Details | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
1564 | LPDunwell | 1 | 1 .file "twimaster.c" |
2 | 2 __SREG__ = 0x3f |
||
3 | 3 __SP_H__ = 0x3e |
||
4 | 4 __SP_L__ = 0x3d |
||
5 | 5 __CCP__ = 0x34 |
||
6 | 6 __tmp_reg__ = 0 |
||
7 | 7 __zero_reg__ = 1 |
||
8 | 8 .text |
||
9 | 9 .global I2C_Init |
||
10 | 11 I2C_Init: |
||
11 | 12 /* prologue: function */ |
||
12 | 13 /* frame size = 0 */ |
||
13 | 14 0000 9FB7 in r25,__SREG__ |
||
14 | 15 /* #APP */ |
||
15 | 16 ; 84 "twimaster.c" 1 |
||
16 | 17 0002 F894 cli |
||
17 | 18 ; 0 "" 2 |
||
18 | 19 /* #NOAPP */ |
||
19 | 20 0004 3998 cbi 39-32,1 |
||
20 | 21 0006 389A sbi 39-32,0 |
||
21 | 22 0008 88B1 in r24,40-32 |
||
22 | 23 000a 8360 ori r24,lo8(3) |
||
23 | 24 000c 88B9 out 40-32,r24 |
||
24 | 25 000e 8091 B900 lds r24,185 |
||
25 | 26 0012 8C7F andi r24,lo8(-4) |
||
26 | 27 0014 8093 B900 sts 185,r24 |
||
27 | 28 0018 8AE2 ldi r24,lo8(42) |
||
28 | 29 001a 8093 B800 sts 184,r24 |
||
29 | 30 001e 1092 0000 sts twi_state,__zero_reg__ |
||
30 | 31 0022 1092 0000 sts motor_write,__zero_reg__ |
||
31 | 32 0026 1092 0000 sts motor_read,__zero_reg__ |
||
32 | 33 002a E0E0 ldi r30,lo8(Motor) |
||
33 | 34 002c F0E0 ldi r31,hi8(Motor) |
||
34 | 35 .L2: |
||
35 | 36 002e 1082 st Z,__zero_reg__ |
||
36 | 37 0030 1182 std Z+1,__zero_reg__ |
||
37 | 38 0032 1282 std Z+2,__zero_reg__ |
||
38 | 39 0034 1482 std Z+4,__zero_reg__ |
||
39 | 40 0036 3596 adiw r30,5 |
||
40 | 41 0038 80E0 ldi r24,hi8(Motor+60) |
||
41 | 42 003a E030 cpi r30,lo8(Motor+60) |
||
42 | 43 003c F807 cpc r31,r24 |
||
43 | 44 003e 01F4 brne .L2 |
||
44 | 45 0040 9FBF out __SREG__,r25 |
||
45 | 46 /* epilogue start */ |
||
46 | 47 0042 0895 ret |
||
47 | 49 .global I2C_Start |
||
48 | 51 I2C_Start: |
||
49 | 52 /* prologue: function */ |
||
50 | 53 /* frame size = 0 */ |
||
51 | 54 0044 8093 0000 sts twi_state,r24 |
||
52 | 55 0048 85EA ldi r24,lo8(-91) |
||
53 | 56 004a 8093 BC00 sts 188,r24 |
||
54 | 57 /* epilogue start */ |
||
55 | 58 004e 0895 ret |
||
56 | 60 .global I2C_Stop |
||
57 | 62 I2C_Stop: |
||
58 | 63 /* prologue: function */ |
||
59 | 64 /* frame size = 0 */ |
||
60 | 65 0050 8093 0000 sts twi_state,r24 |
||
61 | 66 0054 84E9 ldi r24,lo8(-108) |
||
62 | 67 0056 8093 BC00 sts 188,r24 |
||
63 | 68 /* epilogue start */ |
||
64 | 69 005a 0895 ret |
||
65 | 71 .global I2C_WriteByte |
||
66 | 73 I2C_WriteByte: |
||
67 | 74 /* prologue: function */ |
||
68 | 75 /* frame size = 0 */ |
||
69 | 76 005c 8093 BB00 sts 187,r24 |
||
70 | 77 0060 85E8 ldi r24,lo8(-123) |
||
71 | 78 0062 8093 BC00 sts 188,r24 |
||
72 | 79 /* epilogue start */ |
||
73 | 80 0066 0895 ret |
||
74 | 82 .global I2C_ReceiveByte |
||
75 | 84 I2C_ReceiveByte: |
||
76 | 85 /* prologue: function */ |
||
77 | 86 /* frame size = 0 */ |
||
78 | 87 0068 85EC ldi r24,lo8(-59) |
||
79 | 88 006a 8093 BC00 sts 188,r24 |
||
80 | 89 /* epilogue start */ |
||
81 | 90 006e 0895 ret |
||
82 | 92 .global I2C_ReceiveLastByte |
||
83 | 94 I2C_ReceiveLastByte: |
||
84 | 95 /* prologue: function */ |
||
85 | 96 /* frame size = 0 */ |
||
86 | 97 0070 85E8 ldi r24,lo8(-123) |
||
87 | 98 0072 8093 BC00 sts 188,r24 |
||
88 | 99 /* epilogue start */ |
||
89 | 100 0076 0895 ret |
||
90 | 102 .global I2C_Reset |
||
91 | 104 I2C_Reset: |
||
92 | 105 0078 0F93 push r16 |
||
93 | 106 007a 1F93 push r17 |
||
94 | 107 /* prologue: function */ |
||
95 | 108 /* frame size = 0 */ |
||
96 | 109 007c 1092 0000 sts twi_state,__zero_reg__ |
||
97 | 110 0080 0CEB ldi r16,lo8(188) |
||
98 | 111 0082 10E0 ldi r17,hi8(188) |
||
99 | 112 0084 84E9 ldi r24,lo8(-108) |
||
100 | 113 0086 D801 movw r26,r16 |
||
101 | 114 0088 8C93 st X,r24 |
||
102 | 115 008a 1092 0000 sts twi_state,__zero_reg__ |
||
103 | 116 008e EBEB ldi r30,lo8(187) |
||
104 | 117 0090 F0E0 ldi r31,hi8(187) |
||
105 | 118 0092 8081 ld r24,Z |
||
106 | 119 0094 8093 0000 sts motor_write,r24 |
||
107 | 120 0098 1092 0000 sts motor_write,__zero_reg__ |
||
108 | 121 009c 1092 0000 sts motor_read,__zero_reg__ |
||
109 | 122 00a0 80E8 ldi r24,lo8(-128) |
||
110 | 123 00a2 8C93 st X,r24 |
||
111 | 124 00a4 1092 BD00 sts 189,__zero_reg__ |
||
112 | 125 00a8 1092 BA00 sts 186,__zero_reg__ |
||
113 | 126 00ac 1082 st Z,__zero_reg__ |
||
114 | 127 00ae 1092 B900 sts 185,__zero_reg__ |
||
115 | 128 00b2 1092 B800 sts 184,__zero_reg__ |
||
116 | 129 00b6 0E94 0000 call I2C_Init |
||
117 | 130 00ba 1092 0000 sts twi_state,__zero_reg__ |
||
118 | 131 00be 85EA ldi r24,lo8(-91) |
||
119 | 132 00c0 F801 movw r30,r16 |
||
120 | 133 00c2 8083 st Z,r24 |
||
121 | 134 /* epilogue start */ |
||
122 | 135 00c4 1F91 pop r17 |
||
123 | 136 00c6 0F91 pop r16 |
||
124 | 137 00c8 0895 ret |
||
125 | 139 .global __vector_26 |
||
126 | 141 __vector_26: |
||
127 | 142 00ca 1F92 push __zero_reg__ |
||
128 | 143 00cc 0F92 push r0 |
||
129 | 144 00ce 0FB6 in r0,__SREG__ |
||
130 | 145 00d0 0F92 push r0 |
||
131 | 146 00d2 1124 clr __zero_reg__ |
||
132 | 147 00d4 2F93 push r18 |
||
133 | 148 00d6 8F93 push r24 |
||
134 | 149 00d8 9F93 push r25 |
||
135 | 150 00da EF93 push r30 |
||
136 | 151 00dc FF93 push r31 |
||
137 | 152 /* prologue: Signal */ |
||
138 | 153 /* frame size = 0 */ |
||
139 | 154 00de 8091 0000 lds r24,twi_state |
||
140 | 155 00e2 8F5F subi r24,lo8(-(1)) |
||
141 | 156 00e4 8093 0000 sts twi_state,r24 |
||
142 | 157 00e8 8150 subi r24,lo8(-(-1)) |
||
143 | 158 00ea 8530 cpi r24,lo8(5) |
||
144 | 159 00ec 01F4 brne .+2 |
||
145 | 160 00ee 00C0 rjmp .L25 |
||
146 | 161 00f0 8630 cpi r24,lo8(6) |
||
147 | 162 00f2 00F0 brlo .L53 |
||
148 | 163 00f4 8930 cpi r24,lo8(9) |
||
149 | 164 00f6 01F4 brne .+2 |
||
150 | 165 00f8 00C0 rjmp .L28 |
||
151 | 166 00fa 8A30 cpi r24,lo8(10) |
||
152 | 167 00fc 00F4 brsh .L33 |
||
153 | 168 00fe 8730 cpi r24,lo8(7) |
||
154 | 169 0100 01F4 brne .+2 |
||
155 | 170 0102 00C0 rjmp .L26 |
||
156 | 171 0104 8830 cpi r24,lo8(8) |
||
157 | 172 0106 01F4 brne .+2 |
||
158 | 173 0108 00C0 rjmp .L54 |
||
159 | 174 .L19: |
||
160 | 175 010a 1092 0000 sts twi_state,__zero_reg__ |
||
161 | 176 010e 84E9 ldi r24,lo8(-108) |
||
162 | 177 0110 8093 BC00 sts 188,r24 |
||
163 | 178 0114 8AE0 ldi r24,lo8(10) |
||
164 | 179 0116 90E0 ldi r25,hi8(10) |
||
165 | 180 0118 9093 0000 sts (I2CTimeout)+1,r25 |
||
166 | 181 011c 8093 0000 sts I2CTimeout,r24 |
||
167 | 182 0120 1092 0000 sts motor_write,__zero_reg__ |
||
168 | 183 0124 1092 0000 sts motor_read,__zero_reg__ |
||
169 | 184 .L48: |
||
170 | 185 /* epilogue start */ |
||
171 | 186 0128 FF91 pop r31 |
||
172 | 187 012a EF91 pop r30 |
||
173 | 188 012c 9F91 pop r25 |
||
174 | 189 012e 8F91 pop r24 |
||
175 | 190 0130 2F91 pop r18 |
||
176 | 191 0132 0F90 pop r0 |
||
177 | 192 0134 0FBE out __SREG__,r0 |
||
178 | 193 0136 0F90 pop r0 |
||
179 | 194 0138 1F90 pop __zero_reg__ |
||
180 | 195 013a 1895 reti |
||
181 | 196 .L53: |
||
182 | 197 013c 8230 cpi r24,lo8(2) |
||
183 | 198 013e 01F4 brne .+2 |
||
184 | 199 0140 00C0 rjmp .L22 |
||
185 | 200 0142 8330 cpi r24,lo8(3) |
||
186 | 201 0144 00F0 brlo .L55 |
||
187 | 202 0146 8330 cpi r24,lo8(3) |
||
188 | 203 0148 01F4 brne .+2 |
||
189 | 204 014a 00C0 rjmp .L23 |
||
190 | 205 014c 8430 cpi r24,lo8(4) |
||
191 | 206 014e 01F4 brne .L19 |
||
192 | 207 0150 8091 0000 lds r24,motor_read |
||
193 | 208 0154 2091 BB00 lds r18,187 |
||
194 | 209 0158 90E0 ldi r25,lo8(0) |
||
195 | 210 015a FC01 movw r30,r24 |
||
196 | 211 015c EE0F lsl r30 |
||
197 | 212 015e FF1F rol r31 |
||
198 | 213 0160 EE0F lsl r30 |
||
199 | 214 0162 FF1F rol r31 |
||
200 | 215 0164 E80F add r30,r24 |
||
201 | 216 0166 F91F adc r31,r25 |
||
202 | 217 0168 E050 subi r30,lo8(-(Motor)) |
||
203 | 218 016a F040 sbci r31,hi8(-(Motor)) |
||
204 | 219 016c 2383 std Z+3,r18 |
||
205 | 220 016e 85E8 ldi r24,lo8(-123) |
||
206 | 221 0170 8093 BC00 sts 188,r24 |
||
207 | 222 0174 00C0 rjmp .L48 |
||
208 | 223 .L33: |
||
209 | 224 0176 8A30 cpi r24,lo8(10) |
||
210 | 225 0178 01F4 brne .+2 |
||
211 | 226 017a 00C0 rjmp .L29 |
||
212 | 227 017c 8B30 cpi r24,lo8(11) |
||
213 | 228 017e 01F4 brne .L19 |
||
214 | 229 0180 1092 0000 sts twi_state,__zero_reg__ |
||
215 | 230 0184 84E9 ldi r24,lo8(-108) |
||
216 | 231 0186 8093 BC00 sts 188,r24 |
||
217 | 232 018a 8AE0 ldi r24,lo8(10) |
||
218 | 233 018c 90E0 ldi r25,hi8(10) |
||
219 | 234 018e 9093 0000 sts (I2CTimeout)+1,r25 |
||
220 | 235 0192 8093 0000 sts I2CTimeout,r24 |
||
221 | 236 0196 8091 0000 lds r24,dac_channel |
||
222 | 237 019a 8230 cpi r24,lo8(2) |
||
223 | 238 019c 00F4 brsh .+2 |
||
224 | 239 019e 00C0 rjmp .L56 |
||
225 | 240 01a0 1092 0000 sts dac_channel,__zero_reg__ |
||
226 | 241 01a4 00C0 rjmp .L48 |
||
227 | 242 .L55: |
||
228 | 243 01a6 8823 tst r24 |
||
229 | 244 01a8 01F0 breq .L52 |
||
230 | 245 01aa 8130 cpi r24,lo8(1) |
||
231 | 246 01ac 01F0 breq .+2 |
||
232 | 247 01ae 00C0 rjmp .L19 |
||
233 | 248 01b0 8091 0000 lds r24,motor_write |
||
234 | 249 01b4 90E0 ldi r25,lo8(0) |
||
235 | 250 01b6 FC01 movw r30,r24 |
||
236 | 251 01b8 EE0F lsl r30 |
||
237 | 252 01ba FF1F rol r31 |
||
238 | 253 01bc EE0F lsl r30 |
||
239 | 254 01be FF1F rol r31 |
||
240 | 255 01c0 E80F add r30,r24 |
||
241 | 256 01c2 F91F adc r31,r25 |
||
242 | 257 01c4 E050 subi r30,lo8(-(Motor)) |
||
243 | 258 01c6 F040 sbci r31,hi8(-(Motor)) |
||
244 | 259 01c8 8081 ld r24,Z |
||
245 | 260 01ca 8093 BB00 sts 187,r24 |
||
246 | 261 01ce 85E8 ldi r24,lo8(-123) |
||
247 | 262 01d0 8093 BC00 sts 188,r24 |
||
248 | 263 01d4 00C0 rjmp .L48 |
||
249 | 264 .L57: |
||
250 | 265 01d6 8091 0000 lds r24,motor_write |
||
251 | 266 01da 8C30 cpi r24,lo8(12) |
||
252 | 267 01dc 00F4 brsh .L34 |
||
253 | 268 01de 8091 0000 lds r24,motor_write |
||
254 | 269 01e2 8F5F subi r24,lo8(-(1)) |
||
255 | 270 01e4 8093 0000 sts motor_write,r24 |
||
256 | 271 .L52: |
||
257 | 272 01e8 E091 0000 lds r30,motor_write |
||
258 | 273 01ec F0E0 ldi r31,lo8(0) |
||
259 | 274 01ee EE0F lsl r30 |
||
260 | 275 01f0 FF1F rol r31 |
||
261 | 276 01f2 EE0F lsl r30 |
||
262 | 277 01f4 FF1F rol r31 |
||
263 | 278 01f6 E050 subi r30,lo8(-(Mixer)) |
||
264 | 279 01f8 F040 sbci r31,hi8(-(Mixer)) |
||
265 | 280 01fa 8585 ldd r24,Z+13 |
||
266 | 281 01fc 1816 cp __zero_reg__,r24 |
||
267 | 282 01fe 04F4 brge .L57 |
||
268 | 283 .L34: |
||
269 | 284 0200 8091 0000 lds r24,motor_write |
||
270 | 285 0204 8C30 cpi r24,lo8(12) |
||
271 | 286 0206 00F4 brsh .+2 |
||
272 | 287 0208 00C0 rjmp .L36 |
||
273 | 288 020a 1092 0000 sts motor_write,__zero_reg__ |
||
274 | 289 020e 83E0 ldi r24,lo8(3) |
||
275 | 290 0210 8093 0000 sts twi_state,r24 |
||
276 | 291 0214 8091 0000 lds r24,motor_read |
||
277 | 292 0218 880F lsl r24 |
||
278 | 293 021a 8D5A subi r24,lo8(-(83)) |
||
279 | 294 021c 8093 BB00 sts 187,r24 |
||
280 | 295 0220 85E8 ldi r24,lo8(-123) |
||
281 | 296 0222 8093 BC00 sts 188,r24 |
||
282 | 297 0226 00C0 rjmp .L48 |
||
283 | 298 .L28: |
||
284 | 299 0228 8091 0000 lds r24,dac_channel |
||
285 | 300 022c 8130 cpi r24,lo8(1) |
||
286 | 301 022e 01F4 brne .+2 |
||
287 | 302 0230 00C0 rjmp .L45 |
||
288 | 303 0232 8130 cpi r24,lo8(1) |
||
289 | 304 0234 00F4 brsh .+2 |
||
290 | 305 0236 00C0 rjmp .L44 |
||
291 | 306 0238 8230 cpi r24,lo8(2) |
||
292 | 307 023a 01F0 breq .+2 |
||
293 | 308 023c 00C0 rjmp .L48 |
||
294 | 309 023e 8091 0000 lds r24,DacOffsetGyroYaw |
||
295 | 310 0242 8093 BB00 sts 187,r24 |
||
296 | 311 0246 85E8 ldi r24,lo8(-123) |
||
297 | 312 0248 8093 BC00 sts 188,r24 |
||
298 | 313 024c 00C0 rjmp .L48 |
||
299 | 314 .L22: |
||
300 | 315 024e 8091 B900 lds r24,185 |
||
301 | 316 0252 8033 cpi r24,lo8(48) |
||
302 | 317 0254 01F4 brne .+2 |
||
303 | 318 0256 00C0 rjmp .L58 |
||
304 | 319 .L38: |
||
305 | 320 0258 1092 0000 sts twi_state,__zero_reg__ |
||
306 | 321 025c 84E9 ldi r24,lo8(-108) |
||
307 | 322 025e 8093 BC00 sts 188,r24 |
||
308 | 323 0262 8AE0 ldi r24,lo8(10) |
||
309 | 324 0264 90E0 ldi r25,hi8(10) |
||
310 | 325 0266 9093 0000 sts (I2CTimeout)+1,r25 |
||
311 | 326 026a 8093 0000 sts I2CTimeout,r24 |
||
312 | 327 026e 8091 0000 lds r24,motor_write |
||
313 | 328 0272 8F5F subi r24,lo8(-(1)) |
||
314 | 329 0274 8093 0000 sts motor_write,r24 |
||
315 | 330 0278 1092 0000 sts twi_state,__zero_reg__ |
||
316 | 331 027c 85EA ldi r24,lo8(-91) |
||
317 | 332 027e 8093 BC00 sts 188,r24 |
||
318 | 333 0282 00C0 rjmp .L48 |
||
319 | 334 .L25: |
||
320 | 335 0284 8091 0000 lds r24,motor_read |
||
321 | 336 0288 2091 BB00 lds r18,187 |
||
322 | 337 028c 90E0 ldi r25,lo8(0) |
||
323 | 338 028e FC01 movw r30,r24 |
||
324 | 339 0290 EE0F lsl r30 |
||
325 | 340 0292 FF1F rol r31 |
||
326 | 341 0294 EE0F lsl r30 |
||
327 | 342 0296 FF1F rol r31 |
||
328 | 343 0298 E80F add r30,r24 |
||
329 | 344 029a F91F adc r31,r25 |
||
330 | 345 029c E050 subi r30,lo8(-(Motor)) |
||
331 | 346 029e F040 sbci r31,hi8(-(Motor)) |
||
332 | 347 02a0 2483 std Z+4,r18 |
||
333 | 348 02a2 8091 0000 lds r24,motor_read |
||
334 | 349 02a6 8F5F subi r24,lo8(-(1)) |
||
335 | 350 02a8 8093 0000 sts motor_read,r24 |
||
336 | 351 02ac 8091 0000 lds r24,motor_read |
||
337 | 352 02b0 8C30 cpi r24,lo8(12) |
||
338 | 353 02b2 00F0 brlo .L43 |
||
339 | 354 02b4 1092 0000 sts motor_read,__zero_reg__ |
||
340 | 355 .L43: |
||
341 | 356 02b8 1092 0000 sts twi_state,__zero_reg__ |
||
342 | 357 02bc 84E9 ldi r24,lo8(-108) |
||
343 | 358 02be 8093 BC00 sts 188,r24 |
||
344 | 359 02c2 00C0 rjmp .L48 |
||
345 | 360 .L29: |
||
346 | 361 02c4 80E8 ldi r24,lo8(-128) |
||
347 | 362 02c6 8093 BB00 sts 187,r24 |
||
348 | 363 02ca 85E8 ldi r24,lo8(-123) |
||
349 | 364 02cc 8093 BC00 sts 188,r24 |
||
350 | 365 02d0 00C0 rjmp .L48 |
||
351 | 366 .L23: |
||
352 | 367 02d2 8091 B900 lds r24,185 |
||
353 | 368 02d6 8034 cpi r24,lo8(64) |
||
354 | 369 02d8 01F4 brne .+2 |
||
355 | 370 02da 00C0 rjmp .L40 |
||
356 | 371 02dc 8091 0000 lds r24,motor_read |
||
357 | 372 02e0 90E0 ldi r25,lo8(0) |
||
358 | 373 02e2 FC01 movw r30,r24 |
||
359 | 374 02e4 EE0F lsl r30 |
||
360 | 375 02e6 FF1F rol r31 |
||
361 | 376 02e8 EE0F lsl r30 |
||
362 | 377 02ea FF1F rol r31 |
||
363 | 378 02ec E80F add r30,r24 |
||
364 | 379 02ee F91F adc r31,r25 |
||
365 | 380 02f0 E050 subi r30,lo8(-(Motor)) |
||
366 | 381 02f2 F040 sbci r31,hi8(-(Motor)) |
||
367 | 382 02f4 1182 std Z+1,__zero_reg__ |
||
368 | 383 02f6 8091 0000 lds r24,motor_read |
||
369 | 384 02fa 8F5F subi r24,lo8(-(1)) |
||
370 | 385 02fc 8093 0000 sts motor_read,r24 |
||
371 | 386 0300 8091 0000 lds r24,motor_read |
||
372 | 387 0304 8C30 cpi r24,lo8(12) |
||
373 | 388 0306 00F4 brsh .L59 |
||
374 | 389 .L41: |
||
375 | 390 0308 1092 0000 sts twi_state,__zero_reg__ |
||
376 | 391 030c 84E9 ldi r24,lo8(-108) |
||
377 | 392 030e 8093 BC00 sts 188,r24 |
||
378 | 393 .L42: |
||
379 | 394 0312 8091 0000 lds r24,missing_motor.1550 |
||
380 | 395 0316 8093 0000 sts MissingMotor,r24 |
||
381 | 396 031a 1092 0000 sts missing_motor.1550,__zero_reg__ |
||
382 | 397 031e 00C0 rjmp .L48 |
||
383 | 398 .L54: |
||
384 | 399 0320 8091 0000 lds r24,dac_channel |
||
385 | 400 0324 90E0 ldi r25,lo8(0) |
||
386 | 401 0326 0896 adiw r24,8 |
||
387 | 402 0328 880F lsl r24 |
||
388 | 403 032a 991F rol r25 |
||
389 | 404 032c 8093 BB00 sts 187,r24 |
||
390 | 405 0330 85E8 ldi r24,lo8(-123) |
||
391 | 406 0332 8093 BC00 sts 188,r24 |
||
392 | 407 0336 00C0 rjmp .L48 |
||
393 | 408 .L26: |
||
394 | 409 0338 88E9 ldi r24,lo8(-104) |
||
395 | 410 033a 8093 BB00 sts 187,r24 |
||
396 | 411 033e 85E8 ldi r24,lo8(-123) |
||
397 | 412 0340 8093 BC00 sts 188,r24 |
||
398 | 413 0344 00C0 rjmp .L48 |
||
399 | 414 .L36: |
||
400 | 415 0346 8091 0000 lds r24,motor_write |
||
401 | 416 034a 90E0 ldi r25,lo8(0) |
||
402 | 417 034c 8996 adiw r24,41 |
||
403 | 418 034e 880F lsl r24 |
||
404 | 419 0350 991F rol r25 |
||
405 | 420 0352 8093 BB00 sts 187,r24 |
||
406 | 421 0356 85E8 ldi r24,lo8(-123) |
||
407 | 422 0358 8093 BC00 sts 188,r24 |
||
408 | 423 035c 00C0 rjmp .L48 |
||
409 | 424 .L44: |
||
410 | 425 035e 8091 0000 lds r24,DacOffsetGyroNick |
||
411 | 426 0362 8093 BB00 sts 187,r24 |
||
412 | 427 0366 85E8 ldi r24,lo8(-123) |
||
413 | 428 0368 8093 BC00 sts 188,r24 |
||
414 | 429 036c 00C0 rjmp .L48 |
||
415 | 430 .L59: |
||
416 | 431 036e 1092 0000 sts motor_read,__zero_reg__ |
||
417 | 432 0372 00C0 rjmp .L41 |
||
418 | 433 .L58: |
||
419 | 434 0374 8091 0000 lds r24,missing_motor.1550 |
||
420 | 435 0378 8823 tst r24 |
||
421 | 436 037a 01F4 brne .L39 |
||
422 | 437 037c 8091 0000 lds r24,motor_write |
||
423 | 438 0380 8F5F subi r24,lo8(-(1)) |
||
424 | 439 0382 8093 0000 sts missing_motor.1550,r24 |
||
425 | 440 .L39: |
||
426 | 441 0386 8091 0000 lds r24,motor_write |
||
427 | 442 038a 90E0 ldi r25,lo8(0) |
||
428 | 443 038c FC01 movw r30,r24 |
||
429 | 444 038e EE0F lsl r30 |
||
430 | 445 0390 FF1F rol r31 |
||
431 | 446 0392 EE0F lsl r30 |
||
432 | 447 0394 FF1F rol r31 |
||
433 | 448 0396 E80F add r30,r24 |
||
434 | 449 0398 F91F adc r31,r25 |
||
435 | 450 039a E050 subi r30,lo8(-(Motor)) |
||
436 | 451 039c F040 sbci r31,hi8(-(Motor)) |
||
437 | 452 039e 8281 ldd r24,Z+2 |
||
438 | 453 03a0 8F5F subi r24,lo8(-(1)) |
||
439 | 454 03a2 8283 std Z+2,r24 |
||
440 | 455 03a4 8823 tst r24 |
||
441 | 456 03a6 01F0 breq .+2 |
||
442 | 457 03a8 00C0 rjmp .L38 |
||
443 | 458 03aa 8091 0000 lds r24,motor_write |
||
444 | 459 03ae 90E0 ldi r25,lo8(0) |
||
445 | 460 03b0 FC01 movw r30,r24 |
||
446 | 461 03b2 EE0F lsl r30 |
||
447 | 462 03b4 FF1F rol r31 |
||
448 | 463 03b6 EE0F lsl r30 |
||
449 | 464 03b8 FF1F rol r31 |
||
450 | 465 03ba E80F add r30,r24 |
||
451 | 466 03bc F91F adc r31,r25 |
||
452 | 467 03be E050 subi r30,lo8(-(Motor)) |
||
453 | 468 03c0 F040 sbci r31,hi8(-(Motor)) |
||
454 | 469 03c2 8FEF ldi r24,lo8(-1) |
||
455 | 470 03c4 8283 std Z+2,r24 |
||
456 | 471 03c6 00C0 rjmp .L38 |
||
457 | 472 .L40: |
||
458 | 473 03c8 8091 0000 lds r24,motor_read |
||
459 | 474 03cc 2091 0000 lds r18,motor_read |
||
460 | 475 03d0 90E0 ldi r25,lo8(0) |
||
461 | 476 03d2 FC01 movw r30,r24 |
||
462 | 477 03d4 EE0F lsl r30 |
||
463 | 478 03d6 FF1F rol r31 |
||
464 | 479 03d8 EE0F lsl r30 |
||
465 | 480 03da FF1F rol r31 |
||
466 | 481 03dc E80F add r30,r24 |
||
467 | 482 03de F91F adc r31,r25 |
||
468 | 483 03e0 E050 subi r30,lo8(-(Motor)) |
||
469 | 484 03e2 F040 sbci r31,hi8(-(Motor)) |
||
470 | 485 03e4 2C5F subi r18,lo8(-(4)) |
||
471 | 486 03e6 2183 std Z+1,r18 |
||
472 | 487 03e8 85EC ldi r24,lo8(-59) |
||
473 | 488 03ea 8093 BC00 sts 188,r24 |
||
474 | 489 03ee 00C0 rjmp .L42 |
||
475 | 490 .L56: |
||
476 | 491 03f0 8091 0000 lds r24,dac_channel |
||
477 | 492 03f4 8F5F subi r24,lo8(-(1)) |
||
478 | 493 03f6 8093 0000 sts dac_channel,r24 |
||
479 | 494 03fa 87E0 ldi r24,lo8(7) |
||
480 | 495 03fc 8093 0000 sts twi_state,r24 |
||
481 | 496 0400 85EA ldi r24,lo8(-91) |
||
482 | 497 0402 8093 BC00 sts 188,r24 |
||
483 | 498 0406 00C0 rjmp .L48 |
||
484 | 499 .L45: |
||
485 | 500 0408 8091 0000 lds r24,DacOffsetGyroRoll |
||
486 | 501 040c 8093 BB00 sts 187,r24 |
||
487 | 502 0410 85E8 ldi r24,lo8(-123) |
||
488 | 503 0412 8093 BC00 sts 188,r24 |
||
489 | 504 0416 00C0 rjmp .L48 |
||
490 | 506 .global twi_state |
||
491 | 507 .global twi_state |
||
492 | 508 .section .bss |
||
493 | 511 twi_state: |
||
494 | 512 0000 00 .skip 1,0 |
||
495 | 513 .global dac_channel |
||
496 | 514 .global dac_channel |
||
497 | 517 dac_channel: |
||
498 | 518 0001 00 .skip 1,0 |
||
499 | 519 .global motor_write |
||
500 | 520 .global motor_write |
||
501 | 523 motor_write: |
||
502 | 524 0002 00 .skip 1,0 |
||
503 | 525 .global motor_read |
||
504 | 526 .global motor_read |
||
505 | 529 motor_read: |
||
506 | 530 0003 00 .skip 1,0 |
||
507 | 531 .global I2CTimeout |
||
508 | 532 .data |
||
509 | 535 I2CTimeout: |
||
510 | 536 0000 6400 .word 100 |
||
511 | 537 .global MissingMotor |
||
512 | 538 .global MissingMotor |
||
513 | 539 .section .bss |
||
514 | 542 MissingMotor: |
||
515 | 543 0004 00 .skip 1,0 |
||
516 | 544 .lcomm missing_motor.1550,1 |
||
517 | 545 .comm Motor,60,1 |
||
518 | 546 .global __do_copy_data |
||
519 | 547 .global __do_clear_bss |
||
520 | DEFINED SYMBOLS |
||
521 | *ABS*:00000000 twimaster.c |
||
522 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:2 *ABS*:0000003f __SREG__ |
||
523 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:3 *ABS*:0000003e __SP_H__ |
||
524 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:4 *ABS*:0000003d __SP_L__ |
||
525 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:5 *ABS*:00000034 __CCP__ |
||
526 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:6 *ABS*:00000000 __tmp_reg__ |
||
527 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:7 *ABS*:00000001 __zero_reg__ |
||
528 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:11 .text:00000000 I2C_Init |
||
529 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:511 .bss:00000000 twi_state |
||
530 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:523 .bss:00000002 motor_write |
||
531 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:529 .bss:00000003 motor_read |
||
532 | *COM*:0000003c Motor |
||
533 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:51 .text:00000044 I2C_Start |
||
534 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:62 .text:00000050 I2C_Stop |
||
535 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:73 .text:0000005c I2C_WriteByte |
||
536 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:84 .text:00000068 I2C_ReceiveByte |
||
537 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:94 .text:00000070 I2C_ReceiveLastByte |
||
538 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:104 .text:00000078 I2C_Reset |
||
539 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:141 .text:000000ca __vector_26 |
||
540 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:535 .data:00000000 I2CTimeout |
||
541 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:517 .bss:00000001 dac_channel |
||
542 | .bss:00000005 missing_motor.1550 |
||
543 | C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/cctbOQQH.s:542 .bss:00000004 MissingMotor |
||
544 | |||
545 | UNDEFINED SYMBOLS |
||
546 | Mixer |
||
547 | DacOffsetGyroYaw |
||
548 | DacOffsetGyroNick |
||
549 | DacOffsetGyroRoll |
||
550 | __do_copy_data |
||
551 | __do_clear_bss |