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1
   1               		.file	"testIRcycle.c"
2
   2               		.arch atmega128
3
   3               	__SREG__ = 0x3f
4
   4               	__SP_H__ = 0x3e
5
   5               	__SP_L__ = 0x3d
6
   6               	__tmp_reg__ = 0
7
   7               	__zero_reg__ = 1
8
   8               		.global __do_copy_data
9
   9               		.global __do_clear_bss
10
  10               		.text
11
  11               	.global	main
12
  13               	main:
13
  14               	/* prologue: frame size=0 */
14
  15 0000 0F93      		push r16
15
  16 0002 1F93      		push r17
16
  17 0004 CF93      		push r28
17
  18 0006 DF93      		push r29
18
  19               	/* prologue end (size=4) */
19
  20 0008 8FEF      		ldi r24,lo8(1023)
20
  21 000a 93E0      		ldi r25,hi8(1023)
21
  22 000c 0E94 0000 		call dragonfly_init
22
  23 0010 0E94 0000 		call encoders_init
23
  24 0014 83E0      		ldi r24,lo8(3)
24
  25 0016 0E94 0000 		call orb1_set_color
25
  26 001a 8CE1      		ldi r24,lo8(28)
26
  27 001c 0E94 0000 		call orb2_set_color
27
  28 0020 80E0      		ldi r24,lo8(0)
28
  29 0022 0E94 0000 		call encoder_rst_dx
29
  30 0026 81E0      		ldi r24,lo8(1)
30
  31 0028 0E94 0000 		call encoder_rst_dx
31
  32 002c C1E0      		ldi r28,lo8(1)
32
  33 002e D0E0      		ldi r29,hi8(1)
33
  34               	.L2:
34
  35 0030 2197      		sbiw r28,1
35
  36 0032 01F4      		brne .L3
36
  37 0034 68EC      		ldi r22,lo8(200)
37
  38 0036 70E0      		ldi r23,hi8(200)
38
  39 0038 80E0      		ldi r24,lo8(0)
39
  40 003a 90E0      		ldi r25,hi8(0)
40
  41 003c 0E94 0000 		call motor_l_set
41
  42 0040 68EC      		ldi r22,lo8(200)
42
  43 0042 70E0      		ldi r23,hi8(200)
43
  44 0044 80E0      		ldi r24,lo8(0)
44
  45 0046 90E0      		ldi r25,hi8(0)
45
  46 0048 0E94 0000 		call motor_r_set
46
  47 004c C0E0      		ldi r28,lo8(0)
47
  48 004e D0E0      		ldi r29,hi8(0)
48
  49 0050 00C0      		rjmp .L9
49
  50               	.L3:
50
  51 0052 68EC      		ldi r22,lo8(200)
51
  52 0054 70E0      		ldi r23,hi8(200)
52
  53 0056 81E0      		ldi r24,lo8(1)
53
  54 0058 90E0      		ldi r25,hi8(1)
54
  55 005a 0E94 0000 		call motor_l_set
55
  56 005e 68EC      		ldi r22,lo8(200)
56
  57 0060 70E0      		ldi r23,hi8(200)
57
  58 0062 81E0      		ldi r24,lo8(1)
58
  59 0064 90E0      		ldi r25,hi8(1)
59
  60 0066 0E94 0000 		call motor_r_set
60
  61 006a C1E0      		ldi r28,lo8(1)
61
  62 006c D0E0      		ldi r29,hi8(1)
62
  63               	.L9:
63
  64 006e 85E0      		ldi r24,lo8(5)
64
  65 0070 90E0      		ldi r25,hi8(5)
65
  66 0072 0E94 0000 		call range_read_distance
66
  67 0076 0E94 0000 		call usb_puti
67
  68 007a 8DE0      		ldi r24,lo8(13)
68
  69 007c 0E94 0000 		call usb_putc
69
  70 0080 82E3      		ldi r24,lo8(50)
70
  71 0082 90E0      		ldi r25,hi8(50)
71
  72 0084 0E94 0000 		call delay_ms
72
  73 0088 80E0      		ldi r24,lo8(0)
73
  74 008a 0E94 0000 		call encoder_get_dx
74
  75 008e 8C01      		movw r16,r24
75
  76 0090 81E0      		ldi r24,lo8(1)
76
  77 0092 0E94 0000 		call encoder_get_dx
77
  78 0096 800F      		add r24,r16
78
  79 0098 911F      		adc r25,r17
79
  80 009a 62E0      		ldi r22,lo8(2)
80
  81 009c 70E0      		ldi r23,hi8(2)
81
  82 009e 0E94 0000 		call __divmodhi4
82
  83 00a2 77FF      		sbrs r23,7
83
  84 00a4 00C0      		rjmp .L6
84
  85 00a6 7095      		com r23
85
  86 00a8 6195      		neg r22
86
  87 00aa 7F4F      		sbci r23,lo8(-1)
87
  88               	.L6:
88
  89 00ac 6459      		subi r22,lo8(660)
89
  90 00ae 7240      		sbci r23,hi8(660)
90
  91 00b0 04F0      		brlt .L9
91
  92 00b2 80E0      		ldi r24,lo8(0)
92
  93 00b4 0E94 0000 		call encoder_rst_dx
93
  94 00b8 81E0      		ldi r24,lo8(1)
94
  95 00ba 0E94 0000 		call encoder_rst_dx
95
  96 00be 00C0      		rjmp .L2
96
  97               	/* epilogue: frame size=0 */
97
  98               	/* epilogue: noreturn */
98
  99               	/* epilogue end (size=0) */
99
 100               	/* function main size 98 (94) */
100
 102               	/* File "testIRcycle.c": code   98 = 0x0062 (  94), prologues   4, epilogues   0 */
101
DEFINED SYMBOLS
102
                            *ABS*:00000000 testIRcycle.c
103
C:\DOCUME~1\roboclub\LOCALS~1\Temp/cc3N4VZy.s:3      *ABS*:0000003f __SREG__
104
C:\DOCUME~1\roboclub\LOCALS~1\Temp/cc3N4VZy.s:4      *ABS*:0000003e __SP_H__
105
C:\DOCUME~1\roboclub\LOCALS~1\Temp/cc3N4VZy.s:5      *ABS*:0000003d __SP_L__
106
C:\DOCUME~1\roboclub\LOCALS~1\Temp/cc3N4VZy.s:6      *ABS*:00000000 __tmp_reg__
107
C:\DOCUME~1\roboclub\LOCALS~1\Temp/cc3N4VZy.s:7      *ABS*:00000001 __zero_reg__
108
C:\DOCUME~1\roboclub\LOCALS~1\Temp/cc3N4VZy.s:13     .text:00000000 main
109




110
UNDEFINED SYMBOLS





111
__do_copy_data





112
__do_clear_bss





113
dragonfly_init





114
encoders_init





115
orb1_set_color





116
orb2_set_color





117
encoder_rst_dx





118
motor_l_set





119
motor_r_set





120
range_read_distance





121
usb_puti





122
usb_putc





123
delay_ms





124
encoder_get_dx





125
__divmodhi4