root / demos / john / projects / libdragonfly / encoders.lst @ 1693
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1 | 1693 | emullini | 1 .file "encoders.c" |
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2 | 2 .arch atmega128 |
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3 | 3 __SREG__ = 0x3f |
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4 | 4 __SP_H__ = 0x3e |
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5 | 5 __SP_L__ = 0x3d |
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6 | 6 __tmp_reg__ = 0 |
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7 | 7 __zero_reg__ = 1 |
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8 | 8 .global __do_copy_data |
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9 | 9 .global __do_clear_bss |
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10 | 17 .Ltext0: |
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11 | 18 .global encoder_read |
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12 | 20 encoder_read: |
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13 | 21 .LFB4: |
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14 | 22 .LM1: |
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15 | 23 /* prologue: frame size=0 */ |
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16 | 24 /* prologue end (size=0) */ |
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17 | 25 .LVL0: |
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18 | 26 .LM2: |
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19 | 27 0000 8823 tst r24 |
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20 | 28 0002 01F4 brne .L2 |
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21 | 29 .LM3: |
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22 | 30 0004 8091 0000 lds r24,left_data |
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23 | 31 0008 9091 0000 lds r25,(left_data)+1 |
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24 | 32 .LVL1: |
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25 | 33 000c 0895 ret |
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26 | 34 .LVL2: |
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27 | 35 .L2: |
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28 | 36 .LM4: |
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29 | 37 000e 8130 cpi r24,lo8(1) |
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30 | 38 0010 01F0 breq .L5 |
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31 | 39 0012 8FEF ldi r24,lo8(-1) |
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32 | 40 0014 9FEF ldi r25,hi8(-1) |
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33 | 41 .LVL3: |
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34 | 42 0016 0895 ret |
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35 | 43 .LVL4: |
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36 | 44 .L5: |
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37 | 45 0018 8091 0000 lds r24,right_data |
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38 | 46 001c 9091 0000 lds r25,(right_data)+1 |
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39 | 47 .LVL5: |
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40 | 48 .LM5: |
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41 | 49 0020 0895 ret |
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42 | 50 /* epilogue: frame size=0 */ |
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43 | 51 /* epilogue: noreturn */ |
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44 | 52 /* epilogue end (size=0) */ |
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45 | 53 /* function encoder_read size 17 (17) */ |
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46 | 54 .LFE4: |
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47 | 56 .global encoder_get_dx |
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48 | 58 encoder_get_dx: |
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49 | 59 .LFB6: |
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50 | 60 .LM6: |
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51 | 61 /* prologue: frame size=0 */ |
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52 | 62 /* prologue end (size=0) */ |
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53 | 63 .LVL6: |
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54 | 64 .LM7: |
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55 | 65 0022 8823 tst r24 |
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56 | 66 0024 01F4 brne .L9 |
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57 | 67 .LM8: |
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58 | 68 0026 8091 0000 lds r24,left_dx |
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59 | 69 002a 9091 0000 lds r25,(left_dx)+1 |
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60 | 70 .LVL7: |
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61 | 71 002e 0895 ret |
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62 | 72 .LVL8: |
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63 | 73 .L9: |
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64 | 74 .LM9: |
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65 | 75 0030 8130 cpi r24,lo8(1) |
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66 | 76 0032 01F0 breq .L12 |
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67 | 77 0034 8FEF ldi r24,lo8(-1) |
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68 | 78 0036 9FEF ldi r25,hi8(-1) |
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69 | 79 .LVL9: |
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70 | 80 0038 0895 ret |
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71 | 81 .LVL10: |
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72 | 82 .L12: |
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73 | 83 003a 8091 0000 lds r24,right_dx |
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74 | 84 003e 9091 0000 lds r25,(right_dx)+1 |
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75 | 85 .LVL11: |
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76 | 86 .LM10: |
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77 | 87 0042 0895 ret |
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78 | 88 /* epilogue: frame size=0 */ |
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79 | 89 /* epilogue: noreturn */ |
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80 | 90 /* epilogue end (size=0) */ |
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81 | 91 /* function encoder_get_dx size 17 (17) */ |
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82 | 92 .LFE6: |
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83 | 94 .global encoder_rst_dx |
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84 | 96 encoder_rst_dx: |
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85 | 97 .LFB8: |
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86 | 98 .LM11: |
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87 | 99 /* prologue: frame size=0 */ |
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88 | 100 /* prologue end (size=0) */ |
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89 | 101 .LVL12: |
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90 | 102 .LM12: |
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91 | 103 0044 8823 tst r24 |
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92 | 104 0046 01F4 brne .L16 |
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93 | 105 .LM13: |
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94 | 106 0048 1092 0000 sts (left_dx)+1,__zero_reg__ |
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95 | 107 004c 1092 0000 sts left_dx,__zero_reg__ |
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96 | 108 0050 0895 ret |
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97 | 109 .L16: |
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98 | 110 .LM14: |
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99 | 111 0052 8130 cpi r24,lo8(1) |
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100 | 112 0054 01F4 brne .L20 |
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101 | 113 0056 1092 0000 sts (right_dx)+1,__zero_reg__ |
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102 | 114 005a 1092 0000 sts right_dx,__zero_reg__ |
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103 | 115 .L20: |
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104 | 116 005e 0895 ret |
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105 | 117 /* epilogue: frame size=0 */ |
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106 | 118 /* epilogue: noreturn */ |
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107 | 119 /* epilogue end (size=0) */ |
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108 | 120 /* function encoder_rst_dx size 14 (14) */ |
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109 | 121 .LFE8: |
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110 | 123 .global encoder_get_tc |
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111 | 125 encoder_get_tc: |
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112 | 126 .LFB9: |
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113 | 127 .LM15: |
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114 | 128 /* prologue: frame size=0 */ |
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115 | 129 /* prologue end (size=0) */ |
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116 | 130 .LM16: |
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117 | 131 0060 8091 0000 lds r24,timecount |
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118 | 132 0064 9091 0000 lds r25,(timecount)+1 |
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119 | 133 /* epilogue: frame size=0 */ |
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120 | 134 0068 0895 ret |
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121 | 135 /* epilogue end (size=1) */ |
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122 | 136 /* function encoder_get_tc size 5 (4) */ |
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123 | 137 .LFE9: |
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124 | 139 .global encoder_rst_tc |
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125 | 141 encoder_rst_tc: |
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126 | 142 .LFB10: |
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127 | 143 .LM17: |
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128 | 144 /* prologue: frame size=0 */ |
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129 | 145 /* prologue end (size=0) */ |
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130 | 146 .LM18: |
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131 | 147 006a 1092 0000 sts timecount,__zero_reg__ |
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132 | 148 006e 1092 0000 sts (timecount)+1,__zero_reg__ |
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133 | 149 0072 1092 0000 sts (timecount)+2,__zero_reg__ |
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134 | 150 0076 1092 0000 sts (timecount)+3,__zero_reg__ |
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135 | 151 /* epilogue: frame size=0 */ |
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136 | 152 007a 0895 ret |
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137 | 153 /* epilogue end (size=1) */ |
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138 | 154 /* function encoder_rst_tc size 9 (8) */ |
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139 | 155 .LFE10: |
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140 | 157 .global encoder_wait |
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141 | 159 encoder_wait: |
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142 | 160 .LFB11: |
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143 | 161 .LM19: |
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144 | 162 /* prologue: frame size=0 */ |
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145 | 163 /* prologue end (size=0) */ |
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146 | 164 .LVL13: |
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147 | 165 007c 9C01 movw r18,r24 |
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148 | 166 .LVL14: |
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149 | 167 .L27: |
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150 | 168 .LM20: |
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151 | 169 007e 8091 0000 lds r24,data_ready |
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152 | 170 0082 9091 0000 lds r25,(data_ready)+1 |
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153 | 171 0086 8217 cp r24,r18 |
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154 | 172 0088 9307 cpc r25,r19 |
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155 | 173 008a 04F0 brlt .L27 |
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156 | 174 .LM21: |
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157 | 175 008c 1092 0000 sts (data_ready)+1,__zero_reg__ |
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158 | 176 0090 1092 0000 sts data_ready,__zero_reg__ |
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159 | 177 /* epilogue: frame size=0 */ |
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160 | 178 0094 0895 ret |
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161 | 179 /* epilogue end (size=1) */ |
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162 | 180 /* function encoder_wait size 13 (12) */ |
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163 | 181 .LFE11: |
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164 | 183 .global left_data_array_put |
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165 | 185 left_data_array_put: |
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166 | 186 .LFB13: |
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167 | 187 .LM22: |
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168 | 188 /* prologue: frame size=0 */ |
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169 | 189 /* prologue end (size=0) */ |
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170 | 190 .LVL15: |
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171 | 191 .LM23: |
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172 | 192 0096 2091 0000 lds r18,left_data_idx |
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173 | 193 009a 3091 0000 lds r19,(left_data_idx)+1 |
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174 | 194 009e 2D32 cpi r18,45 |
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175 | 195 00a0 3105 cpc r19,__zero_reg__ |
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176 | 196 00a2 01F4 brne .L33 |
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177 | 197 .LM24: |
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178 | 198 00a4 1092 0000 sts (left_data_idx)+1,__zero_reg__ |
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179 | 199 00a8 1092 0000 sts left_data_idx,__zero_reg__ |
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180 | 200 00ac 00C0 rjmp .L35 |
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181 | 201 .L33: |
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182 | 202 .LM25: |
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183 | 203 00ae 2F5F subi r18,lo8(-(1)) |
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184 | 204 00b0 3F4F sbci r19,hi8(-(1)) |
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185 | 205 00b2 3093 0000 sts (left_data_idx)+1,r19 |
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186 | 206 00b6 2093 0000 sts left_data_idx,r18 |
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187 | 207 .L35: |
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188 | 208 .LM26: |
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189 | 209 00ba E091 0000 lds r30,left_data_idx |
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190 | 210 00be F091 0000 lds r31,(left_data_idx)+1 |
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191 | 211 00c2 EE0F lsl r30 |
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192 | 212 00c4 FF1F rol r31 |
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193 | 213 00c6 E050 subi r30,lo8(-(left_data_array)) |
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194 | 214 00c8 F040 sbci r31,hi8(-(left_data_array)) |
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195 | 215 00ca 9183 std Z+1,r25 |
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196 | 216 00cc 8083 st Z,r24 |
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197 | 217 /* epilogue: frame size=0 */ |
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198 | 218 00ce 0895 ret |
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199 | 219 /* epilogue end (size=1) */ |
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200 | 220 /* function left_data_array_put size 29 (28) */ |
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201 | 221 .LFE13: |
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202 | 223 .global left_data_array_top |
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203 | 225 left_data_array_top: |
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204 | 226 .LFB14: |
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205 | 227 .LM27: |
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206 | 228 /* prologue: frame size=0 */ |
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207 | 229 /* prologue end (size=0) */ |
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208 | 230 00d0 E091 0000 lds r30,left_data_idx |
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209 | 231 00d4 F091 0000 lds r31,(left_data_idx)+1 |
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210 | 232 00d8 EE0F lsl r30 |
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211 | 233 00da FF1F rol r31 |
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212 | 234 00dc E050 subi r30,lo8(-(left_data_array)) |
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213 | 235 00de F040 sbci r31,hi8(-(left_data_array)) |
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214 | 236 .LM28: |
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215 | 237 00e0 8081 ld r24,Z |
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216 | 238 00e2 9181 ldd r25,Z+1 |
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217 | 239 /* epilogue: frame size=0 */ |
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218 | 240 00e4 0895 ret |
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219 | 241 /* epilogue end (size=1) */ |
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220 | 242 /* function left_data_array_top size 11 (10) */ |
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221 | 243 .LFE14: |
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222 | 245 .global left_data_array_prev |
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223 | 247 left_data_array_prev: |
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224 | 248 .LFB15: |
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225 | 249 .LM29: |
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226 | 250 /* prologue: frame size=0 */ |
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227 | 251 /* prologue end (size=0) */ |
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228 | 252 .LM30: |
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229 | 253 00e6 E091 0000 lds r30,left_data_idx |
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230 | 254 00ea F091 0000 lds r31,(left_data_idx)+1 |
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231 | 255 00ee 3097 sbiw r30,0 |
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232 | 256 00f0 01F4 brne .L40 |
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233 | 257 .LM31: |
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234 | 258 00f2 8091 0000 lds r24,left_data_array+90 |
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235 | 259 00f6 9091 0000 lds r25,(left_data_array+90)+1 |
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236 | 260 00fa 0895 ret |
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237 | 261 .L40: |
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238 | 262 .LM32: |
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239 | 263 00fc EE0F lsl r30 |
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240 | 264 00fe FF1F rol r31 |
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241 | 265 0100 E050 subi r30,lo8(-(left_data_array-2)) |
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242 | 266 0102 F040 sbci r31,hi8(-(left_data_array-2)) |
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243 | 267 0104 8081 ld r24,Z |
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244 | 268 0106 9181 ldd r25,Z+1 |
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245 | 269 .LM33: |
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246 | 270 0108 0895 ret |
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247 | 271 /* epilogue: frame size=0 */ |
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248 | 272 /* epilogue: noreturn */ |
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249 | 273 /* epilogue end (size=0) */ |
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250 | 274 /* function left_data_array_prev size 18 (18) */ |
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251 | 275 .LFE15: |
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252 | 277 .global left_data_array_bottom |
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253 | 279 left_data_array_bottom: |
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254 | 280 .LFB16: |
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255 | 281 .LM34: |
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256 | 282 /* prologue: frame size=0 */ |
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257 | 283 /* prologue end (size=0) */ |
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258 | 284 .LM35: |
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259 | 285 010a E091 0000 lds r30,left_data_idx |
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260 | 286 010e F091 0000 lds r31,(left_data_idx)+1 |
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261 | 287 0112 ED32 cpi r30,45 |
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262 | 288 0114 F105 cpc r31,__zero_reg__ |
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263 | 289 0116 01F4 brne .L45 |
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264 | 290 .LM36: |
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265 | 291 0118 8091 0000 lds r24,left_data_array |
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266 | 292 011c 9091 0000 lds r25,(left_data_array)+1 |
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267 | 293 0120 0895 ret |
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268 | 294 .L45: |
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269 | 295 .LM37: |
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270 | 296 0122 EE0F lsl r30 |
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271 | 297 0124 FF1F rol r31 |
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272 | 298 0126 E050 subi r30,lo8(-(left_data_array)) |
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273 | 299 0128 F040 sbci r31,hi8(-(left_data_array)) |
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274 | 300 012a 8281 ldd r24,Z+2 |
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275 | 301 012c 9381 ldd r25,Z+3 |
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276 | 302 .LM38: |
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277 | 303 012e 0895 ret |
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278 | 304 /* epilogue: frame size=0 */ |
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279 | 305 /* epilogue: noreturn */ |
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280 | 306 /* epilogue end (size=0) */ |
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281 | 307 /* function left_data_array_bottom size 19 (19) */ |
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282 | 308 .LFE16: |
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283 | 310 .global right_data_array_put |
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284 | 312 right_data_array_put: |
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285 | 313 .LFB17: |
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286 | 314 .LM39: |
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287 | 315 /* prologue: frame size=0 */ |
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288 | 316 /* prologue end (size=0) */ |
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289 | 317 .LVL16: |
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290 | 318 .LM40: |
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291 | 319 0130 2091 0000 lds r18,right_data_idx |
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292 | 320 0134 3091 0000 lds r19,(right_data_idx)+1 |
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293 | 321 0138 2D32 cpi r18,45 |
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294 | 322 013a 3105 cpc r19,__zero_reg__ |
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295 | 323 013c 01F4 brne .L50 |
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296 | 324 .LM41: |
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297 | 325 013e 1092 0000 sts (right_data_idx)+1,__zero_reg__ |
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298 | 326 0142 1092 0000 sts right_data_idx,__zero_reg__ |
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299 | 327 0146 00C0 rjmp .L52 |
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300 | 328 .L50: |
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301 | 329 .LM42: |
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302 | 330 0148 2F5F subi r18,lo8(-(1)) |
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303 | 331 014a 3F4F sbci r19,hi8(-(1)) |
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304 | 332 014c 3093 0000 sts (right_data_idx)+1,r19 |
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305 | 333 0150 2093 0000 sts right_data_idx,r18 |
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306 | 334 .L52: |
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307 | 335 .LM43: |
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308 | 336 0154 E091 0000 lds r30,right_data_idx |
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309 | 337 0158 F091 0000 lds r31,(right_data_idx)+1 |
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310 | 338 015c EE0F lsl r30 |
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311 | 339 015e FF1F rol r31 |
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312 | 340 0160 E050 subi r30,lo8(-(right_data_array)) |
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313 | 341 0162 F040 sbci r31,hi8(-(right_data_array)) |
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314 | 342 0164 9183 std Z+1,r25 |
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315 | 343 0166 8083 st Z,r24 |
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316 | 344 /* epilogue: frame size=0 */ |
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317 | 345 0168 0895 ret |
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318 | 346 /* epilogue end (size=1) */ |
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319 | 347 /* function right_data_array_put size 29 (28) */ |
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320 | 348 .LFE17: |
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321 | 350 .global right_data_array_top |
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322 | 352 right_data_array_top: |
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323 | 353 .LFB18: |
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324 | 354 .LM44: |
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325 | 355 /* prologue: frame size=0 */ |
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326 | 356 /* prologue end (size=0) */ |
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327 | 357 016a E091 0000 lds r30,right_data_idx |
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328 | 358 016e F091 0000 lds r31,(right_data_idx)+1 |
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329 | 359 0172 EE0F lsl r30 |
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330 | 360 0174 FF1F rol r31 |
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331 | 361 0176 E050 subi r30,lo8(-(right_data_array)) |
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332 | 362 0178 F040 sbci r31,hi8(-(right_data_array)) |
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333 | 363 .LM45: |
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334 | 364 017a 8081 ld r24,Z |
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335 | 365 017c 9181 ldd r25,Z+1 |
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336 | 366 /* epilogue: frame size=0 */ |
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337 | 367 017e 0895 ret |
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338 | 368 /* epilogue end (size=1) */ |
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339 | 369 /* function right_data_array_top size 11 (10) */ |
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340 | 370 .LFE18: |
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341 | 372 .global right_data_array_prev |
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342 | 374 right_data_array_prev: |
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343 | 375 .LFB19: |
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344 | 376 .LM46: |
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345 | 377 /* prologue: frame size=0 */ |
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346 | 378 /* prologue end (size=0) */ |
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347 | 379 .LM47: |
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348 | 380 0180 E091 0000 lds r30,right_data_idx |
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349 | 381 0184 F091 0000 lds r31,(right_data_idx)+1 |
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350 | 382 0188 3097 sbiw r30,0 |
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351 | 383 018a 01F4 brne .L57 |
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352 | 384 .LM48: |
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353 | 385 018c 8091 0000 lds r24,right_data_array+90 |
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354 | 386 0190 9091 0000 lds r25,(right_data_array+90)+1 |
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355 | 387 0194 0895 ret |
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356 | 388 .L57: |
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357 | 389 .LM49: |
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358 | 390 0196 EE0F lsl r30 |
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359 | 391 0198 FF1F rol r31 |
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360 | 392 019a E050 subi r30,lo8(-(right_data_array-2)) |
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361 | 393 019c F040 sbci r31,hi8(-(right_data_array-2)) |
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362 | 394 019e 8081 ld r24,Z |
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363 | 395 01a0 9181 ldd r25,Z+1 |
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364 | 396 .LM50: |
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365 | 397 01a2 0895 ret |
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366 | 398 /* epilogue: frame size=0 */ |
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367 | 399 /* epilogue: noreturn */ |
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368 | 400 /* epilogue end (size=0) */ |
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369 | 401 /* function right_data_array_prev size 18 (18) */ |
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370 | 402 .LFE19: |
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371 | 404 .global right_data_array_bottom |
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372 | 406 right_data_array_bottom: |
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373 | 407 .LFB20: |
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374 | 408 .LM51: |
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375 | 409 /* prologue: frame size=0 */ |
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376 | 410 /* prologue end (size=0) */ |
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377 | 411 .LM52: |
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378 | 412 01a4 E091 0000 lds r30,right_data_idx |
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379 | 413 01a8 F091 0000 lds r31,(right_data_idx)+1 |
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380 | 414 01ac ED32 cpi r30,45 |
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381 | 415 01ae F105 cpc r31,__zero_reg__ |
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382 | 416 01b0 01F4 brne .L62 |
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383 | 417 .LM53: |
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384 | 418 01b2 8091 0000 lds r24,right_data_array |
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385 | 419 01b6 9091 0000 lds r25,(right_data_array)+1 |
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386 | 420 01ba 0895 ret |
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387 | 421 .L62: |
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388 | 422 .LM54: |
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389 | 423 01bc EE0F lsl r30 |
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390 | 424 01be FF1F rol r31 |
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391 | 425 01c0 E050 subi r30,lo8(-(right_data_array)) |
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392 | 426 01c2 F040 sbci r31,hi8(-(right_data_array)) |
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393 | 427 01c4 8281 ldd r24,Z+2 |
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394 | 428 01c6 9381 ldd r25,Z+3 |
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395 | 429 .LM55: |
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396 | 430 01c8 0895 ret |
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397 | 431 /* epilogue: frame size=0 */ |
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398 | 432 /* epilogue: noreturn */ |
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399 | 433 /* epilogue end (size=0) */ |
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400 | 434 /* function right_data_array_bottom size 19 (19) */ |
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401 | 435 .LFE20: |
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402 | 437 .global left_data_at |
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403 | 439 left_data_at: |
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404 | 440 .LFB21: |
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405 | 441 .LM56: |
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406 | 442 /* prologue: frame size=0 */ |
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407 | 443 /* prologue end (size=0) */ |
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408 | 444 .LVL17: |
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409 | 445 .LM57: |
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410 | 446 01ca E091 0000 lds r30,left_data_idx |
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411 | 447 01ce F091 0000 lds r31,(left_data_idx)+1 |
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412 | 448 .LVL18: |
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413 | 449 01d2 E81B sub r30,r24 |
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414 | 450 01d4 F90B sbc r31,r25 |
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415 | 451 .LM58: |
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416 | 452 01d6 F7FD sbrc r31,7 |
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417 | 453 .LM59: |
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418 | 454 01d8 BE96 adiw r30,46 |
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419 | 455 .L67: |
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420 | 456 01da EE0F lsl r30 |
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421 | 457 01dc FF1F rol r31 |
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422 | 458 .LVL19: |
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423 | 459 01de E050 subi r30,lo8(-(left_data_array)) |
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424 | 460 01e0 F040 sbci r31,hi8(-(left_data_array)) |
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425 | 461 .LM60: |
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426 | 462 01e2 8081 ld r24,Z |
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427 | 463 01e4 9181 ldd r25,Z+1 |
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428 | 464 /* epilogue: frame size=0 */ |
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429 | 465 01e6 0895 ret |
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430 | 466 /* epilogue end (size=1) */ |
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431 | 467 /* function left_data_at size 16 (15) */ |
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432 | 468 .LFE21: |
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433 | 470 .global right_data_at |
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434 | 472 right_data_at: |
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435 | 473 .LFB22: |
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436 | 474 .LM61: |
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437 | 475 /* prologue: frame size=0 */ |
||
438 | 476 /* prologue end (size=0) */ |
||
439 | 477 .LVL20: |
||
440 | 478 .LM62: |
||
441 | 479 01e8 E091 0000 lds r30,right_data_idx |
||
442 | 480 01ec F091 0000 lds r31,(right_data_idx)+1 |
||
443 | 481 .LVL21: |
||
444 | 482 01f0 E81B sub r30,r24 |
||
445 | 483 01f2 F90B sbc r31,r25 |
||
446 | 484 .LM63: |
||
447 | 485 01f4 F7FD sbrc r31,7 |
||
448 | 486 .LM64: |
||
449 | 487 01f6 BE96 adiw r30,46 |
||
450 | 488 .L71: |
||
451 | 489 01f8 EE0F lsl r30 |
||
452 | 490 01fa FF1F rol r31 |
||
453 | 491 01fc E050 subi r30,lo8(-(right_data_array)) |
||
454 | 492 01fe F040 sbci r31,hi8(-(right_data_array)) |
||
455 | 493 .LM65: |
||
456 | 494 0200 8081 ld r24,Z |
||
457 | 495 0202 9181 ldd r25,Z+1 |
||
458 | 496 .LVL22: |
||
459 | 497 /* epilogue: frame size=0 */ |
||
460 | 498 0204 0895 ret |
||
461 | 499 /* epilogue end (size=1) */ |
||
462 | 500 /* function right_data_at size 16 (15) */ |
||
463 | 501 .LFE22: |
||
464 | 503 .global get_dx |
||
465 | 505 get_dx: |
||
466 | 506 .LFB23: |
||
467 | 507 .LM66: |
||
468 | 508 /* prologue: frame size=0 */ |
||
469 | 509 0206 FF92 push r15 |
||
470 | 510 0208 0F93 push r16 |
||
471 | 511 020a 1F93 push r17 |
||
472 | 512 020c CF93 push r28 |
||
473 | 513 020e DF93 push r29 |
||
474 | 514 /* prologue end (size=5) */ |
||
475 | 515 .LVL23: |
||
476 | 516 0210 F82E mov r15,r24 |
||
477 | 517 0212 8091 0000 lds r24,left_data_idx |
||
478 | 518 0216 9091 0000 lds r25,(left_data_idx)+1 |
||
479 | 519 .LVL24: |
||
480 | 520 021a 861B sub r24,r22 |
||
481 | 521 021c 970B sbc r25,r23 |
||
482 | 522 021e EC01 movw r28,r24 |
||
483 | 523 0220 A697 sbiw r28,38 |
||
484 | 524 0222 DC01 movw r26,r24 |
||
485 | 525 0224 8091 0000 lds r24,right_data_idx |
||
486 | 526 0228 9091 0000 lds r25,(right_data_idx)+1 |
||
487 | 527 022c 861B sub r24,r22 |
||
488 | 528 022e 970B sbc r25,r23 |
||
489 | 529 0230 BC01 movw r22,r24 |
||
490 | 530 .LVL25: |
||
491 | 531 0232 6652 subi r22,lo8(-(-38)) |
||
492 | 532 0234 7040 sbci r23,hi8(-(-38)) |
||
493 | 533 0236 AC01 movw r20,r24 |
||
494 | 534 0238 00E0 ldi r16,lo8(0) |
||
495 | 535 023a 10E0 ldi r17,hi8(0) |
||
496 | 536 .LVL26: |
||
497 | 537 .LVL27: |
||
498 | 538 .L75: |
||
499 | 539 .LM67: |
||
500 | 540 023c FF20 tst r15 |
||
501 | 541 023e 01F4 brne .L76 |
||
502 | 542 0240 FD01 movw r30,r26 |
||
503 | 543 .LVL28: |
||
504 | 544 .LBB10: |
||
505 | 545 .LBB11: |
||
506 | 546 .LM68: |
||
507 | 547 0242 B7FD sbrc r27,7 |
||
508 | 548 0244 BE96 adiw r30,46 |
||
509 | 549 .L78: |
||
510 | 550 .LM69: |
||
511 | 551 0246 EE0F lsl r30 |
||
512 | 552 0248 FF1F rol r31 |
||
513 | 553 024a E050 subi r30,lo8(-(left_data_array)) |
||
514 | 554 024c F040 sbci r31,hi8(-(left_data_array)) |
||
515 | 555 024e 2081 ld r18,Z |
||
516 | 556 0250 3181 ldd r19,Z+1 |
||
517 | 557 .LVL29: |
||
518 | 558 0252 FE01 movw r30,r28 |
||
519 | 559 .LVL30: |
||
520 | 560 .LBE11: |
||
521 | 561 .LBE10: |
||
522 | 562 .LBB12: |
||
523 | 563 .LBB13: |
||
524 | 564 .LM70: |
||
525 | 565 0254 D7FF sbrs r29,7 |
||
526 | 566 0256 00C0 rjmp .L80 |
||
527 | 567 0258 FD01 movw r30,r26 |
||
528 | 568 025a 3896 adiw r30,8 |
||
529 | 569 .L80: |
||
530 | 570 .LBE13: |
||
531 | 571 .LBE12: |
||
532 | 572 .LM71: |
||
533 | 573 025c EE0F lsl r30 |
||
534 | 574 025e FF1F rol r31 |
||
535 | 575 0260 E050 subi r30,lo8(-(left_data_array)) |
||
536 | 576 0262 F040 sbci r31,hi8(-(left_data_array)) |
||
537 | 577 0264 00C0 rjmp .L93 |
||
538 | 578 .LVL31: |
||
539 | 579 .L76: |
||
540 | 580 0266 FA01 movw r30,r20 |
||
541 | 581 .LVL32: |
||
542 | 582 .LBB14: |
||
543 | 583 .LBB15: |
||
544 | 584 .LM72: |
||
545 | 585 0268 57FD sbrc r21,7 |
||
546 | 586 026a BE96 adiw r30,46 |
||
547 | 587 .L83: |
||
548 | 588 .LM73: |
||
549 | 589 026c EE0F lsl r30 |
||
550 | 590 026e FF1F rol r31 |
||
551 | 591 0270 E050 subi r30,lo8(-(right_data_array)) |
||
552 | 592 0272 F040 sbci r31,hi8(-(right_data_array)) |
||
553 | 593 0274 2081 ld r18,Z |
||
554 | 594 0276 3181 ldd r19,Z+1 |
||
555 | 595 .LVL33: |
||
556 | 596 0278 FB01 movw r30,r22 |
||
557 | 597 .LVL34: |
||
558 | 598 .LBE15: |
||
559 | 599 .LBE14: |
||
560 | 600 .LBB16: |
||
561 | 601 .LBB17: |
||
562 | 602 .LM74: |
||
563 | 603 027a 77FF sbrs r23,7 |
||
564 | 604 027c 00C0 rjmp .L85 |
||
565 | 605 027e FA01 movw r30,r20 |
||
566 | 606 0280 3896 adiw r30,8 |
||
567 | 607 .L85: |
||
568 | 608 .LBE17: |
||
569 | 609 .LBE16: |
||
570 | 610 .LM75: |
||
571 | 611 0282 EE0F lsl r30 |
||
572 | 612 0284 FF1F rol r31 |
||
573 | 613 0286 E050 subi r30,lo8(-(right_data_array)) |
||
574 | 614 0288 F040 sbci r31,hi8(-(right_data_array)) |
||
575 | 615 .LVL35: |
||
576 | 616 .L93: |
||
577 | 617 .LVL36: |
||
578 | 618 028a 8081 ld r24,Z |
||
579 | 619 028c 9181 ldd r25,Z+1 |
||
580 | 620 028e 281B sub r18,r24 |
||
581 | 621 0290 390B sbc r19,r25 |
||
582 | 622 .LVL37: |
||
583 | 623 .LM76: |
||
584 | 624 0292 C901 movw r24,r18 |
||
585 | 625 0294 4E96 adiw r24,30 |
||
586 | 626 0296 CD97 sbiw r24,61 |
||
587 | 627 0298 00F0 brlo .L87 |
||
588 | 628 .LM77: |
||
589 | 629 029a 0F5F subi r16,lo8(-(1)) |
||
590 | 630 029c 1F4F sbci r17,hi8(-(1)) |
||
591 | 631 029e 2197 sbiw r28,1 |
||
592 | 632 02a0 1197 sbiw r26,1 |
||
593 | 633 02a2 6150 subi r22,lo8(-(-1)) |
||
594 | 634 02a4 7040 sbci r23,hi8(-(-1)) |
||
595 | 635 02a6 4150 subi r20,lo8(-(-1)) |
||
596 | 636 02a8 5040 sbci r21,hi8(-(-1)) |
||
597 | 637 .LM78: |
||
598 | 638 02aa 0330 cpi r16,3 |
||
599 | 639 02ac 1105 cpc r17,__zero_reg__ |
||
600 | 640 02ae 01F4 brne .L75 |
||
601 | 641 02b0 20E0 ldi r18,lo8(1024) |
||
602 | 642 02b2 34E0 ldi r19,hi8(1024) |
||
603 | 643 .L87: |
||
604 | 644 .LM79: |
||
605 | 645 02b4 C901 movw r24,r18 |
||
606 | 646 /* epilogue: frame size=0 */ |
||
607 | 647 02b6 DF91 pop r29 |
||
608 | 648 02b8 CF91 pop r28 |
||
609 | 649 02ba 1F91 pop r17 |
||
610 | 650 02bc 0F91 pop r16 |
||
611 | 651 02be FF90 pop r15 |
||
612 | 652 02c0 0895 ret |
||
613 | 653 /* epilogue end (size=6) */ |
||
614 | 654 /* function get_dx size 97 (86) */ |
||
615 | 655 .LFE23: |
||
616 | 657 .global encoder_get_v |
||
617 | 659 encoder_get_v: |
||
618 | 660 .LFB7: |
||
619 | 661 .LM80: |
||
620 | 662 /* prologue: frame size=0 */ |
||
621 | 663 02c2 1F93 push r17 |
||
622 | 664 02c4 CF93 push r28 |
||
623 | 665 02c6 DF93 push r29 |
||
624 | 666 /* prologue end (size=3) */ |
||
625 | 667 .LVL38: |
||
626 | 668 02c8 182F mov r17,r24 |
||
627 | 669 .LM81: |
||
628 | 670 02ca 60E0 ldi r22,lo8(0) |
||
629 | 671 02cc 70E0 ldi r23,hi8(0) |
||
630 | 672 02ce 0E94 0000 call get_dx |
||
631 | 673 .LVL39: |
||
632 | 674 02d2 EC01 movw r28,r24 |
||
633 | 675 .LVL40: |
||
634 | 676 .LM82: |
||
635 | 677 02d4 61E0 ldi r22,lo8(1) |
||
636 | 678 02d6 70E0 ldi r23,hi8(1) |
||
637 | 679 02d8 812F mov r24,r17 |
||
638 | 680 02da 0E94 0000 call get_dx |
||
639 | 681 .LM83: |
||
640 | 682 02de 24E0 ldi r18,hi8(1024) |
||
641 | 683 02e0 C030 cpi r28,lo8(1024) |
||
642 | 684 02e2 D207 cpc r29,r18 |
||
643 | 685 02e4 01F4 brne .L95 |
||
644 | 686 .LVL41: |
||
645 | 687 .LM84: |
||
646 | 688 02e6 24E0 ldi r18,hi8(1024) |
||
647 | 689 02e8 8030 cpi r24,lo8(1024) |
||
648 | 690 02ea 9207 cpc r25,r18 |
||
649 | 691 02ec 01F4 brne .L97 |
||
650 | 692 02ee 80E0 ldi r24,lo8(2048) |
||
651 | 693 02f0 98E0 ldi r25,hi8(2048) |
||
652 | 694 .LVL42: |
||
653 | 695 02f2 00C0 rjmp .L99 |
||
654 | 696 .L95: |
||
655 | 697 .LVL43: |
||
656 | 698 .LM85: |
||
657 | 699 02f4 24E0 ldi r18,hi8(1024) |
||
658 | 700 02f6 8030 cpi r24,lo8(1024) |
||
659 | 701 02f8 9207 cpc r25,r18 |
||
660 | 702 02fa 01F4 brne .L100 |
||
661 | 703 .LM86: |
||
662 | 704 02fc CE01 movw r24,r28 |
||
663 | 705 .LVL44: |
||
664 | 706 .L97: |
||
665 | 707 .LM87: |
||
666 | 708 02fe 880F lsl r24 |
||
667 | 709 0300 991F rol r25 |
||
668 | 710 .LVL45: |
||
669 | 711 0302 00C0 rjmp .L99 |
||
670 | 712 .LVL46: |
||
671 | 713 .L100: |
||
672 | 714 .LM88: |
||
673 | 715 0304 8C0F add r24,r28 |
||
674 | 716 0306 9D1F adc r25,r29 |
||
675 | 717 .LVL47: |
||
676 | 718 .L99: |
||
677 | 719 /* epilogue: frame size=0 */ |
||
678 | 720 0308 DF91 pop r29 |
||
679 | 721 030a CF91 pop r28 |
||
680 | 722 030c 1F91 pop r17 |
||
681 | 723 030e 0895 ret |
||
682 | 724 /* epilogue end (size=4) */ |
||
683 | 725 /* function encoder_get_v size 39 (32) */ |
||
684 | 726 .LFE7: |
||
685 | 728 .global encoders_init |
||
686 | 730 encoders_init: |
||
687 | 731 .LFB3: |
||
688 | 732 .LM89: |
||
689 | 733 /* prologue: frame size=0 */ |
||
690 | 734 /* prologue end (size=0) */ |
||
691 | 735 .LM90: |
||
692 | 736 0310 1092 0000 sts (data_ready)+1,__zero_reg__ |
||
693 | 737 0314 1092 0000 sts data_ready,__zero_reg__ |
||
694 | 738 .LM91: |
||
695 | 739 0318 60E0 ldi r22,lo8(gs(encoder_recv_complete)) |
||
696 | 740 031a 70E0 ldi r23,hi8(gs(encoder_recv_complete)) |
||
697 | 741 031c 80E0 ldi r24,lo8(gs(encoder_recv)) |
||
698 | 742 031e 90E0 ldi r25,hi8(gs(encoder_recv)) |
||
699 | 743 0320 0E94 0000 call spi_init |
||
700 | 744 .LM92: |
||
701 | 745 0324 1092 0000 sts encoder_buf_index,__zero_reg__ |
||
702 | 746 .LM93: |
||
703 | 747 0328 1092 0000 sts (left_data_buf)+1,__zero_reg__ |
||
704 | 748 032c 1092 0000 sts left_data_buf,__zero_reg__ |
||
705 | 749 .LM94: |
||
706 | 750 0330 1092 0000 sts (right_data_buf)+1,__zero_reg__ |
||
707 | 751 0334 1092 0000 sts right_data_buf,__zero_reg__ |
||
708 | 752 .LM95: |
||
709 | 753 0338 8FEF ldi r24,lo8(-1) |
||
710 | 754 033a 9FEF ldi r25,hi8(-1) |
||
711 | 755 033c 9093 0000 sts (left_data)+1,r25 |
||
712 | 756 0340 8093 0000 sts left_data,r24 |
||
713 | 757 .LM96: |
||
714 | 758 0344 9093 0000 sts (right_data)+1,r25 |
||
715 | 759 0348 8093 0000 sts right_data,r24 |
||
716 | 760 .LM97: |
||
717 | 761 034c 1092 0000 sts (left_data_idx)+1,__zero_reg__ |
||
718 | 762 0350 1092 0000 sts left_data_idx,__zero_reg__ |
||
719 | 763 .LM98: |
||
720 | 764 0354 1092 0000 sts (right_data_idx)+1,__zero_reg__ |
||
721 | 765 0358 1092 0000 sts right_data_idx,__zero_reg__ |
||
722 | 766 035c E0E0 ldi r30,lo8(left_data_array) |
||
723 | 767 035e F0E0 ldi r31,hi8(left_data_array) |
||
724 | 768 .L104: |
||
725 | 769 .LM99: |
||
726 | 770 0360 1192 st Z+,__zero_reg__ |
||
727 | 771 0362 1192 st Z+,__zero_reg__ |
||
728 | 772 .LM100: |
||
729 | 773 0364 80E0 ldi r24,hi8(left_data_array+92) |
||
730 | 774 0366 E030 cpi r30,lo8(left_data_array+92) |
||
731 | 775 0368 F807 cpc r31,r24 |
||
732 | 776 036a 01F4 brne .L104 |
||
733 | 777 036c E0E0 ldi r30,lo8(right_data_array) |
||
734 | 778 036e F0E0 ldi r31,hi8(right_data_array) |
||
735 | 779 .L106: |
||
736 | 780 .LM101: |
||
737 | 781 0370 1192 st Z+,__zero_reg__ |
||
738 | 782 0372 1192 st Z+,__zero_reg__ |
||
739 | 783 .LM102: |
||
740 | 784 0374 80E0 ldi r24,hi8(right_data_array+92) |
||
741 | 785 0376 E030 cpi r30,lo8(right_data_array+92) |
||
742 | 786 0378 F807 cpc r31,r24 |
||
743 | 787 037a 01F4 brne .L106 |
||
744 | 788 .LM103: |
||
745 | 789 037c 85E0 ldi r24,lo8(5) |
||
746 | 790 037e 0E94 0000 call spi_transfer |
||
747 | 791 /* epilogue: frame size=0 */ |
||
748 | 792 0382 0895 ret |
||
749 | 793 /* epilogue end (size=1) */ |
||
750 | 794 /* function encoders_init size 58 (57) */ |
||
751 | 795 .LFE3: |
||
752 | 797 .global encoder_recv_complete |
||
753 | 799 encoder_recv_complete: |
||
754 | 800 .LFB2: |
||
755 | 801 .LM104: |
||
756 | 802 /* prologue: frame size=0 */ |
||
757 | 803 /* prologue end (size=0) */ |
||
758 | 804 .LM105: |
||
759 | 805 0384 1092 0000 sts encoder_buf_index,__zero_reg__ |
||
760 | 806 .LM106: |
||
761 | 807 0388 8091 0000 lds r24,data_ready |
||
762 | 808 038c 9091 0000 lds r25,(data_ready)+1 |
||
763 | 809 0390 0196 adiw r24,1 |
||
764 | 810 0392 9093 0000 sts (data_ready)+1,r25 |
||
765 | 811 0396 8093 0000 sts data_ready,r24 |
||
766 | 812 .LM107: |
||
767 | 813 039a 85E0 ldi r24,lo8(5) |
||
768 | 814 039c 0E94 0000 call spi_transfer |
||
769 | 815 /* epilogue: frame size=0 */ |
||
770 | 816 03a0 0895 ret |
||
771 | 817 /* epilogue end (size=1) */ |
||
772 | 818 /* function encoder_recv_complete size 15 (14) */ |
||
773 | 819 .LFE2: |
||
774 | 821 .global encoder_recv |
||
775 | 823 encoder_recv: |
||
776 | 824 .LFB12: |
||
777 | 825 .LM108: |
||
778 | 826 /* prologue: frame size=0 */ |
||
779 | 827 /* prologue end (size=0) */ |
||
780 | 828 .LVL48: |
||
781 | 829 .LM109: |
||
782 | 830 03a2 4091 0000 lds r20,encoder_buf_index |
||
783 | 831 03a6 4230 cpi r20,lo8(2) |
||
784 | 832 03a8 01F0 breq .L119 |
||
785 | 833 .LM110: |
||
786 | 834 03aa 4330 cpi r20,lo8(3) |
||
787 | 835 03ac 00F4 brsh .L122 |
||
788 | 836 03ae 4423 tst r20 |
||
789 | 837 03b0 01F0 breq .L117 |
||
790 | 838 03b2 4130 cpi r20,lo8(1) |
||
791 | 839 03b4 01F0 breq .+2 |
||
792 | 840 03b6 00C0 rjmp .L116 |
||
793 | 841 03b8 00C0 rjmp .L164 |
||
794 | 842 .L122: |
||
795 | 843 03ba 4330 cpi r20,lo8(3) |
||
796 | 844 03bc 01F0 breq .L120 |
||
797 | 845 03be 4430 cpi r20,lo8(4) |
||
798 | 846 03c0 01F0 breq .+2 |
||
799 | 847 03c2 00C0 rjmp .L116 |
||
800 | 848 03c4 00C0 rjmp .L165 |
||
801 | 849 .L117: |
||
802 | 850 .LM111: |
||
803 | 851 03c6 282F mov r18,r24 |
||
804 | 852 03c8 3327 clr r19 |
||
805 | 853 03ca 322F mov r19,r18 |
||
806 | 854 03cc 2227 clr r18 |
||
807 | 855 03ce 00C0 rjmp .L172 |
||
808 | 856 .L164: |
||
809 | 857 .LM112: |
||
810 | 858 03d0 282F mov r18,r24 |
||
811 | 859 03d2 3327 clr r19 |
||
812 | 860 .L172: |
||
813 | 861 03d4 8091 0000 lds r24,right_data_buf |
||
814 | 862 03d8 9091 0000 lds r25,(right_data_buf)+1 |
||
815 | 863 .LVL49: |
||
816 | 864 03dc 822B or r24,r18 |
||
817 | 865 03de 932B or r25,r19 |
||
818 | 866 03e0 9093 0000 sts (right_data_buf)+1,r25 |
||
819 | 867 03e4 8093 0000 sts right_data_buf,r24 |
||
820 | 868 03e8 00C0 rjmp .L123 |
||
821 | 869 .LVL50: |
||
822 | 870 .L119: |
||
823 | 871 .LM113: |
||
824 | 872 03ea 282F mov r18,r24 |
||
825 | 873 03ec 3327 clr r19 |
||
826 | 874 03ee 322F mov r19,r18 |
||
827 | 875 03f0 2227 clr r18 |
||
828 | 876 03f2 330F lsl r19 |
||
829 | 877 03f4 00C0 rjmp .L171 |
||
830 | 878 .LVL51: |
||
831 | 879 .L120: |
||
832 | 880 .LM114: |
||
833 | 881 03f6 282F mov r18,r24 |
||
834 | 882 03f8 3327 clr r19 |
||
835 | 883 03fa 220F lsl r18 |
||
836 | 884 03fc 331F rol r19 |
||
837 | 885 .LVL52: |
||
838 | 886 .L171: |
||
839 | 887 03fe 8091 0000 lds r24,left_data_buf |
||
840 | 888 0402 9091 0000 lds r25,(left_data_buf)+1 |
||
841 | 889 0406 822B or r24,r18 |
||
842 | 890 0408 932B or r25,r19 |
||
843 | 891 040a 9093 0000 sts (left_data_buf)+1,r25 |
||
844 | 892 040e 8093 0000 sts left_data_buf,r24 |
||
845 | 893 0412 00C0 rjmp .L123 |
||
846 | 894 .LVL53: |
||
847 | 895 .L165: |
||
848 | 896 .LM115: |
||
849 | 897 0414 881F rol r24 |
||
850 | 898 0416 8827 clr r24 |
||
851 | 899 0418 881F rol r24 |
||
852 | 900 041a 282F mov r18,r24 |
||
853 | 901 041c 3327 clr r19 |
||
854 | 902 041e 8091 0000 lds r24,left_data_buf |
||
855 | 903 0422 9091 0000 lds r25,(left_data_buf)+1 |
||
856 | 904 .LVL54: |
||
857 | 905 0426 822B or r24,r18 |
||
858 | 906 0428 932B or r25,r19 |
||
859 | 907 042a 9093 0000 sts (left_data_buf)+1,r25 |
||
860 | 908 042e 8093 0000 sts left_data_buf,r24 |
||
861 | 909 .LM116: |
||
862 | 910 0432 85E0 ldi r24,lo8(5) |
||
863 | 911 0434 90E0 ldi r25,hi8(5) |
||
864 | 912 0436 65E0 ldi r22,lo8(5) |
||
865 | 913 0438 70E0 ldi r23,hi8(5) |
||
866 | 914 043a 0E94 0000 call __divmodhi4 |
||
867 | 915 043e 8093 0000 sts encoder_buf_index,r24 |
||
868 | 916 0442 00C0 rjmp .L124 |
||
869 | 917 .LVL55: |
||
870 | 918 .L116: |
||
871 | 919 0444 842F mov r24,r20 |
||
872 | 920 0446 9927 clr r25 |
||
873 | 921 .LVL56: |
||
874 | 922 0448 0196 adiw r24,1 |
||
875 | 923 044a 65E0 ldi r22,lo8(5) |
||
876 | 924 044c 70E0 ldi r23,hi8(5) |
||
877 | 925 044e 0E94 0000 call __divmodhi4 |
||
878 | 926 0452 8093 0000 sts encoder_buf_index,r24 |
||
879 | 927 .LM117: |
||
880 | 928 0456 8823 tst r24 |
||
881 | 929 0458 01F0 breq .+2 |
||
882 | 930 045a 00C0 rjmp .L125 |
||
883 | 931 .L124: |
||
884 | 932 .LM118: |
||
885 | 933 045c 2091 0000 lds r18,left_data_buf |
||
886 | 934 0460 3091 0000 lds r19,(left_data_buf)+1 |
||
887 | 935 0464 24FD sbrc r18,4 |
||
888 | 936 0466 00C0 rjmp .L126 |
||
889 | 937 .LM119: |
||
890 | 938 0468 82E0 ldi r24,lo8(1026) |
||
891 | 939 046a 94E0 ldi r25,hi8(1026) |
||
892 | 940 046c 9093 0000 sts (left_data)+1,r25 |
||
893 | 941 0470 8093 0000 sts left_data,r24 |
||
894 | 942 .L126: |
||
895 | 943 .LM120: |
||
896 | 944 0474 C901 movw r24,r18 |
||
897 | 945 0476 8C70 andi r24,lo8(12) |
||
898 | 946 0478 9070 andi r25,hi8(12) |
||
899 | 947 047a 892B or r24,r25 |
||
900 | 948 047c 01F0 breq .L128 |
||
901 | 949 .LM121: |
||
902 | 950 047e 83E0 ldi r24,lo8(1027) |
||
903 | 951 0480 94E0 ldi r25,hi8(1027) |
||
904 | 952 0482 00C0 rjmp .L166 |
||
905 | 953 .L128: |
||
906 | 954 .LM122: |
||
907 | 955 0484 21FF sbrs r18,1 |
||
908 | 956 0486 00C0 rjmp .L131 |
||
909 | 957 0488 20FF sbrs r18,0 |
||
910 | 958 048a 00C0 rjmp .L131 |
||
911 | 959 .LM123: |
||
912 | 960 048c 81E0 ldi r24,lo8(1025) |
||
913 | 961 048e 94E0 ldi r25,hi8(1025) |
||
914 | 962 .L166: |
||
915 | 963 0490 9093 0000 sts (left_data)+1,r25 |
||
916 | 964 0494 8093 0000 sts left_data,r24 |
||
917 | 965 0498 00C0 rjmp .L130 |
||
918 | 966 .L131: |
||
919 | 967 .LM124: |
||
920 | 968 049a 75E0 ldi r23,5 |
||
921 | 969 049c 3695 1: lsr r19 |
||
922 | 970 049e 2795 ror r18 |
||
923 | 971 04a0 7A95 dec r23 |
||
924 | 972 04a2 01F4 brne 1b |
||
925 | 973 04a4 3370 andi r19,hi8(1023) |
||
926 | 974 04a6 3093 0000 sts (left_data)+1,r19 |
||
927 | 975 04aa 2093 0000 sts left_data,r18 |
||
928 | 976 .L130: |
||
929 | 977 .LM125: |
||
930 | 978 04ae 2091 0000 lds r18,right_data_buf |
||
931 | 979 04b2 3091 0000 lds r19,(right_data_buf)+1 |
||
932 | 980 04b6 24FD sbrc r18,4 |
||
933 | 981 04b8 00C0 rjmp .L134 |
||
934 | 982 .LM126: |
||
935 | 983 04ba 82E0 ldi r24,lo8(1026) |
||
936 | 984 04bc 94E0 ldi r25,hi8(1026) |
||
937 | 985 04be 9093 0000 sts (right_data)+1,r25 |
||
938 | 986 04c2 8093 0000 sts right_data,r24 |
||
939 | 987 .L134: |
||
940 | 988 .LM127: |
||
941 | 989 04c6 C901 movw r24,r18 |
||
942 | 990 04c8 8C70 andi r24,lo8(12) |
||
943 | 991 04ca 9070 andi r25,hi8(12) |
||
944 | 992 04cc 892B or r24,r25 |
||
945 | 993 04ce 01F0 breq .L136 |
||
946 | 994 .LM128: |
||
947 | 995 04d0 83E0 ldi r24,lo8(1027) |
||
948 | 996 04d2 94E0 ldi r25,hi8(1027) |
||
949 | 997 04d4 00C0 rjmp .L167 |
||
950 | 998 .L136: |
||
951 | 999 .LM129: |
||
952 | 1000 04d6 21FF sbrs r18,1 |
||
953 | 1001 04d8 00C0 rjmp .L139 |
||
954 | 1002 04da 20FF sbrs r18,0 |
||
955 | 1003 04dc 00C0 rjmp .L139 |
||
956 | 1004 .LM130: |
||
957 | 1005 04de 81E0 ldi r24,lo8(1025) |
||
958 | 1006 04e0 94E0 ldi r25,hi8(1025) |
||
959 | 1007 .L167: |
||
960 | 1008 04e2 9093 0000 sts (right_data)+1,r25 |
||
961 | 1009 04e6 8093 0000 sts right_data,r24 |
||
962 | 1010 04ea 00C0 rjmp .L138 |
||
963 | 1011 .L139: |
||
964 | 1012 .LM131: |
||
965 | 1013 04ec 65E0 ldi r22,5 |
||
966 | 1014 04ee 3695 1: lsr r19 |
||
967 | 1015 04f0 2795 ror r18 |
||
968 | 1016 04f2 6A95 dec r22 |
||
969 | 1017 04f4 01F4 brne 1b |
||
970 | 1018 04f6 3370 andi r19,hi8(1023) |
||
971 | 1019 04f8 3093 0000 sts (right_data)+1,r19 |
||
972 | 1020 04fc 2093 0000 sts right_data,r18 |
||
973 | 1021 .L138: |
||
974 | 1022 .LM132: |
||
975 | 1023 0500 1092 0000 sts (left_data_buf)+1,__zero_reg__ |
||
976 | 1024 0504 1092 0000 sts left_data_buf,__zero_reg__ |
||
977 | 1025 .LM133: |
||
978 | 1026 0508 1092 0000 sts (right_data_buf)+1,__zero_reg__ |
||
979 | 1027 050c 1092 0000 sts right_data_buf,__zero_reg__ |
||
980 | 1028 .LM134: |
||
981 | 1029 0510 2091 0000 lds r18,left_data |
||
982 | 1030 0514 3091 0000 lds r19,(left_data)+1 |
||
983 | 1031 0518 84E0 ldi r24,hi8(1024) |
||
984 | 1032 051a 2030 cpi r18,lo8(1024) |
||
985 | 1033 051c 3807 cpc r19,r24 |
||
986 | 1034 051e 00F0 brlo .+2 |
||
987 | 1035 0520 00C0 rjmp .L142 |
||
988 | 1036 .LM135: |
||
989 | 1037 0522 8FEF ldi r24,lo8(1023) |
||
990 | 1038 0524 93E0 ldi r25,hi8(1023) |
||
991 | 1039 0526 821B sub r24,r18 |
||
992 | 1040 0528 930B sbc r25,r19 |
||
993 | 1041 052a 9093 0000 sts (left_data)+1,r25 |
||
994 | 1042 052e 8093 0000 sts left_data,r24 |
||
995 | 1043 .LM136: |
||
996 | 1044 0532 0E94 0000 call left_data_array_put |
||
997 | 1045 .LM137: |
||
998 | 1046 0536 2091 0000 lds r18,left_data |
||
999 | 1047 053a 3091 0000 lds r19,(left_data)+1 |
||
1000 | 1048 .LBB26: |
||
1001 | 1049 .LBB27: |
||
1002 | 1050 .LM138: |
||
1003 | 1051 053e E091 0000 lds r30,left_data_idx |
||
1004 | 1052 0542 F091 0000 lds r31,(left_data_idx)+1 |
||
1005 | 1053 0546 3097 sbiw r30,0 |
||
1006 | 1054 0548 01F4 brne .L144 |
||
1007 | 1055 .LM139: |
||
1008 | 1056 054a 8091 0000 lds r24,left_data_array+90 |
||
1009 | 1057 054e 9091 0000 lds r25,(left_data_array+90)+1 |
||
1010 | 1058 0552 00C0 rjmp .L168 |
||
1011 | 1059 .L144: |
||
1012 | 1060 .LM140: |
||
1013 | 1061 0554 EE0F lsl r30 |
||
1014 | 1062 0556 FF1F rol r31 |
||
1015 | 1063 0558 E050 subi r30,lo8(-(left_data_array-2)) |
||
1016 | 1064 055a F040 sbci r31,hi8(-(left_data_array-2)) |
||
1017 | 1065 055c 8081 ld r24,Z |
||
1018 | 1066 055e 9181 ldd r25,Z+1 |
||
1019 | 1067 .L168: |
||
1020 | 1068 .LBE27: |
||
1021 | 1069 .LBE26: |
||
1022 | 1070 .LM141: |
||
1023 | 1071 0560 281B sub r18,r24 |
||
1024 | 1072 0562 390B sbc r19,r25 |
||
1025 | 1073 .LVL57: |
||
1026 | 1074 .LM142: |
||
1027 | 1075 0564 892B or r24,r25 |
||
1028 | 1076 0566 01F0 breq .L147 |
||
1029 | 1077 .LM143: |
||
1030 | 1078 0568 82E0 ldi r24,hi8(513) |
||
1031 | 1079 056a 2130 cpi r18,lo8(513) |
||
1032 | 1080 056c 3807 cpc r19,r24 |
||
1033 | 1081 056e 04F0 brlt .L149 |
||
1034 | 1082 0570 8091 0000 lds r24,left_dx |
||
1035 | 1083 0574 9091 0000 lds r25,(left_dx)+1 |
||
1036 | 1084 0578 280F add r18,r24 |
||
1037 | 1085 057a 391F adc r19,r25 |
||
1038 | 1086 057c 2F5F subi r18,lo8(-(-1023)) |
||
1039 | 1087 057e 3340 sbci r19,hi8(-(-1023)) |
||
1040 | 1088 0580 00C0 rjmp .L169 |
||
1041 | 1089 .L149: |
||
1042 | 1090 .LM144: |
||
1043 | 1091 0582 8EEF ldi r24,hi8(-512) |
||
1044 | 1092 0584 2030 cpi r18,lo8(-512) |
||
1045 | 1093 0586 3807 cpc r19,r24 |
||
1046 | 1094 0588 04F4 brge .L151 |
||
1047 | 1095 058a 8091 0000 lds r24,left_dx |
||
1048 | 1096 058e 9091 0000 lds r25,(left_dx)+1 |
||
1049 | 1097 0592 8150 subi r24,lo8(-(1023)) |
||
1050 | 1098 0594 9C4F sbci r25,hi8(-(1023)) |
||
1051 | 1099 0596 280F add r18,r24 |
||
1052 | 1100 0598 391F adc r19,r25 |
||
1053 | 1101 .L169: |
||
1054 | 1102 059a 3093 0000 sts (left_dx)+1,r19 |
||
1055 | 1103 059e 2093 0000 sts left_dx,r18 |
||
1056 | 1104 05a2 00C0 rjmp .L142 |
||
1057 | 1105 .L147: |
||
1058 | 1106 05a4 20E0 ldi r18,lo8(0) |
||
1059 | 1107 05a6 30E0 ldi r19,hi8(0) |
||
1060 | 1108 .L151: |
||
1061 | 1109 .LM145: |
||
1062 | 1110 05a8 8091 0000 lds r24,left_dx |
||
1063 | 1111 05ac 9091 0000 lds r25,(left_dx)+1 |
||
1064 | 1112 05b0 820F add r24,r18 |
||
1065 | 1113 05b2 931F adc r25,r19 |
||
1066 | 1114 05b4 9093 0000 sts (left_dx)+1,r25 |
||
1067 | 1115 05b8 8093 0000 sts left_dx,r24 |
||
1068 | 1116 .L142: |
||
1069 | 1117 .LM146: |
||
1070 | 1118 05bc 8091 0000 lds r24,right_data |
||
1071 | 1119 05c0 9091 0000 lds r25,(right_data)+1 |
||
1072 | 1120 05c4 24E0 ldi r18,hi8(1024) |
||
1073 | 1121 05c6 8030 cpi r24,lo8(1024) |
||
1074 | 1122 05c8 9207 cpc r25,r18 |
||
1075 | 1123 .LVL58: |
||
1076 | 1124 05ca 00F0 brlo .+2 |
||
1077 | 1125 05cc 00C0 rjmp .L125 |
||
1078 | 1126 .LM147: |
||
1079 | 1127 05ce 0E94 0000 call right_data_array_put |
||
1080 | 1128 .LM148: |
||
1081 | 1129 05d2 2091 0000 lds r18,right_data |
||
1082 | 1130 05d6 3091 0000 lds r19,(right_data)+1 |
||
1083 | 1131 .LBB28: |
||
1084 | 1132 .LBB29: |
||
1085 | 1133 .LM149: |
||
1086 | 1134 05da E091 0000 lds r30,right_data_idx |
||
1087 | 1135 05de F091 0000 lds r31,(right_data_idx)+1 |
||
1088 | 1136 05e2 3097 sbiw r30,0 |
||
1089 | 1137 05e4 01F4 brne .L154 |
||
1090 | 1138 .LM150: |
||
1091 | 1139 05e6 8091 0000 lds r24,right_data_array+90 |
||
1092 | 1140 05ea 9091 0000 lds r25,(right_data_array+90)+1 |
||
1093 | 1141 05ee 00C0 rjmp .L170 |
||
1094 | 1142 .L154: |
||
1095 | 1143 .LM151: |
||
1096 | 1144 05f0 EE0F lsl r30 |
||
1097 | 1145 05f2 FF1F rol r31 |
||
1098 | 1146 05f4 E050 subi r30,lo8(-(right_data_array-2)) |
||
1099 | 1147 05f6 F040 sbci r31,hi8(-(right_data_array-2)) |
||
1100 | 1148 05f8 8081 ld r24,Z |
||
1101 | 1149 05fa 9181 ldd r25,Z+1 |
||
1102 | 1150 .L170: |
||
1103 | 1151 .LBE29: |
||
1104 | 1152 .LBE28: |
||
1105 | 1153 .LM152: |
||
1106 | 1154 05fc 281B sub r18,r24 |
||
1107 | 1155 05fe 390B sbc r19,r25 |
||
1108 | 1156 .LVL59: |
||
1109 | 1157 .LM153: |
||
1110 | 1158 0600 892B or r24,r25 |
||
1111 | 1159 0602 01F0 breq .L157 |
||
1112 | 1160 .LM154: |
||
1113 | 1161 0604 82E0 ldi r24,hi8(513) |
||
1114 | 1162 0606 2130 cpi r18,lo8(513) |
||
1115 | 1163 0608 3807 cpc r19,r24 |
||
1116 | 1164 060a 04F0 brlt .L159 |
||
1117 | 1165 060c 8091 0000 lds r24,right_dx |
||
1118 | 1166 0610 9091 0000 lds r25,(right_dx)+1 |
||
1119 | 1167 0614 280F add r18,r24 |
||
1120 | 1168 0616 391F adc r19,r25 |
||
1121 | 1169 0618 2F5F subi r18,lo8(-(-1023)) |
||
1122 | 1170 061a 3340 sbci r19,hi8(-(-1023)) |
||
1123 | 1171 061c 00C0 rjmp .L173 |
||
1124 | 1172 .L159: |
||
1125 | 1173 .LM155: |
||
1126 | 1174 061e 8EEF ldi r24,hi8(-512) |
||
1127 | 1175 0620 2030 cpi r18,lo8(-512) |
||
1128 | 1176 0622 3807 cpc r19,r24 |
||
1129 | 1177 0624 04F4 brge .L161 |
||
1130 | 1178 0626 8091 0000 lds r24,right_dx |
||
1131 | 1179 062a 9091 0000 lds r25,(right_dx)+1 |
||
1132 | 1180 062e 8150 subi r24,lo8(-(1023)) |
||
1133 | 1181 0630 9C4F sbci r25,hi8(-(1023)) |
||
1134 | 1182 0632 280F add r18,r24 |
||
1135 | 1183 0634 391F adc r19,r25 |
||
1136 | 1184 .L173: |
||
1137 | 1185 0636 3093 0000 sts (right_dx)+1,r19 |
||
1138 | 1186 063a 2093 0000 sts right_dx,r18 |
||
1139 | 1187 063e 00C0 rjmp .L125 |
||
1140 | 1188 .L157: |
||
1141 | 1189 0640 20E0 ldi r18,lo8(0) |
||
1142 | 1190 0642 30E0 ldi r19,hi8(0) |
||
1143 | 1191 .L161: |
||
1144 | 1192 .LM156: |
||
1145 | 1193 0644 8091 0000 lds r24,right_dx |
||
1146 | 1194 0648 9091 0000 lds r25,(right_dx)+1 |
||
1147 | 1195 064c 820F add r24,r18 |
||
1148 | 1196 064e 931F adc r25,r19 |
||
1149 | 1197 0650 9093 0000 sts (right_dx)+1,r25 |
||
1150 | 1198 0654 8093 0000 sts right_dx,r24 |
||
1151 | 1199 0658 00C0 rjmp .L125 |
||
1152 | 1200 .LVL60: |
||
1153 | 1201 .L123: |
||
1154 | 1202 .LM157: |
||
1155 | 1203 065a 842F mov r24,r20 |
||
1156 | 1204 065c 9927 clr r25 |
||
1157 | 1205 065e 0196 adiw r24,1 |
||
1158 | 1206 0660 65E0 ldi r22,lo8(5) |
||
1159 | 1207 0662 70E0 ldi r23,hi8(5) |
||
1160 | 1208 0664 0E94 0000 call __divmodhi4 |
||
1161 | 1209 0668 8093 0000 sts encoder_buf_index,r24 |
||
1162 | 1210 .LVL61: |
||
1163 | 1211 .L125: |
||
1164 | 1212 .LM158: |
||
1165 | 1213 066c 8091 0000 lds r24,timecount |
||
1166 | 1214 0670 9091 0000 lds r25,(timecount)+1 |
||
1167 | 1215 0674 A091 0000 lds r26,(timecount)+2 |
||
1168 | 1216 0678 B091 0000 lds r27,(timecount)+3 |
||
1169 | 1217 067c 0196 adiw r24,1 |
||
1170 | 1218 067e A11D adc r26,__zero_reg__ |
||
1171 | 1219 0680 B11D adc r27,__zero_reg__ |
||
1172 | 1220 0682 8093 0000 sts timecount,r24 |
||
1173 | 1221 0686 9093 0000 sts (timecount)+1,r25 |
||
1174 | 1222 068a A093 0000 sts (timecount)+2,r26 |
||
1175 | 1223 068e B093 0000 sts (timecount)+3,r27 |
||
1176 | 1224 /* epilogue: frame size=0 */ |
||
1177 | 1225 0692 0895 ret |
||
1178 | 1226 /* epilogue end (size=1) */ |
||
1179 | 1227 /* function encoder_recv size 379 (378) */ |
||
1180 | 1228 .LFE12: |
||
1181 | 1230 .global encoder_get_x |
||
1182 | 1232 encoder_get_x: |
||
1183 | 1233 .LFB5: |
||
1184 | 1234 .LM159: |
||
1185 | 1235 /* prologue: frame size=0 */ |
||
1186 | 1236 /* prologue end (size=0) */ |
||
1187 | 1237 .LVL62: |
||
1188 | 1238 .LBB32: |
||
1189 | 1239 .LBB33: |
||
1190 | 1240 .LM160: |
||
1191 | 1241 0694 8823 tst r24 |
||
1192 | 1242 0696 01F4 brne .L175 |
||
1193 | 1243 .LM161: |
||
1194 | 1244 0698 8091 0000 lds r24,left_dx |
||
1195 | 1245 069c 9091 0000 lds r25,(left_dx)+1 |
||
1196 | 1246 .LVL63: |
||
1197 | 1247 06a0 0895 ret |
||
1198 | 1248 .LVL64: |
||
1199 | 1249 .L175: |
||
1200 | 1250 .LM162: |
||
1201 | 1251 06a2 8130 cpi r24,lo8(1) |
||
1202 | 1252 06a4 01F0 breq .L178 |
||
1203 | 1253 06a6 8FEF ldi r24,lo8(-1) |
||
1204 | 1254 06a8 9FEF ldi r25,hi8(-1) |
||
1205 | 1255 .LVL65: |
||
1206 | 1256 06aa 0895 ret |
||
1207 | 1257 .LVL66: |
||
1208 | 1258 .L178: |
||
1209 | 1259 06ac 8091 0000 lds r24,right_dx |
||
1210 | 1260 06b0 9091 0000 lds r25,(right_dx)+1 |
||
1211 | 1261 .LVL67: |
||
1212 | 1262 .LBE33: |
||
1213 | 1263 .LBE32: |
||
1214 | 1264 .LM163: |
||
1215 | 1265 06b4 0895 ret |
||
1216 | 1266 /* epilogue: frame size=0 */ |
||
1217 | 1267 /* epilogue: noreturn */ |
||
1218 | 1268 /* epilogue end (size=0) */ |
||
1219 | 1269 /* function encoder_get_x size 17 (17) */ |
||
1220 | 1270 .LFE5: |
||
1221 | 1272 .comm left_data_buf,2,1 |
||
1222 | 1273 .comm right_data_buf,2,1 |
||
1223 | 1274 .comm encoder_buf_index,1,1 |
||
1224 | 1275 .comm left_data,2,1 |
||
1225 | 1276 .comm right_data,2,1 |
||
1226 | 1277 .comm left_data_array,92,1 |
||
1227 | 1278 .comm right_data_array,92,1 |
||
1228 | 1279 .comm left_data_idx,2,1 |
||
1229 | 1280 .comm right_data_idx,2,1 |
||
1230 | 1281 .comm left_dx,2,1 |
||
1231 | 1282 .comm right_dx,2,1 |
||
1232 | 1283 .comm timecount,4,1 |
||
1233 | 1284 .comm data_ready,2,1 |
||
1234 | 1477 .Letext0: |
||
1235 | DEFINED SYMBOLS |
||
1236 | *ABS*:00000000 encoders.c |
||
1237 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:3 *ABS*:0000003f __SREG__ |
||
1238 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:4 *ABS*:0000003e __SP_H__ |
||
1239 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:5 *ABS*:0000003d __SP_L__ |
||
1240 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:6 *ABS*:00000000 __tmp_reg__ |
||
1241 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:7 *ABS*:00000001 __zero_reg__ |
||
1242 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:20 .text:00000000 encoder_read |
||
1243 | *COM*:00000002 left_data |
||
1244 | *COM*:00000002 right_data |
||
1245 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:58 .text:00000022 encoder_get_dx |
||
1246 | *COM*:00000002 left_dx |
||
1247 | *COM*:00000002 right_dx |
||
1248 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:96 .text:00000044 encoder_rst_dx |
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1249 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:125 .text:00000060 encoder_get_tc |
||
1250 | *COM*:00000004 timecount |
||
1251 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:141 .text:0000006a encoder_rst_tc |
||
1252 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:159 .text:0000007c encoder_wait |
||
1253 | *COM*:00000002 data_ready |
||
1254 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:185 .text:00000096 left_data_array_put |
||
1255 | *COM*:00000002 left_data_idx |
||
1256 | *COM*:0000005c left_data_array |
||
1257 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:225 .text:000000d0 left_data_array_top |
||
1258 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:247 .text:000000e6 left_data_array_prev |
||
1259 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:279 .text:0000010a left_data_array_bottom |
||
1260 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:312 .text:00000130 right_data_array_put |
||
1261 | *COM*:00000002 right_data_idx |
||
1262 | *COM*:0000005c right_data_array |
||
1263 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:352 .text:0000016a right_data_array_top |
||
1264 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:374 .text:00000180 right_data_array_prev |
||
1265 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:406 .text:000001a4 right_data_array_bottom |
||
1266 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:439 .text:000001ca left_data_at |
||
1267 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:472 .text:000001e8 right_data_at |
||
1268 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:505 .text:00000206 get_dx |
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1269 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:659 .text:000002c2 encoder_get_v |
||
1270 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:730 .text:00000310 encoders_init |
||
1271 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:799 .text:00000384 encoder_recv_complete |
||
1272 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:823 .text:000003a2 encoder_recv |
||
1273 | *COM*:00000001 encoder_buf_index |
||
1274 | *COM*:00000002 left_data_buf |
||
1275 | *COM*:00000002 right_data_buf |
||
1276 | F:\DOCUME~1\Evan\LOCALS~1\Temp/ccI855Ko.s:1232 .text:00000694 encoder_get_x |
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1277 | |||
1278 | UNDEFINED SYMBOLS |
||
1279 | __do_copy_data |
||
1280 | __do_clear_bss |
||
1281 | spi_init |
||
1282 | spi_transfer |
||
1283 | __divmodhi4 |