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1351 lines
40 KiB
1351 lines
40 KiB
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sonar_simple.elf: file format elf32-avr
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Disassembly of section .text:
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00000000 <__vectors>:
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0: 33 c0 rjmp .+102 ; 0x68 <__ctors_end>
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2: 00 00 nop
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4: 4c c0 rjmp .+152 ; 0x9e <__bad_interrupt>
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6: 00 00 nop
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8: 4a c0 rjmp .+148 ; 0x9e <__bad_interrupt>
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a: 00 00 nop
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c: 49 c0 rjmp .+146 ; 0xa0 <__vector_3>
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e: 00 00 nop
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10: 47 c0 rjmp .+142 ; 0xa0 <__vector_3>
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12: 00 00 nop
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14: 45 c0 rjmp .+138 ; 0xa0 <__vector_3>
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16: 00 00 nop
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18: 42 c0 rjmp .+132 ; 0x9e <__bad_interrupt>
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1a: 00 00 nop
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1c: 40 c0 rjmp .+128 ; 0x9e <__bad_interrupt>
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1e: 00 00 nop
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20: 3e c0 rjmp .+124 ; 0x9e <__bad_interrupt>
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22: 00 00 nop
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24: 3c c0 rjmp .+120 ; 0x9e <__bad_interrupt>
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26: 00 00 nop
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28: 3a c0 rjmp .+116 ; 0x9e <__bad_interrupt>
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2a: 00 00 nop
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2c: 38 c0 rjmp .+112 ; 0x9e <__bad_interrupt>
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2e: 00 00 nop
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30: 36 c0 rjmp .+108 ; 0x9e <__bad_interrupt>
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32: 00 00 nop
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34: 58 c0 rjmp .+176 ; 0xe6 <__vector_13>
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36: 00 00 nop
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38: 32 c0 rjmp .+100 ; 0x9e <__bad_interrupt>
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3a: 00 00 nop
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3c: 30 c0 rjmp .+96 ; 0x9e <__bad_interrupt>
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3e: 00 00 nop
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40: 2e c0 rjmp .+92 ; 0x9e <__bad_interrupt>
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42: 00 00 nop
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44: 2c c0 rjmp .+88 ; 0x9e <__bad_interrupt>
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46: 00 00 nop
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48: 2a c0 rjmp .+84 ; 0x9e <__bad_interrupt>
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4a: 00 00 nop
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4c: 28 c0 rjmp .+80 ; 0x9e <__bad_interrupt>
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4e: 00 00 nop
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50: 26 c0 rjmp .+76 ; 0x9e <__bad_interrupt>
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52: 00 00 nop
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54: 24 c0 rjmp .+72 ; 0x9e <__bad_interrupt>
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56: 00 00 nop
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58: 22 c0 rjmp .+68 ; 0x9e <__bad_interrupt>
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5a: 00 00 nop
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5c: 20 c0 rjmp .+64 ; 0x9e <__bad_interrupt>
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5e: 00 00 nop
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60: 1e c0 rjmp .+60 ; 0x9e <__bad_interrupt>
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62: 00 00 nop
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64: 1c c0 rjmp .+56 ; 0x9e <__bad_interrupt>
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...
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00000068 <__ctors_end>:
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68: 11 24 eor r1, r1
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6a: 1f be out 0x3f, r1 ; 63
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6c: cf ef ldi r28, 0xFF ; 255
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6e: d8 e0 ldi r29, 0x08 ; 8
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70: de bf out 0x3e, r29 ; 62
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72: cd bf out 0x3d, r28 ; 61
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00000074 <__do_copy_data>:
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74: 11 e0 ldi r17, 0x01 ; 1
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76: a0 e0 ldi r26, 0x00 ; 0
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78: b1 e0 ldi r27, 0x01 ; 1
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7a: e2 e9 ldi r30, 0x92 ; 146
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7c: f7 e0 ldi r31, 0x07 ; 7
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7e: 02 c0 rjmp .+4 ; 0x84 <__do_copy_data+0x10>
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80: 05 90 lpm r0, Z+
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82: 0d 92 st X+, r0
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84: a6 31 cpi r26, 0x16 ; 22
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86: b1 07 cpc r27, r17
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88: d9 f7 brne .-10 ; 0x80 <__do_copy_data+0xc>
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0000008a <__do_clear_bss>:
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8a: 11 e0 ldi r17, 0x01 ; 1
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8c: a6 e1 ldi r26, 0x16 ; 22
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8e: b1 e0 ldi r27, 0x01 ; 1
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90: 01 c0 rjmp .+2 ; 0x94 <.do_clear_bss_start>
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00000092 <.do_clear_bss_loop>:
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92: 1d 92 st X+, r1
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00000094 <.do_clear_bss_start>:
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94: a5 33 cpi r26, 0x35 ; 53
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96: b1 07 cpc r27, r17
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98: e1 f7 brne .-8 ; 0x92 <.do_clear_bss_loop>
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9a: 48 d0 rcall .+144 ; 0x12c <main>
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9c: 78 c3 rjmp .+1776 ; 0x78e <_exit>
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0000009e <__bad_interrupt>:
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9e: b0 cf rjmp .-160 ; 0x0 <__vectors>
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000000a0 <__vector_3>:
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// All PCINT vectors must call sonar_handle_pci
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ISR(PCINT0_vect)
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{
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a0: 1f 92 push r1
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a2: 0f 92 push r0
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a4: 0f b6 in r0, 0x3f ; 63
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a6: 0f 92 push r0
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a8: 11 24 eor r1, r1
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aa: 2f 93 push r18
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ac: 3f 93 push r19
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ae: 4f 93 push r20
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b0: 5f 93 push r21
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b2: 6f 93 push r22
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b4: 7f 93 push r23
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b6: 8f 93 push r24
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b8: 9f 93 push r25
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ba: af 93 push r26
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bc: bf 93 push r27
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be: ef 93 push r30
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c0: ff 93 push r31
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if (sonar_handle_pci()) return;
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c2: 9b d1 rcall .+822 ; 0x3fa <sonar_handle_pci>
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c4: ff 91 pop r31
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// Here you can do your other stuff
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}
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c6: ef 91 pop r30
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c8: bf 91 pop r27
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ca: af 91 pop r26
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cc: 9f 91 pop r25
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ce: 8f 91 pop r24
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d0: 7f 91 pop r23
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d2: 6f 91 pop r22
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d4: 5f 91 pop r21
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d6: 4f 91 pop r20
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d8: 3f 91 pop r19
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da: 2f 91 pop r18
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dc: 0f 90 pop r0
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de: 0f be out 0x3f, r0 ; 63
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e0: 0f 90 pop r0
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e2: 1f 90 pop r1
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e4: 18 95 reti
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000000e6 <__vector_13>:
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// Timer overflow - if sonar has a timeout -> 0xFFFF in result.
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ISR(TIMER1_OVF_vect)
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{
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e6: 1f 92 push r1
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e8: 0f 92 push r0
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ea: 0f b6 in r0, 0x3f ; 63
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ec: 0f 92 push r0
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ee: 11 24 eor r1, r1
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f0: 2f 93 push r18
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f2: 3f 93 push r19
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f4: 4f 93 push r20
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f6: 5f 93 push r21
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f8: 6f 93 push r22
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fa: 7f 93 push r23
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fc: 8f 93 push r24
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fe: 9f 93 push r25
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100: af 93 push r26
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102: bf 93 push r27
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104: ef 93 push r30
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106: ff 93 push r31
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if (sonar_handle_t1ovf()) return;
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108: 62 d1 rcall .+708 ; 0x3ce <sonar_handle_t1ovf>
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10a: ff 91 pop r31
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// ...
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}
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10c: ef 91 pop r30
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10e: bf 91 pop r27
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110: af 91 pop r26
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112: 9f 91 pop r25
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114: 8f 91 pop r24
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116: 7f 91 pop r23
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118: 6f 91 pop r22
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11a: 5f 91 pop r21
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11c: 4f 91 pop r20
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11e: 3f 91 pop r19
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120: 2f 91 pop r18
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122: 0f 90 pop r0
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124: 0f be out 0x3f, r0 ; 63
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126: 0f 90 pop r0
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128: 1f 90 pop r1
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12a: 18 95 reti
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0000012c <main>:
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void main()
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{
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12c: cf 93 push r28
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12e: df 93 push r29
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130: cd b7 in r28, 0x3d ; 61
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132: de b7 in r29, 0x3e ; 62
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134: 27 97 sbiw r28, 0x07 ; 7
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136: 0f b6 in r0, 0x3f ; 63
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138: f8 94 cli
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13a: de bf out 0x3e, r29 ; 62
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13c: 0f be out 0x3f, r0 ; 63
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13e: cd bf out 0x3d, r28 ; 61
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// Init UART communication
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uart_init(9600);
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140: 87 e6 ldi r24, 0x67 ; 103
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142: 90 e0 ldi r25, 0x00 ; 0
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144: 3e d0 rcall .+124 ; 0x1c2 <_uart_init_do>
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146: 38 9a sbi 0x07, 0 ; 7
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// Create and init Sonar instance
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sonar_t so;
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// Args: pointer to your sonar_t, and 2 pin aliases - Trig & Echo
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sonar_init(&so, A0, A1);
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148: 39 98 cbi 0x07, 1 ; 7
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14a: 41 9a sbi 0x08, 1 ; 8
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14c: 01 e0 ldi r16, 0x01 ; 1
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14e: 26 e2 ldi r18, 0x26 ; 38
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150: 30 e0 ldi r19, 0x00 ; 0
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152: 40 e0 ldi r20, 0x00 ; 0
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154: 68 e2 ldi r22, 0x28 ; 40
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156: 70 e0 ldi r23, 0x00 ; 0
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158: ce 01 movw r24, r28
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15a: 01 96 adiw r24, 0x01 ; 1
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15c: 56 d0 rcall .+172 ; 0x20a <_sonar_init_do>
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15e: 78 94 sei
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160: ce 01 movw r24, r28
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// You can have more than one sonar connected, but only one can measure at a time
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// Allow interrupts
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sei();
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162: 01 96 adiw r24, 0x01 ; 1
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while(1) {
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// Measure
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sonar_start(&so);
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164: 6b d0 rcall .+214 ; 0x23c <sonar_start>
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166: 80 91 32 01 lds r24, 0x0132
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16a: 81 11 cpse r24, r1
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while(sonar_busy) {
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16c: fe cf rjmp .-4 ; 0x16a <main+0x3e>
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16e: 60 91 30 01 lds r22, 0x0130
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172: 70 91 31 01 lds r23, 0x0131
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// Sonar is asynchronous
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// Here we just wait for it to complete
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}
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int16_t res = sonar_result;
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176: 77 ff sbrs r23, 7
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178: 03 c0 rjmp .+6 ; 0x180 <main+0x54>
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17a: 80 e0 ldi r24, 0x00 ; 0
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// Print
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if (res < 0) {
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17c: 91 e0 ldi r25, 0x01 ; 1
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17e: 08 c0 rjmp .+16 ; 0x190 <main+0x64>
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uart_puts("NO OBSTACLES\r\n");
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180: 41 e0 ldi r20, 0x01 ; 1
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182: 80 91 2e 01 lds r24, 0x012E
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} else {
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put_i16f(uart, res, 1); // one decimal place
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186: 90 91 2f 01 lds r25, 0x012F
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18a: ec d1 rcall .+984 ; 0x564 <put_i16f>
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18c: 8f e0 ldi r24, 0x0F ; 15
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18e: 91 e0 ldi r25, 0x01 ; 1
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190: 31 d0 rcall .+98 ; 0x1f4 <uart_puts>
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192: 2f ef ldi r18, 0xFF ; 255
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194: 89 e6 ldi r24, 0x69 ; 105
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196: 98 e1 ldi r25, 0x18 ; 24
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198: 21 50 subi r18, 0x01 ; 1
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19a: 80 40 sbci r24, 0x00 ; 0
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#else
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//round up by default
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__ticks_dc = (uint32_t)(ceil(fabs(__tmp)));
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#endif
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__builtin_avr_delay_cycles(__ticks_dc);
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19c: 90 40 sbci r25, 0x00 ; 0
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19e: e1 f7 brne .-8 ; 0x198 <main+0x6c>
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1a0: 00 c0 rjmp .+0 ; 0x1a2 <main+0x76>
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1a2: 00 00 nop
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1a4: dd cf rjmp .-70 ; 0x160 <main+0x34>
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000001a6 <uart_tx>:
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/** Send byte over UART */
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void uart_tx(uint8_t data)
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{
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// Wait for transmit buffer
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while (!uart_tx_ready());
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1a6: 90 91 c0 00 lds r25, 0x00C0
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1aa: 95 ff sbrs r25, 5
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1ac: fc cf rjmp .-8 ; 0x1a6 <uart_tx>
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// send it
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UDR0 = data;
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1ae: 80 93 c6 00 sts 0x00C6, r24
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1b2: 08 95 ret
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000001b4 <uart_rx>:
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/** Receive one byte over UART */
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uint8_t uart_rx()
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{
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// Wait for data to be received
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while (!uart_rx_ready());
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1b4: 80 91 c0 00 lds r24, 0x00C0
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1b8: 87 ff sbrs r24, 7
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1ba: fc cf rjmp .-8 ; 0x1b4 <uart_rx>
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// Get and return received data from buffer
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return UDR0;
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1bc: 80 91 c6 00 lds r24, 0x00C6
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}
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1c0: 08 95 ret
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000001c2 <_uart_init_do>:
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STREAM* uart;
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void _uart_init_do(uint16_t ubrr) {
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/*Set baud rate */
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UBRR0H = (uint8_t) (ubrr >> 8);
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1c2: 90 93 c5 00 sts 0x00C5, r25
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UBRR0L = (uint8_t) ubrr;
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1c6: 80 93 c4 00 sts 0x00C4, r24
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// Enable Rx and Tx
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UCSR0B = (1 << RXEN0) | (1 << TXEN0);
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1ca: 88 e1 ldi r24, 0x18 ; 24
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1cc: 80 93 c1 00 sts 0x00C1, r24
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// 8-bit data, 1 stop bit
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UCSR0C = (0b11 << UCSZ00);
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1d0: 86 e0 ldi r24, 0x06 ; 6
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1d2: 80 93 c2 00 sts 0x00C2, r24
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uart_singleton.tx = &uart_tx;
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1d6: ea e2 ldi r30, 0x2A ; 42
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1d8: f1 e0 ldi r31, 0x01 ; 1
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1da: 83 ed ldi r24, 0xD3 ; 211
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1dc: 90 e0 ldi r25, 0x00 ; 0
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1de: 91 83 std Z+1, r25 ; 0x01
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1e0: 80 83 st Z, r24
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uart_singleton.rx = &uart_rx;
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1e2: 8a ed ldi r24, 0xDA ; 218
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1e4: 90 e0 ldi r25, 0x00 ; 0
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1e6: 93 83 std Z+3, r25 ; 0x03
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1e8: 82 83 std Z+2, r24 ; 0x02
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uart = &uart_singleton;
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1ea: f0 93 2f 01 sts 0x012F, r31
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1ee: e0 93 2e 01 sts 0x012E, r30
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1f2: 08 95 ret
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000001f4 <uart_puts>:
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}
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/** Send string over UART */
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void uart_puts(const char* str)
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{
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1f4: cf 93 push r28
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1f6: df 93 push r29
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1f8: ec 01 movw r28, r24
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while (*str) {
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1fa: 89 91 ld r24, Y+
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1fc: 88 23 and r24, r24
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1fe: 11 f0 breq .+4 ; 0x204 <uart_puts+0x10>
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uart_tx(*str++);
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200: d2 df rcall .-92 ; 0x1a6 <uart_tx>
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202: fb cf rjmp .-10 ; 0x1fa <uart_puts+0x6>
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204: df 91 pop r29
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}
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}
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206: cf 91 pop r28
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208: 08 95 ret
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0000020a <_sonar_init_do>:
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// Result of last measurement, in millimeters
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int16_t sonar_result;
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void _sonar_init_do(sonar_t* so, PORT_P port, uint8_t ntx, PORT_P pin, uint8_t nrx)
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{
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20a: 0f 93 push r16
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20c: fc 01 movw r30, r24
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so->port = port;
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20e: 71 83 std Z+1, r23 ; 0x01
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210: 60 83 st Z, r22
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so->ntx = ntx;
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212: 42 83 std Z+2, r20 ; 0x02
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so->pin = pin;
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214: 34 83 std Z+4, r19 ; 0x04
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216: 23 83 std Z+3, r18 ; 0x03
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so->nrx = nrx;
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218: 05 83 std Z+5, r16 ; 0x05
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switch((const uint16_t) pin) {
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21a: 26 32 cpi r18, 0x26 ; 38
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21c: 31 05 cpc r19, r1
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21e: 41 f0 breq .+16 ; 0x230 <_sonar_init_do+0x26>
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220: 29 32 cpi r18, 0x29 ; 41
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222: 31 05 cpc r19, r1
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224: 39 f0 breq .+14 ; 0x234 <_sonar_init_do+0x2a>
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226: 23 32 cpi r18, 0x23 ; 35
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228: 31 05 cpc r19, r1
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22a: 31 f4 brne .+12 ; 0x238 <_sonar_init_do+0x2e>
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case (const uint16_t)&PINB:
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so->bank = 0;
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22c: 16 82 std Z+6, r1 ; 0x06
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break;
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22e: 04 c0 rjmp .+8 ; 0x238 <_sonar_init_do+0x2e>
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case (const uint16_t)&PINC:
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so->bank = 1;
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230: 81 e0 ldi r24, 0x01 ; 1
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232: 01 c0 rjmp .+2 ; 0x236 <_sonar_init_do+0x2c>
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break;
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case (const uint16_t)&PIND:
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so->bank = 2;
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234: 82 e0 ldi r24, 0x02 ; 2
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236: 86 83 std Z+6, r24 ; 0x06
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break;
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}
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}
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238: 0f 91 pop r16
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23a: 08 95 ret
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0000023c <sonar_start>:
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* 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_start+0x10e>
|
|
|
|
_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 <sonar_start+0x72>
|
|
270: 80 f0 brcs .+32 ; 0x292 <sonar_start+0x56>
|
|
272: 82 30 cpi r24, 0x02 ; 2
|
|
274: 49 f5 brne .+82 ; 0x2c8 <sonar_start+0x8c>
|
|
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 <sonar_start+0x4a>
|
|
282: 88 0f add r24, r24
|
|
284: 99 1f adc r25, r25
|
|
286: 0a 94 dec r0
|
|
288: e2 f7 brpl .-8 ; 0x282 <sonar_start+0x46>
|
|
28a: 82 2b or r24, r18
|
|
28c: 80 93 6d 00 sts 0x006D, r24
|
|
break;
|
|
290: 1b c0 rjmp .+54 ; 0x2c8 <sonar_start+0x8c>
|
|
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 <sonar_start+0x66>
|
|
29e: 88 0f add r24, r24
|
|
2a0: 99 1f adc r25, r25
|
|
2a2: 0a 94 dec r0
|
|
2a4: e2 f7 brpl .-8 ; 0x29e <sonar_start+0x62>
|
|
2a6: 82 2b or r24, r18
|
|
2a8: 80 93 6b 00 sts 0x006B, r24
|
|
break;
|
|
2ac: 0d c0 rjmp .+26 ; 0x2c8 <sonar_start+0x8c>
|
|
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 <sonar_start+0x82>
|
|
2ba: 88 0f add r24, r24
|
|
2bc: 99 1f adc r25, r25
|
|
2be: 0a 94 dec r0
|
|
2c0: e2 f7 brpl .-8 ; 0x2ba <sonar_start+0x7e>
|
|
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 <sonar_start+0xa0>
|
|
2d8: 22 0f add r18, r18
|
|
2da: 33 1f adc r19, r19
|
|
2dc: 0a 94 dec r0
|
|
2de: e2 f7 brpl .-8 ; 0x2d8 <sonar_start+0x9c>
|
|
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 <sonar_start+0xaa>
|
|
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 <sonar_start+0xc0>
|
|
2f8: 44 0f add r20, r20
|
|
2fa: 55 1f adc r21, r21
|
|
2fc: 0a 94 dec r0
|
|
2fe: e2 f7 brpl .-8 ; 0x2f8 <sonar_start+0xbc>
|
|
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 <sonar_start+0xda>
|
|
312: 22 0f add r18, r18
|
|
314: 33 1f adc r19, r19
|
|
316: 0a 94 dec r0
|
|
318: e2 f7 brpl .-8 ; 0x312 <sonar_start+0xd6>
|
|
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 <sonar_start+0xde>
|
|
|
|
// 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 <sonar_start+0x100>
|
|
338: 88 0f add r24, r24
|
|
33a: 99 1f adc r25, r25
|
|
33c: 0a 94 dec r0
|
|
33e: e2 f7 brpl .-8 ; 0x338 <sonar_start+0xfc>
|
|
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 <sonar_handle_t1ovf>:
|
|
}
|
|
|
|
|
|
/** 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_handle_t1ovf+0x24>
|
|
|
|
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 <sonar_handle_pci>:
|
|
|
|
|
|
/** 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 <sonar_handle_pci+0x1c>
|
|
414: 4e c0 rjmp .+156 ; 0x4b2 <sonar_handle_pci+0xb8>
|
|
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 <sonar_handle_pci+0x34>
|
|
42a: 35 95 asr r19
|
|
42c: 27 95 ror r18
|
|
42e: 0a 94 dec r0
|
|
430: e2 f7 brpl .-8 ; 0x42a <sonar_handle_pci+0x30>
|
|
432: 20 fd sbrc r18, 0
|
|
434: 3d c0 rjmp .+122 ; 0x4b0 <sonar_handle_pci+0xb6>
|
|
// 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 <sonar_handle_pci+0x9a>
|
|
492: 30 f4 brcc .+12 ; 0x4a0 <sonar_handle_pci+0xa6>
|
|
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 <sonar_handle_pci+0xb2>
|
|
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 <sonar_handle_pci+0xb8>
|
|
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 <put_i16f>:
|
|
}
|
|
|
|
|
|
/** 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 <put_i16f+0x2e>
|
|
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 <put_i16f+0x36>
|
|
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 <strrev>
|
|
|
|
0000076e <strrev>:
|
|
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 <strrev+0x4>
|
|
77a: 32 97 sbiw r30, 0x02 ; 2
|
|
77c: 04 c0 rjmp .+8 ; 0x786 <strrev+0x18>
|
|
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 <strrev+0x10>
|
|
78c: 08 95 ret
|
|
|
|
0000078e <_exit>:
|
|
78e: f8 94 cli
|
|
|
|
00000790 <__stop_program>:
|
|
790: ff cf rjmp .-2 ; 0x790 <__stop_program>
|
|
|