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Rev	Author	Line No.	Line
66	jan-hendri	1	1 .file "twislave.c"
		2	2 __SREG__ = 0x3f
		3	3 __SP_H__ = 0x3e
		4	4 __SP_L__ = 0x3d
		5	5 __tmp_reg__ = 0
		6	6 __zero_reg__ = 1
		7	7 .global __do_copy_data
		8	8 .global __do_clear_bss
		9	11 .text
		10	12 .Ltext0:
		11	105 .global InitIC2_Slave
		12	107 InitIC2_Slave:
		13	108 .stabd 46,0,0
		14	1:src/twislave.c **** /*############################################################################
		15	2:src/twislave.c **** Slaveadr = 0x52 = Vorne, 0x54 = Hinten, 0x56 = Rechts, 0x58 = Links
		16	3:src/twislave.c **** ############################################################################*/
		17	4:src/twislave.c ****
		18	5:src/twislave.c **** #include <avr/io.h>
		19	6:src/twislave.c **** #include <util/twi.h>
		20	7:src/twislave.c **** #include "main.h"
		21	8:src/twislave.c ****
		22	9:src/twislave.c **** unsigned char I2C_RXBuffer;
		23	10:src/twislave.c **** unsigned char Byte_Counter=0;
		24	11:src/twislave.c ****
		25	12:src/twislave.c **** //############################################################################
		26	13:src/twislave.c **** //I2C (TWI) Interface Init
		27	14:src/twislave.c **** void InitIC2_Slave(uint8_t adr)
		28	15:src/twislave.c **** //############################################################################
		29	16:src/twislave.c **** {
		30	110 .LM0:
		31	111 .LFBB1:
		32	112 /* prologue: frame size=0 */
		33	113 /* prologue end (size=0) */
		34	17:src/twislave.c **** TWAR = adr + (2*MotorAdresse); // Eigene Adresse setzen
		35	115 .LM1:
		36	116 0000 9091 0000 lds r25,MotorAdresse
		37	117 0004 990F lsl r25
		38	118 0006 980F add r25,r24
		39	119 0008 92B9 out 34-0x20,r25
		40	18:src/twislave.c **** TWCR = (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE) \| (1<<TWEA);
		41	121 .LM2:
		42	122 000a 85EC ldi r24,lo8(-59)
		43	123 000c 86BF out 86-0x20,r24
		44	124 /* epilogue: frame size=0 */
		45	125 000e 0895 ret
		46	126 /* epilogue end (size=1) */
		47	127 /* function InitIC2_Slave size 8 (7) */
		48	129 .Lscope1:
		49	131 .stabd 78,0,0
		50	133 .global __vector_17
		51	135 __vector_17:
		52	136 .stabd 46,0,0
		53	19:src/twislave.c **** }
		54	20:src/twislave.c ****
		55	21:src/twislave.c **** //############################################################################
		56	22:src/twislave.c **** //ISR, die bei einem Ereignis auf dem Bus ausgelöst wird. Im Register TWSR befindet
		57	23:src/twislave.c **** //sich dann ein Statuscode, anhand dessen die Situation festgestellt werden kann.
		58	24:src/twislave.c **** ISR (TWI_vect)
		59	25:src/twislave.c **** //############################################################################
		60	26:src/twislave.c **** {
		61	138 .LM3:
		62	139 .LFBB2:
		63	140 /* prologue: frame size=0 */
		64	141 0010 1F92 push __zero_reg__
		65	142 0012 0F92 push __tmp_reg__
		66	143 0014 0FB6 in __tmp_reg__,__SREG__
		67	144 0016 0F92 push __tmp_reg__
		68	145 0018 1124 clr __zero_reg__
		69	146 001a 8F93 push r24
		70	147 001c 9F93 push r25
		71	148 /* prologue end (size=7) */
		72	27:src/twislave.c **** switch (TWSR & 0xF8)
		73	150 .LM4:
		74	151 001e 81B1 in r24,33-0x20
		75	152 0020 9927 clr r25
		76	153 0022 887F andi r24,lo8(248)
		77	154 0024 9070 andi r25,hi8(248)
		78	155 0026 8038 cpi r24,128
		79	156 0028 9105 cpc r25,__zero_reg__
		80	157 002a 01F0 breq .L7
		81	159 .LM5:
		82	160 002c 8138 cpi r24,129
		83	161 002e 9105 cpc r25,__zero_reg__
		84	162 0030 04F4 brge .L11
		85	163 0032 0097 sbiw r24,0
		86	164 0034 01F0 breq .L5
		87	165 0036 8036 cpi r24,96
		88	166 0038 9105 cpc r25,__zero_reg__
		89	167 003a 01F4 brne .L4
		90	168 003c 00C0 rjmp .L6
		91	169 .L11:
		92	170 003e 883B cpi r24,184
		93	171 0040 9105 cpc r25,__zero_reg__
		94	172 0042 01F0 breq .L9
		95	173 0044 883F cpi r24,248
		96	174 0046 9105 cpc r25,__zero_reg__
		97	175 0048 01F0 breq .L10
		98	176 004a 883A cpi r24,168
		99	177 004c 9105 cpc r25,__zero_reg__
		100	178 004e 01F4 brne .L4
		101	179 0050 00C0 rjmp .L9
		102	180 .L6:
		103	28:src/twislave.c **** {
		104	29:src/twislave.c **** case SR_SLA_ACK:
		105	30:src/twislave.c **** TWCR \|= (1<<TWINT);
		106	182 .LM6:
		107	183 0052 86B7 in r24,86-0x20
		108	184 0054 8068 ori r24,lo8(-128)
		109	185 0056 86BF out 86-0x20,r24
		110	31:src/twislave.c **** Byte_Counter=0;
		111	187 .LM7:
		112	188 0058 1092 0000 sts Byte_Counter,__zero_reg__
		113	189 005c 00C0 rjmp .L19
		114	190 .L7:
		115	32:src/twislave.c **** return;
		116	33:src/twislave.c **** // Daten Empfangen
		117	34:src/twislave.c **** case SR_PREV_ACK:
		118	35:src/twislave.c **** I2C_RXBuffer = TWDR;
		119	192 .LM8:
		120	193 005e 83B1 in r24,35-0x20
		121	194 0060 8093 0000 sts I2C_RXBuffer,r24
		122	36:src/twislave.c **** I2C_Timeout = 500;
		123	196 .LM9:
		124	197 0064 84EF ldi r24,lo8(500)
		125	198 0066 91E0 ldi r25,hi8(500)
		126	199 0068 9093 0000 sts (I2C_Timeout)+1,r25
		127	200 006c 8093 0000 sts I2C_Timeout,r24
		128	201 0070 00C0 rjmp .L18
		129	202 .L9:
		130	37:src/twislave.c **** TWCR \|= (1<<TWINT);
		131	38:src/twislave.c **** return;
		132	39:src/twislave.c **** // Daten Senden
		133	40:src/twislave.c **** case SW_SLA_ACK:
		134	41:src/twislave.c **** if (Byte_Counter==0)
		135	42:src/twislave.c **** {
		136	43:src/twislave.c **** TWDR = Mittelstrom;
		137	44:src/twislave.c **** Byte_Counter++;
		138	45:src/twislave.c **** }
		139	46:src/twislave.c **** else
		140	47:src/twislave.c **** {
		141	48:src/twislave.c **** TWDR = MaxPWM;
		142	49:src/twislave.c **** }
		143	50:src/twislave.c **** TWCR \|= (1<<TWINT);
		144	51:src/twislave.c **** return;
		145	52:src/twislave.c **** // Daten Senden
		146	53:src/twislave.c **** case SW_DATA_ACK:
		147	54:src/twislave.c **** if (Byte_Counter==0)
		148	204 .LM10:
		149	205 0072 8091 0000 lds r24,Byte_Counter
		150	206 0076 8823 tst r24
		151	207 0078 01F4 brne .L16
		152	55:src/twislave.c **** {
		153	56:src/twislave.c **** TWDR = Mittelstrom;
		154	209 .LM11:
		155	210 007a 8091 0000 lds r24,Mittelstrom
		156	211 007e 83B9 out 35-0x20,r24
		157	57:src/twislave.c **** Byte_Counter++;
		158	213 .LM12:
		159	214 0080 81E0 ldi r24,lo8(1)
		160	215 0082 8093 0000 sts Byte_Counter,r24
		161	216 0086 00C0 rjmp .L18
		162	217 .L16:
		163	58:src/twislave.c **** }
		164	59:src/twislave.c **** else
		165	60:src/twislave.c **** {
		166	61:src/twislave.c **** TWDR = MaxPWM;
		167	219 .LM13:
		168	220 0088 8091 0000 lds r24,MaxPWM
		169	221 008c 83B9 out 35-0x20,r24
		170	222 .L18:
		171	62:src/twislave.c **** }
		172	63:src/twislave.c **** TWCR \|= (1<<TWINT);
		173	224 .LM14:
		174	225 008e 86B7 in r24,86-0x20
		175	226 0090 8068 ori r24,lo8(-128)
		176	227 0092 00C0 rjmp .L20
		177	228 .L10:
		178	64:src/twislave.c **** return;
		179	65:src/twislave.c **** // Bus-Fehler zurücksetzen
		180	66:src/twislave.c **** case TWI_BUS_ERR_2:
		181	67:src/twislave.c **** TWCR \|=(1<<TWSTO) \| (1<<TWINT);
		182	230 .LM15:
		183	231 0094 86B7 in r24,86-0x20
		184	232 0096 8069 ori r24,lo8(-112)
		185	233 0098 86BF out 86-0x20,r24
		186	234 .L5:
		187	68:src/twislave.c **** // Bus-Fehler zurücksetzen
		188	69:src/twislave.c **** case TWI_BUS_ERR_1:
		189	70:src/twislave.c **** TWCR \|=(1<<TWSTO) \| (1<<TWINT);
		190	236 .LM16:
		191	237 009a 86B7 in r24,86-0x20
		192	238 009c 8069 ori r24,lo8(-112)
		193	239 009e 86BF out 86-0x20,r24
		194	240 .L4:
		195	71:src/twislave.c **** }
		196	72:src/twislave.c **** TWCR =(1<<TWEA) \| (1<<TWINT) \| (1<<TWEN) \| (1<<TWIE); // TWI Reset
		197	242 .LM17:
		198	243 00a0 85EC ldi r24,lo8(-59)
		199	244 .L20:
		200	245 00a2 86BF out 86-0x20,r24
		201	246 .L19:
		202	247 /* epilogue: frame size=0 */
		203	248 00a4 9F91 pop r25
		204	249 00a6 8F91 pop r24
		205	250 00a8 0F90 pop __tmp_reg__
		206	251 00aa 0FBE out __SREG__,__tmp_reg__
		207	252 00ac 0F90 pop __tmp_reg__
		208	253 00ae 1F90 pop __zero_reg__
		209	254 00b0 1895 reti
		210	255 /* epilogue end (size=7) */
		211	256 /* function __vector_17 size 81 (67) */
		212	258 .Lscope2:
		213	260 .stabd 78,0,0
		214	261 .global Byte_Counter
		215	262 .global Byte_Counter
		216	263 .section .bss
		217	266 Byte_Counter:
		218	267 0000 00 .skip 1,0
		219	268 .comm I2C_RXBuffer,1,1
		220	271 .text
		221	273 .Letext0:
		222	274 /* File "src/twislave.c": code 89 = 0x0059 ( 74), prologues 7, epilogues 8 */
		223	DEFINED SYMBOLS
		224	ABS:00000000 twislave.c
		225	/tmp/ccwqDpRs.s:2 ABS:0000003f __SREG__
		226	/tmp/ccwqDpRs.s:3 ABS:0000003e __SP_H__
		227	/tmp/ccwqDpRs.s:4 ABS:0000003d __SP_L__
		228	/tmp/ccwqDpRs.s:5 ABS:00000000 __tmp_reg__
		229	/tmp/ccwqDpRs.s:6 ABS:00000001 __zero_reg__
		230	/tmp/ccwqDpRs.s:107 .text:00000000 InitIC2_Slave
		231	/tmp/ccwqDpRs.s:135 .text:00000010 __vector_17
		232	/tmp/ccwqDpRs.s:266 .bss:00000000 Byte_Counter
		233	COM:00000001 I2C_RXBuffer
		234
		235	UNDEFINED SYMBOLS
		236	__do_copy_data
		237	__do_clear_bss
		238	MotorAdresse
		239	I2C_Timeout
		240	Mittelstrom
		241	MaxPWM

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