanJi_Bi.o [1]
+  .text              ro code   0x801'b488   0x48a8  FXWChuantou_HeLian.o [1]
+  .text              ro code   0x801'fd30   0x544c  FXWQueDuanJi_Kai.o [1]
+  .text              ro code   0x802'517c     0xa6  ABImemcpy.o [4]
+  .text              ro code   0x802'5224     0x66  ABImemset.o [4]
+  .text              ro code   0x802'528c     0x24  FltCmpGe.o [3]
+  .text              ro code   0x802'52b0     0x24  FltCmpLe.o [3]
+  .text              ro code   0x802'52d4     0xe2  FltAdd.o [3]
+  .text              ro code   0x802'53b6      0x8  abs.o [2]
+  .text              ro code   0x802'53c0    0x662  modbus_master.o [1]
+  .text              ro code   0x802'5a24    0x158  software_timer.o [1]
+  .text              ro code   0x802'5b7c     0x80  FltSub.o [3]
+  .text              ro code   0x802'5bfc    0x238  modbus_encoder.o [1]
+  .text              ro code   0x802'5e34    0x908  modbus_slave.o [1]
+  .text              ro code   0x802'673c    0x800  hw_dma_uart.o [1]
+  .text              ro code   0x802'6f3c    0x138  board.o [1]
+  .text              ro code   0x802'7074     0x6c  st_dma.o [1]
+  .text              ro code   0x802'70e0     0x48  FltToDbl.o [3]
+  .text              ro code   0x802'7128    0x17a  DblAdd.o [3]
+  .text              ro code   0x802'72a4    0x1c8  hw_io_pin.o [1]
+  .text              ro code   0x802'746c     0x48  hw_power_off.o [1]
+  .text              ro code   0x802'74b4     0xd2  DblSub.o [3]
+  .text              ro code   0x802'7588    0x5b4  nodelink_master_app.o [1]
+  .text              ro code   0x802'7b3c    0x4bc  NodeLinkMaster.o [1]
+  .text              ro code   0x802'7ff8     0x5a  NodeLinkCommon.o [1]
+  .text              ro code   0x802'8054     0x68  memcmp.o [4]
+  .text              ro code   0x802'80bc     0xcc  encrypt_xxtea.o [1]
+  .text              ro code   0x802'8188     0x6c  MathHelper.o [1]
+  .text              ro code   0x802'81f4    0x2a4  poweroff_save_app.o [1]
+  .text              ro code   0x802'8498     0x5e  hw_flash_data.o [1]
+  .text              ro code   0x802'84f8     0x10  log_app.o [1]
+  .text              ro code   0x802'8508    0x220  st_flash.o [1]
+  .text              ro code   0x802'8728     0x6c  TinyLog.o [1]
+  .text              ro code   0x802'8794    0x28c  Encode.o [1]
+  .text              ro code   0x802'8a20    0x288  modbus_app.o [1]
+  .text              ro code   0x802'8ca8    0x168  axis_app.o [1]
+  .rodata            const     0x802'8e10    0x100  MathHelper.o [1]
+  .rodata            const     0x802'8f10    0x100  MathHelper.o [1]
+  .rodata            const     0x802'9010    0x100  MathHelper.o [1]
+  .rodata            const     0x802'9110    0x100  modbus_encoder.o [1]
+  .rodata            const     0x802'9210    0x100  modbus_encoder.o [1]
+  .text              ro code   0x802'9310     0xe0  io_app.o [1]
+  .text              ro code   0x802'93f0     0x80  main.o [1]
+  .text              ro code   0x802'9470      0x2  variable.o [1]
+  .text              ro code   0x802'9472     0x10  user_app.o [1]
+  .text              ro code   0x802'9484     0x28  data_init.o [4]
+  .iar.init_table    const     0x802'94ac     0x20  - Linker created -
+  .rodata            const     0x802'94cc     0x20  st_flash.o [1]
+  .text              ro code   0x802'94ec     0x1e  cmain.o [4]
+  .text              ro code   0x802'950a      0x4  low_level_init.o [2]
+  .text              ro code   0x802'950e      0x4  exit.o [2]
+  .text              ro code   0x802'9514      0xa  cexit.o [4]
+  .text              ro code   0x802'9520     0x14  exit.o [5]
+  .rodata            const     0x802'9534     0x10  modbus_encoder.o [1]
+  .rodata            const     0x802'9544     0x10  NodeLinkMaster.o [1]
+  .rodata            const     0x802'9554      0xc  Action.o [1]
+  .rodata            const     0x802'9560      0xc  modbus_encoder.o [1]
+  .rodata            const     0x802'956c      0xc  modbus_encoder.o [1]
+  .text              ro code   0x802'9578      0xc  cstartup_M.o [4]
+  .rodata            const     0x802'9584      0x8  Action.o [1]
+  .text              ro code   0x802'958c      0x8  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9594      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9598      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'959c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95a0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95a4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95a8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95ac      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95b0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95b4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95b8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95bc      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95c0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95c4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95c8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95cc      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95d0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95d4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95d8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95dc      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95e0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95e4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95e8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95ec      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95f0      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95f4      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95f8      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'95fc      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9600      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9604      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9608      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'960c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9610      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9614      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9618      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'961c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9620      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9624      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9628      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'962c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9630      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9634      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9638      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'963c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9640      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9644      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9648      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'964c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9650      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9654      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9658      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'965c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9660      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9664      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9668      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'966c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9670      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9674      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9678      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'967c      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9680      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9684      0x4  startup_stm32f10x_hd.o [1]
+  .text              ro code   0x802'9688      0x4  startup_stm32f10x_hd.o [1]
+  .rodata            const     0x802'968c      0x0  zero_init3.o [4]
+  .rodata            const     0x802'968c      0x0  lz77_init_single.o [4]
+  Initializer bytes  const     0x802'968c    0x2c5  <for P2-1>
+                             - 0x802'9951  0x1e621
 
-"P3":                                        0x40
-  .noinit            uninit   0x2000'0000    0x40  board.o [1]
-                            - 0x2000'0040    0x40
+"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 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:                         0x4fd8
-  .bss               zero     0x2000'185c  0x31ec  axis_app.o [1]
-  .bss               zero     0x2000'4a48  0x1000  variable.o [1]
-  .bss               zero     0x2000'5a48   0x320  modbus_master.o [1]
-  .bss               zero     0x2000'5d68   0x280  modbus_master.o [1]
-  .bss               zero     0x2000'5fe8   0x154  nodelink_master_app.o [1]
-  .bss               zero     0x2000'613c   0x100  nodelink_master_app.o [1]
-  .bss               zero     0x2000'623c   0x100  nodelink_master_app.o [1]
-  .bss               zero     0x2000'633c    0xa0  modbus_slave.o [1]
-  .bss               zero     0x2000'63dc    0x80  variable.o [1]
-  .bss               zero     0x2000'645c    0x68  servocom_app.o [1]
-  .bss               zero     0x2000'64c4    0x68  servocom_app.o [1]
-  .bss               zero     0x2000'652c    0x60  nodelink_master_app.o [1]
-  .bss               zero     0x2000'658c    0x50  io_app.o [1]
-  .bss               zero     0x2000'65dc    0x38  modbus_app.o [1]
-  .bss               zero     0x2000'6614    0x24  hw_pwm.o [1]
-  .bss               zero     0x2000'6638    0x24  hw_pwm.o [1]
-  .bss               zero     0x2000'665c    0x18  log_app.o [1]
-  .bss               zero     0x2000'6674    0x18  modbus_app.o [1]
-  .bss               zero     0x2000'668c    0x14  Encode.o [1]
-  .bss               zero     0x2000'66a0     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66ac     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66b8     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66c4     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66d0     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66dc     0xc  hw_pwm.o [1]
-  .bss               zero     0x2000'66e8     0xc  io_app.o [1]
-  .bss               zero     0x2000'66f4     0xc  io_app.o [1]
-  .bss               zero     0x2000'6700     0x8  board.o [1]
-  .bss               zero     0x2000'6708     0x8  io_app.o [1]
-  .bss               zero     0x2000'6710     0x8  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6718     0x8  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6720     0x8  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6728     0x8  poweroff_save_app.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  Action.o [1]
-  .bss               zero     0x2000'6790     0x4  Action.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  AllSeroDrv.o [1]
-  .bss               zero     0x2000'67a8     0x4  AllSeroDrv.o [1]
-  .bss               zero     0x2000'67ac     0x4  IOPinConfig.o [1]
-  .bss               zero     0x2000'67b0     0x4  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67b4     0x4  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67b8     0x4  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67bc     0x4  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67c0     0x4  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'67c4     0x4  main.o [1]
-  .bss               zero     0x2000'67c8     0x4  modbus_master.o [1]
-  .bss               zero     0x2000'67cc     0x4  modbus_slave.o [1]
-  .bss               zero     0x2000'67d0     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67d4     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67d8     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67dc     0x4  nodelink_master_app.o [1]
-  .bss               zero     0x2000'67e0     0x4  poweroff_save_app.o [1]
-  .bss               zero     0x2000'67e4     0x4  poweroff_save_app.o [1]
-  .bss               zero     0x2000'67e8     0x4  servocom_app.o [1]
-  .bss               zero     0x2000'67ec     0x4  servocom_app.o [1]
-  .bss               zero     0x2000'67f0     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67f4     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67f8     0x4  software_timer.o [1]
-  .bss               zero     0x2000'67fc     0x4  software_timer.o [1]
-  .bss               zero     0x2000'6800     0x4  st_flash.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     0x2  Action.o [1]
-  .bss               zero     0x2000'680c     0x2  Action.o [1]
-  .bss               zero     0x2000'680e     0x2  Action.o [1]
-  .bss               zero     0x2000'6810     0x2  Action.o [1]
-  .bss               zero     0x2000'6812     0x2  Action.o [1]
-  .bss               zero     0x2000'6814     0x2  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'6816     0x2  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'6818     0x1  Action.o [1]
-  .bss               zero     0x2000'6819     0x1  Action.o [1]
-  .bss               zero     0x2000'681a     0x1  Action.o [1]
-  .bss               zero     0x2000'681b     0x1  Action.o [1]
-  .bss               zero     0x2000'681c     0x1  Action.o [1]
-  .bss               zero     0x2000'681d     0x1  Action.o [1]
-  .bss               zero     0x2000'681e     0x1  Action.o [1]
-  .bss               zero     0x2000'681f     0x1  Action.o [1]
-  .bss               zero     0x2000'6820     0x1  Action.o [1]
-  .bss               zero     0x2000'6821     0x1  Action.o [1]
-  .bss               zero     0x2000'6822     0x1  Action.o [1]
-  .bss               zero     0x2000'6823     0x1  Action.o [1]
-  .bss               zero     0x2000'6824     0x1  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6825     0x1  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6826     0x1  AllSeroDrv.o [1]
-  .bss               zero     0x2000'6827     0x1  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'6828     0x1  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'6829     0x1  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'682a     0x1  JuYueChuantou_HeLian.o [1]
-  .bss               zero     0x2000'682b     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'682c     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'682d     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'682e     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'682f     0x1  nodelink_master_app.o [1]
-  .bss               zero     0x2000'6830     0x1  NodeLinkMaster.o [1]
-  .bss               zero     0x2000'6831     0x1  poweroff_save_app.o [1]
-                            - 0x2000'6832  0x4fd6
+"P2", part 2 of 3:                          0x5074
+  .bss               zero     0x2000'185c   0x31ec  axis_app.o [1]
+  .bss               zero     0x2000'4a48   0x1000  variable.o [1]
+  .bss               zero     0x2000'5a48    0x320  modbus_master.o [1]
+  .bss               zero     0x2000'5d68    0x280  modbus_master.o [1]
+  .bss               zero     0x2000'5fe8    0x154  nodelink_master_app.o [1]
+  .bss               zero     0x2000'613c    0x100  nodelink_master_app.o [1]
+  .bss               zero     0x2000'623c    0x100  nodelink_master_app.o [1]
+  .bss               zero     0x2000'633c     0xa0  modbus_slave.o [1]
+  .bss               zero     0x2000'63dc     0x80  variable.o [1]
+  .bss               zero     0x2000'645c     0x68  servocom_app.o [1]
+  .bss               zero     0x2000'64c4     0x68  servocom_app.o [1]
+  .bss               zero     0x2000'652c     0x60  nodelink_master_app.o [1]
+  .bss               zero     0x2000'658c     0x50  io_app.o [1]
+  .bss               zero     0x2000'65dc     0x38  modbus_app.o [1]
+  .bss               zero     0x2000'6614     0x24  hw_pwm.o [1]
+  .bss               zero     0x2000'6638     0x24  hw_pwm.o [1]
+  .bss               zero     0x2000'665c     0x18  log_app.o [1]
+  .bss               zero     0x2000'6674     0x18  modbus_app.o [1]
+  .bss               zero     0x2000'668c     0x14  Encode.o [1]
+  .bss               zero     0x2000'66a0      0xc  hw_pwm.o [1]
+  .bss               zero     0x2000'66ac      0xc  hw_pwm.o [1]
+  .bss               zero     0x2000'66b8      0xc  hw_pwm.o [1]
+  .bss               zero     0x2000'66c4      0xc  hw_pwm.o [1]
+  .bss               zero     0x2000'66d0      0xc  hw_pwm.o [1]
+  .bss               zero     0x2000'66dc      0xc  hw_pwm.o [1]
+  .bss               zero     0x2000'66e8      0xc  io_app.o [1]
+  .bss               zero     0x2000'66f4      0xc  io_app.o [1]
+  .bss               zero     0x2000'6700      0x8  board.o [1]
+  .bss               zero     0x2000'6708      0x8  io_app.o [1]
+  .bss               zero     0x2000'6710      0x8  nodelink_master_app.o [1]
+  .bss               zero     0x2000'6718      0x8  nodelink_master_app.o [1]
+  .bss               zero     0x2000'6720      0x8  nodelink_master_app.o [1]
+  .bss               zero     0x2000'6728      0x8  poweroff_save_app.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  Action.o [1]
+  .bss               zero     0x2000'6790      0x4  Action.o [1]
+  .bss               zero     0x2000'6794      0x4  Action.o [1]
+  .bss               zero     0x2000'6798      0x4  Action.o [1]
+  .bss               zero     0x2000'679c      0x4  Action.o [1]
+  .bss               zero     0x2000'67a0      0x4  Action.o [1]
+  .bss               zero     0x2000'67a4      0x4  Action.o [1]
+  .bss               zero     0x2000'67a8      0x4  Action.o [1]
+  .bss               zero     0x2000'67ac      0x4  Action.o [1]
+  .bss               zero     0x2000'67b0      0x4  Action.o [1]
+  .bss               zero     0x2000'67b4      0x4  Action.o [1]
+  .bss               zero     0x2000'67b8      0x4  Action.o [1]
+  .bss               zero     0x2000'67bc      0x4  Action.o [1]
+  .bss               zero     0x2000'67c0      0x4  Action.o [1]
+  .bss               zero     0x2000'67c4      0x4  Action.o [1]
+  .bss               zero     0x2000'67c8      0x4  Action.o [1]
+  .bss               zero     0x2000'67cc      0x4  Action.o [1]
+  .bss               zero     0x2000'67d0      0x4  Action.o [1]
+  .bss               zero     0x2000'67d4      0x4  Action.o [1]
+  .bss               zero     0x2000'67d8      0x4  Action.o [1]
+  .bss               zero     0x2000'67dc      0x4  Action.o [1]
+  .bss               zero     0x2000'67e0      0x4  Action.o [1]
+  .bss               zero     0x2000'67e4      0x4  Action.o [1]
+  .bss               zero     0x2000'67e8      0x4  Action.o [1]
+  .bss               zero     0x2000'67ec      0x4  Action.o [1]
+  .bss               zero     0x2000'67f0      0x4  AllSeroDrv.o [1]
+  .bss               zero     0x2000'67f4      0x4  AllSeroDrv.o [1]
+  .bss               zero     0x2000'67f8      0x4  AllSeroDrv.o [1]
+  .bss               zero     0x2000'67fc      0x4  AllSeroDrv.o [1]
+  .bss               zero     0x2000'6800      0x4  AllSeroDrv.o [1]
+  .bss               zero     0x2000'6804      0x4  AllSeroDrv.o [1]
+  .bss               zero     0x2000'6808      0x4  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'680c      0x4  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'6810      0x4  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'6814      0x4  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'6818      0x4  FXWQueDuanJi_Bi.o [1]
+  .bss               zero     0x2000'681c      0x4  FXWQueDuanJi_Bi.o [1]
+  .bss               zero     0x2000'6820      0x4  FXWQueDuanJi_Bi.o [1]
+  .bss               zero     0x2000'6824      0x4  FXWQueDuanJi_Bi.o [1]
+  .bss               zero     0x2000'6828      0x4  FXWQueDuanJi_Kai.o [1]
+  .bss               zero     0x2000'682c      0x4  FXWQueDuanJi_Kai.o [1]
+  .bss               zero     0x2000'6830      0x4  FXWQueDuanJi_Kai.o [1]
+  .bss               zero     0x2000'6834      0x4  FXWQueDuanJi_Kai.o [1]
+  .bss               zero     0x2000'6838      0x4  IOPinConfig.o [1]
+  .bss               zero     0x2000'683c      0x4  main.o [1]
+  .bss               zero     0x2000'6840      0x4  modbus_master.o [1]
+  .bss               zero     0x2000'6844      0x4  modbus_slave.o [1]
+  .bss               zero     0x2000'6848      0x4  nodelink_master_app.o [1]
+  .bss               zero     0x2000'684c      0x4  nodelink_master_app.o [1]
+  .bss               zero     0x2000'6850      0x4  nodelink_master_app.o [1]
+  .bss               zero     0x2000'6854      0x4  nodelink_master_app.o [1]
+  .bss               zero     0x2000'6858      0x4  poweroff_save_app.o [1]
+  .bss               zero     0x2000'685c      0x4  poweroff_save_app.o [1]
+  .bss               zero     0x2000'6860      0x4  servocom_app.o [1]
+  .bss               zero     0x2000'6864      0x4  servocom_app.o [1]
+  .bss               zero     0x2000'6868      0x4  software_timer.o [1]
+  .bss               zero     0x2000'686c      0x4  software_timer.o [1]
+  .bss               zero     0x2000'6870      0x4  software_timer.o [1]
+  .bss               zero     0x2000'6874      0x4  software_timer.o [1]
+  .bss               zero     0x2000'6878      0x4  st_flash.o [1]
+  .bss               zero     0x2000'687c      0x2  Action.o [1]
+  .bss               zero     0x2000'687e      0x2  Action.o [1]
+  .bss               zero     0x2000'6880      0x2  Action.o [1]
+  .bss               zero     0x2000'6882      0x2  Action.o [1]
+  .bss               zero     0x2000'6884      0x2  Action.o [1]
+  .bss               zero     0x2000'6886      0x2  Action.o [1]
+  .bss               zero     0x2000'6888      0x2  Action.o [1]
+  .bss               zero     0x2000'688a      0x2  Action.o [1]
+  .bss               zero     0x2000'688c      0x2  Action.o [1]
+  .bss               zero     0x2000'688e      0x2  Action.o [1]
+  .bss               zero     0x2000'6890      0x2  Action.o [1]
+  .bss               zero     0x2000'6892      0x2  Action.o [1]
+  .bss               zero     0x2000'6894      0x2  Action.o [1]
+  .bss               zero     0x2000'6896      0x2  Action.o [1]
+  .bss               zero     0x2000'6898      0x2  Action.o [1]
+  .bss               zero     0x2000'689a      0x2  Action.o [1]
+  .bss               zero     0x2000'689c      0x2  Action.o [1]
+  .bss               zero     0x2000'689e      0x2  Action.o [1]
+  .bss               zero     0x2000'68a0      0x2  Action.o [1]
+  .bss               zero     0x2000'68a2      0x2  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'68a4      0x1  Action.o [1]
+  .bss               zero     0x2000'68a5      0x1  Action.o [1]
+  .bss               zero     0x2000'68a6      0x1  Action.o [1]
+  .bss               zero     0x2000'68a7      0x1  Action.o [1]
+  .bss               zero     0x2000'68a8      0x1  Action.o [1]
+  .bss               zero     0x2000'68a9      0x1  Action.o [1]
+  .bss               zero     0x2000'68aa      0x1  Action.o [1]
+  .bss               zero     0x2000'68ab      0x1  Action.o [1]
+  .bss               zero     0x2000'68ac      0x1  Action.o [1]
+  .bss               zero     0x2000'68ad      0x1  Action.o [1]
+  .bss               zero     0x2000'68ae      0x1  Action.o [1]
+  .bss               zero     0x2000'68af      0x1  Action.o [1]
+  .bss               zero     0x2000'68b0      0x1  Action.o [1]
+  .bss               zero     0x2000'68b1      0x1  Action.o [1]
+  .bss               zero     0x2000'68b2      0x1  Action.o [1]
+  .bss               zero     0x2000'68b3      0x1  Action.o [1]
+  .bss               zero     0x2000'68b4      0x1  Action.o [1]
+  .bss               zero     0x2000'68b5      0x1  Action.o [1]
+  .bss               zero     0x2000'68b6      0x1  Action.o [1]
+  .bss               zero     0x2000'68b7      0x1  Action.o [1]
+  .bss               zero     0x2000'68b8      0x1  Action.o [1]
+  .bss               zero     0x2000'68b9      0x1  Action.o [1]
+  .bss               zero     0x2000'68ba      0x1  Action.o [1]
+  .bss               zero     0x2000'68bb      0x1  Action.o [1]
+  .bss               zero     0x2000'68bc      0x1  Action.o [1]
+  .bss               zero     0x2000'68bd      0x1  Action.o [1]
+  .bss               zero     0x2000'68be      0x1  Action.o [1]
+  .bss               zero     0x2000'68bf      0x1  Action.o [1]
+  .bss               zero     0x2000'68c0      0x1  Action.o [1]
+  .bss               zero     0x2000'68c1      0x1  Action.o [1]
+  .bss               zero     0x2000'68c2      0x1  AllSeroDrv.o [1]
+  .bss               zero     0x2000'68c3      0x1  AllSeroDrv.o [1]
+  .bss               zero     0x2000'68c4      0x1  AllSeroDrv.o [1]
+  .bss               zero     0x2000'68c5      0x1  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'68c6      0x1  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'68c7      0x1  FXWChuantou_HeLian.o [1]
+  .bss               zero     0x2000'68c8      0x1  nodelink_master_app.o [1]
+  .bss               zero     0x2000'68c9      0x1  nodelink_master_app.o [1]
+  .bss               zero     0x2000'68ca      0x1  nodelink_master_app.o [1]
+  .bss               zero     0x2000'68cb      0x1  nodelink_master_app.o [1]
+  .bss               zero     0x2000'68cc      0x1  nodelink_master_app.o [1]
+  .bss               zero     0x2000'68cd      0x1  NodeLinkMaster.o [1]
+  .bss               zero     0x2000'68ce      0x1  poweroff_save_app.o [1]
+                            - 0x2000'68cf   0x5073
 
-"P2", part 3 of 3:                         0x2000
-  CSTACK                      0x2000'6838  0x2000  <Block>
-    CSTACK           uninit   0x2000'6838  0x2000  <Block tail>
-                            - 0x2000'8838  0x2000
+"P2", part 3 of 3:                          0x2000
+  CSTACK                      0x2000'68d0   0x2000  <Block>
+    CSTACK           uninit   0x2000'68d0   0x2000  <Block tail>
+                            - 0x2000'88d0   0x2000
 
 Unused ranges:
 
          From           To      Size
          ----           --      ----
-   0x801'8b59   0x807'ffff  0x6'74a7
+   0x802'9951   0x807'ffff  0x5'66af
   0x2000'185a  0x2000'185b       0x2
-  0x2000'6834  0x2000'6837       0x4
-  0x2000'8838  0x2000'ffff    0x77c8
+  0x2000'88d0  0x2000'ffff    0x7730
 
 
 *******************************************************************************
@@ -459,12 +519,12 @@ Unused ranges:
           Address      Size
           -------      ----
 Zero (__iar_zero_init3)
-    1 destination range, total size 0x4fd6:
-          0x2000'185c  0x4fd6
+    1 destination range, total size 0x5073:
+          0x2000'185c  0x5073
 
 Copy/lz77 (__iar_lz77_init_single3)
     1 source range, total size 0x2c5 (11% of destination):
-           0x801'8894   0x2c5
+           0x802'968c   0x2c5
     1 destination range, total size 0x181a:
           0x2000'0040  0x181a
 
@@ -480,19 +540,22 @@ command line/config:
     -------------------------------------------------
     Total:
 
-E:\1Works\1Softwork\GC23005\Project\iar_release\Obj: [1]
-    Action.o                    796       20      128
-    AllSeroDrv.o              3 332        1       39
+E:\1Works\GC23005\Project\iar_release\Obj: [1]
+    Action.o                    824       20      260
+    AllSeroDrv.o              3 664        1       39
     Encode.o                    652                20
+    FXWAction.o                 176
+    FXWChuantou_HeLian.o     18 600                21
+    FXWChuantou_HeLian_D.o   23 212
+    FXWQueDuanJi_Bi.o        21 436                16
+    FXWQueDuanJi_Kai.o       21 580                16
     IOPinConfig.o               524                 4
-    JuYueAction.o               144
-    JuYueChuantou_HeLian.o   16 868                28
     MathHelper.o                108      768
     NodeLinkCommon.o             90
     NodeLinkMaster.o          1 212       18       13
     TinyLog.o                   108
     axis_app.o                  360            12 780
-    axis_motion.o             8 904
+    axis_motion.o             9 132
     board.o                     312                76
     encrypt_xxtea.o             204
     hardware_delay.o             92        1        4
@@ -519,7 +582,7 @@ E:\1Works\1Softwork\GC23005\Project\iar_release\Obj: [1]
     user_app.o                   16
     variable.o                    2             4 224
     -------------------------------------------------
-    Total:                   51 008    2 097   26 672
+    Total:                  119 588    2 097   26 829
 
 dl7M_tln.a: [2]
     abs.o                         8
@@ -530,6 +593,8 @@ dl7M_tln.a: [2]
 
 m7M_tl.a: [3]
     DblAdd.o                    378
+    DblCmpLe.o                   46
+    DblMul.o                    418
     DblSub.o                    210
     DblToS32.o                   58
     FltAdd.o                    226
@@ -540,11 +605,13 @@ m7M_tl.a: [3]
     FltSub.o                    128
     FltToDbl.o                   72
     FltToS32.o                   42
+    S32ToDbl.o                   34
     S32ToFlt.o                   36
+    U32ToDbl.o                   26
     U32ToFlt.o                   28
     round.o                      82
     -------------------------------------------------
-    Total:                    1 800
+    Total:                    2 324
 
 rt7M_tl.a: [4]
     ABImemcpy.o                 166
@@ -564,10 +631,10 @@ shb_l.a: [5]
     -------------------------------------------------
     Total:                       20
 
-    Gaps                         24
+    Gaps                         32
     Linker created                        32    8 192
 -----------------------------------------------------
-    Grand Total:             53 512    2 129   34 864
+    Grand Total:            122 624    2 129   35 021
 
 
 *******************************************************************************
@@ -576,529 +643,659 @@ shb_l.a: [5]
 
 Entry                       Address    Size  Type      Object
 -----                       -------    ----  ----      ------
-.iar.init_table$$Base    0x801'86b4           --   Gb  - Linker created -
-.iar.init_table$$Limit   0x801'86d4           --   Gb  - Linker created -
-?main                    0x801'86f5          Code  Gb  cmain.o [4]
-Action                   0x800'f611    0x10  Code  Gb  Action.o [1]
-AddToTal                 0x800'f56d    0x36  Code  Gb  Action.o [1]
-AxisContinueMoveAcc      0x801'0361    0xb2  Code  Gb  AllSeroDrv.o [1]
+.iar.init_table$$Base    0x802'94ac           --   Gb  - Linker created -
+.iar.init_table$$Limit   0x802'94cc           --   Gb  - Linker created -
+?main                    0x802'94ed          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]
+AxisContinueMoveAcc      0x801'1e49    0xb2  Code  Gb  AllSeroDrv.o [1]
 AxisContinueMoveChangeSpeed
-                         0x801'0421   0x108  Code  Gb  AllSeroDrv.o [1]
-AxisEgmStop              0x800'fe49    0x32  Code  Gb  AllSeroDrv.o [1]
-AxisMovePosAccDec        0x800'fe89   0x252  Code  Gb  AllSeroDrv.o [1]
+                         0x801'1f09   0x108  Code  Gb  AllSeroDrv.o [1]
+AxisDecStop              0x801'1901    0x32  Code  Gb  AllSeroDrv.o [1]
+AxisEgmStop              0x801'1933    0x32  Code  Gb  AllSeroDrv.o [1]
+AxisMovePosAccDec        0x801'1971   0x252  Code  Gb  AllSeroDrv.o [1]
 AxisMovePosAccDecNotStop
-                         0x801'00f5   0x26c  Code  Gb  AllSeroDrv.o [1]
-BeginRecvFlg            0x2000'682f     0x1  Data  Gb  nodelink_master_app.o [1]
-BinToAscTab              0x801'873c    0x10  Data  Lc  modbus_encoder.o [1]
-CRCTblHi                 0x801'8018   0x100  Data  Lc  MathHelper.o [1]
-CRCTblHi                 0x801'8318   0x100  Data  Lc  modbus_encoder.o [1]
-CRCTblLo                 0x801'8118   0x100  Data  Lc  MathHelper.o [1]
-CRCTblLo                 0x801'8418   0x100  Data  Lc  modbus_encoder.o [1]
-CSTACK$$Base            0x2000'6838           --   Gb  - Linker created -
-CSTACK$$Limit           0x2000'8838           --   Gb  - Linker created -
-CTHL_Action              0x800'b457    0xaa  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_AlarmProtect        0x800'b53d     0x2  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_AutoStepAction      0x800'b541   0xeac  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_CTXMSS_Proc         0x800'c401   0x1d6  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_CTXMSS_Proc::hemoflag1
-                        0x2000'6828     0x1  Data  Lc  JuYueChuantou_HeLian.o [1]
-CTHL_CTXMSS_Proc::hemoflag2
-                        0x2000'6829     0x1  Data  Lc  JuYueChuantou_HeLian.o [1]
-CTHL_CheckStart          0x800'c601   0x74e  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_FZ_Motor            0x800'db4d   0x7c4  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_InitAction          0x800'b379    0xde  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_Manu_HSongLiao      0x800'eb2b   0x118  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_ManualAction        0x800'ec85   0x854  Code  Gb  JuYueChuantou_HeLian.o [1]
+                         0x801'1bdd   0x26c  Code  Gb  AllSeroDrv.o [1]
+BeginRecvFlg            0x2000'68cc     0x1  Data  Gb  nodelink_master_app.o [1]
+Bi_QD_SetAlarmCode       0x801'60cd    0x1a  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QD_length_buffer     0x2000'6818     0x4  Data  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_Action        0x801'62f7    0xb8  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_AlarmProtect
+                         0x801'6d41    0x72  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_AutoAction    0x801'6df9   0x39e  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_BingLian      0x801'788d   0x1c4  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_BingLian::bl_pos_buff
+                        0x2000'6820     0x4  Data  Lc  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_CheckLength   0x801'7809    0x54  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_CheckLength::start_dist
+                        0x2000'681c     0x4  Data  Lc  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_InitAction    0x801'621b    0xdc  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_ManualAction
+                         0x801'63af   0x97e  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_Motor         0x801'7ad5  0x2018  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_Motor::cUDword32Buff7
+                        0x2000'6824     0x4  Data  Lc  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_ReBack        0x801'9af1   0x198  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_SecondXiaQue
+                         0x801'b255   0x1e4  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_StepCheckStart
+                         0x801'71a5   0x65e  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_TuiLianAction
+                         0x801'a9b5    0xe4  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_XiaQue        0x801'aad1   0x780  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_YMotor        0x801'9cb9   0x788  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_QueDuan_ZMotor        0x801'a461   0x53a  Code  Gb  FXWQueDuanJi_Bi.o [1]
+Bi_StopCode              0x801'60e7   0x134  Code  Gb  FXWQueDuanJi_Bi.o [1]
+BinToAscTab              0x802'9534    0x10  Data  Lc  modbus_encoder.o [1]
+CRCTblHi                 0x802'8e10   0x100  Data  Lc  MathHelper.o [1]
+CRCTblHi                 0x802'9110   0x100  Data  Lc  modbus_encoder.o [1]
+CRCTblLo                 0x802'8f10   0x100  Data  Lc  MathHelper.o [1]
+CRCTblLo                 0x802'9210   0x100  Data  Lc  modbus_encoder.o [1]
+CSTACK$$Base            0x2000'68d0           --   Gb  - Linker created -
+CSTACK$$Limit           0x2000'88d0           --   Gb  - Linker created -
+CTHL_Action              0x801'b5af    0x98  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_AlarmProtect        0x801'b681     0x2  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_AutoStepAction      0x801'b685   0xefa  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'c5a5   0x91e  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_FZ_Motor            0x801'e275   0x942  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_InitAction          0x801'b4d1    0xde  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_ManualAction        0x801'f4bd   0x83a  Code  Gb  FXWChuantou_HeLian.o [1]
 CTHL_NoLaLian_Speed_Proc
-                         0x800'cd55    0x66  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_SetAlarmCode        0x800'b331    0x48  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_TDHL_Proc           0x800'cf05    0x88  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_TDLength_BH_Proc    0x800'cdc5   0x134  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_TDWFK_Proc          0x800'cffd     0x2  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_TD_Motor            0x800'cfff   0xae6  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_TLiao_Step          0x800'e9b9   0x166  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_XCCR_Time          0x2000'6816     0x2  Data  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_ZLT_Step            0x800'e339   0x66a  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTHL_ZhenDongAction      0x800'eb29     0x2  Code  Gb  JuYueChuantou_HeLian.o [1]
-CTXM_DOWN_TIME          0x2000'67b0     0x4  Data  Gb  JuYueChuantou_HeLian.o [1]
-CalProSP                 0x800'f515    0x58  Code  Gb  Action.o [1]
-CalProSP::cProSpTime    0x2000'678c     0x4  Data  Lc  Action.o [1]
-ClrcToTal                0x800'f5a3    0x1a  Code  Gb  Action.o [1]
-EncoderInit              0x801'799d   0x1b8  Code  Gb  Encode.o [1]
-FZ_ALARM_FLG            0x2000'6827     0x1  Data  Gb  JuYueChuantou_HeLian.o [1]
-GPIO_Remap_Set           0x801'488b    0x88  Code  Gb  st_sys.o [1]
-GPIO_Set                 0x801'4913    0xbe  Code  Gb  st_sys.o [1]
-GetAlarm                 0x800'f9e1   0x100  Code  Gb  AllSeroDrv.o [1]
-GetAlarmCode             0x800'f5c9     0xc  Code  Gb  Action.o [1]
-GetCurSpeed              0x800'fd75    0x96  Code  Gb  AllSeroDrv.o [1]
-GetEn                    0x800'f999    0x48  Code  Gb  AllSeroDrv.o [1]
-GetPos                   0x800'fcff    0x76  Code  Gb  AllSeroDrv.o [1]
-HSLIAO_OUT_DELAY        0x2000'67b8     0x4  Data  Gb  JuYueChuantou_HeLian.o [1]
-INTX_ENABLE              0x801'4a25     0x4  Code  Gb  st_sys.o [1]
-IOPinConfigure           0x801'1ae9    0x14  Code  Gb  IOPinConfig.o [1]
-IOPinDefualtConf_INOUT   0x801'1a2f    0x52  Code  Gb  IOPinConfig.o [1]
+                         0x801'cec9    0x70  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_SetAlarmCode        0x801'b489    0x48  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_TD_Motor            0x801'cfbd  0x1276  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_TLiao_Step          0x801'f239   0x156  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_ZLT_Step            0x801'ebf9   0x636  Code  Gb  FXWChuantou_HeLian.o [1]
+CTHL_ZhenDongAction      0x801'f38f    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              0x802'8795   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]
+GPIO_Remap_Set           0x801'5e0f    0x88  Code  Gb  st_sys.o [1]
+GPIO_Set                 0x801'5e97    0xbe  Code  Gb  st_sys.o [1]
+GetAlarm                 0x801'1499   0x100  Code  Gb  AllSeroDrv.o [1]
+GetAlarmCode             0x801'0e91     0xc  Code  Gb  Action.o [1]
+GetCurSpeed              0x801'182d    0x96  Code  Gb  AllSeroDrv.o [1]
+GetDir                   0x801'1317    0x50  Code  Gb  AllSeroDrv.o [1]
+GetEn                    0x801'1451    0x48  Code  Gb  AllSeroDrv.o [1]
+GetPos                   0x801'17b7    0x76  Code  Gb  AllSeroDrv.o [1]
+HSLIAO_OUT_DELAY        0x2000'6810     0x4  Data  Gb  FXWChuantou_HeLian.o [1]
+INTX_ENABLE              0x801'5fa9     0x4  Code  Gb  st_sys.o [1]
+IOPinConfigure           0x801'2d75    0x14  Code  Gb  IOPinConfig.o [1]
+IOPinDefualtConf_INOUT   0x801'2cbb    0x52  Code  Gb  IOPinConfig.o [1]
 IOPinDefualtConf_OUTOUT
-                         0x801'1a81    0x52  Code  Gb  IOPinConfig.o [1]
-InitAction               0x800'f5df    0x32  Code  Gb  Action.o [1]
-InitPWM                  0x800'f5d5     0xa  Code  Gb  Action.o [1]
-InputPinConfig           0x801'18f1    0xb4  Code  Gb  IOPinConfig.o [1]
-JUNYUE_Mechine_Action    0x801'18cf    0x1e  Code  Gb  JuYueAction.o [1]
-JUNYUE_Mechine_InitAction
-                         0x801'1861    0x6e  Code  Gb  JuYueAction.o [1]
-MYRCC_DeInit             0x801'49d1    0x52  Code  Gb  st_sys.o [1]
-Manu_HSL_DELAY          0x2000'67c0     0x4  Data  Gb  JuYueChuantou_HeLian.o [1]
-Manu_HSL_STEP           0x2000'682a     0x1  Data  Gb  JuYueChuantou_HeLian.o [1]
-OutputPinConfig          0x801'19a5    0x8a  Code  Gb  IOPinConfig.o [1]
-PRV_CTXM_DOWN_TIME      0x2000'67b4     0x4  Data  Gb  JuYueChuantou_HeLian.o [1]
-PRV_HSLIAO_OUT_DELAY    0x2000'67bc     0x4  Data  Gb  JuYueChuantou_HeLian.o [1]
-PosToPulse               0x800'fc3d    0x5a  Code  Gb  AllSeroDrv.o [1]
-PulseToPos               0x800'fbe3    0x5a  Code  Gb  AllSeroDrv.o [1]
-ReSetWifi                0x800'f621   0x1d0  Code  Gb  Action.o [1]
+                         0x801'2d0d    0x52  Code  Gb  IOPinConfig.o [1]
+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'fd31    0x1a  Code  Gb  FXWQueDuanJi_Kai.o [1]
+KAI_QD_length_buffer    0x2000'6828     0x4  Data  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_Action       0x801'ff43    0xb8  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_AlarmProtect
+                         0x802'08cd    0x70  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_AutoAction   0x802'0991   0x3b2  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_BingLian     0x802'1425   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
+                         0x802'13a9    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'fe67    0xdc  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_ManualAction
+                         0x801'fffb   0x8d2  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_Motor        0x802'1671  0x1c82  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_Motor::cUDword32Buff7
+                        0x2000'6834     0x4  Data  Lc  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_ReBack       0x802'32f9   0x208  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_SecondXiaQue
+                         0x802'4f6d   0x1d0  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_StepCheckStart
+                         0x802'0d55   0x64e  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_TuiLianAction
+                         0x802'4095    0xdc  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_XiaQue       0x802'41c5   0xd90  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_YMotor       0x802'351d   0x6f6  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_QueDuan_ZMotor       0x802'3c49   0x43e  Code  Gb  FXWQueDuanJi_Kai.o [1]
+Kai_StopCode             0x801'fd4b   0x11c  Code  Gb  FXWQueDuanJi_Kai.o [1]
+MYRCC_DeInit             0x801'5f55    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]
+PRV_HSLIAO_OUT_DELAY    0x2000'6814     0x4  Data  Gb  FXWChuantou_HeLian.o [1]
+PosToPulse               0x801'16f5    0x5a  Code  Gb  AllSeroDrv.o [1]
+PulseToPos               0x801'169b    0x5a  Code  Gb  AllSeroDrv.o [1]
+ReSetWifi                0x801'0f07   0x1d0  Code  Gb  Action.o [1]
 ReSetWifi::reset_wifi_delay
-                        0x2000'6790     0x4  Data  Lc  Action.o [1]
-ReSetWifi::save_times   0x2000'6812     0x2  Data  Lc  Action.o [1]
-Region$$Table$$Base      0x801'86b4           --   Gb  - Linker created -
-Region$$Table$$Limit     0x801'86d4           --   Gb  - Linker created -
-ResetFlg                0x2000'682e     0x1  Data  Gb  nodelink_master_app.o [1]
-SetAlarmCode             0x800'f5bd     0xc  Code  Gb  Action.o [1]
-SetClr                   0x800'fae1    0x8e  Code  Gb  AllSeroDrv.o [1]
-SetDirReverse            0x800'f831    0x7e  Code  Gb  AllSeroDrv.o [1]
-SetEn                    0x800'f8af    0x6c  Code  Gb  AllSeroDrv.o [1]
-SetEnReverse             0x800'f91b    0x7e  Code  Gb  AllSeroDrv.o [1]
-SetPos                   0x800'fc97    0x68  Code  Gb  AllSeroDrv.o [1]
-SetServoComUse           0x801'102b    0x52  Code  Gb  servocom_app.o [1]
-SetStopSelect            0x800'fe0b    0x3e  Code  Gb  AllSeroDrv.o [1]
-Set_Ctrlmode_trans       0x800'fb6f    0x44  Code  Gb  AllSeroDrv.o [1]
-Set_Servo_Runmode        0x800'fbb3    0x30  Code  Gb  AllSeroDrv.o [1]
-Stm32_Clock_Init         0x801'4a31    0x6c  Code  Gb  st_sys.o [1]
-SysTick_Config           0x801'46b5    0x2e  Code  Lc  software_timer.o [1]
-SysTick_Handler          0x801'46e3    0x24  Code  Gb  software_timer.o [1]
-Sys_NVIC_Init            0x801'481b    0x70  Code  Gb  st_sys.o [1]
+                        0x2000'67ec     0x4  Data  Lc  Action.o [1]
+ReSetWifi::save_times   0x2000'68a0     0x2  Data  Lc  Action.o [1]
+Region$$Table$$Base      0x802'94ac           --   Gb  - Linker created -
+Region$$Table$$Limit     0x802'94cc           --   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]
+SetData32bits            0x801'0e9d    0x1e  Code  Gb  Action.o [1]
+SetDir                   0x801'122d    0x6c  Code  Gb  AllSeroDrv.o [1]
+SetDirReverse            0x801'1299    0x7e  Code  Gb  AllSeroDrv.o [1]
+SetEn                    0x801'1367    0x6c  Code  Gb  AllSeroDrv.o [1]
+SetEnReverse             0x801'13d3    0x7e  Code  Gb  AllSeroDrv.o [1]
+SetPos                   0x801'174f    0x68  Code  Gb  AllSeroDrv.o [1]
+SetServoComUse           0x801'5ba3    0x52  Code  Gb  servocom_app.o [1]
+SetStopSelect            0x801'18c3    0x3e  Code  Gb  AllSeroDrv.o [1]
+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         0x801'5fb5    0x6c  Code  Gb  st_sys.o [1]
+SysTick_Config           0x802'5a49    0x2e  Code  Lc  software_timer.o [1]
+SysTick_Handler          0x802'5a77    0x24  Code  Gb  software_timer.o [1]
+Sys_NVIC_Init            0x801'5d9f    0x70  Code  Gb  st_sys.o [1]
 Sys_NVIC_PriorityGroupConfig
-                         0x801'47f9    0x22  Code  Gb  st_sys.o [1]
+                         0x801'5d7d    0x22  Code  Gb  st_sys.o [1]
 Sys_NVIC_SetVectorTable
-                         0x801'47e9    0x10  Code  Gb  st_sys.o [1]
-Sys_Soft_Reset           0x801'4a29     0x8  Code  Gb  st_sys.o [1]
-TIM1_UP_IRQHandler       0x801'10fb    0x26  Code  Gb  hw_pwm.o [1]
-TIM2_IRQHandler          0x801'7b55    0x36  Code  Gb  Encode.o [1]
-TIM3_IRQHandler          0x801'7b8b    0x34  Code  Gb  Encode.o [1]
-TIM4_IRQHandler          0x801'1121    0x26  Code  Gb  hw_pwm.o [1]
-TIM5_IRQHandler          0x801'10d5    0x26  Code  Gb  hw_pwm.o [1]
-TIM6_IRQHandler          0x801'6bdb    0x1a  Code  Gb  nodelink_master_app.o [1]
-XCCR_LENGTH             0x2000'6814     0x2  Data  Gb  JuYueChuantou_HeLian.o [1]
+                         0x801'5d6d    0x10  Code  Gb  st_sys.o [1]
+Sys_Soft_Reset           0x801'5fad     0x8  Code  Gb  st_sys.o [1]
+TIM1_UP_IRQHandler       0x801'2367    0x26  Code  Gb  hw_pwm.o [1]
+TIM2_IRQHandler          0x802'894d    0x36  Code  Gb  Encode.o [1]
+TIM3_IRQHandler          0x802'8983    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          0x802'79d3    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]
+XY_CTHL_AlarmProtect     0x800'b551     0x2  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_AutoStepAction   0x800'b555  0x17fe  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_CL_Motor         0x800'e6e1   0x6dc  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_CheckStart       0x800'cda5   0xcc2  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_Color_Action     0x800'b3c9     0x8  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_InitAction       0x800'b3d1    0xbe  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_ManualAction     0x800'ff25   0xe5e  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_SetAlarmCode     0x800'b331    0x2c  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_ShiJue_Action    0x800'b35d    0x6c  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_TD_Motor         0x800'db15   0xb86  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_TLiao_Step       0x800'f311   0x1ae  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_ZLT_Step         0x800'ede1   0x512  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_ZhenDongAction   0x800'f4d9   0x16e  Code  Gb  FXWChuantou_HeLian_D.o [1]
+XY_CTHL_bCLFirstStep     0x800'fcb5   0x216  Code  Gb  FXWChuantou_HeLian_D.o [1]
+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       0x801'4691    0x24  Code  Lc  software_timer.o [1]
-__aeabi_cfcmple          0x801'4c7d          Code  Gb  FltCmpLe.o [3]
-__aeabi_cfrcmple         0x801'4c59          Code  Gb  FltCmpGe.o [3]
-__aeabi_d2iz             0x801'1bc9          Code  Gb  DblToS32.o [3]
-__aeabi_dadd             0x801'6331          Code  Gb  DblAdd.o [3]
-__aeabi_f2d              0x801'62e9          Code  Gb  FltToDbl.o [3]
-__aeabi_f2iz             0x801'3f29          Code  Gb  FltToS32.o [3]
-__aeabi_fadd             0x801'4ca1          Code  Gb  FltAdd.o [3]
-__aeabi_fdiv             0x801'0551          Code  Gb  FltDiv.o [3]
-__aeabi_fmul             0x801'3f55          Code  Gb  FltMul.o [3]
-__aeabi_fsub             0x801'4fbd          Code  Gb  FltSub.o [3]
-__aeabi_i2f              0x801'3f05          Code  Gb  S32ToFlt.o [3]
-__aeabi_memcpy           0x801'4b49          Code  Gb  ABImemcpy.o [4]
-__aeabi_memcpy4          0x801'4b69          Code  Gb  ABImemcpy.o [4]
-__aeabi_memcpy8          0x801'4b69          Code  Gb  ABImemcpy.o [4]
-__aeabi_memset           0x801'4bf1          Code  Gb  ABImemset.o [4]
-__aeabi_ui2f             0x801'0535          Code  Gb  U32ToFlt.o [3]
-__cmain                  0x801'86f5          Code  Gb  cmain.o [4]
-__exit                   0x801'8729    0x14  Code  Gb  exit.o [5]
-__iar_Memset             0x801'4bf1          Code  Gb  ABImemset.o [4]
-__iar_Memset_word        0x801'4bf9          Code  Gb  ABImemset.o [4]
-__iar_dadd               0x801'66bd          Code  Gb  DblSub.o [3]
-__iar_data_init3         0x801'868d    0x28  Code  Gb  data_init.o [4]
-__iar_dsub               0x801'6341          Code  Gb  DblAdd.o [3]
-__iar_dsubStart          0x801'6353          Code  Gb  DblAdd.o [3]
-__iar_fadd               0x801'4fc9          Code  Gb  FltSub.o [3]
-__iar_fsub               0x801'4cad          Code  Gb  FltAdd.o [3]
-__iar_fsubStart          0x801'4cbd          Code  Gb  FltAdd.o [3]
+__NVIC_SetPriority       0x802'5a25    0x24  Code  Lc  software_timer.o [1]
+__aeabi_cdcmple          0x801'2311          Code  Gb  DblCmpLe.o [3]
+__aeabi_cfcmple          0x802'52b1          Code  Gb  FltCmpLe.o [3]
+__aeabi_cfrcmple         0x802'528d          Code  Gb  FltCmpGe.o [3]
+__aeabi_d2iz             0x801'2ddd          Code  Gb  DblToS32.o [3]
+__aeabi_dadd             0x802'7129          Code  Gb  DblAdd.o [3]
+__aeabi_dmul             0x801'2111          Code  Gb  DblMul.o [3]
+__aeabi_f2d              0x802'70e1          Code  Gb  FltToDbl.o [3]
+__aeabi_f2iz             0x801'5c69          Code  Gb  FltToS32.o [3]
+__aeabi_fadd             0x802'52d5          Code  Gb  FltAdd.o [3]
+__aeabi_fdiv             0x801'1131          Code  Gb  FltDiv.o [3]
+__aeabi_fmul             0x801'5c95          Code  Gb  FltMul.o [3]
+__aeabi_fsub             0x802'5b7d          Code  Gb  FltSub.o [3]
+__aeabi_i2d              0x801'22ed          Code  Gb  S32ToDbl.o [3]
+__aeabi_i2f              0x801'5c45          Code  Gb  S32ToFlt.o [3]
+__aeabi_memcpy           0x802'517d          Code  Gb  ABImemcpy.o [4]
+__aeabi_memcpy4          0x802'519d          Code  Gb  ABImemcpy.o [4]
+__aeabi_memcpy8          0x802'519d          Code  Gb  ABImemcpy.o [4]
+__aeabi_memset           0x802'5225          Code  Gb  ABImemset.o [4]
+__aeabi_ui2d             0x801'207d          Code  Gb  U32ToDbl.o [3]
+__aeabi_ui2f             0x801'1115          Code  Gb  U32ToFlt.o [3]
+__cmain                  0x802'94ed          Code  Gb  cmain.o [4]
+__exit                   0x802'9521    0x14  Code  Gb  exit.o [5]
+__iar_Memset             0x802'5225          Code  Gb  ABImemset.o [4]
+__iar_Memset_word        0x802'522d          Code  Gb  ABImemset.o [4]
+__iar_dadd               0x802'74b5          Code  Gb  DblSub.o [3]
+__iar_data_init3         0x802'9485    0x28  Code  Gb  data_init.o [4]
+__iar_dsub               0x802'7139          Code  Gb  DblAdd.o [3]
+__iar_dsubStart          0x802'714b          Code  Gb  DblAdd.o [3]
+__iar_fadd               0x802'5b89          Code  Gb  FltSub.o [3]
+__iar_fsub               0x802'52e1          Code  Gb  FltAdd.o [3]
+__iar_fsubStart          0x802'52f1          Code  Gb  FltAdd.o [3]
 __iar_lz77_init_single3
-                         0x801'1b4f    0x7a  Code  Gb  lz77_init_single.o [4]
-__iar_program_start      0x801'8781          Code  Gb  cstartup_M.o [4]
-__iar_round64            0x801'1afd          Code  Gb  round.o [3]
-__iar_zero_init3         0x801'1c03    0x3a  Code  Gb  zero_init3.o [4]
-__low_level_init         0x801'8713     0x4  Code  Gb  low_level_init.o [2]
+                         0x801'2097    0x7a  Code  Gb  lz77_init_single.o [4]
+__iar_program_start      0x802'9579          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         0x802'950b     0x4  Code  Gb  low_level_init.o [2]
 __vector_table           0x800'b200          Data  Gb  startup_stm32f10x_hd.o [1]
-_call_main               0x801'8701          Code  Gb  cmain.o [4]
-_exit                    0x801'871d          Code  Gb  cexit.o [4]
-_main                    0x801'870f          Code  Gb  cmain.o [4]
-abs                      0x801'10cd     0x8  Code  Gb  abs.o [2]
-app_save_parameter       0x801'75ab    0x32  Code  Gb  poweroff_save_app.o [1]
-axis_acc_pwm_divide      0x801'2c9d    0x8c  Code  Gb  axis_motion.o [1]
-axis_app_init            0x801'7ecb   0x116  Code  Gb  axis_app.o [1]
-axis_app_run             0x801'7fe1    0x1e  Code  Gb  axis_app.o [1]
-axis_calc_speed_table    0x801'2c63    0x3a  Code  Lc  axis_motion.o [1]
-axis_ccw                 0x801'1cbb    0x30  Code  Gb  axis_motion.o [1]
-axis_cw                  0x801'1c8d    0x2e  Code  Gb  axis_motion.o [1]
-axis_dec_pwm_divide      0x801'2d29    0x86  Code  Gb  axis_motion.o [1]
-axis_disable             0x801'1c65    0x28  Code  Gb  axis_motion.o [1]
-axis_emgstop             0x801'373f    0x30  Code  Gb  axis_motion.o [1]
-axis_enable              0x801'1c3d    0x28  Code  Gb  axis_motion.o [1]
-axis_get_by_index        0x801'7eb1    0x1a  Code  Gb  axis_app.o [1]
-axis_get_com_pos         0x801'093b    0x6a  Code  Lc  servocom_app.o [1]
-axis_get_parameter       0x801'38f3    0xa6  Code  Gb  axis_motion.o [1]
-axis_home_method0        0x801'3b43   0x1b2  Code  Gb  axis_motion.o [1]
-axis_home_method1        0x801'3999   0x1aa  Code  Gb  axis_motion.o [1]
-axis_home_method2        0x801'3cf5    0xb4  Code  Gb  axis_motion.o [1]
-axis_home_run            0x801'3da9    0x22  Code  Gb  axis_motion.o [1]
-axis_it_handle           0x801'2daf   0x57a  Code  Gb  axis_motion.o [1]
-axis_mode0_calc_accdec   0x801'1ceb   0x27a  Code  Lc  axis_motion.o [1]
-axis_mode1_calc_accdec   0x801'1f65   0x3f0  Code  Lc  axis_motion.o [1]
-axis_mode2_calc_accdec   0x801'2355   0x460  Code  Lc  axis_motion.o [1]
-axis_mode3_calc_accdec   0x801'27b5   0x1b6  Code  Lc  axis_motion.o [1]
-axis_mode4_calc_accdec   0x801'2975   0x2ee  Code  Lc  axis_motion.o [1]
+_call_main               0x802'94f9          Code  Gb  cmain.o [4]
+_exit                    0x802'9515          Code  Gb  cexit.o [4]
+_main                    0x802'9507          Code  Gb  cmain.o [4]
+abs                      0x802'53b7     0x8  Code  Gb  abs.o [2]
+app_save_parameter       0x802'83a3    0x32  Code  Gb  poweroff_save_app.o [1]
+axis_acc_pwm_divide      0x801'3e79    0x8c  Code  Gb  axis_motion.o [1]
+axis_app_init            0x802'8cc3   0x116  Code  Gb  axis_app.o [1]
+axis_app_run             0x802'8dd9    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
+                         0x801'4861    0xe4  Code  Gb  axis_motion.o [1]
+axis_cw                  0x801'2e69    0x2e  Code  Gb  axis_motion.o [1]
+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        0x802'8ca9    0x1a  Code  Gb  axis_app.o [1]
+axis_get_com_pos         0x801'54b3    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]
+axis_home_method1        0x801'4c59   0x1aa  Code  Gb  axis_motion.o [1]
+axis_home_method2        0x801'4fb5    0xb4  Code  Gb  axis_motion.o [1]
+axis_home_run            0x801'5069    0x22  Code  Gb  axis_motion.o [1]
+axis_it_handle           0x801'3f8b   0x57a  Code  Gb  axis_motion.o [1]
+axis_mode0_calc_accdec   0x801'2ec7   0x27a  Code  Lc  axis_motion.o [1]
+axis_mode1_calc_accdec   0x801'3141   0x3f0  Code  Lc  axis_motion.o [1]
+axis_mode2_calc_accdec   0x801'3531   0x460  Code  Lc  axis_motion.o [1]
+axis_mode3_calc_accdec   0x801'3991   0x1b6  Code  Lc  axis_motion.o [1]
+axis_mode4_calc_accdec   0x801'3b51   0x2ee  Code  Lc  axis_motion.o [1]
 axis_objects            0x2000'185c  0x31ec  Data  Gb  axis_app.o [1]
-axis_pp                  0x801'3329   0x118  Code  Gb  axis_motion.o [1]
-axis_pp_change_speed     0x801'3441   0x16c  Code  Gb  axis_motion.o [1]
-axis_pv                  0x801'35ad    0x46  Code  Gb  axis_motion.o [1]
-axis_pv_change_speed     0x801'36fb    0x44  Code  Gb  axis_motion.o [1]
+axis_pp                  0x801'4505   0x118  Code  Gb  axis_motion.o [1]
+axis_pp_change_speed     0x801'461d   0x16c  Code  Gb  axis_motion.o [1]
+axis_pv                  0x801'4789    0x46  Code  Gb  axis_motion.o [1]
+axis_pv_change_speed     0x801'49bb    0x44  Code  Gb  axis_motion.o [1]
 axis_pv_change_speed_table
-                         0x801'35f3    0x8c  Code  Gb  axis_motion.o [1]
-axis_run                 0x801'3dcb   0x126  Code  Gb  axis_motion.o [1]
-axis_set_com_pos         0x801'0915    0x26  Code  Gb  servocom_app.o [1]
-axis_set_parameter       0x801'3817    0xdc  Code  Gb  axis_motion.o [1]
-axis_start               0x801'376f    0xa8  Code  Gb  axis_motion.o [1]
-axis_stop                0x801'3695    0x66  Code  Gb  axis_motion.o [1]
-axis_x                  0x2000'6794     0x4  Data  Gb  AllSeroDrv.o [1]
-axis_x_com_alarm        0x2000'6824     0x1  Data  Gb  AllSeroDrv.o [1]
-axis_x_ctrl_mode        0x2000'67a0     0x4  Data  Lc  AllSeroDrv.o [1]
-axis_y                  0x2000'6798     0x4  Data  Gb  AllSeroDrv.o [1]
-axis_y_com_alarm        0x2000'6825     0x1  Data  Gb  AllSeroDrv.o [1]
-axis_y_ctrl_mode        0x2000'67a4     0x4  Data  Lc  AllSeroDrv.o [1]
-axis_z                  0x2000'679c     0x4  Data  Gb  AllSeroDrv.o [1]
-axis_z_com_alarm        0x2000'6826     0x1  Data  Gb  AllSeroDrv.o [1]
-axis_z_ctrl_mode        0x2000'67a8     0x4  Data  Lc  AllSeroDrv.o [1]
-bus_timeout             0x2000'67d8     0x4  Data  Lc  nodelink_master_app.o [1]
-cCharBuff1              0x2000'681a     0x1  Data  Gb  Action.o [1]
-cCharBuff10             0x2000'6820     0x1  Data  Gb  Action.o [1]
-cCharBuff12             0x2000'6821     0x1  Data  Gb  Action.o [1]
-cCharBuff13             0x2000'6822     0x1  Data  Gb  Action.o [1]
-cCharBuff2              0x2000'681b     0x1  Data  Gb  Action.o [1]
-cCharBuff3              0x2000'681c     0x1  Data  Gb  Action.o [1]
-cCharBuff6              0x2000'681d     0x1  Data  Gb  Action.o [1]
-cCharBuff7              0x2000'681e     0x1  Data  Gb  Action.o [1]
-cCharBuff9              0x2000'681f     0x1  Data  Gb  Action.o [1]
-cDelayTime12            0x2000'6750     0x4  Data  Gb  Action.o [1]
-cDelayTime2             0x2000'6734     0x4  Data  Gb  Action.o [1]
-cDelayTime3             0x2000'6738     0x4  Data  Gb  Action.o [1]
-cDelayTime4             0x2000'673c     0x4  Data  Gb  Action.o [1]
-cDelayTime5             0x2000'6740     0x4  Data  Gb  Action.o [1]
-cDelayTime6             0x2000'6744     0x4  Data  Gb  Action.o [1]
-cDelayTime7             0x2000'6748     0x4  Data  Gb  Action.o [1]
-cDelayTime9             0x2000'674c     0x4  Data  Gb  Action.o [1]
-cDword32Buff1           0x2000'6768     0x4  Data  Gb  Action.o [1]
-cDword32Buff6           0x2000'676c     0x4  Data  Gb  Action.o [1]
-cDword32Buff7           0x2000'6770     0x4  Data  Gb  Action.o [1]
-cDword32Buff8           0x2000'6774     0x4  Data  Gb  Action.o [1]
-cDword32Buff9           0x2000'6778     0x4  Data  Gb  Action.o [1]
+                         0x801'47cf    0x8c  Code  Gb  axis_motion.o [1]
+axis_run                 0x801'508b   0x126  Code  Gb  axis_motion.o [1]
+axis_set_com_pos         0x801'548d    0x26  Code  Gb  servocom_app.o [1]
+axis_set_parameter       0x801'4ad7    0xdc  Code  Gb  axis_motion.o [1]
+axis_start               0x801'4a2f    0xa8  Code  Gb  axis_motion.o [1]
+axis_stop                0x801'4955    0x66  Code  Gb  axis_motion.o [1]
+axis_x                  0x2000'67f0     0x4  Data  Gb  AllSeroDrv.o [1]
+axis_x_com_alarm        0x2000'68c2     0x1  Data  Gb  AllSeroDrv.o [1]
+axis_x_ctrl_mode        0x2000'67fc     0x4  Data  Lc  AllSeroDrv.o [1]
+axis_y                  0x2000'67f4     0x4  Data  Gb  AllSeroDrv.o [1]
+axis_y_com_alarm        0x2000'68c3     0x1  Data  Gb  AllSeroDrv.o [1]
+axis_y_ctrl_mode        0x2000'6800     0x4  Data  Lc  AllSeroDrv.o [1]
+axis_z                  0x2000'67f8     0x4  Data  Gb  AllSeroDrv.o [1]
+axis_z_com_alarm        0x2000'68c4     0x1  Data  Gb  AllSeroDrv.o [1]
+axis_z_ctrl_mode        0x2000'6804     0x4  Data  Lc  AllSeroDrv.o [1]
+bus_timeout             0x2000'6850     0x4  Data  Lc  nodelink_master_app.o [1]
+cCharBuff1              0x2000'68a6     0x1  Data  Gb  Action.o [1]
+cCharBuff10             0x2000'68af     0x1  Data  Gb  Action.o [1]
+cCharBuff11             0x2000'68b0     0x1  Data  Gb  Action.o [1]
+cCharBuff12             0x2000'68b1     0x1  Data  Gb  Action.o [1]
+cCharBuff13             0x2000'68b2     0x1  Data  Gb  Action.o [1]
+cCharBuff14             0x2000'68b3     0x1  Data  Gb  Action.o [1]
+cCharBuff15             0x2000'68b4     0x1  Data  Gb  Action.o [1]
+cCharBuff16             0x2000'68b5     0x1  Data  Gb  Action.o [1]
+cCharBuff17             0x2000'68b6     0x1  Data  Gb  Action.o [1]
+cCharBuff2              0x2000'68a7     0x1  Data  Gb  Action.o [1]
+cCharBuff20             0x2000'68b7     0x1  Data  Gb  Action.o [1]
+cCharBuff21             0x2000'68b8     0x1  Data  Gb  Action.o [1]
+cCharBuff22             0x2000'68b9     0x1  Data  Gb  Action.o [1]
+cCharBuff23             0x2000'68ba     0x1  Data  Gb  Action.o [1]
+cCharBuff24             0x2000'68bb     0x1  Data  Gb  Action.o [1]
+cCharBuff25             0x2000'68bc     0x1  Data  Gb  Action.o [1]
+cCharBuff26             0x2000'68bd     0x1  Data  Gb  Action.o [1]
+cCharBuff27             0x2000'68be     0x1  Data  Gb  Action.o [1]
+cCharBuff28             0x2000'68bf     0x1  Data  Gb  Action.o [1]
+cCharBuff3              0x2000'68a8     0x1  Data  Gb  Action.o [1]
+cCharBuff4              0x2000'68a9     0x1  Data  Gb  Action.o [1]
+cCharBuff5              0x2000'68aa     0x1  Data  Gb  Action.o [1]
+cCharBuff6              0x2000'68ab     0x1  Data  Gb  Action.o [1]
+cCharBuff7              0x2000'68ac     0x1  Data  Gb  Action.o [1]
+cCharBuff8              0x2000'68ad     0x1  Data  Gb  Action.o [1]
+cCharBuff9              0x2000'68ae     0x1  Data  Gb  Action.o [1]
+cDelayTime1             0x2000'6734     0x4  Data  Gb  Action.o [1]
+cDelayTime10            0x2000'6758     0x4  Data  Gb  Action.o [1]
+cDelayTime11            0x2000'675c     0x4  Data  Gb  Action.o [1]
+cDelayTime12            0x2000'6760     0x4  Data  Gb  Action.o [1]
+cDelayTime13            0x2000'6764     0x4  Data  Gb  Action.o [1]
+cDelayTime14            0x2000'6768     0x4  Data  Gb  Action.o [1]
+cDelayTime15            0x2000'676c     0x4  Data  Gb  Action.o [1]
+cDelayTime16            0x2000'6770     0x4  Data  Gb  Action.o [1]
+cDelayTime17            0x2000'6774     0x4  Data  Gb  Action.o [1]
+cDelayTime18            0x2000'6778     0x4  Data  Gb  Action.o [1]
+cDelayTime19            0x2000'677c     0x4  Data  Gb  Action.o [1]
+cDelayTime2             0x2000'6738     0x4  Data  Gb  Action.o [1]
+cDelayTime20            0x2000'6780     0x4  Data  Gb  Action.o [1]
+cDelayTime21            0x2000'6784     0x4  Data  Gb  Action.o [1]
+cDelayTime3             0x2000'673c     0x4  Data  Gb  Action.o [1]
+cDelayTime4             0x2000'6740     0x4  Data  Gb  Action.o [1]
+cDelayTime5             0x2000'6744     0x4  Data  Gb  Action.o [1]
+cDelayTime6             0x2000'6748     0x4  Data  Gb  Action.o [1]
+cDelayTime7             0x2000'674c     0x4  Data  Gb  Action.o [1]
+cDelayTime8             0x2000'6750     0x4  Data  Gb  Action.o [1]
+cDelayTime9             0x2000'6754     0x4  Data  Gb  Action.o [1]
+cDword32Buff1           0x2000'67b4     0x4  Data  Gb  Action.o [1]
+cDword32Buff2           0x2000'67b8     0x4  Data  Gb  Action.o [1]
+cDword32Buff3           0x2000'67bc     0x4  Data  Gb  Action.o [1]
+cDword32Buff4           0x2000'67c0     0x4  Data  Gb  Action.o [1]
+cDword32Buff5           0x2000'67c4     0x4  Data  Gb  Action.o [1]
+cDword32Buff6           0x2000'67c8     0x4  Data  Gb  Action.o [1]
+cDword32Buff7           0x2000'67cc     0x4  Data  Gb  Action.o [1]
+cDword32Buff8           0x2000'67d0     0x4  Data  Gb  Action.o [1]
+cDword32Buff9           0x2000'67d4     0x4  Data  Gb  Action.o [1]
 cEncodeAxis             0x2000'668c    0x14  Data  Lc  Encode.o [1]
 cMachineType            0x2000'6730     0x4  Data  Gb  Action.o [1]
-cRunState2              0x2000'6818     0x1  Data  Gb  Action.o [1]
-cRunState3              0x2000'6819     0x1  Data  Gb  Action.o [1]
-cStartDelay             0x2000'67c4     0x4  Data  Gb  main.o [1]
-cStepMByte              0x2000'6804     0x2  Data  Gb  Action.o [1]
-cStepMByte1             0x2000'6806     0x2  Data  Gb  Action.o [1]
-cStepMByte2             0x2000'6808     0x2  Data  Gb  Action.o [1]
-cStepMByte3             0x2000'680a     0x2  Data  Gb  Action.o [1]
-cStepMByte8             0x2000'680c     0x2  Data  Gb  Action.o [1]
-cStepMByte9             0x2000'680e     0x2  Data  Gb  Action.o [1]
-cUDword32Buff1          0x2000'6754     0x4  Data  Gb  Action.o [1]
-cUDword32Buff11         0x2000'6764     0x4  Data  Gb  Action.o [1]
-cUDword32Buff3          0x2000'6758     0x4  Data  Gb  Action.o [1]
-cUDword32Buff7          0x2000'675c     0x4  Data  Gb  Action.o [1]
-cUDword32Buff8          0x2000'6760     0x4  Data  Gb  Action.o [1]
-cUShort16Buff2          0x2000'6810     0x2  Data  Gb  Action.o [1]
-cWifiStep               0x2000'6823     0x1  Data  Gb  Action.o [1]
-clr_com_servo_alarm      0x801'0871    0x56  Code  Gb  servocom_app.o [1]
+cRunState2              0x2000'68a4     0x1  Data  Gb  Action.o [1]
+cRunState3              0x2000'68a5     0x1  Data  Gb  Action.o [1]
+cStartDelay             0x2000'683c     0x4  Data  Gb  main.o [1]
+cStepMByte              0x2000'687c     0x2  Data  Gb  Action.o [1]
+cStepMByte1             0x2000'687e     0x2  Data  Gb  Action.o [1]
+cStepMByte10            0x2000'6890     0x2  Data  Gb  Action.o [1]
+cStepMByte11            0x2000'6892     0x2  Data  Gb  Action.o [1]
+cStepMByte12            0x2000'6894     0x2  Data  Gb  Action.o [1]
+cStepMByte13            0x2000'6896     0x2  Data  Gb  Action.o [1]
+cStepMByte14            0x2000'6898     0x2  Data  Gb  Action.o [1]
+cStepMByte15            0x2000'689a     0x2  Data  Gb  Action.o [1]
+cStepMByte2             0x2000'6880     0x2  Data  Gb  Action.o [1]
+cStepMByte3             0x2000'6882     0x2  Data  Gb  Action.o [1]
+cStepMByte4             0x2000'6884     0x2  Data  Gb  Action.o [1]
+cStepMByte5             0x2000'6886     0x2  Data  Gb  Action.o [1]
+cStepMByte6             0x2000'6888     0x2  Data  Gb  Action.o [1]
+cStepMByte7             0x2000'688a     0x2  Data  Gb  Action.o [1]
+cStepMByte8             0x2000'688c     0x2  Data  Gb  Action.o [1]
+cStepMByte9             0x2000'688e     0x2  Data  Gb  Action.o [1]
+cUDword32Buff1          0x2000'6788     0x4  Data  Gb  Action.o [1]
+cUDword32Buff11         0x2000'67ac     0x4  Data  Gb  Action.o [1]
+cUDword32Buff12         0x2000'67b0     0x4  Data  Gb  Action.o [1]
+cUDword32Buff2          0x2000'678c     0x4  Data  Gb  Action.o [1]
+cUDword32Buff3          0x2000'6790     0x4  Data  Gb  Action.o [1]
+cUDword32Buff4          0x2000'6794     0x4  Data  Gb  Action.o [1]
+cUDword32Buff5          0x2000'6798     0x4  Data  Gb  Action.o [1]
+cUDword32Buff6          0x2000'679c     0x4  Data  Gb  Action.o [1]
+cUDword32Buff7          0x2000'67a0     0x4  Data  Gb  Action.o [1]
+cUDword32Buff8          0x2000'67a4     0x4  Data  Gb  Action.o [1]
+cUDword32Buff9          0x2000'67a8     0x4  Data  Gb  Action.o [1]
+cUShort16Buff1          0x2000'689c     0x2  Data  Gb  Action.o [1]
+cUShort16Buff2          0x2000'689e     0x2  Data  Gb  Action.o [1]
+cWifiStep               0x2000'68c1     0x1  Data  Gb  Action.o [1]
+clr_com_servo_alarm      0x801'53e9    0x56  Code  Gb  servocom_app.o [1]
 clr_com_servo_alarm::clr_com_servo_x_delay
-                        0x2000'67e8     0x4  Data  Lc  servocom_app.o [1]
+                        0x2000'6860     0x4  Data  Lc  servocom_app.o [1]
 clr_com_servo_alarm::clr_com_servo_y_delay
-                        0x2000'67ec     0x4  Data  Lc  servocom_app.o [1]
-crc8_table               0x801'8218   0x100  Data  Lc  MathHelper.o [1]
-cur_ms                  0x2000'67f4     0x4  Data  Lc  software_timer.o [1]
-cur_second              0x2000'67f0     0x4  Data  Lc  software_timer.o [1]
+                        0x2000'6864     0x4  Data  Lc  servocom_app.o [1]
+crc8_table               0x802'9010   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         0x2000'67cc     0x4  Data  Lc  modbus_slave.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       0x801'6d45     0x2  Code  Lc  NodeLinkMaster.o [1]
+deivce0_on_timeout       0x802'7b3d     0x2  Code  Lc  NodeLinkMaster.o [1]
 device0                 0x2000'15a8     0xc  Data  Lc  NodeLinkMaster.o [1]
-device0_on_recv          0x801'6d47     0x2  Code  Lc  NodeLinkMaster.o [1]
-device0_on_send          0x801'6d49     0x4  Code  Lc  NodeLinkMaster.o [1]
-dwTickCount             0x2000'67fc     0x4  Data  Gb  software_timer.o [1]
-dwXRealPos              0x2000'677c     0x4  Data  Gb  Action.o [1]
-dwYRealPos              0x2000'6780     0x4  Data  Gb  Action.o [1]
-dwYRealPos_com          0x2000'6784     0x4  Data  Gb  Action.o [1]
-dwZRealPos              0x2000'6788     0x4  Data  Gb  Action.o [1]
-encode_to_length         0x801'08ef    0x26  Code  Lc  servocom_app.o [1]
-exit                     0x801'8717     0x4  Code  Gb  exit.o [2]
-flash_last_wait_time    0x2000'6800     0x4  Data  Gb  st_flash.o [1]
-freq_to_speed            0x801'09a5    0x2a  Code  Lc  servocom_app.o [1]
-get_encode_value         0x801'09cf    0x24  Code  Gb  servocom_app.o [1]
-get_tarr_set             0x801'0c39    0x56  Code  Gb  servocom_app.o [1]
+device0_on_recv          0x802'7b3f     0x2  Code  Lc  NodeLinkMaster.o [1]
+device0_on_send          0x802'7b41     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         0x801'5467    0x26  Code  Lc  servocom_app.o [1]
+exit                     0x802'950f     0x4  Code  Gb  exit.o [2]
+flash_last_wait_time    0x2000'6878     0x4  Data  Gb  st_flash.o [1]
+freq_to_speed            0x801'551d    0x2a  Code  Lc  servocom_app.o [1]
+get_encode_value         0x801'5547    0x24  Code  Gb  servocom_app.o [1]
+get_tarr_set             0x801'57b1    0x56  Code  Gb  servocom_app.o [1]
 hw_board_enter_powerless
-                         0x801'6223    0x24  Code  Gb  board.o [1]
-hw_board_init            0x801'61a1    0x44  Code  Gb  board.o [1]
-hw_board_reboot          0x801'6275     0x8  Code  Gb  board.o [1]
-hw_delay_init            0x801'4aed    0x24  Code  Gb  hardware_delay.o [1]
-hw_delay_us              0x801'4b11    0x22  Code  Gb  hardware_delay.o [1]
-hw_dma_uart_begin_read   0x801'5d0b    0xec  Code  Gb  hw_dma_uart.o [1]
+                         0x802'701b    0x24  Code  Gb  board.o [1]
+hw_board_init            0x802'6f99    0x44  Code  Gb  board.o [1]
+hw_board_reboot          0x802'706d     0x8  Code  Gb  board.o [1]
+hw_delay_init            0x801'6071    0x24  Code  Gb  hardware_delay.o [1]
+hw_delay_us              0x801'6095    0x22  Code  Gb  hardware_delay.o [1]
+hw_dma_uart_begin_read   0x802'6b03    0xec  Code  Gb  hw_dma_uart.o [1]
 hw_dma_uart_begin_write
-                         0x801'5df7    0xa2  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_control      0x801'5fbb   0x158  Code  Gb  hw_dma_uart.o [1]
-hw_dma_uart_init         0x801'5945   0x3c6  Code  Gb  hw_dma_uart.o [1]
+                         0x802'6bef    0xa2  Code  Gb  hw_dma_uart.o [1]
+hw_dma_uart_control      0x802'6db3   0x158  Code  Gb  hw_dma_uart.o [1]
+hw_dma_uart_init         0x802'673d   0x3c6  Code  Gb  hw_dma_uart.o [1]
 hw_dma_uart_read_finish
-                         0x801'5e99    0xb8  Code  Gb  hw_dma_uart.o [1]
+                         0x802'6c91    0xb8  Code  Gb  hw_dma_uart.o [1]
 hw_dma_uart_write_finish
-                         0x801'5f51    0x6a  Code  Gb  hw_dma_uart.o [1]
+                         0x802'6d49    0x6a  Code  Gb  hw_dma_uart.o [1]
 hw_flash_data_check_empty
-                         0x801'76db    0x24  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_erase      0x801'76c1    0x1a  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_read       0x801'76a1    0x10  Code  Gb  hw_flash_data.o [1]
-hw_flash_data_write      0x801'76b1    0x10  Code  Gb  hw_flash_data.o [1]
-hw_io_pin_init           0x801'64ad    0xf2  Code  Gb  hw_io_pin.o [1]
-hw_io_pin_input          0x801'661b    0x3e  Code  Gb  hw_io_pin.o [1]
-hw_io_pin_output         0x801'659f    0x7c  Code  Gb  hw_io_pin.o [1]
+                         0x802'84d3    0x24  Code  Gb  hw_flash_data.o [1]
+hw_flash_data_erase      0x802'84b9    0x1a  Code  Gb  hw_flash_data.o [1]
+hw_flash_data_read       0x802'8499    0x10  Code  Gb  hw_flash_data.o [1]
+hw_flash_data_write      0x802'84a9    0x10  Code  Gb  hw_flash_data.o [1]
+hw_io_pin_init           0x802'72a5    0xf2  Code  Gb  hw_io_pin.o [1]
+hw_io_pin_input          0x802'7413    0x3e  Code  Gb  hw_io_pin.o [1]
+hw_io_pin_output         0x802'7397    0x7c  Code  Gb  hw_io_pin.o [1]
 hw_noinit_data          0x2000'0000    0x40  Data  Lc  board.o [1]
-hw_noinit_write          0x801'621b     0x8  Code  Gb  board.o [1]
-hw_power_is_off          0x801'6693    0x12  Code  Gb  hw_power_off.o [1]
-hw_power_is_on           0x801'66a5     0xc  Code  Gb  hw_power_off.o [1]
-hw_power_off_init        0x801'6675    0x1e  Code  Gb  hw_power_off.o [1]
-hw_pwm_alr_init          0x801'1435    0x7e  Code  Lc  hw_pwm.o [1]
-hw_pwm_clr_init          0x801'13b7    0x7e  Code  Lc  hw_pwm.o [1]
+hw_noinit_write          0x802'7013     0x8  Code  Gb  board.o [1]
+hw_power_is_off          0x802'748b    0x12  Code  Gb  hw_power_off.o [1]
+hw_power_is_on           0x802'749d     0xc  Code  Gb  hw_power_off.o [1]
+hw_power_off_init        0x802'746d    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]
-hw_pwm_default_handler   0x801'1147     0x2  Code  Gb  hw_pwm.o [1]
-hw_pwm_dir_init          0x801'12bd    0x7c  Code  Lc  hw_pwm.o [1]
+hw_pwm_default_handler   0x801'23b3     0x2  Code  Gb  hw_pwm.o [1]
+hw_pwm_dir_init          0x801'2529    0x7c  Code  Lc  hw_pwm.o [1]
 hw_pwm_dir_rw_map       0x2000'6614    0x24  Data  Gb  hw_pwm.o [1]
 hw_pwm_dutycycle_registers
                         0x2000'66ac     0xc  Data  Gb  hw_pwm.o [1]
 hw_pwm_egr_registers    0x2000'66c4     0xc  Data  Gb  hw_pwm.o [1]
 hw_pwm_en_rw_map        0x2000'6638    0x24  Data  Gb  hw_pwm.o [1]
-hw_pwm_get_alr           0x801'11ad    0x26  Code  Gb  hw_pwm.o [1]
-hw_pwm_get_clk           0x801'1237    0x10  Code  Gb  hw_pwm.o [1]
-hw_pwm_init              0x801'17a5    0x66  Code  Gb  hw_pwm.o [1]
-hw_pwm_it_register       0x801'1247    0x24  Code  Gb  hw_pwm.o [1]
+hw_pwm_get_alr           0x801'2419    0x26  Code  Gb  hw_pwm.o [1]
+hw_pwm_get_clk           0x801'24a3    0x10  Code  Gb  hw_pwm.o [1]
+hw_pwm_init              0x801'2a11    0x66  Code  Gb  hw_pwm.o [1]
+hw_pwm_it_register       0x801'24b3    0x24  Code  Gb  hw_pwm.o [1]
 hw_pwm_maps             0x2000'0354    0x24  Data  Lc  hw_pwm.o [1]
-hw_pwm_on_init           0x801'1339    0x7e  Code  Lc  hw_pwm.o [1]
+hw_pwm_on_init           0x801'25a5    0x7e  Code  Lc  hw_pwm.o [1]
 hw_pwm_period_registers
                         0x2000'66a0     0xc  Data  Gb  hw_pwm.o [1]
-hw_pwm_pulse_init        0x801'126b    0x52  Code  Lc  hw_pwm.o [1]
-hw_pwm_set_clr           0x801'11d3    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_set_dir           0x801'1149    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_set_enable        0x801'117b    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_set_tmode         0x801'1205    0x32  Code  Gb  hw_pwm.o [1]
-hw_pwm_tarr_init         0x801'152f    0x74  Code  Lc  hw_pwm.o [1]
-hw_pwm_timer_init        0x801'15a3   0x202  Code  Lc  hw_pwm.o [1]
-hw_pwm_tmode_init        0x801'14b3    0x7c  Code  Lc  hw_pwm.o [1]
-hw_run_status_init       0x801'6159    0x48  Code  Lc  board.o [1]
-hw_run_status_off        0x801'6145     0xa  Code  Gb  board.o [1]
-hw_run_status_on         0x801'614f     0xa  Code  Gb  board.o [1]
-hw_run_status_show       0x801'61e5    0x36  Code  Gb  board.o [1]
+hw_pwm_pulse_init        0x801'24d7    0x52  Code  Lc  hw_pwm.o [1]
+hw_pwm_set_clr           0x801'243f    0x32  Code  Gb  hw_pwm.o [1]
+hw_pwm_set_dir           0x801'23b5    0x32  Code  Gb  hw_pwm.o [1]
+hw_pwm_set_enable        0x801'23e7    0x32  Code  Gb  hw_pwm.o [1]
+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       0x802'6f51    0x48  Code  Lc  board.o [1]
+hw_run_status_off        0x802'6f3d     0xa  Code  Gb  board.o [1]
+hw_run_status_on         0x802'6f47     0xa  Code  Gb  board.o [1]
+hw_run_status_show       0x802'6fdd    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        0x801'8519    0x90  Code  Gb  io_app.o [1]
-io_app_write_ouput       0x801'85a9    0x38  Code  Gb  io_app.o [1]
-io_extern_count         0x2000'682b     0x1  Data  Lc  nodelink_master_app.o [1]
+io_app_read_input        0x802'9311    0x90  Code  Gb  io_app.o [1]
+io_app_write_ouput       0x802'93a1    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   0x2000'682c     0x1  Data  Lc  nodelink_master_app.o [1]
+io_extern_input_count   0x2000'68c9     0x1  Data  Lc  nodelink_master_app.o [1]
 io_extern_inputs        0x2000'6710     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  0x2000'682d     0x1  Data  Lc  nodelink_master_app.o [1]
+io_extern_output_count  0x2000'68ca     0x1  Data  Lc  nodelink_master_app.o [1]
 io_extern_outputs       0x2000'6718     0x8  Data  Gb  nodelink_master_app.o [1]
 io_input_map            0x2000'0168    0xa0  Data  Lc  hw_io_pin.o [1]
 io_inputs               0x2000'66e8     0xc  Data  Gb  io_app.o [1]
-io_inputs_M_old         0x2000'67ac     0x4  Data  Gb  IOPinConfig.o [1]
+io_inputs_M_old         0x2000'6838     0x4  Data  Gb  IOPinConfig.o [1]
 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             0x801'7701     0xa  Code  Gb  log_app.o [1]
-main                     0x801'85f9    0x80  Code  Gb  main.o [1]
+log_app_save             0x802'84f9     0xa  Code  Gb  log_app.o [1]
+main                     0x802'93f1    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          0x801'686d    0xc6  Code  Lc  nodelink_master_app.o [1]
-memcmp                   0x801'725d          Code  Gb  memcmp.o [4]
-mh_crc16_calc            0x801'7391    0x3e  Code  Gb  MathHelper.o [1]
-mh_crc8_calc             0x801'73cf    0x22  Code  Gb  MathHelper.o [1]
+master_callback          0x802'7665    0xc6  Code  Lc  nodelink_master_app.o [1]
+memcmp                   0x802'8055          Code  Gb  memcmp.o [4]
+mh_crc16_calc            0x802'8189    0x3e  Code  Gb  MathHelper.o [1]
+mh_crc8_calc             0x802'81c7    0x22  Code  Gb  MathHelper.o [1]
 middle_coils            0x2000'63dc    0x80  Data  Gb  variable.o [1]
-modbus_app_proc          0x801'7e5f    0x3a  Code  Gb  modbus_app.o [1]
-modbus_ascii_encoder     0x801'8774     0xc  Data  Lc  modbus_encoder.o [1]
-modbus_calc_crc          0x801'4d9f    0x3e  Code  Lc  modbus_encoder.o [1]
-modbus_calc_lrc          0x801'4d85    0x1a  Code  Lc  modbus_encoder.o [1]
+modbus_app_proc          0x802'8c57    0x3a  Code  Gb  modbus_app.o [1]
+modbus_ascii_encoder     0x802'956c     0xc  Data  Lc  modbus_encoder.o [1]
+modbus_calc_crc          0x802'5c17    0x3e  Code  Lc  modbus_encoder.o [1]
+modbus_calc_lrc          0x802'5bfd    0x1a  Code  Lc  modbus_encoder.o [1]
 modbus_encoder_ascii_decode
-                         0x801'4ed1    0x96  Code  Lc  modbus_encoder.o [1]
+                         0x802'5d49    0x96  Code  Lc  modbus_encoder.o [1]
 modbus_encoder_ascii_encode
-                         0x801'4e57    0x66  Code  Lc  modbus_encoder.o [1]
-modbus_encoder_get       0x801'4f93    0x14  Code  Gb  modbus_encoder.o [1]
-modbus_encoder_match     0x801'4f67    0x2c  Code  Gb  modbus_encoder.o [1]
+                         0x802'5ccf    0x66  Code  Lc  modbus_encoder.o [1]
+modbus_encoder_get       0x802'5e0b    0x14  Code  Gb  modbus_encoder.o [1]
+modbus_encoder_match     0x802'5ddf    0x2c  Code  Gb  modbus_encoder.o [1]
 modbus_encoder_rtu_decode
-                         0x801'4e1d    0x3a  Code  Lc  modbus_encoder.o [1]
+                         0x802'5c95    0x3a  Code  Lc  modbus_encoder.o [1]
 modbus_encoder_rtu_encode
-                         0x801'4ddd    0x32  Code  Lc  modbus_encoder.o [1]
+                         0x802'5c55    0x32  Code  Lc  modbus_encoder.o [1]
 modbus_endcoder_ascii_length_calc
-                         0x801'4ebd    0x14  Code  Lc  modbus_encoder.o [1]
+                         0x802'5d35    0x14  Code  Lc  modbus_encoder.o [1]
 modbus_endcoder_rtu_length_calc
-                         0x801'4e0f     0xe  Code  Lc  modbus_encoder.o [1]
+                         0x802'5c87     0xe  Code  Lc  modbus_encoder.o [1]
 modbus_master_add_once_cmd
-                         0x801'40cb    0x88  Code  Gb  modbus_master.o [1]
+                         0x802'545f    0x88  Code  Gb  modbus_master.o [1]
 modbus_master_add_period_cmd
-                         0x801'4049    0x82  Code  Gb  modbus_master.o [1]
-modbus_master_app        0x801'7e03    0x5c  Code  Lc  modbus_app.o [1]
+                         0x802'53dd    0x82  Code  Gb  modbus_master.o [1]
+modbus_master_app        0x802'8bfb    0x5c  Code  Lc  modbus_app.o [1]
 modbus_master_create_request
-                         0x801'4215   0x2de  Code  Lc  modbus_master.o [1]
+                         0x802'55a9   0x2de  Code  Lc  modbus_master.o [1]
 modbus_master_deal_respone
-                         0x801'44f3    0xb4  Code  Lc  modbus_master.o [1]
-modbus_master_get_cmd    0x801'4161    0xb4  Code  Lc  modbus_master.o [1]
-modbus_master_init       0x801'402d    0x1c  Code  Gb  modbus_master.o [1]
-modbus_master_run        0x801'45a7    0xe8  Code  Gb  modbus_master.o [1]
-modbus_rtu_encoder       0x801'8768     0xc  Data  Lc  modbus_encoder.o [1]
+                         0x802'5887    0xb4  Code  Lc  modbus_master.o [1]
+modbus_master_get_cmd    0x802'54f5    0xb4  Code  Lc  modbus_master.o [1]
+modbus_master_init       0x802'53c1    0x1c  Code  Gb  modbus_master.o [1]
+modbus_master_run        0x802'593b    0xe8  Code  Gb  modbus_master.o [1]
+modbus_rtu_encoder       0x802'9560     0xc  Data  Lc  modbus_encoder.o [1]
 modbus_slave_add_dataarea
-                         0x801'58f7    0x46  Code  Gb  modbus_slave.o [1]
-modbus_slave_app         0x801'7d4f    0xb4  Code  Lc  modbus_app.o [1]
+                         0x802'66ef    0x46  Code  Gb  modbus_slave.o [1]
+modbus_slave_app         0x802'8b47    0xb4  Code  Lc  modbus_app.o [1]
 modbus_slave_copy_to_flash
-                         0x801'5639    0x80  Code  Lc  modbus_slave.o [1]
-modbus_slave_enter_app   0x801'54e9    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_erase_app   0x801'553b    0x52  Code  Lc  modbus_slave.o [1]
-modbus_slave_exit_app    0x801'5497    0x52  Code  Lc  modbus_slave.o [1]
+                         0x802'6431    0x80  Code  Lc  modbus_slave.o [1]
+modbus_slave_enter_app   0x802'62e1    0x52  Code  Lc  modbus_slave.o [1]
+modbus_slave_erase_app   0x802'6333    0x52  Code  Lc  modbus_slave.o [1]
+modbus_slave_exit_app    0x802'628f    0x52  Code  Lc  modbus_slave.o [1]
 modbus_slave_find_dataarea
-                         0x801'503d    0x36  Code  Lc  modbus_slave.o [1]
+                         0x802'5e35    0x36  Code  Lc  modbus_slave.o [1]
 modbus_slave_read_coils
-                         0x801'5073    0xb6  Code  Lc  modbus_slave.o [1]
+                         0x802'5e6b    0xb6  Code  Lc  modbus_slave.o [1]
 modbus_slave_read_registers
-                         0x801'5129    0x8c  Code  Lc  modbus_slave.o [1]
+                         0x802'5f21    0x8c  Code  Lc  modbus_slave.o [1]
 modbus_slave_receive_app
-                         0x801'558d    0xac  Code  Lc  modbus_slave.o [1]
-modbus_slave_run         0x801'580d    0xea  Code  Gb  modbus_slave.o [1]
+                         0x802'6385    0xac  Code  Lc  modbus_slave.o [1]
+modbus_slave_run         0x802'6605    0xea  Code  Gb  modbus_slave.o [1]
 modbus_slave_write_coil
-                         0x801'51b5    0xa6  Code  Lc  modbus_slave.o [1]
+                         0x802'5fad    0xa6  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_coils
-                         0x801'525b   0x1d8  Code  Lc  modbus_slave.o [1]
+                         0x802'6053   0x1d8  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_register
-                         0x801'5433    0x64  Code  Lc  modbus_slave.o [1]
+                         0x802'622b    0x64  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_registers
-                         0x801'574b    0xc2  Code  Lc  modbus_slave.o [1]
+                         0x802'6543    0xc2  Code  Lc  modbus_slave.o [1]
 modbus_slave_write_to_flash
-                         0x801'56b9    0x92  Code  Lc  modbus_slave.o [1]
+                         0x802'64b1    0x92  Code  Lc  modbus_slave.o [1]
 modbus_status           0x2000'0378  0x1224  Data  Lc  modbus_app.o [1]
-mosbus_app_init          0x801'7c6f    0xe0  Code  Gb  modbus_app.o [1]
+mosbus_app_init          0x802'8a67    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            0x2000'67d0     0x4  Data  Lc  nodelink_master_app.o [1]
-nl_send_step            0x2000'67d4     0x4  Data  Gb  nodelink_master_app.o [1]
-nodelink_decode          0x801'7201    0x30  Code  Gb  NodeLinkCommon.o [1]
-nodelink_encode          0x801'7231    0x2a  Code  Gb  NodeLinkCommon.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          0x802'7ff9    0x30  Code  Gb  NodeLinkCommon.o [1]
+nodelink_encode          0x802'8029    0x2a  Code  Gb  NodeLinkCommon.o [1]
 nodelink_find_device_by_ID
-                         0x801'6da5    0x2c  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7b9d    0x2c  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_app_init
-                         0x801'6933    0x6a  Code  Gb  nodelink_master_app.o [1]
+                         0x802'772b    0x6a  Code  Gb  nodelink_master_app.o [1]
 nodelink_master_app_run
-                         0x801'699d   0x1e0  Code  Gb  nodelink_master_app.o [1]
+                         0x802'7795   0x1e0  Code  Gb  nodelink_master_app.o [1]
 nodelink_master_app_run::connect_time
-                        0x2000'67dc     0x4  Data  Lc  nodelink_master_app.o [1]
+                        0x2000'6854     0x4  Data  Lc  nodelink_master_app.o [1]
 nodelink_master_begin_scan
-                         0x801'6ef9    0x22  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7cf1    0x22  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_begin_working
-                         0x801'6f1b     0xe  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_init     0x801'6d4d    0x58  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_recv     0x801'6dd1   0x118  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_reset    0x801'6ee9    0x10  Code  Gb  NodeLinkMaster.o [1]
-nodelink_master_send     0x801'6f3f   0x2ac  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7d13     0xe  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_init     0x802'7b45    0x58  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_recv     0x802'7bc9   0x118  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_reset    0x802'7ce1    0x10  Code  Gb  NodeLinkMaster.o [1]
+nodelink_master_send     0x802'7d37   0x2ac  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_send::curDevice
-                        0x2000'6830     0x1  Data  Lc  NodeLinkMaster.o [1]
+                        0x2000'68cd     0x1  Data  Lc  NodeLinkMaster.o [1]
 nodelink_master_set_callback
-                         0x801'6f39     0x6  Code  Gb  NodeLinkMaster.o [1]
+                         0x802'7d31     0x6  Code  Gb  NodeLinkMaster.o [1]
 nodelink_master_set_code
-                         0x801'6f29    0x10  Code  Gb  NodeLinkMaster.o [1]
-nodelink_read_input      0x801'6bf5    0x5a  Code  Gb  nodelink_master_app.o [1]
-nodelink_timer_init      0x801'6b7d    0x5e  Code  Gb  nodelink_master_app.o [1]
-nodelink_write_output    0x801'6c4f    0x66  Code  Gb  nodelink_master_app.o [1]
+                         0x802'7d21    0x10  Code  Gb  NodeLinkMaster.o [1]
+nodelink_read_input      0x802'79ed    0x5a  Code  Gb  nodelink_master_app.o [1]
+nodelink_timer_init      0x802'7975    0x5e  Code  Gb  nodelink_master_app.o [1]
+nodelink_write_output    0x802'7a47    0x66  Code  Gb  nodelink_master_app.o [1]
 once_cmd_pool           0x2000'5d68   0x280  Data  Lc  modbus_master.o [1]
-page_infos               0x801'86d4    0x20  Data  Lc  st_flash.o [1]
-period_cmd_count        0x2000'67c8     0x4  Data  Lc  modbus_master.o [1]
+page_infos               0x802'94cc    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        0x2000'67e0     0x4  Data  Lc  poweroff_save_app.o [1]
-power_on_flag           0x2000'6831     0x1  Data  Lc  poweroff_save_app.o [1]
-poweroff_app_init        0x801'73fd   0x1ae  Code  Gb  poweroff_save_app.o [1]
-poweroff_app_run         0x801'75dd    0xa4  Code  Gb  poweroff_save_app.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        0x802'81f5   0x1ae  Code  Gb  poweroff_save_app.o [1]
+poweroff_app_run         0x802'83d5    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]
-reload_valve            0x2000'67f8     0x4  Data  Lc  software_timer.o [1]
-round                    0x801'1afd          Code  Gb  round.o [3]
-roundl                   0x801'1afd          Code  Gb  round.o [3]
+reload_valve            0x2000'6870     0x4  Data  Lc  software_timer.o [1]
+round                    0x801'2d89          Code  Gb  round.o [3]
+roundl                   0x801'2d89          Code  Gb  round.o [3]
 run_led_speed           0x2000'004c     0x4  Data  Gb  board.o [1]
 run_status_timer        0x2000'6700     0x8  Data  Lc  board.o [1]
 send_buffer             0x2000'623c   0x100  Data  Lc  nodelink_master_app.o [1]
 send_timer              0x2000'6720     0x8  Data  Lc  nodelink_master_app.o [1]
 sendtime                0x2000'1858     0x2  Data  Gb  nodelink_master_app.o [1]
-servo_axis_com_respone   0x801'09f3    0xf2  Code  Lc  servocom_app.o [1]
-servo_com_cmd            0x801'064d   0x224  Code  Lc  servocom_app.o [1]
+servo_axis_com_respone   0x801'556b    0xf2  Code  Lc  servocom_app.o [1]
+servo_com_cmd            0x801'51c5   0x224  Code  Lc  servocom_app.o [1]
 servo_com_cmd_table     0x2000'15b8   0x270  Data  Gb  servocom_app.o [1]
-servo_com_get_alarm      0x801'0ae5    0x2e  Code  Lc  servocom_app.o [1]
-servo_com_init           0x801'0e57   0x1d4  Code  Lc  servocom_app.o [1]
-servo_com_respone        0x801'0b13    0x36  Code  Gb  servocom_app.o [1]
-servo_com_run            0x801'1099    0x24  Code  Gb  servocom_app.o [1]
+servo_com_get_alarm      0x801'565d    0x2e  Code  Lc  servocom_app.o [1]
+servo_com_init           0x801'59cf   0x1d4  Code  Lc  servocom_app.o [1]
+servo_com_respone        0x801'568b    0x36  Code  Gb  servocom_app.o [1]
+servo_com_run            0x801'5c11    0x24  Code  Gb  servocom_app.o [1]
 servo_x                 0x2000'645c    0x68  Data  Gb  servocom_app.o [1]
 servo_y                 0x2000'64c4    0x68  Data  Gb  servocom_app.o [1]
-set_com_servo_param      0x801'08c7    0x28  Code  Gb  servocom_app.o [1]
+set_com_servo_param      0x801'543f    0x28  Code  Gb  servocom_app.o [1]
 set_ctrl_tarr_axis_init
-                         0x801'0c8f    0xc2  Code  Lc  servocom_app.o [1]
-set_ctrl_tarr_config     0x801'0d51    0x30  Code  Lc  servocom_app.o [1]
-set_servo_axis_mode      0x801'0d81    0xae  Code  Lc  servocom_app.o [1]
-set_servo_mode           0x801'0e2f    0x28  Code  Lc  servocom_app.o [1]
+                         0x801'5807    0xc2  Code  Lc  servocom_app.o [1]
+set_ctrl_tarr_config     0x801'58c9    0x30  Code  Lc  servocom_app.o [1]
+set_servo_axis_mode      0x801'58f9    0xae  Code  Lc  servocom_app.o [1]
+set_servo_mode           0x801'59a7    0x28  Code  Lc  servocom_app.o [1]
 set_servo_postotarr_limit
-                         0x801'0b49    0xf0  Code  Gb  servocom_app.o [1]
-slave1_on_comm           0x801'7c29    0x46  Code  Lc  modbus_app.o [1]
-slave_on_recv            0x801'67fb    0x68  Code  Lc  nodelink_master_app.o [1]
-slave_on_send            0x801'6791    0x6a  Code  Lc  nodelink_master_app.o [1]
-slave_on_timeout         0x801'6863     0xa  Code  Lc  nodelink_master_app.o [1]
+                         0x801'56c1    0xf0  Code  Gb  servocom_app.o [1]
+slave1_on_comm           0x802'8a21    0x46  Code  Lc  modbus_app.o [1]
+slave_on_recv            0x802'75f3    0x68  Code  Lc  nodelink_master_app.o [1]
+slave_on_send            0x802'7589    0x6a  Code  Lc  nodelink_master_app.o [1]
+slave_on_timeout         0x802'765b     0xa  Code  Lc  nodelink_master_app.o [1]
 slaves                  0x2000'6674    0x18  Data  Lc  modbus_app.o [1]
-st_dma_get_dmax          0x801'62c3    0x16  Code  Gb  st_dma.o [1]
-st_dma_get_stream        0x801'62b1    0x12  Code  Gb  st_dma.o [1]
-st_dma_init              0x801'627d    0x34  Code  Gb  st_dma.o [1]
+st_dma_get_dmax          0x802'70bb    0x16  Code  Gb  st_dma.o [1]
+st_dma_get_stream        0x802'70a9    0x12  Code  Gb  st_dma.o [1]
+st_dma_init              0x802'7075    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
-                         0x801'7847    0x22  Code  Gb  st_flash.o [1]
-st_flash_erase_secotr    0x801'7785    0x84  Code  Gb  st_flash.o [1]
-st_flash_error_no        0x801'7737    0x22  Code  Gb  st_flash.o [1]
-st_flash_lock            0x801'772b     0xc  Code  Gb  st_flash.o [1]
-st_flash_read            0x801'7911    0x20  Code  Gb  st_flash.o [1]
-st_flash_read_word       0x801'7843     0x4  Code  Gb  st_flash.o [1]
-st_flash_unlock          0x801'7711    0x1a  Code  Gb  st_flash.o [1]
-st_flash_wait_done       0x801'7759    0x2c  Code  Gb  st_flash.o [1]
-st_flash_write           0x801'7869    0x7e  Code  Gb  st_flash.o [1]
+                         0x802'863f    0x22  Code  Gb  st_flash.o [1]
+st_flash_erase_secotr    0x802'857d    0x84  Code  Gb  st_flash.o [1]
+st_flash_error_no        0x802'852f    0x22  Code  Gb  st_flash.o [1]
+st_flash_lock            0x802'8523     0xc  Code  Gb  st_flash.o [1]
+st_flash_read            0x802'8709    0x20  Code  Gb  st_flash.o [1]
+st_flash_read_word       0x802'863b     0x4  Code  Gb  st_flash.o [1]
+st_flash_unlock          0x802'8509    0x1a  Code  Gb  st_flash.o [1]
+st_flash_wait_done       0x802'8551    0x2c  Code  Gb  st_flash.o [1]
+st_flash_write           0x802'8661    0x7e  Code  Gb  st_flash.o [1]
 st_flash_write_half_word
-                         0x801'7809    0x3a  Code  Gb  st_flash.o [1]
-sw_timer_delay           0x801'4795    0x2a  Code  Gb  software_timer.o [1]
-sw_timer_expire          0x801'476b    0x2a  Code  Gb  software_timer.o [1]
-sw_timer_init            0x801'4707    0x18  Code  Gb  software_timer.o [1]
-sw_timer_now             0x801'471f    0x32  Code  Gb  software_timer.o [1]
-sw_timer_start           0x801'4751    0x1a  Code  Gb  software_timer.o [1]
+                         0x802'8601    0x3a  Code  Gb  st_flash.o [1]
+sw_timer_delay           0x802'5b29    0x2a  Code  Gb  software_timer.o [1]
+sw_timer_expire          0x802'5aff    0x2a  Code  Gb  software_timer.o [1]
+sw_timer_init            0x802'5a9b    0x18  Code  Gb  software_timer.o [1]
+sw_timer_now             0x802'5ab3    0x32  Code  Gb  software_timer.o [1]
+sw_timer_start           0x802'5ae5    0x1a  Code  Gb  software_timer.o [1]
 system_core_clock       0x2000'0050     0x4  Data  Lc  hardware_delay.o [1]
-testDisplay             0x2000'67e4     0x4  Data  Gb  poweroff_save_app.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            0x801'7931    0x6c  Code  Gb  TinyLog.o [1]
-user_app_init            0x801'867b     0x8  Code  Gb  user_app.o [1]
-user_app_run             0x801'8683     0x8  Code  Gb  user_app.o [1]
+tiny_log_save            0x802'8729    0x6c  Code  Gb  TinyLog.o [1]
+user_app_init            0x802'9473     0x8  Code  Gb  user_app.o [1]
+user_app_run             0x802'947b     0x8  Code  Gb  user_app.o [1]
 user_datas              0x2000'4a48  0x1000  Data  Gb  variable.o [1]
-variable_init            0x801'8679     0x2  Code  Gb  variable.o [1]
-xxtea_uint_encrypt       0x801'72c5    0xc6  Code  Gb  encrypt_xxtea.o [1]
+variable_init            0x802'9471     0x2  Code  Gb  variable.o [1]
+xxtea_uint_encrypt       0x802'80bd    0xc6  Code  Gb  encrypt_xxtea.o [1]
 
 
-[1] = E:\1Works\1Softwork\GC23005\Project\iar_release\Obj
+[1] = E:\1Works\GC23005\Project\iar_release\Obj
 [2] = dl7M_tln.a
 [3] = m7M_tl.a
 [4] = rt7M_tl.a
 [5] = shb_l.a
 
-  53 512 bytes of readonly  code memory
-   2 129 bytes of readonly  data memory
-  34 864 bytes of readwrite data memory
+  122 624 bytes of readonly  code memory
+    2 129 bytes of readonly  data memory
+   35 021 bytes of readwrite data memory
 
 Errors: none
 Warnings: none

+ 2 - 2
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\1Softwork\GC23005\Project\settings\Project.Debug.general.xcl" --backend -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.driver.xcl" 
+"C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\GC23005\Project\settings\Project.Debug.general.xcl" --backend -f "E:\1Works\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\1Softwork\GC23005\Project\settings\Project.Debug.general.xcl" "--debug_file=%~1" --backend -f "E:\1Works\1Softwork\GC23005\Project\settings\Project.Debug.driver.xcl" 
+"C:\Program Files (x86)\IAR Systems\Embedded Workbench 8.2\common\bin\cspybat" -f "E:\1Works\GC23005\Project\settings\Project.Debug.general.xcl" "--debug_file=%~1" --backend -f "E:\1Works\GC23005\Project\settings\Project.Debug.driver.xcl" 
 
 @echo off 
 :end

+ 2 - 2
Project/settings/Project.Debug.cspy.ps1

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

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

+ 1 - 1
Project/settings/Project.dnx

@@ -179,7 +179,7 @@
         <Bp0>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\YingXingMachine\YXTWOChuantou_HeLian.c}.811.1" 0 0 1 "" 0 "" 0</Bp0>
         <Bp1>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\YingXingMachine\YXTWOChuantou_HeLian.h}.96.1" 0 0 1 "" 0 "" 0</Bp1>
         <Bp2>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\YingXingMachine\YXTWOChuantou_HeLian.c}.845.1" 0 0 1 "" 0 "" 0</Bp2>
-        <Bp3>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\FuXiaoWeiMachine\FXWChuantou_HeLian.h}.0.1" 0 0 1 "" 0 "" 0</Bp3>
+        <Bp3>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\FuXiaoWeiMachine\FXWChuantou_HeLian.h}.350.1" 0 0 1 "" 0 "" 0</Bp3>
         <Bp4>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\User\Action.c}.2.14" 0 0 1 "" 0 "" 0</Bp4>
         <Bp5>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\ChuanChiMachine\CCChuantou_HeLian.c}.57.1" 0 0 1 "" 0 "" 0</Bp5>
         <Bp6>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\Machine\ChuanChiMachine\CCChuantou_HeLian.c}.625.1" 0 0 1 "" 0 "" 0</Bp6>

Fișier diff suprimat deoarece este prea mare
+ 9 - 9
Project/settings/project.wsdt


+ 2 - 2
User/Action.h

@@ -202,7 +202,7 @@ extern unsigned char Y07Flg;
 #define HAI_HUA_MACHINE      (0)               // 海华拉链
 #define JIN_HONG_MACHINE     (0)               // 锦泓拉链
 #define HONG_YE_MACHINE      (0)               // 宏业拉链
-#define FU_XIAO_WEI_MACHINE   (0)               // 付小伟
+#define FU_XIAO_WEI_MACHINE   (1)               // 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      (0)               // 振宇拉链
@@ -223,7 +223,7 @@ extern unsigned char Y07Flg;
 #define ZHANG_CHUN_YANG_MACHINE        (0)        //张春阳
 #define LONG_YI_MACHINE        (0)               //龙一
 #define JING_LONG_MACHINE        (0)               //金龙拉链
-#define JUN_YUE_MACHINE        (1)               //福建俊跃拉链
+#define JUN_YUE_MACHINE        (0)               //福建俊跃拉链
 //板脉冲方式定义
 #define SET_PULSE_TYPE cSetPulseType
 

Unele fișiere nu au fost afișate deoarece prea multe fișiere au fost modificate în acest diff