bug

Posted 2020-11-04 isupersun

 1    168:                 s[cur] = (Fmin+Acceleration*t[cur]/2.0)*t[cur];             //s = vt + a*t*t/2 = (v+a*t/2)t 
 2 0x0800144A 499D      LDR      r1,[pc,#628]  ; @0x080016C0
 3 0x0800144C F8510024  LDR      r0,[r1,r4,LSL #2]
 4 0x08001450 F004FEDA  BL.W     __aeabi_f2d (0x08006208)
 5 0x08001454 E9CD0108  STRD     r0,r1,[sp,#0x20]
 6 0x08001458 4899      LDR      r0,[pc,#612]  ; @0x080016C0
 7 0x0800145A F8501024  LDR      r1,[r0,r4,LSL #2]
 8 0x0800145E 4658      MOV      r0,r11
 9 0x08001460 F005F86E  BL.W     __aeabi_fmul (0x08006540)
10 0x08001464 9001      STR      r0,[sp,#0x04]
11 0x08001466 F004FECF  BL.W     __aeabi_f2d (0x08006208)
12 0x0800146A 4607      MOV      r7,r0
13 0x0800146C 2200      MOVS     r2,#0x00
14 0x0800146E F04F4380  MOV      r3,#0x40000000
15 0x08001472 F004FB5F  BL.W     __aeabi_ddiv (0x08005B34)
16 0x08001476 E9CD0104  STRD     r0,r1,[sp,#0x10]
17 0x0800147A 4628      MOV      r0,r5
18 0x0800147C F004FCC9  BL.W     __aeabi_ui2d (0x08005E12)
19 0x08001480 E9CD0102  STRD     r0,r1,[sp,#0x08]
20 0x08001484 E9DD2304  LDRD     r2,r3,[sp,#0x10]
21 0x08001488 F004FAAC  BL.W     __aeabi_dadd (0x080059E4)
22 0x0800148C E9CD0106  STRD     r0,r1,[sp,#0x18]
23 0x08001490 E9DD2308  LDRD     r2,r3,[sp,#0x20]
24 0x08001494 F004FCD0  BL.W     __aeabi_dmul (0x08005E38)
25 0x08001498 E9CD010A  STRD     r0,r1,[sp,#0x28]
26 0x0800149C F005F992  BL.W     __aeabi_d2ulz (0x080067C4)
27 0x080014A0 4A89      LDR      r2,[pc,#548]  ; @0x080016C8
28 0x080014A2 EB0202C4  ADD      r2,r2,r4,LSL #3
29 0x080014A6 C203      STM      r2!,{r0-r1}

 1    167:                 s[cur]    =(Fmin*t[cur]+Acceleration*t[cur]*t[cur]/2.0);               //s = vt + a*t*t/2 = (v+a*t/2)t 
 2    168:                 //s[cur]    =(Fmin+Acceleration*t[cur]/2.0)*t[cur];         //s = vt + a*t*t/2 = (v+a*t/2)t 
 3 0x0800144A 48A0      LDR      r0,[pc,#640]  ; @0x080016CC
 4 0x0800144C F8501024  LDR      r1,[r0,r4,LSL #2]
 5 0x08001450 9809      LDR      r0,[sp,#0x24]
 6 0x08001452 F004FFBF  BL.W     __aeabi_fmul (0x080063D4)
 7 0x08001456 9001      STR      r0,[sp,#0x04]
 8 0x08001458 489C      LDR      r0,[pc,#624]  ; @0x080016CC
 9 0x0800145A F8501024  LDR      r1,[r0,r4,LSL #2]
10 0x0800145E 9801      LDR      r0,[sp,#0x04]
11 0x08001460 F004FFB8  BL.W     __aeabi_fmul (0x080063D4)
12 0x08001464 4683      MOV      r11,r0
13 0x08001466 F004FE19  BL.W     __aeabi_f2d (0x0800609C)
14 0x0800146A 4607      MOV      r7,r0
15 0x0800146C 2200      MOVS     r2,#0x00
16 0x0800146E F04F4380  MOV      r3,#0x40000000
17 0x08001472 F004FB65  BL.W     __aeabi_ddiv (0x08005B40)
18 0x08001476 E9CD0104  STRD     r0,r1,[sp,#0x10]
19 0x0800147A 4628      MOV      r0,r5
20 0x0800147C F004FF96  BL.W     __aeabi_ui2f (0x080063AC)
21 0x08001480 4680      MOV      r8,r0
22 0x08001482 4892      LDR      r0,[pc,#584]  ; @0x080016CC
23 0x08001484 F8501024  LDR      r1,[r0,r4,LSL #2]
24 0x08001488 4640      MOV      r0,r8
25 0x0800148A F004FFA3  BL.W     __aeabi_fmul (0x080063D4)
26 0x0800148E 4607      MOV      r7,r0
27 0x08001490 F004FE04  BL.W     __aeabi_f2d (0x0800609C)
28 0x08001494 E9CD0102  STRD     r0,r1,[sp,#0x08]
29 0x08001498 E9DD2304  LDRD     r2,r3,[sp,#0x10]
30 0x0800149C F004FAA8  BL.W     __aeabi_dadd (0x080059F0)
31 0x080014A0 E9CD0106  STRD     r0,r1,[sp,#0x18]
32 0x080014A4 F005F8D8  BL.W     __aeabi_d2ulz (0x08006658)
33 0x080014A8 4A8A      LDR      r2,[pc,#552]  ; @0x080016D4
34 0x080014AA EB0202C4  ADD      r2,r2,r4,LSL #3
35 0x080014AE C203      STM      r2!,{r0-r1}

为了提高运行，想化简公式，结果发现化简公式后，伺服电机电动时，时转时不转。而后一点一点修改代码，发现问题出在上面的语句中，截图了程序的汇编代码以作参考。