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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1997 | - | 1 | 1 .file "timer0.c" |
| 2 | 2 .arch atmega1284p |
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| 3 | 3 __SREG__ = 0x3f |
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| 4 | 4 __SP_H__ = 0x3e |
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| 5 | 5 __SP_L__ = 0x3d |
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| 6 | 6 __tmp_reg__ = 0 |
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| 7 | 7 __zero_reg__ = 1 |
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| 8 | 8 .global __do_copy_data |
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| 9 | 9 .global __do_clear_bss |
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| 10 | 10 .global ServoRollValue |
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| 11 | 11 .global ServoRollValue |
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| 12 | 12 .section .bss |
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| 13 | 15 ServoRollValue: |
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| 14 | 16 0000 0000 .skip 2,0 |
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| 15 | 17 .global ServoNickValue |
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| 16 | 18 .global ServoNickValue |
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| 17 | 21 ServoNickValue: |
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| 18 | 22 0002 0000 .skip 2,0 |
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| 19 | 23 .global BeepMuster |
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| 20 | 24 .data |
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| 21 | 27 BeepMuster: |
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| 22 | 28 0000 FFFF .word -1 |
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| 23 | 29 .global ServoRollOffset |
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| 24 | 32 ServoRollOffset: |
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| 25 | 33 0002 C01F .word 8128 |
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| 26 | 34 .global ServoNickOffset |
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| 27 | 37 ServoNickOffset: |
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| 28 | 38 0004 C01F .word 8128 |
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| 29 | 39 .global RemainingPulse |
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| 30 | 40 .global RemainingPulse |
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| 31 | 41 .section .bss |
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| 32 | 44 RemainingPulse: |
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| 33 | 45 0004 0000 .skip 2,0 |
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| 34 | 46 .global CalculateServoSignals |
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| 35 | 47 .data |
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| 36 | 50 CalculateServoSignals: |
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| 37 | 51 0006 01 .byte 1 |
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| 38 | 52 .global ServoActive |
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| 39 | 53 .global ServoActive |
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| 40 | 54 .section .bss |
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| 41 | 57 ServoActive: |
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| 42 | 58 0006 00 .skip 1,0 |
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| 43 | 59 .global SendSPI |
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| 44 | 60 .global SendSPI |
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| 45 | 63 SendSPI: |
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| 46 | 64 0007 00 .skip 1,0 |
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| 47 | 65 .global beeptime |
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| 48 | 66 .global beeptime |
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| 49 | 69 beeptime: |
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| 50 | 70 0008 0000 .skip 2,0 |
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| 51 | 71 .global cntKompass |
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| 52 | 72 .global cntKompass |
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| 53 | 75 cntKompass: |
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| 54 | 76 000a 0000 .skip 2,0 |
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| 55 | 77 .global UpdateMotor |
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| 56 | 78 .global UpdateMotor |
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| 57 | 81 UpdateMotor: |
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| 58 | 82 000c 00 .skip 1,0 |
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| 59 | 83 .global CountMilliseconds |
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| 60 | 84 .global CountMilliseconds |
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| 61 | 87 CountMilliseconds: |
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| 62 | 88 000d 0000 .skip 2,0 |
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| 63 | 89 .data |
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| 64 | 92 cnt_1ms.3: |
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| 65 | 93 0007 01 .byte 1 |
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| 66 | 94 .lcomm cnt.4,1 |
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| 67 | 95 .lcomm compass_active.5,1 |
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| 68 | 96 .text |
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| 69 | 97 .global __vector_18 |
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| 70 | 99 __vector_18: |
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| 71 | 100 /* prologue: frame size=0 */ |
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| 72 | 101 0000 1F92 push __zero_reg__ |
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| 73 | 102 0002 0F92 push __tmp_reg__ |
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| 74 | 103 0004 0FB6 in __tmp_reg__,__SREG__ |
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| 75 | 104 0006 0F92 push __tmp_reg__ |
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| 76 | 105 0008 1124 clr __zero_reg__ |
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| 77 | 106 000a 2F93 push r18 |
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| 78 | 107 000c 3F93 push r19 |
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| 79 | 108 000e 5F93 push r21 |
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| 80 | 109 0010 6F93 push r22 |
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| 81 | 110 0012 7F93 push r23 |
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| 82 | 111 0014 8F93 push r24 |
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| 83 | 112 0016 9F93 push r25 |
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| 84 | 113 0018 AF93 push r26 |
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| 85 | 114 001a BF93 push r27 |
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| 86 | 115 001c EF93 push r30 |
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| 87 | 116 001e FF93 push r31 |
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| 88 | 117 /* prologue end (size=16) */ |
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| 89 | 118 0020 20E0 ldi r18,lo8(0) |
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| 90 | 119 0022 8091 0000 lds r24,SendSPI |
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| 91 | 120 0026 8823 tst r24 |
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| 92 | 121 0028 01F0 breq .L2 |
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| 93 | 122 002a 8091 0000 lds r24,SendSPI |
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| 94 | 123 002e 8150 subi r24,lo8(-(-1)) |
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| 95 | 124 0030 8093 0000 sts SendSPI,r24 |
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| 96 | 125 .L2: |
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| 97 | 126 0034 8091 0000 lds r24,SpektrumTimer |
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| 98 | 127 0038 8823 tst r24 |
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| 99 | 128 003a 01F0 breq .L3 |
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| 100 | 129 003c 8150 subi r24,lo8(-(-1)) |
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| 101 | 130 003e 8093 0000 sts SpektrumTimer,r24 |
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| 102 | 131 .L3: |
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| 103 | 132 0042 8091 0000 lds r24,cnt.4 |
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| 104 | 133 0046 8150 subi r24,lo8(-(-1)) |
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| 105 | 134 0048 8093 0000 sts cnt.4,r24 |
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| 106 | 135 004c 8F3F cpi r24,lo8(-1) |
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| 107 | 136 004e 01F0 breq .+2 |
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| 108 | 137 0050 00C0 rjmp .L4 |
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| 109 | 138 0052 89E0 ldi r24,lo8(9) |
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| 110 | 139 0054 8093 0000 sts cnt.4,r24 |
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| 111 | 140 0058 8091 0000 lds r24,CountMilliseconds |
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| 112 | 141 005c 9091 0000 lds r25,(CountMilliseconds)+1 |
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| 113 | 142 0060 0196 adiw r24,1 |
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| 114 | 143 0062 9093 0000 sts (CountMilliseconds)+1,r25 |
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| 115 | 144 0066 8093 0000 sts CountMilliseconds,r24 |
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| 116 | 145 006a 8091 0000 lds r24,cnt_1ms.3 |
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| 117 | 146 006e 8F5F subi r24,lo8(-(1)) |
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| 118 | 147 0070 8170 andi r24,lo8(1) |
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| 119 | 148 0072 8093 0000 sts cnt_1ms.3,r24 |
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| 120 | 149 0076 8823 tst r24 |
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| 121 | 150 0078 01F4 brne .L5 |
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| 122 | 151 007a 81E0 ldi r24,lo8(1) |
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| 123 | 152 007c 8093 0000 sts UpdateMotor,r24 |
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| 124 | 153 .L5: |
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| 125 | 154 0080 3499 sbic 38-0x20,4 |
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| 126 | 155 0082 00C0 rjmp .L6 |
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| 127 | 156 0084 81E0 ldi r24,lo8(1) |
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| 128 | 157 0086 8093 0000 sts compass_active.5,r24 |
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| 129 | 158 .L6: |
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| 130 | 159 008a 8091 0000 lds r24,beeptime |
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| 131 | 160 008e 9091 0000 lds r25,(beeptime)+1 |
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| 132 | 161 0092 892B or r24,r25 |
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| 133 | 162 0094 01F0 breq .L7 |
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| 134 | 163 0096 8091 0000 lds r24,beeptime |
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| 135 | 164 009a 9091 0000 lds r25,(beeptime)+1 |
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| 136 | 165 009e 0B97 sbiw r24,11 |
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| 137 | 166 00a0 00F0 brlo .L8 |
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| 138 | 167 00a2 8091 0000 lds r24,beeptime |
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| 139 | 168 00a6 9091 0000 lds r25,(beeptime)+1 |
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| 140 | 169 00aa 0A97 sbiw r24,10 |
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| 141 | 170 00ac 9093 0000 sts (beeptime)+1,r25 |
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| 142 | 171 00b0 8093 0000 sts beeptime,r24 |
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| 143 | 172 00b4 00C0 rjmp .L9 |
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| 144 | 173 .L8: |
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| 145 | 174 00b6 1092 0000 sts (beeptime)+1,__zero_reg__ |
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| 146 | 175 00ba 1092 0000 sts beeptime,__zero_reg__ |
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| 147 | 176 .L9: |
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| 148 | 177 00be 8091 0000 lds r24,beeptime |
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| 149 | 178 00c2 9091 0000 lds r25,(beeptime)+1 |
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| 150 | 179 00c6 2091 0000 lds r18,BeepMuster |
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| 151 | 180 00ca 3091 0000 lds r19,(BeepMuster)+1 |
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| 152 | 181 00ce 8223 and r24,r18 |
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| 153 | 182 00d0 9323 and r25,r19 |
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| 154 | 183 00d2 892B or r24,r25 |
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| 155 | 184 00d4 01F0 breq .L10 |
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| 156 | 185 00d6 21E0 ldi r18,lo8(1) |
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| 157 | 186 00d8 00C0 rjmp .L12 |
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| 158 | 187 .L10: |
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| 159 | 188 00da 20E0 ldi r18,lo8(0) |
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| 160 | 189 00dc 00C0 rjmp .L12 |
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| 161 | 190 .L7: |
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| 162 | 191 00de 8FEF ldi r24,lo8(-1) |
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| 163 | 192 00e0 9FEF ldi r25,hi8(-1) |
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| 164 | 193 00e2 9093 0000 sts (BeepMuster)+1,r25 |
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| 165 | 194 00e6 8093 0000 sts BeepMuster,r24 |
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| 166 | 195 .L12: |
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| 167 | 196 00ea 8091 0000 lds r24,PlatinenVersion |
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| 168 | 197 00ee 2223 tst r18 |
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| 169 | 198 00f0 01F0 breq .L13 |
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| 170 | 199 00f2 8A30 cpi r24,lo8(10) |
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| 171 | 200 00f4 01F4 brne .L14 |
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| 172 | 201 00f6 5A9A sbi 43-0x20,2 |
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| 173 | 202 00f8 00C0 rjmp .L4 |
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| 174 | 203 .L14: |
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| 175 | 204 00fa 479A sbi 40-0x20,7 |
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| 176 | 205 00fc 00C0 rjmp .L4 |
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| 177 | 206 .L13: |
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| 178 | 207 00fe 8A30 cpi r24,lo8(10) |
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| 179 | 208 0100 01F4 brne .L17 |
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| 180 | 209 0102 5A98 cbi 43-0x20,2 |
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| 181 | 210 0104 00C0 rjmp .L4 |
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| 182 | 211 .L17: |
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| 183 | 212 0106 4798 cbi 40-0x20,7 |
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| 184 | 213 .L4: |
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| 185 | 214 0108 8091 0000 lds r24,compass_active.5 |
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| 186 | 215 010c 8823 tst r24 |
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| 187 | 216 010e 01F4 brne .+2 |
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| 188 | 217 0110 00C0 rjmp .L1 |
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| 189 | 218 0112 2091 0000 lds r18,NaviDataOkay |
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| 190 | 219 0116 2223 tst r18 |
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| 191 | 220 0118 01F0 breq .+2 |
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| 192 | 221 011a 00C0 rjmp .L1 |
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| 193 | 222 011c 8091 0000 lds r24,Parameter_GlobalConfig |
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| 194 | 223 0120 83FF sbrs r24,3 |
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| 195 | 224 0122 00C0 rjmp .L1 |
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| 196 | 225 0124 86B1 in r24,38-0x20 |
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| 197 | 226 0126 9927 clr r25 |
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| 198 | 227 0128 FC01 movw r30,r24 |
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| 199 | 228 012a E071 andi r30,lo8(16) |
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| 200 | 229 012c F070 andi r31,hi8(16) |
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| 201 | 230 012e 84FF sbrs r24,4 |
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| 202 | 231 0130 00C0 rjmp .L20 |
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| 203 | 232 0132 8091 0000 lds r24,cntKompass |
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| 204 | 233 0136 9091 0000 lds r25,(cntKompass)+1 |
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| 205 | 234 013a 0196 adiw r24,1 |
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| 206 | 235 013c 9093 0000 sts (cntKompass)+1,r25 |
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| 207 | 236 0140 8093 0000 sts cntKompass,r24 |
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| 208 | 237 0144 8091 0000 lds r24,cntKompass |
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| 209 | 238 0148 9091 0000 lds r25,(cntKompass)+1 |
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| 210 | 239 014c 895E subi r24,lo8(1001) |
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| 211 | 240 014e 9340 sbci r25,hi8(1001) |
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| 212 | 241 0150 00F0 brlo .L1 |
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| 213 | 242 0152 2093 0000 sts compass_active.5,r18 |
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| 214 | 243 0156 00C0 rjmp .L1 |
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| 215 | 244 .L20: |
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| 216 | 245 0158 8091 0000 lds r24,cntKompass |
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| 217 | 246 015c 9091 0000 lds r25,(cntKompass)+1 |
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| 218 | 247 0160 892B or r24,r25 |
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| 219 | 248 0162 01F0 breq .L23 |
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| 220 | 249 0164 8091 0000 lds r24,cntKompass |
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| 221 | 250 0168 9091 0000 lds r25,(cntKompass)+1 |
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| 222 | 251 016c 8A56 subi r24,lo8(362) |
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| 223 | 252 016e 9140 sbci r25,hi8(362) |
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| 224 | 253 0170 00F4 brsh .L23 |
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| 225 | 254 0172 8091 0000 lds r24,cntKompass |
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| 226 | 255 0176 9091 0000 lds r25,(cntKompass)+1 |
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| 227 | 256 017a 69E2 ldi r22,lo8(41) |
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| 228 | 257 017c 70E0 ldi r23,hi8(41) |
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| 229 | 258 017e 0E94 0000 call __udivmodhi4 |
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| 230 | 259 0182 8091 0000 lds r24,cntKompass |
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| 231 | 260 0186 9091 0000 lds r25,(cntKompass)+1 |
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| 232 | 261 018a 860F add r24,r22 |
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| 233 | 262 018c 971F adc r25,r23 |
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| 234 | 263 018e 9093 0000 sts (cntKompass)+1,r25 |
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| 235 | 264 0192 8093 0000 sts cntKompass,r24 |
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| 236 | 265 0196 8091 0000 lds r24,cntKompass |
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| 237 | 266 019a 9091 0000 lds r25,(cntKompass)+1 |
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| 238 | 267 019e 0B97 sbiw r24,11 |
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| 239 | 268 01a0 00F0 brlo .L24 |
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| 240 | 269 01a2 8091 0000 lds r24,cntKompass |
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| 241 | 270 01a6 9091 0000 lds r25,(cntKompass)+1 |
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| 242 | 271 01aa 0A97 sbiw r24,10 |
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| 243 | 272 01ac 9093 0000 sts (KompassValue)+1,r25 |
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| 244 | 273 01b0 8093 0000 sts KompassValue,r24 |
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| 245 | 274 01b4 00C0 rjmp .L23 |
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| 246 | 275 .L24: |
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| 247 | 276 01b6 F093 0000 sts (KompassValue)+1,r31 |
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| 248 | 277 01ba E093 0000 sts KompassValue,r30 |
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| 249 | 278 .L23: |
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| 250 | 279 01be 1092 0000 sts (cntKompass)+1,__zero_reg__ |
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| 251 | 280 01c2 1092 0000 sts cntKompass,__zero_reg__ |
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| 252 | 281 .L1: |
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| 253 | 282 /* epilogue: frame size=0 */ |
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| 254 | 283 01c6 FF91 pop r31 |
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| 255 | 284 01c8 EF91 pop r30 |
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| 256 | 285 01ca BF91 pop r27 |
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| 257 | 286 01cc AF91 pop r26 |
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| 258 | 287 01ce 9F91 pop r25 |
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| 259 | 288 01d0 8F91 pop r24 |
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| 260 | 289 01d2 7F91 pop r23 |
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| 261 | 290 01d4 6F91 pop r22 |
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| 262 | 291 01d6 5F91 pop r21 |
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| 263 | 292 01d8 3F91 pop r19 |
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| 264 | 293 01da 2F91 pop r18 |
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| 265 | 294 01dc 0F90 pop __tmp_reg__ |
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| 266 | 295 01de 0FBE out __SREG__,__tmp_reg__ |
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| 267 | 296 01e0 0F90 pop __tmp_reg__ |
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| 268 | 297 01e2 1F90 pop __zero_reg__ |
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| 269 | 298 01e4 1895 reti |
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| 270 | 299 /* epilogue end (size=16) */ |
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| 271 | 300 /* function __vector_18 size 247 (215) */ |
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| 272 | 302 .global SetDelay |
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| 273 | 304 SetDelay: |
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| 274 | 305 /* prologue: frame size=0 */ |
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| 275 | 306 /* prologue end (size=0) */ |
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| 276 | 307 01e6 2091 0000 lds r18,CountMilliseconds |
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| 277 | 308 01ea 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 278 | 309 01ee 280F add r18,r24 |
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| 279 | 310 01f0 391F adc r19,r25 |
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| 280 | 311 01f2 C901 movw r24,r18 |
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| 281 | 312 01f4 0196 adiw r24,1 |
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| 282 | 313 /* epilogue: frame size=0 */ |
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| 283 | 314 01f6 0895 ret |
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| 284 | 315 /* epilogue end (size=1) */ |
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| 285 | 316 /* function SetDelay size 9 (8) */ |
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| 286 | 318 .global CheckDelay |
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| 287 | 320 CheckDelay: |
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| 288 | 321 /* prologue: frame size=0 */ |
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| 289 | 322 /* prologue end (size=0) */ |
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| 290 | 323 01f8 2091 0000 lds r18,CountMilliseconds |
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| 291 | 324 01fc 3091 0000 lds r19,(CountMilliseconds)+1 |
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| 292 | 325 0200 821B sub r24,r18 |
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| 293 | 326 0202 930B sbc r25,r19 |
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| 294 | 327 0204 892F mov r24,r25 |
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| 295 | 328 0206 9927 clr r25 |
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| 296 | 329 0208 8695 lsr r24 |
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| 297 | 330 020a 8074 andi r24,lo8(64) |
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| 298 | 331 020c 9070 andi r25,hi8(64) |
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| 299 | 332 /* epilogue: frame size=0 */ |
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| 300 | 333 020e 0895 ret |
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| 301 | 334 /* epilogue end (size=1) */ |
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| 302 | 335 /* function CheckDelay size 12 (11) */ |
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| 303 | 337 .global Delay_ms |
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| 304 | 339 Delay_ms: |
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| 305 | 340 /* prologue: frame size=0 */ |
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| 306 | 341 0210 CF93 push r28 |
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| 307 | 342 0212 DF93 push r29 |
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| 308 | 343 /* prologue end (size=2) */ |
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| 309 | 344 0214 0E94 0000 call SetDelay |
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| 310 | 345 0218 EC01 movw r28,r24 |
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| 311 | 346 .L29: |
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| 312 | 347 021a CE01 movw r24,r28 |
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| 313 | 348 021c 0E94 0000 call CheckDelay |
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| 314 | 349 0220 8823 tst r24 |
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| 315 | 350 0222 01F0 breq .L29 |
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| 316 | 351 /* epilogue: frame size=0 */ |
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| 317 | 352 0224 DF91 pop r29 |
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| 318 | 353 0226 CF91 pop r28 |
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| 319 | 354 0228 0895 ret |
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| 320 | 355 /* epilogue end (size=3) */ |
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| 321 | 356 /* function Delay_ms size 13 (8) */ |
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| 322 | 358 .global Delay_ms_Mess |
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| 323 | 360 Delay_ms_Mess: |
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| 324 | 361 /* prologue: frame size=0 */ |
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| 325 | 362 022a CF93 push r28 |
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| 326 | 363 022c DF93 push r29 |
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| 327 | 364 /* prologue end (size=2) */ |
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| 328 | 365 022e 0E94 0000 call SetDelay |
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| 329 | 366 0232 EC01 movw r28,r24 |
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| 330 | 367 0234 00C0 rjmp .L40 |
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| 331 | 368 .L36: |
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| 332 | 369 0236 8091 0000 lds r24,AdReady |
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| 333 | 370 023a 8823 tst r24 |
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| 334 | 371 023c 01F0 breq .L40 |
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| 335 | 372 023e 9093 0000 sts AdReady,r25 |
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| 336 | 373 0242 8FEC ldi r24,lo8(-49) |
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| 337 | 374 0244 8093 7A00 sts 122,r24 |
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| 338 | 375 .L40: |
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| 339 | 376 0248 CE01 movw r24,r28 |
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| 340 | 377 024a 0E94 0000 call CheckDelay |
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| 341 | 378 024e 982F mov r25,r24 |
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| 342 | 379 0250 8823 tst r24 |
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| 343 | 380 0252 01F0 breq .L36 |
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| 344 | 381 /* epilogue: frame size=0 */ |
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| 345 | 382 0254 DF91 pop r29 |
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| 346 | 383 0256 CF91 pop r28 |
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| 347 | 384 0258 0895 ret |
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| 348 | 385 /* epilogue end (size=3) */ |
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| 349 | 386 /* function Delay_ms_Mess size 24 (19) */ |
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| 350 | 388 .global TIMER2_Init |
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| 351 | 390 TIMER2_Init: |
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| 352 | 391 /* prologue: frame size=0 */ |
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| 353 | 392 /* prologue end (size=0) */ |
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| 354 | 393 025a 9FB7 in r25,95-0x20 |
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| 355 | 394 /* #APP */ |
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| 356 | 395 025c F894 cli |
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| 357 | 396 /* #NOAPP */ |
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| 358 | 397 025e 5F98 cbi 43-0x20,7 |
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| 359 | 398 0260 3E9A sbi 39-0x20,6 |
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| 360 | 399 0262 469A sbi 40-0x20,6 |
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| 361 | 400 0264 8091 B000 lds r24,176 |
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| 362 | 401 0268 8F70 andi r24,lo8(15) |
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| 363 | 402 026a 8093 B000 sts 176,r24 |
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| 364 | 403 026e 8091 B000 lds r24,176 |
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| 365 | 404 0272 8360 ori r24,lo8(3) |
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| 366 | 405 0274 8093 B000 sts 176,r24 |
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| 367 | 406 0278 8091 B100 lds r24,177 |
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| 368 | 407 027c 8B73 andi r24,lo8(59) |
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| 369 | 408 027e 8093 B100 sts 177,r24 |
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| 370 | 409 0282 8091 B100 lds r24,177 |
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| 371 | 410 0286 8B60 ori r24,lo8(11) |
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| 372 | 411 0288 8093 B100 sts 177,r24 |
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| 373 | 412 028c 1092 B200 sts 178,__zero_reg__ |
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| 374 | 413 0290 8FEF ldi r24,lo8(-1) |
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| 375 | 414 0292 8093 B300 sts 179,r24 |
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| 376 | 415 0296 8091 B000 lds r24,176 |
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| 377 | 416 029a 8068 ori r24,lo8(-128) |
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| 378 | 417 029c 8093 B000 sts 176,r24 |
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| 379 | 418 02a0 8091 7000 lds r24,112 |
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| 380 | 419 02a4 8A7F andi r24,lo8(-6) |
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| 381 | 420 02a6 8093 7000 sts 112,r24 |
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| 382 | 421 02aa 8091 7000 lds r24,112 |
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| 383 | 422 02ae 8260 ori r24,lo8(2) |
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| 384 | 423 02b0 8093 7000 sts 112,r24 |
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| 385 | 424 02b4 9FBF out 95-0x20,r25 |
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| 386 | 425 /* epilogue: frame size=0 */ |
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| 387 | 426 02b6 0895 ret |
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| 388 | 427 /* epilogue end (size=1) */ |
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| 389 | 428 /* function TIMER2_Init size 48 (47) */ |
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| 390 | 430 .global Timer_Init |
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| 391 | 432 Timer_Init: |
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| 392 | 433 /* prologue: frame size=0 */ |
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| 393 | 434 /* prologue end (size=0) */ |
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| 394 | 435 02b8 8AE0 ldi r24,lo8(10) |
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| 395 | 436 02ba 90E0 ldi r25,hi8(10) |
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| 396 | 437 02bc 0E94 0000 call SetDelay |
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| 397 | 438 02c0 9093 0000 sts (tim_main)+1,r25 |
||
| 398 | 439 02c4 8093 0000 sts tim_main,r24 |
||
| 399 | 440 02c8 82E0 ldi r24,lo8(2) |
||
| 400 | 441 02ca 85BD out 69-0x20,r24 |
||
| 401 | 442 02cc 83EA ldi r24,lo8(-93) |
||
| 402 | 443 02ce 84BD out 68-0x20,r24 |
||
| 403 | 444 02d0 17BC out 71-0x20,__zero_reg__ |
||
| 404 | 445 02d2 84EB ldi r24,lo8(-76) |
||
| 405 | 446 02d4 88BD out 72-0x20,r24 |
||
| 406 | 447 02d6 86E0 ldi r24,lo8(6) |
||
| 407 | 448 02d8 86BD out 70-0x20,r24 |
||
| 408 | 449 02da 8091 6E00 lds r24,110 |
||
| 409 | 450 02de 8160 ori r24,lo8(1) |
||
| 410 | 451 02e0 8093 6E00 sts 110,r24 |
||
| 411 | 452 /* epilogue: frame size=0 */ |
||
| 412 | 453 02e4 0895 ret |
||
| 413 | 454 /* epilogue end (size=1) */ |
||
| 414 | 455 /* function Timer_Init size 23 (22) */ |
||
| 415 | 457 .global CalculateServo |
||
| 416 | 459 CalculateServo: |
||
| 417 | 460 /* prologue: frame size=0 */ |
||
| 418 | 461 02e6 A0E0 ldi r26,lo8(0) |
||
| 419 | 462 02e8 B0E0 ldi r27,hi8(0) |
||
| 420 | 463 02ea E0E0 ldi r30,pm_lo8(1f) |
||
| 421 | 464 02ec F0E0 ldi r31,pm_hi8(1f) |
||
| 422 | 465 02ee 0C94 0000 jmp __prologue_saves__+22 |
||
| 423 | 466 1: |
||
| 424 | 467 /* prologue end (size=6) */ |
||
| 425 | 468 02f2 8091 0000 lds r24,EE_Parameter+55 |
||
| 426 | 469 02f6 E82F mov r30,r24 |
||
| 427 | 470 02f8 FF27 clr r31 |
||
| 428 | 471 02fa E050 subi r30,lo8(-(sintab)) |
||
| 429 | 472 02fc F040 sbci r31,hi8(-(sintab)) |
||
| 430 | 473 02fe 9681 ldd r25,Z+6 |
||
| 431 | 474 0300 D080 ld r13,Z |
||
| 432 | 475 0302 8091 0000 lds r24,CalculateServoSignals |
||
| 433 | 476 0306 A92F mov r26,r25 |
||
| 434 | 477 0308 BB27 clr r27 |
||
| 435 | 478 030a A7FD sbrc r26,7 |
||
| 436 | 479 030c B095 com r27 |
||
| 437 | 480 030e CB2F mov r28,r27 |
||
| 438 | 481 0310 DB2F mov r29,r27 |
||
| 439 | 482 0312 8130 cpi r24,lo8(1) |
||
| 440 | 483 0314 01F0 breq .+2 |
||
| 441 | 484 0316 00C0 rjmp .L44 |
||
| 442 | 485 0318 2091 0000 lds r18,IntegralNick |
||
| 443 | 486 031c 3091 0000 lds r19,(IntegralNick)+1 |
||
| 444 | 487 0320 4091 0000 lds r20,(IntegralNick)+2 |
||
| 445 | 488 0324 5091 0000 lds r21,(IntegralNick)+3 |
||
| 446 | 489 0328 BD01 movw r22,r26 |
||
| 447 | 490 032a CE01 movw r24,r28 |
||
| 448 | 491 032c 0E94 0000 call __mulsi3 |
||
| 449 | 492 0330 97FF sbrs r25,7 |
||
| 450 | 493 0332 00C0 rjmp .L45 |
||
| 451 | 494 0334 6158 subi r22,lo8(-(127)) |
||
| 452 | 495 0336 7F4F sbci r23,hi8(-(127)) |
||
| 453 | 496 0338 8F4F sbci r24,hlo8(-(127)) |
||
| 454 | 497 033a 9F4F sbci r25,hhi8(-(127)) |
||
| 455 | 498 .L45: |
||
| 456 | 499 033c 7B01 movw r14,r22 |
||
| 457 | 500 033e 8C01 movw r16,r24 |
||
| 458 | 501 0340 F7E0 ldi r31,7 |
||
| 459 | 502 0342 1595 1: asr r17 |
||
| 460 | 503 0344 0795 ror r16 |
||
| 461 | 504 0346 F794 ror r15 |
||
| 462 | 505 0348 E794 ror r14 |
||
| 463 | 506 034a FA95 dec r31 |
||
| 464 | 507 034c 01F4 brne 1b |
||
| 465 | 508 034e 8D2D mov r24,r13 |
||
| 466 | 509 0350 9927 clr r25 |
||
| 467 | 510 0352 87FD sbrc r24,7 |
||
| 468 | 511 0354 9095 com r25 |
||
| 469 | 512 0356 A92F mov r26,r25 |
||
| 470 | 513 0358 B92F mov r27,r25 |
||
| 471 | 514 035a 2091 0000 lds r18,IntegralRoll |
||
| 472 | 515 035e 3091 0000 lds r19,(IntegralRoll)+1 |
||
| 473 | 516 0362 4091 0000 lds r20,(IntegralRoll)+2 |
||
| 474 | 517 0366 5091 0000 lds r21,(IntegralRoll)+3 |
||
| 475 | 518 036a BC01 movw r22,r24 |
||
| 476 | 519 036c CD01 movw r24,r26 |
||
| 477 | 520 036e 0E94 0000 call __mulsi3 |
||
| 478 | 521 0372 97FF sbrs r25,7 |
||
| 479 | 522 0374 00C0 rjmp .L46 |
||
| 480 | 523 0376 6158 subi r22,lo8(-(127)) |
||
| 481 | 524 0378 7F4F sbci r23,hi8(-(127)) |
||
| 482 | 525 037a 8F4F sbci r24,hlo8(-(127)) |
||
| 483 | 526 037c 9F4F sbci r25,hhi8(-(127)) |
||
| 484 | 527 .L46: |
||
| 485 | 528 037e E7E0 ldi r30,7 |
||
| 486 | 529 0380 9595 1: asr r25 |
||
| 487 | 530 0382 8795 ror r24 |
||
| 488 | 531 0384 7795 ror r23 |
||
| 489 | 532 0386 6795 ror r22 |
||
| 490 | 533 0388 EA95 dec r30 |
||
| 491 | 534 038a 01F4 brne 1b |
||
| 492 | 535 038c F801 movw r30,r16 |
||
| 493 | 536 038e E701 movw r28,r14 |
||
| 494 | 537 0390 C61B sub r28,r22 |
||
| 495 | 538 0392 D70B sbc r29,r23 |
||
| 496 | 539 0394 E80B sbc r30,r24 |
||
| 497 | 540 0396 F90B sbc r31,r25 |
||
| 498 | 541 0398 2091 0000 lds r18,POI_KameraNick |
||
| 499 | 542 039c 3091 0000 lds r19,(POI_KameraNick)+1 |
||
| 500 | 543 03a0 C901 movw r24,r18 |
||
| 501 | 544 03a2 53E0 ldi r21,3 |
||
| 502 | 545 03a4 880F 1: lsl r24 |
||
| 503 | 546 03a6 991F rol r25 |
||
| 504 | 547 03a8 5A95 dec r21 |
||
| 505 | 548 03aa 01F4 brne 1b |
||
| 506 | 549 03ac 821B sub r24,r18 |
||
| 507 | 550 03ae 930B sbc r25,r19 |
||
| 508 | 551 03b0 AA27 clr r26 |
||
| 509 | 552 03b2 97FD sbrc r25,7 |
||
| 510 | 553 03b4 A095 com r26 |
||
| 511 | 554 03b6 BA2F mov r27,r26 |
||
| 512 | 555 03b8 C81B sub r28,r24 |
||
| 513 | 556 03ba D90B sbc r29,r25 |
||
| 514 | 557 03bc EA0B sbc r30,r26 |
||
| 515 | 558 03be FB0B sbc r31,r27 |
||
| 516 | 559 03c0 8091 0000 lds r24,EE_Parameter+46 |
||
| 517 | 560 03c4 9927 clr r25 |
||
| 518 | 561 03c6 AA27 clr r26 |
||
| 519 | 562 03c8 BB27 clr r27 |
||
| 520 | 563 03ca BC01 movw r22,r24 |
||
| 521 | 564 03cc CD01 movw r24,r26 |
||
| 522 | 565 03ce 9E01 movw r18,r28 |
||
| 523 | 566 03d0 AF01 movw r20,r30 |
||
| 524 | 567 03d2 0E94 0000 call __mulsi3 |
||
| 525 | 568 03d6 97FF sbrs r25,7 |
||
| 526 | 569 03d8 00C0 rjmp .L47 |
||
| 527 | 570 03da 6150 subi r22,lo8(-(511)) |
||
| 528 | 571 03dc 7E4F sbci r23,hi8(-(511)) |
||
| 529 | 572 03de 8F4F sbci r24,hlo8(-(511)) |
||
| 530 | 573 03e0 9F4F sbci r25,hhi8(-(511)) |
||
| 531 | 574 .L47: |
||
| 532 | 575 03e2 FC01 movw r30,r24 |
||
| 533 | 576 03e4 EB01 movw r28,r22 |
||
| 534 | 577 03e6 49E0 ldi r20,9 |
||
| 535 | 578 03e8 F595 1: asr r31 |
||
| 536 | 579 03ea E795 ror r30 |
||
| 537 | 580 03ec D795 ror r29 |
||
| 538 | 581 03ee C795 ror r28 |
||
| 539 | 582 03f0 4A95 dec r20 |
||
| 540 | 583 03f2 01F4 brne 1b |
||
| 541 | 584 03f4 8091 0000 lds r24,Parameter_ServoNickControl |
||
| 542 | 585 03f8 9927 clr r25 |
||
| 543 | 586 03fa 36E0 ldi r19,6 |
||
| 544 | 587 03fc 880F 1: lsl r24 |
||
| 545 | 588 03fe 991F rol r25 |
||
| 546 | 589 0400 3A95 dec r19 |
||
| 547 | 590 0402 01F4 brne 1b |
||
| 548 | 591 0404 4091 0000 lds r20,ServoNickOffset |
||
| 549 | 592 0408 5091 0000 lds r21,(ServoNickOffset)+1 |
||
| 550 | 593 040c 2091 0000 lds r18,EE_Parameter+54 |
||
| 551 | 594 0410 3327 clr r19 |
||
| 552 | 595 0412 841B sub r24,r20 |
||
| 553 | 596 0414 950B sbc r25,r21 |
||
| 554 | 597 0416 B901 movw r22,r18 |
||
| 555 | 598 0418 0E94 0000 call __divmodhi4 |
||
| 556 | 599 041c 8091 0000 lds r24,ServoNickOffset |
||
| 557 | 600 0420 9091 0000 lds r25,(ServoNickOffset)+1 |
||
| 558 | 601 0424 860F add r24,r22 |
||
| 559 | 602 0426 971F adc r25,r23 |
||
| 560 | 603 0428 9093 0000 sts (ServoNickOffset)+1,r25 |
||
| 561 | 604 042c 8093 0000 sts ServoNickOffset,r24 |
||
| 562 | 605 0430 8091 0000 lds r24,ServoNickOffset |
||
| 563 | 606 0434 9091 0000 lds r25,(ServoNickOffset)+1 |
||
| 564 | 607 0438 97FD sbrc r25,7 |
||
| 565 | 608 043a 0F96 adiw r24,15 |
||
| 566 | 609 .L48: |
||
| 567 | 610 043c 24E0 ldi r18,4 |
||
| 568 | 611 043e 9595 1: asr r25 |
||
| 569 | 612 0440 8795 ror r24 |
||
| 570 | 613 0442 2A95 dec r18 |
||
| 571 | 614 0444 01F4 brne 1b |
||
| 572 | 615 0446 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 573 | 616 044a 8093 0000 sts ServoNickValue,r24 |
||
| 574 | 617 044e 8091 0000 lds r24,EE_Parameter+105 |
||
| 575 | 618 0452 80FF sbrs r24,0 |
||
| 576 | 619 0454 00C0 rjmp .L49 |
||
| 577 | 620 0456 8091 0000 lds r24,ServoNickValue |
||
| 578 | 621 045a 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 579 | 622 045e 8C0F add r24,r28 |
||
| 580 | 623 0460 9D1F adc r25,r29 |
||
| 581 | 624 0462 00C0 rjmp .L66 |
||
| 582 | 625 .L49: |
||
| 583 | 626 0464 8091 0000 lds r24,ServoNickValue |
||
| 584 | 627 0468 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 585 | 628 046c 8C1B sub r24,r28 |
||
| 586 | 629 046e 9D0B sbc r25,r29 |
||
| 587 | 630 .L66: |
||
| 588 | 631 0470 9093 0000 sts (ServoNickValue)+1,r25 |
||
| 589 | 632 0474 8093 0000 sts ServoNickValue,r24 |
||
| 590 | 633 0478 8091 0000 lds r24,EE_Parameter+47 |
||
| 591 | 634 047c 282F mov r18,r24 |
||
| 592 | 635 047e 3327 clr r19 |
||
| 593 | 636 0480 220F lsl r18 |
||
| 594 | 637 0482 331F rol r19 |
||
| 595 | 638 0484 220F lsl r18 |
||
| 596 | 639 0486 331F rol r19 |
||
| 597 | 640 0488 8091 0000 lds r24,ServoNickValue |
||
| 598 | 641 048c 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 599 | 642 0490 8217 cp r24,r18 |
||
| 600 | 643 0492 9307 cpc r25,r19 |
||
| 601 | 644 0494 04F0 brlt .L67 |
||
| 602 | 645 0496 8091 0000 lds r24,EE_Parameter+48 |
||
| 603 | 646 049a 282F mov r18,r24 |
||
| 604 | 647 049c 3327 clr r19 |
||
| 605 | 648 049e 220F lsl r18 |
||
| 606 | 649 04a0 331F rol r19 |
||
| 607 | 650 04a2 220F lsl r18 |
||
| 608 | 651 04a4 331F rol r19 |
||
| 609 | 652 04a6 8091 0000 lds r24,ServoNickValue |
||
| 610 | 653 04aa 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 611 | 654 04ae 2817 cp r18,r24 |
||
| 612 | 655 04b0 3907 cpc r19,r25 |
||
| 613 | 656 04b2 04F4 brge .L52 |
||
| 614 | 657 .L67: |
||
| 615 | 658 04b4 3093 0000 sts (ServoNickValue)+1,r19 |
||
| 616 | 659 04b8 2093 0000 sts ServoNickValue,r18 |
||
| 617 | 660 .L52: |
||
| 618 | 661 04bc 8091 0000 lds r24,PlatinenVersion |
||
| 619 | 662 04c0 8431 cpi r24,lo8(20) |
||
| 620 | 663 04c2 00F4 brsh .+2 |
||
| 621 | 664 04c4 00C0 rjmp .L64 |
||
| 622 | 665 04c6 8091 0000 lds r24,CalculateServoSignals |
||
| 623 | 666 04ca 8F5F subi r24,lo8(-(1)) |
||
| 624 | 667 04cc 8093 0000 sts CalculateServoSignals,r24 |
||
| 625 | 668 04d0 00C0 rjmp .L43 |
||
| 626 | 669 .L44: |
||
| 627 | 670 04d2 2091 0000 lds r18,IntegralRoll |
||
| 628 | 671 04d6 3091 0000 lds r19,(IntegralRoll)+1 |
||
| 629 | 672 04da 4091 0000 lds r20,(IntegralRoll)+2 |
||
| 630 | 673 04de 5091 0000 lds r21,(IntegralRoll)+3 |
||
| 631 | 674 04e2 BD01 movw r22,r26 |
||
| 632 | 675 04e4 CE01 movw r24,r28 |
||
| 633 | 676 04e6 0E94 0000 call __mulsi3 |
||
| 634 | 677 04ea 97FF sbrs r25,7 |
||
| 635 | 678 04ec 00C0 rjmp .L57 |
||
| 636 | 679 04ee 6158 subi r22,lo8(-(127)) |
||
| 637 | 680 04f0 7F4F sbci r23,hi8(-(127)) |
||
| 638 | 681 04f2 8F4F sbci r24,hlo8(-(127)) |
||
| 639 | 682 04f4 9F4F sbci r25,hhi8(-(127)) |
||
| 640 | 683 .L57: |
||
| 641 | 684 04f6 7B01 movw r14,r22 |
||
| 642 | 685 04f8 8C01 movw r16,r24 |
||
| 643 | 686 04fa C7E0 ldi r28,7 |
||
| 644 | 687 04fc 1595 1: asr r17 |
||
| 645 | 688 04fe 0795 ror r16 |
||
| 646 | 689 0500 F794 ror r15 |
||
| 647 | 690 0502 E794 ror r14 |
||
| 648 | 691 0504 CA95 dec r28 |
||
| 649 | 692 0506 01F4 brne 1b |
||
| 650 | 693 0508 8D2D mov r24,r13 |
||
| 651 | 694 050a 9927 clr r25 |
||
| 652 | 695 050c 87FD sbrc r24,7 |
||
| 653 | 696 050e 9095 com r25 |
||
| 654 | 697 0510 A92F mov r26,r25 |
||
| 655 | 698 0512 B92F mov r27,r25 |
||
| 656 | 699 0514 2091 0000 lds r18,IntegralNick |
||
| 657 | 700 0518 3091 0000 lds r19,(IntegralNick)+1 |
||
| 658 | 701 051c 4091 0000 lds r20,(IntegralNick)+2 |
||
| 659 | 702 0520 5091 0000 lds r21,(IntegralNick)+3 |
||
| 660 | 703 0524 BC01 movw r22,r24 |
||
| 661 | 704 0526 CD01 movw r24,r26 |
||
| 662 | 705 0528 0E94 0000 call __mulsi3 |
||
| 663 | 706 052c 9B01 movw r18,r22 |
||
| 664 | 707 052e AC01 movw r20,r24 |
||
| 665 | 708 0530 97FF sbrs r25,7 |
||
| 666 | 709 0532 00C0 rjmp .L58 |
||
| 667 | 710 0534 2158 subi r18,lo8(-(127)) |
||
| 668 | 711 0536 3F4F sbci r19,hi8(-(127)) |
||
| 669 | 712 0538 4F4F sbci r20,hlo8(-(127)) |
||
| 670 | 713 053a 5F4F sbci r21,hhi8(-(127)) |
||
| 671 | 714 .L58: |
||
| 672 | 715 053c B7E0 ldi r27,7 |
||
| 673 | 716 053e 5595 1: asr r21 |
||
| 674 | 717 0540 4795 ror r20 |
||
| 675 | 718 0542 3795 ror r19 |
||
| 676 | 719 0544 2795 ror r18 |
||
| 677 | 720 0546 BA95 dec r27 |
||
| 678 | 721 0548 01F4 brne 1b |
||
| 679 | 722 054a 2E0D add r18,r14 |
||
| 680 | 723 054c 3F1D adc r19,r15 |
||
| 681 | 724 054e 401F adc r20,r16 |
||
| 682 | 725 0550 511F adc r21,r17 |
||
| 683 | 726 0552 8091 0000 lds r24,EE_Parameter+50 |
||
| 684 | 727 0556 9927 clr r25 |
||
| 685 | 728 0558 AA27 clr r26 |
||
| 686 | 729 055a BB27 clr r27 |
||
| 687 | 730 055c BC01 movw r22,r24 |
||
| 688 | 731 055e CD01 movw r24,r26 |
||
| 689 | 732 0560 0E94 0000 call __mulsi3 |
||
| 690 | 733 0564 97FF sbrs r25,7 |
||
| 691 | 734 0566 00C0 rjmp .L59 |
||
| 692 | 735 0568 6150 subi r22,lo8(-(511)) |
||
| 693 | 736 056a 7E4F sbci r23,hi8(-(511)) |
||
| 694 | 737 056c 8F4F sbci r24,hlo8(-(511)) |
||
| 695 | 738 056e 9F4F sbci r25,hhi8(-(511)) |
||
| 696 | 739 .L59: |
||
| 697 | 740 0570 FC01 movw r30,r24 |
||
| 698 | 741 0572 EB01 movw r28,r22 |
||
| 699 | 742 0574 A9E0 ldi r26,9 |
||
| 700 | 743 0576 F595 1: asr r31 |
||
| 701 | 744 0578 E795 ror r30 |
||
| 702 | 745 057a D795 ror r29 |
||
| 703 | 746 057c C795 ror r28 |
||
| 704 | 747 057e AA95 dec r26 |
||
| 705 | 748 0580 01F4 brne 1b |
||
| 706 | 749 0582 8091 0000 lds r24,Parameter_ServoRollControl |
||
| 707 | 750 0586 9927 clr r25 |
||
| 708 | 751 0588 76E0 ldi r23,6 |
||
| 709 | 752 058a 880F 1: lsl r24 |
||
| 710 | 753 058c 991F rol r25 |
||
| 711 | 754 058e 7A95 dec r23 |
||
| 712 | 755 0590 01F4 brne 1b |
||
| 713 | 756 0592 4091 0000 lds r20,ServoRollOffset |
||
| 714 | 757 0596 5091 0000 lds r21,(ServoRollOffset)+1 |
||
| 715 | 758 059a 2091 0000 lds r18,EE_Parameter+54 |
||
| 716 | 759 059e 3327 clr r19 |
||
| 717 | 760 05a0 841B sub r24,r20 |
||
| 718 | 761 05a2 950B sbc r25,r21 |
||
| 719 | 762 05a4 B901 movw r22,r18 |
||
| 720 | 763 05a6 0E94 0000 call __divmodhi4 |
||
| 721 | 764 05aa 8091 0000 lds r24,ServoRollOffset |
||
| 722 | 765 05ae 9091 0000 lds r25,(ServoRollOffset)+1 |
||
| 723 | 766 05b2 860F add r24,r22 |
||
| 724 | 767 05b4 971F adc r25,r23 |
||
| 725 | 768 05b6 9093 0000 sts (ServoRollOffset)+1,r25 |
||
| 726 | 769 05ba 8093 0000 sts ServoRollOffset,r24 |
||
| 727 | 770 05be 8091 0000 lds r24,ServoRollOffset |
||
| 728 | 771 05c2 9091 0000 lds r25,(ServoRollOffset)+1 |
||
| 729 | 772 05c6 97FD sbrc r25,7 |
||
| 730 | 773 05c8 0F96 adiw r24,15 |
||
| 731 | 774 .L60: |
||
| 732 | 775 05ca 64E0 ldi r22,4 |
||
| 733 | 776 05cc 9595 1: asr r25 |
||
| 734 | 777 05ce 8795 ror r24 |
||
| 735 | 778 05d0 6A95 dec r22 |
||
| 736 | 779 05d2 01F4 brne 1b |
||
| 737 | 780 05d4 9093 0000 sts (ServoRollValue)+1,r25 |
||
| 738 | 781 05d8 8093 0000 sts ServoRollValue,r24 |
||
| 739 | 782 05dc 8091 0000 lds r24,EE_Parameter+105 |
||
| 740 | 783 05e0 81FF sbrs r24,1 |
||
| 741 | 784 05e2 00C0 rjmp .L61 |
||
| 742 | 785 05e4 8091 0000 lds r24,ServoRollValue |
||
| 743 | 786 05e8 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 744 | 787 05ec 8C0F add r24,r28 |
||
| 745 | 788 05ee 9D1F adc r25,r29 |
||
| 746 | 789 05f0 00C0 rjmp .L68 |
||
| 747 | 790 .L61: |
||
| 748 | 791 05f2 8091 0000 lds r24,ServoRollValue |
||
| 749 | 792 05f6 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 750 | 793 05fa 8C1B sub r24,r28 |
||
| 751 | 794 05fc 9D0B sbc r25,r29 |
||
| 752 | 795 .L68: |
||
| 753 | 796 05fe 9093 0000 sts (ServoRollValue)+1,r25 |
||
| 754 | 797 0602 8093 0000 sts ServoRollValue,r24 |
||
| 755 | 798 0606 8091 0000 lds r24,EE_Parameter+51 |
||
| 756 | 799 060a 282F mov r18,r24 |
||
| 757 | 800 060c 3327 clr r19 |
||
| 758 | 801 060e 220F lsl r18 |
||
| 759 | 802 0610 331F rol r19 |
||
| 760 | 803 0612 220F lsl r18 |
||
| 761 | 804 0614 331F rol r19 |
||
| 762 | 805 0616 8091 0000 lds r24,ServoRollValue |
||
| 763 | 806 061a 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 764 | 807 061e 8217 cp r24,r18 |
||
| 765 | 808 0620 9307 cpc r25,r19 |
||
| 766 | 809 0622 04F0 brlt .L69 |
||
| 767 | 810 0624 8091 0000 lds r24,EE_Parameter+52 |
||
| 768 | 811 0628 282F mov r18,r24 |
||
| 769 | 812 062a 3327 clr r19 |
||
| 770 | 813 062c 220F lsl r18 |
||
| 771 | 814 062e 331F rol r19 |
||
| 772 | 815 0630 220F lsl r18 |
||
| 773 | 816 0632 331F rol r19 |
||
| 774 | 817 0634 8091 0000 lds r24,ServoRollValue |
||
| 775 | 818 0638 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 776 | 819 063c 2817 cp r18,r24 |
||
| 777 | 820 063e 3907 cpc r19,r25 |
||
| 778 | 821 0640 04F4 brge .L64 |
||
| 779 | 822 .L69: |
||
| 780 | 823 0642 3093 0000 sts (ServoRollValue)+1,r19 |
||
| 781 | 824 0646 2093 0000 sts ServoRollValue,r18 |
||
| 782 | 825 .L64: |
||
| 783 | 826 064a 1092 0000 sts CalculateServoSignals,__zero_reg__ |
||
| 784 | 827 .L43: |
||
| 785 | 828 /* epilogue: frame size=0 */ |
||
| 786 | 829 064e E7E0 ldi r30,7 |
||
| 787 | 830 0650 CDB7 in r28,__SP_L__ |
||
| 788 | 831 0652 DEB7 in r29,__SP_H__ |
||
| 789 | 832 0654 0C94 0000 jmp __epilogue_restores__+22 |
||
| 790 | 833 /* epilogue end (size=5) */ |
||
| 791 | 834 /* function CalculateServo size 443 (432) */ |
||
| 792 | 836 .lcomm PulseOutput.0,1 |
||
| 793 | 837 .lcomm ServoFrameTime.1,2 |
||
| 794 | 838 .lcomm ServoIndex.2,1 |
||
| 795 | 839 .global __vector_9 |
||
| 796 | 841 __vector_9: |
||
| 797 | 842 /* prologue: frame size=0 */ |
||
| 798 | 843 0658 1F92 push __zero_reg__ |
||
| 799 | 844 065a 0F92 push __tmp_reg__ |
||
| 800 | 845 065c 0FB6 in __tmp_reg__,__SREG__ |
||
| 801 | 846 065e 0F92 push __tmp_reg__ |
||
| 802 | 847 0660 1124 clr __zero_reg__ |
||
| 803 | 848 0662 2F93 push r18 |
||
| 804 | 849 0664 3F93 push r19 |
||
| 805 | 850 0666 4F93 push r20 |
||
| 806 | 851 0668 5F93 push r21 |
||
| 807 | 852 066a 8F93 push r24 |
||
| 808 | 853 066c 9F93 push r25 |
||
| 809 | 854 066e EF93 push r30 |
||
| 810 | 855 0670 FF93 push r31 |
||
| 811 | 856 /* prologue end (size=13) */ |
||
| 812 | 857 0672 8091 0000 lds r24,PlatinenVersion |
||
| 813 | 858 0676 9091 0000 lds r25,PulseOutput.0 |
||
| 814 | 859 067a 8431 cpi r24,lo8(20) |
||
| 815 | 860 067c 00F0 brlo .+2 |
||
| 816 | 861 067e 00C0 rjmp .L71 |
||
| 817 | 862 0680 9923 tst r25 |
||
| 818 | 863 0682 01F0 breq .+2 |
||
| 819 | 864 0684 00C0 rjmp .L78 |
||
| 820 | 865 0686 8091 B000 lds r24,176 |
||
| 821 | 866 068a 86FF sbrs r24,6 |
||
| 822 | 867 068c 00C0 rjmp .L73 |
||
| 823 | 868 068e 8091 B000 lds r24,176 |
||
| 824 | 869 0692 8F7B andi r24,lo8(-65) |
||
| 825 | 870 0694 8093 B000 sts 176,r24 |
||
| 826 | 871 0698 8091 0000 lds r24,ServoNickValue |
||
| 827 | 872 069c 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 828 | 873 06a0 8755 subi r24,lo8(-(425)) |
||
| 829 | 874 06a2 9E4F sbci r25,hi8(-(425)) |
||
| 830 | 875 06a4 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 831 | 876 06a8 8093 0000 sts RemainingPulse,r24 |
||
| 832 | 877 06ac 25E0 ldi r18,hi8(1501) |
||
| 833 | 878 06ae 8D3D cpi r24,lo8(1501) |
||
| 834 | 879 06b0 9207 cpc r25,r18 |
||
| 835 | 880 06b2 00F0 brlo .L74 |
||
| 836 | 881 06b4 8CED ldi r24,lo8(1500) |
||
| 837 | 882 06b6 95E0 ldi r25,hi8(1500) |
||
| 838 | 883 06b8 00C0 rjmp .L106 |
||
| 839 | 884 .L74: |
||
| 840 | 885 06ba 8757 subi r24,lo8(375) |
||
| 841 | 886 06bc 9140 sbci r25,hi8(375) |
||
| 842 | 887 06be 00F4 brsh .L75 |
||
| 843 | 888 06c0 87E7 ldi r24,lo8(375) |
||
| 844 | 889 06c2 91E0 ldi r25,hi8(375) |
||
| 845 | 890 .L106: |
||
| 846 | 891 06c4 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 847 | 892 06c8 8093 0000 sts RemainingPulse,r24 |
||
| 848 | 893 .L75: |
||
| 849 | 894 06cc 8091 0000 lds r24,RemainingPulse |
||
| 850 | 895 06d0 9091 0000 lds r25,(RemainingPulse)+1 |
||
| 851 | 896 06d4 00C0 rjmp .L111 |
||
| 852 | 897 .L73: |
||
| 853 | 898 06d6 8091 B000 lds r24,176 |
||
| 854 | 899 06da 8064 ori r24,lo8(64) |
||
| 855 | 900 06dc 8093 B000 sts 176,r24 |
||
| 856 | 901 06e0 8091 0000 lds r24,EE_Parameter+53 |
||
| 857 | 902 06e4 282F mov r18,r24 |
||
| 858 | 903 06e6 3327 clr r19 |
||
| 859 | 904 06e8 8DED ldi r24,lo8(1757) |
||
| 860 | 905 06ea 96E0 ldi r25,hi8(1757) |
||
| 861 | 906 06ec 289F mul r18,r24 |
||
| 862 | 907 06ee A001 movw r20,r0 |
||
| 863 | 908 06f0 299F mul r18,r25 |
||
| 864 | 909 06f2 500D add r21,r0 |
||
| 865 | 910 06f4 389F mul r19,r24 |
||
| 866 | 911 06f6 500D add r21,r0 |
||
| 867 | 912 06f8 1124 clr r1 |
||
| 868 | 913 06fa CA01 movw r24,r20 |
||
| 869 | 914 06fc 2091 0000 lds r18,ServoFrameTime.1 |
||
| 870 | 915 0700 3091 0000 lds r19,(ServoFrameTime.1)+1 |
||
| 871 | 916 0704 821B sub r24,r18 |
||
| 872 | 917 0706 930B sbc r25,r19 |
||
| 873 | 918 0708 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 874 | 919 070c 8093 0000 sts RemainingPulse,r24 |
||
| 875 | 920 0710 81E0 ldi r24,lo8(1) |
||
| 876 | 921 0712 8093 0000 sts CalculateServoSignals,r24 |
||
| 877 | 922 0716 00C0 rjmp .L94 |
||
| 878 | 923 .L71: |
||
| 879 | 924 0718 9923 tst r25 |
||
| 880 | 925 071a 01F0 breq .+2 |
||
| 881 | 926 071c 00C0 rjmp .L78 |
||
| 882 | 927 071e 8091 B000 lds r24,176 |
||
| 883 | 928 0722 86FF sbrs r24,6 |
||
| 884 | 929 0724 00C0 rjmp .L80 |
||
| 885 | 930 0726 8091 B000 lds r24,176 |
||
| 886 | 931 072a 8F7B andi r24,lo8(-65) |
||
| 887 | 932 072c 8093 B000 sts 176,r24 |
||
| 888 | 933 0730 E091 0000 lds r30,ServoIndex.2 |
||
| 889 | 934 0734 EE23 tst r30 |
||
| 890 | 935 0736 01F4 brne .L81 |
||
| 891 | 936 0738 8091 0000 lds r24,EE_Parameter+53 |
||
| 892 | 937 073c 282F mov r18,r24 |
||
| 893 | 938 073e 3327 clr r19 |
||
| 894 | 939 0740 8DED ldi r24,lo8(1757) |
||
| 895 | 940 0742 96E0 ldi r25,hi8(1757) |
||
| 896 | 941 0744 289F mul r18,r24 |
||
| 897 | 942 0746 A001 movw r20,r0 |
||
| 898 | 943 0748 299F mul r18,r25 |
||
| 899 | 944 074a 500D add r21,r0 |
||
| 900 | 945 074c 389F mul r19,r24 |
||
| 901 | 946 074e 500D add r21,r0 |
||
| 902 | 947 0750 1124 clr r1 |
||
| 903 | 948 0752 CA01 movw r24,r20 |
||
| 904 | 949 0754 2091 0000 lds r18,ServoFrameTime.1 |
||
| 905 | 950 0758 3091 0000 lds r19,(ServoFrameTime.1)+1 |
||
| 906 | 951 075c 821B sub r24,r18 |
||
| 907 | 952 075e 930B sbc r25,r19 |
||
| 908 | 953 0760 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 909 | 954 0764 8093 0000 sts RemainingPulse,r24 |
||
| 910 | 955 0768 1092 0000 sts (ServoFrameTime.1)+1,__zero_reg__ |
||
| 911 | 956 076c 1092 0000 sts ServoFrameTime.1,__zero_reg__ |
||
| 912 | 957 0770 469A sbi 40-0x20,6 |
||
| 913 | 958 0772 00C0 rjmp .L94 |
||
| 914 | 959 .L81: |
||
| 915 | 960 0774 89EA ldi r24,lo8(937) |
||
| 916 | 961 0776 93E0 ldi r25,hi8(937) |
||
| 917 | 962 0778 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 918 | 963 077c 8093 0000 sts RemainingPulse,r24 |
||
| 919 | 964 0780 8E2F mov r24,r30 |
||
| 920 | 965 0782 9927 clr r25 |
||
| 921 | 966 0784 8330 cpi r24,3 |
||
| 922 | 967 0786 9105 cpc r25,__zero_reg__ |
||
| 923 | 968 0788 01F0 breq .L86 |
||
| 924 | 969 078a 8430 cpi r24,4 |
||
| 925 | 970 078c 9105 cpc r25,__zero_reg__ |
||
| 926 | 971 078e 04F4 brge .L90 |
||
| 927 | 972 0790 8130 cpi r24,1 |
||
| 928 | 973 0792 9105 cpc r25,__zero_reg__ |
||
| 929 | 974 0794 01F0 breq .L84 |
||
| 930 | 975 0796 0297 sbiw r24,2 |
||
| 931 | 976 0798 01F0 breq .L85 |
||
| 932 | 977 079a 00C0 rjmp .L89 |
||
| 933 | 978 .L90: |
||
| 934 | 979 079c 8430 cpi r24,4 |
||
| 935 | 980 079e 9105 cpc r25,__zero_reg__ |
||
| 936 | 981 07a0 01F0 breq .L87 |
||
| 937 | 982 07a2 0597 sbiw r24,5 |
||
| 938 | 983 07a4 01F0 breq .L88 |
||
| 939 | 984 07a6 00C0 rjmp .L89 |
||
| 940 | 985 .L84: |
||
| 941 | 986 07a8 8091 0000 lds r24,ServoNickValue |
||
| 942 | 987 07ac 9091 0000 lds r25,(ServoNickValue)+1 |
||
| 943 | 988 07b0 00C0 rjmp .L110 |
||
| 944 | 989 .L85: |
||
| 945 | 990 07b2 8091 0000 lds r24,ServoRollValue |
||
| 946 | 991 07b6 9091 0000 lds r25,(ServoRollValue)+1 |
||
| 947 | 992 .L110: |
||
| 948 | 993 07ba 8755 subi r24,lo8(-(425)) |
||
| 949 | 994 07bc 9E4F sbci r25,hi8(-(425)) |
||
| 950 | 995 07be 00C0 rjmp .L107 |
||
| 951 | 996 .L86: |
||
| 952 | 997 07c0 8091 0000 lds r24,Parameter_Servo3 |
||
| 953 | 998 07c4 00C0 rjmp .L112 |
||
| 954 | 999 .L87: |
||
| 955 | 1000 07c6 8091 0000 lds r24,Parameter_Servo4 |
||
| 956 | 1001 07ca 00C0 rjmp .L112 |
||
| 957 | 1002 .L88: |
||
| 958 | 1003 07cc 8091 0000 lds r24,Parameter_Servo5 |
||
| 959 | 1004 .L112: |
||
| 960 | 1005 07d0 9927 clr r25 |
||
| 961 | 1006 07d2 880F lsl r24 |
||
| 962 | 1007 07d4 991F rol r25 |
||
| 963 | 1008 07d6 880F lsl r24 |
||
| 964 | 1009 07d8 991F rol r25 |
||
| 965 | 1010 07da 00C0 rjmp .L110 |
||
| 966 | 1011 .L89: |
||
| 967 | 1012 07dc FF27 clr r31 |
||
| 968 | 1013 07de EE0F add r30,r30 |
||
| 969 | 1014 07e0 FF1F adc r31,r31 |
||
| 970 | 1015 07e2 E050 subi r30,lo8(-(PPM_in)) |
||
| 971 | 1016 07e4 F040 sbci r31,hi8(-(PPM_in)) |
||
| 972 | 1017 07e6 2081 ld r18,Z |
||
| 973 | 1018 07e8 3181 ldd r19,Z+1 |
||
| 974 | 1019 07ea 220F add r18,r18 |
||
| 975 | 1020 07ec 331F adc r19,r19 |
||
| 976 | 1021 07ee 8091 0000 lds r24,RemainingPulse |
||
| 977 | 1022 07f2 9091 0000 lds r25,(RemainingPulse)+1 |
||
| 978 | 1023 07f6 820F add r24,r18 |
||
| 979 | 1024 07f8 931F adc r25,r19 |
||
| 980 | 1025 .L107: |
||
| 981 | 1026 07fa 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 982 | 1027 07fe 8093 0000 sts RemainingPulse,r24 |
||
| 983 | 1028 0802 8091 0000 lds r24,RemainingPulse |
||
| 984 | 1029 0806 9091 0000 lds r25,(RemainingPulse)+1 |
||
| 985 | 1030 080a 55E0 ldi r21,hi8(1501) |
||
| 986 | 1031 080c 8D3D cpi r24,lo8(1501) |
||
| 987 | 1032 080e 9507 cpc r25,r21 |
||
| 988 | 1033 0810 00F0 brlo .L91 |
||
| 989 | 1034 0812 8CED ldi r24,lo8(1500) |
||
| 990 | 1035 0814 95E0 ldi r25,hi8(1500) |
||
| 991 | 1036 0816 00C0 rjmp .L108 |
||
| 992 | 1037 .L91: |
||
| 993 | 1038 0818 8757 subi r24,lo8(375) |
||
| 994 | 1039 081a 9140 sbci r25,hi8(375) |
||
| 995 | 1040 081c 00F4 brsh .L92 |
||
| 996 | 1041 081e 87E7 ldi r24,lo8(375) |
||
| 997 | 1042 0820 91E0 ldi r25,hi8(375) |
||
| 998 | 1043 .L108: |
||
| 999 | 1044 0822 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 1000 | 1045 0826 8093 0000 sts RemainingPulse,r24 |
||
| 1001 | 1046 .L92: |
||
| 1002 | 1047 082a 2091 0000 lds r18,RemainingPulse |
||
| 1003 | 1048 082e 3091 0000 lds r19,(RemainingPulse)+1 |
||
| 1004 | 1049 0832 2C5B subi r18,lo8(-(-188)) |
||
| 1005 | 1050 0834 3040 sbci r19,hi8(-(-188)) |
||
| 1006 | 1051 0836 3093 0000 sts (RemainingPulse)+1,r19 |
||
| 1007 | 1052 083a 2093 0000 sts RemainingPulse,r18 |
||
| 1008 | 1053 083e 8091 0000 lds r24,ServoFrameTime.1 |
||
| 1009 | 1054 0842 9091 0000 lds r25,(ServoFrameTime.1)+1 |
||
| 1010 | 1055 0846 820F add r24,r18 |
||
| 1011 | 1056 0848 931F adc r25,r19 |
||
| 1012 | 1057 .L111: |
||
| 1013 | 1058 084a 9093 0000 sts (ServoFrameTime.1)+1,r25 |
||
| 1014 | 1059 084e 8093 0000 sts ServoFrameTime.1,r24 |
||
| 1015 | 1060 0852 00C0 rjmp .L94 |
||
| 1016 | 1061 .L80: |
||
| 1017 | 1062 0854 8091 B000 lds r24,176 |
||
| 1018 | 1063 0858 8064 ori r24,lo8(64) |
||
| 1019 | 1064 085a 8093 B000 sts 176,r24 |
||
| 1020 | 1065 085e 8CEB ldi r24,lo8(188) |
||
| 1021 | 1066 0860 90E0 ldi r25,hi8(188) |
||
| 1022 | 1067 0862 9093 0000 sts (RemainingPulse)+1,r25 |
||
| 1023 | 1068 0866 8093 0000 sts RemainingPulse,r24 |
||
| 1024 | 1069 086a 8091 0000 lds r24,ServoFrameTime.1 |
||
| 1025 | 1070 086e 9091 0000 lds r25,(ServoFrameTime.1)+1 |
||
| 1026 | 1071 0872 8454 subi r24,lo8(-(188)) |
||
| 1027 | 1072 0874 9F4F sbci r25,hi8(-(188)) |
||
| 1028 | 1073 0876 9093 0000 sts (ServoFrameTime.1)+1,r25 |
||
| 1029 | 1074 087a 8093 0000 sts ServoFrameTime.1,r24 |
||
| 1030 | 1075 087e 8091 0000 lds r24,ServoActive |
||
| 1031 | 1076 0882 8823 tst r24 |
||
| 1032 | 1077 0884 01F0 breq .L97 |
||
| 1033 | 1078 0886 8091 0000 lds r24,SenderOkay |
||
| 1034 | 1079 088a 8823 tst r24 |
||
| 1035 | 1080 088c 01F4 brne .L96 |
||
| 1036 | 1081 .L97: |
||
| 1037 | 1082 088e 8091 0000 lds r24,ServoActive |
||
| 1038 | 1083 0892 8230 cpi r24,lo8(2) |
||
| 1039 | 1084 0894 01F4 brne .L95 |
||
| 1040 | 1085 .L96: |
||
| 1041 | 1086 0896 4698 cbi 40-0x20,6 |
||
| 1042 | 1087 0898 00C0 rjmp .L98 |
||
| 1043 | 1088 .L95: |
||
| 1044 | 1089 089a 469A sbi 40-0x20,6 |
||
| 1045 | 1090 .L98: |
||
| 1046 | 1091 089c 8091 0000 lds r24,ServoIndex.2 |
||
| 1047 | 1092 08a0 8F5F subi r24,lo8(-(1)) |
||
| 1048 | 1093 08a2 8093 0000 sts ServoIndex.2,r24 |
||
| 1049 | 1094 08a6 9091 0000 lds r25,EE_Parameter+53 |
||
| 1050 | 1095 08aa 9817 cp r25,r24 |
||
| 1051 | 1096 08ac 00F4 brsh .L94 |
||
| 1052 | 1097 08ae 81E0 ldi r24,lo8(1) |
||
| 1053 | 1098 08b0 8093 0000 sts CalculateServoSignals,r24 |
||
| 1054 | 1099 08b4 1092 0000 sts ServoIndex.2,__zero_reg__ |
||
| 1055 | 1100 .L94: |
||
| 1056 | 1101 08b8 81E0 ldi r24,lo8(1) |
||
| 1057 | 1102 08ba 8093 0000 sts PulseOutput.0,r24 |
||
| 1058 | 1103 .L78: |
||
| 1059 | 1104 08be 2091 0000 lds r18,RemainingPulse |
||
| 1060 | 1105 08c2 3091 0000 lds r19,(RemainingPulse)+1 |
||
| 1061 | 1106 08c6 41E0 ldi r20,hi8(383) |
||
| 1062 | 1107 08c8 2F37 cpi r18,lo8(383) |
||
| 1063 | 1108 08ca 3407 cpc r19,r20 |
||
| 1064 | 1109 08cc 00F0 brlo .L100 |
||
| 1065 | 1110 08ce 8FEF ldi r24,lo8(-1) |
||
| 1066 | 1111 08d0 8093 B300 sts 179,r24 |
||
| 1067 | 1112 08d4 2F5F subi r18,lo8(-(-255)) |
||
| 1068 | 1113 08d6 3040 sbci r19,hi8(-(-255)) |
||
| 1069 | 1114 08d8 00C0 rjmp .L109 |
||
| 1070 | 1115 .L100: |
||
| 1071 | 1116 08da 2F3F cpi r18,255 |
||
| 1072 | 1117 08dc 3105 cpc r19,__zero_reg__ |
||
| 1073 | 1118 08de 01F0 breq .L102 |
||
| 1074 | 1119 08e0 00F0 brlo .L102 |
||
| 1075 | 1120 08e2 A901 movw r20,r18 |
||
| 1076 | 1121 08e4 4F5F subi r20,lo8(-(-255)) |
||
| 1077 | 1122 08e6 5040 sbci r21,hi8(-(-255)) |
||
| 1078 | 1123 08e8 4F37 cpi r20,127 |
||
| 1079 | 1124 08ea 5105 cpc r21,__zero_reg__ |
||
| 1080 | 1125 08ec 00F4 brsh .L103 |
||
| 1081 | 1126 08ee 80E8 ldi r24,lo8(-128) |
||
| 1082 | 1127 08f0 8093 B300 sts 179,r24 |
||
| 1083 | 1128 08f4 2058 subi r18,lo8(-(-128)) |
||
| 1084 | 1129 08f6 3040 sbci r19,hi8(-(-128)) |
||
| 1085 | 1130 .L109: |
||
| 1086 | 1131 08f8 3093 0000 sts (RemainingPulse)+1,r19 |
||
| 1087 | 1132 08fc 2093 0000 sts RemainingPulse,r18 |
||
| 1088 | 1133 0900 00C0 rjmp .L70 |
||
| 1089 | 1134 .L103: |
||
| 1090 | 1135 0902 8FEF ldi r24,lo8(-1) |
||
| 1091 | 1136 0904 8093 B300 sts 179,r24 |
||
| 1092 | 1137 0908 5093 0000 sts (RemainingPulse)+1,r21 |
||
| 1093 | 1138 090c 4093 0000 sts RemainingPulse,r20 |
||
| 1094 | 1139 0910 00C0 rjmp .L70 |
||
| 1095 | 1140 .L102: |
||
| 1096 | 1141 0912 8091 0000 lds r24,RemainingPulse |
||
| 1097 | 1142 0916 8093 B300 sts 179,r24 |
||
| 1098 | 1143 091a 1092 0000 sts (RemainingPulse)+1,__zero_reg__ |
||
| 1099 | 1144 091e 1092 0000 sts RemainingPulse,__zero_reg__ |
||
| 1100 | 1145 0922 1092 0000 sts PulseOutput.0,__zero_reg__ |
||
| 1101 | 1146 .L70: |
||
| 1102 | 1147 /* epilogue: frame size=0 */ |
||
| 1103 | 1148 0926 FF91 pop r31 |
||
| 1104 | 1149 0928 EF91 pop r30 |
||
| 1105 | 1150 092a 9F91 pop r25 |
||
| 1106 | 1151 092c 8F91 pop r24 |
||
| 1107 | 1152 092e 5F91 pop r21 |
||
| 1108 | 1153 0930 4F91 pop r20 |
||
| 1109 | 1154 0932 3F91 pop r19 |
||
| 1110 | 1155 0934 2F91 pop r18 |
||
| 1111 | 1156 0936 0F90 pop __tmp_reg__ |
||
| 1112 | 1157 0938 0FBE out __SREG__,__tmp_reg__ |
||
| 1113 | 1158 093a 0F90 pop __tmp_reg__ |
||
| 1114 | 1159 093c 1F90 pop __zero_reg__ |
||
| 1115 | 1160 093e 1895 reti |
||
| 1116 | 1161 /* epilogue end (size=13) */ |
||
| 1117 | 1162 /* function __vector_9 size 376 (350) */ |
||
| 1118 | 1164 .comm Motorsmax,8,1 |
||
| 1119 | 1165 .comm MotorsTmax,2,1 |
||
| 1120 | 1166 .lcomm tim_main,2 |
||
| 1121 | 1167 /* File "timer0.c": code 1195 = 0x04ab (1112), prologues 39, epilogues 44 */ |
||
| 1122 | DEFINED SYMBOLS |
||
| 1123 | *ABS*:00000000 timer0.c |
||
| 1124 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:3 *ABS*:0000003f __SREG__ |
||
| 1125 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:4 *ABS*:0000003e __SP_H__ |
||
| 1126 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:5 *ABS*:0000003d __SP_L__ |
||
| 1127 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:6 *ABS*:00000000 __tmp_reg__ |
||
| 1128 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:7 *ABS*:00000001 __zero_reg__ |
||
| 1129 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:15 .bss:00000000 ServoRollValue |
||
| 1130 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:21 .bss:00000002 ServoNickValue |
||
| 1131 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:27 .data:00000000 BeepMuster |
||
| 1132 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:32 .data:00000002 ServoRollOffset |
||
| 1133 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:37 .data:00000004 ServoNickOffset |
||
| 1134 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:44 .bss:00000004 RemainingPulse |
||
| 1135 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:50 .data:00000006 CalculateServoSignals |
||
| 1136 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:57 .bss:00000006 ServoActive |
||
| 1137 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:63 .bss:00000007 SendSPI |
||
| 1138 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:69 .bss:00000008 beeptime |
||
| 1139 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:75 .bss:0000000a cntKompass |
||
| 1140 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:81 .bss:0000000c UpdateMotor |
||
| 1141 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:87 .bss:0000000d CountMilliseconds |
||
| 1142 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:92 .data:00000007 cnt_1ms.3 |
||
| 1143 | .bss:0000000f cnt.4 |
||
| 1144 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:94 .bss:00000010 compass_active.5 |
||
| 1145 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:99 .text:00000000 __vector_18 |
||
| 1146 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:304 .text:000001e6 SetDelay |
||
| 1147 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:320 .text:000001f8 CheckDelay |
||
| 1148 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:339 .text:00000210 Delay_ms |
||
| 1149 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:360 .text:0000022a Delay_ms_Mess |
||
| 1150 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:390 .text:0000025a TIMER2_Init |
||
| 1151 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:432 .text:000002b8 Timer_Init |
||
| 1152 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:838 .bss:00000015 tim_main |
||
| 1153 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:459 .text:000002e6 CalculateServo |
||
| 1154 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:95 .bss:00000011 PulseOutput.0 |
||
| 1155 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:836 .bss:00000012 ServoFrameTime.1 |
||
| 1156 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:837 .bss:00000014 ServoIndex.2 |
||
| 1157 | C:\Users\Thomas\AppData\Local\Temp/cc4Xj7Xa.s:841 .text:00000658 __vector_9 |
||
| 1158 | *COM*:00000008 Motorsmax |
||
| 1159 | *COM*:00000002 MotorsTmax |
||
| 1160 | |||
| 1161 | UNDEFINED SYMBOLS |
||
| 1162 | __do_copy_data |
||
| 1163 | __do_clear_bss |
||
| 1164 | SpektrumTimer |
||
| 1165 | PlatinenVersion |
||
| 1166 | NaviDataOkay |
||
| 1167 | Parameter_GlobalConfig |
||
| 1168 | __udivmodhi4 |
||
| 1169 | KompassValue |
||
| 1170 | AdReady |
||
| 1171 | __prologue_saves__ |
||
| 1172 | EE_Parameter |
||
| 1173 | sintab |
||
| 1174 | IntegralNick |
||
| 1175 | __mulsi3 |
||
| 1176 | IntegralRoll |
||
| 1177 | POI_KameraNick |
||
| 1178 | Parameter_ServoNickControl |
||
| 1179 | __divmodhi4 |
||
| 1180 | Parameter_ServoRollControl |
||
| 1181 | __epilogue_restores__ |
||
| 1182 | Parameter_Servo3 |
||
| 1183 | Parameter_Servo4 |
||
| 1184 | Parameter_Servo5 |
||
| 1185 | PPM_in |
||
| 1186 | SenderOkay |