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