root / demos / john / projects / libdragonfly / move.lst @ 1693
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| 1 | 1 .file "move.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 | 17 .Ltext0: |
| 11 | 18 .global translateAngulartoLinear |
| 12 | 20 translateAngulartoLinear: |
| 13 | 21 .LFB4: |
| 14 | 22 .LM1: |
| 15 | 23 /* prologue: frame size=0 */ |
| 16 | 24 0000 8F92 push r8 |
| 17 | 25 0002 9F92 push r9 |
| 18 | 26 0004 AF92 push r10 |
| 19 | 27 0006 BF92 push r11 |
| 20 | 28 0008 CF92 push r12 |
| 21 | 29 000a DF92 push r13 |
| 22 | 30 000c EF92 push r14 |
| 23 | 31 000e FF92 push r15 |
| 24 | 32 0010 0F93 push r16 |
| 25 | 33 0012 1F93 push r17 |
| 26 | 34 0014 CF93 push r28 |
| 27 | 35 0016 DF93 push r29 |
| 28 | 36 /* prologue end (size=12) */ |
| 29 | 37 .LVL0: |
| 30 | 38 0018 FC01 movw r30,r24 |
| 31 | 39 001a 4A01 movw r8,r20 |
| 32 | 40 001c E901 movw r28,r18 |
| 33 | 41 .LVL1: |
| 34 | 42 .LM2: |
| 35 | 43 001e 8150 subi r24,lo8(-(255)) |
| 36 | 44 0020 9F4F sbci r25,hi8(-(255)) |
| 37 | 45 0022 8F5F subi r24,lo8(511) |
| 38 | 46 0024 9140 sbci r25,hi8(511) |
| 39 | 47 .LVL2: |
| 40 | 48 0026 00F0 brlo .+2 |
| 41 | 49 0028 00C0 rjmp .L14 |
| 42 | 50 .LVL3: |
| 43 | 51 .LM3: |
| 44 | 52 002a 8FEF ldi r24,hi8(-255) |
| 45 | 53 002c 6130 cpi r22,lo8(-255) |
| 46 | 54 002e 7807 cpc r23,r24 |
| 47 | 55 0030 04F4 brge .+2 |
| 48 | 56 0032 00C0 rjmp .L14 |
| 49 | 57 0034 6F3F cpi r22,255 |
| 50 | 58 0036 7105 cpc r23,__zero_reg__ |
| 51 | 59 0038 01F0 breq .+4 |
| 52 | 60 003a 04F0 brlt .+2 |
| 53 | 61 003c 00C0 rjmp .L14 |
| 54 | 62 .LM4: |
| 55 | 63 003e CB01 movw r24,r22 |
| 56 | 64 0040 880F lsl r24 |
| 57 | 65 0042 991F rol r25 |
| 58 | 66 0044 860F add r24,r22 |
| 59 | 67 0046 971F adc r25,r23 |
| 60 | 68 0048 9F01 movw r18,r30 |
| 61 | 69 004a 280F add r18,r24 |
| 62 | 70 004c 391F adc r19,r25 |
| 63 | 71 004e 5901 movw r10,r18 |
| 64 | 72 0050 CC24 clr r12 |
| 65 | 73 0052 B7FC sbrc r11,7 |
| 66 | 74 0054 C094 com r12 |
| 67 | 75 0056 DC2C mov r13,r12 |
| 68 | 76 .LVL4: |
| 69 | 77 .LM5: |
| 70 | 78 0058 E81B sub r30,r24 |
| 71 | 79 005a F90B sbc r31,r25 |
| 72 | 80 005c 7F01 movw r14,r30 |
| 73 | 81 005e 0027 clr r16 |
| 74 | 82 0060 F7FC sbrc r15,7 |
| 75 | 83 0062 0095 com r16 |
| 76 | 84 0064 102F mov r17,r16 |
| 77 | 85 .LVL5: |
| 78 | 86 .LM6: |
| 79 | 87 0066 EFEF ldi r30,lo8(255) |
| 80 | 88 0068 AE16 cp r10,r30 |
| 81 | 89 006a B104 cpc r11,__zero_reg__ |
| 82 | 90 006c C104 cpc r12,__zero_reg__ |
| 83 | 91 006e D104 cpc r13,__zero_reg__ |
| 84 | 92 .LVL6: |
| 85 | 93 0070 01F0 breq .L6 |
| 86 | 94 0072 04F0 brlt .L6 |
| 87 | 95 .LM7: |
| 88 | 96 0074 C801 movw r24,r16 |
| 89 | 97 0076 B701 movw r22,r14 |
| 90 | 98 .LVL7: |
| 91 | 99 0078 2FEF ldi r18,lo8(255) |
| 92 | 100 007a 30E0 ldi r19,hi8(255) |
| 93 | 101 007c 40E0 ldi r20,hlo8(255) |
| 94 | 102 007e 50E0 ldi r21,hhi8(255) |
| 95 | 103 0080 0E94 0000 call __mulsi3 |
| 96 | 104 0084 A601 movw r20,r12 |
| 97 | 105 0086 9501 movw r18,r10 |
| 98 | 106 0088 0E94 0000 call __divmodsi4 |
| 99 | 107 008c 7901 movw r14,r18 |
| 100 | 108 008e 8A01 movw r16,r20 |
| 101 | 109 0090 3FEF ldi r19,lo8(255) |
| 102 | 110 0092 A32E mov r10,r19 |
| 103 | 111 0094 B12C mov r11,__zero_reg__ |
| 104 | 112 0096 C12C mov r12,__zero_reg__ |
| 105 | 113 0098 D12C mov r13,__zero_reg__ |
| 106 | 114 .LVL8: |
| 107 | 115 .L6: |
| 108 | 116 .LM8: |
| 109 | 117 009a FFEF ldi r31,lo8(255) |
| 110 | 118 009c EF16 cp r14,r31 |
| 111 | 119 009e F104 cpc r15,__zero_reg__ |
| 112 | 120 00a0 0105 cpc r16,__zero_reg__ |
| 113 | 121 00a2 1105 cpc r17,__zero_reg__ |
| 114 | 122 00a4 01F0 breq .L8 |
| 115 | 123 00a6 04F0 brlt .L8 |
| 116 | 124 .LM9: |
| 117 | 125 00a8 C601 movw r24,r12 |
| 118 | 126 00aa B501 movw r22,r10 |
| 119 | 127 .LVL9: |
| 120 | 128 00ac 2FEF ldi r18,lo8(255) |
| 121 | 129 00ae 30E0 ldi r19,hi8(255) |
| 122 | 130 00b0 40E0 ldi r20,hlo8(255) |
| 123 | 131 00b2 50E0 ldi r21,hhi8(255) |
| 124 | 132 00b4 0E94 0000 call __mulsi3 |
| 125 | 133 00b8 A801 movw r20,r16 |
| 126 | 134 00ba 9701 movw r18,r14 |
| 127 | 135 00bc 0E94 0000 call __divmodsi4 |
| 128 | 136 00c0 5901 movw r10,r18 |
| 129 | 137 00c2 6A01 movw r12,r20 |
| 130 | 138 00c4 2FEF ldi r18,lo8(255) |
| 131 | 139 00c6 E22E mov r14,r18 |
| 132 | 140 00c8 F12C mov r15,__zero_reg__ |
| 133 | 141 00ca 012D mov r16,__zero_reg__ |
| 134 | 142 00cc 112D mov r17,__zero_reg__ |
| 135 | 143 .LVL10: |
| 136 | 144 .L8: |
| 137 | 145 .LM10: |
| 138 | 146 00ce 21E0 ldi r18,lo8(-255) |
| 139 | 147 00d0 A216 cp r10,r18 |
| 140 | 148 00d2 2FEF ldi r18,hi8(-255) |
| 141 | 149 00d4 B206 cpc r11,r18 |
| 142 | 150 00d6 2FEF ldi r18,hlo8(-255) |
| 143 | 151 00d8 C206 cpc r12,r18 |
| 144 | 152 00da 2FEF ldi r18,hhi8(-255) |
| 145 | 153 00dc D206 cpc r13,r18 |
| 146 | 154 00de 04F4 brge .L10 |
| 147 | 155 .LM11: |
| 148 | 156 00e0 C801 movw r24,r16 |
| 149 | 157 00e2 B701 movw r22,r14 |
| 150 | 158 .LVL11: |
| 151 | 159 00e4 21E0 ldi r18,lo8(-255) |
| 152 | 160 00e6 3FEF ldi r19,hi8(-255) |
| 153 | 161 00e8 4FEF ldi r20,hlo8(-255) |
| 154 | 162 00ea 5FEF ldi r21,hhi8(-255) |
| 155 | 163 00ec 0E94 0000 call __mulsi3 |
| 156 | 164 00f0 A601 movw r20,r12 |
| 157 | 165 00f2 9501 movw r18,r10 |
| 158 | 166 00f4 0E94 0000 call __divmodsi4 |
| 159 | 167 00f8 7901 movw r14,r18 |
| 160 | 168 00fa 8A01 movw r16,r20 |
| 161 | 169 00fc 91E0 ldi r25,lo8(-255) |
| 162 | 170 00fe A92E mov r10,r25 |
| 163 | 171 0100 9FEF ldi r25,hi8(-255) |
| 164 | 172 0102 B92E mov r11,r25 |
| 165 | 173 0104 9FEF ldi r25,hlo8(-255) |
| 166 | 174 0106 C92E mov r12,r25 |
| 167 | 175 0108 9FEF ldi r25,hhi8(-255) |
| 168 | 176 010a D92E mov r13,r25 |
| 169 | 177 .LVL12: |
| 170 | 178 .L10: |
| 171 | 179 .LM12: |
| 172 | 180 010c 81E0 ldi r24,lo8(-255) |
| 173 | 181 010e E816 cp r14,r24 |
| 174 | 182 0110 8FEF ldi r24,hi8(-255) |
| 175 | 183 0112 F806 cpc r15,r24 |
| 176 | 184 0114 8FEF ldi r24,hlo8(-255) |
| 177 | 185 0116 0807 cpc r16,r24 |
| 178 | 186 0118 8FEF ldi r24,hhi8(-255) |
| 179 | 187 011a 1807 cpc r17,r24 |
| 180 | 188 011c 04F4 brge .L12 |
| 181 | 189 .LM13: |
| 182 | 190 011e C601 movw r24,r12 |
| 183 | 191 0120 B501 movw r22,r10 |
| 184 | 192 .LVL13: |
| 185 | 193 0122 21E0 ldi r18,lo8(-255) |
| 186 | 194 0124 3FEF ldi r19,hi8(-255) |
| 187 | 195 0126 4FEF ldi r20,hlo8(-255) |
| 188 | 196 0128 5FEF ldi r21,hhi8(-255) |
| 189 | 197 012a 0E94 0000 call __mulsi3 |
| 190 | 198 012e A801 movw r20,r16 |
| 191 | 199 0130 9701 movw r18,r14 |
| 192 | 200 0132 0E94 0000 call __divmodsi4 |
| 193 | 201 0136 5901 movw r10,r18 |
| 194 | 202 0138 6A01 movw r12,r20 |
| 195 | 203 013a 81E0 ldi r24,lo8(-255) |
| 196 | 204 013c E82E mov r14,r24 |
| 197 | 205 013e 8FEF ldi r24,hi8(-255) |
| 198 | 206 0140 F82E mov r15,r24 |
| 199 | 207 0142 8FEF ldi r24,hlo8(-255) |
| 200 | 208 0144 082F mov r16,r24 |
| 201 | 209 0146 8FEF ldi r24,hhi8(-255) |
| 202 | 210 0148 182F mov r17,r24 |
| 203 | 211 .LVL14: |
| 204 | 212 .L12: |
| 205 | 213 .LM14: |
| 206 | 214 014a B982 std Y+1,r11 |
| 207 | 215 014c A882 st Y,r10 |
| 208 | 216 .LM15: |
| 209 | 217 014e F401 movw r30,r8 |
| 210 | 218 0150 F182 std Z+1,r15 |
| 211 | 219 0152 E082 st Z,r14 |
| 212 | 220 .LVL15: |
| 213 | 221 .L14: |
| 214 | 222 /* epilogue: frame size=0 */ |
| 215 | 223 0154 DF91 pop r29 |
| 216 | 224 0156 CF91 pop r28 |
| 217 | 225 0158 1F91 pop r17 |
| 218 | 226 015a 0F91 pop r16 |
| 219 | 227 015c FF90 pop r15 |
| 220 | 228 015e EF90 pop r14 |
| 221 | 229 0160 DF90 pop r13 |
| 222 | 230 0162 CF90 pop r12 |
| 223 | 231 0164 BF90 pop r11 |
| 224 | 232 0166 AF90 pop r10 |
| 225 | 233 0168 9F90 pop r9 |
| 226 | 234 016a 8F90 pop r8 |
| 227 | 235 016c 0895 ret |
| 228 | 236 /* epilogue end (size=13) */ |
| 229 | 237 /* function translateAngulartoLinear size 184 (159) */ |
| 230 | 238 .LFE4: |
| 231 | 240 .global move_avoid |
| 232 | 242 move_avoid: |
| 233 | 243 .LFB3: |
| 234 | 244 .LM16: |
| 235 | 245 /* prologue: frame size=4 */ |
| 236 | 246 016e CF92 push r12 |
| 237 | 247 0170 DF92 push r13 |
| 238 | 248 0172 EF92 push r14 |
| 239 | 249 0174 FF92 push r15 |
| 240 | 250 0176 0F93 push r16 |
| 241 | 251 0178 1F93 push r17 |
| 242 | 252 017a CF93 push r28 |
| 243 | 253 017c DF93 push r29 |
| 244 | 254 017e CDB7 in r28,__SP_L__ |
| 245 | 255 0180 DEB7 in r29,__SP_H__ |
| 246 | 256 0182 2497 sbiw r28,4 |
| 247 | 257 0184 0FB6 in __tmp_reg__,__SREG__ |
| 248 | 258 0186 F894 cli |
| 249 | 259 0188 DEBF out __SP_H__,r29 |
| 250 | 260 018a 0FBE out __SREG__,__tmp_reg__ |
| 251 | 261 018c CDBF out __SP_L__,r28 |
| 252 | 262 /* prologue end (size=16) */ |
| 253 | 263 .LVL16: |
| 254 | 264 018e 6C01 movw r12,r24 |
| 255 | 265 0190 7B01 movw r14,r22 |
| 256 | 266 0192 8A01 movw r16,r20 |
| 257 | 267 .LM17: |
| 258 | 268 0194 1C82 std Y+4,__zero_reg__ |
| 259 | 269 0196 1B82 std Y+3,__zero_reg__ |
| 260 | 270 .LVL17: |
| 261 | 271 .LM18: |
| 262 | 272 0198 1A82 std Y+2,__zero_reg__ |
| 263 | 273 019a 1982 std Y+1,__zero_reg__ |
| 264 | 274 .LVL18: |
| 265 | 275 .LM19: |
| 266 | 276 019c 86E0 ldi r24,lo8(6) |
| 267 | 277 019e 90E0 ldi r25,hi8(6) |
| 268 | 278 .LVL19: |
| 269 | 279 01a0 0E94 0000 call range_read_distance |
| 270 | 280 .LVL20: |
| 271 | 281 .LVL21: |
| 272 | 282 .LM20: |
| 273 | 283 01a4 2FEF ldi r18,hi8(-1) |
| 274 | 284 01a6 8F3F cpi r24,lo8(-1) |
| 275 | 285 01a8 9207 cpc r25,r18 |
| 276 | 286 01aa 01F4 brne .L16 |
| 277 | 287 .LM21: |
| 278 | 288 01ac 8091 0000 lds r24,d1 |
| 279 | 289 01b0 9091 0000 lds r25,(d1)+1 |
| 280 | 290 .L16: |
| 281 | 291 01b4 9093 0000 sts (d1)+1,r25 |
| 282 | 292 01b8 8093 0000 sts d1,r24 |
| 283 | 293 .LM22: |
| 284 | 294 01bc 85E0 ldi r24,lo8(5) |
| 285 | 295 01be 90E0 ldi r25,hi8(5) |
| 286 | 296 .LVL22: |
| 287 | 297 01c0 0E94 0000 call range_read_distance |
| 288 | 298 .LVL23: |
| 289 | 299 .LM23: |
| 290 | 300 01c4 4FEF ldi r20,hi8(-1) |
| 291 | 301 01c6 8F3F cpi r24,lo8(-1) |
| 292 | 302 01c8 9407 cpc r25,r20 |
| 293 | 303 01ca 01F4 brne .L18 |
| 294 | 304 01cc 8091 0000 lds r24,d2 |
| 295 | 305 01d0 9091 0000 lds r25,(d2)+1 |
| 296 | 306 .L18: |
| 297 | 307 01d4 9093 0000 sts (d2)+1,r25 |
| 298 | 308 01d8 8093 0000 sts d2,r24 |
| 299 | 309 .LM24: |
| 300 | 310 01dc 84E0 ldi r24,lo8(4) |
| 301 | 311 01de 90E0 ldi r25,hi8(4) |
| 302 | 312 .LVL24: |
| 303 | 313 01e0 0E94 0000 call range_read_distance |
| 304 | 314 .LVL25: |
| 305 | 315 .LM25: |
| 306 | 316 01e4 5FEF ldi r21,hi8(-1) |
| 307 | 317 01e6 8F3F cpi r24,lo8(-1) |
| 308 | 318 01e8 9507 cpc r25,r21 |
| 309 | 319 01ea 01F4 brne .L20 |
| 310 | 320 01ec 8091 0000 lds r24,d3 |
| 311 | 321 01f0 9091 0000 lds r25,(d3)+1 |
| 312 | 322 .L20: |
| 313 | 323 01f4 9093 0000 sts (d3)+1,r25 |
| 314 | 324 01f8 8093 0000 sts d3,r24 |
| 315 | 325 .LM26: |
| 316 | 326 01fc 83E0 ldi r24,lo8(3) |
| 317 | 327 01fe 90E0 ldi r25,hi8(3) |
| 318 | 328 .LVL26: |
| 319 | 329 0200 0E94 0000 call range_read_distance |
| 320 | 330 .LVL27: |
| 321 | 331 .LM27: |
| 322 | 332 0204 2FEF ldi r18,hi8(-1) |
| 323 | 333 0206 8F3F cpi r24,lo8(-1) |
| 324 | 334 0208 9207 cpc r25,r18 |
| 325 | 335 020a 01F4 brne .L22 |
| 326 | 336 020c 8091 0000 lds r24,d4 |
| 327 | 337 0210 9091 0000 lds r25,(d4)+1 |
| 328 | 338 .L22: |
| 329 | 339 0214 9093 0000 sts (d4)+1,r25 |
| 330 | 340 0218 8093 0000 sts d4,r24 |
| 331 | 341 .LM28: |
| 332 | 342 021c 82E0 ldi r24,lo8(2) |
| 333 | 343 021e 90E0 ldi r25,hi8(2) |
| 334 | 344 .LVL28: |
| 335 | 345 0220 0E94 0000 call range_read_distance |
| 336 | 346 0224 9C01 movw r18,r24 |
| 337 | 347 .LVL29: |
| 338 | 348 .LM29: |
| 339 | 349 0226 8F5F subi r24,lo8(-1) |
| 340 | 350 0228 9F4F sbci r25,hi8(-1) |
| 341 | 351 022a 01F4 brne .L24 |
| 342 | 352 .LVL30: |
| 343 | 353 022c 2091 0000 lds r18,d5 |
| 344 | 354 0230 3091 0000 lds r19,(d5)+1 |
| 345 | 355 .L24: |
| 346 | 356 0234 3093 0000 sts (d5)+1,r19 |
| 347 | 357 0238 2093 0000 sts d5,r18 |
| 348 | 358 .LM30: |
| 349 | 359 023c 84E6 ldi r24,lo8(100) |
| 350 | 360 023e 90E0 ldi r25,hi8(100) |
| 351 | 361 .LVL31: |
| 352 | 362 0240 801B sub r24,r16 |
| 353 | 363 0242 910B sbc r25,r17 |
| 354 | 364 0244 AC01 movw r20,r24 |
| 355 | 365 0246 E49E mul r14,r20 |
| 356 | 366 0248 C001 movw r24,r0 |
| 357 | 367 024a E59E mul r14,r21 |
| 358 | 368 024c 900D add r25,r0 |
| 359 | 369 024e F49E mul r15,r20 |
| 360 | 370 0250 900D add r25,r0 |
| 361 | 371 0252 1124 clr r1 |
| 362 | 372 0254 64E6 ldi r22,lo8(100) |
| 363 | 373 0256 70E0 ldi r23,hi8(100) |
| 364 | 374 0258 0E94 0000 call __divmodhi4 |
| 365 | 375 025c FB01 movw r30,r22 |
| 366 | 376 025e 8091 0000 lds r24,d4 |
| 367 | 377 0262 9091 0000 lds r25,(d4)+1 |
| 368 | 378 0266 281B sub r18,r24 |
| 369 | 379 0268 390B sbc r19,r25 |
| 370 | 380 026a 209F mul r18,r16 |
| 371 | 381 026c C001 movw r24,r0 |
| 372 | 382 026e 219F mul r18,r17 |
| 373 | 383 0270 900D add r25,r0 |
| 374 | 384 0272 309F mul r19,r16 |
| 375 | 385 0274 900D add r25,r0 |
| 376 | 386 0276 1124 clr r1 |
| 377 | 387 0278 64E6 ldi r22,lo8(100) |
| 378 | 388 027a 70E0 ldi r23,hi8(100) |
| 379 | 389 027c 0E94 0000 call __divmodhi4 |
| 380 | 390 0280 E60F add r30,r22 |
| 381 | 391 0282 F71F adc r31,r23 |
| 382 | 392 0284 9E01 movw r18,r28 |
| 383 | 393 .LVL32: |
| 384 | 394 0286 2F5F subi r18,lo8(-(1)) |
| 385 | 395 0288 3F4F sbci r19,hi8(-(1)) |
| 386 | 396 028a AE01 movw r20,r28 |
| 387 | 397 028c 4D5F subi r20,lo8(-(3)) |
| 388 | 398 028e 5F4F sbci r21,hi8(-(3)) |
| 389 | 399 0290 BF01 movw r22,r30 |
| 390 | 400 0292 C601 movw r24,r12 |
| 391 | 401 0294 0E94 0000 call translateAngulartoLinear |
| 392 | 402 .LM31: |
| 393 | 403 0298 6B81 ldd r22,Y+3 |
| 394 | 404 029a 7C81 ldd r23,Y+4 |
| 395 | 405 029c 77FF sbrs r23,7 |
| 396 | 406 029e 00C0 rjmp .L26 |
| 397 | 407 .LM32: |
| 398 | 408 02a0 7095 com r23 |
| 399 | 409 02a2 6195 neg r22 |
| 400 | 410 02a4 7F4F sbci r23,lo8(-1) |
| 401 | 411 02a6 80E0 ldi r24,lo8(0) |
| 402 | 412 02a8 90E0 ldi r25,hi8(0) |
| 403 | 413 02aa 00C0 rjmp .L33 |
| 404 | 414 .L26: |
| 405 | 415 .LM33: |
| 406 | 416 02ac 81E0 ldi r24,lo8(1) |
| 407 | 417 02ae 90E0 ldi r25,hi8(1) |
| 408 | 418 .L33: |
| 409 | 419 02b0 0E94 0000 call motor1_set |
| 410 | 420 .LM34: |
| 411 | 421 02b4 6981 ldd r22,Y+1 |
| 412 | 422 02b6 7A81 ldd r23,Y+2 |
| 413 | 423 02b8 77FF sbrs r23,7 |
| 414 | 424 02ba 00C0 rjmp .L29 |
| 415 | 425 .LM35: |
| 416 | 426 02bc 7095 com r23 |
| 417 | 427 02be 6195 neg r22 |
| 418 | 428 02c0 7F4F sbci r23,lo8(-1) |
| 419 | 429 02c2 80E0 ldi r24,lo8(0) |
| 420 | 430 02c4 90E0 ldi r25,hi8(0) |
| 421 | 431 02c6 00C0 rjmp .L34 |
| 422 | 432 .L29: |
| 423 | 433 .LM36: |
| 424 | 434 02c8 81E0 ldi r24,lo8(1) |
| 425 | 435 02ca 90E0 ldi r25,hi8(1) |
| 426 | 436 .L34: |
| 427 | 437 02cc 0E94 0000 call motor2_set |
| 428 | 438 /* epilogue: frame size=4 */ |
| 429 | 439 02d0 2496 adiw r28,4 |
| 430 | 440 02d2 0FB6 in __tmp_reg__,__SREG__ |
| 431 | 441 02d4 F894 cli |
| 432 | 442 02d6 DEBF out __SP_H__,r29 |
| 433 | 443 02d8 0FBE out __SREG__,__tmp_reg__ |
| 434 | 444 02da CDBF out __SP_L__,r28 |
| 435 | 445 02dc DF91 pop r29 |
| 436 | 446 02de CF91 pop r28 |
| 437 | 447 02e0 1F91 pop r17 |
| 438 | 448 02e2 0F91 pop r16 |
| 439 | 449 02e4 FF90 pop r15 |
| 440 | 450 02e6 EF90 pop r14 |
| 441 | 451 02e8 DF90 pop r13 |
| 442 | 452 02ea CF90 pop r12 |
| 443 | 453 02ec 0895 ret |
| 444 | 454 /* epilogue end (size=15) */ |
| 445 | 455 /* function move_avoid size 193 (162) */ |
| 446 | 456 .LFE3: |
| 447 | 458 .global move |
| 448 | 460 move: |
| 449 | 461 .LFB2: |
| 450 | 462 .LM37: |
| 451 | 463 /* prologue: frame size=4 */ |
| 452 | 464 02ee CF93 push r28 |
| 453 | 465 02f0 DF93 push r29 |
| 454 | 466 02f2 CDB7 in r28,__SP_L__ |
| 455 | 467 02f4 DEB7 in r29,__SP_H__ |
| 456 | 468 02f6 2497 sbiw r28,4 |
| 457 | 469 02f8 0FB6 in __tmp_reg__,__SREG__ |
| 458 | 470 02fa F894 cli |
| 459 | 471 02fc DEBF out __SP_H__,r29 |
| 460 | 472 02fe 0FBE out __SREG__,__tmp_reg__ |
| 461 | 473 0300 CDBF out __SP_L__,r28 |
| 462 | 474 /* prologue end (size=10) */ |
| 463 | 475 .LVL33: |
| 464 | 476 .LM38: |
| 465 | 477 0302 1C82 std Y+4,__zero_reg__ |
| 466 | 478 0304 1B82 std Y+3,__zero_reg__ |
| 467 | 479 .LVL34: |
| 468 | 480 .LM39: |
| 469 | 481 0306 1A82 std Y+2,__zero_reg__ |
| 470 | 482 0308 1982 std Y+1,__zero_reg__ |
| 471 | 483 .LVL35: |
| 472 | 484 .LM40: |
| 473 | 485 030a 9E01 movw r18,r28 |
| 474 | 486 030c 2F5F subi r18,lo8(-(1)) |
| 475 | 487 030e 3F4F sbci r19,hi8(-(1)) |
| 476 | 488 0310 AE01 movw r20,r28 |
| 477 | 489 0312 4D5F subi r20,lo8(-(3)) |
| 478 | 490 0314 5F4F sbci r21,hi8(-(3)) |
| 479 | 491 0316 0E94 0000 call translateAngulartoLinear |
| 480 | 492 .LVL36: |
| 481 | 493 .LM41: |
| 482 | 494 031a 6B81 ldd r22,Y+3 |
| 483 | 495 031c 7C81 ldd r23,Y+4 |
| 484 | 496 031e 77FF sbrs r23,7 |
| 485 | 497 0320 00C0 rjmp .L36 |
| 486 | 498 .LM42: |
| 487 | 499 0322 7095 com r23 |
| 488 | 500 0324 6195 neg r22 |
| 489 | 501 0326 7F4F sbci r23,lo8(-1) |
| 490 | 502 0328 80E0 ldi r24,lo8(0) |
| 491 | 503 032a 90E0 ldi r25,hi8(0) |
| 492 | 504 032c 00C0 rjmp .L43 |
| 493 | 505 .L36: |
| 494 | 506 .LM43: |
| 495 | 507 032e 81E0 ldi r24,lo8(1) |
| 496 | 508 0330 90E0 ldi r25,hi8(1) |
| 497 | 509 .L43: |
| 498 | 510 0332 0E94 0000 call motor1_set |
| 499 | 511 .LM44: |
| 500 | 512 0336 6981 ldd r22,Y+1 |
| 501 | 513 0338 7A81 ldd r23,Y+2 |
| 502 | 514 033a 77FF sbrs r23,7 |
| 503 | 515 033c 00C0 rjmp .L39 |
| 504 | 516 .LM45: |
| 505 | 517 033e 7095 com r23 |
| 506 | 518 0340 6195 neg r22 |
| 507 | 519 0342 7F4F sbci r23,lo8(-1) |
| 508 | 520 0344 80E0 ldi r24,lo8(0) |
| 509 | 521 0346 90E0 ldi r25,hi8(0) |
| 510 | 522 0348 00C0 rjmp .L44 |
| 511 | 523 .L39: |
| 512 | 524 .LM46: |
| 513 | 525 034a 81E0 ldi r24,lo8(1) |
| 514 | 526 034c 90E0 ldi r25,hi8(1) |
| 515 | 527 .L44: |
| 516 | 528 034e 0E94 0000 call motor2_set |
| 517 | 529 /* epilogue: frame size=4 */ |
| 518 | 530 0352 2496 adiw r28,4 |
| 519 | 531 0354 0FB6 in __tmp_reg__,__SREG__ |
| 520 | 532 0356 F894 cli |
| 521 | 533 0358 DEBF out __SP_H__,r29 |
| 522 | 534 035a 0FBE out __SREG__,__tmp_reg__ |
| 523 | 535 035c CDBF out __SP_L__,r28 |
| 524 | 536 035e DF91 pop r29 |
| 525 | 537 0360 CF91 pop r28 |
| 526 | 538 0362 0895 ret |
| 527 | 539 /* epilogue end (size=9) */ |
| 528 | 540 /* function move size 59 (40) */ |
| 529 | 541 .LFE2: |
| 530 | 543 .comm d1,2,1 |
| 531 | 544 .comm d2,2,1 |
| 532 | 545 .comm d3,2,1 |
| 533 | 546 .comm d4,2,1 |
| 534 | 547 .comm d5,2,1 |
| 535 | 588 .Letext0: |
| 536 | DEFINED SYMBOLS |
| 537 | *ABS*:00000000 move.c |
| 538 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:3 *ABS*:0000003f __SREG__ |
| 539 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:4 *ABS*:0000003e __SP_H__ |
| 540 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:5 *ABS*:0000003d __SP_L__ |
| 541 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:6 *ABS*:00000000 __tmp_reg__ |
| 542 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:7 *ABS*:00000001 __zero_reg__ |
| 543 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:20 .text:00000000 translateAngulartoLinear |
| 544 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:242 .text:0000016e move_avoid |
| 545 | *COM*:00000002 d1 |
| 546 | *COM*:00000002 d2 |
| 547 | *COM*:00000002 d3 |
| 548 | *COM*:00000002 d4 |
| 549 | *COM*:00000002 d5 |
| 550 | F:\DOCUME~1\Evan\LOCALS~1\Temp/cclqaS86.s:460 .text:000002ee move |
| 551 | |
| 552 | UNDEFINED SYMBOLS |
| 553 | __do_copy_data |
| 554 | __do_clear_bss |
| 555 | __mulsi3 |
| 556 | __divmodsi4 |
| 557 | range_read_distance |
| 558 | __divmodhi4 |
| 559 | motor1_set |
| 560 | motor2_set |