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