PC_Comm.elf: file format elf32-avr Sections: Idx Name Size VMA LMA File off Algn 0 .data 000000d0 00800100 000016e0 00001754 2**0 CONTENTS, ALLOC, LOAD, DATA 1 .text 000016e0 00000000 00000000 00000074 2**1 CONTENTS, ALLOC, LOAD, READONLY, CODE 2 .bss 00000045 008001d0 000017b0 00001824 2**0 ALLOC 3 .debug_aranges 00000100 00000000 00000000 00001824 2**0 CONTENTS, READONLY, DEBUGGING 4 .debug_pubnames 00000529 00000000 00000000 00001924 2**0 CONTENTS, READONLY, DEBUGGING 5 .debug_info 00001803 00000000 00000000 00001e4d 2**0 CONTENTS, READONLY, DEBUGGING 6 .debug_abbrev 00000aca 00000000 00000000 00003650 2**0 CONTENTS, READONLY, DEBUGGING 7 .debug_line 00001486 00000000 00000000 0000411a 2**0 CONTENTS, READONLY, DEBUGGING 8 .debug_frame 00000340 00000000 00000000 000055a0 2**2 CONTENTS, READONLY, DEBUGGING 9 .debug_str 0000067a 00000000 00000000 000058e0 2**0 CONTENTS, READONLY, DEBUGGING 10 .debug_loc 00000883 00000000 00000000 00005f5a 2**0 CONTENTS, READONLY, DEBUGGING 11 .debug_ranges 000000c0 00000000 00000000 000067dd 2**0 CONTENTS, READONLY, DEBUGGING Disassembly of section .text: 00000000 <__vectors>: 0: 0c 94 64 00 jmp 0xc8 ; 0xc8 <__ctors_end> 4: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 8: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> c: 0c 94 23 07 jmp 0xe46 ; 0xe46 <__vector_3> 10: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 14: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 18: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 1c: 0c 94 f6 06 jmp 0xdec ; 0xdec <__vector_7> 20: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 24: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 28: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 2c: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 30: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 34: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 38: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 3c: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 40: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 44: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 48: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 4c: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 50: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 54: 0c 94 81 00 jmp 0x102 ; 0x102 <__bad_interrupt> 58: 0c 94 21 04 jmp 0x842 ; 0x842 <__vector_22> 0000005c : 5c: a8 ea 80 2a 00 40 00 0a 51 0a 08 40 59 55 18 01 ...*.@..Q..@YU.. 6c: 11 1e 11 1b 50 0b 41 1b 41 1f 11 01 51 1f 51 1b ....P.A.A...Q.Q. 7c: 00 00 00 00 08 80 00 1a 20 40 00 00 00 00 51 0f ........ @....Q. 8c: 91 39 41 14 91 31 41 1e 41 0e 41 1d 50 0f 80 20 .9A..1A.A.A.P.. 9c: 10 15 48 86 40 14 78 05 70 85 51 15 51 0e 51 95 ..H.@.x.p.Q.Q.Q. ac: 51 8e 21 90 81 20 50 15 48 44 50 c5 28 c0 28 20 Q.!.. P.HDP.(.( bc: 09 50 41 14 20 80 11 11 00 00 00 10 .PA. ....... 000000c8 <__ctors_end>: c8: 11 24 eor r1, r1 ca: 1f be out 0x3f, r1 ; 63 cc: cf ef ldi r28, 0xFF ; 255 ce: d4 e0 ldi r29, 0x04 ; 4 d0: de bf out 0x3e, r29 ; 62 d2: cd bf out 0x3d, r28 ; 61 000000d4 <__do_copy_data>: d4: 11 e0 ldi r17, 0x01 ; 1 d6: a0 e0 ldi r26, 0x00 ; 0 d8: b1 e0 ldi r27, 0x01 ; 1 da: e0 ee ldi r30, 0xE0 ; 224 dc: f6 e1 ldi r31, 0x16 ; 22 de: 02 c0 rjmp .+4 ; 0xe4 <.do_copy_data_start> 000000e0 <.do_copy_data_loop>: e0: 05 90 lpm r0, Z+ e2: 0d 92 st X+, r0 000000e4 <.do_copy_data_start>: e4: a0 3d cpi r26, 0xD0 ; 208 e6: b1 07 cpc r27, r17 e8: d9 f7 brne .-10 ; 0xe0 <.do_copy_data_loop> 000000ea <__do_clear_bss>: ea: 12 e0 ldi r17, 0x02 ; 2 ec: a0 ed ldi r26, 0xD0 ; 208 ee: b1 e0 ldi r27, 0x01 ; 1 f0: 01 c0 rjmp .+2 ; 0xf4 <.do_clear_bss_start> 000000f2 <.do_clear_bss_loop>: f2: 1d 92 st X+, r1 000000f4 <.do_clear_bss_start>: f4: a5 31 cpi r26, 0x15 ; 21 f6: b1 07 cpc r27, r17 f8: e1 f7 brne .-8 ; 0xf2 <.do_clear_bss_loop> fa: 0e 94 1c 02 call 0x438 ; 0x438
fe: 0c 94 6e 0b jmp 0x16dc ; 0x16dc <_exit> 00000102 <__bad_interrupt>: 102: 0c 94 00 00 jmp 0 ; 0x0 <__vectors> 00000106 : //sendString(" \rYou are talking to the PC_Comm demo.\r" ); } int parseInput(char s[]) { 106: ef 92 push r14 108: ff 92 push r15 10a: 0f 93 push r16 10c: 1f 93 push r17 10e: df 93 push r29 110: cf 93 push r28 112: cd b7 in r28, 0x3d ; 61 114: de b7 in r29, 0x3e ; 62 116: c9 55 subi r28, 0x59 ; 89 118: d0 40 sbci r29, 0x00 ; 0 11a: 0f b6 in r0, 0x3f ; 63 11c: f8 94 cli 11e: de bf out 0x3e, r29 ; 62 120: 0f be out 0x3f, r0 ; 63 122: cd bf out 0x3d, r28 ; 61 124: 8c 01 movw r16, r24 // Check which command ios being sent if( strncmp(s, "START", 5) == 0 ) { 126: 45 e0 ldi r20, 0x05 ; 5 128: 50 e0 ldi r21, 0x00 ; 0 12a: 60 e0 ldi r22, 0x00 ; 0 12c: 71 e0 ldi r23, 0x01 ; 1 12e: 0e 94 7f 08 call 0x10fe ; 0x10fe 132: 00 97 sbiw r24, 0x00 ; 0 134: 11 f5 brne .+68 ; 0x17a // The START## command is used to set the number of sonar to // range and to start ranging //sendString( "Read start command\n" ); // If the data array was initialized previously, delete it if( dataArray != NULL ) { 136: 80 91 d3 01 lds r24, 0x01D3 13a: 90 91 d4 01 lds r25, 0x01D4 13e: 00 97 sbiw r24, 0x00 ; 0 140: 11 f0 breq .+4 ; 0x146 free( dataArray ); 142: 0e 94 09 08 call 0x1012 ; 0x1012 } // The number after START is the number of sonar to use numSonar = atoi( &s[5] ); 146: c8 01 movw r24, r16 148: 05 96 adiw r24, 0x05 ; 5 14a: 0e 94 61 08 call 0x10c2 ; 0x10c2 14e: 80 93 d0 01 sts 0x01D0, r24 dataArray = (uint16_t *)malloc( numSonar * sizeof(uint16_t) ); 152: 90 e0 ldi r25, 0x00 ; 0 154: 88 0f add r24, r24 156: 99 1f adc r25, r25 158: 0e 94 5f 07 call 0xebe ; 0xebe 15c: 80 93 d3 01 sts 0x01D3, r24 160: 90 93 d4 01 sts 0x01D4, r25 SRF_init( numSonar ); 164: 80 91 d0 01 lds r24, 0x01D0 168: 90 e0 ldi r25, 0x00 ; 0 16a: 0e 94 79 05 call 0xaf2 ; 0xaf2 // Update the LCD right away lcdDisplay = SRF_TRUE; 16e: 81 e0 ldi r24, 0x01 ; 1 170: 80 93 a8 01 sts 0x01A8, r24 174: 21 e0 ldi r18, 0x01 ; 1 176: 30 e0 ldi r19, 0x00 ; 0 178: 6d c0 rjmp .+218 ; 0x254 // The next state is to send data return STATE_SEND_DATA; } else if( strncmp(s, "STOP", 4) == 0 ){ 17a: 44 e0 ldi r20, 0x04 ; 4 17c: 50 e0 ldi r21, 0x00 ; 0 17e: 66 e0 ldi r22, 0x06 ; 6 180: 71 e0 ldi r23, 0x01 ; 1 182: c8 01 movw r24, r16 184: 0e 94 7f 08 call 0x10fe ; 0x10fe 188: 00 97 sbiw r24, 0x00 ; 0 18a: 19 f4 brne .+6 ; 0x192 18c: 20 e0 ldi r18, 0x00 ; 0 18e: 30 e0 ldi r19, 0x00 ; 0 190: 61 c0 rjmp .+194 ; 0x254 // The STOP command is used to stop ranging //sendString( "Read STOP command\n" ); return STATE_WAIT_FOR_START; } else if( strncmp(s, "ADDR", 4) == 0 ) { 192: 44 e0 ldi r20, 0x04 ; 4 194: 50 e0 ldi r21, 0x00 ; 0 196: 6b e0 ldi r22, 0x0B ; 11 198: 71 e0 ldi r23, 0x01 ; 1 19a: c8 01 movw r24, r16 19c: 0e 94 7f 08 call 0x10fe ; 0x10fe 1a0: 00 97 sbiw r24, 0x00 ; 0 1a2: 61 f5 brne .+88 ; 0x1fc // The ADDR#1,#2 command is used to change the address of // the single sonar connected. // #1 is the old index, must take two characters // #2 is the new index, must take two characters sendString( "Read Change Address command\n" ); 1a4: 80 e1 ldi r24, 0x10 ; 16 1a6: 91 e0 ldi r25, 0x01 ; 1 1a8: 0e 94 6c 01 call 0x2d8 ; 0x2d8 //sendString( s ); uint8_t oldIndex = atoi( &s[4] ); 1ac: c8 01 movw r24, r16 1ae: 04 96 adiw r24, 0x04 ; 4 1b0: 0e 94 61 08 call 0x10c2 ; 0x10c2 1b4: e8 2e mov r14, r24 uint8_t newIndex = atoi( &s[7] ); 1b6: c8 01 movw r24, r16 1b8: 07 96 adiw r24, 0x07 ; 7 1ba: 0e 94 61 08 call 0x10c2 ; 0x10c2 1be: f8 2e mov r15, r24 char line[25]; sprintf( line, "Old: %d New: %d\n", oldIndex, newIndex ); 1c0: 90 e0 ldi r25, 0x00 ; 0 1c2: 9f 93 push r25 1c4: 8f 93 push r24 1c6: 8e 2d mov r24, r14 1c8: 90 e0 ldi r25, 0x00 ; 0 1ca: 9f 93 push r25 1cc: 8f 93 push r24 1ce: 8d e2 ldi r24, 0x2D ; 45 1d0: 91 e0 ldi r25, 0x01 ; 1 1d2: 9f 93 push r25 1d4: 8f 93 push r24 1d6: 8e 01 movw r16, r28 1d8: 0f 5f subi r16, 0xFF ; 255 1da: 1f 4f sbci r17, 0xFF ; 255 1dc: 1f 93 push r17 1de: 0f 93 push r16 1e0: 0e 94 95 08 call 0x112a ; 0x112a sendString( line ); 1e4: c8 01 movw r24, r16 1e6: 0e 94 6c 01 call 0x2d8 ; 0x2d8 SRF_changeAddress( oldIndex, newIndex ); 1ea: 6f 2d mov r22, r15 1ec: 8e 2d mov r24, r14 1ee: 0e 94 7c 05 call 0xaf8 ; 0xaf8 return state; // No state change 1f2: 80 91 d1 01 lds r24, 0x01D1 1f6: 28 2f mov r18, r24 1f8: 30 e0 ldi r19, 0x00 ; 0 1fa: 24 c0 rjmp .+72 ; 0x244 } else { // Invalid command char invalidMsg[64] = "Invalid Message: "; 1fc: de 01 movw r26, r28 1fe: 5a 96 adiw r26, 0x1a ; 26 200: e5 e4 ldi r30, 0x45 ; 69 202: f1 e0 ldi r31, 0x01 ; 1 204: 82 e1 ldi r24, 0x12 ; 18 206: 01 90 ld r0, Z+ 208: 0d 92 st X+, r0 20a: 81 50 subi r24, 0x01 ; 1 20c: e1 f7 brne .-8 ; 0x206 20e: fe 01 movw r30, r28 210: bc 96 adiw r30, 0x2c ; 44 212: 8e e2 ldi r24, 0x2E ; 46 214: df 01 movw r26, r30 216: 1d 92 st X+, r1 218: 8a 95 dec r24 21a: e9 f7 brne .-6 ; 0x216 sprintf( invalidMsg, "E%s%s\n", invalidMsg, s ); 21c: 1f 93 push r17 21e: 0f 93 push r16 220: 8e 01 movw r16, r28 222: 06 5e subi r16, 0xE6 ; 230 224: 1f 4f sbci r17, 0xFF ; 255 226: 1f 93 push r17 228: 0f 93 push r16 22a: 8e e3 ldi r24, 0x3E ; 62 22c: 91 e0 ldi r25, 0x01 ; 1 22e: 9f 93 push r25 230: 8f 93 push r24 232: 1f 93 push r17 234: 0f 93 push r16 236: 0e 94 95 08 call 0x112a ; 0x112a sendString( invalidMsg ); 23a: c8 01 movw r24, r16 23c: 0e 94 6c 01 call 0x2d8 ; 0x2d8 240: 20 e0 ldi r18, 0x00 ; 0 242: 30 e0 ldi r19, 0x00 ; 0 244: 8d b7 in r24, 0x3d ; 61 246: 9e b7 in r25, 0x3e ; 62 248: 08 96 adiw r24, 0x08 ; 8 24a: 0f b6 in r0, 0x3f ; 63 24c: f8 94 cli 24e: 9e bf out 0x3e, r25 ; 62 250: 0f be out 0x3f, r0 ; 63 252: 8d bf out 0x3d, r24 ; 61 return STATE_WAIT_FOR_START; } } 254: c9 01 movw r24, r18 256: c7 5a subi r28, 0xA7 ; 167 258: df 4f sbci r29, 0xFF ; 255 25a: 0f b6 in r0, 0x3f ; 63 25c: f8 94 cli 25e: de bf out 0x3e, r29 ; 62 260: 0f be out 0x3f, r0 ; 63 262: cd bf out 0x3d, r28 ; 61 264: cf 91 pop r28 266: df 91 pop r29 268: 1f 91 pop r17 26a: 0f 91 pop r16 26c: ff 90 pop r15 26e: ef 90 pop r14 270: 08 95 ret 00000272 : extern uint16_t * dataArray; extern uint8_t numSonar; extern uint8_t lcdDisplay; void initializer() { 272: 0e 94 b8 01 call 0x370 ; 0x370 // Calibrate the oscillator: OSCCAL_calibration(); // Initialize the USART USARTinit(); 276: 0e 94 9d 01 call 0x33a ; 0x33a // Initialize the LCD LCD_Init(); 27a: 0e 94 c2 03 call 0x784 ; 0x784 // Initialize I2C on the USI port USI_TWI_Master_Initialise(); 27e: 0e 94 de 02 call 0x5bc ; 0x5bc // the heart beat thread runs every 100ms heartBeatThreadInit(); 282: 0e 94 b2 06 call 0xd64 ; 0xd64 // Use the center button of the joystick joystickInit(); 286: 0e 94 1a 07 call 0xe34 ; 0xe34 // say hello //sendString( "\rPC_Comm.c ready to communicate.\r" ); // identify yourself specifically //sendString(" \rYou are talking to the PC_Comm demo.\r" ); } 28a: 08 95 ret 0000028c : char isCharAvailable() { 28c: 80 91 c0 00 lds r24, 0x00C0 // Does the RX0 bit of the USART Status and Control Register // indicate a char has been received? if ( (UCSRA & (0x80)) ) return 1; else return 0; } 290: 88 1f adc r24, r24 292: 88 27 eor r24, r24 294: 88 1f adc r24, r24 296: 08 95 ret 00000298 : char receiveChar() { 298: 80 91 c6 00 lds r24, 0x00C6 // Return the char in the UDR0 register return UDR; } 29c: 08 95 ret 0000029e : void sendChar(char data) { 29e: 80 93 c6 00 sts 0x00C6, r24 // To send data with the USART put the data in the USART data register UDR = data; // Check to see if the global interrupts are enabled if(SREG & 0x80) 2a2: 0f b6 in r0, 0x3f ; 63 2a4: 07 fe sbrs r0, 7 2a6: 0e c0 rjmp .+28 ; 0x2c4 2a8: 20 e0 ldi r18, 0x00 ; 0 2aa: 30 e0 ldi r19, 0x00 ; 0 2ac: 02 c0 rjmp .+4 ; 0x2b2 { // Wait until the byte is sent or we count out while ( !(UCSRA&0x40) && (i<10000) ) { i++; 2ae: 2f 5f subi r18, 0xFF ; 255 2b0: 3f 4f sbci r19, 0xFF ; 255 // Check to see if the global interrupts are enabled if(SREG & 0x80) { // Wait until the byte is sent or we count out while ( !(UCSRA&0x40) && (i<10000) ) 2b2: 80 91 c0 00 lds r24, 0x00C0 2b6: 86 fd sbrc r24, 6 2b8: 09 c0 rjmp .+18 ; 0x2cc 2ba: 87 e2 ldi r24, 0x27 ; 39 2bc: 20 31 cpi r18, 0x10 ; 16 2be: 38 07 cpc r19, r24 2c0: b1 f7 brne .-20 ; 0x2ae 2c2: 04 c0 rjmp .+8 ; 0x2cc { i++; } } else // Wait until the byte is sent while( !(UCSRA&0x40) ); 2c4: 80 91 c0 00 lds r24, 0x00C0 2c8: 86 ff sbrs r24, 6 2ca: fc cf rjmp .-8 ; 0x2c4 // Clear the TXCflag UCSRA=UCSRA|0x40; 2cc: 80 91 c0 00 lds r24, 0x00C0 2d0: 80 64 ori r24, 0x40 ; 64 2d2: 80 93 c0 00 sts 0x00C0, r24 } 2d6: 08 95 ret 000002d8 : void sendString(char s[]) { 2d8: 0f 93 push r16 2da: 1f 93 push r17 2dc: cf 93 push r28 2de: df 93 push r29 2e0: 8c 01 movw r16, r24 2e2: c0 e0 ldi r28, 0x00 ; 0 2e4: d0 e0 ldi r29, 0x00 ; 0 int i = 0; while(i < 64) // don't get stuck if it is a bad string { if( s[i] == '\0' ) break; // quit on string terminator 2e6: f8 01 movw r30, r16 2e8: ec 0f add r30, r28 2ea: fd 1f adc r31, r29 2ec: 80 81 ld r24, Z 2ee: 88 23 and r24, r24 2f0: 31 f0 breq .+12 ; 0x2fe sendChar(s[i++]); 2f2: 21 96 adiw r28, 0x01 ; 1 2f4: 0e 94 4f 01 call 0x29e ; 0x29e void sendString(char s[]) { int i = 0; while(i < 64) // don't get stuck if it is a bad string 2f8: c0 34 cpi r28, 0x40 ; 64 2fa: d1 05 cpc r29, r1 2fc: a1 f7 brne .-24 ; 0x2e6 { if( s[i] == '\0' ) break; // quit on string terminator sendChar(s[i++]); } } 2fe: df 91 pop r29 300: cf 91 pop r28 302: 1f 91 pop r17 304: 0f 91 pop r16 306: 08 95 ret 00000308 : // Send a string located in Flash ROM void sendFString(const char *pFlashStr) { 308: 0f 93 push r16 30a: 1f 93 push r17 30c: cf 93 push r28 30e: df 93 push r29 310: 8c 01 movw r16, r24 312: c0 e0 ldi r28, 0x00 ; 0 314: d0 e0 ldi r29, 0x00 ; 0 316: 02 c0 rjmp .+4 ; 0x31c // '\0' is 'null' and terminates C strings // The 60 prevents too much overrun if we get a bad pointer // and it limits the string size for (i = 0; pgm_read_byte(&pFlashStr[i]) && i < 60; i++) { sendChar(pgm_read_byte(&pFlashStr[i])); 318: 0e 94 4f 01 call 0x29e ; 0x29e 31c: f8 01 movw r30, r16 31e: ec 0f add r30, r28 320: fd 1f adc r31, r29 // The 'for' logic terminates if the byte is '\0' or if i = 60. // '\0' is 'null' and terminates C strings // The 60 prevents too much overrun if we get a bad pointer // and it limits the string size for (i = 0; pgm_read_byte(&pFlashStr[i]) && i < 60; i++) 322: 84 91 lpm r24, Z+ 324: 88 23 and r24, r24 326: 21 f0 breq .+8 ; 0x330 328: 21 96 adiw r28, 0x01 ; 1 32a: cd 33 cpi r28, 0x3D ; 61 32c: d1 05 cpc r29, r1 32e: a1 f7 brne .-24 ; 0x318 { sendChar(pgm_read_byte(&pFlashStr[i])); } } 330: df 91 pop r29 332: cf 91 pop r28 334: 1f 91 pop r17 336: 0f 91 pop r16 338: 08 95 ret 0000033a : void USARTinit() { 33a: e1 e6 ldi r30, 0x61 ; 97 33c: f0 e0 ldi r31, 0x00 ; 0 33e: 80 e8 ldi r24, 0x80 ; 128 340: 80 83 st Z, r24 // Increase the oscillator to 2 Mhz for the 19200 baudrate: CLKPR = (1<>8); 346: 10 92 c5 00 sts 0x00C5, r1 UBRRL = 12;//(unsigned char)baudrate; 34a: 8c e0 ldi r24, 0x0C ; 12 34c: 80 93 c4 00 sts 0x00C4, r24 // Enable 2x speed change UCSRA = (1<: //Calibrate the internal OSCCAL byte, using the external //32,768 kHz crystal as reference void OSCCAL_calibration(void) { 370: 80 e8 ldi r24, 0x80 ; 128 372: 80 93 61 00 sts 0x0061, r24 int temp; unsigned char tempL; CLKPR = (1< 3b6: 80 e0 ldi r24, 0x00 ; 0 3b8: 90 e0 ldi r25, 0x00 ; 0 milliseconds can be achieved. */ void _delay_loop_2(uint16_t __count) { __asm__ volatile ( 3ba: 20 e3 ldi r18, 0x30 ; 48 3bc: 35 e7 ldi r19, 0x75 ; 117 3be: f9 01 movw r30, r18 3c0: 31 97 sbiw r30, 0x01 ; 1 3c2: f1 f7 brne .-4 ; 0x3c0 // wait for external crystal to stabilise for(int i = 0; i < 10; i++) 3c4: 01 96 adiw r24, 0x01 ; 1 3c6: 8a 30 cpi r24, 0x0A ; 10 3c8: 91 05 cpc r25, r1 3ca: c9 f7 brne .-14 ; 0x3be while(!calibrate) { cli(); // mt __disable_interrupt(); // disable global interrupt TIFR1 = 0xFF; // delete TIFR1 flags 3cc: 4f ef ldi r20, 0xFF ; 255 if (temp > 6250) { OSCCAL--; // the internRC oscillator runs to fast, decrease the OSCCAL } else if (temp < 6120) 3ce: 51 e0 ldi r21, 0x01 ; 1 for(int i = 0; i < 10; i++) _delay_loop_2(30000); while(!calibrate) { cli(); // mt __disable_interrupt(); // disable global interrupt 3d0: f8 94 cli TIFR1 = 0xFF; // delete TIFR1 flags 3d2: 46 bb out 0x16, r20 ; 22 TIFR2 = 0xFF; // delete TIFR2 flags 3d4: 47 bb out 0x17, r20 ; 23 TCNT1H = 0; // clear timer1 counter 3d6: 10 92 85 00 sts 0x0085, r1 TCNT1L = 0; 3da: 10 92 84 00 sts 0x0084, r1 TCNT2 = 0; // clear timer2 counter 3de: 10 92 b2 00 sts 0x00B2, r1 while ( !(TIFR2 && (1< TCCR1B = 0; // stop timer1 3e8: 10 92 81 00 sts 0x0081, r1 sei(); // __enable_interrupt(); // enable global interrupt 3ec: 78 94 sei if ( (TIFR1 && (1< { temp = 0xFFFF; // if timer1 overflows, set the temp to 0xFFFF } else { // read out the timer1 counter value tempL = TCNT1L; 3f4: 90 91 84 00 lds r25, 0x0084 temp = TCNT1H; 3f8: 80 91 85 00 lds r24, 0x0085 temp = (temp << 8); 3fc: 38 2f mov r19, r24 3fe: 20 e0 ldi r18, 0x00 ; 0 temp += tempL; 400: b9 01 movw r22, r18 402: 69 0f add r22, r25 404: 71 1d adc r23, r1 406: cb 01 movw r24, r22 } if (temp > 6250) 408: 78 e1 ldi r23, 0x18 ; 24 40a: 8b 36 cpi r24, 0x6B ; 107 40c: 97 07 cpc r25, r23 40e: 24 f0 brlt .+8 ; 0x418 { OSCCAL--; // the internRC oscillator runs to fast, decrease the OSCCAL 410: 80 91 66 00 lds r24, 0x0066 414: 81 50 subi r24, 0x01 ; 1 416: 08 c0 rjmp .+16 ; 0x428 } else if (temp < 6120) 418: 88 5e subi r24, 0xE8 ; 232 41a: 97 41 sbci r25, 0x17 ; 23 41c: 14 f0 brlt .+4 ; 0x422 41e: 81 e0 ldi r24, 0x01 ; 1 420: 06 c0 rjmp .+12 ; 0x42e { OSCCAL++; // the internRC oscillator runs to slow, increase the OSCCAL 422: 80 91 66 00 lds r24, 0x0066 426: 8f 5f subi r24, 0xFF ; 255 428: 80 93 66 00 sts 0x0066, r24 42c: 80 e0 ldi r24, 0x00 ; 0 } else calibrate = 1;//TRUE; // the interRC is correct TCCR1B = (1< else calibrate = 1;//TRUE; // the interRC is correct TCCR1B = (1<: char state = STATE_WAIT_FOR_START; volatile uint8_t dataReady = SRF_FALSE; // When true, range data is ready uint16_t * dataArray = NULL; uint8_t lcdDisplay = SRF_TRUE; int main(void) { 438: 2f 92 push r2 43a: 3f 92 push r3 43c: 4f 92 push r4 43e: 5f 92 push r5 440: 6f 92 push r6 442: 7f 92 push r7 444: 8f 92 push r8 446: 9f 92 push r9 448: af 92 push r10 44a: bf 92 push r11 44c: cf 92 push r12 44e: df 92 push r13 450: ef 92 push r14 452: ff 92 push r15 454: 0f 93 push r16 456: 1f 93 push r17 458: df 93 push r29 45a: cf 93 push r28 45c: cd b7 in r28, 0x3d ; 61 45e: de b7 in r29, 0x3e ; 62 460: c2 58 subi r28, 0x82 ; 130 462: d0 40 sbci r29, 0x00 ; 0 464: 0f b6 in r0, 0x3f ; 63 466: f8 94 cli 468: de bf out 0x3e, r29 ; 62 46a: 0f be out 0x3f, r0 ; 63 46c: cd bf out 0x3d, r28 ; 61 char string[64]; unsigned char count = 0; // run the initialization routines initializer(); 46e: 0e 94 39 01 call 0x272 ; 0x272 472: ff 24 eor r15, r15 { // Check to see if a character is waiting while( isCharAvailable() == 1 ) { // If a new character is received, get it string[count++] = receiveChar(); 474: 5e 01 movw r10, r28 476: 08 94 sec 478: a1 1c adc r10, r1 47a: b1 1c adc r11, r1 // Clear interrupts so that the values can not be changed // while writing them to the PC cli(); // Create a string to send to the PC char message[64] = "D"; 47c: 71 e4 ldi r23, 0x41 ; 65 47e: c7 2e mov r12, r23 480: d1 2c mov r13, r1 482: cc 0e add r12, r28 484: dd 1e adc r13, r29 486: 64 e4 ldi r22, 0x44 ; 68 488: 66 2e mov r6, r22 48a: 71 2c mov r7, r1 48c: 81 2c mov r8, r1 48e: 91 2c mov r9, r1 490: ce 01 movw r24, r28 492: 8b 5b subi r24, 0xBB ; 187 494: 9f 4f sbci r25, 0xFF ; 255 496: cf 57 subi r28, 0x7F ; 127 498: df 4f sbci r29, 0xFF ; 255 49a: 99 83 std Y+1, r25 ; 0x01 49c: 88 83 st Y, r24 49e: c1 58 subi r28, 0x81 ; 129 4a0: d0 40 sbci r29, 0x00 ; 0 4a2: 5c e3 ldi r21, 0x3C ; 60 4a4: e5 2e mov r14, r21 for( int i=0; i string[count++] = receiveChar(); // receive a packet up to 64 bytes long if( string[count-1] == '\n' ) { string[count-1] = '\0'; //convert to a string 4b8: 10 82 st Z, r1 state = parseInput( string ); 4ba: c5 01 movw r24, r10 4bc: 0e 94 83 00 call 0x106 ; 0x106 4c0: 80 93 d1 01 sts 0x01D1, r24 string[0] = '\0'; 4c4: 19 82 std Y+1, r1 ; 0x01 4c6: 08 c0 rjmp .+16 ; 0x4d8 count = 0; } else if( count > 63 ) 4c8: 9f e3 ldi r25, 0x3F ; 63 4ca: 9f 15 cp r25, r15 4cc: 30 f4 brcc .+12 ; 0x4da { count = 0; string[0] = '\0'; 4ce: 19 82 std Y+1, r1 ; 0x01 sendString( "Error - buffer overflow\n" ); 4d0: 85 e8 ldi r24, 0x85 ; 133 4d2: 91 e0 ldi r25, 0x01 ; 1 4d4: 0e 94 6c 01 call 0x2d8 ; 0x2d8 4d8: ff 24 eor r15, r15 char isCharAvailable() { // Does the RX0 bit of the USART Status and Control Register // indicate a char has been received? if ( (UCSRA & (0x80)) ) return 1; 4da: 80 91 c0 00 lds r24, 0x00C0 4de: 87 ff sbrs r24, 7 4e0: 67 c0 rjmp .+206 ; 0x5b0 <__stack+0xb1> } char receiveChar() { // Return the char in the UDR0 register return UDR; 4e2: 80 91 c6 00 lds r24, 0x00C6 { // Check to see if a character is waiting while( isCharAvailable() == 1 ) { // If a new character is received, get it string[count++] = receiveChar(); 4e6: f5 01 movw r30, r10 4e8: ef 0d add r30, r15 4ea: f1 1d adc r31, r1 4ec: 80 83 st Z, r24 4ee: f3 94 inc r15 // receive a packet up to 64 bytes long if( string[count-1] == '\n' ) 4f0: ef 2d mov r30, r15 4f2: f0 e0 ldi r31, 0x00 ; 0 4f4: 31 97 sbiw r30, 0x01 ; 1 4f6: ea 0d add r30, r10 4f8: fb 1d adc r31, r11 4fa: 80 81 ld r24, Z 4fc: 8a 30 cpi r24, 0x0A ; 10 4fe: 21 f7 brne .-56 ; 0x4c8 500: db cf rjmp .-74 ; 0x4b8 if( dataReady == SRF_TRUE ) { // A message to send is ready // Clear interrupts so that the values can not be changed // while writing them to the PC cli(); 502: f8 94 cli // Create a string to send to the PC char message[64] = "D"; 504: f6 01 movw r30, r12 506: 60 82 st Z, r6 508: 71 82 std Z+1, r7 ; 0x01 50a: 82 82 std Z+2, r8 ; 0x02 50c: 93 82 std Z+3, r9 ; 0x03 50e: cf 57 subi r28, 0x7F ; 127 510: df 4f sbci r29, 0xFF ; 255 512: e8 81 ld r30, Y 514: f9 81 ldd r31, Y+1 ; 0x01 516: c1 58 subi r28, 0x81 ; 129 518: d0 40 sbci r29, 0x00 ; 0 51a: 8e 2d mov r24, r14 51c: 11 92 st Z+, r1 51e: 8a 95 dec r24 520: e9 f7 brne .-6 ; 0x51c <__stack+0x1d> 522: 00 e0 ldi r16, 0x00 ; 0 524: 10 e0 ldi r17, 0x00 ; 0 526: 1f c0 rjmp .+62 ; 0x566 <__stack+0x67> for( int i=0; i // while writing them to the PC cli(); // Create a string to send to the PC char message[64] = "D"; for( int i=0; i { sprintf( message, "%s,%d", message, dataArray[i] ); } // Be sure to turn off the flag saying that data is ready dataReady = SRF_FALSE; 572: 10 92 d2 01 sts 0x01D2, r1 // Since we are finished using the data array and // the dataReady flag has been reset, we can safely // reenable interrupts sei(); 576: 78 94 sei #ifdef SRF_USE_LCD // Only output to the LCD every few seconds if( lcdDisplay == SRF_TRUE ) 578: 80 91 a8 01 lds r24, 0x01A8 57c: 81 30 cpi r24, 0x01 ; 1 57e: 21 f4 brne .+8 ; 0x588 <__stack+0x89> { LCD_puts( message, 1 ); 580: 61 e0 ldi r22, 0x01 ; 1 582: c6 01 movw r24, r12 584: 0e 94 fe 04 call 0x9fc ; 0x9fc #endif // Add the trailing \n sprintf( message, "%s\n", message ); 588: df 92 push r13 58a: cf 92 push r12 58c: 5f 92 push r5 58e: 4f 92 push r4 590: df 92 push r13 592: cf 92 push r12 594: 0e 94 95 08 call 0x112a ; 0x112a // Send the string with each value separated by commas sendString( message ); 598: c6 01 movw r24, r12 59a: 0e 94 6c 01 call 0x2d8 ; 0x2d8 59e: 8d b7 in r24, 0x3d ; 61 5a0: 9e b7 in r25, 0x3e ; 62 5a2: 06 96 adiw r24, 0x06 ; 6 5a4: 0f b6 in r0, 0x3f ; 63 5a6: f8 94 cli 5a8: 9e bf out 0x3e, r25 ; 62 5aa: 0f be out 0x3f, r0 ; 63 5ac: 8d bf out 0x3d, r24 ; 61 5ae: 95 cf rjmp .-214 ; 0x4da sendString( "Error - buffer overflow\n" ); } } // Check for range data to be sent to the PC if( dataReady == SRF_TRUE ) 5b0: 80 91 d2 01 lds r24, 0x01D2 5b4: 81 30 cpi r24, 0x01 ; 1 5b6: 09 f0 breq .+2 ; 0x5ba <__stack+0xbb> 5b8: 90 cf rjmp .-224 ; 0x4da 5ba: a3 cf rjmp .-186 ; 0x502 <__stack+0x3> 000005bc : /*--------------------------------------------------------------- USI TWI single master initialization function ---------------------------------------------------------------*/ void USI_TWI_Master_Initialise( void ) { 5bc: 75 9a sbi 0x0e, 5 ; 14 PORT_USI |= (1<: /*--------------------------------------------------------------- Use this function to get hold of the error message from the last transmission ---------------------------------------------------------------*/ unsigned char USI_TWI_Get_State_Info( void ) { 5d8: 80 91 da 01 lds r24, 0x01DA 5dc: 08 95 ret 000005de : Core function for shifting data in and out from the USI. Data to be sent has to be placed into the USIDR prior to calling this function. Data read, will be return'ed from the function. ---------------------------------------------------------------*/ unsigned char USI_TWI_Master_Transfer( unsigned char temp ) { 5de: 80 93 b9 00 sts 0x00B9, r24 can be achieved. */ void _delay_loop_1(uint8_t __count) { __asm__ volatile ( 5e2: 33 e0 ldi r19, 0x03 ; 3 (1< 5ee: 90 93 b8 00 sts 0x00B8, r25 while( !(PIN_USI & (1< 5f6: 82 2f mov r24, r18 5f8: 8a 95 dec r24 5fa: f1 f7 brne .-4 ; 0x5f8 _delay_us(T4_TWI); USICR = temp; // Generate negative SCL edge. 5fc: 90 93 b8 00 sts 0x00B8, r25 }while( !(USISR & (1< 608: 83 e0 ldi r24, 0x03 ; 3 60a: 8a 95 dec r24 60c: f1 f7 brne .-4 ; 0x60a _delay_us(T2_TWI); temp = USIDR; // Read out data. 60e: 80 91 ba 00 lds r24, 0x00BA USIDR = 0xFF; // Release SDA. 612: 9f ef ldi r25, 0xFF ; 255 614: 90 93 ba 00 sts 0x00BA, r25 DDR_USI |= (1<: /*--------------------------------------------------------------- Function for generating a TWI Start Condition. ---------------------------------------------------------------*/ unsigned char USI_TWI_Master_Start( void ) { 61c: 74 9a sbi 0x0e, 4 ; 14 /* Release SCL to ensure that (repeated) Start can be performed */ PORT_USI |= (1< 622: 93 e0 ldi r25, 0x03 ; 3 624: 89 2f mov r24, r25 626: 8a 95 dec r24 628: f1 f7 brne .-4 ; 0x626 _delay_us(T2_TWI); /* Generate Start Condition */ PORT_USI &= ~(1< _delay_us(T4_TWI); PORT_USI &= ~(1< 63e: 81 e0 ldi r24, 0x01 ; 1 640: 08 95 ret { USI_TWI_state.errorState = USI_TWI_MISSING_START_CON; 642: 90 93 da 01 sts 0x01DA, r25 646: 80 e0 ldi r24, 0x00 ; 0 return (FALSE); } #endif return (TRUE); } 648: 08 95 ret 0000064a : /*--------------------------------------------------------------- Function for generating a TWI Stop Condition. Used to release the TWI bus. ---------------------------------------------------------------*/ unsigned char USI_TWI_Master_Stop( void ) { 64a: 75 98 cbi 0x0e, 5 ; 14 PORT_USI &= ~(1< 652: 82 e0 ldi r24, 0x02 ; 2 654: 8a 95 dec r24 656: f1 f7 brne .-4 ; 0x654 _delay_us(T4_TWI); PORT_USI |= (1< _delay_us(T2_TWI); #ifdef SIGNAL_VERIFY if( !(USISR & (1< 668: 81 e0 ldi r24, 0x01 ; 1 66a: 08 95 ret { USI_TWI_state.errorState = USI_TWI_MISSING_STOP_CON; 66c: 84 e0 ldi r24, 0x04 ; 4 66e: 80 93 da 01 sts 0x01DA, r24 672: 80 e0 ldi r24, 0x00 ; 0 return (FALSE); } #endif return (TRUE); } 674: 08 95 ret 00000676 : Success or error code is returned. Error codes are defined in USI_TWI_Master.h ---------------------------------------------------------------*/ unsigned char USI_TWI_Start_Transceiver_With_Data( unsigned char *msg, unsigned char msgSize) { 676: cf 92 push r12 678: df 92 push r13 67a: ef 92 push r14 67c: ff 92 push r15 67e: 0f 93 push r16 680: 1f 93 push r17 682: cf 93 push r28 684: df 93 push r29 686: 8c 01 movw r16, r24 688: e6 2e mov r14, r22 unsigned char savedMsgSize; //This clear must be done before calling this function so that memReadMode can be specified. // USI_TWI_state.errorState = 0; // Clears all mode bits also USI_TWI_state.addressMode = TRUE; // Always true for first byte 68a: 90 91 da 01 lds r25, 0x01DA 68e: 89 2f mov r24, r25 690: 81 60 ori r24, 0x01 ; 1 692: 80 93 da 01 sts 0x01DA, r24 USI_TWI_state.errorState = USI_TWI_UE_DATA_COL; return (FALSE); } #endif if ( !(*msg & (1< { USI_TWI_state.masterWriteDataMode = TRUE; 69e: 93 60 ori r25, 0x03 ; 3 6a0: 90 93 da 01 sts 0x01DA, r25 // { savedMsg = msg; savedMsgSize = msgSize; // } if ( !USI_TWI_Master_Start( )) 6a4: 0e 94 0e 03 call 0x61c ; 0x61c 6a8: 88 23 and r24, r24 6aa: 09 f4 brne .+2 ; 0x6ae 6ac: 52 c0 rjmp .+164 ; 0x752 6ae: e8 01 movw r28, r16 6b0: fe 2c mov r15, r14 *(msg++) = USI_TWI_Master_Transfer( tempUSISR_8bit ); /* Prepare to generate ACK (or NACK in case of End Of Transmission) */ if( msgSize == 1) // If transmission of last byte was performed. { USIDR = 0xFF; // Load NACK to confirm End Of Transmission. 6b2: cc 24 eor r12, r12 6b4: ca 94 dec r12 if ((!USI_TWI_state.addressMode) && USI_TWI_state.memReadMode)// means memory start address has been written { msg = savedMsg; // start at slave address again *(msg) |= (TRUE< { /* Write a byte */ PORT_USI &= ~(1< /* Clock and verify (N)ACK from slave */ DDR_USI &= ~(1< 6d8: 90 91 da 01 lds r25, 0x01DA 6dc: 80 ff sbrs r24, 0 6de: 09 c0 rjmp .+18 ; 0x6f2 { if ( USI_TWI_state.addressMode ) 6e0: 90 ff sbrs r25, 0 6e2: 02 c0 rjmp .+4 ; 0x6e8 USI_TWI_state.errorState = USI_TWI_NO_ACK_ON_ADDRESS; 6e4: 81 e0 ldi r24, 0x01 ; 1 6e6: 01 c0 rjmp .+2 ; 0x6ea else USI_TWI_state.errorState = USI_TWI_NO_ACK_ON_DATA; 6e8: 82 e0 ldi r24, 0x02 ; 2 6ea: 80 93 da 01 sts 0x01DA, r24 6ee: 80 e0 ldi r24, 0x00 ; 0 6f0: 30 c0 rjmp .+96 ; 0x752 return (FALSE); } if ((!USI_TWI_state.addressMode) && USI_TWI_state.memReadMode)// means memory start address has been written 6f2: 89 2f mov r24, r25 6f4: 85 70 andi r24, 0x05 ; 5 6f6: 84 30 cpi r24, 0x04 ; 4 6f8: 79 f4 brne .+30 ; 0x718 { msg = savedMsg; // start at slave address again *(msg) |= (TRUE< 70a: 88 23 and r24, r24 70c: 19 f0 breq .+6 ; 0x714 70e: e8 01 movw r28, r16 710: fe 2c mov r15, r14 712: 18 c0 rjmp .+48 ; 0x744 { USI_TWI_state.errorState = USI_TWI_BAD_MEM_READ; 714: 8a e0 ldi r24, 0x0A ; 10 716: e9 cf rjmp .-46 ; 0x6ea /* If masterWrite cycle (or inital address tranmission)*/ if (USI_TWI_state.addressMode || USI_TWI_state.masterWriteDataMode) { /* Write a byte */ PORT_USI &= ~(1< } /* Else masterRead cycle*/ else { /* Read a data byte */ DDR_USI &= ~(1< 72a: 88 83 st Y, r24 /* Prepare to generate ACK (or NACK in case of End Of Transmission) */ if( msgSize == 1) // If transmission of last byte was performed. 72c: f1 e0 ldi r31, 0x01 ; 1 72e: ff 16 cp r15, r31 730: 19 f4 brne .+6 ; 0x738 { USIDR = 0xFF; // Load NACK to confirm End Of Transmission. 732: c0 92 ba 00 sts 0x00BA, r12 736: 02 c0 rjmp .+4 ; 0x73c } else { USIDR = 0x00; // Load ACK. Set data register bit 7 (output for SDA) low. 738: 10 92 ba 00 sts 0x00BA, r1 /* Else masterRead cycle*/ else { /* Read a data byte */ DDR_USI &= ~(1< } }while( --msgSize) ; // Until all data sent/received. 744: fa 94 dec r15 746: 09 f0 breq .+2 ; 0x74a 748: b8 cf rjmp .-144 ; 0x6ba if (!USI_TWI_Master_Stop()) 74a: 0e 94 25 03 call 0x64a ; 0x64a 74e: 81 11 cpse r24, r1 750: 81 e0 ldi r24, 0x01 ; 1 return (FALSE); // Send a STOP condition on the TWI bus. } /* Transmission successfully completed*/ return (TRUE); } 752: df 91 pop r29 754: cf 91 pop r28 756: 1f 91 pop r17 758: 0f 91 pop r16 75a: ff 90 pop r15 75c: ef 90 pop r14 75e: df 90 pop r13 760: cf 90 pop r12 762: 08 95 ret 00000764 : Success or error code is returned. Error codes are defined in USI_TWI_Master.h ---------------------------------------------------------------*/ unsigned char USI_TWI_Start_Read_Write( unsigned char *msg, unsigned char msgSize) { 764: 10 92 da 01 sts 0x01DA, r1 USI_TWI_state.errorState = 0; // Clears all mode bits also return (USI_TWI_Start_Transceiver_With_Data( msg, msgSize)); 768: 0e 94 3b 03 call 0x676 ; 0x676 } 76c: 08 95 ret 0000076e : Success or error code is returned. Error codes are defined in USI_TWI_Master.h ---------------------------------------------------------------*/ unsigned char USI_TWI_Start_Random_Read( unsigned char *msg, unsigned char msgSize) { 76e: fc 01 movw r30, r24 *(msg) &= ~(TRUE< } 782: 08 95 ret 00000784 : * Purpose : Initialize LCD_displayData buffer. * Set up the LCD (timing, contrast, etc.) * *****************************************************************************/ void LCD_Init (void) { 784: ec ed ldi r30, 0xDC ; 220 786: f1 e0 ldi r31, 0x01 ; 1 if (show) show = 0xFF; // Set/clear all bits in all LCD registers for (i=0; i < LCD_REGISTER_COUNT; i++) *(LCD_Data + i) = show; 788: 11 92 st Z+, r1 if (show) show = 0xFF; // Set/clear all bits in all LCD registers for (i=0; i < LCD_REGISTER_COUNT; i++) 78a: 81 e0 ldi r24, 0x01 ; 1 78c: e0 3f cpi r30, 0xF0 ; 240 78e: f8 07 cpc r31, r24 790: d9 f7 brne .-10 ; 0x788 *****************************************************************************/ void LCD_Init (void) { LCD_AllSegments(FALSE); // Clear segment buffer. LCD_CONTRAST_LEVEL(LCD_INITIAL_CONTRAST); //Set the LCD contrast level 792: 8f e0 ldi r24, 0x0F ; 15 794: 80 93 e7 00 sts 0x00E7, r24 // Select asynchronous clock source, enable all COM pins and enable all // segment pins. LCDCRB = (1<: * Purpose : Stores LCD control data in the LCD_displayData buffer. * (The LCD_displayData is latched in the LCD_SOF interrupt.) * *****************************************************************************/ void LCD_WriteDigit(char c, char digit) { 7ba: 98 2f mov r25, r24 char mask, nibble; char *ptr; char i; if (digit > 5) // Skip if digit is illegal 7bc: 66 30 cpi r22, 0x06 ; 6 7be: b0 f5 brcc .+108 ; 0x82c return; //Lookup character table for segmet data if ((c >= '*') && (c <= 'z')) 7c0: 8a 52 subi r24, 0x2A ; 42 7c2: 81 35 cpi r24, 0x51 ; 81 7c4: 18 f0 brcs .+6 ; 0x7cc 7c6: 40 e0 ldi r20, 0x00 ; 0 7c8: 50 e0 ldi r21, 0x00 ; 0 7ca: 0c c0 rjmp .+24 ; 0x7e4 { // c is a letter if (c >= 'a') // Convert to upper case 7cc: 91 36 cpi r25, 0x61 ; 97 7ce: 08 f0 brcs .+2 ; 0x7d2 c &= ~0x20; // if necessarry 7d0: 9f 7d andi r25, 0xDF ; 223 c -= '*'; //mt seg = LCD_character_table[c]; seg = (unsigned int) pgm_read_word(&LCD_character_table[(uint8_t)c]); 7d2: 9a 52 subi r25, 0x2A ; 42 7d4: e9 2f mov r30, r25 7d6: f0 e0 ldi r31, 0x00 ; 0 7d8: ee 0f add r30, r30 7da: ff 1f adc r31, r31 7dc: e4 5a subi r30, 0xA4 ; 164 7de: ff 4f sbci r31, 0xFF ; 255 7e0: 45 91 lpm r20, Z+ 7e2: 54 91 lpm r21, Z+ } // Adjust mask according to LCD segment mapping if (digit & 0x01) 7e4: 86 2f mov r24, r22 7e6: 90 e0 ldi r25, 0x00 ; 0 7e8: dc 01 movw r26, r24 7ea: a1 70 andi r26, 0x01 ; 1 7ec: b0 70 andi r27, 0x00 ; 0 7ee: 60 fd sbrc r22, 0 7f0: 02 c0 rjmp .+4 ; 0x7f6 7f2: 90 ef ldi r25, 0xF0 ; 240 7f4: 01 c0 rjmp .+2 ; 0x7f8 7f6: 9f e0 ldi r25, 0x0F ; 15 mask = 0x0F; // Digit 1, 3, 5 else mask = 0xF0; // Digit 0, 2, 4 ptr = LCD_Data + (digit >> 1); // digit = {0,0,1,1,2,2} 7f8: 66 95 lsr r22 7fa: e6 2f mov r30, r22 7fc: f0 e0 ldi r31, 0x00 ; 0 7fe: e4 52 subi r30, 0x24 ; 36 800: fe 4f sbci r31, 0xFE ; 254 802: 30 e0 ldi r19, 0x00 ; 0 for (i = 0; i < 4; i++) { nibble = seg & 0x000F; 804: 24 2f mov r18, r20 806: 2f 70 andi r18, 0x0F ; 15 seg >>= 4; 808: 84 e0 ldi r24, 0x04 ; 4 80a: 56 95 lsr r21 80c: 47 95 ror r20 80e: 8a 95 dec r24 810: e1 f7 brne .-8 ; 0x80a if (digit & 0x01) 812: 10 97 sbiw r26, 0x00 ; 0 814: 11 f0 breq .+4 ; 0x81a nibble <<= 4; 816: 22 95 swap r18 818: 20 7f andi r18, 0xF0 ; 240 *ptr = (*ptr & mask) | nibble; 81a: 80 81 ld r24, Z 81c: 89 23 and r24, r25 81e: 28 2b or r18, r24 820: 20 83 st Z, r18 else mask = 0xF0; // Digit 0, 2, 4 ptr = LCD_Data + (digit >> 1); // digit = {0,0,1,1,2,2} for (i = 0; i < 4; i++) 822: 3f 5f subi r19, 0xFF ; 255 824: 34 30 cpi r19, 0x04 ; 4 826: 11 f0 breq .+4 ; 0x82c nibble = seg & 0x000F; seg >>= 4; if (digit & 0x01) nibble <<= 4; *ptr = (*ptr & mask) | nibble; ptr += 5; 828: 35 96 adiw r30, 0x05 ; 5 82a: ec cf rjmp .-40 ; 0x804 82c: 08 95 ret 0000082e : * * Purpose : shows or hide all all LCD segments on the LCD * *****************************************************************************/ void LCD_AllSegments(char show) { 82e: 81 11 cpse r24, r1 830: 8f ef ldi r24, 0xFF ; 255 832: ec ed ldi r30, 0xDC ; 220 834: f1 e0 ldi r31, 0x01 ; 1 if (show) show = 0xFF; // Set/clear all bits in all LCD registers for (i=0; i < LCD_REGISTER_COUNT; i++) *(LCD_Data + i) = show; 836: 81 93 st Z+, r24 if (show) show = 0xFF; // Set/clear all bits in all LCD registers for (i=0; i < LCD_REGISTER_COUNT; i++) 838: 91 e0 ldi r25, 0x01 ; 1 83a: e0 3f cpi r30, 0xF0 ; 240 83c: f9 07 cpc r31, r25 83e: d9 f7 brne .-10 ; 0x836 *(LCD_Data + i) = show; } 840: 08 95 ret 00000842 <__vector_22>: * Purpose: Latch the LCD_displayData and Set LCD_status.updateComplete * *****************************************************************************/ ISR(SIG_LCD) { 842: 1f 92 push r1 844: 0f 92 push r0 846: 0f b6 in r0, 0x3f ; 63 848: 0f 92 push r0 84a: 11 24 eor r1, r1 84c: ef 92 push r14 84e: ff 92 push r15 850: 0f 93 push r16 852: 1f 93 push r17 854: 2f 93 push r18 856: 3f 93 push r19 858: 4f 93 push r20 85a: 5f 93 push r21 85c: 6f 93 push r22 85e: 7f 93 push r23 860: 8f 93 push r24 862: 9f 93 push r25 864: af 93 push r26 866: bf 93 push r27 868: cf 93 push r28 86a: df 93 push r29 86c: ef 93 push r30 86e: ff 93 push r31 auto_joystick_count = 0; */ /**************** Auto press joystick for the main.c, END ***************/ LCD_timer--; // Decreased every LCD frame 870: 00 91 a9 01 lds r16, 0x01A9 874: 01 50 subi r16, 0x01 ; 1 876: 00 93 a9 01 sts 0x01A9, r16 if (gScrollMode) 87a: 80 91 db 01 lds r24, 0x01DB 87e: 88 23 and r24, r24 880: 71 f0 breq .+28 ; 0x89e <__vector_22+0x5c> { // If we are in scroll mode, and the timer has expired, // we will update the LCD if (LCD_timer == 0) 882: 00 23 and r16, r16 884: 71 f4 brne .+28 ; 0x8a2 <__vector_22+0x60> { if (gLCD_Start_Scroll_Timer == 0) 886: 80 91 d6 01 lds r24, 0x01D6 88a: 88 23 and r24, r24 88c: 21 f4 brne .+8 ; 0x896 <__vector_22+0x54> { gLCD_Update_Required = TRUE; 88e: 81 e0 ldi r24, 0x01 ; 1 890: 80 93 d5 01 sts 0x01D5, r24 894: 06 c0 rjmp .+12 ; 0x8a2 <__vector_22+0x60> } else gLCD_Start_Scroll_Timer--; 896: 81 50 subi r24, 0x01 ; 1 898: 80 93 d6 01 sts 0x01D6, r24 89c: 02 c0 rjmp .+4 ; 0x8a2 <__vector_22+0x60> } else { // if not scrolling, // disble LCD start of frame interrupt // cbi(LCDCRA, LCDIE); //DEBUG gScroll = 0; 89e: 10 92 09 02 sts 0x0209, r1 } EOL = FALSE; if (gLCD_Update_Required == TRUE) 8a2: 80 91 d5 01 lds r24, 0x01D5 8a6: 81 30 cpi r24, 0x01 ; 1 8a8: 09 f0 breq .+2 ; 0x8ac <__vector_22+0x6a> 8aa: 53 c0 rjmp .+166 ; 0x952 <__vector_22+0x110> { // Duty cycle of flashing characters if (gFlashTimer < (LCD_FLASH_SEED >> 1)) 8ac: e0 90 d7 01 lds r14, 0x01D7 8b0: ff 24 eor r15, r15 8b2: 10 e0 ldi r17, 0x00 ; 0 8b4: c0 e0 ldi r28, 0x00 ; 0 8b6: d0 e0 ldi r29, 0x00 ; 0 8b8: 6c 2f mov r22, r28 flash = 1; // Repeat for the six LCD characters for (i = 0; i < 6; i++) { if ((gScroll+i) >= 0 && (!EOL)) 8ba: 80 91 09 02 lds r24, 0x0209 8be: 99 27 eor r25, r25 8c0: 87 fd sbrc r24, 7 8c2: 90 95 com r25 8c4: 8c 0f add r24, r28 8c6: 9d 1f adc r25, r29 8c8: 97 fd sbrc r25, 7 8ca: 16 c0 rjmp .+44 ; 0x8f8 <__vector_22+0xb6> 8cc: 11 23 and r17, r17 8ce: a1 f4 brne .+40 ; 0x8f8 <__vector_22+0xb6> { // We have some visible characters c = gTextBuffer[i + gScroll]; 8d0: 80 91 09 02 lds r24, 0x0209 8d4: 99 27 eor r25, r25 8d6: 87 fd sbrc r24, 7 8d8: 90 95 com r25 8da: fe 01 movw r30, r28 8dc: e0 51 subi r30, 0x10 ; 16 8de: fe 4f sbci r31, 0xFE ; 254 8e0: e8 0f add r30, r24 8e2: f9 1f adc r31, r25 8e4: 80 81 ld r24, Z c_flash = c & 0x80 ? 1 : 0; 8e6: f8 2e mov r15, r24 8e8: ff 1c adc r15, r15 8ea: ff 24 eor r15, r15 8ec: ff 1c adc r15, r15 c = c & 0x7F; 8ee: 8f 77 andi r24, 0x7F ; 127 if (c == '\0') 8f0: 21 f4 brne .+8 ; 0x8fa <__vector_22+0xb8> 8f2: 1c 2f mov r17, r28 8f4: 1f 5f subi r17, 0xFF ; 255 8f6: 01 c0 rjmp .+2 ; 0x8fa <__vector_22+0xb8> 8f8: 80 e2 ldi r24, 0x20 ; 32 else c = ' '; // Check if this character is flashing if (c_flash && flash) 8fa: ff 20 and r15, r15 8fc: 21 f0 breq .+8 ; 0x906 <__vector_22+0xc4> 8fe: 94 e0 ldi r25, 0x04 ; 4 900: 9e 15 cp r25, r14 902: 08 f4 brcc .+2 ; 0x906 <__vector_22+0xc4> LCD_WriteDigit(' ', i); 904: 80 e2 ldi r24, 0x20 ; 32 else LCD_WriteDigit(c, i); 906: 0e 94 dd 03 call 0x7ba ; 0x7ba 90a: 21 96 adiw r28, 0x01 ; 1 flash = 0; else flash = 1; // Repeat for the six LCD characters for (i = 0; i < 6; i++) 90c: c6 30 cpi r28, 0x06 ; 6 90e: d1 05 cpc r29, r1 910: 99 f6 brne .-90 ; 0x8b8 <__vector_22+0x76> 912: ac ee ldi r26, 0xEC ; 236 914: b0 e0 ldi r27, 0x00 ; 0 LCD_WriteDigit(c, i); } // Copy the segment buffer to the real segments for (i = 0; i < LCD_REGISTER_COUNT; i++) *(pLCDREG + i) = *(LCD_Data+i); 916: fd 01 movw r30, r26 918: e0 51 subi r30, 0x10 ; 16 91a: ff 4f sbci r31, 0xFF ; 255 91c: 80 81 ld r24, Z 91e: 8d 93 st X+, r24 else LCD_WriteDigit(c, i); } // Copy the segment buffer to the real segments for (i = 0; i < LCD_REGISTER_COUNT; i++) 920: 81 e0 ldi r24, 0x01 ; 1 922: a0 30 cpi r26, 0x00 ; 0 924: b8 07 cpc r27, r24 926: b9 f7 brne .-18 ; 0x916 <__vector_22+0xd4> *(pLCDREG + i) = *(LCD_Data+i); // Handle colon if (gColon) 928: 80 91 d8 01 lds r24, 0x01D8 92c: 88 23 and r24, r24 92e: 21 f0 breq .+8 ; 0x938 <__vector_22+0xf6> *(pLCDREG + 8) = 0x01; 930: 81 e0 ldi r24, 0x01 ; 1 932: 80 93 f4 00 sts 0x00F4, r24 936: 02 c0 rjmp .+4 ; 0x93c <__vector_22+0xfa> else *(pLCDREG + 8) = 0x00; 938: 10 92 f4 00 sts 0x00F4, r1 // If the text scrolled off the display, // we have to start over again. if (EOL == 1) 93c: 11 30 cpi r17, 0x01 ; 1 93e: 11 f4 brne .+4 ; 0x944 <__vector_22+0x102> gScroll = -6; 940: 8a ef ldi r24, 0xFA ; 250 942: 03 c0 rjmp .+6 ; 0x94a <__vector_22+0x108> else gScroll++; 944: 80 91 09 02 lds r24, 0x0209 948: 8f 5f subi r24, 0xFF ; 255 94a: 80 93 09 02 sts 0x0209, r24 // No need to update anymore gLCD_Update_Required = FALSE; 94e: 10 92 d5 01 sts 0x01D5, r1 } // LCD_timer is used when scrolling text if (LCD_timer == 0) 952: 00 23 and r16, r16 954: 19 f4 brne .+6 ; 0x95c <__vector_22+0x11a> { /* if ((gScroll <= 0) || EOL) LCD_timer = LCD_TIMER_SEED/2; else*/ LCD_timer = LCD_TIMER_SEED; 956: 83 e0 ldi r24, 0x03 ; 3 958: 80 93 a9 01 sts 0x01A9, r24 } // gFlashTimer is used when flashing characters if (gFlashTimer == LCD_FLASH_SEED) 95c: 80 91 d7 01 lds r24, 0x01D7 960: 8a 30 cpi r24, 0x0A ; 10 962: 19 f4 brne .+6 ; 0x96a <__vector_22+0x128> gFlashTimer= 0; 964: 10 92 d7 01 sts 0x01D7, r1 968: 03 c0 rjmp .+6 ; 0x970 <__vector_22+0x12e> else gFlashTimer++; 96a: 8f 5f subi r24, 0xFF ; 255 96c: 80 93 d7 01 sts 0x01D7, r24 } 970: ff 91 pop r31 972: ef 91 pop r30 974: df 91 pop r29 976: cf 91 pop r28 978: bf 91 pop r27 97a: af 91 pop r26 97c: 9f 91 pop r25 97e: 8f 91 pop r24 980: 7f 91 pop r23 982: 6f 91 pop r22 984: 5f 91 pop r21 986: 4f 91 pop r20 988: 3f 91 pop r19 98a: 2f 91 pop r18 98c: 1f 91 pop r17 98e: 0f 91 pop r16 990: ff 90 pop r15 992: ef 90 pop r14 994: 0f 90 pop r0 996: 0f be out 0x3f, r0 ; 63 998: 0f 90 pop r0 99a: 1f 90 pop r1 99c: 18 95 reti 0000099e : * *****************************************************************************/ // mt void LCD_puts_f(char __flash *pFlashStr, char scrollmode) void LCD_puts_f(const char *pFlashStr, char scrollmode) { 99e: 38 2f mov r19, r24 9a0: 29 2f mov r18, r25 // char i; uint8_t i; while (gLCD_Update_Required); // Wait for access to buffer 9a2: 80 91 d5 01 lds r24, 0x01D5 9a6: 88 23 and r24, r24 9a8: e1 f7 brne .-8 ; 0x9a2 9aa: a0 ef ldi r26, 0xF0 ; 240 9ac: b1 e0 ldi r27, 0x01 ; 1 9ae: 83 2f mov r24, r19 9b0: 92 2f mov r25, r18 9b2: fc 01 movw r30, r24 9b4: 01 c0 rjmp .+2 ; 0x9b8 // mt: for (i = 0; pFlashStr[i] && i < TEXTBUFFER_SIZE; i++) for (i = 0; pgm_read_byte(&pFlashStr[i]) && i < TEXTBUFFER_SIZE; i++) { // mt: gTextBuffer[i] = pFlashStr[i]; gTextBuffer[i] = pgm_read_byte(&pFlashStr[i]); 9b6: 2d 93 st X+, r18 9b8: 8e 2f mov r24, r30 9ba: 83 1b sub r24, r19 uint8_t i; while (gLCD_Update_Required); // Wait for access to buffer // mt: for (i = 0; pFlashStr[i] && i < TEXTBUFFER_SIZE; i++) for (i = 0; pgm_read_byte(&pFlashStr[i]) && i < TEXTBUFFER_SIZE; i++) 9bc: 24 91 lpm r18, Z+ 9be: 22 23 and r18, r18 9c0: 29 f0 breq .+10 ; 0x9cc 9c2: 31 96 adiw r30, 0x01 ; 1 9c4: 92 e0 ldi r25, 0x02 ; 2 9c6: a9 30 cpi r26, 0x09 ; 9 9c8: b9 07 cpc r27, r25 9ca: a9 f7 brne .-22 ; 0x9b6 gTextBuffer[i] = pgm_read_byte(&pFlashStr[i]); } // Set the null character in the string and scroll mode // based on length of the string setPutsString( i ); 9cc: 90 e0 ldi r25, 0x00 ; 0 * functions * *****************************************************************************/ static void setPutsString( int index ) { gTextBuffer[index] = '\0'; 9ce: fc 01 movw r30, r24 9d0: e0 51 subi r30, 0x10 ; 16 9d2: fe 4f sbci r31, 0xFE ; 254 9d4: 10 82 st Z, r1 if (index > 6) 9d6: 07 97 sbiw r24, 0x07 ; 7 9d8: 4c f0 brlt .+18 ; 0x9ec { gScrollMode = 1; // Scroll if text is longer than display size 9da: 81 e0 ldi r24, 0x01 ; 1 9dc: 80 93 db 01 sts 0x01DB, r24 gScroll = 0; 9e0: 10 92 09 02 sts 0x0209, r1 gLCD_Start_Scroll_Timer = 3; //Start-up delay before scrolling the text 9e4: 83 e0 ldi r24, 0x03 ; 3 9e6: 80 93 d6 01 sts 0x01D6, r24 9ea: 04 c0 rjmp .+8 ; 0x9f4 } else { gScrollMode = 0; 9ec: 10 92 db 01 sts 0x01DB, r1 gScroll = 0; 9f0: 10 92 09 02 sts 0x0209, r1 } gLCD_Update_Required = 1; 9f4: 81 e0 ldi r24, 0x01 ; 1 9f6: 80 93 d5 01 sts 0x01D5, r24 gScroll = 0; } gLCD_Update_Required = 1; */ } 9fa: 08 95 ret 000009fc : * * Purpose : Writes a string to the LCD * *****************************************************************************/ void LCD_puts(char *pStr, char scrollmode) { 9fc: 48 2f mov r20, r24 9fe: 29 2f mov r18, r25 uint8_t i; // char i; while (gLCD_Update_Required); // Wait for access to buffer a00: 80 91 d5 01 lds r24, 0x01D5 a04: 88 23 and r24, r24 a06: e1 f7 brne .-8 ; 0xa00 a08: a0 ef ldi r26, 0xF0 ; 240 a0a: b1 e0 ldi r27, 0x01 ; 1 a0c: 84 2f mov r24, r20 a0e: 92 2f mov r25, r18 a10: 9c 01 movw r18, r24 a12: f9 01 movw r30, r18 a14: 01 c0 rjmp .+2 ; 0xa18 for (i = 0; pStr[i] && i < TEXTBUFFER_SIZE; i++) { gTextBuffer[i] = pStr[i]; a16: 2d 93 st X+, r18 a18: 8e 2f mov r24, r30 a1a: 84 1b sub r24, r20 { uint8_t i; // char i; while (gLCD_Update_Required); // Wait for access to buffer for (i = 0; pStr[i] && i < TEXTBUFFER_SIZE; i++) a1c: 20 81 ld r18, Z a1e: 22 23 and r18, r18 a20: 29 f0 breq .+10 ; 0xa2c a22: 31 96 adiw r30, 0x01 ; 1 a24: 92 e0 ldi r25, 0x02 ; 2 a26: a9 30 cpi r26, 0x09 ; 9 a28: b9 07 cpc r27, r25 a2a: a9 f7 brne .-22 ; 0xa16 gTextBuffer[i] = pStr[i]; } // Set the null character in the string and scroll mode // based on length of the string setPutsString( i ); a2c: 90 e0 ldi r25, 0x00 ; 0 * functions * *****************************************************************************/ static void setPutsString( int index ) { gTextBuffer[index] = '\0'; a2e: fc 01 movw r30, r24 a30: e0 51 subi r30, 0x10 ; 16 a32: fe 4f sbci r31, 0xFE ; 254 a34: 10 82 st Z, r1 if (index > 6) a36: 07 97 sbiw r24, 0x07 ; 7 a38: 4c f0 brlt .+18 ; 0xa4c { gScrollMode = 1; // Scroll if text is longer than display size a3a: 81 e0 ldi r24, 0x01 ; 1 a3c: 80 93 db 01 sts 0x01DB, r24 gScroll = 0; a40: 10 92 09 02 sts 0x0209, r1 gLCD_Start_Scroll_Timer = 3; //Start-up delay before scrolling the text a44: 83 e0 ldi r24, 0x03 ; 3 a46: 80 93 d6 01 sts 0x01D6, r24 a4a: 04 c0 rjmp .+8 ; 0xa54 } else { gScrollMode = 0; a4c: 10 92 db 01 sts 0x01DB, r1 gScroll = 0; a50: 10 92 09 02 sts 0x0209, r1 } gLCD_Update_Required = 1; a54: 81 e0 ldi r24, 0x01 ; 1 a56: 80 93 d5 01 sts 0x01D5, r24 gScroll = 0; } gLCD_Update_Required = 1; */ } a5a: 08 95 ret 00000a5c : * *****************************************************************************/ // mt void LCD_putc(char digit, char character) // mt void LCD_putc(char digit, char character) void LCD_putc(uint8_t digit, char character) { a5c: 89 31 cpi r24, 0x19 ; 25 a5e: 28 f4 brcc .+10 ; 0xa6a if (digit < TEXTBUFFER_SIZE) gTextBuffer[digit] = character; a60: e8 2f mov r30, r24 a62: f0 e0 ldi r31, 0x00 ; 0 a64: e0 51 subi r30, 0x10 ; 16 a66: fe 4f sbci r31, 0xFE ; 254 a68: 60 83 st Z, r22 a6a: 08 95 ret 00000a6c : * * Purpose : Clear the LCD * *****************************************************************************/ void LCD_Clear(void) { a6c: e0 ef ldi r30, 0xF0 ; 240 a6e: f1 e0 ldi r31, 0x01 ; 1 uint8_t i; // char i; for (i=0; i gTextBuffer[i] = '\0'; // JP changed from ' ' to stop LCD_puts_f buffer overrun } a7a: 08 95 ret 00000a7c : * * Purpose : Enable/disable colons on the LCD * *****************************************************************************/ void LCD_Colon(char show) { a7c: 80 93 d8 01 sts 0x01D8, r24 gColon = show; } a80: 08 95 ret 00000a82 : * * Purpose : Tells the LCD that there is new data to be presented * *****************************************************************************/ void LCD_UpdateRequired(char update, char scrollmode) { a82: 98 2f mov r25, r24 while (gLCD_Update_Required); a84: 80 91 d5 01 lds r24, 0x01D5 a88: 88 23 and r24, r24 a8a: e1 f7 brne .-8 ; 0xa84 gScrollMode = scrollmode; a8c: 60 93 db 01 sts 0x01DB, r22 gScroll = 0; a90: 10 92 09 02 sts 0x0209, r1 gLCD_Update_Required = update; a94: 90 93 d5 01 sts 0x01D5, r25 } a98: 08 95 ret 00000a9a : * * Purpose : This function resets the blinking cycle of a flashing digit * *****************************************************************************/ void LCD_FlashReset(void) { a9a: 10 92 d7 01 sts 0x01D7, r1 gFlashTimer = 0; } a9e: 08 95 ret 00000aa0 : *****************************************************************************/ void SetContrast(char input) { aa0: 98 2f mov r25, r24 aa2: e0 ef ldi r30, 0xF0 ; 240 aa4: f1 e0 ldi r31, 0x01 ; 1 void LCD_Clear(void) { uint8_t i; // char i; for (i=0; i // mt void LCD_putc(char digit, char character) // mt void LCD_putc(char digit, char character) void LCD_putc(uint8_t digit, char character) { if (digit < TEXTBUFFER_SIZE) gTextBuffer[digit] = character; ab0: 81 e4 ldi r24, 0x41 ; 65 ab2: 80 93 f0 01 sts 0x01F0, r24 * *****************************************************************************/ void LCD_UpdateRequired(char update, char scrollmode) { while (gLCD_Update_Required); ab6: 82 e4 ldi r24, 0x42 ; 66 ab8: 80 93 f1 01 sts 0x01F1, r24 abc: 83 e4 ldi r24, 0x43 ; 67 abe: 80 93 f2 01 sts 0x01F2, r24 ac2: 84 e4 ldi r24, 0x44 ; 68 ac4: 80 93 f3 01 sts 0x01F3, r24 ac8: 85 e4 ldi r24, 0x45 ; 69 aca: 80 93 f4 01 sts 0x01F4, r24 ace: 86 e4 ldi r24, 0x46 ; 70 ad0: 80 93 f5 01 sts 0x01F5, r24 ad4: 80 91 d5 01 lds r24, 0x01D5 ad8: 88 23 and r24, r24 ada: e1 f7 brne .-8 ; 0xad4 gScrollMode = scrollmode; adc: 10 92 db 01 sts 0x01DB, r1 gScroll = 0; ae0: 10 92 09 02 sts 0x0209, r1 gLCD_Update_Required = update; ae4: 81 e0 ldi r24, 0x01 ; 1 ae6: 80 93 d5 01 sts 0x01D5, r24 LCD_putc(4, 'E'); LCD_putc(5, 'F'); LCD_UpdateRequired(TRUE, 0); LCD_CONTRAST_LEVEL(input); aea: 9f 70 andi r25, 0x0F ; 15 aec: 90 93 e7 00 sts 0x00E7, r25 } af0: 08 95 ret 00000af2 : uint8_t i2cMessageBuf[SRF_I2C_MESSAGE_BUFFER_MAX_SIZE]; //uint16_t *range; void SRF_init( int numDevices ) { af2: 80 93 d0 01 sts 0x01D0, r24 #endif sendFString( memErrorMsg ); numSonar = 0; } */ } af6: 08 95 ret 00000af8 : } // ADDRESS CHANGE void SRF_changeAddress( uint8_t oldIndex, uint8_t newIndex ) { af8: df 92 push r13 afa: ef 92 push r14 afc: ff 92 push r15 afe: 0f 93 push r16 b00: 1f 93 push r17 b02: df 93 push r29 b04: cf 93 push r28 b06: cd b7 in r28, 0x3d ; 61 b08: de b7 in r29, 0x3e ; 62 b0a: 64 97 sbiw r28, 0x14 ; 20 b0c: 0f b6 in r0, 0x3f ; 63 b0e: f8 94 cli b10: de bf out 0x3e, r29 ; 62 b12: 0f be out 0x3f, r0 ; 63 b14: cd bf out 0x3d, r28 ; 61 b16: d6 2e mov r13, r22 // Address change requires three specific commands sent in order // Followed by the new address oldIndex <<= 1; b18: f8 2e mov r15, r24 b1a: ff 0c add r15, r15 newIndex <<= 1; b1c: dd 0c add r13, r13 char line[20]; sprintf( line, "ChAddr %X %X\n", oldIndex, newIndex ); b1e: 8d 2d mov r24, r13 b20: 90 e0 ldi r25, 0x00 ; 0 b22: 9f 93 push r25 b24: 8f 93 push r24 b26: 8f 2d mov r24, r15 b28: 90 e0 ldi r25, 0x00 ; 0 b2a: 9f 93 push r25 b2c: 8f 93 push r24 b2e: 8b ea ldi r24, 0xAB ; 171 b30: 91 e0 ldi r25, 0x01 ; 1 b32: 9f 93 push r25 b34: 8f 93 push r24 b36: 8e 01 movw r16, r28 b38: 0f 5f subi r16, 0xFF ; 255 b3a: 1f 4f sbci r17, 0xFF ; 255 b3c: 1f 93 push r17 b3e: 0f 93 push r16 b40: 0e 94 95 08 call 0x112a ; 0x112a sendString( line ); b44: c8 01 movw r24, r16 b46: 0e 94 6c 01 call 0x2d8 ; 0x2d8 // Send first byte for address change i2cMessageBuf[0] = SRF_BASE_ADDR + oldIndex; // Address b4a: 80 ee ldi r24, 0xE0 ; 224 b4c: f8 0e add r15, r24 b4e: 0a e0 ldi r16, 0x0A ; 10 b50: 12 e0 ldi r17, 0x02 ; 2 b52: f0 92 0a 02 sts 0x020A, r15 i2cMessageBuf[1] = SRF_COMMAND_REG; // Register to send command to b56: 10 92 0b 02 sts 0x020B, r1 i2cMessageBuf[2] = SRF_ADDR_CHANGE_1; b5a: 80 ea ldi r24, 0xA0 ; 160 b5c: 80 93 0c 02 sts 0x020C, r24 USI_TWI_Start_Read_Write( i2cMessageBuf, 3 ); b60: 63 e0 ldi r22, 0x03 ; 3 b62: c8 01 movw r24, r16 b64: 0e 94 b2 03 call 0x764 ; 0x764 b68: 8d e0 ldi r24, 0x0D ; 13 b6a: e8 2e mov r14, r24 b6c: 8e 2d mov r24, r14 b6e: 8a 95 dec r24 b70: f1 f7 brne .-4 ; 0xb6e _delay_us( 20 ); // Send first byte for address change i2cMessageBuf[0] = SRF_BASE_ADDR + oldIndex; // Address b72: f0 92 0a 02 sts 0x020A, r15 i2cMessageBuf[1] = SRF_COMMAND_REG; // Register to send command to b76: 10 92 0b 02 sts 0x020B, r1 i2cMessageBuf[2] = SRF_ADDR_CHANGE_2; b7a: 8a ea ldi r24, 0xAA ; 170 b7c: 80 93 0c 02 sts 0x020C, r24 USI_TWI_Start_Read_Write( i2cMessageBuf, 3 ); b80: 63 e0 ldi r22, 0x03 ; 3 b82: c8 01 movw r24, r16 b84: 0e 94 b2 03 call 0x764 ; 0x764 b88: 8e 2d mov r24, r14 b8a: 8a 95 dec r24 b8c: f1 f7 brne .-4 ; 0xb8a _delay_us( 20 ); // Send second byte for address change i2cMessageBuf[0] = SRF_BASE_ADDR + oldIndex; // Address b8e: f0 92 0a 02 sts 0x020A, r15 i2cMessageBuf[1] = SRF_COMMAND_REG; // Register to send command to b92: 10 92 0b 02 sts 0x020B, r1 i2cMessageBuf[2] = SRF_ADDR_CHANGE_3; b96: 85 ea ldi r24, 0xA5 ; 165 b98: 80 93 0c 02 sts 0x020C, r24 USI_TWI_Start_Read_Write( i2cMessageBuf, 3 ); b9c: 63 e0 ldi r22, 0x03 ; 3 b9e: c8 01 movw r24, r16 ba0: 0e 94 b2 03 call 0x764 ; 0x764 ba4: 8e 2d mov r24, r14 ba6: 8a 95 dec r24 ba8: f1 f7 brne .-4 ; 0xba6 _delay_us( 20 ); // Send new address i2cMessageBuf[0] = SRF_BASE_ADDR + oldIndex; // Address baa: f0 92 0a 02 sts 0x020A, r15 i2cMessageBuf[1] = SRF_COMMAND_REG; // Register to send command to bae: 10 92 0b 02 sts 0x020B, r1 i2cMessageBuf[2] = SRF_BASE_ADDR + newIndex; bb2: 90 ee ldi r25, 0xE0 ; 224 bb4: d9 0e add r13, r25 bb6: d0 92 0c 02 sts 0x020C, r13 USI_TWI_Start_Read_Write( i2cMessageBuf, 3 ); bba: 63 e0 ldi r22, 0x03 ; 3 bbc: c8 01 movw r24, r16 bbe: 0e 94 b2 03 call 0x764 ; 0x764 bc2: ea 94 dec r14 bc4: f1 f7 brne .-4 ; 0xbc2 bc6: 8d b7 in r24, 0x3d ; 61 bc8: 9e b7 in r25, 0x3e ; 62 bca: 08 96 adiw r24, 0x08 ; 8 bcc: 0f b6 in r0, 0x3f ; 63 bce: f8 94 cli bd0: 9e bf out 0x3e, r25 ; 62 bd2: 0f be out 0x3f, r0 ; 63 bd4: 8d bf out 0x3d, r24 ; 61 _delay_us( 20 ); } bd6: 64 96 adiw r28, 0x14 ; 20 bd8: 0f b6 in r0, 0x3f ; 63 bda: f8 94 cli bdc: de bf out 0x3e, r29 ; 62 bde: 0f be out 0x3f, r0 ; 63 be0: cd bf out 0x3d, r28 ; 61 be2: cf 91 pop r28 be4: df 91 pop r29 be6: 1f 91 pop r17 be8: 0f 91 pop r16 bea: ff 90 pop r15 bec: ef 90 pop r14 bee: df 90 pop r13 bf0: 08 95 ret 00000bf2 : // GET VERSION int8_t SRF_getVersion( uint8_t deviceNum ) { bf2: 88 0f add r24, r24 bf4: 8f 51 subi r24, 0x1F ; 31 bf6: 80 93 0a 02 sts 0x020A, r24 i2cMessageBuf[0] = SRF_BASE_ADDR + 1 + (deviceNum << 1); // Odd numbers for read i2cMessageBuf[1] = SRF_COMMAND_REG; // Register 0 contains version number bfa: 10 92 0b 02 sts 0x020B, r1 USI_TWI_Start_Read_Write( i2cMessageBuf, 2 ); bfe: 62 e0 ldi r22, 0x02 ; 2 c00: 8a e0 ldi r24, 0x0A ; 10 c02: 92 e0 ldi r25, 0x02 ; 2 c04: 0e 94 b2 03 call 0x764 ; 0x764 } */ return i2cMessageBuf[1]; } c08: 80 91 0b 02 lds r24, 0x020B c0c: 08 95 ret 00000c0e : // FINISHED RANGING int8_t SRF_isFinishedRanging( uint8_t index ) { c0e: 0e 94 f9 05 call 0xbf2 ; 0xbf2 return SRF_FALSE; } else { return SRF_TRUE; } } c12: 81 e0 ldi r24, 0x01 ; 1 c14: 08 95 ret 00000c16 : } // START RANGING COMMANDS void SRF_startRanging( uint8_t deviceNum, char units ) { c16: 0f 93 push r16 c18: 1f 93 push r17 c1a: 18 2f mov r17, r24 c1c: 06 2f mov r16, r22 sprintf( "start range: %d\n", deviceNum ); c1e: 90 e0 ldi r25, 0x00 ; 0 c20: 9f 93 push r25 c22: 8f 93 push r24 c24: 89 eb ldi r24, 0xB9 ; 185 c26: 91 e0 ldi r25, 0x01 ; 1 c28: 9f 93 push r25 c2a: 8f 93 push r24 c2c: 0e 94 95 08 call 0x112a ; 0x112a // Create the command to send over I2C i2cMessageBuf[0] = SRF_BASE_ADDR + (deviceNum << 1); // Address of device c30: 11 0f add r17, r17 c32: 10 52 subi r17, 0x20 ; 32 c34: 10 93 0a 02 sts 0x020A, r17 i2cMessageBuf[1] = SRF_COMMAND_REG; // Register zero for commands c38: 10 92 0b 02 sts 0x020B, r1 i2cMessageBuf[2] = units; // Start ranging c3c: 00 93 0c 02 sts 0x020C, r16 // Send the message USI_TWI_Start_Read_Write( i2cMessageBuf, 3 ); c40: 63 e0 ldi r22, 0x03 ; 3 c42: 8a e0 ldi r24, 0x0A ; 10 c44: 92 e0 ldi r25, 0x02 ; 2 c46: 0e 94 b2 03 call 0x764 ; 0x764 c4a: 0f 90 pop r0 c4c: 0f 90 pop r0 c4e: 0f 90 pop r0 c50: 0f 90 pop r0 } c52: 1f 91 pop r17 c54: 0f 91 pop r16 c56: 08 95 ret 00000c58 : void SRF_startAllRanging( char units ) { c58: 1f 93 push r17 c5a: cf 93 push r28 c5c: df 93 push r29 c5e: 18 2f mov r17, r24 c60: c0 e0 ldi r28, 0x00 ; 0 c62: d0 e0 ldi r29, 0x00 ; 0 c64: 05 c0 rjmp .+10 ; 0xc70 // do not conflict with each other // char line[20]; for( int i=0; i void SRF_startAllRanging( char units ) { // Start ranging on every other device so that adjacent sonars // do not conflict with each other // char line[20]; for( int i=0; i c7c: c1 e0 ldi r28, 0x01 ; 1 c7e: d0 e0 ldi r29, 0x00 ; 0 c80: 05 c0 rjmp .+10 ; 0xc8c //_delay_ms( 10 ); } for( int i=1; i // sprintf( line, "Start: %d\n", i ); // sendString( line ); SRF_startRanging( i, units ); //_delay_ms( 10 ); } for( int i=1; i //mk sendString( line ); SRF_startRanging( i, units ); //_delay_ms( 10 ); } } c98: df 91 pop r29 c9a: cf 91 pop r28 c9c: 1f 91 pop r17 c9e: 08 95 ret 00000ca0 : return ranges; } uint16_t SRF_getRange( uint8_t deviceNum ) { ca0: df 92 push r13 ca2: ef 92 push r14 ca4: ff 92 push r15 ca6: 0f 93 push r16 ca8: 1f 93 push r17 caa: 08 2f mov r16, r24 // FINISHED RANGING int8_t SRF_isFinishedRanging( uint8_t index ) { int8_t version; version = SRF_getVersion( index ); cac: 0e 94 f9 05 call 0xbf2 ; 0xbf2 finished = SRF_isFinishedRanging( deviceNum ); }while( finished == SRF_FALSE ); // Address must be an odd number to signify reading from the register i2cMessageBuf[0] = SRF_BASE_ADDR + (deviceNum << 1) + 1; cb0: d0 2e mov r13, r16 cb2: dd 0c add r13, r13 cb4: 81 ee ldi r24, 0xE1 ; 225 cb6: d8 0e add r13, r24 cb8: 9a e0 ldi r25, 0x0A ; 10 cba: e9 2e mov r14, r25 cbc: 92 e0 ldi r25, 0x02 ; 2 cbe: f9 2e mov r15, r25 cc0: d0 92 0a 02 sts 0x020A, r13 i2cMessageBuf[1] = SRF_RANGE_HIGH_REG; // High byte of range cc4: 82 e0 ldi r24, 0x02 ; 2 cc6: 80 93 0b 02 sts 0x020B, r24 USI_TWI_Start_Read_Write( i2cMessageBuf, 2 ); cca: 62 e0 ldi r22, 0x02 ; 2 ccc: c7 01 movw r24, r14 cce: 0e 94 b2 03 call 0x764 ; 0x764 range = (short)i2cMessageBuf[1] << 8; cd2: 10 91 0b 02 lds r17, 0x020B cd6: 00 e0 ldi r16, 0x00 ; 0 i2cMessageBuf[0] = SRF_BASE_ADDR + (deviceNum << 1) + 1; // Address of device cd8: d0 92 0a 02 sts 0x020A, r13 i2cMessageBuf[1] = SRF_RANGE_LOW_REG; // Low byte of range cdc: 83 e0 ldi r24, 0x03 ; 3 cde: 80 93 0b 02 sts 0x020B, r24 USI_TWI_Start_Read_Write( i2cMessageBuf, 2 ); ce2: 62 e0 ldi r22, 0x02 ; 2 ce4: c7 01 movw r24, r14 ce6: 0e 94 b2 03 call 0x764 ; 0x764 cea: 20 91 0b 02 lds r18, 0x020B cee: 30 e0 ldi r19, 0x00 ; 0 cf0: 20 2b or r18, r16 cf2: 31 2b or r19, r17 range |= (short)i2cMessageBuf[1]; return range; } cf4: c9 01 movw r24, r18 cf6: 1f 91 pop r17 cf8: 0f 91 pop r16 cfa: ff 90 pop r15 cfc: ef 90 pop r14 cfe: df 90 pop r13 d00: 08 95 ret 00000d02 : // COMPLETE RANGING COMMAND uint16_t SRF_completeRange( uint8_t index, char units ) { d02: 1f 93 push r17 d04: 18 2f mov r17, r24 // Start the ranging SRF_startRanging( index, units ); d06: 0e 94 0b 06 call 0xc16 ; 0xc16 milliseconds can be achieved. */ void _delay_loop_2(uint16_t __count) { __asm__ volatile ( d0a: 84 ef ldi r24, 0xF4 ; 244 d0c: 91 e0 ldi r25, 0x01 ; 1 d0e: 01 97 sbiw r24, 0x01 ; 1 d10: f1 f7 brne .-4 ; 0xd0e _delay_ms( 1 ); // Return the range return SRF_getRange( index ); d12: 81 2f mov r24, r17 d14: 0e 94 50 06 call 0xca0 ; 0xca0 } d18: 1f 91 pop r17 d1a: 08 95 ret 00000d1c : // GET RANGE COMMANDS uint16_t * SRF_getAllRanges( uint16_t * ranges ) { d1c: ef 92 push r14 d1e: ff 92 push r15 d20: 0f 93 push r16 d22: 1f 93 push r17 d24: cf 93 push r28 d26: df 93 push r29 d28: f8 2e mov r15, r24 d2a: e9 2e mov r14, r25 d2c: 9c 01 movw r18, r24 d2e: 89 01 movw r16, r18 d30: c0 e0 ldi r28, 0x00 ; 0 d32: d0 e0 ldi r29, 0x00 ; 0 d34: 08 c0 rjmp .+16 ; 0xd46 for( int i=0; i d3c: f8 01 movw r30, r16 d3e: 81 93 st Z+, r24 d40: 91 93 st Z+, r25 d42: 8f 01 movw r16, r30 // GET RANGE COMMANDS uint16_t * SRF_getAllRanges( uint16_t * ranges ) { for( int i=0; i // sendString( str ); // -------------- return ranges; } d52: 8f 2d mov r24, r15 d54: 9e 2d mov r25, r14 d56: df 91 pop r29 d58: cf 91 pop r28 d5a: 1f 91 pop r17 d5c: 0f 91 pop r16 d5e: ff 90 pop r15 d60: ef 90 pop r14 d62: 08 95 ret 00000d64 : uint16_t systemTimer; uint8_t toggle = 0; void heartBeatThreadInit(void) { d64: 10 92 85 00 sts 0x0085, r1 d68: 10 92 84 00 sts 0x0084, r1 TCNT1 = 0; // init timeout value // once the TCNT1 counter reaches the OCR1A value, an intterupt // is triggered which causes the ISR function to be called OCR1A = HEARTBEAT_TIMER_PERIOD; d6c: 88 ea ldi r24, 0xA8 ; 168 d6e: 91 e6 ldi r25, 0x61 ; 97 d70: 90 93 89 00 sts 0x0089, r25 d74: 80 93 88 00 sts 0x0088, r24 // clk/8 prescaler, clear at top // the prescaler divides the clock speed by 8 because our counter // and timeout values are only 8 bits. TCCR1B = (1 << WGM12) | (1 << CS11); d78: 8a e0 ldi r24, 0x0A ; 10 d7a: 80 93 81 00 sts 0x0081, r24 //tells in the interrupt register to call ISR(TIMER1_COMPA_vect) TIMSK1 = 1 << OCIE1A; d7e: 82 e0 ldi r24, 0x02 ; 2 d80: 80 93 6f 00 sts 0x006F, r24 } d84: 08 95 ret 00000d86 : /* * The heartbeat thread is called by the timer1 interrupt * and runs every 100 milliseconds (10 hz) */ void heartBeatThread(void) { d86: 80 91 0f 02 lds r24, 0x020F d8a: 90 91 10 02 lds r25, 0x0210 d8e: 01 96 adiw r24, 0x01 ; 1 d90: 90 93 10 02 sts 0x0210, r25 d94: 80 93 0f 02 sts 0x020F, r24 // increment the free-running system timer systemTimer++; // Only get ranging data when asked for if( state == STATE_SEND_DATA ) d98: 90 91 d1 01 lds r25, 0x01D1 d9c: 91 30 cpi r25, 0x01 ; 1 d9e: 29 f5 brne .+74 ; 0xdea { // check for displaying on the LCD. THis causes the LCD // to update quickly for 5 seconds, then display only // one set of values for 5 seconds if( ++toggle >= TOGGLE_VALUE ) da0: 80 91 d9 01 lds r24, 0x01D9 da4: 8f 5f subi r24, 0xFF ; 255 da6: 80 93 d9 01 sts 0x01D9, r24 daa: 83 32 cpi r24, 0x23 ; 35 dac: 58 f0 brcs .+22 ; 0xdc4 { toggle = 0; dae: 10 92 d9 01 sts 0x01D9, r1 if( lcdDisplay == SRF_TRUE ) db2: 80 91 a8 01 lds r24, 0x01A8 db6: 81 30 cpi r24, 0x01 ; 1 db8: 19 f4 brne .+6 ; 0xdc0 { lcdDisplay = SRF_FALSE; dba: 10 92 a8 01 sts 0x01A8, r1 dbe: 02 c0 rjmp .+4 ; 0xdc4 } else { lcdDisplay = SRF_TRUE; dc0: 90 93 a8 01 sts 0x01A8, r25 // 3. Get the range result //sendString( "Start ranging\n" ); // Start the ranging, with the result in CM SRF_startAllRanging( SRF_CM ); dc4: 81 e5 ldi r24, 0x51 ; 81 dc6: 0e 94 2c 06 call 0xc58 ; 0xc58 can be achieved. */ void _delay_loop_1(uint8_t __count) { __asm__ volatile ( dca: 80 e1 ldi r24, 0x10 ; 16 dcc: 8a 95 dec r24 dce: f1 f7 brne .-4 ; 0xdcc // Sleep for a short while _delay_us( 25 ); // Get the range of all sonar //sendString( "Get Ranges\n" ); dataArray = SRF_getAllRanges( dataArray ); dd0: 80 91 d3 01 lds r24, 0x01D3 dd4: 90 91 d4 01 lds r25, 0x01D4 dd8: 0e 94 8e 06 call 0xd1c ; 0xd1c ddc: 90 93 d4 01 sts 0x01D4, r25 de0: 80 93 d3 01 sts 0x01D3, r24 // Set the flag that data is ready dataReady = SRF_TRUE; de4: 81 e0 ldi r24, 0x01 ; 1 de6: 80 93 d2 01 sts 0x01D2, r24 dea: 08 95 ret 00000dec <__vector_7>: } } // ISR for heartbeat timer. It just calls the heartbeat thread function ISR(TIMER1_COMPA_vect) { dec: 1f 92 push r1 dee: 0f 92 push r0 df0: 0f b6 in r0, 0x3f ; 63 df2: 0f 92 push r0 df4: 11 24 eor r1, r1 df6: 2f 93 push r18 df8: 3f 93 push r19 dfa: 4f 93 push r20 dfc: 5f 93 push r21 dfe: 6f 93 push r22 e00: 7f 93 push r23 e02: 8f 93 push r24 e04: 9f 93 push r25 e06: af 93 push r26 e08: bf 93 push r27 e0a: ef 93 push r30 e0c: ff 93 push r31 heartBeatThread(); e0e: 0e 94 c3 06 call 0xd86 ; 0xd86 } e12: ff 91 pop r31 e14: ef 91 pop r30 e16: bf 91 pop r27 e18: af 91 pop r26 e1a: 9f 91 pop r25 e1c: 8f 91 pop r24 e1e: 7f 91 pop r23 e20: 6f 91 pop r22 e22: 5f 91 pop r21 e24: 4f 91 pop r20 e26: 3f 91 pop r19 e28: 2f 91 pop r18 e2a: 0f 90 pop r0 e2c: 0f be out 0x3f, r0 ; 63 e2e: 0f 90 pop r0 e30: 1f 90 pop r1 e32: 18 95 reti 00000e34 : void joystickInit() { e34: 84 b1 in r24, 0x04 ; 4 e36: 14 b8 out 0x04, r1 ; 4 // Set PINB4 to be an input with the pullup resistor on DDRB &= !(1 << PINB4); PORTB |= 1 << PINB4; e38: 2c 9a sbi 0x05, 4 ; 5 // Set pin PORTB4 to interrupt on pin change. // This pin is for the center push button PCMSK1 = 1 << PINB4; e3a: 80 e1 ldi r24, 0x10 ; 16 e3c: 80 93 6c 00 sts 0x006C, r24 // Enable interrupts for PCINT 8-15. We only need PCINT12 EIMSK |= 1 << PCIE1; e40: ef 9a sbi 0x1d, 7 ; 29 EIFR |= 1 << PCIF1; e42: e7 9a sbi 0x1c, 7 ; 28 } e44: 08 95 ret 00000e46 <__vector_3>: // Handle the pin change interrupt. SIGNAL( SIG_PIN_CHANGE1 ) { e46: 1f 92 push r1 e48: 0f 92 push r0 e4a: 0f b6 in r0, 0x3f ; 63 e4c: 0f 92 push r0 e4e: 11 24 eor r1, r1 e50: 2f 93 push r18 e52: 3f 93 push r19 e54: 4f 93 push r20 e56: 5f 93 push r21 e58: 6f 93 push r22 e5a: 7f 93 push r23 e5c: 8f 93 push r24 e5e: 9f 93 push r25 e60: af 93 push r26 e62: bf 93 push r27 e64: ef 93 push r30 e66: ff 93 push r31 // Toggle the current state of reading data from the // sonar so that it can be started without connecting // to a computer for test purposes if( state == STATE_SEND_DATA ) e68: 80 91 d1 01 lds r24, 0x01D1 e6c: 81 30 cpi r24, 0x01 ; 1 e6e: 19 f4 brne .+6 ; 0xe76 <__vector_3+0x30> { state = STATE_WAIT_FOR_START; e70: 10 92 d1 01 sts 0x01D1, r1 e74: 03 c0 rjmp .+6 ; 0xe7c <__vector_3+0x36> } else { state = STATE_SEND_DATA; e76: 81 e0 ldi r24, 0x01 ; 1 e78: 80 93 d1 01 sts 0x01D1, r24 } // If the number of sonar has not been set, then // we do not know how many sonars are on the belt. // Assume 4 if( numSonar == 0 ) e7c: 80 91 d0 01 lds r24, 0x01D0 e80: 88 23 and r24, r24 e82: 59 f4 brne .+22 ; 0xe9a <__vector_3+0x54> { numSonar = 4; e84: 84 e0 ldi r24, 0x04 ; 4 e86: 80 93 d0 01 sts 0x01D0, r24 dataArray = (uint16_t *)malloc( numSonar * sizeof(uint16_t) ); e8a: 88 e0 ldi r24, 0x08 ; 8 e8c: 90 e0 ldi r25, 0x00 ; 0 e8e: 0e 94 5f 07 call 0xebe ; 0xebe e92: 80 93 d3 01 sts 0x01D3, r24 e96: 90 93 d4 01 sts 0x01D4, r25 } // Delete the flag for pin change interrupt EIFR |= 1 << PCIF1; e9a: e7 9a sbi 0x1c, 7 ; 28 } e9c: ff 91 pop r31 e9e: ef 91 pop r30 ea0: bf 91 pop r27 ea2: af 91 pop r26 ea4: 9f 91 pop r25 ea6: 8f 91 pop r24 ea8: 7f 91 pop r23 eaa: 6f 91 pop r22 eac: 5f 91 pop r21 eae: 4f 91 pop r20 eb0: 3f 91 pop r19 eb2: 2f 91 pop r18 eb4: 0f 90 pop r0 eb6: 0f be out 0x3f, r0 ; 63 eb8: 0f 90 pop r0 eba: 1f 90 pop r1 ebc: 18 95 reti 00000ebe : ebe: cf 93 push r28 ec0: df 93 push r29 ec2: bc 01 movw r22, r24 ec4: 82 30 cpi r24, 0x02 ; 2 ec6: 91 05 cpc r25, r1 ec8: 10 f4 brcc .+4 ; 0xece eca: 62 e0 ldi r22, 0x02 ; 2 ecc: 70 e0 ldi r23, 0x00 ; 0 ece: a0 91 13 02 lds r26, 0x0213 ed2: b0 91 14 02 lds r27, 0x0214 ed6: ed 01 movw r28, r26 ed8: e0 e0 ldi r30, 0x00 ; 0 eda: f0 e0 ldi r31, 0x00 ; 0 edc: 40 e0 ldi r20, 0x00 ; 0 ede: 50 e0 ldi r21, 0x00 ; 0 ee0: 21 c0 rjmp .+66 ; 0xf24 ee2: 88 81 ld r24, Y ee4: 99 81 ldd r25, Y+1 ; 0x01 ee6: 86 17 cp r24, r22 ee8: 97 07 cpc r25, r23 eea: 69 f4 brne .+26 ; 0xf06 eec: 8a 81 ldd r24, Y+2 ; 0x02 eee: 9b 81 ldd r25, Y+3 ; 0x03 ef0: 30 97 sbiw r30, 0x00 ; 0 ef2: 19 f0 breq .+6 ; 0xefa ef4: 93 83 std Z+3, r25 ; 0x03 ef6: 82 83 std Z+2, r24 ; 0x02 ef8: 04 c0 rjmp .+8 ; 0xf02 efa: 90 93 14 02 sts 0x0214, r25 efe: 80 93 13 02 sts 0x0213, r24 f02: fe 01 movw r30, r28 f04: 34 c0 rjmp .+104 ; 0xf6e f06: 68 17 cp r22, r24 f08: 79 07 cpc r23, r25 f0a: 38 f4 brcc .+14 ; 0xf1a f0c: 41 15 cp r20, r1 f0e: 51 05 cpc r21, r1 f10: 19 f0 breq .+6 ; 0xf18 f12: 84 17 cp r24, r20 f14: 95 07 cpc r25, r21 f16: 08 f4 brcc .+2 ; 0xf1a f18: ac 01 movw r20, r24 f1a: fe 01 movw r30, r28 f1c: 8a 81 ldd r24, Y+2 ; 0x02 f1e: 9b 81 ldd r25, Y+3 ; 0x03 f20: 9c 01 movw r18, r24 f22: e9 01 movw r28, r18 f24: 20 97 sbiw r28, 0x00 ; 0 f26: e9 f6 brne .-70 ; 0xee2 f28: 41 15 cp r20, r1 f2a: 51 05 cpc r21, r1 f2c: a9 f1 breq .+106 ; 0xf98 f2e: ca 01 movw r24, r20 f30: 86 1b sub r24, r22 f32: 97 0b sbc r25, r23 f34: 04 97 sbiw r24, 0x04 ; 4 f36: 08 f4 brcc .+2 ; 0xf3a f38: ba 01 movw r22, r20 f3a: e0 e0 ldi r30, 0x00 ; 0 f3c: f0 e0 ldi r31, 0x00 ; 0 f3e: 2a c0 rjmp .+84 ; 0xf94 f40: 8d 91 ld r24, X+ f42: 9c 91 ld r25, X f44: 11 97 sbiw r26, 0x01 ; 1 f46: 84 17 cp r24, r20 f48: 95 07 cpc r25, r21 f4a: f9 f4 brne .+62 ; 0xf8a f4c: 64 17 cp r22, r20 f4e: 75 07 cpc r23, r21 f50: 81 f4 brne .+32 ; 0xf72 f52: 12 96 adiw r26, 0x02 ; 2 f54: 8d 91 ld r24, X+ f56: 9c 91 ld r25, X f58: 13 97 sbiw r26, 0x03 ; 3 f5a: 30 97 sbiw r30, 0x00 ; 0 f5c: 19 f0 breq .+6 ; 0xf64 f5e: 93 83 std Z+3, r25 ; 0x03 f60: 82 83 std Z+2, r24 ; 0x02 f62: 04 c0 rjmp .+8 ; 0xf6c f64: 90 93 14 02 sts 0x0214, r25 f68: 80 93 13 02 sts 0x0213, r24 f6c: fd 01 movw r30, r26 f6e: 32 96 adiw r30, 0x02 ; 2 f70: 4c c0 rjmp .+152 ; 0x100a f72: ca 01 movw r24, r20 f74: 86 1b sub r24, r22 f76: 97 0b sbc r25, r23 f78: fd 01 movw r30, r26 f7a: e8 0f add r30, r24 f7c: f9 1f adc r31, r25 f7e: 61 93 st Z+, r22 f80: 71 93 st Z+, r23 f82: 02 97 sbiw r24, 0x02 ; 2 f84: 8d 93 st X+, r24 f86: 9c 93 st X, r25 f88: 40 c0 rjmp .+128 ; 0x100a f8a: fd 01 movw r30, r26 f8c: 82 81 ldd r24, Z+2 ; 0x02 f8e: 93 81 ldd r25, Z+3 ; 0x03 f90: 9c 01 movw r18, r24 f92: d9 01 movw r26, r18 f94: 10 97 sbiw r26, 0x00 ; 0 f96: a1 f6 brne .-88 ; 0xf40 f98: 80 91 11 02 lds r24, 0x0211 f9c: 90 91 12 02 lds r25, 0x0212 fa0: 89 2b or r24, r25 fa2: 41 f4 brne .+16 ; 0xfb4 fa4: 80 91 cc 01 lds r24, 0x01CC fa8: 90 91 cd 01 lds r25, 0x01CD fac: 90 93 12 02 sts 0x0212, r25 fb0: 80 93 11 02 sts 0x0211, r24 fb4: 40 91 ce 01 lds r20, 0x01CE fb8: 50 91 cf 01 lds r21, 0x01CF fbc: 41 15 cp r20, r1 fbe: 51 05 cpc r21, r1 fc0: 41 f4 brne .+16 ; 0xfd2 fc2: 4d b7 in r20, 0x3d ; 61 fc4: 5e b7 in r21, 0x3e ; 62 fc6: 80 91 ca 01 lds r24, 0x01CA fca: 90 91 cb 01 lds r25, 0x01CB fce: 48 1b sub r20, r24 fd0: 59 0b sbc r21, r25 fd2: 20 91 11 02 lds r18, 0x0211 fd6: 30 91 12 02 lds r19, 0x0212 fda: ca 01 movw r24, r20 fdc: 82 1b sub r24, r18 fde: 93 0b sbc r25, r19 fe0: 86 17 cp r24, r22 fe2: 97 07 cpc r25, r23 fe4: 80 f0 brcs .+32 ; 0x1006 fe6: ab 01 movw r20, r22 fe8: 4e 5f subi r20, 0xFE ; 254 fea: 5f 4f sbci r21, 0xFF ; 255 fec: 84 17 cp r24, r20 fee: 95 07 cpc r25, r21 ff0: 50 f0 brcs .+20 ; 0x1006 ff2: 42 0f add r20, r18 ff4: 53 1f adc r21, r19 ff6: 50 93 12 02 sts 0x0212, r21 ffa: 40 93 11 02 sts 0x0211, r20 ffe: f9 01 movw r30, r18 1000: 61 93 st Z+, r22 1002: 71 93 st Z+, r23 1004: 02 c0 rjmp .+4 ; 0x100a 1006: e0 e0 ldi r30, 0x00 ; 0 1008: f0 e0 ldi r31, 0x00 ; 0 100a: cf 01 movw r24, r30 100c: df 91 pop r29 100e: cf 91 pop r28 1010: 08 95 ret 00001012 : 1012: cf 93 push r28 1014: df 93 push r29 1016: 00 97 sbiw r24, 0x00 ; 0 1018: 09 f4 brne .+2 ; 0x101c 101a: 50 c0 rjmp .+160 ; 0x10bc 101c: ec 01 movw r28, r24 101e: 22 97 sbiw r28, 0x02 ; 2 1020: 1b 82 std Y+3, r1 ; 0x03 1022: 1a 82 std Y+2, r1 ; 0x02 1024: a0 91 13 02 lds r26, 0x0213 1028: b0 91 14 02 lds r27, 0x0214 102c: 10 97 sbiw r26, 0x00 ; 0 102e: 09 f1 breq .+66 ; 0x1072 1030: 40 e0 ldi r20, 0x00 ; 0 1032: 50 e0 ldi r21, 0x00 ; 0 1034: ac 17 cp r26, r28 1036: bd 07 cpc r27, r29 1038: 08 f1 brcs .+66 ; 0x107c 103a: bb 83 std Y+3, r27 ; 0x03 103c: aa 83 std Y+2, r26 ; 0x02 103e: fe 01 movw r30, r28 1040: 21 91 ld r18, Z+ 1042: 31 91 ld r19, Z+ 1044: e2 0f add r30, r18 1046: f3 1f adc r31, r19 1048: ae 17 cp r26, r30 104a: bf 07 cpc r27, r31 104c: 79 f4 brne .+30 ; 0x106c 104e: 8d 91 ld r24, X+ 1050: 9c 91 ld r25, X 1052: 11 97 sbiw r26, 0x01 ; 1 1054: 28 0f add r18, r24 1056: 39 1f adc r19, r25 1058: 2e 5f subi r18, 0xFE ; 254 105a: 3f 4f sbci r19, 0xFF ; 255 105c: 39 83 std Y+1, r19 ; 0x01 105e: 28 83 st Y, r18 1060: 12 96 adiw r26, 0x02 ; 2 1062: 8d 91 ld r24, X+ 1064: 9c 91 ld r25, X 1066: 13 97 sbiw r26, 0x03 ; 3 1068: 9b 83 std Y+3, r25 ; 0x03 106a: 8a 83 std Y+2, r24 ; 0x02 106c: 41 15 cp r20, r1 106e: 51 05 cpc r21, r1 1070: 71 f4 brne .+28 ; 0x108e 1072: d0 93 14 02 sts 0x0214, r29 1076: c0 93 13 02 sts 0x0213, r28 107a: 20 c0 rjmp .+64 ; 0x10bc 107c: 12 96 adiw r26, 0x02 ; 2 107e: 8d 91 ld r24, X+ 1080: 9c 91 ld r25, X 1082: 13 97 sbiw r26, 0x03 ; 3 1084: ad 01 movw r20, r26 1086: 00 97 sbiw r24, 0x00 ; 0 1088: 11 f0 breq .+4 ; 0x108e 108a: dc 01 movw r26, r24 108c: d3 cf rjmp .-90 ; 0x1034 108e: fa 01 movw r30, r20 1090: d3 83 std Z+3, r29 ; 0x03 1092: c2 83 std Z+2, r28 ; 0x02 1094: 21 91 ld r18, Z+ 1096: 31 91 ld r19, Z+ 1098: e2 0f add r30, r18 109a: f3 1f adc r31, r19 109c: ce 17 cp r28, r30 109e: df 07 cpc r29, r31 10a0: 69 f4 brne .+26 ; 0x10bc 10a2: 88 81 ld r24, Y 10a4: 99 81 ldd r25, Y+1 ; 0x01 10a6: 28 0f add r18, r24 10a8: 39 1f adc r19, r25 10aa: 2e 5f subi r18, 0xFE ; 254 10ac: 3f 4f sbci r19, 0xFF ; 255 10ae: fa 01 movw r30, r20 10b0: 31 83 std Z+1, r19 ; 0x01 10b2: 20 83 st Z, r18 10b4: 8a 81 ldd r24, Y+2 ; 0x02 10b6: 9b 81 ldd r25, Y+3 ; 0x03 10b8: 93 83 std Z+3, r25 ; 0x03 10ba: 82 83 std Z+2, r24 ; 0x02 10bc: df 91 pop r29 10be: cf 91 pop r28 10c0: 08 95 ret 000010c2 : 10c2: fc 01 movw r30, r24 10c4: 88 27 eor r24, r24 10c6: 99 27 eor r25, r25 10c8: e8 94 clt 10ca: 21 91 ld r18, Z+ 10cc: 20 32 cpi r18, 0x20 ; 32 10ce: e9 f3 breq .-6 ; 0x10ca 10d0: 29 30 cpi r18, 0x09 ; 9 10d2: 10 f0 brcs .+4 ; 0x10d8 10d4: 2e 30 cpi r18, 0x0E ; 14 10d6: c8 f3 brcs .-14 ; 0x10ca 10d8: 2b 32 cpi r18, 0x2B ; 43 10da: 41 f0 breq .+16 ; 0x10ec 10dc: 2d 32 cpi r18, 0x2D ; 45 10de: 39 f4 brne .+14 ; 0x10ee 10e0: 68 94 set 10e2: 04 c0 rjmp .+8 ; 0x10ec 10e4: 0e 94 8d 08 call 0x111a ; 0x111a <__mulhi_const_10> 10e8: 82 0f add r24, r18 10ea: 91 1d adc r25, r1 10ec: 21 91 ld r18, Z+ 10ee: 20 53 subi r18, 0x30 ; 48 10f0: 2a 30 cpi r18, 0x0A ; 10 10f2: c0 f3 brcs .-16 ; 0x10e4 10f4: 1e f4 brtc .+6 ; 0x10fc 10f6: 90 95 com r25 10f8: 81 95 neg r24 10fa: 9f 4f sbci r25, 0xFF ; 255 10fc: 08 95 ret 000010fe : 10fe: fb 01 movw r30, r22 1100: dc 01 movw r26, r24 1102: 41 50 subi r20, 0x01 ; 1 1104: 50 40 sbci r21, 0x00 ; 0 1106: 30 f0 brcs .+12 ; 0x1114 1108: 8d 91 ld r24, X+ 110a: 01 90 ld r0, Z+ 110c: 80 19 sub r24, r0 110e: 19 f4 brne .+6 ; 0x1116 1110: 00 20 and r0, r0 1112: b9 f7 brne .-18 ; 0x1102 1114: 88 1b sub r24, r24 1116: 99 0b sbc r25, r25 1118: 08 95 ret 0000111a <__mulhi_const_10>: 111a: 7a e0 ldi r23, 0x0A ; 10 111c: 97 9f mul r25, r23 111e: 90 2d mov r25, r0 1120: 87 9f mul r24, r23 1122: 80 2d mov r24, r0 1124: 91 0d add r25, r1 1126: 11 24 eor r1, r1 1128: 08 95 ret 0000112a : 112a: ae e0 ldi r26, 0x0E ; 14 112c: b0 e0 ldi r27, 0x00 ; 0 112e: eb e9 ldi r30, 0x9B ; 155 1130: f8 e0 ldi r31, 0x08 ; 8 1132: 0c 94 45 0b jmp 0x168a ; 0x168a <__prologue_saves__+0x1c> 1136: 0d 89 ldd r16, Y+21 ; 0x15 1138: 1e 89 ldd r17, Y+22 ; 0x16 113a: 86 e0 ldi r24, 0x06 ; 6 113c: 8c 83 std Y+4, r24 ; 0x04 113e: 1a 83 std Y+2, r17 ; 0x02 1140: 09 83 std Y+1, r16 ; 0x01 1142: 8f ef ldi r24, 0xFF ; 255 1144: 9f e7 ldi r25, 0x7F ; 127 1146: 9e 83 std Y+6, r25 ; 0x06 1148: 8d 83 std Y+5, r24 ; 0x05 114a: ce 01 movw r24, r28 114c: 49 96 adiw r24, 0x19 ; 25 114e: ac 01 movw r20, r24 1150: 6f 89 ldd r22, Y+23 ; 0x17 1152: 78 8d ldd r23, Y+24 ; 0x18 1154: ce 01 movw r24, r28 1156: 01 96 adiw r24, 0x01 ; 1 1158: 0e 94 b8 08 call 0x1170 ; 0x1170 115c: 2f 81 ldd r18, Y+7 ; 0x07 115e: 38 85 ldd r19, Y+8 ; 0x08 1160: 02 0f add r16, r18 1162: 13 1f adc r17, r19 1164: f8 01 movw r30, r16 1166: 10 82 st Z, r1 1168: 2e 96 adiw r28, 0x0e ; 14 116a: e4 e0 ldi r30, 0x04 ; 4 116c: 0c 94 61 0b jmp 0x16c2 ; 0x16c2 <__epilogue_restores__+0x1c> 00001170 : 1170: ab e0 ldi r26, 0x0B ; 11 1172: b0 e0 ldi r27, 0x00 ; 0 1174: ee eb ldi r30, 0xBE ; 190 1176: f8 e0 ldi r31, 0x08 ; 8 1178: 0c 94 37 0b jmp 0x166e ; 0x166e <__prologue_saves__> 117c: 3c 01 movw r6, r24 117e: 2b 01 movw r4, r22 1180: 5a 01 movw r10, r20 1182: fc 01 movw r30, r24 1184: 17 82 std Z+7, r1 ; 0x07 1186: 16 82 std Z+6, r1 ; 0x06 1188: 83 81 ldd r24, Z+3 ; 0x03 118a: 81 fd sbrc r24, 1 118c: 03 c0 rjmp .+6 ; 0x1194 118e: 6f ef ldi r22, 0xFF ; 255 1190: 7f ef ldi r23, 0xFF ; 255 1192: c8 c1 rjmp .+912 ; 0x1524 1194: 9a e0 ldi r25, 0x0A ; 10 1196: 89 2e mov r8, r25 1198: 1e 01 movw r2, r28 119a: 08 94 sec 119c: 21 1c adc r2, r1 119e: 31 1c adc r3, r1 11a0: f3 01 movw r30, r6 11a2: 23 81 ldd r18, Z+3 ; 0x03 11a4: f2 01 movw r30, r4 11a6: 23 fd sbrc r18, 3 11a8: 85 91 lpm r24, Z+ 11aa: 23 ff sbrs r18, 3 11ac: 81 91 ld r24, Z+ 11ae: 2f 01 movw r4, r30 11b0: 88 23 and r24, r24 11b2: 09 f4 brne .+2 ; 0x11b6 11b4: b4 c1 rjmp .+872 ; 0x151e 11b6: 85 32 cpi r24, 0x25 ; 37 11b8: 39 f4 brne .+14 ; 0x11c8 11ba: 23 fd sbrc r18, 3 11bc: 85 91 lpm r24, Z+ 11be: 23 ff sbrs r18, 3 11c0: 81 91 ld r24, Z+ 11c2: 2f 01 movw r4, r30 11c4: 85 32 cpi r24, 0x25 ; 37 11c6: 29 f4 brne .+10 ; 0x11d2 11c8: b3 01 movw r22, r6 11ca: 90 e0 ldi r25, 0x00 ; 0 11cc: 0e 94 ad 0a call 0x155a ; 0x155a 11d0: e7 cf rjmp .-50 ; 0x11a0 11d2: 98 2f mov r25, r24 11d4: dd 24 eor r13, r13 11d6: cc 24 eor r12, r12 11d8: 99 24 eor r9, r9 11da: ff e1 ldi r31, 0x1F ; 31 11dc: fd 15 cp r31, r13 11de: d0 f0 brcs .+52 ; 0x1214 11e0: 9b 32 cpi r25, 0x2B ; 43 11e2: 69 f0 breq .+26 ; 0x11fe 11e4: 9c 32 cpi r25, 0x2C ; 44 11e6: 28 f4 brcc .+10 ; 0x11f2 11e8: 90 32 cpi r25, 0x20 ; 32 11ea: 59 f0 breq .+22 ; 0x1202 11ec: 93 32 cpi r25, 0x23 ; 35 11ee: 91 f4 brne .+36 ; 0x1214 11f0: 0e c0 rjmp .+28 ; 0x120e 11f2: 9d 32 cpi r25, 0x2D ; 45 11f4: 49 f0 breq .+18 ; 0x1208 11f6: 90 33 cpi r25, 0x30 ; 48 11f8: 69 f4 brne .+26 ; 0x1214 11fa: 41 e0 ldi r20, 0x01 ; 1 11fc: 24 c0 rjmp .+72 ; 0x1246 11fe: 52 e0 ldi r21, 0x02 ; 2 1200: d5 2a or r13, r21 1202: 84 e0 ldi r24, 0x04 ; 4 1204: d8 2a or r13, r24 1206: 28 c0 rjmp .+80 ; 0x1258 1208: 98 e0 ldi r25, 0x08 ; 8 120a: d9 2a or r13, r25 120c: 25 c0 rjmp .+74 ; 0x1258 120e: e0 e1 ldi r30, 0x10 ; 16 1210: de 2a or r13, r30 1212: 22 c0 rjmp .+68 ; 0x1258 1214: d7 fc sbrc r13, 7 1216: 29 c0 rjmp .+82 ; 0x126a 1218: 89 2f mov r24, r25 121a: 80 53 subi r24, 0x30 ; 48 121c: 8a 30 cpi r24, 0x0A ; 10 121e: 70 f4 brcc .+28 ; 0x123c 1220: d6 fe sbrs r13, 6 1222: 05 c0 rjmp .+10 ; 0x122e 1224: 98 9c mul r9, r8 1226: 90 2c mov r9, r0 1228: 11 24 eor r1, r1 122a: 98 0e add r9, r24 122c: 15 c0 rjmp .+42 ; 0x1258 122e: c8 9c mul r12, r8 1230: c0 2c mov r12, r0 1232: 11 24 eor r1, r1 1234: c8 0e add r12, r24 1236: f0 e2 ldi r31, 0x20 ; 32 1238: df 2a or r13, r31 123a: 0e c0 rjmp .+28 ; 0x1258 123c: 9e 32 cpi r25, 0x2E ; 46 123e: 29 f4 brne .+10 ; 0x124a 1240: d6 fc sbrc r13, 6 1242: 6d c1 rjmp .+730 ; 0x151e 1244: 40 e4 ldi r20, 0x40 ; 64 1246: d4 2a or r13, r20 1248: 07 c0 rjmp .+14 ; 0x1258 124a: 9c 36 cpi r25, 0x6C ; 108 124c: 19 f4 brne .+6 ; 0x1254 124e: 50 e8 ldi r21, 0x80 ; 128 1250: d5 2a or r13, r21 1252: 02 c0 rjmp .+4 ; 0x1258 1254: 98 36 cpi r25, 0x68 ; 104 1256: 49 f4 brne .+18 ; 0x126a 1258: f2 01 movw r30, r4 125a: 23 fd sbrc r18, 3 125c: 95 91 lpm r25, Z+ 125e: 23 ff sbrs r18, 3 1260: 91 91 ld r25, Z+ 1262: 2f 01 movw r4, r30 1264: 99 23 and r25, r25 1266: 09 f0 breq .+2 ; 0x126a 1268: b8 cf rjmp .-144 ; 0x11da 126a: 89 2f mov r24, r25 126c: 85 54 subi r24, 0x45 ; 69 126e: 83 30 cpi r24, 0x03 ; 3 1270: 18 f0 brcs .+6 ; 0x1278 1272: 80 52 subi r24, 0x20 ; 32 1274: 83 30 cpi r24, 0x03 ; 3 1276: 38 f4 brcc .+14 ; 0x1286 1278: 44 e0 ldi r20, 0x04 ; 4 127a: 50 e0 ldi r21, 0x00 ; 0 127c: a4 0e add r10, r20 127e: b5 1e adc r11, r21 1280: 5f e3 ldi r21, 0x3F ; 63 1282: 59 83 std Y+1, r21 ; 0x01 1284: 0f c0 rjmp .+30 ; 0x12a4 1286: 93 36 cpi r25, 0x63 ; 99 1288: 31 f0 breq .+12 ; 0x1296 128a: 93 37 cpi r25, 0x73 ; 115 128c: 79 f0 breq .+30 ; 0x12ac 128e: 93 35 cpi r25, 0x53 ; 83 1290: 09 f0 breq .+2 ; 0x1294 1292: 56 c0 rjmp .+172 ; 0x1340 1294: 20 c0 rjmp .+64 ; 0x12d6 1296: f5 01 movw r30, r10 1298: 80 81 ld r24, Z 129a: 89 83 std Y+1, r24 ; 0x01 129c: 42 e0 ldi r20, 0x02 ; 2 129e: 50 e0 ldi r21, 0x00 ; 0 12a0: a4 0e add r10, r20 12a2: b5 1e adc r11, r21 12a4: 71 01 movw r14, r2 12a6: 01 e0 ldi r16, 0x01 ; 1 12a8: 10 e0 ldi r17, 0x00 ; 0 12aa: 12 c0 rjmp .+36 ; 0x12d0 12ac: f5 01 movw r30, r10 12ae: e0 80 ld r14, Z 12b0: f1 80 ldd r15, Z+1 ; 0x01 12b2: d6 fc sbrc r13, 6 12b4: 03 c0 rjmp .+6 ; 0x12bc 12b6: 6f ef ldi r22, 0xFF ; 255 12b8: 7f ef ldi r23, 0xFF ; 255 12ba: 02 c0 rjmp .+4 ; 0x12c0 12bc: 69 2d mov r22, r9 12be: 70 e0 ldi r23, 0x00 ; 0 12c0: 42 e0 ldi r20, 0x02 ; 2 12c2: 50 e0 ldi r21, 0x00 ; 0 12c4: a4 0e add r10, r20 12c6: b5 1e adc r11, r21 12c8: c7 01 movw r24, r14 12ca: 0e 94 a2 0a call 0x1544 ; 0x1544 12ce: 8c 01 movw r16, r24 12d0: 5f e7 ldi r21, 0x7F ; 127 12d2: d5 22 and r13, r21 12d4: 14 c0 rjmp .+40 ; 0x12fe 12d6: f5 01 movw r30, r10 12d8: e0 80 ld r14, Z 12da: f1 80 ldd r15, Z+1 ; 0x01 12dc: d6 fc sbrc r13, 6 12de: 03 c0 rjmp .+6 ; 0x12e6 12e0: 6f ef ldi r22, 0xFF ; 255 12e2: 7f ef ldi r23, 0xFF ; 255 12e4: 02 c0 rjmp .+4 ; 0x12ea 12e6: 69 2d mov r22, r9 12e8: 70 e0 ldi r23, 0x00 ; 0 12ea: 42 e0 ldi r20, 0x02 ; 2 12ec: 50 e0 ldi r21, 0x00 ; 0 12ee: a4 0e add r10, r20 12f0: b5 1e adc r11, r21 12f2: c7 01 movw r24, r14 12f4: 0e 94 97 0a call 0x152e ; 0x152e 12f8: 8c 01 movw r16, r24 12fa: 50 e8 ldi r21, 0x80 ; 128 12fc: d5 2a or r13, r21 12fe: d3 fe sbrs r13, 3 1300: 07 c0 rjmp .+14 ; 0x1310 1302: 1a c0 rjmp .+52 ; 0x1338 1304: b3 01 movw r22, r6 1306: 80 e2 ldi r24, 0x20 ; 32 1308: 90 e0 ldi r25, 0x00 ; 0 130a: 0e 94 ad 0a call 0x155a ; 0x155a 130e: ca 94 dec r12 1310: 8c 2d mov r24, r12 1312: 90 e0 ldi r25, 0x00 ; 0 1314: 08 17 cp r16, r24 1316: 19 07 cpc r17, r25 1318: a8 f3 brcs .-22 ; 0x1304 131a: 0e c0 rjmp .+28 ; 0x1338 131c: f7 01 movw r30, r14 131e: d7 fc sbrc r13, 7 1320: 85 91 lpm r24, Z+ 1322: d7 fe sbrs r13, 7 1324: 81 91 ld r24, Z+ 1326: 7f 01 movw r14, r30 1328: b3 01 movw r22, r6 132a: 90 e0 ldi r25, 0x00 ; 0 132c: 0e 94 ad 0a call 0x155a ; 0x155a 1330: c1 10 cpse r12, r1 1332: ca 94 dec r12 1334: 01 50 subi r16, 0x01 ; 1 1336: 10 40 sbci r17, 0x00 ; 0 1338: 01 15 cp r16, r1 133a: 11 05 cpc r17, r1 133c: 79 f7 brne .-34 ; 0x131c 133e: ec c0 rjmp .+472 ; 0x1518 1340: 94 36 cpi r25, 0x64 ; 100 1342: 11 f0 breq .+4 ; 0x1348 1344: 99 36 cpi r25, 0x69 ; 105 1346: 71 f5 brne .+92 ; 0x13a4 1348: d7 fe sbrs r13, 7 134a: 08 c0 rjmp .+16 ; 0x135c 134c: f5 01 movw r30, r10 134e: e0 80 ld r14, Z 1350: f1 80 ldd r15, Z+1 ; 0x01 1352: 02 81 ldd r16, Z+2 ; 0x02 1354: 13 81 ldd r17, Z+3 ; 0x03 1356: 44 e0 ldi r20, 0x04 ; 4 1358: 50 e0 ldi r21, 0x00 ; 0 135a: 0a c0 rjmp .+20 ; 0x1370 135c: f5 01 movw r30, r10 135e: 80 81 ld r24, Z 1360: 91 81 ldd r25, Z+1 ; 0x01 1362: 7c 01 movw r14, r24 1364: 00 27 eor r16, r16 1366: f7 fc sbrc r15, 7 1368: 00 95 com r16 136a: 10 2f mov r17, r16 136c: 42 e0 ldi r20, 0x02 ; 2 136e: 50 e0 ldi r21, 0x00 ; 0 1370: a4 0e add r10, r20 1372: b5 1e adc r11, r21 1374: 5f e6 ldi r21, 0x6F ; 111 1376: d5 22 and r13, r21 1378: 17 ff sbrs r17, 7 137a: 0a c0 rjmp .+20 ; 0x1390 137c: 10 95 com r17 137e: 00 95 com r16 1380: f0 94 com r15 1382: e0 94 com r14 1384: e1 1c adc r14, r1 1386: f1 1c adc r15, r1 1388: 01 1d adc r16, r1 138a: 11 1d adc r17, r1 138c: 80 e8 ldi r24, 0x80 ; 128 138e: d8 2a or r13, r24 1390: 2a e0 ldi r18, 0x0A ; 10 1392: 30 e0 ldi r19, 0x00 ; 0 1394: a1 01 movw r20, r2 1396: c8 01 movw r24, r16 1398: b7 01 movw r22, r14 139a: 0e 94 d9 0a call 0x15b2 ; 0x15b2 <__ultoa_invert> 139e: f8 2e mov r15, r24 13a0: f2 18 sub r15, r2 13a2: 40 c0 rjmp .+128 ; 0x1424 13a4: 95 37 cpi r25, 0x75 ; 117 13a6: 29 f4 brne .+10 ; 0x13b2 13a8: 1d 2d mov r17, r13 13aa: 1f 7e andi r17, 0xEF ; 239 13ac: 2a e0 ldi r18, 0x0A ; 10 13ae: 30 e0 ldi r19, 0x00 ; 0 13b0: 1d c0 rjmp .+58 ; 0x13ec 13b2: 1d 2d mov r17, r13 13b4: 19 7f andi r17, 0xF9 ; 249 13b6: 9f 36 cpi r25, 0x6F ; 111 13b8: 61 f0 breq .+24 ; 0x13d2 13ba: 90 37 cpi r25, 0x70 ; 112 13bc: 20 f4 brcc .+8 ; 0x13c6 13be: 98 35 cpi r25, 0x58 ; 88 13c0: 09 f0 breq .+2 ; 0x13c4 13c2: ad c0 rjmp .+346 ; 0x151e 13c4: 0f c0 rjmp .+30 ; 0x13e4 13c6: 90 37 cpi r25, 0x70 ; 112 13c8: 39 f0 breq .+14 ; 0x13d8 13ca: 98 37 cpi r25, 0x78 ; 120 13cc: 09 f0 breq .+2 ; 0x13d0 13ce: a7 c0 rjmp .+334 ; 0x151e 13d0: 04 c0 rjmp .+8 ; 0x13da 13d2: 28 e0 ldi r18, 0x08 ; 8 13d4: 30 e0 ldi r19, 0x00 ; 0 13d6: 0a c0 rjmp .+20 ; 0x13ec 13d8: 10 61 ori r17, 0x10 ; 16 13da: 14 fd sbrc r17, 4 13dc: 14 60 ori r17, 0x04 ; 4 13de: 20 e1 ldi r18, 0x10 ; 16 13e0: 30 e0 ldi r19, 0x00 ; 0 13e2: 04 c0 rjmp .+8 ; 0x13ec 13e4: 14 fd sbrc r17, 4 13e6: 16 60 ori r17, 0x06 ; 6 13e8: 20 e1 ldi r18, 0x10 ; 16 13ea: 32 e0 ldi r19, 0x02 ; 2 13ec: 17 ff sbrs r17, 7 13ee: 08 c0 rjmp .+16 ; 0x1400 13f0: f5 01 movw r30, r10 13f2: 60 81 ld r22, Z 13f4: 71 81 ldd r23, Z+1 ; 0x01 13f6: 82 81 ldd r24, Z+2 ; 0x02 13f8: 93 81 ldd r25, Z+3 ; 0x03 13fa: 44 e0 ldi r20, 0x04 ; 4 13fc: 50 e0 ldi r21, 0x00 ; 0 13fe: 08 c0 rjmp .+16 ; 0x1410 1400: f5 01 movw r30, r10 1402: 80 81 ld r24, Z 1404: 91 81 ldd r25, Z+1 ; 0x01 1406: bc 01 movw r22, r24 1408: 80 e0 ldi r24, 0x00 ; 0 140a: 90 e0 ldi r25, 0x00 ; 0 140c: 42 e0 ldi r20, 0x02 ; 2 140e: 50 e0 ldi r21, 0x00 ; 0 1410: a4 0e add r10, r20 1412: b5 1e adc r11, r21 1414: a1 01 movw r20, r2 1416: 0e 94 d9 0a call 0x15b2 ; 0x15b2 <__ultoa_invert> 141a: f8 2e mov r15, r24 141c: f2 18 sub r15, r2 141e: 8f e7 ldi r24, 0x7F ; 127 1420: d8 2e mov r13, r24 1422: d1 22 and r13, r17 1424: d6 fe sbrs r13, 6 1426: 0b c0 rjmp .+22 ; 0x143e 1428: 5e ef ldi r21, 0xFE ; 254 142a: d5 22 and r13, r21 142c: f9 14 cp r15, r9 142e: 38 f4 brcc .+14 ; 0x143e 1430: d4 fe sbrs r13, 4 1432: 07 c0 rjmp .+14 ; 0x1442 1434: d2 fc sbrc r13, 2 1436: 05 c0 rjmp .+10 ; 0x1442 1438: 8f ee ldi r24, 0xEF ; 239 143a: d8 22 and r13, r24 143c: 02 c0 rjmp .+4 ; 0x1442 143e: 1f 2d mov r17, r15 1440: 01 c0 rjmp .+2 ; 0x1444 1442: 19 2d mov r17, r9 1444: d4 fe sbrs r13, 4 1446: 0d c0 rjmp .+26 ; 0x1462 1448: fe 01 movw r30, r28 144a: ef 0d add r30, r15 144c: f1 1d adc r31, r1 144e: 80 81 ld r24, Z 1450: 80 33 cpi r24, 0x30 ; 48 1452: 19 f4 brne .+6 ; 0x145a 1454: 99 ee ldi r25, 0xE9 ; 233 1456: d9 22 and r13, r25 1458: 08 c0 rjmp .+16 ; 0x146a 145a: 1f 5f subi r17, 0xFF ; 255 145c: d2 fe sbrs r13, 2 145e: 05 c0 rjmp .+10 ; 0x146a 1460: 03 c0 rjmp .+6 ; 0x1468 1462: 8d 2d mov r24, r13 1464: 86 78 andi r24, 0x86 ; 134 1466: 09 f0 breq .+2 ; 0x146a 1468: 1f 5f subi r17, 0xFF ; 255 146a: 0d 2d mov r16, r13 146c: d3 fc sbrc r13, 3 146e: 14 c0 rjmp .+40 ; 0x1498 1470: d0 fe sbrs r13, 0 1472: 0f c0 rjmp .+30 ; 0x1492 1474: 1c 15 cp r17, r12 1476: 10 f0 brcs .+4 ; 0x147c 1478: 9f 2c mov r9, r15 147a: 0b c0 rjmp .+22 ; 0x1492 147c: 9f 2c mov r9, r15 147e: 9c 0c add r9, r12 1480: 91 1a sub r9, r17 1482: 1c 2d mov r17, r12 1484: 06 c0 rjmp .+12 ; 0x1492 1486: b3 01 movw r22, r6 1488: 80 e2 ldi r24, 0x20 ; 32 148a: 90 e0 ldi r25, 0x00 ; 0 148c: 0e 94 ad 0a call 0x155a ; 0x155a 1490: 1f 5f subi r17, 0xFF ; 255 1492: 1c 15 cp r17, r12 1494: c0 f3 brcs .-16 ; 0x1486 1496: 04 c0 rjmp .+8 ; 0x14a0 1498: 1c 15 cp r17, r12 149a: 10 f4 brcc .+4 ; 0x14a0 149c: c1 1a sub r12, r17 149e: 01 c0 rjmp .+2 ; 0x14a2 14a0: cc 24 eor r12, r12 14a2: 04 ff sbrs r16, 4 14a4: 10 c0 rjmp .+32 ; 0x14c6 14a6: b3 01 movw r22, r6 14a8: 80 e3 ldi r24, 0x30 ; 48 14aa: 90 e0 ldi r25, 0x00 ; 0 14ac: 0e 94 ad 0a call 0x155a ; 0x155a 14b0: 02 ff sbrs r16, 2 14b2: 1e c0 rjmp .+60 ; 0x14f0 14b4: 01 fd sbrc r16, 1 14b6: 03 c0 rjmp .+6 ; 0x14be 14b8: 88 e7 ldi r24, 0x78 ; 120 14ba: 90 e0 ldi r25, 0x00 ; 0 14bc: 02 c0 rjmp .+4 ; 0x14c2 14be: 88 e5 ldi r24, 0x58 ; 88 14c0: 90 e0 ldi r25, 0x00 ; 0 14c2: b3 01 movw r22, r6 14c4: 0c c0 rjmp .+24 ; 0x14de 14c6: 80 2f mov r24, r16 14c8: 86 78 andi r24, 0x86 ; 134 14ca: 91 f0 breq .+36 ; 0x14f0 14cc: 01 ff sbrs r16, 1 14ce: 02 c0 rjmp .+4 ; 0x14d4 14d0: 8b e2 ldi r24, 0x2B ; 43 14d2: 01 c0 rjmp .+2 ; 0x14d6 14d4: 80 e2 ldi r24, 0x20 ; 32 14d6: d7 fc sbrc r13, 7 14d8: 8d e2 ldi r24, 0x2D ; 45 14da: b3 01 movw r22, r6 14dc: 90 e0 ldi r25, 0x00 ; 0 14de: 0e 94 ad 0a call 0x155a ; 0x155a 14e2: 06 c0 rjmp .+12 ; 0x14f0 14e4: b3 01 movw r22, r6 14e6: 80 e3 ldi r24, 0x30 ; 48 14e8: 90 e0 ldi r25, 0x00 ; 0 14ea: 0e 94 ad 0a call 0x155a ; 0x155a 14ee: 9a 94 dec r9 14f0: f9 14 cp r15, r9 14f2: c0 f3 brcs .-16 ; 0x14e4 14f4: fa 94 dec r15 14f6: f1 01 movw r30, r2 14f8: ef 0d add r30, r15 14fa: f1 1d adc r31, r1 14fc: b3 01 movw r22, r6 14fe: 80 81 ld r24, Z 1500: 90 e0 ldi r25, 0x00 ; 0 1502: 0e 94 ad 0a call 0x155a ; 0x155a 1506: ff 20 and r15, r15 1508: a9 f7 brne .-22 ; 0x14f4 150a: 06 c0 rjmp .+12 ; 0x1518 150c: b3 01 movw r22, r6 150e: 80 e2 ldi r24, 0x20 ; 32 1510: 90 e0 ldi r25, 0x00 ; 0 1512: 0e 94 ad 0a call 0x155a ; 0x155a 1516: ca 94 dec r12 1518: cc 20 and r12, r12 151a: c1 f7 brne .-16 ; 0x150c 151c: 41 ce rjmp .-894 ; 0x11a0 151e: f3 01 movw r30, r6 1520: 66 81 ldd r22, Z+6 ; 0x06 1522: 77 81 ldd r23, Z+7 ; 0x07 1524: cb 01 movw r24, r22 1526: 2b 96 adiw r28, 0x0b ; 11 1528: e2 e1 ldi r30, 0x12 ; 18 152a: 0c 94 53 0b jmp 0x16a6 ; 0x16a6 <__epilogue_restores__> 0000152e : 152e: fc 01 movw r30, r24 1530: 05 90 lpm r0, Z+ 1532: 61 50 subi r22, 0x01 ; 1 1534: 70 40 sbci r23, 0x00 ; 0 1536: 01 10 cpse r0, r1 1538: d8 f7 brcc .-10 ; 0x1530 153a: 80 95 com r24 153c: 90 95 com r25 153e: 8e 0f add r24, r30 1540: 9f 1f adc r25, r31 1542: 08 95 ret 00001544 : 1544: fc 01 movw r30, r24 1546: 61 50 subi r22, 0x01 ; 1 1548: 70 40 sbci r23, 0x00 ; 0 154a: 01 90 ld r0, Z+ 154c: 01 10 cpse r0, r1 154e: d8 f7 brcc .-10 ; 0x1546 1550: 80 95 com r24 1552: 90 95 com r25 1554: 8e 0f add r24, r30 1556: 9f 1f adc r25, r31 1558: 08 95 ret 0000155a : 155a: 0f 93 push r16 155c: 1f 93 push r17 155e: cf 93 push r28 1560: df 93 push r29 1562: 8c 01 movw r16, r24 1564: eb 01 movw r28, r22 1566: 8b 81 ldd r24, Y+3 ; 0x03 1568: 81 ff sbrs r24, 1 156a: 1b c0 rjmp .+54 ; 0x15a2 156c: 82 ff sbrs r24, 2 156e: 0d c0 rjmp .+26 ; 0x158a 1570: 2e 81 ldd r18, Y+6 ; 0x06 1572: 3f 81 ldd r19, Y+7 ; 0x07 1574: 8c 81 ldd r24, Y+4 ; 0x04 1576: 9d 81 ldd r25, Y+5 ; 0x05 1578: 28 17 cp r18, r24 157a: 39 07 cpc r19, r25 157c: 64 f4 brge .+24 ; 0x1596 157e: e8 81 ld r30, Y 1580: f9 81 ldd r31, Y+1 ; 0x01 1582: 01 93 st Z+, r16 1584: f9 83 std Y+1, r31 ; 0x01 1586: e8 83 st Y, r30 1588: 06 c0 rjmp .+12 ; 0x1596 158a: e8 85 ldd r30, Y+8 ; 0x08 158c: f9 85 ldd r31, Y+9 ; 0x09 158e: 80 2f mov r24, r16 1590: 09 95 icall 1592: 89 2b or r24, r25 1594: 31 f4 brne .+12 ; 0x15a2 1596: 8e 81 ldd r24, Y+6 ; 0x06 1598: 9f 81 ldd r25, Y+7 ; 0x07 159a: 01 96 adiw r24, 0x01 ; 1 159c: 9f 83 std Y+7, r25 ; 0x07 159e: 8e 83 std Y+6, r24 ; 0x06 15a0: 02 c0 rjmp .+4 ; 0x15a6 15a2: 0f ef ldi r16, 0xFF ; 255 15a4: 1f ef ldi r17, 0xFF ; 255 15a6: c8 01 movw r24, r16 15a8: df 91 pop r29 15aa: cf 91 pop r28 15ac: 1f 91 pop r17 15ae: 0f 91 pop r16 15b0: 08 95 ret 000015b2 <__ultoa_invert>: 15b2: fa 01 movw r30, r20 15b4: aa 27 eor r26, r26 15b6: 28 30 cpi r18, 0x08 ; 8 15b8: 51 f1 breq .+84 ; 0x160e <__ultoa_invert+0x5c> 15ba: 20 31 cpi r18, 0x10 ; 16 15bc: 81 f1 breq .+96 ; 0x161e <__ultoa_invert+0x6c> 15be: e8 94 clt 15c0: 6f 93 push r22 15c2: 6e 7f andi r22, 0xFE ; 254 15c4: 6e 5f subi r22, 0xFE ; 254 15c6: 7f 4f sbci r23, 0xFF ; 255 15c8: 8f 4f sbci r24, 0xFF ; 255 15ca: 9f 4f sbci r25, 0xFF ; 255 15cc: af 4f sbci r26, 0xFF ; 255 15ce: b1 e0 ldi r27, 0x01 ; 1 15d0: 3e d0 rcall .+124 ; 0x164e <__ultoa_invert+0x9c> 15d2: b4 e0 ldi r27, 0x04 ; 4 15d4: 3c d0 rcall .+120 ; 0x164e <__ultoa_invert+0x9c> 15d6: 67 0f add r22, r23 15d8: 78 1f adc r23, r24 15da: 89 1f adc r24, r25 15dc: 9a 1f adc r25, r26 15de: a1 1d adc r26, r1 15e0: 68 0f add r22, r24 15e2: 79 1f adc r23, r25 15e4: 8a 1f adc r24, r26 15e6: 91 1d adc r25, r1 15e8: a1 1d adc r26, r1 15ea: 6a 0f add r22, r26 15ec: 71 1d adc r23, r1 15ee: 81 1d adc r24, r1 15f0: 91 1d adc r25, r1 15f2: a1 1d adc r26, r1 15f4: 20 d0 rcall .+64 ; 0x1636 <__ultoa_invert+0x84> 15f6: 09 f4 brne .+2 ; 0x15fa <__ultoa_invert+0x48> 15f8: 68 94 set 15fa: 3f 91 pop r19 15fc: 2a e0 ldi r18, 0x0A ; 10 15fe: 26 9f mul r18, r22 1600: 11 24 eor r1, r1 1602: 30 19 sub r19, r0 1604: 30 5d subi r19, 0xD0 ; 208 1606: 31 93 st Z+, r19 1608: de f6 brtc .-74 ; 0x15c0 <__ultoa_invert+0xe> 160a: cf 01 movw r24, r30 160c: 08 95 ret 160e: 46 2f mov r20, r22 1610: 47 70 andi r20, 0x07 ; 7 1612: 40 5d subi r20, 0xD0 ; 208 1614: 41 93 st Z+, r20 1616: b3 e0 ldi r27, 0x03 ; 3 1618: 0f d0 rcall .+30 ; 0x1638 <__ultoa_invert+0x86> 161a: c9 f7 brne .-14 ; 0x160e <__ultoa_invert+0x5c> 161c: f6 cf rjmp .-20 ; 0x160a <__ultoa_invert+0x58> 161e: 46 2f mov r20, r22 1620: 4f 70 andi r20, 0x0F ; 15 1622: 40 5d subi r20, 0xD0 ; 208 1624: 4a 33 cpi r20, 0x3A ; 58 1626: 18 f0 brcs .+6 ; 0x162e <__ultoa_invert+0x7c> 1628: 49 5d subi r20, 0xD9 ; 217 162a: 31 fd sbrc r19, 1 162c: 40 52 subi r20, 0x20 ; 32 162e: 41 93 st Z+, r20 1630: 02 d0 rcall .+4 ; 0x1636 <__ultoa_invert+0x84> 1632: a9 f7 brne .-22 ; 0x161e <__ultoa_invert+0x6c> 1634: ea cf rjmp .-44 ; 0x160a <__ultoa_invert+0x58> 1636: b4 e0 ldi r27, 0x04 ; 4 1638: a6 95 lsr r26 163a: 97 95 ror r25 163c: 87 95 ror r24 163e: 77 95 ror r23 1640: 67 95 ror r22 1642: ba 95 dec r27 1644: c9 f7 brne .-14 ; 0x1638 <__ultoa_invert+0x86> 1646: 00 97 sbiw r24, 0x00 ; 0 1648: 61 05 cpc r22, r1 164a: 71 05 cpc r23, r1 164c: 08 95 ret 164e: 9b 01 movw r18, r22 1650: ac 01 movw r20, r24 1652: 0a 2e mov r0, r26 1654: 06 94 lsr r0 1656: 57 95 ror r21 1658: 47 95 ror r20 165a: 37 95 ror r19 165c: 27 95 ror r18 165e: ba 95 dec r27 1660: c9 f7 brne .-14 ; 0x1654 <__ultoa_invert+0xa2> 1662: 62 0f add r22, r18 1664: 73 1f adc r23, r19 1666: 84 1f adc r24, r20 1668: 95 1f adc r25, r21 166a: a0 1d adc r26, r0 166c: 08 95 ret 0000166e <__prologue_saves__>: 166e: 2f 92 push r2 1670: 3f 92 push r3 1672: 4f 92 push r4 1674: 5f 92 push r5 1676: 6f 92 push r6 1678: 7f 92 push r7 167a: 8f 92 push r8 167c: 9f 92 push r9 167e: af 92 push r10 1680: bf 92 push r11 1682: cf 92 push r12 1684: df 92 push r13 1686: ef 92 push r14 1688: ff 92 push r15 168a: 0f 93 push r16 168c: 1f 93 push r17 168e: cf 93 push r28 1690: df 93 push r29 1692: cd b7 in r28, 0x3d ; 61 1694: de b7 in r29, 0x3e ; 62 1696: ca 1b sub r28, r26 1698: db 0b sbc r29, r27 169a: 0f b6 in r0, 0x3f ; 63 169c: f8 94 cli 169e: de bf out 0x3e, r29 ; 62 16a0: 0f be out 0x3f, r0 ; 63 16a2: cd bf out 0x3d, r28 ; 61 16a4: 09 94 ijmp 000016a6 <__epilogue_restores__>: 16a6: 2a 88 ldd r2, Y+18 ; 0x12 16a8: 39 88 ldd r3, Y+17 ; 0x11 16aa: 48 88 ldd r4, Y+16 ; 0x10 16ac: 5f 84 ldd r5, Y+15 ; 0x0f 16ae: 6e 84 ldd r6, Y+14 ; 0x0e 16b0: 7d 84 ldd r7, Y+13 ; 0x0d 16b2: 8c 84 ldd r8, Y+12 ; 0x0c 16b4: 9b 84 ldd r9, Y+11 ; 0x0b 16b6: aa 84 ldd r10, Y+10 ; 0x0a 16b8: b9 84 ldd r11, Y+9 ; 0x09 16ba: c8 84 ldd r12, Y+8 ; 0x08 16bc: df 80 ldd r13, Y+7 ; 0x07 16be: ee 80 ldd r14, Y+6 ; 0x06 16c0: fd 80 ldd r15, Y+5 ; 0x05 16c2: 0c 81 ldd r16, Y+4 ; 0x04 16c4: 1b 81 ldd r17, Y+3 ; 0x03 16c6: aa 81 ldd r26, Y+2 ; 0x02 16c8: b9 81 ldd r27, Y+1 ; 0x01 16ca: ce 0f add r28, r30 16cc: d1 1d adc r29, r1 16ce: 0f b6 in r0, 0x3f ; 63 16d0: f8 94 cli 16d2: de bf out 0x3e, r29 ; 62 16d4: 0f be out 0x3f, r0 ; 63 16d6: cd bf out 0x3d, r28 ; 61 16d8: ed 01 movw r28, r26 16da: 08 95 ret 000016dc <_exit>: 16dc: f8 94 cli 000016de <__stop_program>: 16de: ff cf rjmp .-2 ; 0x16de <__stop_program>