| 0,0 → 1,1184 |
|---|
| 1 .file "twimaster.c" |
| 2 .arch atmega644p |
| 3 __SREG__ = 0x3f |
| 4 __SP_H__ = 0x3e |
| 5 __SP_L__ = 0x3d |
| 6 __tmp_reg__ = 0 |
| 7 __zero_reg__ = 1 |
| 8 .global __do_copy_data |
| 9 .global __do_clear_bss |
| 10 .global BLConfig_ReadMask |
| 11 .global BLConfig_ReadMask |
| 12 .section .bss |
| 15 BLConfig_ReadMask: |
| 16 0000 0000 .skip 2,0 |
| 17 .global BLConfig_WriteMask |
| 18 .global BLConfig_WriteMask |
| 21 BLConfig_WriteMask: |
| 22 0002 0000 .skip 2,0 |
| 23 .global BLFlags |
| 24 .global BLFlags |
| 27 BLFlags: |
| 28 0004 00 .skip 1,0 |
| 29 .global MissingMotor |
| 30 .global MissingMotor |
| 33 MissingMotor: |
| 34 0005 00 .skip 1,0 |
| 35 .global I2CTimeout |
| 36 .data |
| 39 I2CTimeout: |
| 40 0000 6400 .word 100 |
| 41 .global motor_read |
| 42 .global motor_read |
| 43 .section .bss |
| 46 motor_read: |
| 47 0006 00 .skip 1,0 |
| 48 .global motor_write |
| 49 .global motor_write |
| 52 motor_write: |
| 53 0007 00 .skip 1,0 |
| 54 .global dac_channel |
| 55 .global dac_channel |
| 58 dac_channel: |
| 59 0008 00 .skip 1,0 |
| 60 .global twi_state |
| 61 .global twi_state |
| 64 twi_state: |
| 65 0009 00 .skip 1,0 |
| 66 .text |
| 67 .global I2C_Init |
| 69 I2C_Init: |
| 70 /* prologue: frame size=0 */ |
| 71 /* prologue end (size=0) */ |
| 72 0000 9FB7 in r25,95-0x20 |
| 73 /* #APP */ |
| 74 0002 F894 cli |
| 75 /* #NOAPP */ |
| 76 0004 3998 cbi 39-0x20,1 |
| 77 0006 389A sbi 39-0x20,0 |
| 78 0008 88B1 in r24,40-0x20 |
| 79 000a 8360 ori r24,lo8(3) |
| 80 000c 88B9 out 40-0x20,r24 |
| 81 000e 8091 B900 lds r24,185 |
| 82 0012 8C7F andi r24,lo8(-4) |
| 83 0014 8093 B900 sts 185,r24 |
| 84 0018 8AE2 ldi r24,lo8(42) |
| 85 001a 8093 B800 sts 184,r24 |
| 86 001e 1092 0000 sts twi_state,__zero_reg__ |
| 87 0022 1092 0000 sts motor_write,__zero_reg__ |
| 88 0026 1092 0000 sts motor_read,__zero_reg__ |
| 89 002a E0E0 ldi r30,lo8(Motor) |
| 90 002c F0E0 ldi r31,hi8(Motor) |
| 91 002e 8BE0 ldi r24,lo8(11) |
| 92 .L5: |
| 93 0030 1082 st Z,__zero_reg__ |
| 94 0032 1182 std Z+1,__zero_reg__ |
| 95 0034 1282 std Z+2,__zero_reg__ |
| 96 0036 1382 std Z+3,__zero_reg__ |
| 97 0038 1482 std Z+4,__zero_reg__ |
| 98 003a 1582 std Z+5,__zero_reg__ |
| 99 003c 1682 std Z+6,__zero_reg__ |
| 100 003e 1782 std Z+7,__zero_reg__ |
| 101 0040 8150 subi r24,lo8(-(-1)) |
| 102 0042 3896 adiw r30,8 |
| 103 0044 87FF sbrs r24,7 |
| 104 0046 F4CF rjmp .L5 |
| 105 0048 9FBF out 95-0x20,r25 |
| 106 /* epilogue: frame size=0 */ |
| 107 004a 0895 ret |
| 108 /* epilogue end (size=1) */ |
| 109 /* function I2C_Init size 39 (38) */ |
| 111 .global I2C_Reset |
| 113 I2C_Reset: |
| 114 /* prologue: frame size=0 */ |
| 115 /* prologue end (size=0) */ |
| 116 004c 1092 0000 sts twi_state,__zero_reg__ |
| 117 0050 84E9 ldi r24,lo8(-108) |
| 118 0052 8093 BC00 sts 188,r24 |
| 119 0056 1092 0000 sts motor_write,__zero_reg__ |
| 120 005a 1092 0000 sts motor_read,__zero_reg__ |
| 121 005e 80E8 ldi r24,lo8(-128) |
| 122 0060 8093 BC00 sts 188,r24 |
| 123 0064 1092 BD00 sts 189,__zero_reg__ |
| 124 0068 1092 BA00 sts 186,__zero_reg__ |
| 125 006c 1092 BB00 sts 187,__zero_reg__ |
| 126 0070 1092 B900 sts 185,__zero_reg__ |
| 127 0074 1092 B800 sts 184,__zero_reg__ |
| 128 0078 0E94 0000 call I2C_Init |
| 129 007c 1092 BB00 sts 187,__zero_reg__ |
| 130 0080 85E8 ldi r24,lo8(-123) |
| 131 0082 8093 BC00 sts 188,r24 |
| 132 0086 8091 0000 lds r24,BLFlags |
| 133 008a 8260 ori r24,lo8(2) |
| 134 008c 8093 0000 sts BLFlags,r24 |
| 135 /* epilogue: frame size=0 */ |
| 136 0090 0895 ret |
| 137 /* epilogue end (size=1) */ |
| 138 /* function I2C_Reset size 35 (34) */ |
| 140 .lcomm missing_motor.0,1 |
| 141 .lcomm motor_read_temperature.1,1 |
| 142 .lcomm pBuff.2,2 |
| 143 .lcomm BuffLen.3,1 |
| 144 .global __vector_26 |
| 146 __vector_26: |
| 147 /* prologue: frame size=0 */ |
| 148 0092 1F92 push __zero_reg__ |
| 149 0094 0F92 push __tmp_reg__ |
| 150 0096 0FB6 in __tmp_reg__,__SREG__ |
| 151 0098 0F92 push __tmp_reg__ |
| 152 009a 1124 clr __zero_reg__ |
| 153 009c 2F93 push r18 |
| 154 009e 3F93 push r19 |
| 155 00a0 4F93 push r20 |
| 156 00a2 5F93 push r21 |
| 157 00a4 8F93 push r24 |
| 158 00a6 9F93 push r25 |
| 159 00a8 EF93 push r30 |
| 160 00aa FF93 push r31 |
| 161 /* prologue end (size=13) */ |
| 162 00ac 8091 0000 lds r24,twi_state |
| 163 00b0 282F mov r18,r24 |
| 164 00b2 3327 clr r19 |
| 165 00b4 4427 clr r20 |
| 166 00b6 5527 clr r21 |
| 167 00b8 8F5F subi r24,lo8(-(1)) |
| 168 00ba 8093 0000 sts twi_state,r24 |
| 169 00be F901 movw r30,r18 |
| 170 00c0 2731 cpi r18,23 |
| 171 00c2 3105 cpc r19,__zero_reg__ |
| 172 00c4 08F0 brlo .+2 |
| 173 00c6 B3C2 rjmp .L72 |
| 174 00c8 E050 subi r30,lo8(-(pm(.L73))) |
| 175 00ca F040 sbci r31,hi8(-(pm(.L73))) |
| 176 00cc 0C94 0000 jmp __tablejump2__ |
| 177 .data |
| 178 .section .progmem.gcc_sw_table, "a", @progbits |
| 179 .p2align 1 |
| 180 .L73: |
| 181 0000 0000 .word pm(.L76) |
| 182 0002 0000 .word pm(.L17) |
| 183 0004 0000 .word pm(.L22) |
| 184 0006 0000 .word pm(.L27) |
| 185 0008 0000 .word pm(.L29) |
| 186 000a 0000 .word pm(.L33) |
| 187 000c 0000 .word pm(.L50) |
| 188 000e 0000 .word pm(.L72) |
| 189 0010 0000 .word pm(.L72) |
| 190 0012 0000 .word pm(.L72) |
| 191 0014 0000 .word pm(.L72) |
| 192 0016 0000 .word pm(.L72) |
| 193 0018 0000 .word pm(.L72) |
| 194 001a 0000 .word pm(.L72) |
| 195 001c 0000 .word pm(.L72) |
| 196 001e 0000 .word pm(.L72) |
| 197 0020 0000 .word pm(.L72) |
| 198 0022 0000 .word pm(.L72) |
| 199 0024 0000 .word pm(.L60) |
| 200 0026 0000 .word pm(.L61) |
| 201 0028 0000 .word pm(.L62) |
| 202 002a 0000 .word pm(.L68) |
| 203 002c 0000 .word pm(.L69) |
| 204 .text |
| 205 .L75: |
| 206 00d0 8091 0000 lds r24,motor_write |
| 207 00d4 8C30 cpi r24,lo8(12) |
| 208 00d6 90F4 brsh .L13 |
| 209 00d8 8091 0000 lds r24,motor_write |
| 210 00dc 8F5F subi r24,lo8(-(1)) |
| 211 00de 8093 0000 sts motor_write,r24 |
| 212 .L76: |
| 213 00e2 8091 0000 lds r24,motor_write |
| 214 00e6 E82F mov r30,r24 |
| 215 00e8 FF27 clr r31 |
| 216 00ea EE0F lsl r30 |
| 217 00ec FF1F rol r31 |
| 218 00ee EE0F lsl r30 |
| 219 00f0 FF1F rol r31 |
| 220 00f2 E050 subi r30,lo8(-(Mixer)) |
| 221 00f4 F040 sbci r31,hi8(-(Mixer)) |
| 222 00f6 8585 ldd r24,Z+13 |
| 223 00f8 1816 cp __zero_reg__,r24 |
| 224 00fa 54F7 brge .L75 |
| 225 .L13: |
| 226 00fc 8091 0000 lds r24,motor_write |
| 227 0100 8C30 cpi r24,lo8(12) |
| 228 0102 70F0 brlo .L15 |
| 229 0104 1092 0000 sts (BLConfig_WriteMask)+1,__zero_reg__ |
| 230 0108 1092 0000 sts BLConfig_WriteMask,__zero_reg__ |
| 231 010c 1092 0000 sts motor_write,__zero_reg__ |
| 232 0110 85E0 ldi r24,lo8(5) |
| 233 0112 8093 0000 sts twi_state,r24 |
| 234 0116 8091 0000 lds r24,motor_read |
| 235 011a 880F lsl r24 |
| 236 011c 8D5A subi r24,lo8(-(83)) |
| 237 011e 04C0 rjmp .L84 |
| 238 .L15: |
| 239 0120 8091 0000 lds r24,motor_write |
| 240 0124 880F lsl r24 |
| 241 0126 8E5A subi r24,lo8(-(82)) |
| 242 .L84: |
| 243 0128 8093 BB00 sts 187,r24 |
| 244 012c 85E8 ldi r24,lo8(-123) |
| 245 012e 74C2 rjmp .L80 |
| 246 .L17: |
| 247 0130 8091 0000 lds r24,motor_write |
| 248 0134 E82F mov r30,r24 |
| 249 0136 FF27 clr r31 |
| 250 0138 83E0 ldi r24,3 |
| 251 013a EE0F 1: lsl r30 |
| 252 013c FF1F rol r31 |
| 253 013e 8A95 dec r24 |
| 254 0140 E1F7 brne 1b |
| 255 0142 E050 subi r30,lo8(-(Motor)) |
| 256 0144 F040 sbci r31,hi8(-(Motor)) |
| 257 0146 8181 ldd r24,Z+1 |
| 258 0148 8093 BB00 sts 187,r24 |
| 259 014c 85E8 ldi r24,lo8(-123) |
| 260 014e 8093 BC00 sts 188,r24 |
| 261 0152 8091 0000 lds r24,motor_write |
| 262 0156 E82F mov r30,r24 |
| 263 0158 FF27 clr r31 |
| 264 015a EE0F lsl r30 |
| 265 015c FF1F rol r31 |
| 266 015e EE0F lsl r30 |
| 267 0160 FF1F rol r31 |
| 268 0162 EE0F lsl r30 |
| 269 0164 FF1F rol r31 |
| 270 0166 E050 subi r30,lo8(-(Motor)) |
| 271 0168 F040 sbci r31,hi8(-(Motor)) |
| 272 016a 8081 ld r24,Z |
| 273 016c 80FF sbrs r24,0 |
| 274 016e 91C0 rjmp .L25 |
| 275 0170 8091 0000 lds r24,motor_write |
| 276 0174 E82F mov r30,r24 |
| 277 0176 FF27 clr r31 |
| 278 0178 EE0F lsl r30 |
| 279 017a FF1F rol r31 |
| 280 017c EE0F lsl r30 |
| 281 017e FF1F rol r31 |
| 282 0180 EE0F lsl r30 |
| 283 0182 FF1F rol r31 |
| 284 0184 E050 subi r30,lo8(-(Motor)) |
| 285 0186 F040 sbci r31,hi8(-(Motor)) |
| 286 0188 8281 ldd r24,Z+2 |
| 287 018a 8823 tst r24 |
| 288 018c 29F0 breq .L21 |
| 289 018e 8091 0000 lds r24,RequiredMotors |
| 290 0192 8730 cpi r24,lo8(7) |
| 291 0194 08F4 brsh .+2 |
| 292 0196 5FC2 rjmp .L9 |
| 293 .L21: |
| 294 0198 8091 0000 lds r24,BLConfig_WriteMask |
| 295 019c 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 296 01a0 892B or r24,r25 |
| 297 01a2 09F0 breq .+2 |
| 298 01a4 58C2 rjmp .L9 |
| 299 01a6 8091 0000 lds r24,BLConfig_ReadMask |
| 300 01aa 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 301 01ae 892B or r24,r25 |
| 302 01b0 09F0 breq .+2 |
| 303 01b2 51C2 rjmp .L9 |
| 304 01b4 6EC0 rjmp .L25 |
| 305 .L22: |
| 306 01b6 8091 0000 lds r24,motor_write |
| 307 01ba 21E0 ldi r18,lo8(1) |
| 308 01bc 30E0 ldi r19,hi8(1) |
| 309 01be 02C0 rjmp 2f |
| 310 01c0 220F 1: lsl r18 |
| 311 01c2 331F rol r19 |
| 312 01c4 8A95 2: dec r24 |
| 313 01c6 E2F7 brpl 1b |
| 314 01c8 8091 0000 lds r24,BLConfig_ReadMask |
| 315 01cc 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 316 01d0 2823 and r18,r24 |
| 317 01d2 3923 and r19,r25 |
| 318 01d4 232B or r18,r19 |
| 319 01d6 79F0 breq .L23 |
| 320 01d8 8091 0000 lds r24,motor_write |
| 321 01dc E82F mov r30,r24 |
| 322 01de FF27 clr r31 |
| 323 01e0 EE0F lsl r30 |
| 324 01e2 FF1F rol r31 |
| 325 01e4 EE0F lsl r30 |
| 326 01e6 FF1F rol r31 |
| 327 01e8 EE0F lsl r30 |
| 328 01ea FF1F rol r31 |
| 329 01ec E050 subi r30,lo8(-(Motor)) |
| 330 01ee F040 sbci r31,hi8(-(Motor)) |
| 331 01f0 80E1 ldi r24,lo8(16) |
| 332 01f2 8483 std Z+4,r24 |
| 333 01f4 0DC0 rjmp .L24 |
| 334 .L23: |
| 335 01f6 8091 0000 lds r24,motor_write |
| 336 01fa E82F mov r30,r24 |
| 337 01fc FF27 clr r31 |
| 338 01fe EE0F lsl r30 |
| 339 0200 FF1F rol r31 |
| 340 0202 EE0F lsl r30 |
| 341 0204 FF1F rol r31 |
| 342 0206 EE0F lsl r30 |
| 343 0208 FF1F rol r31 |
| 344 020a E050 subi r30,lo8(-(Motor)) |
| 345 020c F040 sbci r31,hi8(-(Motor)) |
| 346 020e 1482 std Z+4,__zero_reg__ |
| 347 .L24: |
| 348 0210 8091 0000 lds r24,motor_write |
| 349 0214 E82F mov r30,r24 |
| 350 0216 FF27 clr r31 |
| 351 0218 53E0 ldi r21,3 |
| 352 021a EE0F 1: lsl r30 |
| 353 021c FF1F rol r31 |
| 354 021e 5A95 dec r21 |
| 355 0220 E1F7 brne 1b |
| 356 0222 E050 subi r30,lo8(-(Motor)) |
| 357 0224 F040 sbci r31,hi8(-(Motor)) |
| 358 0226 8481 ldd r24,Z+4 |
| 359 0228 282F mov r18,r24 |
| 360 022a 3327 clr r19 |
| 361 022c 43E0 ldi r20,3 |
| 362 022e 220F 1: lsl r18 |
| 363 0230 331F rol r19 |
| 364 0232 4A95 dec r20 |
| 365 0234 E1F7 brne 1b |
| 366 0236 8091 0000 lds r24,motor_write |
| 367 023a E82F mov r30,r24 |
| 368 023c FF27 clr r31 |
| 369 023e 93E0 ldi r25,3 |
| 370 0240 EE0F 1: lsl r30 |
| 371 0242 FF1F rol r31 |
| 372 0244 9A95 dec r25 |
| 373 0246 E1F7 brne 1b |
| 374 0248 E050 subi r30,lo8(-(Motor)) |
| 375 024a F040 sbci r31,hi8(-(Motor)) |
| 376 024c 8281 ldd r24,Z+2 |
| 377 024e 8770 andi r24,lo8(7) |
| 378 0250 822B or r24,r18 |
| 379 0252 8093 BB00 sts 187,r24 |
| 380 0256 85E8 ldi r24,lo8(-123) |
| 381 0258 8093 BC00 sts 188,r24 |
| 382 025c 2091 0000 lds r18,motor_write |
| 383 0260 81E0 ldi r24,lo8(1) |
| 384 0262 90E0 ldi r25,hi8(1) |
| 385 0264 02C0 rjmp 2f |
| 386 0266 880F 1: lsl r24 |
| 387 0268 991F rol r25 |
| 388 026a 2A95 2: dec r18 |
| 389 026c E2F7 brpl 1b |
| 390 026e 2091 0000 lds r18,BLConfig_WriteMask |
| 391 0272 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
| 392 0276 8223 and r24,r18 |
| 393 0278 9323 and r25,r19 |
| 394 027a 892B or r24,r25 |
| 395 027c 51F0 breq .L25 |
| 396 027e 80E0 ldi r24,lo8(BLConfig) |
| 397 0280 90E0 ldi r25,hi8(BLConfig) |
| 398 0282 9093 0000 sts (pBuff.2)+1,r25 |
| 399 0286 8093 0000 sts pBuff.2,r24 |
| 400 028a 88E0 ldi r24,lo8(8) |
| 401 028c 8093 0000 sts BuffLen.3,r24 |
| 402 0290 E2C1 rjmp .L9 |
| 403 .L25: |
| 404 0292 84E0 ldi r24,lo8(4) |
| 405 0294 80C1 rjmp .L82 |
| 406 .L27: |
| 407 0296 E091 0000 lds r30,pBuff.2 |
| 408 029a F091 0000 lds r31,(pBuff.2)+1 |
| 409 029e 8191 ld r24,Z+ |
| 410 02a0 8093 BB00 sts 187,r24 |
| 411 02a4 85E8 ldi r24,lo8(-123) |
| 412 02a6 8093 BC00 sts 188,r24 |
| 413 02aa F093 0000 sts (pBuff.2)+1,r31 |
| 414 02ae E093 0000 sts pBuff.2,r30 |
| 415 02b2 8091 0000 lds r24,BuffLen.3 |
| 416 02b6 8150 subi r24,lo8(-(-1)) |
| 417 02b8 8093 0000 sts BuffLen.3,r24 |
| 418 02bc 8823 tst r24 |
| 419 02be 09F4 brne .+2 |
| 420 02c0 CAC1 rjmp .L9 |
| 421 02c2 83E0 ldi r24,lo8(3) |
| 422 02c4 68C1 rjmp .L82 |
| 423 .L29: |
| 424 02c6 8091 B900 lds r24,185 |
| 425 02ca 8033 cpi r24,lo8(48) |
| 426 02cc 51F5 brne .L30 |
| 427 02ce 8091 0000 lds r24,missing_motor.0 |
| 428 02d2 8823 tst r24 |
| 429 02d4 29F4 brne .L31 |
| 430 02d6 8091 0000 lds r24,motor_write |
| 431 02da 8F5F subi r24,lo8(-(1)) |
| 432 02dc 8093 0000 sts missing_motor.0,r24 |
| 433 .L31: |
| 434 02e0 8091 0000 lds r24,motor_write |
| 435 02e4 E82F mov r30,r24 |
| 436 02e6 FF27 clr r31 |
| 437 02e8 83E0 ldi r24,3 |
| 438 02ea EE0F 1: lsl r30 |
| 439 02ec FF1F rol r31 |
| 440 02ee 8A95 dec r24 |
| 441 02f0 E1F7 brne 1b |
| 442 02f2 E050 subi r30,lo8(-(Motor)) |
| 443 02f4 F040 sbci r31,hi8(-(Motor)) |
| 444 02f6 8381 ldd r24,Z+3 |
| 445 02f8 9927 clr r25 |
| 446 02fa 8F77 andi r24,lo8(127) |
| 447 02fc 9070 andi r25,hi8(127) |
| 448 02fe 8F37 cpi r24,127 |
| 449 0300 9105 cpc r25,__zero_reg__ |
| 450 0302 7CF4 brge .L30 |
| 451 0304 8091 0000 lds r24,motor_write |
| 452 0308 E82F mov r30,r24 |
| 453 030a FF27 clr r31 |
| 454 030c EE0F lsl r30 |
| 455 030e FF1F rol r31 |
| 456 0310 EE0F lsl r30 |
| 457 0312 FF1F rol r31 |
| 458 0314 EE0F lsl r30 |
| 459 0316 FF1F rol r31 |
| 460 0318 E050 subi r30,lo8(-(Motor)) |
| 461 031a F040 sbci r31,hi8(-(Motor)) |
| 462 031c 8381 ldd r24,Z+3 |
| 463 031e 8F5F subi r24,lo8(-(1)) |
| 464 0320 8383 std Z+3,r24 |
| 465 .L30: |
| 466 0322 1092 0000 sts twi_state,__zero_reg__ |
| 467 0326 84E9 ldi r24,lo8(-108) |
| 468 0328 8093 BC00 sts 188,r24 |
| 469 032c 8AE0 ldi r24,lo8(10) |
| 470 032e 90E0 ldi r25,hi8(10) |
| 471 0330 9093 0000 sts (I2CTimeout)+1,r25 |
| 472 0334 8093 0000 sts I2CTimeout,r24 |
| 473 0338 8091 0000 lds r24,motor_write |
| 474 033c 8F5F subi r24,lo8(-(1)) |
| 475 033e 8093 0000 sts motor_write,r24 |
| 476 0342 1092 0000 sts twi_state,__zero_reg__ |
| 477 0346 62C1 rjmp .L85 |
| 478 .L33: |
| 479 0348 8091 B900 lds r24,185 |
| 480 034c 8034 cpi r24,lo8(64) |
| 481 034e A9F1 breq .L34 |
| 482 0350 8091 0000 lds r24,motor_read |
| 483 0354 E82F mov r30,r24 |
| 484 0356 FF27 clr r31 |
| 485 0358 EE0F lsl r30 |
| 486 035a FF1F rol r31 |
| 487 035c EE0F lsl r30 |
| 488 035e FF1F rol r31 |
| 489 0360 EE0F lsl r30 |
| 490 0362 FF1F rol r31 |
| 491 0364 E050 subi r30,lo8(-(Motor)) |
| 492 0366 F040 sbci r31,hi8(-(Motor)) |
| 493 0368 8381 ldd r24,Z+3 |
| 494 036a 8F77 andi r24,lo8(127) |
| 495 036c 8383 std Z+3,r24 |
| 496 036e 8091 0000 lds r24,motor_read |
| 497 0372 8F5F subi r24,lo8(-(1)) |
| 498 0374 8093 0000 sts motor_read,r24 |
| 499 0378 8091 0000 lds r24,motor_read |
| 500 037c 8C30 cpi r24,lo8(12) |
| 501 037e A0F0 brlo .L35 |
| 502 0380 1092 0000 sts motor_read,__zero_reg__ |
| 503 0384 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
| 504 0388 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
| 505 038c 8091 0000 lds r24,motor_read_temperature.1 |
| 506 0390 8F5F subi r24,lo8(-(1)) |
| 507 0392 8093 0000 sts motor_read_temperature.1,r24 |
| 508 0396 8C30 cpi r24,lo8(12) |
| 509 0398 38F0 brlo .L35 |
| 510 039a 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
| 511 039e 8091 0000 lds r24,BLFlags |
| 512 03a2 8D7F andi r24,lo8(-3) |
| 513 03a4 8093 0000 sts BLFlags,r24 |
| 514 .L35: |
| 515 03a8 8091 0000 lds r24,BLFlags |
| 516 03ac 8160 ori r24,lo8(1) |
| 517 03ae 8093 0000 sts BLFlags,r24 |
| 518 03b2 1092 0000 sts twi_state,__zero_reg__ |
| 519 03b6 84E9 ldi r24,lo8(-108) |
| 520 03b8 71C0 rjmp .L78 |
| 521 .L34: |
| 522 03ba 8091 0000 lds r24,motor_read |
| 523 03be E82F mov r30,r24 |
| 524 03c0 FF27 clr r31 |
| 525 03c2 EE0F lsl r30 |
| 526 03c4 FF1F rol r31 |
| 527 03c6 EE0F lsl r30 |
| 528 03c8 FF1F rol r31 |
| 529 03ca EE0F lsl r30 |
| 530 03cc FF1F rol r31 |
| 531 03ce E050 subi r30,lo8(-(Motor)) |
| 532 03d0 F040 sbci r31,hi8(-(Motor)) |
| 533 03d2 8381 ldd r24,Z+3 |
| 534 03d4 8068 ori r24,lo8(-128) |
| 535 03d6 8383 std Z+3,r24 |
| 536 03d8 8091 0000 lds r24,motor_read |
| 537 03dc E82F mov r30,r24 |
| 538 03de FF27 clr r31 |
| 539 03e0 EE0F lsl r30 |
| 540 03e2 FF1F rol r31 |
| 541 03e4 EE0F lsl r30 |
| 542 03e6 FF1F rol r31 |
| 543 03e8 EE0F lsl r30 |
| 544 03ea FF1F rol r31 |
| 545 03ec E050 subi r30,lo8(-(Motor)) |
| 546 03ee F040 sbci r31,hi8(-(Motor)) |
| 547 03f0 8081 ld r24,Z |
| 548 03f2 80FF sbrs r24,0 |
| 549 03f4 2FC0 rjmp .L38 |
| 550 03f6 8091 0000 lds r24,motor_read |
| 551 03fa E82F mov r30,r24 |
| 552 03fc FF27 clr r31 |
| 553 03fe 53E0 ldi r21,3 |
| 554 0400 EE0F 1: lsl r30 |
| 555 0402 FF1F rol r31 |
| 556 0404 5A95 dec r21 |
| 557 0406 E1F7 brne 1b |
| 558 0408 E050 subi r30,lo8(-(Motor)) |
| 559 040a F040 sbci r31,hi8(-(Motor)) |
| 560 040c 8481 ldd r24,Z+4 |
| 561 040e 9927 clr r25 |
| 562 0410 0097 sbiw r24,0 |
| 563 0412 51F0 breq .L41 |
| 564 0414 4097 sbiw r24,16 |
| 565 0416 D9F5 brne .L44 |
| 566 0418 80E0 ldi r24,lo8(BLConfig) |
| 567 041a 90E0 ldi r25,hi8(BLConfig) |
| 568 041c 9093 0000 sts (pBuff.2)+1,r25 |
| 569 0420 8093 0000 sts pBuff.2,r24 |
| 570 0424 88E0 ldi r24,lo8(8) |
| 571 0426 31C0 rjmp .L77 |
| 572 .L41: |
| 573 0428 8091 0000 lds r24,motor_read |
| 574 042c 9927 clr r25 |
| 575 042e 43E0 ldi r20,3 |
| 576 0430 880F 1: lsl r24 |
| 577 0432 991F rol r25 |
| 578 0434 4A95 dec r20 |
| 579 0436 E1F7 brne 1b |
| 580 0438 8050 subi r24,lo8(-(Motor+5)) |
| 581 043a 9040 sbci r25,hi8(-(Motor+5)) |
| 582 043c 9093 0000 sts (pBuff.2)+1,r25 |
| 583 0440 8093 0000 sts pBuff.2,r24 |
| 584 0444 9091 0000 lds r25,motor_read |
| 585 0448 8091 0000 lds r24,motor_read_temperature.1 |
| 586 044c 9817 cp r25,r24 |
| 587 044e E1F4 brne .L45 |
| 588 0450 83E0 ldi r24,lo8(3) |
| 589 0452 1BC0 rjmp .L77 |
| 590 .L38: |
| 591 0454 8091 0000 lds r24,motor_read |
| 592 0458 9927 clr r25 |
| 593 045a 33E0 ldi r19,3 |
| 594 045c 880F 1: lsl r24 |
| 595 045e 991F rol r25 |
| 596 0460 3A95 dec r19 |
| 597 0462 E1F7 brne 1b |
| 598 0464 8050 subi r24,lo8(-(Motor+5)) |
| 599 0466 9040 sbci r25,hi8(-(Motor+5)) |
| 600 0468 9093 0000 sts (pBuff.2)+1,r25 |
| 601 046c 8093 0000 sts pBuff.2,r24 |
| 602 0470 8091 0000 lds r24,BLFlags |
| 603 0474 81FD sbrc r24,1 |
| 604 0476 06C0 rjmp .L46 |
| 605 0478 9091 0000 lds r25,motor_read |
| 606 047c 8091 0000 lds r24,motor_read_temperature.1 |
| 607 0480 9817 cp r25,r24 |
| 608 0482 11F4 brne .L45 |
| 609 .L46: |
| 610 0484 82E0 ldi r24,lo8(2) |
| 611 0486 01C0 rjmp .L77 |
| 612 .L45: |
| 613 0488 81E0 ldi r24,lo8(1) |
| 614 .L77: |
| 615 048a 8093 0000 sts BuffLen.3,r24 |
| 616 .L44: |
| 617 048e 8091 0000 lds r24,BuffLen.3 |
| 618 0492 8130 cpi r24,lo8(1) |
| 619 0494 11F4 brne .L48 |
| 620 0496 85E8 ldi r24,lo8(-123) |
| 621 0498 01C0 rjmp .L78 |
| 622 .L48: |
| 623 049a 85EC ldi r24,lo8(-59) |
| 624 .L78: |
| 625 049c 8093 BC00 sts 188,r24 |
| 626 04a0 8091 0000 lds r24,missing_motor.0 |
| 627 04a4 8093 0000 sts MissingMotor,r24 |
| 628 04a8 1092 0000 sts missing_motor.0,__zero_reg__ |
| 629 04ac D4C0 rjmp .L9 |
| 630 .L50: |
| 631 04ae E091 0000 lds r30,pBuff.2 |
| 632 04b2 F091 0000 lds r31,(pBuff.2)+1 |
| 633 04b6 8091 BB00 lds r24,187 |
| 634 04ba 8083 st Z,r24 |
| 635 04bc 8091 0000 lds r24,pBuff.2 |
| 636 04c0 9091 0000 lds r25,(pBuff.2)+1 |
| 637 04c4 0196 adiw r24,1 |
| 638 04c6 9093 0000 sts (pBuff.2)+1,r25 |
| 639 04ca 8093 0000 sts pBuff.2,r24 |
| 640 04ce 8091 0000 lds r24,BuffLen.3 |
| 641 04d2 8150 subi r24,lo8(-(-1)) |
| 642 04d4 8093 0000 sts BuffLen.3,r24 |
| 643 04d8 8230 cpi r24,lo8(2) |
| 644 04da 10F0 brlo .L51 |
| 645 04dc 85EC ldi r24,lo8(-59) |
| 646 04de 58C0 rjmp .L79 |
| 647 .L51: |
| 648 04e0 8130 cpi r24,lo8(1) |
| 649 04e2 11F4 brne .L53 |
| 650 04e4 85E8 ldi r24,lo8(-123) |
| 651 04e6 54C0 rjmp .L79 |
| 652 .L53: |
| 653 04e8 8091 0000 lds r24,BLFlags |
| 654 04ec 81FF sbrs r24,1 |
| 655 04ee 2DC0 rjmp .L55 |
| 656 04f0 8091 0000 lds r24,FCFlags |
| 657 04f4 80FD sbrc r24,0 |
| 658 04f6 1DC0 rjmp .L56 |
| 659 04f8 8091 0000 lds r24,motor_read |
| 660 04fc E82F mov r30,r24 |
| 661 04fe FF27 clr r31 |
| 662 0500 23E0 ldi r18,3 |
| 663 0502 EE0F 1: lsl r30 |
| 664 0504 FF1F rol r31 |
| 665 0506 2A95 dec r18 |
| 666 0508 E1F7 brne 1b |
| 667 050a E050 subi r30,lo8(-(Motor)) |
| 668 050c F040 sbci r31,hi8(-(Motor)) |
| 669 050e 8681 ldd r24,Z+6 |
| 670 0510 8A3F cpi r24,lo8(-6) |
| 671 0512 79F4 brne .L56 |
| 672 0514 8091 0000 lds r24,motor_read |
| 673 0518 E82F mov r30,r24 |
| 674 051a FF27 clr r31 |
| 675 051c 93E0 ldi r25,3 |
| 676 051e EE0F 1: lsl r30 |
| 677 0520 FF1F rol r31 |
| 678 0522 9A95 dec r25 |
| 679 0524 E1F7 brne 1b |
| 680 0526 E050 subi r30,lo8(-(Motor)) |
| 681 0528 F040 sbci r31,hi8(-(Motor)) |
| 682 052a 8081 ld r24,Z |
| 683 052c 8160 ori r24,lo8(1) |
| 684 052e 8083 st Z,r24 |
| 685 0530 0CC0 rjmp .L55 |
| 686 .L56: |
| 687 0532 8091 0000 lds r24,motor_read |
| 688 0536 E82F mov r30,r24 |
| 689 0538 FF27 clr r31 |
| 690 053a 83E0 ldi r24,3 |
| 691 053c EE0F 1: lsl r30 |
| 692 053e FF1F rol r31 |
| 693 0540 8A95 dec r24 |
| 694 0542 E1F7 brne 1b |
| 695 0544 E050 subi r30,lo8(-(Motor)) |
| 696 0546 F040 sbci r31,hi8(-(Motor)) |
| 697 0548 1082 st Z,__zero_reg__ |
| 698 .L55: |
| 699 054a 8091 0000 lds r24,motor_read |
| 700 054e 8F5F subi r24,lo8(-(1)) |
| 701 0550 8093 0000 sts motor_read,r24 |
| 702 0554 8091 0000 lds r24,motor_read |
| 703 0558 8C30 cpi r24,lo8(12) |
| 704 055a A0F0 brlo .L58 |
| 705 055c 1092 0000 sts motor_read,__zero_reg__ |
| 706 0560 1092 0000 sts (BLConfig_ReadMask)+1,__zero_reg__ |
| 707 0564 1092 0000 sts BLConfig_ReadMask,__zero_reg__ |
| 708 0568 8091 0000 lds r24,motor_read_temperature.1 |
| 709 056c 8F5F subi r24,lo8(-(1)) |
| 710 056e 8093 0000 sts motor_read_temperature.1,r24 |
| 711 0572 8C30 cpi r24,lo8(12) |
| 712 0574 38F0 brlo .L58 |
| 713 0576 1092 0000 sts motor_read_temperature.1,__zero_reg__ |
| 714 057a 8091 0000 lds r24,BLFlags |
| 715 057e 8D7F andi r24,lo8(-3) |
| 716 0580 8093 0000 sts BLFlags,r24 |
| 717 .L58: |
| 718 0584 1092 0000 sts twi_state,__zero_reg__ |
| 719 0588 84E9 ldi r24,lo8(-108) |
| 720 058a 8093 BC00 sts 188,r24 |
| 721 058e 49C0 rjmp .L81 |
| 722 .L79: |
| 723 0590 8093 BC00 sts 188,r24 |
| 724 0594 86E0 ldi r24,lo8(6) |
| 725 .L82: |
| 726 0596 8093 0000 sts twi_state,r24 |
| 727 059a 5DC0 rjmp .L9 |
| 728 .L60: |
| 729 059c 88E9 ldi r24,lo8(-104) |
| 730 059e C4CD rjmp .L84 |
| 731 .L61: |
| 732 05a0 8091 0000 lds r24,dac_channel |
| 733 05a4 880F lsl r24 |
| 734 05a6 805F subi r24,lo8(-(16)) |
| 735 05a8 BFCD rjmp .L84 |
| 736 .L62: |
| 737 05aa 8091 0000 lds r24,dac_channel |
| 738 05ae 9927 clr r25 |
| 739 05b0 8130 cpi r24,1 |
| 740 05b2 9105 cpc r25,__zero_reg__ |
| 741 05b4 61F0 breq .L65 |
| 742 05b6 8230 cpi r24,2 |
| 743 05b8 9105 cpc r25,__zero_reg__ |
| 744 05ba 1CF4 brge .L67 |
| 745 05bc 892B or r24,r25 |
| 746 05be 21F0 breq .L64 |
| 747 05c0 4AC0 rjmp .L9 |
| 748 .L67: |
| 749 05c2 0297 sbiw r24,2 |
| 750 05c4 39F0 breq .L66 |
| 751 05c6 47C0 rjmp .L9 |
| 752 .L64: |
| 753 05c8 8091 0000 lds r24,AnalogOffsetNick |
| 754 05cc ADCD rjmp .L84 |
| 755 .L65: |
| 756 05ce 8091 0000 lds r24,AnalogOffsetRoll |
| 757 05d2 AACD rjmp .L84 |
| 758 .L66: |
| 759 05d4 8091 0000 lds r24,AnalogOffsetGier |
| 760 05d8 A7CD rjmp .L84 |
| 761 .L68: |
| 762 05da 80E8 ldi r24,lo8(-128) |
| 763 05dc A5CD rjmp .L84 |
| 764 .L69: |
| 765 05de 1092 0000 sts twi_state,__zero_reg__ |
| 766 05e2 84E9 ldi r24,lo8(-108) |
| 767 05e4 8093 BC00 sts 188,r24 |
| 768 05e8 8AE0 ldi r24,lo8(10) |
| 769 05ea 90E0 ldi r25,hi8(10) |
| 770 05ec 9093 0000 sts (I2CTimeout)+1,r25 |
| 771 05f0 8093 0000 sts I2CTimeout,r24 |
| 772 05f4 8091 0000 lds r24,dac_channel |
| 773 05f8 8230 cpi r24,lo8(2) |
| 774 05fa 88F4 brsh .L70 |
| 775 05fc 8091 0000 lds r24,dac_channel |
| 776 0600 8F5F subi r24,lo8(-(1)) |
| 777 0602 8093 0000 sts dac_channel,r24 |
| 778 0606 82E1 ldi r24,lo8(18) |
| 779 0608 8093 0000 sts twi_state,r24 |
| 780 .L85: |
| 781 060c 8091 0000 lds r24,BLFlags |
| 782 0610 8E7F andi r24,lo8(-2) |
| 783 0612 8093 0000 sts BLFlags,r24 |
| 784 0616 85EA ldi r24,lo8(-91) |
| 785 .L80: |
| 786 0618 8093 BC00 sts 188,r24 |
| 787 061c 1CC0 rjmp .L9 |
| 788 .L70: |
| 789 061e 1092 0000 sts dac_channel,__zero_reg__ |
| 790 .L81: |
| 791 0622 8091 0000 lds r24,BLFlags |
| 792 0626 8160 ori r24,lo8(1) |
| 793 0628 8093 0000 sts BLFlags,r24 |
| 794 062c 14C0 rjmp .L9 |
| 795 .L72: |
| 796 062e 1092 0000 sts twi_state,__zero_reg__ |
| 797 0632 84E9 ldi r24,lo8(-108) |
| 798 0634 8093 BC00 sts 188,r24 |
| 799 0638 8091 0000 lds r24,BLFlags |
| 800 063c 8160 ori r24,lo8(1) |
| 801 063e 8093 0000 sts BLFlags,r24 |
| 802 0642 8AE0 ldi r24,lo8(10) |
| 803 0644 90E0 ldi r25,hi8(10) |
| 804 0646 9093 0000 sts (I2CTimeout)+1,r25 |
| 805 064a 8093 0000 sts I2CTimeout,r24 |
| 806 064e 1092 0000 sts motor_write,__zero_reg__ |
| 807 0652 1092 0000 sts motor_read,__zero_reg__ |
| 808 .L9: |
| 809 /* epilogue: frame size=0 */ |
| 810 0656 FF91 pop r31 |
| 811 0658 EF91 pop r30 |
| 812 065a 9F91 pop r25 |
| 813 065c 8F91 pop r24 |
| 814 065e 5F91 pop r21 |
| 815 0660 4F91 pop r20 |
| 816 0662 3F91 pop r19 |
| 817 0664 2F91 pop r18 |
| 818 0666 0F90 pop __tmp_reg__ |
| 819 0668 0FBE out __SREG__,__tmp_reg__ |
| 820 066a 0F90 pop __tmp_reg__ |
| 821 066c 1F90 pop __zero_reg__ |
| 822 066e 1895 reti |
| 823 /* epilogue end (size=13) */ |
| 824 /* function __vector_26 size 779 (753) */ |
| 826 .global I2C_WriteBLConfig |
| 828 I2C_WriteBLConfig: |
| 829 /* prologue: frame size=0 */ |
| 830 0670 1F93 push r17 |
| 831 0672 CF93 push r28 |
| 832 0674 DF93 push r29 |
| 833 /* prologue end (size=3) */ |
| 834 0676 182F mov r17,r24 |
| 835 0678 8091 0000 lds r24,MotorenEin |
| 836 067c 8823 tst r24 |
| 837 067e 21F4 brne .L88 |
| 838 0680 8091 0000 lds r24,PC_MotortestActive |
| 839 0684 8823 tst r24 |
| 840 0686 19F0 breq .L87 |
| 841 .L88: |
| 842 0688 81E0 ldi r24,lo8(1) |
| 843 068a 90E0 ldi r25,hi8(1) |
| 844 068c 97C0 rjmp .L86 |
| 845 .L87: |
| 846 068e 1D30 cpi r17,lo8(13) |
| 847 0690 08F0 brlo .+2 |
| 848 0692 92C0 rjmp .L115 |
| 849 0694 1123 tst r17 |
| 850 0696 B1F0 breq .L90 |
| 851 0698 E12F mov r30,r17 |
| 852 069a FF27 clr r31 |
| 853 069c 23E0 ldi r18,3 |
| 854 069e EE0F 1: lsl r30 |
| 855 06a0 FF1F rol r31 |
| 856 06a2 2A95 dec r18 |
| 857 06a4 E1F7 brne 1b |
| 858 06a6 E050 subi r30,lo8(-(Motor)) |
| 859 06a8 F040 sbci r31,hi8(-(Motor)) |
| 860 06aa 3597 sbiw r30,5 |
| 861 06ac 8081 ld r24,Z |
| 862 06ae 3596 adiw r30,5 |
| 863 06b0 8823 tst r24 |
| 864 06b2 0CF0 brlt .+2 |
| 865 06b4 81C0 rjmp .L115 |
| 866 06b6 3897 sbiw r30,8 |
| 867 06b8 8081 ld r24,Z |
| 868 06ba 80FD sbrc r24,0 |
| 869 06bc 03C0 rjmp .L90 |
| 870 06be 83E0 ldi r24,lo8(3) |
| 871 06c0 90E0 ldi r25,hi8(3) |
| 872 06c2 7CC0 rjmp .L86 |
| 873 .L90: |
| 874 06c4 8091 0000 lds r24,BLConfig |
| 875 06c8 8230 cpi r24,lo8(2) |
| 876 06ca 19F0 breq .L93 |
| 877 06cc 84E0 ldi r24,lo8(4) |
| 878 06ce 90E0 ldi r25,hi8(4) |
| 879 06d0 75C0 rjmp .L86 |
| 880 .L93: |
| 881 06d2 67E0 ldi r22,lo8(7) |
| 882 06d4 70E0 ldi r23,hi8(7) |
| 883 06d6 80E0 ldi r24,lo8(BLConfig) |
| 884 06d8 90E0 ldi r25,hi8(BLConfig) |
| 885 06da 0E94 0000 call RAM_Checksum |
| 886 06de 9091 0000 lds r25,BLConfig+7 |
| 887 06e2 8917 cp r24,r25 |
| 888 06e4 19F0 breq .L94 |
| 889 06e6 85E0 ldi r24,lo8(5) |
| 890 06e8 90E0 ldi r25,hi8(5) |
| 891 06ea 68C0 rjmp .L86 |
| 892 .L94: |
| 893 06ec 80ED ldi r24,lo8(2000) |
| 894 06ee 97E0 ldi r25,hi8(2000) |
| 895 06f0 0E94 0000 call SetDelay |
| 896 06f4 EC01 movw r28,r24 |
| 897 .L95: |
| 898 06f6 8091 0000 lds r24,BLFlags |
| 899 06fa 80FD sbrc r24,0 |
| 900 06fc 05C0 rjmp .L96 |
| 901 06fe CE01 movw r24,r28 |
| 902 0700 0E94 0000 call CheckDelay |
| 903 0704 8823 tst r24 |
| 904 0706 B9F3 breq .L95 |
| 905 .L96: |
| 906 0708 1123 tst r17 |
| 907 070a 19F4 brne .L98 |
| 908 070c 8FEF ldi r24,lo8(255) |
| 909 070e 90E0 ldi r25,hi8(255) |
| 910 0710 0BC0 rjmp .L114 |
| 911 .L98: |
| 912 0712 212F mov r18,r17 |
| 913 0714 3327 clr r19 |
| 914 0716 2150 subi r18,lo8(-(-1)) |
| 915 0718 3040 sbci r19,hi8(-(-1)) |
| 916 071a 81E0 ldi r24,lo8(1) |
| 917 071c 90E0 ldi r25,hi8(1) |
| 918 071e 02C0 rjmp 2f |
| 919 0720 880F 1: lsl r24 |
| 920 0722 991F rol r25 |
| 921 0724 2A95 2: dec r18 |
| 922 0726 E2F7 brpl 1b |
| 923 .L114: |
| 924 0728 9093 0000 sts (BLConfig_WriteMask)+1,r25 |
| 925 072c 8093 0000 sts BLConfig_WriteMask,r24 |
| 926 0730 A1E0 ldi r26,lo8(1) |
| 927 0732 B0E0 ldi r27,hi8(1) |
| 928 0734 E0E0 ldi r30,lo8(Motor) |
| 929 0736 F0E0 ldi r31,hi8(Motor) |
| 930 0738 40E0 ldi r20,lo8(0) |
| 931 073a 50E0 ldi r21,hi8(0) |
| 932 073c 6BE0 ldi r22,lo8(11) |
| 933 .L104: |
| 934 073e CD01 movw r24,r26 |
| 935 0740 042E mov r0,r20 |
| 936 0742 02C0 rjmp 2f |
| 937 0744 880F 1: lsl r24 |
| 938 0746 991F rol r25 |
| 939 0748 0A94 2: dec r0 |
| 940 074a E2F7 brpl 1b |
| 941 074c 2091 0000 lds r18,BLConfig_WriteMask |
| 942 0750 3091 0000 lds r19,(BLConfig_WriteMask)+1 |
| 943 0754 8223 and r24,r18 |
| 944 0756 9323 and r25,r19 |
| 945 0758 892B or r24,r25 |
| 946 075a 11F0 breq .L102 |
| 947 075c 1182 std Z+1,__zero_reg__ |
| 948 075e 1282 std Z+2,__zero_reg__ |
| 949 .L102: |
| 950 0760 6150 subi r22,lo8(-(-1)) |
| 951 0762 4F5F subi r20,lo8(-(1)) |
| 952 0764 5F4F sbci r21,hi8(-(1)) |
| 953 0766 3896 adiw r30,8 |
| 954 0768 67FF sbrs r22,7 |
| 955 076a E9CF rjmp .L104 |
| 956 076c 1092 0000 sts motor_write,__zero_reg__ |
| 957 .L105: |
| 958 0770 1092 0000 sts twi_state,__zero_reg__ |
| 959 0774 8091 0000 lds r24,BLFlags |
| 960 0778 8E7F andi r24,lo8(-2) |
| 961 077a 8093 0000 sts BLFlags,r24 |
| 962 077e 85EA ldi r24,lo8(-91) |
| 963 0780 8093 BC00 sts 188,r24 |
| 964 .L108: |
| 965 0784 8091 0000 lds r24,BLFlags |
| 966 0788 80FD sbrc r24,0 |
| 967 078a 05C0 rjmp .L109 |
| 968 078c CE01 movw r24,r28 |
| 969 078e 0E94 0000 call CheckDelay |
| 970 0792 8823 tst r24 |
| 971 0794 B9F3 breq .L108 |
| 972 .L109: |
| 973 0796 8091 0000 lds r24,BLConfig_WriteMask |
| 974 079a 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 975 079e 892B or r24,r25 |
| 976 07a0 29F0 breq .L106 |
| 977 07a2 CE01 movw r24,r28 |
| 978 07a4 0E94 0000 call CheckDelay |
| 979 07a8 8823 tst r24 |
| 980 07aa 11F3 breq .L105 |
| 981 .L106: |
| 982 07ac 8091 0000 lds r24,BLConfig_WriteMask |
| 983 07b0 9091 0000 lds r25,(BLConfig_WriteMask)+1 |
| 984 07b4 0097 sbiw r24,0 |
| 985 07b6 11F0 breq .L86 |
| 986 .L115: |
| 987 07b8 82E0 ldi r24,lo8(2) |
| 988 07ba 90E0 ldi r25,hi8(2) |
| 989 .L86: |
| 990 /* epilogue: frame size=0 */ |
| 991 07bc DF91 pop r29 |
| 992 07be CF91 pop r28 |
| 993 07c0 1F91 pop r17 |
| 994 07c2 0895 ret |
| 995 /* epilogue end (size=4) */ |
| 996 /* function I2C_WriteBLConfig size 172 (165) */ |
| 998 .global I2C_ReadBLConfig |
| 1000 I2C_ReadBLConfig: |
| 1001 /* prologue: frame size=0 */ |
| 1002 07c4 0F93 push r16 |
| 1003 07c6 1F93 push r17 |
| 1004 07c8 CF93 push r28 |
| 1005 07ca DF93 push r29 |
| 1006 /* prologue end (size=4) */ |
| 1007 07cc 982F mov r25,r24 |
| 1008 07ce 8091 0000 lds r24,MotorenEin |
| 1009 07d2 8823 tst r24 |
| 1010 07d4 21F4 brne .L118 |
| 1011 07d6 8091 0000 lds r24,PC_MotortestActive |
| 1012 07da 8823 tst r24 |
| 1013 07dc 19F0 breq .L117 |
| 1014 .L118: |
| 1015 07de 81E0 ldi r24,lo8(1) |
| 1016 07e0 90E0 ldi r25,hi8(1) |
| 1017 07e2 92C0 rjmp .L116 |
| 1018 .L117: |
| 1019 07e4 9D30 cpi r25,lo8(13) |
| 1020 07e6 A0F4 brsh .L141 |
| 1021 07e8 9923 tst r25 |
| 1022 07ea 19F4 brne .L120 |
| 1023 07ec 86E0 ldi r24,lo8(6) |
| 1024 07ee 90E0 ldi r25,hi8(6) |
| 1025 07f0 8BC0 rjmp .L116 |
| 1026 .L120: |
| 1027 07f2 C92F mov r28,r25 |
| 1028 07f4 DD27 clr r29 |
| 1029 07f6 FE01 movw r30,r28 |
| 1030 07f8 33E0 ldi r19,3 |
| 1031 07fa EE0F 1: lsl r30 |
| 1032 07fc FF1F rol r31 |
| 1033 07fe 3A95 dec r19 |
| 1034 0800 E1F7 brne 1b |
| 1035 0802 E050 subi r30,lo8(-(Motor)) |
| 1036 0804 F040 sbci r31,hi8(-(Motor)) |
| 1037 0806 3597 sbiw r30,5 |
| 1038 0808 8081 ld r24,Z |
| 1039 080a 3596 adiw r30,5 |
| 1040 080c 87FD sbrc r24,7 |
| 1041 080e 03C0 rjmp .L121 |
| 1042 .L141: |
| 1043 0810 82E0 ldi r24,lo8(2) |
| 1044 0812 90E0 ldi r25,hi8(2) |
| 1045 0814 79C0 rjmp .L116 |
| 1046 .L121: |
| 1047 0816 3897 sbiw r30,8 |
| 1048 0818 8081 ld r24,Z |
| 1049 081a 80FD sbrc r24,0 |
| 1050 081c 03C0 rjmp .L122 |
| 1051 081e 83E0 ldi r24,lo8(3) |
| 1052 0820 90E0 ldi r25,hi8(3) |
| 1053 0822 72C0 rjmp .L116 |
| 1054 .L122: |
| 1055 0824 80ED ldi r24,lo8(2000) |
| 1056 0826 97E0 ldi r25,hi8(2000) |
| 1057 0828 0E94 0000 call SetDelay |
| 1058 082c 8C01 movw r16,r24 |
| 1059 .L123: |
| 1060 082e 8091 0000 lds r24,BLFlags |
| 1061 0832 80FD sbrc r24,0 |
| 1062 0834 05C0 rjmp .L124 |
| 1063 0836 C801 movw r24,r16 |
| 1064 0838 0E94 0000 call CheckDelay |
| 1065 083c 8823 tst r24 |
| 1066 083e B9F3 breq .L123 |
| 1067 .L124: |
| 1068 0840 2197 sbiw r28,1 |
| 1069 0842 21E0 ldi r18,lo8(1) |
| 1070 0844 30E0 ldi r19,hi8(1) |
| 1071 0846 C901 movw r24,r18 |
| 1072 0848 02C0 rjmp 2f |
| 1073 084a 880F 1: lsl r24 |
| 1074 084c 991F rol r25 |
| 1075 084e CA95 2: dec r28 |
| 1076 0850 E2F7 brpl 1b |
| 1077 0852 9093 0000 sts (BLConfig_ReadMask)+1,r25 |
| 1078 0856 8093 0000 sts BLConfig_ReadMask,r24 |
| 1079 085a D901 movw r26,r18 |
| 1080 085c E0E0 ldi r30,lo8(Motor) |
| 1081 085e F0E0 ldi r31,hi8(Motor) |
| 1082 0860 40E0 ldi r20,lo8(0) |
| 1083 0862 50E0 ldi r21,hi8(0) |
| 1084 0864 6BE0 ldi r22,lo8(11) |
| 1085 .L130: |
| 1086 0866 CD01 movw r24,r26 |
| 1087 0868 042E mov r0,r20 |
| 1088 086a 02C0 rjmp 2f |
| 1089 086c 880F 1: lsl r24 |
| 1090 086e 991F rol r25 |
| 1091 0870 0A94 2: dec r0 |
| 1092 0872 E2F7 brpl 1b |
| 1093 0874 2091 0000 lds r18,BLConfig_ReadMask |
| 1094 0878 3091 0000 lds r19,(BLConfig_ReadMask)+1 |
| 1095 087c 8223 and r24,r18 |
| 1096 087e 9323 and r25,r19 |
| 1097 0880 892B or r24,r25 |
| 1098 0882 11F0 breq .L128 |
| 1099 0884 1182 std Z+1,__zero_reg__ |
| 1100 0886 1282 std Z+2,__zero_reg__ |
| 1101 .L128: |
| 1102 0888 6150 subi r22,lo8(-(-1)) |
| 1103 088a 4F5F subi r20,lo8(-(1)) |
| 1104 088c 5F4F sbci r21,hi8(-(1)) |
| 1105 088e 3896 adiw r30,8 |
| 1106 0890 67FF sbrs r22,7 |
| 1107 0892 E9CF rjmp .L130 |
| 1108 0894 1092 0000 sts motor_read,__zero_reg__ |
| 1109 0898 1092 0000 sts BLConfig,__zero_reg__ |
| 1110 089c 1092 0000 sts BLConfig+7,__zero_reg__ |
| 1111 .L131: |
| 1112 08a0 1092 0000 sts twi_state,__zero_reg__ |
| 1113 08a4 8091 0000 lds r24,BLFlags |
| 1114 08a8 8E7F andi r24,lo8(-2) |
| 1115 08aa 8093 0000 sts BLFlags,r24 |
| 1116 08ae 85EA ldi r24,lo8(-91) |
| 1117 08b0 8093 BC00 sts 188,r24 |
| 1118 .L134: |
| 1119 08b4 8091 0000 lds r24,BLFlags |
| 1120 08b8 80FD sbrc r24,0 |
| 1121 08ba 05C0 rjmp .L135 |
| 1122 08bc C801 movw r24,r16 |
| 1123 08be 0E94 0000 call CheckDelay |
| 1124 08c2 8823 tst r24 |
| 1125 08c4 B9F3 breq .L134 |
| 1126 .L135: |
| 1127 08c6 8091 0000 lds r24,BLConfig_ReadMask |
| 1128 08ca 9091 0000 lds r25,(BLConfig_ReadMask)+1 |
| 1129 08ce 892B or r24,r25 |
| 1130 08d0 29F0 breq .L132 |
| 1131 08d2 C801 movw r24,r16 |
| 1132 08d4 0E94 0000 call CheckDelay |
| 1133 08d8 8823 tst r24 |
| 1134 08da 11F3 breq .L131 |
| 1135 .L132: |
| 1136 08dc 8091 0000 lds r24,BLConfig |
| 1137 08e0 8230 cpi r24,lo8(2) |
| 1138 08e2 19F0 breq .L137 |
| 1139 08e4 84E0 ldi r24,lo8(4) |
| 1140 08e6 90E0 ldi r25,hi8(4) |
| 1141 08e8 0FC0 rjmp .L116 |
| 1142 .L137: |
| 1143 08ea 67E0 ldi r22,lo8(7) |
| 1144 08ec 70E0 ldi r23,hi8(7) |
| 1145 08ee 80E0 ldi r24,lo8(BLConfig) |
| 1146 08f0 90E0 ldi r25,hi8(BLConfig) |
| 1147 08f2 0E94 0000 call RAM_Checksum |
| 1148 08f6 9091 0000 lds r25,BLConfig+7 |
| 1149 08fa 8917 cp r24,r25 |
| 1150 08fc 19F0 breq .L138 |
| 1151 08fe 85E0 ldi r24,lo8(5) |
| 1152 0900 90E0 ldi r25,hi8(5) |
| 1153 0902 02C0 rjmp .L116 |
| 1154 .L138: |
| 1155 0904 80E0 ldi r24,lo8(0) |
| 1156 0906 90E0 ldi r25,hi8(0) |
| 1157 .L116: |
| 1158 /* epilogue: frame size=0 */ |
| 1159 0908 DF91 pop r29 |
| 1160 090a CF91 pop r28 |
| 1161 090c 1F91 pop r17 |
| 1162 090e 0F91 pop r16 |
| 1163 0910 0895 ret |
| 1164 /* epilogue end (size=5) */ |
| 1165 /* function I2C_ReadBLConfig size 168 (159) */ |
| 1167 .comm Motor,96,1 |
| 1168 .comm BLConfig,8,1 |
| 1169 /* File "twimaster.c": code 1193 = 0x04a9 (1149), prologues 20, epilogues 24 */ |
| DEFINED SYMBOLS |
| *ABS*:00000000 twimaster.c |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:3 *ABS*:0000003f __SREG__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:4 *ABS*:0000003e __SP_H__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:5 *ABS*:0000003d __SP_L__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:6 *ABS*:00000000 __tmp_reg__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:7 *ABS*:00000001 __zero_reg__ |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:15 .bss:00000000 BLConfig_ReadMask |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:21 .bss:00000002 BLConfig_WriteMask |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:27 .bss:00000004 BLFlags |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:33 .bss:00000005 MissingMotor |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:39 .data:00000000 I2CTimeout |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:46 .bss:00000006 motor_read |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:52 .bss:00000007 motor_write |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:58 .bss:00000008 dac_channel |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:64 .bss:00000009 twi_state |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:69 .text:00000000 I2C_Init |
| *COM*:00000060 Motor |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:113 .text:0000004c I2C_Reset |
| .bss:0000000a missing_motor.0 |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:140 .bss:0000000b motor_read_temperature.1 |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:141 .bss:0000000c pBuff.2 |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:142 .bss:0000000e BuffLen.3 |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:146 .text:00000092 __vector_26 |
| *COM*:00000008 BLConfig |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:828 .text:00000670 I2C_WriteBLConfig |
| C:\Users\Arthur-P\AppData\Local\Temp/cciecaaa.s:1000 .text:000007c4 I2C_ReadBLConfig |
| |
| UNDEFINED SYMBOLS |
| __do_copy_data |
| __do_clear_bss |
| __tablejump2__ |
| Mixer |
| RequiredMotors |
| FCFlags |
| AnalogOffsetNick |
| AnalogOffsetRoll |
| AnalogOffsetGier |
| MotorenEin |
| PC_MotortestActive |
| RAM_Checksum |
| SetDelay |
| CheckDelay |