Project

General

Profile

Statistics
| Revision:

root / trunk / code / projects / rangefinders / IRcycle_move / testIRcycle.lst @ 1455

History | View | Annotate | Download (4.57 KB)

1 1455 dshope 
   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