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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