WebSVN - Projects - Blame - Rev 97 - /Microsoft Robotics Studio/Roboboard/main.lst

Rev	Author	Line No.	Line
90	gunterl	1
		2	main.elf: file format elf32-avr
		3
		4	Sections:
		5	Idx Name Size VMA LMA File off Algn
		6
		7	CONTENTS, ALLOC, LOAD, READONLY, CODE
		8	1 .data 00000002 00800060 0000047e 00000512 2**0
		9	CONTENTS, ALLOC, LOAD, DATA
		10	2 .bss 000000ea 00800062 00800062 00000514 2**0
		11	ALLOC
		12	3 .stab 00000378 00000000 00000000 00000514 2**2
		13	CONTENTS, READONLY, DEBUGGING
		14	4 .stabstr 00000071 00000000 00000000 0000088c 2**0
		15	CONTENTS, READONLY, DEBUGGING
		16	5 .debug_aranges 00000020 00000000 00000000 000008fd 2**0
		17	CONTENTS, READONLY, DEBUGGING
		18	6 .debug_pubnames 0000011d 00000000 00000000 0000091d 2**0
		19	CONTENTS, READONLY, DEBUGGING
		20	7 .debug_info 000003bf 00000000 00000000 00000a3a 2**0
		21	CONTENTS, READONLY, DEBUGGING
		22	8 .debug_abbrev 0000011c 00000000 00000000 00000df9 2**0
		23	CONTENTS, READONLY, DEBUGGING
		24	9 .debug_line 00000367 00000000 00000000 00000f15 2**0
		25	CONTENTS, READONLY, DEBUGGING
		26	10 .debug_frame 00000070 00000000 00000000 0000127c 2**2
		27	CONTENTS, READONLY, DEBUGGING
97	gunterl	28	11 .debug_str 00000203 00000000 00000000 000012ec 2**0
90	gunterl	29	CONTENTS, READONLY, DEBUGGING
97	gunterl	30	12 .debug_loc 00000220 00000000 00000000 000014ef 2**0
90	gunterl	31	CONTENTS, READONLY, DEBUGGING
		32	Disassembly of section .text:
		33
		34	00000000 <__vectors>:
		35	0: 12 c0 rjmp .+36 ; 0x26 <__ctors_end>
		36	2: 2c c0 rjmp .+88 ; 0x5c <__bad_interrupt>
		37	4: 2b c0 rjmp .+86 ; 0x5c <__bad_interrupt>
		38	6: 2a c0 rjmp .+84 ; 0x5c <__bad_interrupt>
		39	8: 29 c0 rjmp .+82 ; 0x5c <__bad_interrupt>
		40	a: 28 c0 rjmp .+80 ; 0x5c <__bad_interrupt>
		41	c: 27 c0 rjmp .+78 ; 0x5c <__bad_interrupt>
		42	e: 26 c0 rjmp .+76 ; 0x5c <__bad_interrupt>
		43	10: 25 c0 rjmp .+74 ; 0x5c <__bad_interrupt>
		44	12: 24 c0 rjmp .+72 ; 0x5c <__bad_interrupt>
		45	14: 23 c0 rjmp .+70 ; 0x5c <__bad_interrupt>
		46	16: 5c c0 rjmp .+184 ; 0xd0 <__vector_11>
		47	18: 21 c0 rjmp .+66 ; 0x5c <__bad_interrupt>
		48	1a: 25 c0 rjmp .+74 ; 0x66 <__vector_13>
		49	1c: 1f c0 rjmp .+62 ; 0x5c <__bad_interrupt>
		50	1e: 1e c0 rjmp .+60 ; 0x5c <__bad_interrupt>
		51	20: 1d c0 rjmp .+58 ; 0x5c <__bad_interrupt>
		52	22: 1c c0 rjmp .+56 ; 0x5c <__bad_interrupt>
		53	24: 1b c0 rjmp .+54 ; 0x5c <__bad_interrupt>
		54
		55	00000026 <__ctors_end>:
		56	26: 11 24 eor r1, r1
		57	28: 1f be out 0x3f, r1 ; 63
		58	2a: cf e5 ldi r28, 0x5F ; 95
		59	2c: d4 e0 ldi r29, 0x04 ; 4
		60	2e: de bf out 0x3e, r29 ; 62
		61	30: cd bf out 0x3d, r28 ; 61
		62
		63	00000032 <__do_copy_data>:
		64	32: 10 e0 ldi r17, 0x00 ; 0
		65	34: a0 e6 ldi r26, 0x60 ; 96
		66	36: b0 e0 ldi r27, 0x00 ; 0
		67	38: ee e7 ldi r30, 0x7E ; 126
		68	3a: f4 e0 ldi r31, 0x04 ; 4
		69	3c: 02 c0 rjmp .+4 ; 0x42 <.do_copy_data_start>
		70
		71	0000003e <.do_copy_data_loop>:
		72	3e: 05 90 lpm r0, Z+
		73	40: 0d 92 st X+, r0
		74
		75	00000042 <.do_copy_data_start>:
		76	42: a2 36 cpi r26, 0x62 ; 98
		77	44: b1 07 cpc r27, r17
97	gunterl	78	46: d9 f7 brne .-10 ; 0x3e <.do_copy_data_loop>
90	gunterl	79
		80	00000048 <__do_clear_bss>:
		81	48: 11 e0 ldi r17, 0x01 ; 1
		82	4a: a2 e6 ldi r26, 0x62 ; 98
		83	4c: b0 e0 ldi r27, 0x00 ; 0
		84	4e: 01 c0 rjmp .+2 ; 0x52 <.do_clear_bss_start>
		85
		86	00000050 <.do_clear_bss_loop>:
		87	50: 1d 92 st X+, r1
		88
		89	00000052 <.do_clear_bss_start>:
		90	52: ac 34 cpi r26, 0x4C ; 76
		91	54: b1 07 cpc r27, r17
		92	56: e1 f7 brne .-8 ; 0x50 <.do_clear_bss_loop>
		93	58: d4 d1 rcall .+936 ; 0x402 <main>
		94	5a: 10 c2 rjmp .+1056 ; 0x47c <_exit>
		95
		96	0000005c <__bad_interrupt>:
97	gunterl	97	5c: d1 cf rjmp .-94 ; 0x0 <__vectors>
90	gunterl	98
		99	0000005e <uart_putchar>:
		100	struct str_Exception Exception;
		101
		102	// --------------------------------------------------------------------------
		103	int uart_putchar (char c)
		104	{
		105	5e: 8c b9 out 0x0c, r24 ; 12
		106	UDR = c;
		107	return (0);
		108	}
		109	60: 80 e0 ldi r24, 0x00 ; 0
		110	62: 90 e0 ldi r25, 0x00 ; 0
		111	64: 08 95 ret
		112
		113	00000066 <__vector_13>:
		114
		115	// --------------------------------------------------------------------------
		116	SIGNAL(SIG_UART_TRANS)
		117	{
		118	66: 1f 92 push r1
		119	68: 0f 92 push r0
		120	6a: 0f b6 in r0, 0x3f ; 63
		121	6c: 0f 92 push r0
		122	6e: 11 24 eor r1, r1
		123	70: 8f 93 push r24
		124	72: 9f 93 push r25
		125	74: ef 93 push r30
		126	76: ff 93 push r31
		127	static unsigned int ptr = 0;
		128	unsigned char tmp_tx;
		129	if(!UebertragungAbgeschlossen)
		130	78: 80 91 60 00 lds r24, 0x0060
		131	7c: 88 23 and r24, r24
		132	7e: d9 f4 brne .+54 ; 0xb6 <__vector_13+0x50>
		133	{
		134	ptr++; // die [0] wurde schon gesendet
		135	80: 80 91 6c 00 lds r24, 0x006C
		136	84: 90 91 6d 00 lds r25, 0x006D
		137	88: 01 96 adiw r24, 0x01 ; 1
		138	8a: 90 93 6d 00 sts 0x006D, r25
		139	8e: 80 93 6c 00 sts 0x006C, r24
		140	tmp_tx = TxdBuffer[ptr];
		141	92: fc 01 movw r30, r24
		142	94: e9 52 subi r30, 0x29 ; 41
		143	96: ff 4f sbci r31, 0xFF ; 255
		144	98: e0 81 ld r30, Z
		145	if((tmp_tx == '\r') \|\| (ptr == MAX_TX_BUF))
		146	9a: ed 30 cpi r30, 0x0D ; 13
		147	9c: 19 f0 breq .+6 ; 0xa4 <__vector_13+0x3e>
		148	9e: 84 36 cpi r24, 0x64 ; 100
		149	a0: 91 05 cpc r25, r1
		150	a2: 39 f4 brne .+14 ; 0xb2 <__vector_13+0x4c>
		151	{
		152	ptr = 0;
		153	a4: 10 92 6d 00 sts 0x006D, r1
		154	a8: 10 92 6c 00 sts 0x006C, r1
		155	UebertragungAbgeschlossen = 1;
		156	ac: 81 e0 ldi r24, 0x01 ; 1
		157	ae: 80 93 60 00 sts 0x0060, r24
		158	}
		159	UDR = tmp_tx;
		160	b2: ec b9 out 0x0c, r30 ; 12
		161	b4: 04 c0 rjmp .+8 ; 0xbe <__vector_13+0x58>
		162	}
		163	else ptr = 0;
		164	b6: 10 92 6d 00 sts 0x006D, r1
		165	ba: 10 92 6c 00 sts 0x006C, r1
		166	be: ff 91 pop r31
		167	c0: ef 91 pop r30
		168	c2: 9f 91 pop r25
		169	c4: 8f 91 pop r24
		170	c6: 0f 90 pop r0
		171	c8: 0f be out 0x3f, r0 ; 63
		172	ca: 0f 90 pop r0
		173	cc: 1f 90 pop r1
		174	ce: 18 95 reti
		175
		176	000000d0 <__vector_11>:
		177	}
		178
		179	// --------------------------------------------------------------------------
		180	SIGNAL(SIG_UART_RECV)
		181	{
		182	d0: 1f 92 push r1
		183	d2: 0f 92 push r0
		184	d4: 0f b6 in r0, 0x3f ; 63
		185	d6: 0f 92 push r0
		186	d8: 11 24 eor r1, r1
		187	da: 2f 93 push r18
		188	dc: 3f 93 push r19
		189	de: 4f 93 push r20
		190	e0: 5f 93 push r21
		191	e2: 6f 93 push r22
		192	e4: 7f 93 push r23
		193	e6: 8f 93 push r24
		194	e8: 9f 93 push r25
		195	ea: af 93 push r26
		196	ec: bf 93 push r27
		197	ee: ef 93 push r30
		198	f0: ff 93 push r31
		199	static unsigned int crc;
		200	static unsigned char crc1,crc2,buf_ptr;
		201	static unsigned char UartState = 0;
		202	unsigned char CrcOkay = 0;
		203
		204	SioTmp = UDR;
		205	f2: 8c b1 in r24, 0x0c ; 12
		206	f4: 80 93 62 00 sts 0x0062, r24
		207
		208	if(buf_ptr >= MAX_RX_BUF)
		209	f8: 50 91 67 00 lds r21, 0x0067
		210	fc: 54 36 cpi r21, 0x64 ; 100
		211	fe: 10 f0 brcs .+4 ; 0x104 <__vector_11+0x34>
		212	UartState = 0;
		213	100: 10 92 66 00 sts 0x0066, r1
		214	if(SioTmp == '\r' && UartState == 2)
		215	104: 80 91 62 00 lds r24, 0x0062
		216	108: 8d 30 cpi r24, 0x0D ; 13
		217	10a: 09 f0 breq .+2 ; 0x10e <__vector_11+0x3e>
		218	10c: 56 c0 rjmp .+172 ; 0x1ba <__vector_11+0xea>
		219	10e: 80 91 66 00 lds r24, 0x0066
		220	112: 82 30 cpi r24, 0x02 ; 2
		221	114: 09 f0 breq .+2 ; 0x118 <__vector_11+0x48>
		222	116: 51 c0 rjmp .+162 ; 0x1ba <__vector_11+0xea>
		223	{
		224	UartState = 0;
		225	118: 10 92 66 00 sts 0x0066, r1
		226	crc -= RxdBuffer[buf_ptr-2];
		227	11c: 65 2f mov r22, r21
		228	11e: 77 27 eor r23, r23
		229	120: fb 01 movw r30, r22
		230	122: 32 97 sbiw r30, 0x02 ; 2
		231	124: 23 e7 ldi r18, 0x73 ; 115
		232	126: 30 e0 ldi r19, 0x00 ; 0
		233	128: e2 0f add r30, r18
		234	12a: f3 1f adc r31, r19
		235	12c: 40 81 ld r20, Z
		236	crc -= RxdBuffer[buf_ptr-1];
		237	12e: cb 01 movw r24, r22
		238	130: 01 97 sbiw r24, 0x01 ; 1
		239	132: dc 01 movw r26, r24
		240	134: a2 0f add r26, r18
		241	136: b3 1f adc r27, r19
		242	138: 2c 91 ld r18, X
		243	crc %= 4096;
		244	13a: 80 91 6a 00 lds r24, 0x006A
		245	13e: 90 91 6b 00 lds r25, 0x006B
		246	142: 84 1b sub r24, r20
		247	144: 91 09 sbc r25, r1
		248	146: 82 1b sub r24, r18
		249	148: 91 09 sbc r25, r1
		250	14a: 9f 70 andi r25, 0x0F ; 15
		251	14c: 90 93 6b 00 sts 0x006B, r25
		252	150: 80 93 6a 00 sts 0x006A, r24
		253	crc1 = '=' + crc / 64;
		254	154: 9c 01 movw r18, r24
		255	156: 00 24 eor r0, r0
		256	158: 22 0f add r18, r18
		257	15a: 33 1f adc r19, r19
		258	15c: 00 1c adc r0, r0
		259	15e: 22 0f add r18, r18
		260	160: 33 1f adc r19, r19
		261	162: 00 1c adc r0, r0
		262	164: 23 2f mov r18, r19
		263	166: 30 2d mov r19, r0
		264	168: 23 5c subi r18, 0xC3 ; 195
		265	16a: 20 93 69 00 sts 0x0069, r18
		266	crc2 = '=' + crc % 64;
		267	16e: 8f 73 andi r24, 0x3F ; 63
		268	170: 38 2f mov r19, r24
		269	172: 33 5c subi r19, 0xC3 ; 195
		270	174: 30 93 68 00 sts 0x0068, r19
		271	CrcOkay = 0;
		272	if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1]))
		273	178: 80 81 ld r24, Z
		274	17a: 28 17 cp r18, r24
		275	17c: 29 f4 brne .+10 ; 0x188 <__vector_11+0xb8>
		276	17e: 8c 91 ld r24, X
		277	180: 38 17 cp r19, r24
		278	182: 11 f4 brne .+4 ; 0x188 <__vector_11+0xb8>
		279	184: 91 e0 ldi r25, 0x01 ; 1
		280	186: 06 c0 rjmp .+12 ; 0x194 <__vector_11+0xc4>
		281	{
		282	CrcOkay = 1;
		283	}
		284	else
		285	{
		286	CrcOkay = 0;
		287	CntCrcError++;
		288	188: 80 91 64 00 lds r24, 0x0064
		289	18c: 8f 5f subi r24, 0xFF ; 255
		290	18e: 80 93 64 00 sts 0x0064, r24
		291	192: 90 e0 ldi r25, 0x00 ; 0
		292	}
		293	if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet
		294	194: 80 91 63 00 lds r24, 0x0063
		295	198: 88 23 and r24, r24
		296	19a: 09 f0 breq .+2 ; 0x19e <__vector_11+0xce>
		297	19c: 6c c0 rjmp .+216 ; 0x276 <__vector_11+0x1a6>
		298	19e: 99 23 and r25, r25
		299	1a0: 09 f4 brne .+2 ; 0x1a4 <__vector_11+0xd4>
		300	1a2: 69 c0 rjmp .+210 ; 0x276 <__vector_11+0x1a6>
		301	{
		302	NeuerDatensatzEmpfangen = 1;
		303	1a4: 81 e0 ldi r24, 0x01 ; 1
		304	1a6: 80 93 63 00 sts 0x0063, r24
		305	AnzahlEmpfangsBytes = buf_ptr;
		306	1aa: 50 93 65 00 sts 0x0065, r21
		307	RxdBuffer[buf_ptr] = '\r';
		308	1ae: fb 01 movw r30, r22
		309	1b0: ed 58 subi r30, 0x8D ; 141
		310	1b2: ff 4f sbci r31, 0xFF ; 255
		311	1b4: 8d e0 ldi r24, 0x0D ; 13
		312	1b6: 80 83 st Z, r24
		313	1b8: 5e c0 rjmp .+188 ; 0x276 <__vector_11+0x1a6>
		314	}
		315	}
		316	else
		317	switch(UartState)
		318	1ba: 80 91 66 00 lds r24, 0x0066
		319	1be: 81 30 cpi r24, 0x01 ; 1
		320	1c0: 01 f1 breq .+64 ; 0x202 <__vector_11+0x132>
		321	1c2: 81 30 cpi r24, 0x01 ; 1
		322	1c4: 20 f0 brcs .+8 ; 0x1ce <__vector_11+0xfe>
		323	1c6: 82 30 cpi r24, 0x02 ; 2
		324	1c8: 09 f0 breq .+2 ; 0x1cc <__vector_11+0xfc>
		325	1ca: 53 c0 rjmp .+166 ; 0x272 <__vector_11+0x1a2>
		326	1cc: 35 c0 rjmp .+106 ; 0x238 <__vector_11+0x168>
		327	{
		328	case 0:
		329	if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet
		330	1ce: 80 91 62 00 lds r24, 0x0062
		331	1d2: 83 32 cpi r24, 0x23 ; 35
		332	1d4: 39 f4 brne .+14 ; 0x1e4 <__vector_11+0x114>
		333	1d6: 80 91 63 00 lds r24, 0x0063
		334	1da: 88 23 and r24, r24
		335	1dc: 19 f4 brne .+6 ; 0x1e4 <__vector_11+0x114>
		336	1de: 81 e0 ldi r24, 0x01 ; 1
		337	1e0: 80 93 66 00 sts 0x0066, r24
		338	buf_ptr = 0;
		339	RxdBuffer[buf_ptr++] = SioTmp;
		340	1e4: 80 91 62 00 lds r24, 0x0062
		341	1e8: 80 93 73 00 sts 0x0073, r24
		342	1ec: 81 e0 ldi r24, 0x01 ; 1
		343	1ee: 80 93 67 00 sts 0x0067, r24
		344	crc = SioTmp;
		345	1f2: 80 91 62 00 lds r24, 0x0062
		346	1f6: 99 27 eor r25, r25
		347	1f8: 90 93 6b 00 sts 0x006B, r25
		348	1fc: 80 93 6a 00 sts 0x006A, r24
		349	200: 3a c0 rjmp .+116 ; 0x276 <__vector_11+0x1a6>
		350
		351	break;
		352	case 1: // Adresse auswerten
		353	UartState++;
		354	202: 82 e0 ldi r24, 0x02 ; 2
		355	204: 80 93 66 00 sts 0x0066, r24
		356	RxdBuffer[buf_ptr++] = SioTmp;
		357	208: 80 91 62 00 lds r24, 0x0062
		358	20c: e3 e7 ldi r30, 0x73 ; 115
		359	20e: f0 e0 ldi r31, 0x00 ; 0
		360	210: e5 0f add r30, r21
		361	212: f1 1d adc r31, r1
		362	214: 80 83 st Z, r24
		363	216: 85 2f mov r24, r21
		364	218: 8f 5f subi r24, 0xFF ; 255
		365	21a: 80 93 67 00 sts 0x0067, r24
		366	crc += SioTmp;
		367	21e: 20 91 62 00 lds r18, 0x0062
		368	222: 80 91 6a 00 lds r24, 0x006A
		369	226: 90 91 6b 00 lds r25, 0x006B
		370	22a: 82 0f add r24, r18
		371	22c: 91 1d adc r25, r1
		372	22e: 90 93 6b 00 sts 0x006B, r25
		373	232: 80 93 6a 00 sts 0x006A, r24
		374	236: 1f c0 rjmp .+62 ; 0x276 <__vector_11+0x1a6>
		375
		376	break;
		377	case 2: // Eingangsdaten sammeln
		378	RxdBuffer[buf_ptr] = SioTmp;
		379	238: 80 91 62 00 lds r24, 0x0062
		380	23c: e3 e7 ldi r30, 0x73 ; 115
		381	23e: f0 e0 ldi r31, 0x00 ; 0
		382	240: e5 0f add r30, r21
		383	242: f1 1d adc r31, r1
		384	244: 80 83 st Z, r24
		385	if(buf_ptr < MAX_RX_BUF) buf_ptr++;
		386	246: 54 36 cpi r21, 0x64 ; 100
		387	248: 28 f4 brcc .+10 ; 0x254 <__vector_11+0x184>
		388	24a: 85 2f mov r24, r21
		389	24c: 8f 5f subi r24, 0xFF ; 255
		390	24e: 80 93 67 00 sts 0x0067, r24
		391	252: 02 c0 rjmp .+4 ; 0x258 <__vector_11+0x188>
		392	else UartState = 0;
		393	254: 10 92 66 00 sts 0x0066, r1
		394	crc += SioTmp;
		395	258: 20 91 62 00 lds r18, 0x0062
		396	25c: 80 91 6a 00 lds r24, 0x006A
		397	260: 90 91 6b 00 lds r25, 0x006B
		398	264: 82 0f add r24, r18
		399	266: 91 1d adc r25, r1
		400	268: 90 93 6b 00 sts 0x006B, r25
		401	26c: 80 93 6a 00 sts 0x006A, r24
		402	270: 02 c0 rjmp .+4 ; 0x276 <__vector_11+0x1a6>
		403
		404	break;
		405	default:
		406	UartState = 0;
		407	272: 10 92 66 00 sts 0x0066, r1
		408	276: ff 91 pop r31
		409	278: ef 91 pop r30
		410	27a: bf 91 pop r27
		411	27c: af 91 pop r26
		412	27e: 9f 91 pop r25
		413	280: 8f 91 pop r24
		414	282: 7f 91 pop r23
		415	284: 6f 91 pop r22
		416	286: 5f 91 pop r21
		417	288: 4f 91 pop r20
		418	28a: 3f 91 pop r19
		419	28c: 2f 91 pop r18
		420	28e: 0f 90 pop r0
		421	290: 0f be out 0x3f, r0 ; 63
		422	292: 0f 90 pop r0
		423	294: 1f 90 pop r1
		424	296: 18 95 reti
		425
		426	00000298 <AddCRC>:
		427	break;
		428	}
		429	}
		430
		431	// --------------------------------------------------------------------------
		432	void AddCRC(unsigned int wieviele)
		433	{
		434	298: dc 01 movw r26, r24
		435	unsigned int tmpCRC = 0,i;
		436	for(i = 0; i < wieviele;i++)
		437	29a: 89 2b or r24, r25
		438	29c: 29 f4 brne .+10 ; 0x2a8 <AddCRC+0x10>
		439	29e: 20 e0 ldi r18, 0x00 ; 0
		440	2a0: 30 e0 ldi r19, 0x00 ; 0
		441	2a2: a0 e0 ldi r26, 0x00 ; 0
		442	2a4: b0 e0 ldi r27, 0x00 ; 0
		443	2a6: 11 c0 rjmp .+34 ; 0x2ca <AddCRC+0x32>
		444	2a8: 20 e0 ldi r18, 0x00 ; 0
		445	2aa: 30 e0 ldi r19, 0x00 ; 0
		446	2ac: 40 e0 ldi r20, 0x00 ; 0
		447	2ae: 50 e0 ldi r21, 0x00 ; 0
		448	2b0: 67 ed ldi r22, 0xD7 ; 215
		449	2b2: 70 e0 ldi r23, 0x00 ; 0
		450	{
		451	tmpCRC += TxdBuffer[i];
		452	2b4: fa 01 movw r30, r20
		453	2b6: e6 0f add r30, r22
		454	2b8: f7 1f adc r31, r23
		455	2ba: 80 81 ld r24, Z
		456	2bc: 28 0f add r18, r24
		457	2be: 31 1d adc r19, r1
		458	2c0: 4f 5f subi r20, 0xFF ; 255
		459	2c2: 5f 4f sbci r21, 0xFF ; 255
		460	2c4: a4 17 cp r26, r20
		461	2c6: b5 07 cpc r27, r21
		462	2c8: a9 f7 brne .-22 ; 0x2b4 <AddCRC+0x1c>
		463	}
		464	tmpCRC %= 4096;
		465	2ca: 3f 70 andi r19, 0x0F ; 15
		466	TxdBuffer[i++] = '=' + tmpCRC / 64;
		467	2cc: c9 01 movw r24, r18
		468	2ce: 00 24 eor r0, r0
		469	2d0: 88 0f add r24, r24
		470	2d2: 99 1f adc r25, r25
		471	2d4: 00 1c adc r0, r0
		472	2d6: 88 0f add r24, r24
		473	2d8: 99 1f adc r25, r25
		474	2da: 00 1c adc r0, r0
		475	2dc: 89 2f mov r24, r25
		476	2de: 90 2d mov r25, r0
		477	2e0: 83 5c subi r24, 0xC3 ; 195
		478	2e2: 47 ed ldi r20, 0xD7 ; 215
		479	2e4: 50 e0 ldi r21, 0x00 ; 0
		480	2e6: fd 01 movw r30, r26
		481	2e8: e4 0f add r30, r20
		482	2ea: f5 1f adc r31, r21
		483	2ec: 80 83 st Z, r24
		484	2ee: 11 96 adiw r26, 0x01 ; 1
		485	TxdBuffer[i++] = '=' + tmpCRC % 64;
		486	2f0: 2f 73 andi r18, 0x3F ; 63
		487	2f2: 23 5c subi r18, 0xC3 ; 195
		488	2f4: fd 01 movw r30, r26
		489	2f6: e4 0f add r30, r20
		490	2f8: f5 1f adc r31, r21
		491	2fa: 20 83 st Z, r18
		492	2fc: 11 96 adiw r26, 0x01 ; 1
		493	TxdBuffer[i++] = '\r';
		494	2fe: a4 0f add r26, r20
		495	300: b5 1f adc r27, r21
		496	302: 8d e0 ldi r24, 0x0D ; 13
		497	304: 8c 93 st X, r24
		498	UebertragungAbgeschlossen = 0;
		499	306: 10 92 60 00 sts 0x0060, r1
		500	UDR = TxdBuffer[0];
		501	30a: 80 91 d7 00 lds r24, 0x00D7
		502	30e: 8c b9 out 0x0c, r24 ; 12
		503	310: 08 95 ret
		504
		505	00000312 <SendOutData>:
		506	}
		507
		508
		509	// --------------------------------------------------------------------------
		510	void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len)
		511	{
		512	312: ff 92 push r15
		513	314: 0f 93 push r16
		514	316: 1f 93 push r17
		515	318: cf 93 push r28
		516	31a: df 93 push r29
		517	31c: 8a 01 movw r16, r20
		518	31e: 72 2f mov r23, r18
		519	unsigned int pt = 0;
		520	unsigned char a,b,c;
		521	unsigned char ptr = 0;
		522
		523	TxdBuffer[pt++] = '#'; // Startzeichen
		524	320: 93 e2 ldi r25, 0x23 ; 35
		525	322: 90 93 d7 00 sts 0x00D7, r25
		526	TxdBuffer[pt++] = modul; // Adresse (a=0; b=1,...)
		527	326: 60 93 d8 00 sts 0x00D8, r22
		528	TxdBuffer[pt++] = cmd; // Commando
		529	32a: 80 93 d9 00 sts 0x00D9, r24
		530
		531	while(len)
		532	32e: 22 23 and r18, r18
		533	330: 19 f4 brne .+6 ; 0x338 <SendOutData+0x26>
		534	332: a3 e0 ldi r26, 0x03 ; 3
		535	334: b0 e0 ldi r27, 0x00 ; 0
		536	336: 5d c0 rjmp .+186 ; 0x3f2 <SendOutData+0xe0>
		537	338: a3 e0 ldi r26, 0x03 ; 3
		538	33a: b0 e0 ldi r27, 0x00 ; 0
		539	33c: 60 e0 ldi r22, 0x00 ; 0
		540	33e: c7 ed ldi r28, 0xD7 ; 215
		541	340: d0 e0 ldi r29, 0x00 ; 0
		542	{
		543	if(len) { a = snd[ptr++]; len--;} else a = 0;
		544	342: f8 01 movw r30, r16
		545	344: e6 0f add r30, r22
		546	346: f1 1d adc r31, r1
		547	348: 90 81 ld r25, Z
		548	34a: 6f 5f subi r22, 0xFF ; 255
		549	34c: 71 50 subi r23, 0x01 ; 1
		550	if(len) { b = snd[ptr++]; len--;} else b = 0;
		551	34e: 19 f4 brne .+6 ; 0x356 <SendOutData+0x44>
		552	350: ff 24 eor r15, r15
		553	352: 40 e0 ldi r20, 0x00 ; 0
		554	354: 0f c0 rjmp .+30 ; 0x374 <SendOutData+0x62>
		555	356: f8 01 movw r30, r16
		556	358: e6 0f add r30, r22
		557	35a: f1 1d adc r31, r1
		558	35c: 40 81 ld r20, Z
		559	35e: 6f 5f subi r22, 0xFF ; 255
		560	360: 71 50 subi r23, 0x01 ; 1
		561	if(len) { c = snd[ptr++]; len--;} else c = 0;
		562	362: 11 f4 brne .+4 ; 0x368 <SendOutData+0x56>
		563	364: ff 24 eor r15, r15
		564	366: 06 c0 rjmp .+12 ; 0x374 <SendOutData+0x62>
		565	368: f8 01 movw r30, r16
		566	36a: e6 0f add r30, r22
		567	36c: f1 1d adc r31, r1
		568	36e: f0 80 ld r15, Z
		569	370: 6f 5f subi r22, 0xFF ; 255
		570	372: 71 50 subi r23, 0x01 ; 1
		571	TxdBuffer[pt++] = '=' + (a >> 2);
		572	374: 89 2f mov r24, r25
		573	376: 86 95 lsr r24
		574	378: 86 95 lsr r24
		575	37a: 83 5c subi r24, 0xC3 ; 195
		576	37c: fd 01 movw r30, r26
		577	37e: ec 0f add r30, r28
		578	380: fd 1f adc r31, r29
		579	382: 80 83 st Z, r24
		580	384: fd 01 movw r30, r26
		581	386: 31 96 adiw r30, 0x01 ; 1
		582	TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) \| ((b & 0xf0) >> 4));
		583	388: 55 27 eor r21, r21
		584	38a: 89 2f mov r24, r25
		585	38c: 99 27 eor r25, r25
		586	38e: 83 70 andi r24, 0x03 ; 3
		587	390: 90 70 andi r25, 0x00 ; 0
		588	392: 82 95 swap r24
		589	394: 92 95 swap r25
		590	396: 90 7f andi r25, 0xF0 ; 240
		591	398: 98 27 eor r25, r24
		592	39a: 80 7f andi r24, 0xF0 ; 240
		593	39c: 98 27 eor r25, r24
		594	39e: 9a 01 movw r18, r20
		595	3a0: 32 95 swap r19
		596	3a2: 22 95 swap r18
		597	3a4: 2f 70 andi r18, 0x0F ; 15
		598	3a6: 23 27 eor r18, r19
		599	3a8: 3f 70 andi r19, 0x0F ; 15
		600	3aa: 23 27 eor r18, r19
		601	3ac: 82 2b or r24, r18
		602	3ae: 83 5c subi r24, 0xC3 ; 195
		603	3b0: ec 0f add r30, r28
		604	3b2: fd 1f adc r31, r29
		605	3b4: 80 83 st Z, r24
		606	3b6: fd 01 movw r30, r26
		607	3b8: 32 96 adiw r30, 0x02 ; 2
		608	TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) \| ((c & 0xc0) >> 6));
		609	3ba: 4f 70 andi r20, 0x0F ; 15
		610	3bc: 50 70 andi r21, 0x00 ; 0
		611	3be: 44 0f add r20, r20
		612	3c0: 55 1f adc r21, r21
		613	3c2: 44 0f add r20, r20
		614	3c4: 55 1f adc r21, r21
		615	3c6: 8f 2d mov r24, r15
		616	3c8: 82 95 swap r24
		617	3ca: 86 95 lsr r24
		618	3cc: 86 95 lsr r24
		619	3ce: 83 70 andi r24, 0x03 ; 3
		620	3d0: 84 2b or r24, r20
		621	3d2: 83 5c subi r24, 0xC3 ; 195
		622	3d4: ec 0f add r30, r28
		623	3d6: fd 1f adc r31, r29
		624	3d8: 80 83 st Z, r24
		625	3da: fd 01 movw r30, r26
		626	3dc: 33 96 adiw r30, 0x03 ; 3
		627	TxdBuffer[pt++] = '=' + ( c & 0x3f);
		628	3de: 8f 2d mov r24, r15
		629	3e0: 8f 73 andi r24, 0x3F ; 63
		630	3e2: 83 5c subi r24, 0xC3 ; 195
		631	3e4: ec 0f add r30, r28
		632	3e6: fd 1f adc r31, r29
		633	3e8: 80 83 st Z, r24
		634	3ea: 14 96 adiw r26, 0x04 ; 4
		635	3ec: 77 23 and r23, r23
		636	3ee: 09 f0 breq .+2 ; 0x3f2 <SendOutData+0xe0>
		637	3f0: a8 cf rjmp .-176 ; 0x342 <SendOutData+0x30>
		638	}
		639	AddCRC(pt);
		640	3f2: cd 01 movw r24, r26
		641	3f4: 51 df rcall .-350 ; 0x298 <AddCRC>
		642	3f6: df 91 pop r29
		643	3f8: cf 91 pop r28
		644	3fa: 1f 91 pop r17
		645	3fc: 0f 91 pop r16
		646	3fe: ff 90 pop r15
		647	400: 08 95 ret
		648
		649	00000402 <main>:
		650	}
		651
		652
		653	//-----------------------------------------------------------------------------
		654	//main
		655	//main execution loop
		656	//-----------------------------------------------------------------------------
		657	int main(void)
		658	{
		659	402: 0f 93 push r16
		660	404: 1f 93 push r17
		661	406: cf 93 push r28
		662	408: df 93 push r29
		663
		664	// int message structures;
97	gunterl	665	VersionInfo.identifier = XIDENTIFIER_VERSION;
90	gunterl	666	40a: 81 e0 ldi r24, 0x01 ; 1
		667	40c: 80 93 6e 00 sts 0x006E, r24
97	gunterl	668	VersionInfo.majorversion = MAJORVERSION;
90	gunterl	669	410: 10 92 6f 00 sts 0x006F, r1
97	gunterl	670	VersionInfo.minorversion = MINORVERSION;
90	gunterl	671	414: 80 93 70 00 sts 0x0070, r24
97	gunterl	672
		673	AnalogData.identifier = XIDENTIFIER_ANALOG;
90	gunterl	674	418: 82 e0 ldi r24, 0x02 ; 2
		675	41a: 80 93 3b 01 sts 0x013B, r24
97	gunterl	676
		677	Exception.identifier = XIDENTIFIER_EXCEPTION;
90	gunterl	678	41e: 10 92 71 00 sts 0x0071, r1
		679
		680	// PORT D - unused right now
		681	PORTD = 0x10;
		682	422: 80 e1 ldi r24, 0x10 ; 16
		683	424: 82 bb out 0x12, r24 ; 18
		684	DDRD = 0x00;
		685	426: 11 ba out 0x11, r1 ; 17
		686
		687	//Enable TXEN im Register UCR TX-Data Enable & RX Enable
		688
		689	// USART initialization
		690	// Communication Parameters: 8 Data, 1 Stop, No Parity
		691	// USART Receiver: On
		692	// USART Transmitter: On
		693	// USART RX/TX interrupt enable
		694	// USART Mode: Asynchronous
		695	// USART Baud rate: 57600
		696	UCSRA=0x00;
		697	428: 1b b8 out 0x0b, r1 ; 11
		698	UCSRB=0xD8;
		699	42a: 88 ed ldi r24, 0xD8 ; 216
		700	42c: 8a b9 out 0x0a, r24 ; 10
		701	UCSRC=0x86;
		702	42e: 86 e8 ldi r24, 0x86 ; 134
		703	430: 80 bd out 0x20, r24 ; 32
		704	#ifdef CPUSPEED_20 //20.000MHz
		705	UBRRH=0x00;
		706	UBRRL=0x15;
		707	#endif
		708
		709	#ifdef CPUSPEED_16 //16.000MHz
		710	UBRRH=0x00;
		711	UBRRL=0x10;
		712	#endif
		713
		714	#ifdef CPUSPEED_11059 //11.059MHz
		715	UBRRH=0x00;
		716	432: 10 bc out 0x20, r1 ; 32
		717	UBRRL=0x0B;
		718	434: 8b e0 ldi r24, 0x0B ; 11
		719	436: 89 b9 out 0x09, r24 ; 9
		720	#endif
		721
		722
		723	// Enable interrupts
		724	sei();
		725	438: 78 94 sei
		726
		727	NeuerDatensatzEmpfangen = 0;
		728	43a: 10 92 63 00 sts 0x0063, r1
		729	43e: 0e e6 ldi r16, 0x6E ; 110
		730	440: 10 e0 ldi r17, 0x00 ; 0
		731	442: c1 e7 ldi r28, 0x71 ; 113
		732	444: d0 e0 ldi r29, 0x00 ; 0
		733
		734	// main loop
		735	while (1)
		736	{
		737	if(NeuerDatensatzEmpfangen==1) {
		738	446: 80 91 63 00 lds r24, 0x0063
		739	44a: 81 30 cpi r24, 0x01 ; 1
		740	44c: e1 f7 brne .-8 ; 0x446 <main+0x44>
		741	switch(RxdBuffer[3])
		742	44e: 80 91 76 00 lds r24, 0x0076
		743	452: 81 30 cpi r24, 0x01 ; 1
		744	454: 19 f0 breq .+6 ; 0x45c <main+0x5a>
		745	456: 82 30 cpi r24, 0x02 ; 2
		746	458: 39 f4 brne .+14 ; 0x468 <__stack+0x9>
		747	45a: 0d c0 rjmp .+26 ; 0x476 <__stack+0x17>
		748	{
		749	// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
		750	// version request
		751	case XIDENTIFIER_VERSION:
		752	SendOutData('X',0x00,(unsigned char *) &VersionInfo,sizeof(VersionInfo));
		753	45c: 23 e0 ldi r18, 0x03 ; 3
		754	45e: a8 01 movw r20, r16
		755	460: 60 e0 ldi r22, 0x00 ; 0
		756	462: 88 e5 ldi r24, 0x58 ; 88
		757	464: 56 df rcall .-340 ; 0x312 <SendOutData>
		758	466: 07 c0 rjmp .+14 ; 0x476 <__stack+0x17>
		759	break;
		760	// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
		761	case XIDENTIFIER_ANALOG:
		762	break;
		763	// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
		764	default:
		765	Exception.errorcode = ERRORCODE_NOTIMPLEMENTED;
		766	468: 10 92 72 00 sts 0x0072, r1
		767	SendOutData('X',0x00,(unsigned char *) &Exception,sizeof(VersionInfo));
		768	46c: 23 e0 ldi r18, 0x03 ; 3
		769	46e: ae 01 movw r20, r28
		770	470: 60 e0 ldi r22, 0x00 ; 0
		771	472: 88 e5 ldi r24, 0x58 ; 88
		772	474: 4e df rcall .-356 ; 0x312 <SendOutData>
		773	}
		774	NeuerDatensatzEmpfangen=0;
		775	476: 10 92 63 00 sts 0x0063, r1
		776	47a: e5 cf rjmp .-54 ; 0x446 <main+0x44>
		777
		778	0000047c <_exit>:
		779	47c: ff cf rjmp .-2 ; 0x47c <_exit>

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(root)/Microsoft Robotics Studio/Roboboard/main.lst - Rev 97