9c: 78 c3 rjmp .+1776 ; 0x78e <_exit> 0000009e <__bad_interrupt>: 9e: b0 cf rjmp .-160 ; 0x0 <__vectors> 000000a0 <__vector_3>: // All PCINT vectors must call sonar_handle_pci ISR(PCINT0_vect) { a0: 1f 92 push r1 a2: 0f 92 push r0 a4: 0f b6 in r0, 0x3f ; 63 a6: 0f 92 push r0 a8: 11 24 eor r1, r1 aa: 2f 93 push r18 ac: 3f 93 push r19 ae: 4f 93 push r20 b0: 5f 93 push r21 b2: 6f 93 push r22 b4: 7f 93 push r23 b6: 8f 93 push r24 b8: 9f 93 push r25 ba: af 93 push r26 bc: bf 93 push r27 be: ef 93 push r30 c0: ff 93 push r31 if (sonar_handle_pci()) return; c2: 9b d1 rcall .+822 ; 0x3fa c4: ff 91 pop r31 // Here you can do your other stuff } c6: ef 91 pop r30 c8: bf 91 pop r27 ca: af 91 pop r26 cc: 9f 91 pop r25 ce: 8f 91 pop r24 d0: 7f 91 pop r23 d2: 6f 91 pop r22 d4: 5f 91 pop r21 d6: 4f 91 pop r20 d8: 3f 91 pop r19 da: 2f 91 pop r18 dc: 0f 90 pop r0 de: 0f be out 0x3f, r0 ; 63 e0: 0f 90 pop r0 e2: 1f 90 pop r1 e4: 18 95 reti 000000e6 <__vector_13>: // Timer overflow - if sonar has a timeout -> 0xFFFF in result. ISR(TIMER1_OVF_vect) { e6: 1f 92 push r1 e8: 0f 92 push r0 ea: 0f b6 in r0, 0x3f ; 63 ec: 0f 92 push r0 ee: 11 24 eor r1, r1 f0: 2f 93 push r18 f2: 3f 93 push r19 f4: 4f 93 push r20 f6: 5f 93 push r21 f8: 6f 93 push r22 fa: 7f 93 push r23 fc: 8f 93 push r24 fe: 9f 93 push r25 100: af 93 push r26 102: bf 93 push r27 104: ef 93 push r30 106: ff 93 push r31 if (sonar_handle_t1ovf()) return; 108: 62 d1 rcall .+708 ; 0x3ce 10a: ff 91 pop r31 // ... } 10c: ef 91 pop r30 10e: bf 91 pop r27 110: af 91 pop r26 112: 9f 91 pop r25 114: 8f 91 pop r24 116: 7f 91 pop r23 118: 6f 91 pop r22 11a: 5f 91 pop r21 11c: 4f 91 pop r20 11e: 3f 91 pop r19 120: 2f 91 pop r18 122: 0f 90 pop r0 124: 0f be out 0x3f, r0 ; 63 126: 0f 90 pop r0 128: 1f 90 pop r1 12a: 18 95 reti 0000012c

: void main() { 12c: cf 93 push r28 12e: df 93 push r29 130: cd b7 in r28, 0x3d ; 61 132: de b7 in r29, 0x3e ; 62 134: 27 97 sbiw r28, 0x07 ; 7 136: 0f b6 in r0, 0x3f ; 63 138: f8 94 cli 13a: de bf out 0x3e, r29 ; 62 13c: 0f be out 0x3f, r0 ; 63 13e: cd bf out 0x3d, r28 ; 61 // Init UART communication uart_init(9600); 140: 87 e6 ldi r24, 0x67 ; 103 142: 90 e0 ldi r25, 0x00 ; 0 144: 3e d0 rcall .+124 ; 0x1c2 <_uart_init_do> 146: 38 9a sbi 0x07, 0 ; 7 // Create and init Sonar instance sonar_t so; // Args: pointer to your sonar_t, and 2 pin aliases - Trig & Echo sonar_init(&so, A0, A1); 148: 39 98 cbi 0x07, 1 ; 7 14a: 41 9a sbi 0x08, 1 ; 8 14c: 01 e0 ldi r16, 0x01 ; 1 14e: 26 e2 ldi r18, 0x26 ; 38 150: 30 e0 ldi r19, 0x00 ; 0 152: 40 e0 ldi r20, 0x00 ; 0 154: 68 e2 ldi r22, 0x28 ; 40 156: 70 e0 ldi r23, 0x00 ; 0 158: ce 01 movw r24, r28 15a: 01 96 adiw r24, 0x01 ; 1 15c: 56 d0 rcall .+172 ; 0x20a <_sonar_init_do> 15e: 78 94 sei 160: ce 01 movw r24, r28 // You can have more than one sonar connected, but only one can measure at a time // Allow interrupts sei(); 162: 01 96 adiw r24, 0x01 ; 1 while(1) { // Measure sonar_start(&so); 164: 6b d0 rcall .+214 ; 0x23c 166: 80 91 32 01 lds r24, 0x0132 16a: 81 11 cpse r24, r1 while(sonar_busy) { 16c: fe cf rjmp .-4 ; 0x16a 16e: 60 91 30 01 lds r22, 0x0130 172: 70 91 31 01 lds r23, 0x0131 // Sonar is asynchronous // Here we just wait for it to complete } int16_t res = sonar_result; 176: 77 ff sbrs r23, 7 178: 03 c0 rjmp .+6 ; 0x180 17a: 80 e0 ldi r24, 0x00 ; 0 // Print if (res < 0) { 17c: 91 e0 ldi r25, 0x01 ; 1 17e: 08 c0 rjmp .+16 ; 0x190 uart_puts("NO OBSTACLES\r\n"); 180: 41 e0 ldi r20, 0x01 ; 1 182: 80 91 2e 01 lds r24, 0x012E } else { put_i16f(uart, res, 1); // one decimal place 186: 90 91 2f 01 lds r25, 0x012F 18a: ec d1 rcall .+984 ; 0x564 18c: 8f e0 ldi r24, 0x0F ; 15 18e: 91 e0 ldi r25, 0x01 ; 1 190: 31 d0 rcall .+98 ; 0x1f4 192: 2f ef ldi r18, 0xFF ; 255 194: 89 e6 ldi r24, 0x69 ; 105 196: 98 e1 ldi r25, 0x18 ; 24 198: 21 50 subi r18, 0x01 ; 1 19a: 80 40 sbci r24, 0x00 ; 0 #else //round up by default __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); #endif __builtin_avr_delay_cycles(__ticks_dc); 19c: 90 40 sbci r25, 0x00 ; 0 19e: e1 f7 brne .-8 ; 0x198 1a0: 00 c0 rjmp .+0 ; 0x1a2 1a2: 00 00 nop 1a4: dd cf rjmp .-70 ; 0x160 000001a6 : /** Send byte over UART */ void uart_tx(uint8_t data) { // Wait for transmit buffer while (!uart_tx_ready()); 1a6: 90 91 c0 00 lds r25, 0x00C0 1aa: 95 ff sbrs r25, 5 1ac: fc cf rjmp .-8 ; 0x1a6 // send it UDR0 = data; 1ae: 80 93 c6 00 sts 0x00C6, r24 1b2: 08 95 ret 000001b4 : /** Receive one byte over UART */ uint8_t uart_rx() { // Wait for data to be received while (!uart_rx_ready()); 1b4: 80 91 c0 00 lds r24, 0x00C0 1b8: 87 ff sbrs r24, 7 1ba: fc cf rjmp .-8 ; 0x1b4 // Get and return received data from buffer return UDR0; 1bc: 80 91 c6 00 lds r24, 0x00C6 } 1c0: 08 95 ret 000001c2 <_uart_init_do>: STREAM* uart; void _uart_init_do(uint16_t ubrr) { /*Set baud rate */ UBRR0H = (uint8_t) (ubrr >> 8); 1c2: 90 93 c5 00 sts 0x00C5, r25 UBRR0L = (uint8_t) ubrr; 1c6: 80 93 c4 00 sts 0x00C4, r24 // Enable Rx and Tx UCSR0B = (1 << RXEN0) | (1 << TXEN0); 1ca: 88 e1 ldi r24, 0x18 ; 24 1cc: 80 93 c1 00 sts 0x00C1, r24 // 8-bit data, 1 stop bit UCSR0C = (0b11 << UCSZ00); 1d0: 86 e0 ldi r24, 0x06 ; 6 1d2: 80 93 c2 00 sts 0x00C2, r24 uart_singleton.tx = &uart_tx; 1d6: ea e2 ldi r30, 0x2A ; 42 1d8: f1 e0 ldi r31, 0x01 ; 1 1da: 83 ed ldi r24, 0xD3 ; 211 1dc: 90 e0 ldi r25, 0x00 ; 0 1de: 91 83 std Z+1, r25 ; 0x01 1e0: 80 83 st Z, r24 uart_singleton.rx = &uart_rx; 1e2: 8a ed ldi r24, 0xDA ; 218 1e4: 90 e0 ldi r25, 0x00 ; 0 1e6: 93 83 std Z+3, r25 ; 0x03 1e8: 82 83 std Z+2, r24 ; 0x02 uart = &uart_singleton; 1ea: f0 93 2f 01 sts 0x012F, r31 1ee: e0 93 2e 01 sts 0x012E, r30 1f2: 08 95 ret 000001f4 : } /** Send string over UART */ void uart_puts(const char* str) { 1f4: cf 93 push r28 1f6: df 93 push r29 1f8: ec 01 movw r28, r24 while (*str) { 1fa: 89 91 ld r24, Y+ 1fc: 88 23 and r24, r24 1fe: 11 f0 breq .+4 ; 0x204 uart_tx(*str++); 200: d2 df rcall .-92 ; 0x1a6 202: fb cf rjmp .-10 ; 0x1fa 204: df 91 pop r29 } } 206: cf 91 pop r28 208: 08 95 ret 0000020a <_sonar_init_do>: // Result of last measurement, in millimeters int16_t sonar_result; void _sonar_init_do(sonar_t* so, PORT_P port, uint8_t ntx, PORT_P pin, uint8_t nrx) { 20a: 0f 93 push r16 20c: fc 01 movw r30, r24 so->port = port; 20e: 71 83 std Z+1, r23 ; 0x01 210: 60 83 st Z, r22 so->ntx = ntx; 212: 42 83 std Z+2, r20 ; 0x02 so->pin = pin; 214: 34 83 std Z+4, r19 ; 0x04 216: 23 83 std Z+3, r18 ; 0x03 so->nrx = nrx; 218: 05 83 std Z+5, r16 ; 0x05 switch((const uint16_t) pin) { 21a: 26 32 cpi r18, 0x26 ; 38 21c: 31 05 cpc r19, r1 21e: 41 f0 breq .+16 ; 0x230 <_sonar_init_do+0x26> 220: 29 32 cpi r18, 0x29 ; 41 222: 31 05 cpc r19, r1 224: 39 f0 breq .+14 ; 0x234 <_sonar_init_do+0x2a> 226: 23 32 cpi r18, 0x23 ; 35 228: 31 05 cpc r19, r1 22a: 31 f4 brne .+12 ; 0x238 <_sonar_init_do+0x2e> case (const uint16_t)&PINB: so->bank = 0; 22c: 16 82 std Z+6, r1 ; 0x06 break; 22e: 04 c0 rjmp .+8 ; 0x238 <_sonar_init_do+0x2e> case (const uint16_t)&PINC: so->bank = 1; 230: 81 e0 ldi r24, 0x01 ; 1 232: 01 c0 rjmp .+2 ; 0x236 <_sonar_init_do+0x2c> break; case (const uint16_t)&PIND: so->bank = 2; 234: 82 e0 ldi r24, 0x02 ; 2 236: 86 83 std Z+6, r24 ; 0x06 break; } } 238: 0f 91 pop r16 23a: 08 95 ret 0000023c : * Interrupts must be enabled * TIMER 1 will be used for the async measurement * Timer 1 overflow and Pin Change interrupts must invoke Sonar handlers. */ bool sonar_start(sonar_t* so) { 23c: fc 01 movw r30, r24 if (sonar_busy) return false; 23e: 80 91 32 01 lds r24, 0x0132 242: 81 11 cpse r24, r1 244: 82 c0 rjmp .+260 ; 0x34a _sonar_active_so = so; 246: f0 93 34 01 sts 0x0134, r31 24a: e0 93 33 01 sts 0x0133, r30 sonar_busy = true; 24e: 81 e0 ldi r24, 0x01 ; 1 250: 80 93 32 01 sts 0x0132, r24 // make sure the timer is stopped (set clock to NONE) TCCR1B = 0; 254: 10 92 81 00 sts 0x0081, r1 // Timer overflow interrupt enable // We'll stop measuring on overflow TIMSK1 |= (1 << TOIE1); 258: 80 91 6f 00 lds r24, 0x006F 25c: 81 60 ori r24, 0x01 ; 1 25e: 80 93 6f 00 sts 0x006F, r24 // Clear the timer value TCNT1 = 0; 262: 10 92 85 00 sts 0x0085, r1 266: 10 92 84 00 sts 0x0084, r1 // Set up pin change interrupt mask for the RX pin switch(so->bank) { 26a: 86 81 ldd r24, Z+6 ; 0x06 26c: 81 30 cpi r24, 0x01 ; 1 26e: f9 f0 breq .+62 ; 0x2ae 270: 80 f0 brcs .+32 ; 0x292 272: 82 30 cpi r24, 0x02 ; 2 274: 49 f5 brne .+82 ; 0x2c8 break; case 1: PCMSK1 |= (1 << (so->nrx)); break; case 2: PCMSK2 |= (1 << (so->nrx)); 276: 20 91 6d 00 lds r18, 0x006D 27a: 81 e0 ldi r24, 0x01 ; 1 27c: 90 e0 ldi r25, 0x00 ; 0 27e: 05 80 ldd r0, Z+5 ; 0x05 280: 02 c0 rjmp .+4 ; 0x286 282: 88 0f add r24, r24 284: 99 1f adc r25, r25 286: 0a 94 dec r0 288: e2 f7 brpl .-8 ; 0x282 28a: 82 2b or r24, r18 28c: 80 93 6d 00 sts 0x006D, r24 break; 290: 1b c0 rjmp .+54 ; 0x2c8 TCNT1 = 0; // Set up pin change interrupt mask for the RX pin switch(so->bank) { case 0: PCMSK0 |= (1 << (so->nrx)); 292: 20 91 6b 00 lds r18, 0x006B 296: 81 e0 ldi r24, 0x01 ; 1 298: 90 e0 ldi r25, 0x00 ; 0 29a: 05 80 ldd r0, Z+5 ; 0x05 29c: 02 c0 rjmp .+4 ; 0x2a2 29e: 88 0f add r24, r24 2a0: 99 1f adc r25, r25 2a2: 0a 94 dec r0 2a4: e2 f7 brpl .-8 ; 0x29e 2a6: 82 2b or r24, r18 2a8: 80 93 6b 00 sts 0x006B, r24 break; 2ac: 0d c0 rjmp .+26 ; 0x2c8 case 1: PCMSK1 |= (1 << (so->nrx)); 2ae: 20 91 6c 00 lds r18, 0x006C 2b2: 81 e0 ldi r24, 0x01 ; 1 2b4: 90 e0 ldi r25, 0x00 ; 0 2b6: 05 80 ldd r0, Z+5 ; 0x05 2b8: 02 c0 rjmp .+4 ; 0x2be 2ba: 88 0f add r24, r24 2bc: 99 1f adc r25, r25 2be: 0a 94 dec r0 2c0: e2 f7 brpl .-8 ; 0x2ba 2c2: 82 2b or r24, r18 2c4: 80 93 6c 00 sts 0x006C, r24 PCMSK2 |= (1 << (so->nrx)); break; } // send positive pulse *(so->port) |= (1 << so->ntx); 2c8: a0 81 ld r26, Z 2ca: b1 81 ldd r27, Z+1 ; 0x01 2cc: 4c 91 ld r20, X 2ce: 81 e0 ldi r24, 0x01 ; 1 2d0: 90 e0 ldi r25, 0x00 ; 0 2d2: 9c 01 movw r18, r24 2d4: 02 80 ldd r0, Z+2 ; 0x02 2d6: 02 c0 rjmp .+4 ; 0x2dc 2d8: 22 0f add r18, r18 2da: 33 1f adc r19, r19 2dc: 0a 94 dec r0 2de: e2 f7 brpl .-8 ; 0x2d8 2e0: 24 2b or r18, r20 2e2: 2c 93 st X, r18 #else //round up by default __ticks_dc = (uint32_t)(ceil(fabs(__tmp))); #endif __builtin_avr_delay_cycles(__ticks_dc); 2e4: 25 e3 ldi r18, 0x35 ; 53 2e6: 2a 95 dec r18 2e8: f1 f7 brne .-4 ; 0x2e6 2ea: 00 00 nop _delay_us(_SNR_TRIG_TIME); *(so->port) &= ~(1 << so->ntx); 2ec: a0 81 ld r26, Z 2ee: b1 81 ldd r27, Z+1 ; 0x01 2f0: 3c 91 ld r19, X 2f2: ac 01 movw r20, r24 2f4: 02 80 ldd r0, Z+2 ; 0x02 2f6: 02 c0 rjmp .+4 ; 0x2fc 2f8: 44 0f add r20, r20 2fa: 55 1f adc r21, r21 2fc: 0a 94 dec r0 2fe: e2 f7 brpl .-8 ; 0x2f8 300: 24 2f mov r18, r20 302: 20 95 com r18 304: 23 23 and r18, r19 306: 2c 93 st X, r18 // Wait for start of response while ( (*(so->pin) & (1 << so->nrx)) == 0 ); 308: a3 81 ldd r26, Z+3 ; 0x03 30a: b4 81 ldd r27, Z+4 ; 0x04 30c: 9c 01 movw r18, r24 30e: 05 80 ldd r0, Z+5 ; 0x05 310: 02 c0 rjmp .+4 ; 0x316 312: 22 0f add r18, r18 314: 33 1f adc r19, r19 316: 0a 94 dec r0 318: e2 f7 brpl .-8 ; 0x312 31a: 8c 91 ld r24, X 31c: 90 e0 ldi r25, 0x00 ; 0 31e: 82 23 and r24, r18 320: 93 23 and r25, r19 322: 89 2b or r24, r25 324: d1 f3 breq .-12 ; 0x31a // Set timer clock source: F_CPU / 8 (0.5 us resolution) TCCR1B = (0b010 << CS10); 326: 82 e0 ldi r24, 0x02 ; 2 328: 80 93 81 00 sts 0x0081, r24 // Enable pin change interrupt PCICR |= (1 << (so->bank)); 32c: 20 91 68 00 lds r18, 0x0068 330: 81 e0 ldi r24, 0x01 ; 1 332: 90 e0 ldi r25, 0x00 ; 0 334: 06 80 ldd r0, Z+6 ; 0x06 336: 02 c0 rjmp .+4 ; 0x33c 338: 88 0f add r24, r24 33a: 99 1f adc r25, r25 33c: 0a 94 dec r0 33e: e2 f7 brpl .-8 ; 0x338 340: 82 2b or r24, r18 342: 80 93 68 00 sts 0x0068, r24 return true; 346: 81 e0 ldi r24, 0x01 ; 1 348: 08 95 ret * TIMER 1 will be used for the async measurement * Timer 1 overflow and Pin Change interrupts must invoke Sonar handlers. */ bool sonar_start(sonar_t* so) { if (sonar_busy) return false; 34a: 80 e0 ldi r24, 0x00 ; 0 // Enable pin change interrupt PCICR |= (1 << (so->bank)); return true; } 34c: 08 95 ret 0000034e <_sonar_stop>: /** Stop the timer */ void _sonar_stop() { // stop timer TCCR1B = 0; 34e: 10 92 81 00 sts 0x0081, r1 // Disable RX pin interrupt mask switch(_sonar_active_so->bank) { 352: e0 91 33 01 lds r30, 0x0133 356: f0 91 34 01 lds r31, 0x0134 35a: 86 81 ldd r24, Z+6 ; 0x06 35c: 81 30 cpi r24, 0x01 ; 1 35e: 09 f1 breq .+66 ; 0x3a2 <_sonar_stop+0x54> 360: 88 f0 brcs .+34 ; 0x384 <_sonar_stop+0x36> 362: 82 30 cpi r24, 0x02 ; 2 364: 61 f5 brne .+88 ; 0x3be <_sonar_stop+0x70> break; case 1: PCMSK1 &= ~(1 << (_sonar_active_so->nrx)); break; case 2: PCMSK2 &= ~(1 << (_sonar_active_so->nrx)); 366: 20 91 6d 00 lds r18, 0x006D 36a: 81 e0 ldi r24, 0x01 ; 1 36c: 90 e0 ldi r25, 0x00 ; 0 36e: 05 80 ldd r0, Z+5 ; 0x05 370: 02 c0 rjmp .+4 ; 0x376 <_sonar_stop+0x28> 372: 88 0f add r24, r24 374: 99 1f adc r25, r25 376: 0a 94 dec r0 378: e2 f7 brpl .-8 ; 0x372 <_sonar_stop+0x24> 37a: 80 95 com r24 37c: 82 23 and r24, r18 37e: 80 93 6d 00 sts 0x006D, r24 break; 382: 1d c0 rjmp .+58 ; 0x3be <_sonar_stop+0x70> TCCR1B = 0; // Disable RX pin interrupt mask switch(_sonar_active_so->bank) { case 0: PCMSK0 &= ~(1 << (_sonar_active_so->nrx)); 384: 20 91 6b 00 lds r18, 0x006B 388: 81 e0 ldi r24, 0x01 ; 1 38a: 90 e0 ldi r25, 0x00 ; 0 38c: 05 80 ldd r0, Z+5 ; 0x05 38e: 02 c0 rjmp .+4 ; 0x394 <_sonar_stop+0x46> 390: 88 0f add r24, r24 392: 99 1f adc r25, r25 394: 0a 94 dec r0 396: e2 f7 brpl .-8 ; 0x390 <_sonar_stop+0x42> 398: 80 95 com r24 39a: 82 23 and r24, r18 39c: 80 93 6b 00 sts 0x006B, r24 break; 3a0: 0e c0 rjmp .+28 ; 0x3be <_sonar_stop+0x70> case 1: PCMSK1 &= ~(1 << (_sonar_active_so->nrx)); 3a2: 20 91 6c 00 lds r18, 0x006C 3a6: 81 e0 ldi r24, 0x01 ; 1 3a8: 90 e0 ldi r25, 0x00 ; 0 3aa: 05 80 ldd r0, Z+5 ; 0x05 3ac: 02 c0 rjmp .+4 ; 0x3b2 <_sonar_stop+0x64> 3ae: 88 0f add r24, r24 3b0: 99 1f adc r25, r25 3b2: 0a 94 dec r0 3b4: e2 f7 brpl .-8 ; 0x3ae <_sonar_stop+0x60> 3b6: 80 95 com r24 3b8: 82 23 and r24, r18 3ba: 80 93 6c 00 sts 0x006C, r24 PCMSK2 &= ~(1 << (_sonar_active_so->nrx)); break; } // Disable timer1 overflow interrupt TIMSK1 &= ~(1 << TOIE1); 3be: 80 91 6f 00 lds r24, 0x006F 3c2: 8e 7f andi r24, 0xFE ; 254 3c4: 80 93 6f 00 sts 0x006F, r24 sonar_busy = false; 3c8: 10 92 32 01 sts 0x0132, r1 3cc: 08 95 ret 000003ce : } /** Handle TIMER1_OVF (returns true if consumed) */ inline bool sonar_handle_t1ovf() { 3ce: cf 93 push r28 3d0: df 93 push r29 3d2: 1f 92 push r1 3d4: cd b7 in r28, 0x3d ; 61 3d6: de b7 in r29, 0x3e ; 62 if (!sonar_busy) return false; // nothing 3d8: 80 91 32 01 lds r24, 0x0132 3dc: 88 23 and r24, r24 3de: 49 f0 breq .+18 ; 0x3f2 sonar_result = -1; 3e0: 2f ef ldi r18, 0xFF ; 255 3e2: 3f ef ldi r19, 0xFF ; 255 3e4: 30 93 31 01 sts 0x0131, r19 3e8: 20 93 30 01 sts 0x0130, r18 _sonar_stop(); 3ec: 89 83 std Y+1, r24 ; 0x01 3ee: af df rcall .-162 ; 0x34e <_sonar_stop> 3f0: 89 81 ldd r24, Y+1 ; 0x01 3f2: 0f 90 pop r0 return true; } 3f4: df 91 pop r29 3f6: cf 91 pop r28 3f8: 08 95 ret 000003fa : /** Handle pin change interrupt (returns true if consumed) */ inline bool sonar_handle_pci() { 3fa: af 92 push r10 3fc: bf 92 push r11 3fe: cf 92 push r12 400: df 92 push r13 402: ef 92 push r14 404: ff 92 push r15 406: 0f 93 push r16 408: 1f 93 push r17 40a: cf 93 push r28 if (!sonar_busy) { 40c: c0 91 32 01 lds r28, 0x0132 410: cc 23 and r28, r28 412: 09 f4 brne .+2 ; 0x416 414: 4e c0 rjmp .+156 ; 0x4b2 return false; // nothing } if (*(_sonar_active_so->pin) & (1 << _sonar_active_so->nrx)) { 416: e0 91 33 01 lds r30, 0x0133 41a: f0 91 34 01 lds r31, 0x0134 41e: a3 81 ldd r26, Z+3 ; 0x03 420: b4 81 ldd r27, Z+4 ; 0x04 422: 2c 91 ld r18, X 424: 30 e0 ldi r19, 0x00 ; 0 426: 05 80 ldd r0, Z+5 ; 0x05 428: 02 c0 rjmp .+4 ; 0x42e 42a: 35 95 asr r19 42c: 27 95 ror r18 42e: 0a 94 dec r0 430: e2 f7 brpl .-8 ; 0x42a 432: 20 fd sbrc r18, 0 434: 3d c0 rjmp .+122 ; 0x4b0 // rx is high, not our pin change event return false; } uint64_t x = TCNT1; 436: 40 91 84 00 lds r20, 0x0084 43a: 50 91 85 00 lds r21, 0x0085 x /= _SNR_DIV_CONST; 43e: 8a e3 ldi r24, 0x3A ; 58 440: a8 2e mov r10, r24 442: b1 2c mov r11, r1 444: c1 2c mov r12, r1 446: d1 2c mov r13, r1 448: e1 2c mov r14, r1 44a: f1 2c mov r15, r1 44c: 00 e0 ldi r16, 0x00 ; 0 44e: 10 e0 ldi r17, 0x00 ; 0 450: 9a 01 movw r18, r20 452: 40 e0 ldi r20, 0x00 ; 0 454: 50 e0 ldi r21, 0x00 ; 0 456: 60 e0 ldi r22, 0x00 ; 0 458: 70 e0 ldi r23, 0x00 ; 0 45a: 80 e0 ldi r24, 0x00 ; 0 45c: 90 e0 ldi r25, 0x00 ; 0 45e: a8 d0 rcall .+336 ; 0x5b0 <__udivdi3> 460: a1 2c mov r10, r1 x *= 100000000L; 462: e1 ee ldi r30, 0xE1 ; 225 464: be 2e mov r11, r30 466: f5 ef ldi r31, 0xF5 ; 245 468: cf 2e mov r12, r31 46a: a5 e0 ldi r26, 0x05 ; 5 46c: da 2e mov r13, r26 46e: ab d0 rcall .+342 ; 0x5c6 <__muldi3> 470: b4 e2 ldi r27, 0x24 ; 36 472: bb 2e mov r11, r27 x /= F_CPU; 474: e4 ef ldi r30, 0xF4 ; 244 476: ce 2e mov r12, r30 478: d1 2c mov r13, r1 47a: 9a d0 rcall .+308 ; 0x5b0 <__udivdi3> 47c: f2 2f mov r31, r18 47e: e3 2f mov r30, r19 480: 20 3a cpi r18, 0xA0 ; 160 482: 3f 40 sbci r19, 0x0F ; 15 484: 41 05 cpc r20, r1 sonar_result = (int16_t) x; // no obstacle if (sonar_result > _SNR_MAX_DIST) sonar_result = -1; 486: 51 05 cpc r21, r1 488: 61 05 cpc r22, r1 48a: 71 05 cpc r23, r1 48c: 81 05 cpc r24, r1 48e: 91 05 cpc r25, r1 490: 09 f0 breq .+2 ; 0x494 492: 30 f4 brcc .+12 ; 0x4a0 494: cf 01 movw r24, r30 496: 90 93 30 01 sts 0x0130, r25 uint64_t x = TCNT1; x /= _SNR_DIV_CONST; x *= 100000000L; x /= F_CPU; sonar_result = (int16_t) x; 49a: 80 93 31 01 sts 0x0131, r24 49e: 06 c0 rjmp .+12 ; 0x4ac 4a0: 8f ef ldi r24, 0xFF ; 255 4a2: 9f ef ldi r25, 0xFF ; 255 4a4: 90 93 31 01 sts 0x0131, r25 // no obstacle if (sonar_result > _SNR_MAX_DIST) sonar_result = -1; 4a8: 80 93 30 01 sts 0x0130, r24 4ac: 50 df rcall .-352 ; 0x34e <_sonar_stop> 4ae: 01 c0 rjmp .+2 ; 0x4b2 4b0: c0 e0 ldi r28, 0x00 ; 0 _sonar_stop(); 4b2: 8c 2f mov r24, r28 4b4: cf 91 pop r28 return true; 4b6: 1f 91 pop r17 /** Handle pin change interrupt (returns true if consumed) */ inline bool sonar_handle_pci() { if (!sonar_busy) { return false; // nothing 4b8: 0f 91 pop r16 if (sonar_result > _SNR_MAX_DIST) sonar_result = -1; _sonar_stop(); return true; } 4ba: ff 90 pop r15 4bc: ef 90 pop r14 4be: df 90 pop r13 4c0: cf 90 pop r12 4c2: bf 90 pop r11 4c4: af 90 pop r10 4c6: 08 95 ret 000004c8 <_putnf.isra.0>: _putnf(p, places); } /** Print number in tmp string as float with given decimal point position */ void _putnf(const STREAM *p, const uint8_t places) 4c8: cf 92 push r12 4ca: df 92 push r13 4cc: ef 92 push r14 4ce: ff 92 push r15 4d0: 0f 93 push r16 4d2: 1f 93 push r17 4d4: cf 93 push r28 4d6: df 93 push r29 4d8: 8c 01 movw r16, r24 { // measure text length uint8_t len = 0; 4da: d0 e0 ldi r29, 0x00 ; 0 while(tmpstr[len] != 0) len++; 4dc: ed 2f mov r30, r29 4de: f0 e0 ldi r31, 0x00 ; 0 4e0: ea 5e subi r30, 0xEA ; 234 4e2: fe 4f sbci r31, 0xFE ; 254 4e4: 80 81 ld r24, Z 4e6: 88 23 and r24, r24 4e8: 11 f0 breq .+4 ; 0x4ee <_putnf.isra.0+0x26> 4ea: df 5f subi r29, 0xFF ; 255 4ec: f7 cf rjmp .-18 ; 0x4dc <_putnf.isra.0+0x14> int8_t at = len - places; 4ee: cd 2f mov r28, r29 4f0: c6 1b sub r28, r22 // print virtual zeros if (at <= 0) { 4f2: 1c 16 cp r1, r28 4f4: a4 f0 brlt .+40 ; 0x51e <_putnf.isra.0+0x56> p->tx('0'); 4f6: d8 01 movw r26, r16 4f8: ed 91 ld r30, X+ 4fa: fc 91 ld r31, X 4fc: 80 e3 ldi r24, 0x30 ; 48 4fe: 09 95 icall p->tx('.'); 500: d8 01 movw r26, r16 502: ed 91 ld r30, X+ 504: fc 91 ld r31, X 506: 8e e2 ldi r24, 0x2E ; 46 508: 09 95 icall while(at <= -1) { 50a: cc 23 and r28, r28 50c: 39 f0 breq .+14 ; 0x51c <_putnf.isra.0+0x54> p->tx('0'); 50e: d8 01 movw r26, r16 510: ed 91 ld r30, X+ 512: fc 91 ld r31, X 514: 80 e3 ldi r24, 0x30 ; 48 516: 09 95 icall 518: cf 5f subi r28, 0xFF ; 255 51a: f7 cf rjmp .-18 ; 0x50a <_putnf.isra.0+0x42> at++; } at = -1; 51c: cf ef ldi r28, 0xFF ; 255 51e: 86 e1 ldi r24, 0x16 ; 22 520: c8 2e mov r12, r24 522: 81 e0 ldi r24, 0x01 ; 1 524: d8 2e mov r13, r24 526: 76 01 movw r14, r12 528: cc 0d add r28, r12 52a: 9e 2d mov r25, r14 52c: 8e 2d mov r24, r14 52e: 8c 19 sub r24, r12 } // print the number uint8_t i = 0; while(i < len) { 530: 8d 17 cp r24, r29 532: 78 f4 brcc .+30 ; 0x552 <_putnf.isra.0+0x8a> if (at-- == 0) { 534: c9 13 cpse r28, r25 536: 05 c0 rjmp .+10 ; 0x542 <_putnf.isra.0+0x7a> p->tx('.'); 538: d8 01 movw r26, r16 53a: ed 91 ld r30, X+ 53c: fc 91 ld r31, X 53e: 8e e2 ldi r24, 0x2E ; 46 540: 09 95 icall } p->tx(tmpstr[i++]); 542: d8 01 movw r26, r16 544: ed 91 ld r30, X+ 546: fc 91 ld r31, X 548: d7 01 movw r26, r14 54a: 8d 91 ld r24, X+ 54c: 7d 01 movw r14, r26 54e: 09 95 icall 550: ec cf rjmp .-40 ; 0x52a <_putnf.isra.0+0x62> } } 552: df 91 pop r29 554: cf 91 pop r28 556: 1f 91 pop r17 558: 0f 91 pop r16 55a: ff 90 pop r15 55c: ef 90 pop r14 55e: df 90 pop r13 560: cf 90 pop r12 562: 08 95 ret 00000564 : } /** Send signed int as float */ void put_i16f(const STREAM *p, const int16_t num, const uint8_t places) { 564: ff 92 push r15 566: 0f 93 push r16 568: 1f 93 push r17 56a: cf 93 push r28 56c: df 93 push r29 56e: 8c 01 movw r16, r24 570: eb 01 movw r28, r22 572: f4 2e mov r15, r20 if (num < 0) { 574: 77 ff sbrs r23, 7 576: 0d c0 rjmp .+26 ; 0x592 p->tx('-'); 578: dc 01 movw r26, r24 57a: ed 91 ld r30, X+ 57c: fc 91 ld r31, X 57e: 8d e2 ldi r24, 0x2D ; 45 580: 09 95 icall } else if (__radix < 2 || __radix > 36) { *__s = 0; return __s; } else { extern char *__itoa_ncheck (int, char *, unsigned char); return __itoa_ncheck (__val, __s, __radix); 582: 4a e0 ldi r20, 0x0A ; 10 584: 66 e1 ldi r22, 0x16 ; 22 586: 71 e0 ldi r23, 0x01 ; 1 588: 88 27 eor r24, r24 58a: 99 27 eor r25, r25 58c: 8c 1b sub r24, r28 58e: 9d 0b sbc r25, r29 590: 04 c0 rjmp .+8 ; 0x59a 592: 4a e0 ldi r20, 0x0A ; 10 594: 66 e1 ldi r22, 0x16 ; 22 596: 71 e0 ldi r23, 0x01 ; 1 598: ce 01 movw r24, r28 59a: c6 d0 rcall .+396 ; 0x728 <__itoa_ncheck> 59c: 6f 2d mov r22, r15 itoa(-num, tmpstr, 10); } else { itoa(num, tmpstr, 10); } _putnf(p, places); 59e: c8 01 movw r24, r16 5a0: df 91 pop r29 } 5a2: cf 91 pop r28 5a4: 1f 91 pop r17 5a6: 0f 91 pop r16 5a8: ff 90 pop r15 5aa: 8e cf rjmp .-228 ; 0x4c8 <_putnf.isra.0> 000005ac <__umoddi3>: itoa(-num, tmpstr, 10); } else { itoa(num, tmpstr, 10); } _putnf(p, places); 5ac: 68 94 set 5ae: 01 c0 rjmp .+2 ; 0x5b2 <__udivdi3_umoddi3> 000005b0 <__udivdi3>: 5b0: e8 94 clt 000005b2 <__udivdi3_umoddi3>: 5b2: 8f 92 push r8 5b4: 9f 92 push r9 5b6: cf 93 push r28 5b8: df 93 push r29 5ba: 56 d0 rcall .+172 ; 0x668 <__udivmod64> 5bc: df 91 pop r29 5be: cf 91 pop r28 5c0: 9f 90 pop r9 5c2: 8f 90 pop r8 5c4: 08 95 ret 000005c6 <__muldi3>: 5c6: df 93 push r29 5c8: cf 93 push r28 5ca: 1f 93 push r17 5cc: 0f 93 push r16 5ce: 9a 9d mul r25, r10 5d0: f0 2d mov r31, r0 5d2: 21 9f mul r18, r17 5d4: f0 0d add r31, r0 5d6: 8b 9d mul r24, r11 5d8: f0 0d add r31, r0 5da: 8a 9d mul r24, r10 5dc: e0 2d mov r30, r0 5de: f1 0d add r31, r1 5e0: 03 9f mul r16, r19 5e2: f0 0d add r31, r0 5e4: 02 9f mul r16, r18 5e6: e0 0d add r30, r0 5e8: f1 1d adc r31, r1 5ea: 4e 9d mul r20, r14 5ec: e0 0d add r30, r0 5ee: f1 1d adc r31, r1 5f0: 5e 9d mul r21, r14 5f2: f0 0d add r31, r0 5f4: 4f 9d mul r20, r15 5f6: f0 0d add r31, r0 5f8: 7f 93 push r23 5fa: 6f 93 push r22 5fc: bf 92 push r11 5fe: af 92 push r10 600: 5f 93 push r21 602: 4f 93 push r20 604: d5 01 movw r26, r10 606: 81 d0 rcall .+258 ; 0x70a <__umulhisi3> 608: 8b 01 movw r16, r22 60a: ac 01 movw r20, r24 60c: d7 01 movw r26, r14 60e: 7d d0 rcall .+250 ; 0x70a <__umulhisi3> 610: eb 01 movw r28, r22 612: e8 0f add r30, r24 614: f9 1f adc r31, r25 616: d6 01 movw r26, r12 618: 1f d0 rcall .+62 ; 0x658 <__muldi3_6> 61a: 2f 91 pop r18 61c: 3f 91 pop r19 61e: d6 01 movw r26, r12 620: 74 d0 rcall .+232 ; 0x70a <__umulhisi3> 622: c6 0f add r28, r22 624: d7 1f adc r29, r23 626: e8 1f adc r30, r24 628: f9 1f adc r31, r25 62a: af 91 pop r26 62c: bf 91 pop r27 62e: 14 d0 rcall .+40 ; 0x658 <__muldi3_6> 630: 2f 91 pop r18 632: 3f 91 pop r19 634: 6a d0 rcall .+212 ; 0x70a <__umulhisi3> 636: c6 0f add r28, r22 638: d7 1f adc r29, r23 63a: e8 1f adc r30, r24 63c: f9 1f adc r31, r25 63e: d6 01 movw r26, r12 640: 64 d0 rcall .+200 ; 0x70a <__umulhisi3> 642: e6 0f add r30, r22 644: f7 1f adc r31, r23 646: 98 01 movw r18, r16 648: be 01 movw r22, r28 64a: cf 01 movw r24, r30 64c: 11 24 eor r1, r1 64e: 0f 91 pop r16 650: 1f 91 pop r17 652: cf 91 pop r28 654: df 91 pop r29 656: 08 95 ret 00000658 <__muldi3_6>: 658: 58 d0 rcall .+176 ; 0x70a <__umulhisi3> 65a: 46 0f add r20, r22 65c: 57 1f adc r21, r23 65e: c8 1f adc r28, r24 660: d9 1f adc r29, r25 662: 08 f4 brcc .+2 ; 0x666 <__muldi3_6+0xe> 664: 31 96 adiw r30, 0x01 ; 1 666: 08 95 ret 00000668 <__udivmod64>: 668: 88 24 eor r8, r8 66a: 99 24 eor r9, r9 66c: f4 01 movw r30, r8 66e: e4 01 movw r28, r8 670: b0 e4 ldi r27, 0x40 ; 64 672: 9f 93 push r25 674: aa 27 eor r26, r26 676: 9a 15 cp r25, r10 678: 8b 04 cpc r8, r11 67a: 9c 04 cpc r9, r12 67c: ed 05 cpc r30, r13 67e: fe 05 cpc r31, r14 680: cf 05 cpc r28, r15 682: d0 07 cpc r29, r16 684: a1 07 cpc r26, r17 686: 98 f4 brcc .+38 ; 0x6ae <__udivmod64+0x46> 688: ad 2f mov r26, r29 68a: dc 2f mov r29, r28 68c: cf 2f mov r28, r31 68e: fe 2f mov r31, r30 690: e9 2d mov r30, r9 692: 98 2c mov r9, r8 694: 89 2e mov r8, r25 696: 98 2f mov r25, r24 698: 87 2f mov r24, r23 69a: 76 2f mov r23, r22 69c: 65 2f mov r22, r21 69e: 54 2f mov r21, r20 6a0: 43 2f mov r20, r19 6a2: 32 2f mov r19, r18 6a4: 22 27 eor r18, r18 6a6: b8 50 subi r27, 0x08 ; 8 6a8: 31 f7 brne .-52 ; 0x676 <__udivmod64+0xe> 6aa: bf 91 pop r27 6ac: 27 c0 rjmp .+78 ; 0x6fc <__udivmod64+0x94> 6ae: 1b 2e mov r1, r27 6b0: bf 91 pop r27 6b2: bb 27 eor r27, r27 6b4: 22 0f add r18, r18 6b6: 33 1f adc r19, r19 6b8: 44 1f adc r20, r20 6ba: 55 1f adc r21, r21 6bc: 66 1f adc r22, r22 6be: 77 1f adc r23, r23 6c0: 88 1f adc r24, r24 6c2: 99 1f adc r25, r25 6c4: 88 1c adc r8, r8 6c6: 99 1c adc r9, r9 6c8: ee 1f adc r30, r30 6ca: ff 1f adc r31, r31 6cc: cc 1f adc r28, r28 6ce: dd 1f adc r29, r29 6d0: aa 1f adc r26, r26 6d2: bb 1f adc r27, r27 6d4: 8a 14 cp r8, r10 6d6: 9b 04 cpc r9, r11 6d8: ec 05 cpc r30, r12 6da: fd 05 cpc r31, r13 6dc: ce 05 cpc r28, r14 6de: df 05 cpc r29, r15 6e0: a0 07 cpc r26, r16 6e2: b1 07 cpc r27, r17 6e4: 48 f0 brcs .+18 ; 0x6f8 <__udivmod64+0x90> 6e6: 8a 18 sub r8, r10 6e8: 9b 08 sbc r9, r11 6ea: ec 09 sbc r30, r12 6ec: fd 09 sbc r31, r13 6ee: ce 09 sbc r28, r14 6f0: df 09 sbc r29, r15 6f2: a0 0b sbc r26, r16 6f4: b1 0b sbc r27, r17 6f6: 21 60 ori r18, 0x01 ; 1 6f8: 1a 94 dec r1 6fa: e1 f6 brne .-72 ; 0x6b4 <__udivmod64+0x4c> 6fc: 2e f4 brtc .+10 ; 0x708 <__udivmod64+0xa0> 6fe: 94 01 movw r18, r8 700: af 01 movw r20, r30 702: be 01 movw r22, r28 704: cd 01 movw r24, r26 706: 00 0c add r0, r0 708: 08 95 ret 0000070a <__umulhisi3>: 70a: a2 9f mul r26, r18 70c: b0 01 movw r22, r0 70e: b3 9f mul r27, r19 710: c0 01 movw r24, r0 712: a3 9f mul r26, r19 714: 70 0d add r23, r0 716: 81 1d adc r24, r1 718: 11 24 eor r1, r1 71a: 91 1d adc r25, r1 71c: b2 9f mul r27, r18 71e: 70 0d add r23, r0 720: 81 1d adc r24, r1 722: 11 24 eor r1, r1 724: 91 1d adc r25, r1 726: 08 95 ret 00000728 <__itoa_ncheck>: 728: bb 27 eor r27, r27 72a: 4a 30 cpi r20, 0x0A ; 10 72c: 31 f4 brne .+12 ; 0x73a <__itoa_ncheck+0x12> 72e: 99 23 and r25, r25 730: 22 f4 brpl .+8 ; 0x73a <__itoa_ncheck+0x12> 732: bd e2 ldi r27, 0x2D ; 45 734: 90 95 com r25 736: 81 95 neg r24 738: 9f 4f sbci r25, 0xFF ; 255 73a: 01 c0 rjmp .+2 ; 0x73e <__utoa_common> 0000073c <__utoa_ncheck>: 73c: bb 27 eor r27, r27 0000073e <__utoa_common>: 73e: fb 01 movw r30, r22 740: 55 27 eor r21, r21 742: aa 27 eor r26, r26 744: 88 0f add r24, r24 746: 99 1f adc r25, r25 748: aa 1f adc r26, r26 74a: a4 17 cp r26, r20 74c: 10 f0 brcs .+4 ; 0x752 <__utoa_common+0x14> 74e: a4 1b sub r26, r20 750: 83 95 inc r24 752: 50 51 subi r21, 0x10 ; 16 754: b9 f7 brne .-18 ; 0x744 <__utoa_common+0x6> 756: a0 5d subi r26, 0xD0 ; 208 758: aa 33 cpi r26, 0x3A ; 58 75a: 08 f0 brcs .+2 ; 0x75e <__utoa_common+0x20> 75c: a9 5d subi r26, 0xD9 ; 217 75e: a1 93 st Z+, r26 760: 00 97 sbiw r24, 0x00 ; 0 762: 79 f7 brne .-34 ; 0x742 <__utoa_common+0x4> 764: b1 11 cpse r27, r1 766: b1 93 st Z+, r27 768: 11 92 st Z+, r1 76a: cb 01 movw r24, r22 76c: 00 c0 rjmp .+0 ; 0x76e 0000076e : 76e: dc 01 movw r26, r24 770: fc 01 movw r30, r24 772: 67 2f mov r22, r23 774: 71 91 ld r23, Z+ 776: 77 23 and r23, r23 778: e1 f7 brne .-8 ; 0x772 77a: 32 97 sbiw r30, 0x02 ; 2 77c: 04 c0 rjmp .+8 ; 0x786 77e: 7c 91 ld r23, X 780: 6d 93 st X+, r22 782: 70 83 st Z, r23 784: 62 91 ld r22, -Z 786: ae 17 cp r26, r30 788: bf 07 cpc r27, r31 78a: c8 f3 brcs .-14 ; 0x77e 78c: 08 95 ret 0000078e <_exit>: 78e: f8 94 cli 00000790 <__stop_program>: 790: ff cf rjmp .-2 ; 0x790 <__stop_program>