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root / trunk / code / behaviors / hunter_prey / james / main.lst @ 1847

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1
   1               		.file	"main.c"
2
   2               	__SREG__ = 0x3f
3
   3               	__SP_H__ = 0x3e
4
   4               	__SP_L__ = 0x3d
5
   5               	__CCP__  = 0x34
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 0000 4F92      		push r4
14
  15 0002 5F92      		push r5
15
  16 0004 6F92      		push r6
16
  17 0006 7F92      		push r7
17
  18 0008 8F92      		push r8
18
  19 000a 9F92      		push r9
19
  20 000c AF92      		push r10
20
  21 000e BF92      		push r11
21
  22 0010 CF92      		push r12
22
  23 0012 DF92      		push r13
23
  24 0014 EF92      		push r14
24
  25 0016 FF92      		push r15
25
  26 0018 0F93      		push r16
26
  27 001a 1F93      		push r17
27
  28 001c CF93      		push r28
28
  29 001e DF93      		push r29
29
  30               	/* prologue: function */
30
  31               	/* frame size = 0 */
31
  32 0020 8FEF      		ldi r24,lo8(2047)
32
  33 0022 97E0      		ldi r25,hi8(2047)
33
  34 0024 0E94 0000 		call dragonfly_init
34
  35 0028 0E94 0000 		call xbee_init
35
  36 002c 0E94 0000 		call wl_basic_init_default
36
  37 0030 8FE0      		ldi r24,lo8(15)
37
  38 0032 90E0      		ldi r25,hi8(15)
38
  39 0034 0E94 0000 		call wl_set_channel
39
  40 0038 0E94 0000 		call orb_init
40
  41 003c 81E0      		ldi r24,lo8(1)
41
  42 003e 90E0      		ldi r25,hi8(1)
42
  43 0040 60E0      		ldi r22,lo8(0)
43
  44 0042 70E0      		ldi r23,hi8(0)
44
  45 0044 0E94 0000 		call rtc_init
45
  46 0048 0E94 0000 		call motors_init
46
  47 004c 0E94 0000 		call get_robotid
47
  48 0050 582E      		mov r5,r24
48
  49 0052 0E94 0000 		call wheel
49
  50 0056 8436      		cpi r24,100
50
  51 0058 9105      		cpc r25,__zero_reg__
51
  52 005a 04F4      		brge .L2
52
  53 005c C3E0      		ldi r28,lo8(3)
53
  54 005e D0E0      		ldi r29,hi8(3)
54
  55 0060 00C0      		rjmp .L38
55
  56               	.L2:
56
  57 0062 C0E0      		ldi r28,lo8(0)
57
  58 0064 D0E0      		ldi r29,hi8(0)
58
  59               	.L38:
59
  60 0066 24E5      		ldi r18,lo8(84)
60
  61 0068 422E      		mov r4,r18
61
  62               	.L37:
62
  63 006a C230      		cpi r28,2
63
  64 006c D105      		cpc r29,__zero_reg__
64
  65 006e 01F4      		brne .+2
65
  66 0070 00C0      		rjmp .L6
66
  67 0072 C330      		cpi r28,3
67
  68 0074 D105      		cpc r29,__zero_reg__
68
  69 0076 04F4      		brge .L9
69
  70 0078 2097      		sbiw r28,0
70
  71 007a 01F0      		breq .L4
71
  72 007c C130      		cpi r28,1
72
  73 007e D105      		cpc r29,__zero_reg__
73
  74 0080 01F4      		brne .L37
74
  75 0082 00C0      		rjmp .L41
75
  76               	.L9:
76
  77 0084 C330      		cpi r28,3
77
  78 0086 D105      		cpc r29,__zero_reg__
78
  79 0088 01F4      		brne .+2
79
  80 008a 00C0      		rjmp .L7
80
  81 008c C430      		cpi r28,4
81
  82 008e D105      		cpc r29,__zero_reg__
82
  83 0090 01F4      		brne .L37
83
  84 0092 00C0      		rjmp .L42
84
  85               	.L4:
85
  86 0094 88EE      		ldi r24,lo8(-24)
86
  87 0096 0E94 0000 		call orb1_set_color
87
  88 009a 0E94 0000 		call bom_on
88
  89 009e 80E0      		ldi r24,lo8(0)
89
  90 00a0 90E0      		ldi r25,hi8(0)
90
  91 00a2 68EC      		ldi r22,lo8(200)
91
  92 00a4 70E0      		ldi r23,hi8(200)
92
  93 00a6 0E94 0000 		call motor_r_set
93
  94 00aa 80E0      		ldi r24,lo8(0)
94
  95 00ac 90E0      		ldi r25,hi8(0)
95
  96 00ae 68EC      		ldi r22,lo8(200)
96
  97 00b0 70E0      		ldi r23,hi8(200)
97
  98 00b2 0E94 0000 		call motor_l_set
98
  99 00b6 80ED      		ldi r24,lo8(2000)
99
 100 00b8 97E0      		ldi r25,hi8(2000)
100
 101 00ba 0E94 0000 		call delay_ms
101
 102               	.L10:
102
 103 00be 80E0      		ldi r24,lo8(data_length)
103
 104 00c0 90E0      		ldi r25,hi8(data_length)
104
 105 00c2 0E94 0000 		call wl_basic_do_default
105
 106 00c6 892B      		or r24,r25
106
 107 00c8 01F4      		brne .L10
107
 108 00ca 8CE1      		ldi r24,lo8(28)
108
 109 00cc 0E94 0000 		call orb1_set_color
109
 110 00d0 0E94 0000 		call rtc_reset
110
 111 00d4 C1E0      		ldi r28,lo8(1)
111
 112 00d6 D0E0      		ldi r29,hi8(1)
112
 113 00d8 00C0      		rjmp .L37
113
 114               	.L41:
114
 115 00da 8CE1      		ldi r24,lo8(28)
115
 116 00dc 0E94 0000 		call orb1_set_color
116
 117 00e0 8CE1      		ldi r24,lo8(28)
117
 118 00e2 0E94 0000 		call orb2_set_color
118
 119 00e6 6624      		clr r6
119
 120 00e8 7724      		clr r7
120
 121 00ea CC24      		clr r12
121
 122 00ec DD24      		clr r13
122
 123 00ee 91E0      		ldi r25,lo8(1)
123
 124 00f0 A92E      		mov r10,r25
124
 125 00f2 B12C      		mov r11,__zero_reg__
125
 126 00f4 00C0      		rjmp .L39
126
 127               	.L17:
127
 128 00f6 AA24      		clr r10
128
 129 00f8 BB24      		clr r11
129
 130               	.L39:
130
 131 00fa 85E0      		ldi r24,lo8(5)
131
 132 00fc 90E0      		ldi r25,hi8(5)
132
 133 00fe 0E94 0000 		call range_read_distance
133
 134 0102 7C01      		movw r14,r24
134
 135 0104 80E0      		ldi r24,lo8(data_length)
135
 136 0106 90E0      		ldi r25,hi8(data_length)
136
 137 0108 0E94 0000 		call wl_basic_do_default
137
 138 010c FC01      		movw r30,r24
138
 139 010e 9093 0000 		sts (packet_data)+1,r25
139
 140 0112 8093 0000 		sts packet_data,r24
140
 141 0116 0097      		sbiw r24,0
141
 142 0118 01F0      		breq .L12
142
 143 011a 8091 0000 		lds r24,data_length
143
 144 011e 9091 0000 		lds r25,(data_length)+1
144
 145 0122 0297      		sbiw r24,2
145
 146 0124 01F4      		brne .L12
146
 147 0126 8081      		ld r24,Z
147
 148 0128 8435      		cpi r24,lo8(84)
148
 149 012a 01F4      		brne .L12
149
 150 012c 81E4      		ldi r24,lo8(65)
150
 151 012e 8093 0000 		sts send_buffer,r24
151
 152 0132 8181      		ldd r24,Z+1
152
 153 0134 8093 0000 		sts send_buffer+1,r24
153
 154 0138 8AE2      		ldi r24,lo8(42)
154
 155 013a 60E0      		ldi r22,lo8(send_buffer)
155
 156 013c 70E0      		ldi r23,hi8(send_buffer)
156
 157 013e 42E0      		ldi r20,lo8(2)
157
 158 0140 50E0      		ldi r21,hi8(2)
158
 159 0142 0E94 0000 		call wl_basic_send_global_packet
159
 160 0146 80E0      		ldi r24,lo8(0)
160
 161 0148 90E0      		ldi r25,hi8(0)
161
 162 014a 60E0      		ldi r22,lo8(0)
162
 163 014c 70E0      		ldi r23,hi8(0)
163
 164 014e 0E94 0000 		call motor_r_set
164
 165 0152 80E0      		ldi r24,lo8(0)
165
 166 0154 90E0      		ldi r25,hi8(0)
166
 167 0156 60E0      		ldi r22,lo8(0)
167
 168 0158 70E0      		ldi r23,hi8(0)
168
 169 015a 0E94 0000 		call motor_l_set
169
 170 015e C2E0      		ldi r28,lo8(2)
170
 171 0160 D0E0      		ldi r29,hi8(2)
171
 172 0162 00C0      		rjmp .L37
172
 173               	.L12:
173
 174 0164 86E0      		ldi r24,lo8(6)
174
 175 0166 90E0      		ldi r25,hi8(6)
175
 176 0168 0E94 0000 		call range_read_distance
176
 177 016c EC01      		movw r28,r24
177
 178 016e 84E0      		ldi r24,lo8(4)
178
 179 0170 90E0      		ldi r25,hi8(4)
179
 180 0172 0E94 0000 		call range_read_distance
180
 181 0176 8C01      		movw r16,r24
181
 182 0178 0E94 0000 		call rtc_get
182
 183 017c 2DEC      		ldi r18,lo8(-51)
183
 184 017e 3FEF      		ldi r19,hi8(-51)
184
 185 0180 E20E      		add r14,r18
185
 186 0182 F31E      		adc r15,r19
186
 187 0184 35E9      		ldi r19,lo8(149)
187
 188 0186 E316      		cp r14,r19
188
 189 0188 F104      		cpc r15,__zero_reg__
189
 190 018a 00F4      		brsh .L13
190
 191 018c 21E0      		ldi r18,lo8(1)
191
 192 018e C216      		cp r12,r18
192
 193 0190 D104      		cpc r13,__zero_reg__
193
 194 0192 01F0      		breq .L13
194
 195 0194 80EE      		ldi r24,lo8(-32)
195
 196 0196 0E94 0000 		call orb2_set_color
196
 197 019a 0E94 0000 		call rtc_get
197
 198 019e 3C01      		movw r6,r24
198
 199 01a0 81E0      		ldi r24,lo8(1)
199
 200 01a2 90E0      		ldi r25,hi8(1)
200
 201 01a4 6FEF      		ldi r22,lo8(255)
201
 202 01a6 70E0      		ldi r23,hi8(255)
202
 203 01a8 0E94 0000 		call motor_l_set
203
 204 01ac 80E0      		ldi r24,lo8(0)
204
 205 01ae 90E0      		ldi r25,hi8(0)
205
 206 01b0 60E0      		ldi r22,lo8(0)
206
 207 01b2 70E0      		ldi r23,hi8(0)
207
 208 01b4 0E94 0000 		call motor_r_set
208
 209 01b8 81E0      		ldi r24,lo8(1)
209
 210 01ba C82E      		mov r12,r24
210
 211 01bc D12C      		mov r13,__zero_reg__
211
 212 01be 00C0      		rjmp .L39
212
 213               	.L13:
213
 214 01c0 2197      		sbiw r28,1
214
 215 01c2 CB52      		subi r28,lo8(299)
215
 216 01c4 D140      		sbci r29,hi8(299)
216
 217 01c6 00F4      		brsh .L14
217
 218 01c8 21E0      		ldi r18,lo8(1)
218
 219 01ca C216      		cp r12,r18
219
 220 01cc D104      		cpc r13,__zero_reg__
220
 221 01ce 01F0      		breq .L14
221
 222 01d0 80E0      		ldi r24,lo8(0)
222
 223 01d2 90E0      		ldi r25,hi8(0)
223
 224 01d4 60E0      		ldi r22,lo8(0)
224
 225 01d6 70E0      		ldi r23,hi8(0)
225
 226 01d8 0E94 0000 		call motor_r_set
226
 227 01dc 00C0      		rjmp .L39
227
 228               	.L14:
228
 229 01de 0150      		subi r16,lo8(-(-1))
229
 230 01e0 1040      		sbci r17,hi8(-(-1))
230
 231 01e2 0B52      		subi r16,lo8(299)
231
 232 01e4 1140      		sbci r17,hi8(299)
232
 233 01e6 00F4      		brsh .L15
233
 234 01e8 21E0      		ldi r18,lo8(1)
234
 235 01ea C216      		cp r12,r18
235
 236 01ec D104      		cpc r13,__zero_reg__
236
 237 01ee 01F0      		breq .L15
237
 238 01f0 80E0      		ldi r24,lo8(0)
238
 239 01f2 90E0      		ldi r25,hi8(0)
239
 240 01f4 60E0      		ldi r22,lo8(0)
240
 241 01f6 70E0      		ldi r23,hi8(0)
241
 242 01f8 0E94 0000 		call motor_l_set
242
 243 01fc 00C0      		rjmp .L39
243
 244               	.L15:
244
 245 01fe 8619      		sub r24,r6
245
 246 0200 9709      		sbc r25,r7
246
 247 0202 0397      		sbiw r24,3
247
 248 0204 04F4      		brge .L16
248
 249 0206 31E0      		ldi r19,lo8(1)
249
 250 0208 A316      		cp r10,r19
250
 251 020a B104      		cpc r11,__zero_reg__
251
 252 020c 01F0      		breq .+2
252
 253 020e 00C0      		rjmp .L17
253
 254               	.L16:
254
 255 0210 83E0      		ldi r24,lo8(3)
255
 256 0212 0E94 0000 		call orb2_set_color
256
 257 0216 81E0      		ldi r24,lo8(1)
257
 258 0218 90E0      		ldi r25,hi8(1)
258
 259 021a 6FEF      		ldi r22,lo8(255)
259
 260 021c 70E0      		ldi r23,hi8(255)
260
 261 021e 0E94 0000 		call motor_l_set
261
 262 0222 81E0      		ldi r24,lo8(1)
262
 263 0224 90E0      		ldi r25,hi8(1)
263
 264 0226 6FEF      		ldi r22,lo8(255)
264
 265 0228 70E0      		ldi r23,hi8(255)
265
 266 022a 0E94 0000 		call motor_r_set
266
 267 022e CC24      		clr r12
267
 268 0230 DD24      		clr r13
268
 269 0232 00C0      		rjmp .L17
269
 270               	.L6:
270
 271 0234 83E0      		ldi r24,lo8(3)
271
 272 0236 0E94 0000 		call orb1_set_color
272
 273 023a 83E0      		ldi r24,lo8(3)
273
 274 023c 0E94 0000 		call orb2_set_color
274
 275 0240 0E94 0000 		call motors_off
275
 276 0244 0E94 0000 		call rtc_reset
276
 277 0248 0E94 0000 		call bom_off
277
 278 024c 88EB      		ldi r24,lo8(3000)
278
 279 024e 9BE0      		ldi r25,hi8(3000)
279
 280 0250 0E94 0000 		call delay_ms
280
 281               	.L18:
281
 282 0254 80E0      		ldi r24,lo8(data_length)
282
 283 0256 90E0      		ldi r25,hi8(data_length)
283
 284 0258 0E94 0000 		call wl_basic_do_default
284
 285 025c 892B      		or r24,r25
285
 286 025e 01F4      		brne .L18
286
 287 0260 00C0      		rjmp .L40
287
 288               	.L7:
288
 289 0262 80EE      		ldi r24,lo8(-32)
289
 290 0264 0E94 0000 		call orb1_set_color
290
 291 0268 80EE      		ldi r24,lo8(-32)
291
 292 026a 0E94 0000 		call orb2_set_color
292
 293 026e 84E0      		ldi r24,lo8(4)
293
 294 0270 8816      		cp r8,r24
294
 295 0272 9104      		cpc r9,__zero_reg__
295
 296 0274 01F4      		brne .L19
296
 297 0276 81E0      		ldi r24,lo8(1)
297
 298 0278 90E0      		ldi r25,hi8(1)
298
 299 027a 6FEF      		ldi r22,lo8(255)
299
 300 027c 70E0      		ldi r23,hi8(255)
300
 301 027e 0E94 0000 		call motor_l_set
301
 302 0282 81E0      		ldi r24,lo8(1)
302
 303 0284 90E0      		ldi r25,hi8(1)
303
 304 0286 6FEF      		ldi r22,lo8(255)
304
 305 0288 70E0      		ldi r23,hi8(255)
305
 306 028a 0E94 0000 		call motor_r_set
306
 307               	.L19:
307
 308 028e C401      		movw r24,r8
308
 309 0290 0197      		sbiw r24,1
309
 310 0292 0397      		sbiw r24,3
310
 311 0294 00F4      		brsh .L20
311
 312 0296 81E0      		ldi r24,lo8(1)
312
 313 0298 90E0      		ldi r25,hi8(1)
313
 314 029a 6FEF      		ldi r22,lo8(255)
314
 315 029c 70E0      		ldi r23,hi8(255)
315
 316 029e 0E94 0000 		call motor_l_set
316
 317 02a2 81E0      		ldi r24,lo8(1)
317
 318 02a4 90E0      		ldi r25,hi8(1)
318
 319 02a6 6EEB      		ldi r22,lo8(190)
319
 320 02a8 70E0      		ldi r23,hi8(190)
320
 321 02aa 0E94 0000 		call motor_r_set
321
 322               	.L20:
322
 323 02ae C401      		movw r24,r8
323
 324 02b0 0597      		sbiw r24,5
324
 325 02b2 0397      		sbiw r24,3
325
 326 02b4 00F4      		brsh .L21
326
 327 02b6 81E0      		ldi r24,lo8(1)
327
 328 02b8 90E0      		ldi r25,hi8(1)
328
 329 02ba 6EEB      		ldi r22,lo8(190)
329
 330 02bc 70E0      		ldi r23,hi8(190)
330
 331 02be 0E94 0000 		call motor_l_set
331
 332 02c2 81E0      		ldi r24,lo8(1)
332
 333 02c4 90E0      		ldi r25,hi8(1)
333
 334 02c6 6FEF      		ldi r22,lo8(255)
334
 335 02c8 70E0      		ldi r23,hi8(255)
335
 336 02ca 0E94 0000 		call motor_r_set
336
 337               	.L21:
337
 338 02ce C401      		movw r24,r8
338
 339 02d0 0897      		sbiw r24,8
339
 340 02d2 0497      		sbiw r24,4
340
 341 02d4 00F0      		brlo .L22
341
 342 02d6 97FE      		sbrs r9,7
342
 343 02d8 00C0      		rjmp .L23
343
 344               	.L22:
344
 345 02da 80E0      		ldi r24,lo8(0)
345
 346 02dc 90E0      		ldi r25,hi8(0)
346
 347 02de 6AEA      		ldi r22,lo8(170)
347
 348 02e0 70E0      		ldi r23,hi8(170)
348
 349 02e2 0E94 0000 		call motor_l_set
349
 350 02e6 81E0      		ldi r24,lo8(1)
350
 351 02e8 90E0      		ldi r25,hi8(1)
351
 352 02ea 6FEF      		ldi r22,lo8(255)
352
 353 02ec 70E0      		ldi r23,hi8(255)
353
 354 02ee 0E94 0000 		call motor_r_set
354
 355 02f2 80EE      		ldi r24,lo8(-32)
355
 356 02f4 0E94 0000 		call orb2_set_color
356
 357               	.L23:
357
 358 02f8 C401      		movw r24,r8
358
 359 02fa 0C97      		sbiw r24,12
359
 360 02fc 0497      		sbiw r24,4
360
 361 02fe 00F0      		brlo .L24
361
 362 0300 8928      		or r8,r9
362
 363 0302 01F4      		brne .L25
363
 364               	.L24:
364
 365 0304 81E0      		ldi r24,lo8(1)
365
 366 0306 90E0      		ldi r25,hi8(1)
366
 367 0308 6FEF      		ldi r22,lo8(255)
367
 368 030a 70E0      		ldi r23,hi8(255)
368
 369 030c 0E94 0000 		call motor_l_set
369
 370 0310 80E0      		ldi r24,lo8(0)
370
 371 0312 90E0      		ldi r25,hi8(0)
371
 372 0314 6AEA      		ldi r22,lo8(170)
372
 373 0316 70E0      		ldi r23,hi8(170)
373
 374 0318 0E94 0000 		call motor_r_set
374
 375               	.L25:
375
 376 031c 80E0      		ldi r24,lo8(data_length)
376
 377 031e 90E0      		ldi r25,hi8(data_length)
377
 378 0320 0E94 0000 		call wl_basic_do_default
378
 379 0324 FC01      		movw r30,r24
379
 380 0326 9093 0000 		sts (packet_data)+1,r25
380
 381 032a 8093 0000 		sts packet_data,r24
381
 382 032e 0097      		sbiw r24,0
382
 383 0330 01F0      		breq .L26
383
 384 0332 8081      		ld r24,Z
384
 385 0334 8134      		cpi r24,lo8(65)
385
 386 0336 01F4      		brne .L26
386
 387 0338 8181      		ldd r24,Z+1
387
 388 033a 8515      		cp r24,r5
388
 389 033c 01F0      		breq .L26
389
 390 033e C2E0      		ldi r28,lo8(2)
390
 391 0340 D0E0      		ldi r29,hi8(2)
391
 392               	.L26:
392
 393 0342 8FEF      		ldi r24,lo8(-1)
393
 394 0344 9FEF      		ldi r25,hi8(-1)
394
 395 0346 0E94 0000 		call bom_refresh
395
 396               	.L27:
396
 397 034a 85E0      		ldi r24,lo8(5)
397
 398 034c 90E0      		ldi r25,hi8(5)
398
 399 034e 0E94 0000 		call range_read_distance
399
 400 0352 8C01      		movw r16,r24
400
 401 0354 2FEF      		ldi r18,hi8(-1)
401
 402 0356 8F3F      		cpi r24,lo8(-1)
402
 403 0358 9207      		cpc r25,r18
403
 404 035a 01F0      		breq .L27
404
 405 035c 8AE0      		ldi r24,lo8(10)
405
 406 035e 90E0      		ldi r25,hi8(10)
406
 407 0360 0E94 0000 		call delay_ms
407
 408 0364 0E94 0000 		call bom_get_max
408
 409 0368 4C01      		movw r8,r24
409
 410 036a B801      		movw r22,r16
410
 411 036c 0E94 0000 		call hunter_prey_tagged
411
 412 0370 F82E      		mov r15,r24
412
 413 0372 0E94 0000 		call rtc_get
413
 414 0376 8C01      		movw r16,r24
414
 415 0378 0E94 0000 		call button2_read
415
 416 037c 0197      		sbiw r24,1
416
 417 037e 01F0      		breq .L28
417
 418 0380 FF20      		tst r15
418
 419 0382 01F4      		brne .+2
419
 420 0384 00C0      		rjmp .L37
420
 421 0386 0131      		cpi r16,17
421
 422 0388 1105      		cpc r17,__zero_reg__
422
 423 038a 04F4      		brge .+2
423
 424 038c 00C0      		rjmp .L37
424
 425               	.L28:
425
 426 038e 4092 0000 		sts send_buffer,r4
426
 427 0392 5092 0000 		sts send_buffer+1,r5
427
 428 0396 8AE2      		ldi r24,lo8(42)
428
 429 0398 60E0      		ldi r22,lo8(send_buffer)
429
 430 039a 70E0      		ldi r23,hi8(send_buffer)
430
 431 039c 42E0      		ldi r20,lo8(2)
431
 432 039e 50E0      		ldi r21,hi8(2)
432
 433 03a0 0E94 0000 		call wl_basic_send_global_packet
433
 434 03a4 0E94 0000 		call rtc_reset
434
 435 03a8 81E4      		ldi r24,lo8(65)
435
 436 03aa 0E94 0000 		call orb1_set_color
436
 437 03ae C4E0      		ldi r28,lo8(4)
437
 438 03b0 D0E0      		ldi r29,hi8(4)
438
 439 03b2 00C0      		rjmp .L37
439
 440               	.L42:
440
 441 03b4 0E94 0000 		call rtc_get
441
 442 03b8 8C01      		movw r16,r24
442
 443 03ba 80E0      		ldi r24,lo8(data_length)
443
 444 03bc 90E0      		ldi r25,hi8(data_length)
444
 445 03be 0E94 0000 		call wl_basic_do_default
445
 446 03c2 FC01      		movw r30,r24
446
 447 03c4 9093 0000 		sts (packet_data)+1,r25
447
 448 03c8 8093 0000 		sts packet_data,r24
448
 449 03cc 0097      		sbiw r24,0
449
 450 03ce 01F0      		breq .L29
450
 451 03d0 8081      		ld r24,Z
451
 452 03d2 8134      		cpi r24,lo8(65)
452
 453 03d4 01F4      		brne .L29
453
 454 03d6 8181      		ldd r24,Z+1
454
 455 03d8 8515      		cp r24,r5
455
 456 03da 01F4      		brne .L29
456
 457 03dc 0E94 0000 		call rtc_reset
457
 458 03e0 C0E0      		ldi r28,lo8(0)
458
 459 03e2 D0E0      		ldi r29,hi8(0)
459
 460               	.L29:
460
 461 03e4 E091 0000 		lds r30,packet_data
461
 462 03e8 F091 0000 		lds r31,(packet_data)+1
462
 463 03ec 3097      		sbiw r30,0
463
 464 03ee 01F0      		breq .L30
464
 465 03f0 8081      		ld r24,Z
465
 466 03f2 8134      		cpi r24,lo8(65)
466
 467 03f4 01F4      		brne .L30
467
 468 03f6 8181      		ldd r24,Z+1
468
 469 03f8 8515      		cp r24,r5
469
 470 03fa 01F0      		breq .L30
470
 471 03fc C2E0      		ldi r28,lo8(2)
471
 472 03fe D0E0      		ldi r29,hi8(2)
472
 473               	.L30:
473
 474 0400 0131      		cpi r16,17
474
 475 0402 1105      		cpc r17,__zero_reg__
475
 476 0404 04F4      		brge .+2
476
 477 0406 00C0      		rjmp .L37
477
 478               	.L40:
478
 479 0408 80EE      		ldi r24,lo8(-32)
479
 480 040a 0E94 0000 		call orb1_set_color
480
 481 040e C3E0      		ldi r28,lo8(3)
481
 482 0410 D0E0      		ldi r29,hi8(3)
482
 483 0412 00C0      		rjmp .L37
483
 485               		.comm wl_basic_group_handler,10,1
484
 486               		.comm current_packet,8,1
485
 487               		.comm packet_data,2,1
486
 488               		.comm data_length,2,1
487
 489               		.comm send_buffer,2,1
488
DEFINED SYMBOLS
489
                            *ABS*:0000000000000000 main.c
490
     /tmp/ccEOMtyq.s:2      *ABS*:000000000000003f __SREG__
491
     /tmp/ccEOMtyq.s:3      *ABS*:000000000000003e __SP_H__
492
     /tmp/ccEOMtyq.s:4      *ABS*:000000000000003d __SP_L__
493
     /tmp/ccEOMtyq.s:5      *ABS*:0000000000000034 __CCP__
494
     /tmp/ccEOMtyq.s:6      *ABS*:0000000000000000 __tmp_reg__
495
     /tmp/ccEOMtyq.s:7      *ABS*:0000000000000001 __zero_reg__
496
     /tmp/ccEOMtyq.s:13     .text:0000000000000000 main
497
                            *COM*:0000000000000002 data_length
498
                            *COM*:0000000000000002 packet_data
499
                            *COM*:0000000000000002 send_buffer
500
                            *COM*:000000000000000a wl_basic_group_handler
501
                            *COM*:0000000000000008 current_packet
502

    
503
UNDEFINED SYMBOLS
504
__do_copy_data
505
__do_clear_bss
506
dragonfly_init
507
xbee_init
508
wl_basic_init_default
509
wl_set_channel
510
orb_init
511
rtc_init
512
motors_init
513
get_robotid
514
wheel
515
orb1_set_color
516
bom_on
517
motor_r_set
518
motor_l_set
519
delay_ms
520
wl_basic_do_default
521
rtc_reset
522
orb2_set_color
523
range_read_distance
524
wl_basic_send_global_packet
525
rtc_get
526
motors_off
527
bom_off
528
bom_refresh
529
bom_get_max
530
hunter_prey_tagged
531
button2_read